CN110811838B

CN110811838B - Double-operation mode surgical robot capable of realizing multi-hole single-hole interchange

Info

Publication number: CN110811838B
Application number: CN201911059507.3A
Authority: CN
Inventors: 杜付鑫; 陶檄蒙; 张钢; 张贺华; 陈嘉琦; 李硕; 张涛
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2019-11-01
Filing date: 2019-11-01
Publication date: 2020-10-20
Anticipated expiration: 2039-11-01
Also published as: CN110811838A

Abstract

The invention relates to a double-operation mode surgical robot capable of realizing multi-hole and single-hole interchange, which comprises a main arm, wherein a plurality of first driving parts distributed along the circumference are arranged at the top end of the main arm, the first driving parts are connected with a sub-arm assembly, the first driving parts can drive the sub-arm assembly to open and close, the sub-arm assembly comprises a second driving part connected with the first driving parts, the second driving part is connected with a sub-arm and can drive the sub-arm to rotate, the axial lines of output shafts of the first driving parts and the second driving parts are vertical, the sub-arm is connected with a workbench, and the workbench is used for installing a line to drive a surgical actuator.

Description

Double-operation mode surgical robot capable of realizing multi-hole single-hole interchange

Technical Field

The invention relates to the technical field of medical surgical robots, in particular to a dual-operation mode surgical robot capable of realizing multi-hole single-hole interchange.

Background

At present, minimally invasive surgical robots widely applied in the market can be divided into multi-hole surgical robots and single-hole surgical robots. Both have certain advantages and disadvantages.

The single-hole surgical robot is mainly used for placing an integrated instrument through a small incision with the surface of a human body being 1.5cm-4cm, comprises a plurality of puncture outfits for operating pore canals and completes the surgical operation in the human body on the basis of the puncture outfits.

The single-port laparoscopic surgery operation is limited by the operation position limited by the number of the ports, so that effective traction on the adjacent visceral organs is difficult to form. Moreover, the instruments enter the part from a single hole relatively intensively, so that an operation triangle is difficult to form, the interference of the instruments is serious, and the normal operation and the observation visual field in the operation are influenced. Meanwhile, the instrument and the light source are coaxial, so that the judgment of the depth and the distance of an operator is disturbed to a certain extent, and the operation difficulty is increased.

The porous laparoscopic surgery is also used as a less-traumatic surgical method and is characterized in that 3-5 small incisions of 0.5-1cm are processed on the abdominal wall (or the thoracic cavity) and used as puncture ports, and the surgical operation process is completed through surgical instruments placed in the pore channels. Compared with single-port laparoscopic surgery, the adjustable puncture device has the advantages that the puncture position can be adjusted, the operation range is enlarged, and the types of applicable surgeries are obviously increased.

However, the inventor finds that the current surgical robots cannot integrate the single-hole laparoscopic surgery and the multi-hole laparoscopic surgery on the same surgical robot, the medical department needs to be specially equipped with the single-hole surgical robot and the multi-hole surgical robot, which undoubtedly increases the cost of medical equipment spent in hospitals, and the patients need to be exchanged between the single-hole surgical robot and the multi-hole surgical robot during surgery, so that the waiting time of the patients is increased.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a double-operation mode surgical robot capable of realizing multi-hole single-hole interchange, which can realize single-hole laparoscopic surgery and multi-hole laparoscopic surgery on the same surgical robot, thereby saving the equipment purchase cost of hospitals and saving the operation time of patients.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a can realize two mode of operation surgical robot of porous haplopore interchange, includes the main arm, the main arm top is provided with a plurality of first driving pieces that distribute along the circumference, first driving piece is connected with the sub-arm assembly, and first driving piece can drive a plurality of sub-arm assemblies and do the motion of opening and closing up, the sub-arm assembly includes the second driving piece of being connected with first driving piece, the second driving piece is connected with the sub-arm, can drive the rotation of sub-arm, and the output shaft axis of first driving piece and second driving piece is perpendicular, the sub-arm is connected with the workstation, and the workstation is used for the installation wire drive operation executor.

