CN103356294A - Auxiliary mechanical arm for soft lens operation and method for achieving same - Google Patents

Abstract

The invention discloses an auxiliary manipulator for soft mirror surgery, which comprises a base, a vertical upper and lower mechanical arm, a horizontal left and right mechanical arm, a front and rear retractable mechanical arm, a soft mirror holder, an up and down driving motor, a left and right driving motor, a front and rear Dimensional drive motor, shaft dimension drive motor and soft mirror dial dimension drive motor. The invention also discloses a realization method for the soft mirror operation auxiliary manipulator. The invention overcomes the problems in the prior art that the flexible instruments cannot be controlled accurately and multi-directionally, cannot cope with complex surgical conditions, the existing manipulators and flexible instruments have poor coordination effects, and the doctor's hand shakes during surgery, and has the advantages of simple structure, low cost and applicable It is suitable for soft mirror surgery, can cope with complex surgical situations, realizes five-dimensional movement of soft mirror, and has the characteristics of good use effect.

Description

An auxiliary manipulator for soft mirror surgery and its realization method

technical field

The invention relates to medical device technology, in particular to an auxiliary manipulator for soft mirror surgery and its realization method.

Background technique

With the advancement of flexible mirror technology, flexible ureteroscopy has gradually become the main operation in endourology. Compared with traditional rigid ureteroscope, flexible ureteroscope has a highly flexible and bendable mirror body, which can be bent freely, dexterously and conveniently. The human body naturally enters the urethra into the bladder through the ureteral orifice to the ureter to the renal pelvis and calyces. Due to the perfusion and working channels, the flexible ureteroscope can deal with various diseases of the renal collecting system, such as stones and tumors. Not only is it relatively safe, but also has a significant therapeutic effect. Compared with percutaneous nephroscopic treatment, it has the advantages of safer, less damage, and faster recovery. In the diagnosis and treatment of difficult-to-diagnose renal pelvis tumors, kidney stones, and upper ureteral stones, it has advantages that other equipment cannot match and replace. details as follows:

1) Inspection without blind spots: This is also the most prominent advantage of soft mirrors. Because the lens body is soft, and the head end of the lens body can be bent upwards and downwards at a large angle, so that no missed diagnosis can be seen, and blind spots that cannot be seen with hard mirrors can be seen.

2) Little damage: Due to the soft body of the mirror (similar to a urinary catheter) and thin diameter (<6Fr), under anesthesia, direct vision and gentle insertion will basically not cause damage to the urethra, bladder, ureter, etc. Compared with hard mirrors, soft mirrors are easier for patients to accept.

3) The visual field is relatively clear: the damage of the soft mirror is small, which can minimize the influence of traumatic hematuria on the observation, thereby ensuring a clear visual field. In addition, the soft mirror belongs to electronic digital imaging, which has extremely high image resolution, and can clearly detect early and small lesions, so that the disease can be effectively treated at an early stage, and the patient's curative effect is improved. The soft mirror can also transmit the digitized image to the computer through the image acquisition system, and even realize synchronous remote consultation through the Internet.

4) Low requirements for body position: patients can be examined in the lithotomy position, supine position and lateral position, especially suitable for patients who cannot be placed in the lithotomy position and internal organs position (patients with lower limb deformity, severe arthritis and hemiplegia) wait).

5) The urethra, bladder, ureter, renal pelvis, and the entire urinary tract system of each calices can be checked simultaneously: this cannot be done with rigid mirrors.

However, when performing flexible ureteroscopic surgery, in order to enter the mirror safely and find the opening of the renal calyx, especially when performing kidney stone surgery, it is necessary to rely on X-ray irradiation for positioning, and the surgeon is exposed to a large amount of radiation radiation. It is an urgent problem to realize the accurate and stable positioning of the soft mirror and avoid the hand tremor caused by the long-term fatigue of the doctor.

In recent years, there have been many inventions and applications of medical robots and manipulators at home and abroad. The more mature ones include DaVinci system, Zeus system, AESOP 3000 medical surgical robot, etc.

