CN216819354U - Routing and protecting structure of surgical robot - Google Patents

Abstract

The utility model provides a wiring and protecting structure of a surgical robot, which comprises a base module and a rotating module, wherein the base module comprises a base shell, a circuit board, a wiring channel, a rotating driving assembly, a first supporting assembly and a second supporting assembly, wherein the first supporting assembly and the second supporting assembly are arranged on two sides of the bottom end of the base shell; the rotary module comprises a rotary base shell, a transmission assembly and a clamping motor, wherein a protective belt is arranged on the rotary base shell along the circumferential direction, two ends of the protective belt are arranged in a clearance mode and are all tightly connected with the bottom end of the base shell, one end of a cable is connected with a circuit board, the other end of the cable penetrates through a wiring channel and enters the rotary base shell through the clearance to be connected with the clamping motor, two sides of the outer part of the rotary base shell are respectively provided with an arc-shaped groove, and the two arc-shaped grooves are respectively matched with parts for accommodating the end parts of the first supporting assembly and the second supporting assembly.

Description

Routing and protecting structure of surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a routing and protecting structure of a surgical robot.

Background

With the rise of vascular interventional therapy in China in recent years, a plurality of emerging disciplines including cardiovascular interventional therapy, cerebrovascular interventional therapy, vascular surgery, interventional radiology and the like are formed. Due to the continuous progress of vascular interventional therapy and the continuous emergence and application of various intraluminal devices, many lesions that could not be treated by vascular interventional therapy would benefit from this minimally invasive therapy, and the safety, effectiveness and long-term efficacy of vascular interventional therapy would be improved. However, current vascular interventions have their limitations.

During the interventional treatment of blood vessels, doctors need to complete the operation by means of guidance of Digital Silhouette Angiography (DSA) based on X-rays, and although doctors are equipped with protective clothing containing lead, the upper limbs and the head of the doctors cannot be protected from X-ray radiation; due to the complexity of the vascular interventional therapy, the operation is often required to be exposed to an X-ray environment for a long time, and the accumulated radiation quantity of a doctor is large; moreover, the pressure load of the spine is increased by wearing heavy lead-containing protective clothing for a long time, and the incidence rate of thyroid cancer, radioactive lens injury, lumbar spondylosis and the like of a vascular interventional doctor is reported to be obviously higher than that of doctors in other subjects. About 70 million medical personnel who engage in the endovascular treatment operation nationwide carry out the endovascular treatment in the blood vessel in the country more than ten million every year, and the occupational injury related to X ray has become a problem of irremediable, seriously threatens doctor's health status and the long-term development of vascular intervention therapentic science, and the endovascular intervention operation robot produces and constantly develops perfect under this background, and the doctor can be with the help of the endovascular intervention operation robot completion vascular intervention operation, exempts from the risk of being radiated.

However, due to the space between the rotating module and the base module in the rotating mechanism of the existing robot for endovascular intervention surgery, the circuit board and the clamping motor are not assembled together and are respectively installed in the base module and the rotating module, and the base module and the rotating module make relative rotation movement, so that the cable between the clamping motor and the circuit board needs to be matched with the rotating movement and is firmly and stably assembled.

Patent document CN107320181A discloses a clamp transfer manipulator for guiding a wire catheter in a vascular intervention operation, comprising: a clamping mechanism: the guide wire catheter is used for realizing automatic centering and clamping; a wire rotating mechanism: for driving the clamping mechanism to rotate around the axis of the guide wire catheter; a pushing mechanism: the linear push-pull of the guide wire catheter is realized; the clamping mechanism is fastened on a rotating support ring of the wire rotating mechanism; the wire rotating mechanism is arranged on a sliding block of the pushing mechanism, but the design still does not provide a specific structure for cable routing, and the problem that cables are exposed cannot be solved.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a routing and protecting structure of a surgical robot.

