WO2021057246A1

WO2021057246A1 - Transurethral resectoscope surgical robot actuator

Info

Publication number: WO2021057246A1
Application number: PCT/CN2020/105497
Authority: WO
Inventors: 王君臣; 李汉忠; 张学斌
Original assignee: 王君臣; 李汉忠; 张学斌
Priority date: 2019-09-26
Filing date: 2020-07-29
Publication date: 2021-04-01
Also published as: CN211512043U

Abstract

A transurethral resectoscope surgical robot actuator, used for connecting a surgical robot and a transurethral resectoscope. The surgical robot actuator comprises a housing, a driving system, and a fixing system. The housing defines an accommodating cavity. The driving system is used to drive a movable operating handle (2) of a manipulator (100) of the resectoscope to move. The fixing system is used to fix the resectoscope on the surgical robot actuator. The fixing system comprises a first supporting and fixing mechanism and a second supporting and fixing mechanism. The first supporting and fixing mechanism is used to support and fix a fixed operating handle (1) of the manipulator (100) of the resectoscope, and the second supporting and fixing mechanism is used to support and fix the body of the manipulator (100) of the resectoscope. The surgical robot actuator can stably and firmly fix the resectoscope.

Description

Robot actuator for transurethral resection surgery

This application claims the priority of the prior application with the patent application number 201921619322.9 filed with the State Intellectual Property Office of China on September 26, 2019, titled "A Transurethral Resection Robot Actuator". The full text of the prior application is incorporated into this application by reference.

Technical field

The invention belongs to the technical field of medical equipment, and specifically relates to a transurethral resection surgical robot actuator.

Background technique

The implementation of transurethral resection is generally performed by a surgeon holding a transurethral resection scope directly on the human body. 1, generally, the transurethral resection scope in the prior art includes an endoscope, a manipulator 100 (or a resection device, as shown in FIG. 1), an outer sheath, an inner sheath, an obturator, and a resection The main components such as the ring, the manipulator 100 includes a fixed operating handle 1, a movable operating handle 2, an optical fiber connector 3 and a cable connector 4. The movable operating handle 2 is connected to the cable connector 4, the movable operating handle 2 can reciprocate, and the cable connector 4 is connected to the movable The operating handle 2 moves synchronously. During the operation, the index finger and middle finger hook the fixed operation handle 1, the thumb pushes the movable operation handle 2, adjust the angle of the manipulator 100, push the movable operation handle 2 to push the electrosurgical ring, and step on the power pedal at the same time to complete the prostate and bladder Removal of tumors and other tissues.

There are two important shortcomings in the implementation of this surgical operation. One is that it relies too much on the technical level and experience of the surgeon. The effect of the operation is greatly affected by the individual doctor. It is difficult to ensure the accuracy and safety of the operation, and it is impossible to achieve the standardization and standardization of the operation. The process is often time-consuming and laborious, and the work intensity is high, which brings pain to both the doctor and the patient. If the doctor lacks experience and skills, it may cause serious consequences such as rectal injury or hemorrhage in the adjacent tissues. At the same time, the tissue may be insufficiently removed, which affects the treatment effect; Second, when performing surgery, the doctor is close to the patient, the perineum and the front of the urethra, which are easily contaminated by the patient’s body fluids, which poses safety risks and the doctor’s operating environment is poor. For example, transurethral resection of the prostate, in order to obtain a good surgical vision Need to circulate perfusion and flushing, the flushing fluid is seriously polluted.

Using surgical robots to assist surgeons to perform operations is a solution to the above-mentioned problems. By establishing a three-dimensional model of the site to be operated on, the surgical planning is performed in advance, and then the doctor controls the surgical robot to perform the surgical process. As a result, even if the operation can be standardized and standardized, the burden on the doctor can be reduced, and the doctor can operate the surgical robot at a long distance without being close to the patient, which can avoid contamination.

However, the prior art lacks a surgical robot actuator that connects the surgical robot and the transurethral resectoscope.

Summary of the invention

In view of this, the embodiment of the present invention proposes a transurethral resection surgical robot actuator, which is used to connect the surgical robot and the transurethral resection scope.

