CN113440242A

CN113440242A - Minimally invasive surgery robot hand

Info

Publication number: CN113440242A
Application number: CN202110722716.2A
Authority: CN
Inventors: 曾凡兰
Original assignee: Shenzhen Weiqi Industrial Co ltd
Current assignee: Shenzhen Weiqi Industrial Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2021-09-28

Abstract

The invention discloses a minimally invasive surgery robot hand, which relates to the field of robot hands and comprises an auxiliary rod, a hand-held controller, a mechanical transmission set, a main control unit shell, a battery shell, a wire clamping disc, a gear B, a return spring, a flexible driving shaft A and a fixing plate, wherein one end of the auxiliary rod is sleeved with a mechanical arm, the other end of the auxiliary rod is fixedly connected with the mechanical transmission set, and the bottom end of the mechanical transmission set is fixedly connected with a main control unit battery assembly; the wound area is small, the healing time is short, and the recovery time is fast; the wound area is small, so that the wound is not easy to infect and is safer; reducing patient hospitalization time and other cost costs; reduce the operation risk and improve the working efficiency.

Description

Minimally invasive surgery robot hand

Technical Field

The invention relates to the field of robots, in particular to a minimally invasive surgery robot.

Background

Medical devices such as endoscopes and catheters are widely used in minimally invasive surgery for the observation or treatment of various organs and tissues. Typically, such devices include an elongated device body designed for delivering and positioning a distally mounted instrument (e.g., a scalpel, grasper, or camera) within a body cavity, vessel, or tissue. The soft robot hand is a robot hand developed to be very close to the touch of a human hand, and can not only hold a fine object but also sense the shape and texture of the contacted object. The "hand" of a conventional robot for grasping an object is usually made of rigid parts, and a motor is required to control the joint for operation. In the past, for a robotic hand to perceive an object, the hand had to be made of a conductive substance, such as metal. Soft robotic technology has been used in warehouses to process food or other products. The flexible robot hand has wide prospect, can be used in the field of artificial limbs, and can also be used for manufacturing robots contacting people or fragile objects and narrow space operation robots.

While currently available device interfaces may provide this functionality, they may be limited by the inflexibility of such devices, requiring the surgeon to spend a great deal of time and effort to complete a minimally invasive procedure, since such devices are delivered through a delivery port located through a small incision in a tissue wall, such as the abdominal wall, and are used in a confined space in the anatomy, or are operated at the proximal end of a medical device using control devices located outside the body inside the body.

Accordingly, those skilled in the art have provided minimally invasive surgical robots to address the problems set forth in the background above.

Disclosure of Invention

The present invention is directed to providing a minimally invasive surgical robot hand to solve the problem of the above background art that a typical surgeon typically uses the handle of a surgical tool to position and manipulate the instrument devices of various organ tissue sites, since such devices are delivered through a delivery port positioned through a small incision in a tissue wall, such as the abdominal wall, and are used in a limited space in the anatomy, or are used inside the body using a control device located outside the body, operating at the proximal end of the medical instrument, and their use and inconvenience, while the currently used device interfaces may provide such functionality, they may be limited by the inflexibility of such devices, thus requiring the surgeon to spend a great deal of time and effort to complete a minimally invasive procedure.

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

minimally invasive surgery robot hand, including the auxiliary rod, hold controller, mechanical transmission group, main control unit shell, battery casing, card drum, gear B, reset spring, flexible drive shaft A and fixed plate, the manipulator has been cup jointed to the one end of auxiliary rod, the other end fixedly connected with mechanical transmission group of auxiliary rod, the bottom fixedly connected with main control unit battery pack of mechanical transmission group, one side of mechanical transmission group is equipped with diathermanous function plug interface, the controller is held to the top surface fixedly connected with of mechanical transmission group, the outer wall of holding the controller is equipped with the mode button, the outer wall welding of holding the controller has the back of the hand laminating piece, the top surface of back of the hand laminating piece is equipped with back of the hand laminating device, the top surface of holding the controller is pegged graft and is had manipulator gripping and rotary controller.

As a preferred embodiment of the present invention: the manipulator gripping and rotating controller comprises a reset spring, a lever, a threaded sleeve and a protection plate, the reset spring is sleeved inside the threaded sleeve, the reset spring and a rotating pin B are located in the reset spring sleeve, the rotating pin B is arranged at the top end of the lever, a sleeving cap is arranged at the top of the lever, and the outer wall of the sleeving cap is connected with the protection plate through the rotating pin A in a rotating mode.

As a preferred embodiment of the present invention: the main control unit battery pack comprises a main control unit shell, a battery shell and a fixed plate, an electric contact is arranged at the top of the fixed plate, a rotary inductor A and a rotary sensor B are arranged inside the fixed plate, a screen is fixedly connected to one side of the fixed plate, a driving motor D, a driving motor E and a driving motor F are fixedly connected inside the fixed plate, and a charging interface is fixedly connected to the top surface of the fixed plate.

As a preferred embodiment of the present invention: the main control unit shell is connected with the battery shell in a matched and clamped mode, and the outer wall of the main control unit shell is provided with a driving motor A, a driving motor B, a driving motor C, a rotary inductor female end A, an electric contact female end, a rotary inductor female end B and a screen.

As a preferred embodiment of the present invention: the outer wall of the battery shell is provided with a female end socket, an electric contact male end, a flexible driving shaft B, a socket A, a socket B and a socket C, and a battery pack is arranged in the battery shell.