The utility model provides a routing and protection structure of a surgical robot, which comprises a base module and a rotating module, wherein the base module is provided with a plurality of first grooves;

the base module comprises a base shell, a circuit board arranged in the base shell, a wiring channel, a rotary driving assembly, a first supporting assembly and a second supporting assembly, wherein the first supporting assembly and the second supporting assembly are arranged on two sides of the bottom end of the base shell along the thickness direction of the base shell;

the rotating module comprises a rotating base shell, a transmission assembly and a clamping motor, wherein the transmission assembly and the clamping motor are arranged inside the rotating base shell;

the rotary base shell is provided with a protective belt along the circumferential direction, two ends of the protective belt are arranged in a clearance mode and are fixedly connected with the bottom end of the base shell, one end of a cable is connected with the circuit board, the other end of the cable penetrates through the wiring channel, penetrates out of the bottom end of the base shell, passes through the clearance and enters the interior of the rotary base shell from the top of the rotary base shell to be connected with the clamping motor, two sides of the outer part of the rotary base shell along the thickness direction are respectively provided with an arc-shaped groove, and the two arc-shaped grooves are respectively matched with parts for containing the end parts of the first supporting assembly and the second supporting assembly;

the rotary driving assembly passes through the clearance is connected with the drive assembly drive, drives when drive assembly rotatory base shell rotates rotatory base shell relies on the arc recess to rotate around the arc recess centre of a circle under first supporting component and second supporting component are spacing, the guard band winds rotatory base shell slides, the cable is in move in the clearance.

Preferably, a part or all of the cable in the routing channel is a spring wire structure, and when the transmission assembly drives the rotary base shell to rotate, the spring wire structure of the cable extends or shortens;

the two ends of the protective belt are connected with the bottom end of the base shell through the protective belt pressing plate.

Preferably, the rotary base shell is of a fan-shaped structure, and two ends of the fan-shaped structure are respectively tensioned by the protective belt rollers of which two ends are sleeved with the third bearings.

Preferably, the protective belt is made of wear-resistant self-lubricating materials.

Preferably, rollers are arranged on the wiring channel and positioned on two sides of the cable, and the rollers are installed on the base shell through roller rotating shafts.

Preferably, the first support component comprises a first bracket and a first bearing group, and the first bearing group is installed at the end part of the first bracket and is in rolling fit with the arc-shaped groove on one side of the rotary base shell;

the second support assembly comprises a second support and a second bearing group, and the second bearing group is installed at the end part of the second support and is in rolling fit with the arc-shaped groove in the other side of the rotary base shell.

Preferably, two ends of the cable are fixed through a fixing seat and a pressing plate respectively, wherein the fixing seat is installed inside the rotary base shell and detachably fixes the cable, the pressing plate is installed inside the base shell and detachably fixes the cable, and the pressing plate is located between the circuit board and the spring wire structure of the cable.

Preferably, the rotary driving assembly comprises a rotary motor, a first bevel gear, a second bevel gear, a bevel gear rotating shaft, a first bearing and a spur gear;

the first bevel gear is mounted on an output shaft of the rotating motor, the second bevel gear is sleeved on a bevel gear rotating shaft and is in meshed connection with the first bevel gear, the straight gear is sleeved on the second bevel gear, the rotating motor is mounted on the base shell through a rotating motor support, and two ends of the bevel gear rotating shaft are rotatably mounted on the base shell through first bearings respectively;

the rotating motor can drive the first bevel gear to rotate so as to drive the second bevel gear to drive the straight gear to rotate so as to drive the transmission assembly to move.

Preferably, transmission assembly includes fan-shaped spur gear, fan-shaped spur gear with the arc recess is arranged and is installed in the inside of rotatory base shell with one heart, wherein, base opening, base shell opening all have on the bottom of base casing, the top of rotatory base shell, the bottom of spur gear passes base opening, base shell opening and fan-shaped spur gear meshing cooperation in proper order, can order to order about fan-shaped spur gear when the spur gear rotates and drive rotatory base shell around the motion of centre of a circle.