A transurethral resectoscope surgical robot actuator, which is used to connect a surgical robot and a transurethral resectoscope. The surgical robot actuator includes a housing, a driving system, and a fixing system;

The housing defines an accommodating cavity;

The driving system is used to drive the movable operating handle of the manipulator of the resectoscope to move;

The fixing system is used to fix the resectoscope on the surgical robot actuator, the fixing system includes a first supporting and fixing mechanism and a second supporting and fixing mechanism, and the first supporting and fixing mechanism is used to support and fix the surgical robot. The fixed operating handle of the resectoscope manipulator, and the second supporting and fixing mechanism is used to support and fix the main body of the resectoscope manipulator.

Further, the driving system includes a motor, a transmission device and a push rod, and the motor drives the push rod to make a reciprocating linear motion through the transmission device.

Further, the housing is provided with a housing opening, the housing opening is provided with an opening cover, the opening cover has an escape opening, the push rod is drivingly connected to the motor through the housing opening, and the push rod The escape mouth stretched out.

Further, the transmission device includes a lead screw, a lead screw nut, a sliding rail, and a sliding block; the distal end of the push rod is connected to the lead screw nut through the housing opening, and the proximal end of the push rod has a push rod clamping part The push rod clamping portion has a clamping structure, and the clamping structure is used to drive the cable joint of the manipulator of the resectoscope to move.

Further, an escape port seal is provided at the escape port, and the push rod is in sliding and sealing connection with the escape port seal.

Further, the proximal end of the surgical robot actuator is provided with a first mounting seat and a second mounting seat, both ends of the lead screw are respectively provided on the first mounting seat and the second mounting seat, and the slide rail The two ends of the slide rail are respectively fixedly mounted on the first mounting seat and the second mounting seat, the slide rail is arranged parallel to the lead screw, the slide block is slidably connected to the slide rail, and the slide block is connected to the slide rail. The screw nut is fixedly connected.

Further, a first travel switch and a second travel switch are provided between the first mounting seat and the second mounting seat, and the travel switch is used to control the positioning of the screw nut on the first mounting seat and the second mounting seat. The limit travel between.

Further, a housing mounting seat is also connected to the proximal end of the housing, the first supporting and fixing mechanism is arranged on the housing mounting seat, and the first supporting and fixing mechanism includes a fixed operating handle support seat and a fixed operating handle limiter. The position structure and the pressure plate assembly, the fixed operating handle limiting structure is used to limit the movement of the manipulator of the resectoscope in its length direction, and the pressure plate assembly is used to press the fixed operating handle from the upper part of the fixed operating handle. Operation handle.

Further, the pressure plate assembly includes a pressure plate and a pressure plate fastener, and the pressure plate fastener is used to apply pressure to the pressure plate so that the pressure plate presses the fixed operating handle.

Further, the pressure plate fastener is a knob, the knob has a threaded rod, the fixed operating handle support seat is provided with a threaded hole, the pressure plate is provided with a through hole, and the threaded rod passes through the through hole of the pressure plate. The hole is screw-fitted with the threaded hole, and the pressure plate can rotate around the threaded rod.

Further, the limiting structure of the fixed operating handle is a limiting slot.

Further, the fixing system further includes a second supporting and fixing mechanism, the second supporting and fixing mechanism is arranged on one side of the opening cover, and the opening cover is arranged side by side in the width direction of the surgical robot actuator; The second supporting and fixing mechanism includes a first clamping portion and a first clamping portion support seat, the first clamping portion is provided on the first clamping portion support seat, and the first clamping portion is used for clamping Hold and fix the body of the resectoscope manipulator.

Further, the fixing system further includes a third supporting and fixing mechanism for supporting and fixing the optical fiber connector of the manipulator of the resectoscope, and the third supporting and fixing mechanism includes a second clamping The second clamping portion is provided on the second clamping portion support seat, and the second clamping portion is used for clamping and fixing the optical fiber connector.

The beneficial effects of the embodiments of the present invention: the surgical robot actuator provided by the embodiments of the present invention has a reliable structure, can be stably and conveniently connected to the mechanical arm of the surgical robot, and firmly fix the resectoscope. Other advantages of the surgical robot actuator of the embodiment of the present invention will be described in detail below.

Description of the drawings

Fig. 1 is a schematic structural diagram of a commonly used resectoscope in the prior art.