The DaVinci system mainly consists of a Surgeon Console; a bedside robotic arm tower (Patient Cart) equipped with four 7-DOF interactive arms and a high-precision 3D HD vision system (Vision Cart) constitute. With the help of high-tech equipment such as high-definition stereoscopic imaging, automatic control of multi-joint arms, and optical cable signal transmission, it has the advantages of three-dimensional high-definition surgical field, no shaking of the arm, fixed lens, wide range of motion, and large movement of equipment, and has changed The traditional mode in which the operator stands next to the operating table and the surgeon sits in front of the console to complete the whole operation process is in line with ergonomic principles and is more suitable for long-term complex operations. The system is widely used in general surgery, urology, and gynecological laparoscopic surgery.

The ZEUS robotic surgical system is produced by Computer Motion and is already available in Europe. The ZEUS system is similar to Da Vinci's device. It has a computer workstation, a video monitor, and control handles (for moving surgical instruments installed on the operating table). . The ZEUS system is currently only approved for medical trials in the United States, and German doctors have already used it for coronary heart disease bypass surgery.

The Aesop (AESOP) 3000 robot system was released by Computer Motion in 1994. AESOP is the first robot approved by the FDA that can be used in the operating room to assist surgery. Much simpler than the da Vinci and ZEUS systems, the AESOP is basically just a robotic arm that doctors use to position an endoscope -- a surgical camera inserted into a patient's body. A foot pedal or sound software is used by the doctor to position the camera, which leaves the doctor's hands free to continue the procedure. AESOP offers several forms of endoscope control, including voice control, manual positioning, and manual control.

There are following technical problems in the prior art:

(1) Existing manipulators are generally used to control rigid instruments, and there are certain limitations in manipulating flexible instruments, such as soft mirrors;

(2), the movement mode and clamping mode of the existing manipulator are easy to cause damage to the flexible instrument;

(3) Existing manipulators cannot realize precise and multi-directional control of flexible instruments;

(4) If the operation is performed manually, the doctor's hand will shake.

Contents of the invention

The purpose of the present invention is to overcome the shortcomings of the above prior art, and to provide a simple structure, low cost, suitable for soft mirror surgery, able to deal with complex surgical conditions, soft mirror to achieve five-dimensional movement and good use effect Auxiliary manipulator for soft mirror surgery.

Another object of the present invention is to provide a method for implementing an auxiliary manipulator for soft mirror surgery.

In order to achieve the above object, the present invention adopts the following technical solutions: an auxiliary manipulator for soft mirror surgery, including a base, vertical upper and lower mechanical arms, horizontal left and right mechanical arms, front and rear telescopic mechanical arms, soft mirror holders, and up and down drive Motor, left and right dimensional driving motor, front and rear dimensional driving motor, rotating shaft dimensional driving motor and soft mirror dial dimensional driving motor; wherein, the vertical upper and lower mechanical arms are provided with a first lead screw and a first lead screw nut, and the first lead screw nut Connected with the first slider, the upper and lower dimension drive motor drives the first screw to rotate, driving the first slider to slide, and the second screw and the second screw nut are arranged in the horizontal left and right mechanical arms, and the second screw nut and the second screw nut are connected to the second screw nut. The two sliders are connected, the left and right dimension driving motors drive the second lead screw to drive the second slider to slide, the first slider of the vertical upper and lower mechanical arms is connected with the second slider of the vertical upper and lower mechanical arms, and the front and rear telescopic mechanical arms are equipped with The third lead screw and the third lead screw nut, the third lead screw nut is connected with the third slide block, the front and rear dimension drive motor drives the third lead screw to drive the third slide block to slide, the third slide block of the front and rear telescopic mechanical arm is connected with the vertical One end of the straight upper and lower mechanical arms is connected, and one end of the front and rear telescopic mechanical arms is fixed on the surface of the shaft-dimensional drive motor. The device is connected with the soft mirror dial dimension drive motor, and the up and down dimension drive motors, left and right dimension drive motors, front and rear dimension drive motors, rotating shaft dimension drive motors and soft mirror dial dimension drive motors are respectively connected with the controller.