Preferably, the rotating module further comprises a rotating base shell cover plate and a clamping motor bracket, the rotating base shell cover plate is installed at the lower end of the rotating base shell, and the clamping motor is installed inside the rotating base shell through the clamping motor bracket.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, the protective belt is arranged, and the two ends of the protective belt are tightly connected with the bottom end of the base shell to form the closed-loop channel, so that the gear structure and the cable are effectively covered, the exposed gear is protected, the cable is effectively covered, the cable is prevented from being exposed outside the shell, the cable is hidden in the equipment, the cable is favorably protected, and the external appearance is attractive.

2. According to the utility model, the spring wire structure is arranged on the cable, so that the cable is retracted or stretched in a self-adaptive manner, and the moving routing channel is made of a self-lubricating material, thereby being beneficial to reducing the movement resistance.

3. According to the cable, the rollers are arranged in the routing channel, so that the movement track of the cable is effectively controlled, and friction is reduced.

4. The utility model skillfully integrates the closed loop formed by the protective belt with the rotary motion of the rotary module, the tension and the shape of the protective belt in the motion process are kept stable, the structural design is ingenious, and the practicability is strong.

Drawings

Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

FIG. 3 is a schematic view of the internal structure of the base module of the present invention, showing the structure of the cables and the structure of the spring wires;

fig. 4 is a schematic view of the internal structure of the base module of the present invention, in which the structure of the rotating electric machine is shown;

FIG. 5 is a schematic cross-sectional view taken along line A-A of FIG. 4;

FIG. 6 is a partially enlarged view of a dotted circle portion in FIG. 5;

FIG. 7 is a schematic structural diagram of a rotating module according to the present invention, in which the structure of the arc-shaped groove is shown;

FIG. 8 is a schematic cross-sectional view taken along line B-B of FIG. 7;

FIG. 9 is a schematic top view of the structure of the rotating module of the present invention;

FIG. 10 is a schematic view of the internal structure of the rotating module according to the present invention;

FIG. 11 is a schematic structural view of the present invention showing the front side of the structure where the arcuate grooves mate with the support members;

FIG. 12 is a schematic cross-sectional view taken along line C-C of FIG. 11;

FIG. 13 is an enlarged partial schematic view of the dashed circle in FIG. 12;

fig. 14 is a schematic view of the position structure of the protection belt when the spur gear and the arc-shaped spur gear are engaged.

The figures show that:

base module 100 rotates base housing 18

Rotating module 200 rotates base housing cover plate 19

Base housing 1 fan-shaped spur gear 20

Circuit board 2 protective tape 21

Rotating electric machine 3 clamp electric machine 22

Rotating electric machine support 4 clamps motor support 23

Cable 5 protective belt roller 24

Third bearing 25 of fixed seat 6

Protective tape pressing plate 26 of routing channel 7

Arc-shaped groove 27 of first bevel gear 8

Second bevel gear 9 and second support 28

Fourth bearing 29 of bevel gear rotating shaft 10

First bearing 11 first support shaft 30

Fifth bearing 31 of spur gear 12

First bracket 13 and second support shaft 32

Second bearing 14 sixth bearing 33

Third support shaft 34 of roller rotating shaft 15

Roller 16 spring wire structure 35

Fourth supporting shaft 36 of press plate 17

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the utility model in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the utility model. All falling within the scope of the present invention.

The utility model provides a routing and protection structure of a surgical robot, as shown in fig. 1 to 14, the routing and protection structure comprises a base module 100 and a rotary module 200, wherein the base module 100 comprises a base shell 1, a circuit board 2 arranged inside the base shell 1, a routing channel 7, a rotary driving assembly, a first supporting assembly and a second supporting assembly which are arranged at two sides of the bottom end of the base shell 1 along the thickness direction of the base shell 1, and the rotary module 200 comprises a rotary base shell 18, a transmission assembly and a clamping motor 22 which are arranged inside the rotary base shell 18.

