CN104783900B - Follow-up type nasal endoscope operation auxiliary robot - Google Patents

Abstract

The invention provides a follow-up auxiliary robot for nasal endoscopic surgery, which includes a guide rail adapter that can be adapted to the guide rails of different operating beds, an automatic lifting device that is connected to the guide rail adapter and lifts in a direction perpendicular to the operating bed. mechanism, an automatic telescopic mechanism connected to the end of the automatic lifting mechanism and telescopic in a plane parallel to the operating bed, a two-degree-of-freedom RCM mechanism connected to the end of the automatic telescopic mechanism, connected to the end of the RCM mechanism and driving the nasal endoscope The automatic end adjustment mechanism for depth feed and angle compensation, and the controller for controlling the action of the automatic lifting mechanism, automatic telescopic mechanism, RCM mechanism and automatic end adjustment mechanism. The robot replaces the doctor to hold the nasal endoscope during the operation, and makes timely and appropriate adjustments with the surgical instruments, liberates the doctor's left hand, solves the shaking of the screen during the operation, reduces the labor intensity of the doctor, and reduces complications.

Description

Follow-up robot for nasal endoscopic surgery

technical field

The invention belongs to the field of medical equipment, and in particular relates to a follow-up auxiliary robot for nasal endoscopic surgery.

Background technique

The main purpose of endoscopic sinus surgery is to remove nasal lesions and restore nasal ventilation. The traditional nasal endoscopic surgery method is that the surgeon holds the mirror in his left hand and performs the operation with his right hand. This surgical method has the following problems:

First, the surgeon needs one hand to hold the nasal endoscope, so he only has one hand to perform other surgical operations, and one-handed operation has many limitations, and some complex operations (such as resection operations) are difficult to complete with one hand. Requires two hands to operate. When two-handed operation is required, doctors often rely on assistants to hold the mirror, and communication and coordination between doctors and assistants is also a problem;

Second, holding the mirror for a long time will cause the surgeon's muscle soreness, it is difficult to maintain the stability of the operation for a long time, it is easy to cause the operation screen to shake, and cause misoperation. trauma.

In order to solve the problem of the doctor’s left hand holding the mirror for a long time, a device is proposed to assist the doctor to clamp the nasal endoscope. The existing passive nasal endoscope clamping mechanism often uses pneumatic or hydraulic pressure to achieve joint locking, although it can replace the doctor’s left hand. Holding the mirror, but still can not achieve full follow-up. During the operation, the doctor needs to frequently adjust the position and posture of the robotic arm to adjust the field of view of the nasal endoscope. The adjustment process is cumbersome; the joint will shake during the adjustment process, which will affect the operation. vision.

The existing follow-up nasal endoscopic surgery auxiliary robot has complex structure, high cost and large volume, and the robot easily interferes with surgical instruments in a limited surgical space.

Contents of the invention

The purpose of the present invention is to provide a follow-up nasal endoscopic surgery auxiliary robot, aiming to solve the problem of operational limitations caused by the hand-held nasal endoscopic surgery method in the prior art.

The present invention is achieved in this way, a follow-up nasal endoscopic surgery auxiliary robot, which includes a guide rail adapter that can be adapted to the guide rails of different operating beds, is connected to the guide rail adapter and is perpendicular to the operating bed The automatic lifting mechanism that lifts in the direction of the automatic lifting mechanism, the automatic telescopic mechanism that is connected to the end of the automatic lifting mechanism and expands and contracts in a plane parallel to the operating bed, and the two-degree-of-freedom RCM mechanism that is connected to the end of the automatic telescopic mechanism , an automatic terminal adjustment mechanism that is connected to the end of the RCM mechanism and drives the nasal endoscope to perform depth feed and angle compensation, and controls the automatic lifting mechanism, the automatic telescopic mechanism, the RCM mechanism and the automatic terminal adjustment The controller for the action of the mechanism.

Further, the automatic lifting mechanism includes a base, a top seat opposite to the base, a lifting table arranged between the base and the top seat, a screw nut fixed on the lifting table, and the The lead screw engaged with the lead screw nut, the support column supported between the lifting platform and the top seat, and the driving mechanism that drives the screw to rotate to drive the lifting platform up and down, one end of the automatic telescopic mechanism fixed on the top seat.