The second driving piece can drive the branch arms to rotate, so that the plurality of working tables are arranged in opposite directions, the first driving piece can drive the plurality of branch arms to fold, the line-driven operation actuator connected with the working tables folds to perform single-hole laparoscopic surgery, the second driving piece can drive the branch arms to rotate, the plurality of working tables are arranged in a back-to-back mode, and the first driving piece can drive the plurality of branch arms to open to perform multi-hole laparoscopic surgery.

Furthermore, the first driving part adopts a first motor, an output shaft of the first motor is fixedly connected with the main arm, and a shell of the first motor is fixedly connected with the second driving part.

Furthermore, the second driving part adopts a second motor, a motor shell of the second motor is fixedly connected with a motor shell of the first motor, and an output shaft of the second motor is fixedly connected with the sub-arm.

Furthermore, the bottom end of the branch arm is fixedly connected with a motor shell of a third motor, an output shaft of the third motor is connected with the workbench, and the third motor can drive the workbench to rotate.

Furthermore, a lifting mechanism is fixed on the workbench and connected with the line-driven surgical actuator, so that the line-driven surgical actuator can be driven to do lifting motion along the workbench.

Furthermore, the lifting mechanism comprises a fourth motor, an output shaft of the fourth motor is connected with a lead screw, the fourth motor can drive the lead screw to rotate, the lead screw is connected with a sliding block, and the sliding block is used for being connected with a linear drive surgical actuator.

Furthermore, when the branch arms are folded, locking parts are arranged on contact surfaces of the working tables, which are used for being in contact with other adjacent working tables, and are used for locking and fixing the adjacent working tables in a folded state.

Furthermore, the main arm is internally provided with a cavity, a telescopic arm which can stretch out or retract into the main arm from the bottom end of the main arm is arranged in the cavity, the end part of the telescopic arm is connected with a poking card connecting piece, the poking card connecting mechanism can be detachably and fixedly connected with a poking card, and the poking card is used for providing a channel for entering an abdominal cavity for a line-driven surgical actuator folded on a plurality of work tables in a single-hole laparoscopic surgical mode.

Further, it includes the fixed part to stab the card connecting piece, fixed part and flexible arm tip fixed connection, the fixed part is provided with first fixed plate, be provided with first mounting hole on the first fixed plate, the outer peripheral face of stabbing the card is provided with the second fixed plate, be provided with on the second fixed plate with first mounting hole assorted second mounting hole, first fixed plate and second fixed plate can be through first mounting hole, second mounting hole and fixing bolt fixed connection.

Furthermore, the main arm is connected with an output shaft of a fifth motor arranged at one end of the swing arm, the fifth motor can drive the main arm to rotate, the other end of the swing arm is connected with an output shaft of a sixth motor, and the sixth motor is fixed on the support.

The invention has the beneficial effects that:

the surgical robot of the invention has the advantages that the second driving piece can drive the plurality of work tables to be oppositely arranged, the first driving piece can drive the plurality of sub-arms to do folding movement, so that the line-driven surgical actuators on the plurality of work tables are folded, the single-hole laparoscopic surgery can be carried out, the second driving piece can drive the plurality of work tables to rotate, so that the work tables are arranged in a back direction, the first driving piece can drive the plurality of sub-arms to do stretching movement, so that the line-driven surgical actuators on the plurality of work tables are separated, the multi-hole laparoscopic surgery can be carried out, one surgical robot can carry out both the single-hole laparoscopic surgery and the multi-hole laparoscopic surgery, the applicability of the surgical robot is greatly improved, a hospital does not need to separately purchase the single-hole surgical robot and the multi-hole surgical robot, the equipment cost purchase of the hospital is reduced, and the interchange among the plurality of surgical robots during the surgery of a patient, the operation waiting time of the patient is reduced.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic view of the overall structure of an embodiment 1 of the present invention in a single port laparoscopic surgery mode;

FIG. 2 is a schematic view showing the overall configuration of the porous laparoscopic surgery mode in accordance with embodiment 1 of the present invention;

FIG. 3 is an installation diagram of a fifth motor and a sixth motor in the embodiment 1 of the present invention;

FIG. 4 is a schematic view of the installation of a first motor and a second motor in embodiment 1 of the present invention;

FIG. 5 is a schematic view of an assembly of a third motor and a workbench according to embodiment 1 of the present invention;

fig. 6 is a schematic view illustrating the assembly of a connector of a poke card and a poke card according to embodiment 1 of the present invention;