Further, one end of the cable 5 is connected to the circuit board 2, the other end of the cable 5 penetrates through the routing channel 7, penetrates out of the bottom end of the base housing 1, and enters the internal connection clamping motor 22 of the rotating base housing 18 from the top of the rotating base housing 18, wherein the part or the whole part of the cable 5 located in the routing channel 7 is a spring wire structure 35, the spring wire structure 35 is a structure in which the cable is wound spirally, and can be extended when being stretched by external force, and can retract back by virtue of self elasticity without external force stretching, two sides of the outer part of the rotating base housing 18 in the thickness direction are respectively provided with an arc-shaped groove 27, and the two arc-shaped grooves 27 are respectively matched with the parts for accommodating the ends of the first supporting component and the second supporting component, the spring wire structure 35 provides guidance for the rotation of the rotating base housing 18, and the first supporting component and the second supporting component both provide supporting force for the rotation of the rotating base housing 18.

The rotary drive assembly can drive the transmission assembly to rotate so as to enable the rotary base shell 18 to rotate around the circle center of the arc-shaped groove 27 under the limiting of the first supporting assembly and the second supporting assembly by means of the arc-shaped groove 27, and at the moment, the spring wire structure 35 of the cable 5 is extended or shortened.

Further, the rotating base shell 18 is provided with a protective belt 21 along the circumferential direction, two ends of the protective belt 21 are arranged in a gap mode and are connected with the bottom end of the base shell 1 through protective belt pressing plates 26, the rotating driving assembly is in driving connection with the transmission assembly through the gap, and the protective belt 21 slides around the rotating base shell 18 when the transmission assembly drives the rotating base shell 18 to rotate.

As shown in fig. 10, the rotating base housing 18 is preferably a fan-shaped structure, and both ends of the fan-shaped structure are respectively tensioned with the protective belt 21 by the protective belt rollers 24 whose both ends are sleeved with the third bearings 25, specifically, both ends of the protective belt rollers 24 are sleeved with the third bearings 25, and the protective belt rollers 24 are mounted on the rotating base housing 18 by the third bearings 25 and can roll under the driving of the protective belt 21.

Therefore, the protective belt 21 and the base shell 1 form a closed loop, the transmission assembly and the cable 5 can be covered at any rotating position, the protective belt 21 slides on the arc surface of the rotating base shell 18 in the same rotating process, the protective belt roller 24 is arranged at the turning position of the protective belt 21, two ends of the protective belt 21 are fixed on the base shell 1 through the protective belt pressing plate 26, and the rotating base shell 18 is in a symmetrical shape, so that the protective belt 21 always keeps in a fan shape in the moving process, the tension force borne by the protective belt 21 keeps stable, the protective belt 21 is made of a wear-resistant self-lubricating material, for example, the protective belt 21 is made of nylon, and the friction force is effectively reduced.

According to the utility model, the rollers 16 are arranged on the two sides of the cable 5 on the wiring channel 7, the rollers 16 are arranged on the base shell 1 through the roller rotating shafts 15, and the rollers 16 arranged on the two sides of the cable 5 are beneficial to guiding the cable 5 in the up-and-down movement process and changing sliding into rolling, so that the friction force is greatly reduced, the cable 5 is beneficial to protection, and the service life is prolonged.