Preferably, the flexible mirror turning device is an "L"-shaped rotating shaft.

Preferably, the up and down dimension driving motors, left and right dimension driving motors, front and rear dimension driving motors, shaft dimension driving motors and soft mirror dial dimension driving motors are all stepping motors or servo motors.

Preferably, the flexible mirror holder includes a flexible mirror holder body, a flexible mirror clamping moving block, a flexible mirror dial fixing card, a first adjustment screw and a second adjustment screw; wherein, the flexible mirror dial is driven The motor passes through the body of the flexible mirror holder and is fixed on the flexible mirror holder body. The shaft of the flexible mirror dial is connected to the fixed card of the flexible mirror dial. screw, and the second adjustment screw is arranged on the fixing card of the soft mirror dial.

In order to facilitate mobile and fixed operations, the base is a mobile platform, and there are several installation positions inside the mobile platform. There are cable through holes on the side plate of the mobile platform, and more than one brake pad caster is provided at the bottom of the mobile platform. The bottom of the table is equipped with a jack device or a height-adjustable fixed foot, and the casters are raised during the operation to ensure that the mobile table is fixed.

A method for realizing an auxiliary manipulator for soft mirror surgery, comprising the following steps:

(1) When the manipulator needs to move vertically up and down, the controller controls the up and down drive motor, and the up and down drive motor drives the first lead screw on the vertical up and down mechanical arm to rotate, and the first lead screw drives the first slider to slide , the movement of the first slider makes the flexible mirror holder move vertically up and down;

(2) When the manipulator needs to move horizontally left and right, the controller controls the left and right dimension drive motors, and the left and right dimension drive motors drive the second screw on the horizontal left and right mechanical arms to rotate, the second screw drives the second slider to slide, and the second screw drives the second slider to slide. The movement of the second slider makes the flexible mirror holder move horizontally left and right;

(3) When the manipulator needs to do forward and backward telescopic movements, the controller controls the front and rear dimension drive motors, and the front and rear dimension drive motors drive the third lead screw on the front and rear telescopic manipulators to rotate, and the third lead screw drives the third slider to slide. The movement of the three sliders makes the flexible mirror holder move back and forth;

(4) When the manipulator needs to move the rotating shaft, the controller controls the driving motor of the rotating shaft, and the driving motor of the rotating shaft drives the rotating device of the soft mirror to rotate, so that the holder of the soft mirror can move about the rotating shaft;

(5) When the manipulator needs to move the dial, the controller controls the dimensional drive motor of the soft mirror dial. sports.

When the steps (4) and (5) are carried out simultaneously, the flexible mirror holder drives the flexible mirror to do flexion forward and backward of the flexible mirror.

The controller in the steps (1) to (5) is a control console with input devices.

Compared with the prior art, the present invention has the following advantages and effects:

1. The present invention adopts a base, a vertical upper and lower mechanical arm, a horizontal left and right mechanical arm, a front and rear telescopic mechanical arm, a soft mirror holder, an upper and lower dimension drive motor, a left and right dimension drive motor, a front and rear dimension drive motor, and a rotating shaft dimension drive motor. And the soft mirror dial-dimensional driving motor has the characteristics of simple structure, low cost, suitable for soft mirror surgery, can deal with complicated surgical situations, realize five-dimensional movement of the soft mirror, and have good use effects.

2. The present invention can control the front and back flexion of the flexible mirror through the flexible mirror rotating device, the flexible mirror dial fixing card, the rotating shaft dimension driving motor and the flexible mirror dial dimension driving motor, so as to cope with complicated surgical situations.

4. For the upper and lower dimension drive motors, the left and right dimension drive motors, the front and rear dimension drive motors, the rotating shaft dimension drive motors and the soft mirror dial dimension drive motors in the present invention, first set the position and angle accuracy of each motor, and then control each motor continuously through signals. tiny control.