FIG. 7 is a schematic structural view of a lifting mechanism in embodiment 1 of the present invention;

FIG. 8 is a first schematic view of a linear drive surgical actuator according to embodiment 1 of the present invention;

FIG. 9 is a second schematic view of a linear drive surgical actuator according to embodiment 1 of the present invention;

fig. 10 is a schematic sectional view of a rear end structure of a telescopic boom in embodiment 1 of the present invention;

wherein, 1, a base bottom plate, 2, a support rod, 3, a top plate, 4, a connecting plate, 5, a sixth motor, 6, a swing arm, 7, a fifth motor, 8, a main arm, 8-1, a T-shaped groove, 8-2, a spring, 8-3, a clamping block, 8-4, a clamping head, 9, a mounting plate, 10, a mounting groove, 11, a first motor, 12, a motor box, 13, a second motor, 14, a branch arm, 15, a third motor, 16, a workbench, 16-1, an ear plate, 17, a fourth motor, 18, a screw rod, 19, an electromagnetic lock, 20, a telescopic arm, 20-1, an annular groove, 21, a fixed part, 22, a first fixed plate, 23, a poking card, 24, a second fixed plate, 25, a fixed bolt, 26, a fixed nut, 27, a line driving operation actuator, 27-1, a middle box, 27-2, a driven wheel and 27-3, a driving shaft, 27-4 parts of plug board, 27-5 parts of hook, 27-6 parts of slot, 27-7 parts of clamping groove, 27-8 parts of sleeve, 28 parts of connecting part, 29 parts of coupler and 30 parts of slide rail.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

As described in the background art, the conventional surgical robot can only perform a single-port laparoscopic surgery or can only perform a multi-port laparoscopic surgery, which increases equipment procurement cost of a hospital and increases operation waiting time of a patient.

Example 1 of an exemplary embodiment of the present application, as shown in fig. 1 to 10, a dual operation mode surgical robot capable of realizing multi-hole single-hole interchange includes a support including a base bottom plate 1 fixedly connected to a bottom end of a support rod 2, a top plate 3 fixed to a top end of the support rod, and a connection plate 4 fixed to a bottom surface of the top plate.

The connecting plate is provided with first motor mounting groove, first motor mounting groove internal fixation has sixth motor 5, the output shaft and the first electromagnetic clutch of sixth motor are connected, and electromagnetic clutch's output shaft and swing arm 6's one end fixed connection, first electromagnetic clutch can cut off and put through the power take off of sixth motor to the swing arm, and the other end of swing arm is provided with second motor mounting groove, install fifth motor 7 in the second motor mounting groove, the output shaft and the second electromagnetic clutch of fifth motor are connected, and second electromagnetic clutch's output shaft and main arm 8 fixed connection, second electromagnetic clutch can cut off and switch on the power take off of fifth motor to the main arm, and the sixth motor can drive the rotation of swing arm in vertical plane, and the fifth motor can drive the rotation of main arm in vertical plane simultaneously.

The main arm is of an L-shaped structure, an output shaft of the second electromagnetic clutch is fixedly connected with the corner position of the main arm, a cylindrical mounting plate 9 is fixed at the top end of the main arm, and four mounting grooves 10 are uniformly formed in the peripheral surface of the mounting plate.

All install first driving piece in every mounting groove, first driving piece is connected with the sub-arm assembly, and four first driving pieces can drive four sub-arm assemblies and do the motion of opening or drawing in.

The first driving piece adopts a first motor 11, an output shaft of the first motor is connected with a third electromagnetic clutch installed in the installation groove, and an output shaft of the third electromagnetic clutch is fixedly connected with a side groove surface of the installation groove. The motor casing and the motor case 12 fixed connection of first motor, the motor case is connected with the sub-arm assembly, and the output shaft of first motor rotates, can drive the rotation of sub-arm assembly, and third electromagnetic clutch can cut off or switch on the power take off of first motor to the sub-arm assembly.

The sub-arm assembly comprises a second driving piece, the second driving piece adopts a second motor 13 fixed in a motor box, a motor shell of the second motor is fixedly connected with the motor box, an output shaft of the second motor is connected with a fourth electromagnetic clutch, an output shaft of the fourth electromagnetic clutch is fixedly connected with the upper end of the sub-arm 14 through a connecting portion 28, the output shaft of the second motor is perpendicular to the output shaft of the first motor, and the fourth electromagnetic clutch can cut off and conduct power output of the second motor to the sub-arm.