The first support component comprises a first bracket 13 and a first bearing group, the first bearing group is arranged at the end part of the first bracket 13 and is in rolling fit with the arc-shaped groove 27 at one side of the rotating base shell 18, the second support component comprises a second bracket 28 and a second bearing group, the second bearing group is arranged at the end part of the second bracket 28 and is in rolling fit with the arc-shaped groove 27 at the other side of the rotating base shell 18, wherein the first bearing group comprises a second bearing 14, a first support shaft 30, a fourth bearing 29 and a second support shaft 32, the second bearing group comprises a fifth bearing 31, a third support shaft 34, a sixth bearing 33 and a fourth support shaft 36, the second bearing 14 and the fourth bearing 29 are respectively arranged on the first bracket 13 through the first support shaft 30 and the second support shaft 32 and are respectively contacted with the upper side surface and the lower side surface of the arc-shaped groove 27 at one side of the rotating base shell 18, the fifth bearing 31 and the sixth bearing 33 are respectively contacted with the upper side surface and the lower side surface of the arc-shaped groove 27 at one side of the rotating base shell 18 through the third support shaft 34 and the second support shaft 34, The fourth support shafts 36 are installed on the second bracket 28 and contact the upper and lower sides of the arc-shaped groove 27 at the other side of the rotary base housing 18, respectively. By providing bearings on the carriage that mate with the arcuate recesses 27, the rotating base shell 18 is in rolling contact with the bearings as it moves, greatly reducing friction.

The both ends of cable 5 are fixed through fixing base 6, clamp plate 17 respectively, and wherein, fixing base 6 installs from the inside of rotatory base casing 18 and detachable fixed cable 5, and clamp plate 17 installs in the inside of base casing 1 and detachable fixed cable 5, and clamp plate 17 is located between circuit board 2 and the spring wire structure 35 of cable 5.

In a preferred embodiment, the rotation driving assembly includes a rotation motor 3, a first bevel gear 8, a second bevel gear 9, a bevel gear rotating shaft 10, a first bearing 11 and a spur gear 12, the first bevel gear 8 is installed on an output shaft of the rotation motor 3, the second bevel gear 9 is installed on the bevel gear rotating shaft 10 and is engaged with the first bevel gear 8, the spur gear 12 is installed on the second bevel gear 9 in a sleeved manner, the rotation motor 3 is installed on the base housing 1 through a rotation motor support 4, two ends of the bevel gear rotating shaft 10 are respectively installed on the base housing 1 through the first bearing 11 in a rotatable manner, the rotation motor 3 can drive the first bevel gear 8 to rotate and further drive the second bevel gear 9 to drive the spur gear 12 to rotate so as to drive the transmission assembly to move.

The transmission assembly comprises a fan-shaped straight gear 20, the fan-shaped straight gear 20 and the arc-shaped groove 27 are concentrically arranged and installed inside the rotary base shell 18, wherein the bottom end of the base shell 1 and the top end of the rotary base shell 18 are respectively provided with a base opening and a base shell opening, the bottom end of the straight gear 12 sequentially penetrates through the base openings and the base shell openings to be meshed with the fan-shaped straight gear 20, and when the straight gear 12 rotates, the fan-shaped straight gear 20 can be driven to drive the rotary base shell 18 to move around the circle center.

The rotating module 200 further comprises a rotating base cover plate 19 and a clamping motor support 23, the rotating base cover plate 19 is installed at the lower end of the rotating base shell 18, and the clamping motor 22 is installed inside the rotating base shell 18 through the clamping motor support 23. The clamping motor 22 is used for controlling the clamping and loosening of the medical guide wire catheter, and is matched with the medical guide wire catheter to complete corresponding operation.

The working principle of the utility model is as follows:

the straight line part of the cable 5 is fixedly connected with the cable fixing seat 6, the spiral part of the cable 5 is fixedly connected with the wiring channel 7 through the cable pressing plate 17, the wiring channel 7 is fixedly connected with the base shell 1, the roller 16 is connected with the rotating motor support 4 through the roller rotating shaft 15, the wiring harness of the cable 5 is directly welded with the circuit board 2, and the cable fixing seat 6 is fixedly connected with the rotating base shell 18 in the rotating module 200. The following motions are derived from the above assembly structure: the rotating motor 3 drives the straight gear 12 to rotate through the meshing of the first bevel gear 8 and the second bevel gear 9, the cable 5 is assembled on the wiring channel 7 and penetrates through the 4 rollers 16 assembled on the rotating motor support 4, the movement track of the cable 5 is effectively controlled, the wiring channel 7 is made of self-lubricating materials, and the reduction of movement resistance is facilitated