Fig. 2 is an exploded view of the surgical robot actuator proposed by the embodiment of the present invention.

Fig. 3 is a schematic diagram of the three-dimensional structure of the driving system of the surgical robot actuator proposed by the embodiment of the present invention.

Fig. 4 is a top view of the driving system of the surgical robot actuator proposed by the embodiment of the present invention.

Fig. 5 is a top view of the fixing system of the surgical robot actuator proposed by the embodiment of the present invention.

Fig. 6 is a schematic diagram of a three-dimensional structure of a fixing system for a surgical robot actuator provided by an embodiment of the present invention.

FIG. 7 is a schematic diagram of a three-dimensional structure of a surgical robot actuator equipped with a resectoscope according to an embodiment of the present invention.

Fig. 8 is a top view of the surgical robot actuator equipped with a resectoscope according to an embodiment of the present invention.

detailed description

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail in conjunction with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art know that the present invention is not limited to the drawings and the following embodiments.

In the description of the invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc., is based on The orientation or positional relationship shown in the drawings is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and cannot be construed as limiting the present invention. The specific scope of protection of the invention. In addition, the terms "first" and "second" are only used for descriptive purposes and used to distinguish technical features without substantial meaning, and cannot be understood as indicating or implying relative importance or implicitly specifying the number of technical features.

2-8, the embodiment of the present invention proposes a transurethral resection surgical robot actuator, the surgical robot actuator can be connected to the robotic arm of the surgical robot and the transurethral resection scope to perform transurethral resection Endoscopic surgery for the removal of prostate, bladder tumors and other tissues.

The surgical robot actuator includes a housing, a driving system and a fixing system.

The housing encloses to form a accommodating cavity for accommodating various components of the surgical robot actuator, such as motors, transmission devices, and electrical components.

The driving system is used to drive the movable operating handle 2 of the manipulator 100 of the electric resection mirror to perform reciprocating motion, so as to push the resection loop to remove the tissue to be resected.

The fixing system is used to fix the resectoscope on the surgical robot actuator.

As a result, the reciprocating motion of the resection ring of the resection mirror (that is, the action of removing tissue) is driven by the actuator of the surgical robot, and other actions of the resection scope (such as position adjustment, posture adjustment, rotation, etc.) are performed by the operation The robotic arm of the robot drives the surgical robot actuator, and then drives the electric resection mirror to complete. Taking rotation as an example, the electric resection ring can be rotated by rotating the surgical robot actuator.

shell

In one embodiment, the housing includes an upper cover 11 and a lower housing 12, and the upper cover 11 and the lower housing 12 enclose and define a accommodating cavity with a distal opening at its distal end. The distal opening of the housing may be closed by a connection system for connecting the robotic arm of the surgical robot, or, in another embodiment, the distal end of the upper cover 11 or the distal end of the lower housing 12 is provided with an integral molding The distal end wall of the housing, that is, the distal end of the housing is a closed structure. The advantages of setting the distal end of the shell as an open structure are simple processing and low cost.

Preferably, the upper cover 11 is substantially in the shape of a flat plate, and the lower shell 12 is enclosed by a bottom plate, two opposite side plates and a proximal wall plate into a groove-shaped structure with an open upper part and a distal end.

The housing is provided with a housing opening, for example, a housing opening 111 is provided at the proximal end of the upper cover 11, and the push rod of the driving system is drivingly connected with the motor of the driving system through the housing opening 111. The housing opening 111 is provided with an opening cover 112, the opening cover 112 is enclosed by a cover plate and a side plate, the proximal end of the opening cover 112 has an escape port 113, and the side plate of the opening cover 112 is provided with a fixed Part, the opening cover 112 is connected to the upper cover 11 via the fixing part, preferably a detachable connection. The push rod extends from the avoidance opening 113. The opening cover 112 can prevent patient body fluids or medical reagents from entering the inside of the housing.

A housing mounting seat 114 is further provided at the proximal end of the housing. Preferably, the housing mounting seat 114 is connected to the proximal end of the lower housing 12, and more preferably, the housing mounting seat 114 is connected to the lower housing 12 As an integral structure, the housing mounting seat 114 is formed to extend outward from the proximal end of the lower housing 12 along the length direction of the lower housing 12.