The sub-arm comprises a first arm section and a second arm section which are arranged at an obtuse angle, the top end of the first arm section is fixedly connected with the connecting portion, a third motor mounting groove is formed in the bottom of the second arm section, a third motor 15 is fixedly arranged in the third motor mounting groove, an output shaft of the third motor is connected with a fifth electromagnetic clutch, an output shaft of the fifth electromagnetic clutch is fixedly connected with an ear plate 16-1 arranged on a workbench 16, the third motor can drive the workbench to rotate through the ear plate, and the fifth electromagnetic clutch can cut off and conduct power output of the third motor to the workbench.

One side end face of workstation is provided with the otic placode, and the elevating system mounting groove has been seted up to the opposite side terminal surface, install elevating system in the elevating system mounting groove, elevating system is including fixing the fourth motor 17 on elevating system mounting groove upper portion, the output shaft of fourth motor passes through shaft coupling 29 and is connected with the one end of lead screw 18, and the other end of lead screw passes through the groove face rotation of bearing and elevating system mounting groove to be connected, be connected with the slider on the lead screw, the slider is through setting up two slide rails 30 and workstation sliding connection on the workstation, and the fourth motor can drive the lead screw and rotate, and then drives the motion of slider along the lead screw axis direction, the slider can with line drive operation executor 27 fixed connection.

In the workbench, two side surfaces adjacent to the side surface provided with the lifting mechanism mounting groove are obliquely arranged. And install the retaining member on this side, the side of installation retaining member is 45 contained angles with the side of seting up the elevating system mounting groove, and when four workstations folded, the side that can pass through the installation retaining member contacted to accomplish and fold the motion.

The retaining member adopts electromagnetic lock 19, and when four workstations folded, adjacent workstation can be fixed through electromagnetic lock locking.

The main arm is internally provided with a cavity, the bottom end of the main arm is provided with an elbow, the cavity extends to the bottom end of the main arm, a telescopic arm 20 is arranged in the cavity, the telescopic arm can extend out of or retract into the main arm from the bottom end of the main arm, a poking card connecting piece is fixed at the end part of the telescopic arm, and the poking card connecting piece can be fixedly connected with a poking card. The telescopic boom is characterized in that a poking and clamping connecting piece is fixed at one end of the telescopic boom, an annular groove 20-1 with a semicircular section is formed in the side circumferential surface of the other end of the telescopic boom, a T-shaped groove 8-1 is formed in the inner cavity surface of the cavity of the main boom, the bottom groove surface of the T-shaped groove is connected with a T-shaped clamping block 8-3 through a spring 8-2, a clamping head 8-4 matched with the annular groove is arranged on the end surface of the clamping block, the clamping head can be clamped into the annular groove, locking and fixing of the telescopic boom after the telescopic boom retracts into the main boom are achieved, when a user applies external force to the telescopic boom, the clamping block can move under the action of the telescopic boom, the spring is compressed.

In this embodiment, the fixture block can contact with the stepped surface 8-1-1 of the T-shaped groove to limit the position of the fixture block, so that the outer end surface of the fixture block is flush with the inner cavity surface of the inner cavity of the main arm, thereby facilitating the locking and fixing of the telescopic arm and the main arm.

Stab card connecting piece and include fixed part 21, the tip fixed connection of fixed part side end face and flexible arm, the opposite side terminal surface of fixed part is provided with first fixed plate 22, be provided with first mounting hole on the first fixed plate, it is provided with second fixed plate 24 on 23 outer periphery to stab, the second mounting hole has been seted up on the second fixed plate, can pass fixing bolt 25 in first mounting hole and the second mounting hole, fixing nut 26 can be screwed on the fixing bolt to stab card connecting piece and stab card and carry out detachable fixed connection.