Further, a clamping motor 22 is fixedly connected with a clamping motor support 23, the clamping motor support 23 is fixedly connected with a rotary base shell 18, a fan-shaped straight gear 20 is fixedly connected with the rotary base shell 18, arc-shaped grooves 27 are designed on two sides of the rotary base shell 18 in the thickness direction, the circle center of each arc-shaped groove is collinear with the circle center of the fan-shaped straight gear 20, a protective belt 21 is fixedly connected with the base shell 1 through a protective belt pressing plate 26, a protective belt rolling shaft 24 is connected with the rotary base shell 18 through a third bearing 25, and a rotary base shell cover plate 19 is fixedly connected with the rotary base shell 18. The following motions are derived from the above assembly structure: both ends of the guard band 21 are connected to the base housing 1, so that the guard band 21 forms a closed loop with the base housing 1, so that the fan-shaped spur gear 20 and the cable 5 can be covered in any rotational position.

Along the orbital arc direction of arc recess 27 on rotatory base casing 18, can assemble together base module 100 with rotatory module 200, spur gear 12 meshes with fan-shaped spur gear 20, and rotatory base casing 18 both sides design has arc recess 27, and rotatory module 200 is relative and base module 100 motion trajectory is: sliding along the arc-shaped groove 27 to form relative rotation movement, and adopting the bearing, the sliding friction can be changed into rolling friction, and the friction force is effectively reduced. The rotating motor 3 drives the first bevel gear 8 to rotate, the first bevel gear 8 is meshed with the second bevel gear 9, the second bevel gear 9 is driven to rotate, the second bevel gear 9 is fixedly connected with the straight gear 12, the straight gear 12 also rotates, and the straight gear 12 is meshed with the fan-shaped straight gear 20, so that the fan-shaped straight gear 20 also rotates, and the circle center of the arc-shaped groove 27 is collinear with the circle center of the fan-shaped straight gear 20, so that the rotating of the fan-shaped straight gear 20 drives the whole rotating module 200 to rotate along the track of the arc-shaped groove 27.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A routing and protection structure of a surgical robot is characterized by comprising a base module (100) and a rotating module (200);

the base module (100) comprises a base shell (1), a circuit board (2) arranged inside the base shell (1), a wiring channel (7), a rotary driving assembly, a first supporting assembly and a second supporting assembly, wherein the first supporting assembly and the second supporting assembly are arranged on two sides of the bottom end of the base shell (1) along the thickness direction of the base shell (1);

the rotary module (200) comprises a rotary base shell (18) and a transmission component and a clamping motor (22) which are arranged inside the rotary base shell (18);

the rotary base shell (18) is circumferentially provided with a protective belt (21), two ends of the protective belt (21) are arranged in a clearance mode and are all fixedly connected with the bottom end of the base shell (1), one end of a cable (5) is connected with the circuit board (2), the other end of the cable (5) penetrates through the wiring channel (7) and penetrates out of the bottom end of the base shell (1) to pass through the clearance and enter the rotary base shell (18) from the top of the rotary base shell (18) to be connected with the clamping motor (22), two sides of the outer portion of the rotary base shell (18) in the thickness direction are respectively provided with an arc-shaped groove (27), and the two arc-shaped grooves (27) are respectively matched with portions for containing the end portions of the first supporting component and the second supporting component;

the rotary driving assembly passes through the clearance is connected with the drive assembly drive, drives when drive assembly rotatory base shell (18) rotate the time rotatory base shell (18) rely on arc recess (27) to rotate around arc recess (27) centre of a circle under first supporting component and second supporting component are spacing, guard band (21) are wound rotatory base shell (18) slide, cable (5) are in move in the clearance.