5. The present invention replaces the doctor's artificial hand operation, and the manipulator has high stability, prevents shaking, avoids danger, and improves the probability of successful operation.

6. The present invention realizes five-dimensional movement by controlling the rotation of each motor, with flexible movement, no surgical dead angle, and good application effect.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of an auxiliary manipulator for soft mirror surgery;

Fig. 2 is a structural schematic diagram of the vertical upper and lower mechanical arms, the horizontal left and right mechanical arms, and the front and rear telescopic mechanical arms in the present invention;

Fig. 3 is a schematic diagram of the connection structure of the front and rear telescopic mechanical arms and the flexible mirror holder in the present invention;

Fig. 4 is a schematic diagram of the connection structure between the flexible mirror holder and the flexible mirror in the present invention;

Fig. 5 is a schematic structural view of the flexible mirror holder in the present invention.

The labels and names in the figure are as follows:

1 base 2 Vertical up and down mechanical arm

3 Horizontal left and right mechanical arms 4 Front and rear telescopic arm 5 Soft Mirror Holder 6 Up and down dimension drive motor 7 left and right drive motor 8 Front and rear dimension drive motor 9 Shaft drive motor 10 Dimensional drive motor for soft mirror dial 11 1st lead screw 12 1st lead screw nut 13 first slider 14 Second screw 15 Second screw nut 16 second slider 17 third lead screw 18 Third screw nut 19 third slider 20 Soft mirror rotation device twenty one Soft mirror holder body twenty two Soft mirror clamping moving block twenty three Soft Mirror Dial Fixing Card twenty four first adjusting screw 25 Second adjusting screw 26 Casters 27 soft mirror

Detailed ways

For the convenience of those skilled in the art to understand, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

Example 1:

As shown in Figures 1 to 5, an auxiliary manipulator for soft mirror surgery includes a base 1, a vertical upper and lower mechanical arm 2, a horizontal left and right mechanical arm 3, a front and rear telescopic mechanical arm 4, a soft mirror holder 5, and an up and down dimensioning arm. Drive motor 6, left and right dimension drive motor 7, front and rear dimension drive motor 8, rotating shaft dimension drive motor 9 and soft mirror dial dimension drive motor 10; Wherein, as shown in Figure 2, vertical mechanical arm 2 is provided with first wire The rod 11 is connected to the first lead screw nut 12, and the first lead screw nut 12 is connected to the first slider 13. The upper and lower dimension driving motor 6 drives the first lead screw 11 to rotate, and drives the first slider 13 to slide. The horizontal left and right mechanical arms 3 The second lead screw 14 and the second lead screw nut 15 are arranged inside, and the second lead screw nut 15 is connected with the second slide block 16. The left and right dimension drive motor 7 drives the second lead screw 14 to drive the second slide block 16 to slide. A slide block 13 is connected with the second slide block 16, and the front and rear telescopic mechanical arm 4 is provided with a third lead screw 17 and a third lead screw nut 18, and the third lead screw nut 18 is connected with the third slide block 19, and the front and rear dimension driving motors 8 Drive the third lead screw 17 to drive the third slider 18 to slide, the third slider 18 is connected to one end of the vertical upper and lower mechanical arms 2, the surface of the front and rear telescopic mechanical arms 4 is fixed to the rotating shaft dimension driving motor 9, and the rotating shaft dimension driving motor 9 One end of the flexible mirror rotating device 20 is rotationally connected, and the other end of the flexible mirror rotating device 20 is connected with the flexible mirror holder 5, and the flexible mirror holder 5 is connected with the flexible mirror dial dimension drive motor 10, the up and down dimension driving motor 6, the left and right dimension Drive motor 7, front and rear dimension drive motor 8, rotating shaft dimension drive motor 9 and soft mirror dial dimension drive motor 10 are respectively connected with controller, vertical up and down mechanical arm 2, horizontal left and right mechanical arm 3, front and rear telescopic mechanical arm 4 can be any The connection mode forms a Cartesian coordinate system movement.