Further, the automatic lifting mechanism also includes a ball spline pair fixed bracket arranged between the lifting platform and the top seat, a shaft sleeve fixed on the lifting platform, and a shaft sleeve passing through the shaft sleeve. The spline rod, the opposite ends of the spline rod are respectively fixed on the ball spline pair fixing frame and the base, the first end of the screw is connected to the base in rotation, the wire The second end of the rod opposite to the first end passes through the screw nut and is fixed on the ball spline pair fixing frame.

Further, the drive mechanism includes a motor fixed on the base, a first synchronous pulley fixedly connected to the output shaft of the motor, a second synchronous belt fixedly connected to the first end of the lead screw pulley and a synchronous belt sheathed on the first synchronous pulley and the second synchronous pulley.

Further, there are several shaft sleeves, and the several shaft sleeves are evenly distributed around the screw nut, and the spline rod is installed corresponding to each of the shaft sleeves.

Further, the automatic retractable mechanism includes several rotating joint supports that are sequentially connected in rotation and a rotating mechanism that drives two adjacent rotating joint supports to rotate relative to each other. The support is fixed at the end of the automatic lifting mechanism, and the rotating joint support at the end of the several rotating joint supports is rotatably connected to the head end of the RCM mechanism.

Further, the RCM mechanism includes a head end base, an end feed base, and four symmetrically arranged left and right connecting rod groups that are rotationally connected to the end of the automatic telescopic mechanism, and the four connecting rod groups are connected to the first end The end base and the end feed base are combined to form two rotatably connected parallelogram mechanisms, and a motor is installed inside the head end base, and the motor drives one of the parallelogram mechanisms to rotate.

Further, the automatic end adjustment mechanism includes a guide rail fixed at the end of the RCM mechanism, a sliding sleeve slidably installed on the guide rail, a lead screw nut fixed on the sliding sleeve, connected to the guide rail opposite The two vertical plates at both ends, the lead screw that is rotatably connected between the two vertical plates and engaged with the screw nut, and the first screw that drives the screw to rotate to drive the screw nut to move. Drive mechanism, a support fixed on the screw nut, a turntable mounted on the support, a nasal endoscope clip fixed on the turntable, and a second device for driving the turntable to rotate Two driving mechanisms.

Further, the first driving mechanism includes a first motor, a first synchronous pulley fixed on the output shaft of the first motor, a second synchronous pulley fixed on the lead screw and sleeved on the The first synchronous pulley and the first synchronous belt on the second synchronous pulley; the second drive mechanism includes a second motor fixed on the support, an output shaft fixed to the second motor The third synchronous pulley on the top, the fourth synchronous pulley fixed on the support, and the second synchronous belt sheathed on the third synchronous pulley and the fourth synchronous pulley.

Further, the guide rail adapter includes a U-shaped frame, and the U-shaped frame includes two side rails parallel to each other and a horizontal rail connected between the two side rails, and the guide rail adapter also includes a A first slider on the side rail and fixedly connected to the edge of the operating bed and a second slider slidably installed on the horizontal rail, the first slider and the second slider When the block slides to a predetermined position, it is respectively fixed on the side rail and the horizontal rail by being fixed in two vertical directions, and the bottom end of the automatic lifting mechanism is fixed on the second sliding block.

The present invention proposes a follow-up nasal endoscopic surgery auxiliary robot on the basis of analyzing the existing operation mode and the shortcomings of the existing technology. The follow-up nasal endoscopic surgery auxiliary robot replaces the doctor to hold the nasal endoscope during the operation, and makes timely and moderate adjustments with the surgical instruments, so that the surgical field of view is automatically and stably presented in front of the doctor, freeing the doctor's left hand and changing to one-handed operation It is operated with both hands, which solves the problem of image shaking during surgery, and combines the advantages of stable movement, accurate positioning, compact structure, safety and reliability of the robot with the experience of the surgeon, thereby improving the quality of surgery, reducing the labor intensity of the doctor, and reducing complication.

Description of drawings

Fig. 1 is a schematic diagram of the structure of a follow-up nasal endoscopic surgery assisting robot provided by an embodiment of the present invention in use.

Fig. 2 is a partially enlarged view of the follow-up nasal endoscopic surgery assisting robot in Fig. 1 .

Fig. 3 is a three-dimensional structural view of the guide rail adapter of the follow-up nasal endoscopic surgery auxiliary robot in Fig. 1 .

Fig. 4 is a three-dimensional structural view of the automatic lifting mechanism of the follow-up nasal endoscopic surgery auxiliary robot in Fig. 1 .