The upper cover 11 and the lower shell 12 are fixedly connected, for example, screwed. Preferably, the upper cover 11 and the lower housing 12 are connected in a sealed manner, for example, a housing seal, such as a sealing ring, is provided at the junction of the upper cover 11 and the lower housing 12. The sealed connection of the shell can prevent body fluids and medical reagents (such as washing fluid) from splashing into the shell and damaging the components installed in the shell.

Drive System

The driving system includes a motor 21, a push rod 22 and a transmission device. The motor 21 and the transmission device are arranged in the housing.

The motor 21 is used to drive the push rod 22 to make a reciprocating linear motion. Preferably, the motor 21 is a servo motor.

The transmission device includes a lead screw 23, a lead screw nut 24, a sliding rail 25 and a sliding block 26. Preferably, the screw is a ball screw, and the screw 23 can rotate in both forward and reverse directions under the drive of the motor 21. When the screw 23 rotates, the screw nut 24 is driven to reciprocate along the axial direction of the screw 23. movement.

The proximal end of the surgical robot actuator is provided with a first mounting seat 27 and a second mounting seat 28, and the first mounting seat 27 and the second mounting seat 28 are fixedly connected to the housing, for example, to the upper The cover 11 and/or the lower shell 12 are fixedly connected. The two ends of the screw 23 are respectively arranged on the first mounting seat 27 and the second mounting seat 28. The two ends of the slide rail 25 are fixedly mounted on the first mounting seat 27 and the second mounting seat 28, respectively, the slide rail 25 is arranged parallel to the lead screw 23, and the slider 26 is connected to the slide The rail 25 is slidably connected, and the sliding block 26 is fixedly connected to the screw nut 24.

The push rod 22 is connected to the lead screw nut 24. In one embodiment, the push rod 22 is connected to the lead screw nut 24 via the slider 26. When the motor 21 rotates, the screw nut 24 can drive the push rod 22 to reciprocate.

More preferably, the slide rail 25 includes a first slide rail and a second slide rail that are arranged in parallel, and the first slide rail and the second slide rail are respectively provided on both sides of the lead screw 23.

In one embodiment, the push rod 22 is L-shaped, the distal end of the push rod 22 is connected to the screw nut 24, the proximal end of the push rod 22 extends upward to form a push rod clamping portion 221, and the push rod clamping portion 221 There is a clamping structure at the top end of the, and the clamping structure is used to drive the cable joint 4 to move. Specifically, the clamping structure is used to clamp the external electrode that is electrically connected to the cable joint 4 of the resectoscope manipulator ( The external electrode is not shown in the figure, and the clamping state of the proximal end of the push rod only indicates the position of the clamping structure); in another embodiment, the clamping structure is used to clamp the cable connector 4 (when the external electrode When inserting the cable connector 4). The clamping structure is U-shaped, for example. When in use, the cable connector 4 is inserted into the external electrode (or the external electrode is inserted into the cable connector 4). Therefore, the push rod 22 can drive the cable connector 4 when the push rod 22 performs reciprocating linear motion under the drive of the motor 21. Perform a reciprocating linear motion. Since the cable connector 4 moves synchronously with the movable operating handle 2 of the manipulator 100 of the resectoscope, the push rod 22 drives the movement of the cable connector 4 to drive the movable operating handle 2 to reciprocate, thereby driving the resectoscope The electric resection loop moves to perform tissue resection.

The distal end of the push rod 22 is connected to the screw nut 24 through the housing opening 111, and the push rod 22 extends through the escape opening 113 at the proximal end of the opening cover 112. Preferably, the avoidance port 113 is further provided with a avoidance port 113 sealing member, and the push rod 22 is slidingly and sealedly connected with the avoidance port 113 sealing member to prevent body fluids or medical reagents from splashing into the inside of the housing. Damage to the components installed inside the enclosure.

Preferably, a first travel switch and a second travel switch (not shown in the figure) are provided between the first mounting base 27 and the second mounting base 28, and the travel switch is used to control the lead screw nut 24 in the first position. The limit stroke between the first mounting seat 27 and the second mounting seat 28 prevents the screw nut 24/slider 26 from hitting the first mounting seat 27 and the second mounting seat 28. In one embodiment, the first travel switch is provided on the first mounting base 27, and the second travel switch is provided on the second mounting base 28.