In this embodiment, the line-driven surgical actuator includes an intermediate box 27-1 fixedly connected to the slider, a plurality of intermediate shafts are rotatably connected to the intermediate box, the intermediate shafts are wound with connecting lines, the connecting lines are connected to an external driving mechanism, the external driving mechanism can drive the connecting lines to move, so as to drive the intermediate shafts to rotate, the intermediate shafts extend out of the intermediate box and are fixedly connected to a driven wheel 27-2, so as to drive the driven wheel to rotate, the driven wheel is provided with a clamping block and is clamped and fixed to a driving shaft 27-3 through the clamping block and a clamping groove formed at an end of the driving shaft, the driving shaft is rotatably connected to a line-driven surgical actuator casing, the line-driven surgical actuator casing is detachably connected to the intermediate box, specifically, the intermediate box is provided with an inserting plate 27-4 and a clamping hook 27-, be provided with on the line drive surgical actuator casing with picture peg and pothook assorted slot 27-6 and draw-in groove 27-7, but the picture peg pothook can insert in the slot, and the pothook can hook the groove face of draw-in groove under self elastic force effect, and fixed connection can be dismantled with line drive surgical actuator casing through picture peg, pothook, slot and draw-in groove to middle box, the winding has the drive wire in the drive shaft, the drive wire stretches out to line drive surgical actuator casing outside for be connected with end line drive surgical actuator, can drive the drive shaft from the driving wheel and rotate, and the drive shaft then drives the drive wire motion, thereby realize end line drive surgical actuator's work.

The portion of the drive wire extending outside the housing of the wire driven surgical implement is disposed within a cannula 27-8, the tip of which is fixedly attached to the housing of the wire driven surgical implement.

In this embodiment, when the surgical instrument is folded, two opposite work tables are defined as first work tables, the other two opposite work tables are second work tables, the distance between the end of the driving wire of the line-driven surgical instrument to be installed on the two first work tables and the bottom end of the housing of the line-driven surgical instrument is greater than the distance between the end of the driving wire of the line-driven surgical instrument on the second work table and the bottom end of the housing of the line-driven surgical instrument, a slider on the first work table is located on the upper half portion of the first work table, a slider on the second work table is located on the lower half portion of the second work table, the movement distance of the two sliders is the difference between the half length of the lead screw and the length of the slider, and the requirement for spatial arrangement of the line-.

In this embodiment, the linear driving surgical actuator may also adopt other structural forms of linear driving surgical actuators, and those skilled in the art may select the linear driving surgical actuator according to actual needs, which will not be described in detail herein.

When the surgical robot of the embodiment is applied to a single-port laparoscopic surgery, the second motor drives the sub-arms to rotate, so that the four work tables are arranged in opposite directions, the third motor works to enable the work tables to be attached to the sub-arms, then the first motor works to drive the four sub-arm seats to move in a folding manner, the work tables of the four sub-arms are contacted through 45-degree inclined planes to complete folding of the four work tables, adjacent work tables are locked and fixed by using an electromagnetic lock, power output of the first motor, the second motor and the third motor is cut off by using the third clutch and the fourth clutch and the fifth electromagnetic clutch, at the moment, driving wires of the four wire-driven surgical actuators are folded, the driving wires of the four wire-driven surgical actuators are sleeved into the poking card, the telescopic arm is manually extended out of the main arm, the poking card connecting piece is fixedly connected with the poking card, and the fifth motor and the sixth motor drive the swing arm, the stab card is punctured into the abdominal cavity, a channel for the line-driven surgical actuator to enter the abdominal cavity is provided, the fourth motor works to drive the sliding block to move along the axis direction of the screw rod, and the driving line of the line-driven surgical actuator carries the tail end line to drive the surgical actuator to enter the abdominal cavity for surgical operation.

When the surgical robot of this embodiment was applied to porous laparoscopic surgery, the second motor drives and divides the arm to rotate, make four workstations back of the body to back of the body set up, first motor drives a plurality of minutes arms and opens, the angle of workstation and minute arm is adjusted to usable third motor this moment, utilize the position that fifth motor and sixth motor adjusted the workstation, after adjusting the workstation to suitable angle and position, utilize the fourth motor to drive the slider motion, the terminal line drive surgical actuator of line drive surgical actuator portability gets into the abdominal cavity and performs the operation.