2. The routing and protection structure of surgical robot according to claim 1, wherein the cable (5) is partially or completely in the routing channel (7) in a spring wire structure (35), and the spring wire structure (35) of the cable (5) is extended or shortened when the transmission component drives the rotating base shell (18) to rotate;

the two ends of the protective belt (21) are connected with the bottom end of the base shell (1) through protective belt pressing plates (26).

3. The routing and protection structure of surgical robot according to claim 2, wherein the rotating base shell (18) is a fan-shaped structure, and two ends of the fan-shaped structure are respectively tensioned with the protection belt (21) by a protection belt roller (24) with two ends sleeved with third bearings (25).

4. The routing and protection structure of surgical robot according to claim 2, wherein the protection belt (21) is made of wear-resistant self-lubricating material.

5. The routing and protection structure of surgical robot according to claim 1, wherein rollers (16) are disposed on both sides of the cable (5) on the routing channel (7), and the rollers (16) are mounted on the base housing (1) through roller shafts (15).

6. The routing and protection structure of surgical robot according to claim 1, wherein said first supporting component comprises a first bracket (13) and a first bearing set, said first bearing set is installed at the end of the first bracket (13) and is in rolling fit with an arc-shaped groove (27) at one side of the rotating base shell (18);

the second support assembly comprises a second bracket (28) and a second bearing group, and the second bearing group is installed at the end part of the second bracket (28) and is in rolling fit with the arc-shaped groove (27) on the other side of the rotary base shell (18).

7. The routing and protection structure of surgical robot according to claim 1, wherein two ends of the cable (5) are fixed by a fixing base (6) and a pressing plate (17), respectively, wherein the fixing base (6) is installed inside the rotating base shell (18) and detachably fixes the cable (5), the pressing plate (17) is installed inside the base shell (1) and detachably fixes the cable (5), and the pressing plate (17) is located between the circuit board (2) and the spring line structure (35) of the cable (5).

8. The routing and protection structure of surgical robot according to claim 1, wherein the rotation driving component comprises a rotation motor (3), a first bevel gear (8), a second bevel gear (9), a bevel gear rotating shaft (10), a first bearing (11) and a spur gear (12);

the first bevel gear (8) is installed on an output shaft of the rotating motor (3), the second bevel gear (9) is sleeved on a bevel gear rotating shaft (10) and is in meshed connection with the first bevel gear (8), the straight gear (12) is sleeved on the second bevel gear (9), the rotating motor (3) is installed on the base shell (1) through a rotating motor support (4), and two ends of the bevel gear rotating shaft (10) are rotatably installed on the base shell (1) through first bearings (11) respectively;

the rotating motor (3) can drive the first bevel gear (8) to rotate so as to drive the second bevel gear (9) to drive the straight gear (12) to rotate so as to drive the transmission assembly to move.

9. The routing and protection structure of surgical robot according to claim 8, wherein said transmission assembly comprises a fan-shaped spur gear (20), said fan-shaped spur gear (20) and said arc-shaped groove (27) are concentrically disposed and installed inside a rotary base housing (18), wherein the bottom end of said base housing (1) and the top end of said rotary base housing (18) both have a base opening and a base housing opening, the bottom end of said spur gear (12) sequentially passes through said base opening and said base housing opening to engage with said fan-shaped spur gear (20), and when said spur gear (12) rotates, said fan-shaped spur gear (20) can be driven to drive said rotary base housing (18) to move around the center of the circle.

10. The routing and guarding structure of surgical robot according to claim 1, wherein said rotating module (200) further comprises a rotating base housing cover plate (19) and a clamping motor bracket (23), said rotating base housing cover plate (19) is installed at the lower end of the rotating base housing (18), said clamping motor (22) is installed inside said rotating base housing (18) through the clamping motor bracket (23).

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