Fixed system

The fixing system includes a first supporting and fixing mechanism and a second supporting and fixing mechanism, and the first supporting and fixing mechanism and the second supporting and fixing mechanism can support and fix the manipulator 100 of the resectoscope in different directions.

The first supporting and fixing mechanism is used to support and fix the fixed operating handle 1 of the manipulator 100 of the resectoscope, and the second support and fixing mechanism is used to support and fix the body of the resectoscope manipulator (such as Figure 8, the position shown in Figure 9).

Further preferably, the fixing system further includes a third supporting and fixing mechanism for supporting and fixing the optical fiber connector 3 of the manipulator 100 of the resectoscope.

The first supporting and fixing mechanism includes a fixed operating handle support seat 31, a fixed operating handle limiting structure 32, and a pressure plate assembly. The first supporting and fixing mechanism is arranged on the housing mounting base 114. The fixed operating handle limiting structure 32 is used to restrict the movement of the manipulator of the resectoscope in its length direction, and the pressing plate assembly is used to press the fixed operating handle from the upper part of the fixed operating handle.

The shape of the fixed operating handle support seat 31 is adapted to the shape of the fixed operating handle 1 of the resectoscope, so that the fixed operating handle 1 can be stably supported on the fixed operating handle support seat.

Generally, the fixed operating handle 1 of the resectoscope includes a first pressing portion 1a and a second pressing portion 1b, which are respectively located on both sides of the main axis of the manipulator 100, and the doctor's middle finger and ring finger are pressed against the first pressing portion 1a and the second pressing portion 1b. In the pressing portion 1a, the index finger is pressed against the second pressing portion 1b.

The fixed operating handle limiting structure 32 is used for limiting the fixed operating handle, such as a limiting slot. Preferably, the fixed operating handle protrudes out of the limiting slot. In one embodiment, the fixed operating handle limiting structure 32 is provided on the upper surface of the fixed operating handle supporting seat 31, and includes a first pressing portion limiting groove 32 (as shown in FIG. The limiting groove of the pressing portion is defined by two protruding portions spaced apart on the upper part of the fixed operating handle support base 31), and/or the limiting groove of the second pressing portion (not shown in the figure). The first pressing portion 1a protrudes beyond the limiting groove of the first pressing portion in its thickness direction (as shown in FIG. 8), and/or, the second pressing portion 1b is in its thickness It protrudes in the direction beyond the limiting groove of the second pressing portion.

The pressure plate assembly is used to press and fix the fixed operating handle 1, and includes a pressure plate 33 and a pressure plate fastener 34. The pressure plate fastener 34 is used to apply pressure to the pressure plate 33 so that the pressure plate 33 is pressed against. The fixed operating handle 1.

In one embodiment, the pressure plate fastener 34 is a knob, the knob has a threaded rod, the fixed operating handle support seat 31 is provided with a threaded hole, the pressure plate 33 is provided with a through hole, and the threaded rod The through hole passing through the pressing plate 34 is screw-fitted with the threaded hole, and the pressing plate 33 can rotate around the threaded rod. When in use, first snap the fixed operating handle 1 of the resectoscope into the fixed operating handle limiting structure 32, and then rotate the pressing plate 33 to the top of the fixed operating handle 1, because the first pressing part of the fixed operating handle 1 And/or the second pressing portion protrudes out of the fixed operating handle limiting structure 32, the pressing plate 33 can press against the upper surface of the fixed operating handle 1, so that when the knob is tightened, the knob presses against the pressing plate 33 to be able to press The fixed operating handle 1 is fixed.

Preferably, the pressure plate assembly includes a first pressure plate assembly, and/or a second pressure plate assembly. Correspondingly, the pressure plate includes a first pressure plate and/or a second pressure plate, and the pressure plate fastener includes a first pressure plate and/or a second pressure plate. The pressure plate fastener and/or the second pressure plate fastener. When the pressing plate fastener is a knob, the knob may include a first knob and/or a second knob. The first pressing plate assembly is used for pressing and fixing the first pressing portion of the fixed operating handle, and the second pressing plate assembly is used for pressing and fixing the second pressing portion of the fixed operating handle.