The flexible mirror rotating device 20 in this embodiment is an "L" shaped rotating shaft, with an up and down dimension driving motor 6, a left and right dimension driving motor 7, a front and rear dimension driving motor 8, a rotating shaft dimension driving motor 9 and a soft mirror dial dimension driving motor 10 All are stepper motors, and the controller is a control console with input devices.

As shown in Figures 4 and 5, the flexible mirror holder 5 includes a flexible mirror holder body 21, a flexible mirror clamping moving block 22, a flexible mirror dial fixing card 23, a first adjustment screw 24 and a second adjustment screw 25 Wherein, the flexible mirror dial dimension drive motor 10 passes through the flexible mirror holder body 5 and is fixed on the soft mirror holder body 5, the shaft of the soft mirror dial dimension drive motor 10 and the flexible mirror dial fixed card 23 Rotationally connected, the flexible mirror clamping moving block 22 is provided with a first adjusting screw 24 , and the flexible mirror dial fixing card 23 is provided with a second adjusting screw 25 .

The base 1 in this embodiment is a mobile platform, the interior of the mobile platform is provided with several installation positions, the side plate of the mobile platform is provided with a cable through hole, the bottom of the mobile platform is provided with more than one brake pad wheel caster 26, and the bottom of the mobile platform Equipped with a jack device, the caster 26 is raised during the operation to ensure that the mobile platform is fixed.

A method for realizing an auxiliary manipulator for soft mirror surgery, comprising the following steps:

(1), when the manipulator needs to move vertically up and down, the controller controls the up and down dimension drive motor 6, and the up and down dimension drive motor 6 drives the first lead screw 11 on the vertical up and down mechanical arm 2 to rotate, and the first lead screw 11 drives The first slider 13 slides, and the movement of the first slider 13 makes the flexible mirror holder 5 move vertically up and down;

(2), when the manipulator needs to move horizontally left and right, the controller controls the left and right dimension drive motor 7, and the left and right dimension drive motor 7 drives the second leading screw 14 on the horizontal left and right mechanical arms 3 to rotate, and the second leading screw 14 drives the second leading screw 14. The slider 16 slides, and the movement of the second slider 16 makes the flexible mirror holder 5 move horizontally left and right;

(3), when the manipulator needs to do forward and backward telescopic movement, the controller controls the front and rear dimension drive motor 8, and the front and rear dimension drive motor 8 drives the rotation of the third leading screw 17 on the front and rear telescopic mechanical arm 4, and the third leading screw 17 drives the third leading screw 17. The slide block 19 slides, and the movement of the third slide block 19 makes the flexible mirror holder 5 do telescopic movement back and forth;

(4), when the manipulator needs to do the rotating shaft movement, the controller controls the rotating shaft dimension driving motor 9, and the rotating shaft dimension driving motor 9 drives the flexible mirror turning device 20 to rotate, so that the flexible mirror holder 5 performs the rotating shaft movement;

(5), when the manipulator needs to do the dial movement, the controller controls the soft mirror dial dimension drive motor 10, and the soft mirror dial dimension drive motor 10 drives the soft mirror dial fixed card 23 to rotate, thereby making the soft mirror holder 5 Do the dial movement.

When the steps (4) and (5) are performed at the same time, the flexible mirror holder 5 drives the flexible mirror 27 to perform flexion forward and backward movement of the flexible mirror.

The controller in the steps (1) to (5) is a control console with input devices.

The above-mentioned control method can be used in scientific research prostheses for surgical or non-medical purposes, and the specific control method of this embodiment acts on the prosthesis. For specific practical applications, the following operations can be performed:

Firstly, the flexible scope 27 enters the urethra and ureter of the prosthesis through the ureteral guide sheath, and is sent into the renal pelvis, and then the handle of the flexible scope is manually placed and fixed on the flexible scope holder 5 as required. Display the whole process of the soft mirror entering the renal collection system on the touch screen (with the function of displaying images), including the renal pelvis, upper calyx, middle calyx, and lower calyx, and observe the renal collection system; click the corresponding function button on the touch screen of the control console to start Control the excitation equipment of the holmium laser to emit the holmium laser; during the operation, turn on the flow rate and water pressure of the perfusion water through the control console to control the perfusion water to increase the clarity of the field of view; when entering the renal collection system, turn on the control X-ray exposure equipment Carry out X-ray irradiation to determine the position of the flexible mirror 27; during the operation, check the renal collecting system at any time through the touch screen, and simultaneously perform X-ray irradiation to determine the actual position of the soft mirror. According to the surgical procedures of the soft mirror, operate the operating handle on the control console, or click the corresponding function button on the touch screen to operate the up and down, front and back, left and right movements of the robotic arm, and the rotation and slewing movement of the robotic arm. Simultaneously, according to actual situation, can control the brake pad caster 26 of mobile platform, carry out emergency braking, and then control the up and down, front and back, left and right, rotation and rotary motion of soft mirror 27, adjust soft mirror 27 position and state.

Example 2

The difference between this embodiment and Embodiment 1 is that: the upper and lower dimension drive motors 6, the left and right dimension drive motors 7, the front and rear dimension drive motors 8, the rotating shaft dimension drive motor 9 and the soft mirror dial dimension drive motor 10 are all servo motors. The bottom of the table is equipped with height-adjustable fixed feet. During the specific operation, the flexible scope is first inserted into the urethra and ureter of the prosthesis through the ureteral guide sheath, and sent into the renal pelvis, and then the handle of the flexible scope is manually placed and fixed on the flexible scope holder according to the requirements. Display the whole process of the soft mirror entering the renal collection system on the touch screen (with the function of displaying images), including the renal pelvis, upper calyx, middle calyx, and lower calyx, and observe the renal collection system; click the corresponding function button on the touch screen of the control console to start Control the excitation equipment of the holmium laser to emit the holmium laser; during the operation, turn on the flow rate and water pressure of the perfusion water through the control console to control the perfusion water to increase the clarity of the field of view; when entering the renal collection system, turn on the control X-ray exposure equipment Carry out X-ray irradiation to determine the position of the soft mirror; open and control the high-pressure imaging equipment for contrast through the control console; during the operation, check the renal collection system at any time through the touch screen, and perform X-ray irradiation to determine the actual position of the soft mirror. According to the surgical procedure of soft mirror, operate the operating handle on the control console, or click the corresponding function button on the touch screen to operate the up and down, front and rear, left and right movements of the robotic arm, and the rotation and rotary motion of the robotic arm. At the same time, according to the actual situation, the movement can be controlled The brake pads and casters of the platform are used for emergency braking, and then the up and down, front and rear, left and right, rotation and rotary motions of the soft mirror 27 are controlled, and the position and state of the soft mirror 27 are adjusted.

The specific implementation described above is a preferred embodiment of the present invention, and does not limit the present invention. Any other changes or other equivalent replacement methods that do not deviate from the technical solution of the present invention are included in the scope of protection of the present invention. within.

Claims (8)