Fig. 5 is a three-dimensional structural view of the automatic lifting mechanism of the follow-up nasal endoscopic surgery auxiliary robot in Fig. 4 after removing the shell.

Fig. 6 is a three-dimensional structural view of the automatic retractable mechanism of the follow-up nasal endoscopic surgery assisting robot in Fig. 1 .

Fig. 7 is a three-dimensional structure diagram of the RCM mechanism of the follow-up nasal endoscopic surgery assisting robot in Fig. 1 .

Fig. 8 is a three-dimensional structural diagram of the automatic end adjustment mechanism of the follow-up nasal endoscopic surgery auxiliary robot in Fig. 1 .

detailed description

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. It should be noted that the terms “first”, “second”, etc. involved in the description are used to distinguish components with the same function, and do not limit the scope of protection.

Referring to Fig. 1 and Fig. 2, the follow-up nasal endoscopic surgery auxiliary robot provided by the embodiment of the present invention includes a guide rail adapter 100 that can be adapted to guide rails of different operating beds 105, is connected to the guide rail adapter 100 and The automatic lifting mechanism 200 that lifts up and down in the direction perpendicular to the operating bed 105, the automatic telescopic mechanism 300 that is connected to the end of the automatic lifting mechanism 200 and stretches in a plane parallel to the operating bed 105, is connected to the automatic The two-degree-of-freedom RCM mechanism 400 at the end of the telescopic mechanism 300, the automatic end adjustment mechanism 500 that is connected to the end of the RCM mechanism 400 and drives the nasal endoscope 10 for depth feeding and angle compensation, and controls the automatic lifting mechanism 200 , the controller (not shown) for the operation of the automatic telescopic mechanism 300, the RCM mechanism 400 and the automatic terminal adjustment mechanism 500.

The present invention proposes a follow-up nasal endoscopic surgery auxiliary robot on the basis of analyzing the existing operation mode and the shortcomings of the existing technology. The follow-up nasal endoscopic surgery auxiliary robot replaces the doctor to hold the nasal endoscope 10 during the operation, and makes timely and moderate adjustments following the surgical instruments, so that the surgical field of view is automatically and stably presented in front of the doctor, freeing the doctor's left hand and becoming one-handed. The operation is two-handed operation, which solves the problem of image shaking during the operation, and combines the advantages of stable movement, accurate positioning, compact structure, safety and reliability of the robot with the experience of the surgeon, thereby improving the quality of the operation and reducing the labor intensity of the doctor. Reduce complications.

The guide rail adapter 100 is used to securely fix the main body of the robot at a suitable position on the guide rail of the operating bed 105 .

The automatic lifting mechanism 200 and the automatic telescopic mechanism 300 are mainly used to initialize the position of the robot before the operation, adjust the position of the nasal endoscope 10 during the operation, and send the end of the nasal endoscope 10 to the target operation area;

The RCM mechanism 400 and the automatic terminal adjustment mechanism 500 are mainly used to initialize the robot posture before operation and adjust the robot posture during operation, so that the surgeon can observe the complex nasal cavity structure.

Please also refer to FIG. 3, the guide rail adapter 100 includes a U-shaped frame 103, and the U-shaped frame 103 includes two side rails 104 parallel to each other and a cross rail 106 connected between the two side rails 104. The rail adapter 100 also includes a first sliding block 101 slidably mounted on the two side rails 104 and fixedly connected to the edge of the operating bed 105 and a second sliding block slidably mounted on the cross rail 106 block 102, the first slider 101 and the second slider 102 are respectively fixed on the side rail 104 and the cross rail 106 by fixing in two vertical directions when sliding to a predetermined position, The bottom end of the automatic lifting mechanism 200 is fixed on the second sliding block 102 .

The function of the first slider 101 is to fix the U-shaped frame 103 and the guide rails on both sides of the operating bed 105 together, and each guide rail on both sides of the operating bed 105 has a first slider 101 . The fixing of the first slider 101 and the guide rail of the operating bed 105 and the fixing of the first slider 101 and the U-shaped frame 103 are respectively fixed by two sets of screws from the outside of the operating bed 105 and the lower side of the guide rail, and this fixing method is realized Fixation in two perpendicular directions. The first slider 101 can well fix the U-shaped frame 103 and the guide rail of the operating bed 105 together, ensuring the stability of the robot base. The function of the second slide block 102 is to firmly connect the whole robot with the U-shaped frame 103 .