The second supporting and fixing mechanism is arranged on the upper cover 11. In one embodiment, the second supporting and fixing mechanism is arranged on one side of the opening cover 112, and the second supporting and fixing mechanism is connected to the The opening covers 112 are arranged substantially side by side in the width direction of the surgical robot actuator.

The second supporting and fixing mechanism includes a first clamping portion 41 and a first clamping portion support seat 42. The first clamping portion 41 is used to support and fix the body of the resectoscope manipulator 100, and the first clamping portion is, for example, a U-shaped elastic clamping piece. The first clamping portion 41 is disposed on the first clamping portion support seat 42, the first clamping portion support seat 42 is disposed on the upper cover 11, and the first clamping portion 41 is used for clamping The main body of the resectoscope manipulator 100 is held and fixed.

Thus, the fixed operating handle limiting structure 32 of the first supporting and fixing mechanism and the second supporting and fixing mechanism respectively support and fix the fixed operating handle of the resectoscope in different directions (length direction and width direction) of the resectoscope manipulator. Fix the operating handle 1 and the body of the manipulator 100, so that the resectoscope manipulator is restricted in its length and width directions, and cannot move. When the first clamping portion 41 is as shown in the figure In the structure, the manipulator body can be held tightly, thereby restricting the manipulator from moving in the direction away from the outer surface of the surgical implement. The two supporting and fixing mechanisms fix and support the resectoscope manipulator in two different directions, which can firmly fix the resectoscope manipulator on the surgical robot actuator of this embodiment, which solves the problem of stabilizing the fixation of surgical instruments in a single direction. The technical problem of lack of sex. In addition, the pressing plate assembly is convenient to operate, simple to process, low in cost, and good in fixing effect.

The third supporting and fixing mechanism is used to support and fix the optical fiber connector 3 of the resectoscope manipulator 100. In one embodiment, the third supporting and fixing mechanism includes a second clamping portion 51 and a second clamping portion support seat 52. The second clamping portion 51 is used to support and fix the optical fiber connector 3 of the resectoscope manipulator 100, and the second clamping portion 52 is, for example, a U-shaped elastic clamping piece. The second clamping portion 51 is provided on the second clamping portion supporting seat 52, the second clamping portion supporting seat 52 is provided on the upper cover 11, and the second clamping portion 51 is used for To clamp and fix the optical fiber connector 3 of the manipulator 100. Preferably, the first clamping portion support seat 42 and the second clamping portion support seat 52 are an integral structure.

The optical fiber connector 3 of the resectoscope manipulator 100 extends from the manipulator body in the width direction of the manipulator. When the third supporting and fixing mechanism is provided, a supporting and fixing point is added, which can make the supporting and fixing of the manipulator more stable.

Other electrical components are also provided in the housing, such as an encoder, which is used to record the rotation speed and the number of rotations to realize motion control, and also such as an adapter plate, which is used to electrically connect internal circuits and external controls, for example. Circuit.

The surgical robot actuator is connected with the mechanical arm of the surgical robot via a connection system. The robotic arm of the surgical robot has multiple degrees of freedom, and can complete the position adjustment, posture adjustment, and rotation of the surgical robot's actuator. The operation of the resectoscope can be controlled by controlling the operation of the surgical robot's actuator. The connection system can adopt various connection modes in the prior art to realize the detachable connection with the connection system. The above-mentioned other electrical components and connection systems can all adopt mature solutions in the prior art. It has nothing to do with the innovation of the present invention, so it is unnecessary to repeat it.

When working, the surgical robot actuator of the embodiment of the present invention can stably and firmly connect the surgical robot's mechanical arm and surgical instruments, such as a resectoscope. Under the control of the control system, the surgical robot actuator controls the straight line of the electrosurgical loop Movement, the overall movement of the actuator of the surgical robot is controlled by the mechanical arm to control the position and posture of the manipulator of the resectoscope, so as to realize the surgical process.

