The invention discloses an auxiliary mirror-holding
robot for
nasal cavity surgery, which includes three parts: a frame, a
robot body and an
endoscope, wherein, according to the direction from top to bottom, the
robot body includes a sequentially connected
endoscope horizontal movement mechanism, The
endoscope rotation mechanism, the endoscope swing mechanism and the endoscope vertical movement mechanism constitute four
degrees of freedom on the horizontal plane and the vertical direction of the robot body. The four motion mechanisms of the robot body are driven by independent
servo motors, and the movements of each mechanism do not interfere with each other; each
servo motor is controlled by an external
computer control system, using three-dimensional image navigation technology, to control the trajectory, positioning and positioning of the endoscope. Air
attitude control. The coordination and synchronization of the movements of the
moving parts of the invention are good, and it has four
degrees of freedom, which can fully meet the needs of the auxiliary operation of the
nasal cavity surgery endoscope. Its overall structure is simple and compact, with reasonable
layout, accurate positioning, high precision, and flexible attitude adjustment in the air.