By adopting the surgical robot of the embodiment, the laparoscopic surgery in the single-hole mode and the multi-hole mode can be realized simultaneously, the equipment purchase cost of a hospital is reduced, and the surgery time of a patient is saved.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. A double-operation-mode surgical robot capable of realizing multi-hole and single-hole interchange is characterized by comprising a main arm, wherein a plurality of first driving pieces distributed along the circumference are arranged at the top end of the main arm, the first driving pieces are connected with a sub-arm assembly, the first driving pieces can drive the sub-arm assemblies to open and close, the sub-arm assembly comprises a second driving piece connected with the first driving pieces, the second driving piece is connected with the sub-arm and can drive the sub-arm to rotate, the axial lines of output shafts of the first driving pieces and the second driving pieces are vertical, the sub-arm is connected with a workbench, and the workbench is used for installing a line to drive a surgical actuator; an ear plate is arranged on one side end face of the workbench, a lifting mechanism mounting groove is formed in the other side end face of the workbench, and two side faces adjacent to the side face provided with the lifting mechanism mounting groove are obliquely arranged;

the second driving piece can drive the branch arms to rotate, so that the plurality of working tables are arranged oppositely, the first driving piece can drive the plurality of branch arms to be folded, the linear drive operation actuator connected with the working tables is folded, the single-hole laparoscopic operation is carried out, the second driving piece can drive the branch arms to rotate, the plurality of working tables are arranged back to back, and the first driving piece can drive the plurality of branch arms to be opened, so that the multi-hole laparoscopic operation is carried out;

when the folding is carried out, two opposite working tables are defined as first working tables, the other two opposite working tables are defined as second working tables, the sliding block on the first working table is positioned on the upper half part of the first working table, and the sliding block on the second working table is positioned on the lower half part of the second working table;

the moving distance of the two sliding blocks is the difference between half of the length of the lead screw and the length of the sliding block.

2. The surgical robot of claim 1, wherein the first driving member is a first motor, an output shaft of the first motor is fixedly connected to the main arm, and a housing of the first motor is fixedly connected to the second driving member.

3. The surgical robot of claim 2, wherein the second driving member is a second motor, a motor housing of the second motor is fixedly connected to a motor housing of the first motor, and an output shaft of the second motor is fixedly connected to the arm.

4. The surgical robot of claim 1, wherein the bottom end of the sub-arm is fixedly connected to a motor housing of a third motor, an output shaft of the third motor is connected to the worktable, and the third motor is capable of driving the worktable to rotate.

5. A surgical robot with dual operation modes and capable of realizing multi-hole and single-hole interchange as claimed in claim 1, wherein a lifting mechanism is fixed on the worktable, and the lifting mechanism is connected with a wire-driven surgical actuator and can drive the wire-driven surgical actuator to do lifting motion along the worktable.

6. The surgical robot of claim 5, wherein the lifting mechanism comprises a fourth motor, an output shaft of the fourth motor is connected to a lead screw capable of driving the lead screw to rotate, and the lead screw is connected to a slide block for connecting to a wire-driven surgical actuator.

7. The surgical robot of claim 1, wherein when the arms are closed, the contact surface of the working table for contacting with other adjacent working tables is provided with a locking member for locking and fixing the adjacent working tables in the closed state.

8. The surgical robot of claim 1, wherein the main arm has a cavity therein, a telescopic arm is disposed in the cavity, the telescopic arm can extend out of or retract into the bottom end of the main arm, a poking and clamping connector is connected to an end of the telescopic arm, the poking and clamping connector can be detachably and fixedly connected with a poking and clamping device, and the poking and clamping device is used for providing access to the abdominal cavity for the wire-driven surgical actuators after being folded on a plurality of work tables in the single-port laparoscopic surgical mode.

9. The surgical robot of claim 8, wherein the poking card connector comprises a fixing portion fixedly connected to the end of the telescopic arm, the fixing portion is provided with a first fixing plate, the first fixing plate is provided with a first mounting hole, the outer circumferential surface of the poking card is provided with a second fixing plate, the second fixing plate is provided with a second mounting hole matched with the first mounting hole, and the first fixing plate and the second fixing plate can be fixedly connected through the first mounting hole, the second mounting hole and the fixing bolt.

10. A surgical robot with dual operation modes and capable of realizing multi-hole single-hole interchange as claimed in claim 1, wherein the main arm is connected to an output shaft of a fifth motor disposed at one end of a swing arm, the fifth motor is capable of driving the main arm to rotate, the other end of the swing arm is connected to an output shaft of a sixth motor, and the sixth motor is fixed on the bracket.