Please refer to FIG. 4 and FIG. 5 at the same time, the automatic lifting mechanism 200 includes a base 204, a top seat 211 opposite to the base 204, a lifting platform 207 arranged between the base 204 and the top seat 211, a fixed The lead screw nut 212 on the lifting table 207, the lead screw 205 engaged with the lead screw nut 212, the support column 210 supported between the lifting table 207 and the top seat 211, and the driving screw The bar 205 rotates to drive the first driving mechanism for lifting the lifting platform 207 up and down, and one end of the automatic telescopic mechanism 300 is fixed on the top base 211 . Simply by the rotation of the lead screw 205, the lifting platform 207 is driven to move up and down, and the support column 210 on the lifting platform 207 is used to drive the top seat 211 to move up and down, so that the automatic telescopic mechanism 300 can be driven to move up and down.

In order to make the lifting of the automatic lifting mechanism 200 more stable and smooth, the automatic lifting mechanism 200 also includes a ball spline secondary fixing bracket 209 arranged between the lifting table 207 and the top seat 211, fixed on the lifting The shaft sleeve 208 on the platform 207 and the spline rod 206 passing through the shaft sleeve 208, the opposite ends of the spline rod 206 are respectively fixed on the ball spline pair fixing frame 209 and the base 204 Above, the first end of the screw 205 is rotatably connected to the base 204, and the second end of the screw 205 opposite to the first end passes through the screw nut 212 and is fixed on the ball flower On the key pair fixed frame 209.

Further, there are several shaft sleeves 208 , and the several shaft sleeves 208 are evenly distributed around the screw nut 212 , and the spline rod 206 is installed corresponding to each of the shaft sleeves 208 . In this embodiment, there are three shaft sleeves 208 and three spline rods 206 .

The first drive mechanism includes a first motor 201 fixed on the base 204, a first synchronous pulley 202 fixedly connected to the output shaft of the first motor 201, a first synchronous pulley 202 fixedly connected to the lead screw 205 The second synchronous pulley 203 on one end and a synchronous belt (not shown) sheathed on the first synchronous pulley 202 and the second synchronous pulley 203 .

The bottom of the automatic lifting mechanism 200 is fixed on the second slide block 102 . The first motor 201 is fixed on the base 204 . The first synchronous pulley 202 is fixed on the output shaft of the first motor 201 . The rotation shaft of the first synchronous pulley 202 and the first motor 201 cannot rotate relative to each other. The second synchronous pulley 203 is fixed on the bottom of the leading screw 205, and the two can not rotate relative to each other. The first synchronous pulley 202 and the second synchronous pulley 203 rotate synchronously through the synchronous belt. The lead screw 205 is mounted on the base 204 through rolling bearings. The other end of the leading screw 205 is installed on the ball spline auxiliary fixing frame 209 through a rolling bearing. The lead screw nut 212 fits on the lead screw 205 and is fixed in the middle of the lifting platform 207 . Three ball spline pairs are evenly distributed around the lead screw 205 . The two ends of the spline rod 206 of the ball spline pair are respectively fixed on the ball spline pair fixing frame 209 and the base 204 . The three ball spline bushings 208 are evenly fixed on the lifting platform 207 and fitted on the spline rods 206 of the three ball spline pairs respectively. The lifting platform 207 can move up and down along the spline rod 206 of the ball spline pair along with the ball spline bushing 208 .

The function of the ball spline pair mainly has two points: (1) it is used to limit the circumferential movement of the lifting platform 207; The mechanism plays a supporting role; three supporting columns 210 are evenly fixed on the lifting platform 207 . The other end of the support column 210 is fixed on the top base 211 . The first shell 213 and the second shell 214 are respectively fixed on the base 204 and the lifting platform 207 .

The working principle of the automatic lifting mechanism 200 is as follows: the first motor 201 drives the first synchronous pulley 202 to rotate. The motion is transferred to the second timing pulley 203 via the timing belt. The second synchronous pulley 203 drives the lead screw 205 to rotate, and the lead screw nut 212 matched with the lead screw 205 drives the lifting platform 207 to move up and down along the spline rod 206 of the ball spline pair. The top base 211 moves up and down together with the lifting platform 207, thereby realizing the adjustment of the position of the nasal endoscope 10 in the vertical direction.