In the foregoing, the embodiments of the present invention have been described. However, the present invention is not limited to the above-mentioned embodiment. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

A transurethral resection of the surgical robot actuator, used to connect a surgical robot and a transurethral resection of the surgical robot, characterized in that the surgical robot actuator includes a housing, a driving system and a fixing system;

The housing defines an accommodating cavity;

The driving system is used to drive the movable operating handle of the manipulator of the resectoscope to move;

The fixing system is used to fix the resectoscope on the surgical robot actuator, the fixing system includes a first supporting and fixing mechanism and a second supporting and fixing mechanism, and the first supporting and fixing mechanism is used to support and fix the surgical robot. The fixed operating handle of the resectoscope manipulator, and the second supporting and fixing mechanism is used to support and fix the main body of the resectoscope manipulator.
The surgical robot actuator of claim 1, wherein the driving system includes a motor, a transmission device and a push rod, and the motor drives the push rod to make a reciprocating linear motion through the transmission device.
The surgical robot actuator according to claim 2, wherein the housing is provided with a housing opening, the housing opening is provided with an opening cover, the opening cover has an escape port, and the push rod passes through the housing The opening is drivingly connected with the motor, and the push rod protrudes from the escape opening.
The surgical robot actuator according to claim 2 or 3, wherein the transmission device includes a lead screw, a lead screw nut, a sliding rail and a sliding block; the distal end of the push rod is connected to the A screw nut, the proximal end of the push rod has a push rod clamping part, and the push rod clamping part has a clamping structure for driving the cable joint of the manipulator of the resectoscope to move.
The surgical robot actuator according to claim 4, wherein an avoidance port seal is provided at the avoidance port, and the push rod is in sliding and sealing connection with the avoidance port seal.
The surgical robot actuator of claim 4, wherein the proximal end of the surgical robot actuator is provided with a first mounting seat and a second mounting seat, and both ends of the lead screw are respectively provided on the first mounting seat. A mounting seat and a second mounting seat, both ends of the slide rail are fixedly mounted on the first mounting seat and the second mounting seat, the slide rail is arranged parallel to the lead screw, the slider It is slidably connected to the sliding rail, and the sliding block is fixedly connected to the lead screw nut.
The surgical robot actuator according to claim 6, wherein a first travel switch and a second travel switch are provided between the first mounting seat and the second mounting seat, and the travel switch is used to control the The limit stroke of the screw nut between the first mounting seat and the second mounting seat.
The surgical robot actuator of claim 1, wherein a housing mounting seat is further connected to the proximal end of the housing, the first supporting and fixing mechanism is provided on the housing mounting seat, and the first The supporting and fixing mechanism includes a fixed operating handle support seat, a fixed operating handle limiting structure, and a pressing plate assembly. The fixed operating handle limiting structure is used to restrict the movement of the operator of the resectoscope in its length direction. The pressing plate assembly It is used to press the fixed operating handle from the upper part of the fixed operating handle.
The surgical robot actuator of claim 8, wherein the pressure plate assembly includes a pressure plate and a pressure plate fastener, and the pressure plate fastener is used to apply pressure to the pressure plate so that the pressure plate is pressed against the pressure plate. The fixed operating handle.
The surgical robot actuator according to claim 9, wherein the pressure plate fastener is a knob, the knob has a threaded rod, the fixed operating handle support seat is provided with a threaded hole, and the pressure plate is provided with a threaded hole. Through holes, the threaded rods pass through the through holes of the pressure plate to be screw-fitted with the threaded holes, and the pressure plate can rotate around the threaded rods.
The surgical robot actuator according to claim 9 or 10, wherein the limiting structure of the fixed operating handle is a limiting slot.
The surgical robot actuator according to claim 3, wherein the fixing system further comprises a second supporting and fixing mechanism, and the second supporting and fixing mechanism is arranged on one side of the opening cover, and the opening cover Are arranged side by side in the width direction of the surgical robot actuator; the second supporting and fixing mechanism includes a first clamping portion and a first clamping portion support seat, and the first clamping portion is disposed on the first clamping portion On the supporting seat, the first clamping portion is used for clamping and fixing the main body of the resectoscope manipulator.
The surgical robot actuator according to claim 1, wherein the fixing system further comprises a third supporting and fixing mechanism, and the third supporting and fixing mechanism is used to support and fix the optical fiber of the manipulator of the resectoscope The third supporting and fixing mechanism includes a second clamping portion and a second clamping portion support seat, the second clamping portion is provided on the second clamping portion support seat, and the second clamping portion is used for To clamp and fix the optical fiber connector.