1. An auxiliary manipulator for soft mirror surgery, characterized in that it includes a base, a vertical upper and lower mechanical arm, a horizontal left and right mechanical arm, a front and rear telescopic mechanical arm, a soft mirror holder, an up and down dimension drive motor, and a left and right dimension drive motor , front and rear dimension drive motors, rotating shaft dimension drive motors and soft mirror dial dimension drive motors; wherein, the vertical upper and lower mechanical arms are provided with a first lead screw and a first lead screw nut, and the first lead screw nut is connected with the first slider , the upper and lower dimension drive motors drive the first screw to rotate, and drive the first slider to slide. The horizontal left and right mechanical arms are equipped with a second screw and a second screw nut, and the second screw nut is connected to the second slider. The dimensional drive motor drives the second lead screw to drive the second slider to slide. The first slider of the vertical upper and lower mechanical arms is connected with the second slider of the vertical upper and lower mechanical arms. The front and rear telescopic mechanical arms are provided with a third lead screw and a second slider. Three lead screw nuts, the third lead screw nut is connected with the third slider, the front and rear dimension driving motor drives the third lead screw to drive the third slider to slide, the third slider of the front and rear telescopic manipulator is connected with one end of the vertical up and down manipulator arm One end of the front and rear telescopic manipulator is fixedly connected to the shaft-dimensional driving motor, and the rotating shaft-dimensional driving motor is connected to one end of the flexible mirror rotating device, and the other end of the flexible mirror rotating device is connected to the flexible mirror holder, and the flexible mirror holder is connected to the flexible mirror dial. The three-dimensional drive motor is connected, the upper and lower dimension drive motors, the left and right dimension drive motors, the front and rear dimension drive motors, the rotating shaft dimension drive motor and the soft mirror dial dimension drive motor are respectively connected with the controller. 2. The auxiliary manipulator for soft mirror surgery according to claim 1, characterized in that: the rotating device of the soft mirror is an "L"-shaped rotating shaft. 3. The auxiliary manipulator for soft mirror surgery according to claim 1, characterized in that: the upper and lower dimension drive motors, the left and right dimension drive motors, the front and rear dimension drive motors, the rotating shaft dimension drive motor and the soft mirror dial dimension drive motor Both are stepper motors or servo motors. 4. The auxiliary manipulator for flexible mirror surgery according to claim 1, characterized in that: the flexible mirror holder includes a flexible mirror holder body, a flexible mirror clamping moving block, a flexible mirror dial fixing card, The first adjustment screw and the second adjustment screw; wherein, the flexible mirror dial maintenance drive motor passes through the flexible mirror holder body and is fixed on the flexible mirror holder body, and the shaft of the flexible mirror dial maintenance drive motor is in contact with the flexible mirror The dial fixing card is rotatably connected, the flexible mirror clamping moving block is provided with a first adjusting screw, and the flexible mirror dial fixing card is provided with a second adjusting screw. 5. The assisting manipulator for soft mirror surgery according to claim 1, characterized in that: the base is a mobile platform, a number of mounting positions are provided inside the mobile platform, and a cable through hole is opened on one side of the mobile platform. The bottom of the mobile platform is equipped with more than one brake pad caster, and the bottom of the mobile platform is equipped with a jack device or a fixed foot with adjustable height. During the operation, the casters are raised to ensure that the mobile platform is fixed. 6. A method for realizing an auxiliary manipulator for soft mirror surgery, comprising the following steps: (1) When the manipulator needs to move vertically up and down, the controller controls the up and down drive motor, and the up and down drive motor drives the first lead screw on the vertical up and down mechanical arm to rotate, and the first lead screw drives the first slider to slide , the movement of the first slider makes the flexible mirror holder move vertically up and down; (2) When the manipulator needs to move horizontally left and right, the controller controls the left and right dimension drive motors, and the left and right dimension drive motors drive the second screw on the horizontal left and right mechanical arms to rotate, the second screw drives the second slider to slide, and the second screw drives the second slider to slide. The movement of the second slider makes the flexible mirror holder move horizontally left and right; (3) When the manipulator needs to do forward and backward telescopic movements, the controller controls the front and rear dimension drive motors, and the front and rear dimension drive motors drive the third lead screw on the front and rear telescopic manipulators to rotate, and the third lead screw drives the third slider to slide. The movement of the three sliders makes the flexible mirror holder move back and forth; (4) When the manipulator needs to move the rotating shaft, the controller controls the driving motor of the rotating shaft, and the driving motor of the rotating shaft drives the rotating device of the soft mirror to rotate, so that the holder of the soft mirror can move about the rotating shaft; (5) When the manipulator needs to move the dial, the controller controls the dimensional drive motor of the soft mirror dial. sports. 7. The method for realizing the auxiliary manipulator for soft mirror surgery according to claim 6, characterized in that: when the steps (4) and (5) are carried out simultaneously, the soft mirror holder drives the soft mirror to do the front and back of the soft mirror flexion exercise. 8 . The method for realizing an auxiliary manipulator for soft mirror surgery according to claim 9 , wherein the controller in the steps (1) to (5) is a control console with an input device.

Images