Please refer to Fig. 6 at the same time, the automatic retractable mechanism 300 includes a number of rotating joint supports 30 connected in turn and a rotating mechanism 40 that drives two adjacent rotating joint supports 30 to rotate relative to each other. The swivel joint support 30 at the head end among the 30 is fixed at the end of the automatic lifting mechanism 200, and the swivel joint support 30 at the end among the several swivel joint supports 30 is rotatably connected to the head end of the RCM mechanism 400 . Among the several rotating joint supports 30 , the rotating joint support 30 located at the head end is fixed on the top base 211 . The rotation between the rotating joint supports 30 is horizontal rotation.

The rotating mechanism 40 includes a second motor 304 and a reducer (not shown) connected to the second motor 304, and the output end of the reducer is connected to the next-stage rotating joint in two adjacent rotating joint supports 30 On the support 30.

In this embodiment, the automatic retractable mechanism 300 includes three rotating joint supports 30 , which are respectively defined as a first rotating joint support 303 , a second rotating joint support 302 , and a third rotating joint support 301 . The bottom of the first rotating joint support 303 is fixed on the top base 211 . A second motor 304 is fixed above the first rotating joint support 303 . One side of the second rotating joint support 302 is embedded in the groove 307 of the first rotating joint support 303 and installed on the output end of the reducer fixed with the second motor 304 . Thus, the second motor 304 can drive the second rotary joint support 302 to rotate. The third motor 305 drives the third rotary joint support 301 to rotate in the same manner. In addition, each joint is equipped with a limit position photoelectric switch for preoperative zero return operation and robot safety protection.

A second driving mechanism 50 is connected between the rotating joint supporting body 30 (that is, the third rotating joint supporting body 301 ) at the end of the plurality of rotating joint supporting bodies 30 and the RCM mechanism 400 , and the second driving mechanism 50 includes The fourth motor 306 is arranged in the rotating joint support 30 at the end. The output of the fourth motor 306 is connected to the input of the RCM mechanism 400 , and the fourth motor 306 can drive the RCM mechanism 400 to rotate as a whole.

Please refer to FIG. 7 at the same time, the RCM mechanism 400 includes a head end base 401 rotatably connected to the end of the automatic telescopic mechanism 300, an end feed base 409, and four connecting rod groups 405, 406, which are arranged symmetrically left and right. 407, 408, the four connecting rod groups 405, 406, 407, 408 are combined with the head end base 401 and the end feed base 409 to form two parallelogram mechanisms connected in rotation, the head end A fifth motor (not shown) is installed inside the base 401, and the fifth motor drives one of the parallelogram mechanisms to rotate.

The remote center of motion (RCM) mechanism is a mechanism that uses a mechanism with few degrees of freedom to fix the virtual center of rotation. The mechanism is widely used in minimally invasive surgery and can improve the safety of surgery to a certain extent.

The entire RCM mechanism 400 adopts a symmetrical design on the left and right sides, and a support rod 410 is designed in the middle to enhance the rigidity of the entire mechanism. Each connecting rod set 405, 406, 407, 408 includes three connecting rods (not shown) which are sequentially rotatably connected. The RCM mechanism 400 involves 7 groups (14) of revolving joints 411 in total, and each revolving joint 411 is designed with double bearings, the purpose of which is to improve the precision of the revolving joints 411 .

The fifth motor is fixedly connected with the third synchronous pulley 402 through a reducer (not shown). A synchronous belt (not shown in the figure) is installed between the third synchronous pulley 402 and the fourth synchronous pulley 404 . Both sides of synchronous belt are provided with tensioning device 403, have guaranteed the precision of transmission and avoid slipping phenomenon; Thus, can realize that the 5th motor drives two degrees of freedom RCM mechanism 400, make nasal endoscope 10 around its central axis on a point (fixed) point) swings in the plane formed by the RCM mechanism 400. The output end of the fourth motor 306 is connected to the head base 401 . The left and right swing of the RCM mechanism 400 is realized by the fourth motor 306 directly driving the head end base 401 .

The rotation connection between the end rotation joint support 30 and the head end base 401 of the RCM mechanism 400 is achieved through the cooperation of the protrusion 31 and the groove 41 .

Please refer to FIG. 8 at the same time, the automatic end adjustment mechanism 500 includes a guide rail 502 fixed at the end of the RCM mechanism 400 , a sliding sleeve 504 slidably installed on the guide rail 502 , and a lead screw fixed on the sliding sleeve 504 The nut piece 505, the two vertical plates 51 connected to the opposite ends of the guide rail 502, the second lead screw 507 that is rotatably connected between the two vertical plates 51 and engaged on the screw nut piece 505, and the drive The second lead screw 507 rotates to drive the third drive mechanism 60 for moving the lead screw nut part 505, the support 513 fixed on the lead screw nut part 505, the support 513 rotatably mounted on the support 513 The rotating table 512 , the nasal endoscope clip 511 fixedly connected to the rotating table 512 , and the fourth driving mechanism 70 driving the rotating table 512 to rotate. The rotation axis of the rotating table 512 is the axial direction of the nasal endoscope 10 .

Further, the third driving mechanism 60 includes a sixth motor 506, a fifth synchronous pulley 508 fixed on the output shaft of the sixth motor 506, a sixth synchronous pulley 508 fixed on the second lead screw 507 The pulley 509 and the first synchronous belt (not shown) sleeved on the fifth synchronous pulley 508 and the sixth synchronous pulley 509; the fourth drive mechanism 70 includes a The seventh motor 503 on 513, the seventh synchronous pulley 501 fixed on the output shaft of the seventh motor 503, the eighth synchronous pulley 514 fixed on the support 513, and the eighth synchronous pulley 514 sleeved on the first The second synchronous belt (not shown) on the seventh synchronous pulley 501 and the eighth synchronous pulley 514 .

The automatic end adjustment mechanism 500 can realize rotation angle compensation and end feed around the axis of the nasal endoscope 10 itself. The nasal endoscope 10 is fixed on the nasal endoscope clip 511, and the nasal endoscope clip 511 and the rotating table 512 are fixed together by screws. The rotating table 512 is rotatably connected to the nasal endoscope support 513 . The seventh motor 503 is fixed on one side of the nasal endoscope support 513 . A seventh synchronous pulley 501 is installed at the output end of the seventh motor 503 . The seventh synchronous pulley 501 and the eighth synchronous pulley 514 are connected together through a synchronous belt (not shown). The eighth synchronous pulley 514 is fixed on the rotary table 512, and the two cannot rotate relative to each other. Thus, the seventh motor 503 can drive the nasal endoscope 10 to rotate around its own axis.

The sixth motor 506 and the guide rail 502 are fixed on the same support 513 . The guide rail sliding sleeve 504 can slide along the guide rail 502 . The lead screw nut part 505 is fixed on the guide rail sliding sleeve 504 . The second lead screw 507 passes through the lead screw nut 505 , and both ends are fixed on the support 513 through bearings. The fifth synchronous pulley 508 and the sixth synchronous pulley 509 are respectively fixed on the output end of the sixth motor 506 and the upper end of the second lead screw 507, both of which are driven by a synchronous belt. The screw nut part 505 is fixedly connected with the nasal endoscope support 513 . Thus the sixth motor 506 can drive the fifth synchronous pulley 508 , the sixth synchronous pulley 509 and the second lead screw 507 to rotate. The screw nut part 505 drives the nasal endoscope 10 to move along the direction of the guide rail 502 , thereby realizing the depth feed of the end of the nasal endoscope 10 .

The robot of the invention is proved to be feasible through theoretical analysis, three-dimensional modeling simulation analysis and physical prototype verification. The robot of the present invention is mainly used for nasal endoscope 10 operations, and can also be used for clamping operations of other endoscopes or instruments.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (9)

1. A follow-up type nasal endoscopic surgery auxiliary robot is characterized in that: said follow-up type nasal endoscopic surgery auxiliary robot comprises a guide rail adapter that can be adapted to the guide rails of different operating beds, and is connected to the guide rail adapter An automatic lifting mechanism that lifts up and down in a direction perpendicular to the operating bed, an automatic telescopic mechanism connected to the end of the automatic lifting mechanism and telescopic in a plane parallel to the operating bed, connected to the automatic telescopic mechanism The two-degree-of-freedom RCM mechanism at the end of the RCM mechanism, the automatic end adjustment mechanism that is connected to the end of the RCM mechanism and drives the nasal endoscope to perform depth feed and angle compensation, and controls the automatic lifting mechanism, the automatic telescopic mechanism, the The controller for the action of the RCM mechanism and the automatic end adjustment mechanism, the automatic end adjustment mechanism includes a guide rail fixed at the end of the RCM mechanism, a sliding sleeve slidably installed on the guide rail, and a sliding sleeve fixed on the sliding sleeve The lead screw nut part, the two vertical plates connected to the opposite ends of the guide rail, the lead screw that is rotatably connected between the two vertical plates and engaged on the lead screw nut part, drives the lead screw to rotate The first driving mechanism that drives the screw nut to move, the support fixed on the screw nut, the rotating platform that is rotatably installed on the bearing, and the nose that is fixedly connected to the rotating platform An endoscope clip and a second drive mechanism that drives the rotation of the rotary table. 2. The follow-up nasal endoscopic surgery auxiliary robot according to claim 1, characterized in that: the automatic lifting mechanism comprises a base, a top seat opposite to the base, and is arranged between the base and the top seat. The lifting table between, the lead screw nut fixed on the lifting table, the lead screw engaged with the lead screw nut, the support column supported between the lifting table and the top seat and the driving screw The lever rotates to drive the driving mechanism for lifting the lifting platform, and one end of the automatic telescopic mechanism is fixed on the top seat. 3. The auxiliary robot for follow-up nasal endoscopic surgery as claimed in claim 2, wherein the automatic lifting mechanism also includes a ball spline pair fixed mount arranged between the lifting table and the top seat 1. A shaft sleeve fixed on the lifting platform and a spline rod pierced in the shaft sleeve, and the opposite ends of the spline rod are respectively fixed on the ball spline pair fixing frame and the base , the first end of the lead screw is rotatably connected to the base, and the second end of the lead screw opposite to the first end passes through the lead screw nut and is fixed on the ball spline auxiliary fixing frame . 4. The auxiliary robot for follow-up nasal endoscopic surgery as claimed in claim 3, characterized in that: the drive mechanism includes a motor fixed on the base, a first synchronous motor fixedly connected to the output shaft of the motor A pulley, a second synchronous pulley fixedly connected to the first end of the lead screw, and a synchronous belt sheathed on the first synchronous pulley and the second synchronous pulley. 5. The auxiliary robot for follow-up nasal endoscopic surgery as claimed in claim 3, characterized in that: there are several bushes, and several bushes are evenly distributed around the screw nut, corresponding to each One of the bushings is fitted with the splined rod. 6. The auxiliary robot for follow-up nasal endoscopic surgery as claimed in claim 1, characterized in that: the automatic telescopic mechanism includes several rotating joint supports that are sequentially connected in rotation and drives two adjacent rotating joint supports Relatively rotating the rotating mechanism, the rotating joint bearing at the head end among the several rotating joint supports is fixed at the end of the automatic lifting mechanism, and the rotating joint supporting at the end among the several rotating joint supports is rotatably connected to the The head end of the RCM mechanism. 7. The auxiliary robot for follow-up nasal endoscopic surgery as claimed in claim 1, characterized in that: the RCM mechanism includes a head end base, a terminal feed base and a terminal rotatably connected with the end of the automatic telescopic mechanism. Four connecting rod groups symmetrically arranged left and right, the four connecting rod groups are combined with the head end base and the end feed base to form two parallelogram mechanisms connected by rotation, the inside of the head end base A motor is mounted, which drives one of the parallelogram mechanisms to rotate. 8. The auxiliary robot for follow-up nasal endoscopic surgery as claimed in claim 1, characterized in that: the first drive mechanism comprises a first motor, a first synchronous belt fixed on the output shaft of the first motor Wheel, the second synchronous pulley fixed on the lead screw and the first synchronous belt sleeved on the first synchronous pulley and the second synchronous pulley; the second drive mechanism includes a The second motor on the support, the third synchronous pulley fixed on the output shaft of the second motor, the fourth synchronous pulley fixed on the support, and the third synchronous pulley sleeved on the third synchronous The second synchronous belt on the pulley and the fourth synchronous pulley. 9. The auxiliary robot for follow-up nasal endoscopic surgery as claimed in claim 1, characterized in that: the guide rail adapter comprises a U-shaped frame, and the U-shaped frame includes two side rails parallel to each other and is connected to the two side rails. The rail adapter between the side rails, the guide rail adapter also includes a first slider that is slidably mounted on the two side rails and fixedly connected to the edge of the operating bed and is slidably mounted on the lateral rail. The second slider on the rail, the first slider and the second slider are respectively fixed on the side rail and the cross rail by fixing in two vertical directions when sliding to a predetermined position , the bottom end of the automatic lifting mechanism is fixed on the second slider.