As a preferred embodiment of the present invention: mechanical transmission group is including card drum, little guide pulley, turbine B, gear B, axis of rotation, connecting rod and chucking piece, and the outer wall joint of connecting rod has the chucking piece, and the outer wall of connecting rod has cup jointed gear E, and the outer wall of connecting rod has cup jointed gear D, and gear D is provided with two, and gear D's outer wall meshing is connected with turbine A and turbine B, and turbine A's outer wall meshing is connected with gear F.

As a preferred embodiment of the present invention: the outer wall meshing of turbine A is connected with the gear pole, and the outer wall winding of little guide pulley has the cable, twines between cable and the card line dish, and the meshing is connected between gear B and the gear C, and the meshing is connected between gear C and the gear A, and little guide pulley is provided with 6.

As a preferred embodiment of the present invention: a flexible driving shaft A, an internal gear and a wire are arranged in the hand-held controller, and one end of the flexible driving shaft A is fixedly connected with the auxiliary rod.

Compared with the prior art, the invention has the beneficial effects that:

the present invention is a minimally invasive surgical robot hand, the device having an interface allowing the surgeon to intuitively manipulate surgical tools within the body while allowing precise control through a wide range of instrument and effector end motions, the disadvantages of the currently known configurations being successfully addressed by providing a control unit for surgical tools such as laparoscopes, the control unit including a user interface enabling the user to simultaneously control the movement and actuation of additional surgical tools such as laparoscopes using a single hand, the control unit and interface providing the surgeon with more natural and flexible control of the operation of medical devices such as laparoscopes, being small, lightweight, and easier to operate; the wound area is small, the healing time is short, and the recovery time is fast; the wound area is small, so that the wound is not easy to infect and is safer; reducing patient hospitalization time and other cost costs; reduce the operation risk and improve the working efficiency.

Drawings

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

FIG. 1 is a perspective view of a robot hand for minimally invasive surgery;

FIG. 2 is a schematic view of the internal structure of a hand-held controller attachment portion of a minimally invasive surgical robot hand;

FIG. 3 is a schematic diagram of the internal structure of a mechanical transmission set in a robot hand for minimally invasive surgery;

fig. 4 is a schematic structural diagram of the inside of the manipulator gripping and rotation controller in the minimally invasive surgical robot.

Fig. 5 is a schematic structural diagram of a connection part of a hand-held controller and a manipulator gripping and rotating controller in a minimally invasive surgery robot hand.

FIG. 6 is a schematic diagram of the internal structure of a hand-held controller in a minimally invasive surgical robot hand.

Fig. 7 is a structural schematic diagram of the entire right view in a minimally invasive surgical robot hand.

Fig. 8 is a schematic structural diagram of the interior of a master control unit in a minimally invasive surgical robot hand.

Fig. 9 is a schematic structural diagram of a manipulator in a minimally invasive surgery robot in different states.

In the figure: 1. a gear lever; 2. an electrical contact; 3. a flexible drive shaft A; 4. a gear A; 5. a gear F; 6. a turbine A; 7. driving a motor D; 8. driving a motor E; 9. driving a motor F; 10. a rotation sensor; 11. a fixing plate; 12. a rotation sensor; 14. a cable; 15. a small guide wheel; 16. a turbine B; 17. a gear B; 18. a gear C; 19. a gear D; 20. a rotating shaft; 21. a gear E; 22. a connecting rod; 23. a clamping block; 24. a return spring; 25. a lever; 26. a guard plate; 27. a rotation pin A; 28. sleeving a cap; 29. a rotation pin B; 30. a return spring housing; 31. a threaded sleeve; 32. an internal gear; 33. a wire; 34. clamping a wire coil; 35. a main control unit; 36. a battery pack; 38. a charging interface; 39. a female end socket; 40. an electrical contact male end; 41. a flexible drive shaft B; 42. a socket A; 43. a socket B; 44. a socket C; 45. driving a motor A; 46. driving a motor B; 47. driving a motor C; 48. rotating the inductor female end A; 49. an electrical contact female end; 50. rotating the inductor female end B; 51. a screen; 52. a main control unit housing; 53. a battery case; 54. a manipulator; 55. an auxiliary lever; 56. a diathermanous functional plug interface; 57. a manipulator grasping and rotating controller; 58. a mode button; 59. a hand-held controller; 60. a back-of-hand attachment device; 61. a back of hand adhesive sheet; 62. a mechanical transmission set; 63. the main control unit battery pack.

Detailed Description

Referring to fig. 1-9, in the embodiment of the present invention, a minimally invasive surgery robot hand includes an auxiliary lever 55, a hand-held controller 59, a mechanical transmission set 62, a main control unit housing 52, a battery housing 53, a wire clamping disc 34, a gear B17, a return spring 24, a flexible driving shaft A3 and a fixing plate 10, wherein a main control unit and a battery are disposed inside the main control unit housing 52 and the battery housing 53, the main control unit housing 52 and the battery housing 53 are fixed at the mechanical transmission set 62, the main control unit battery assembly is separated independently and assembled when in use, a manipulator 54 is sleeved at one end of the auxiliary lever 55, the mechanical transmission set 62 is fixedly connected at the other end of the auxiliary lever 55, a main control unit battery assembly 63 is fixedly connected at the bottom end of the mechanical transmission set 62, a thumb and a forefinger are released, the return is completed under the action of the return spring 24, when the thumb and the manipulator grasp and rotate the controller 57, the flexible driving shaft A3 is driven to rotate, the rotation sensor A10 catches the rotation angle, a signal is generated by the rotation sensor, the signal is input to the main control unit 35, the main control unit 35 receives the signal and outputs a signal to the driving motor F9 according to the rotation angle of the flexible driving shaft A3, the driving motor F9 drives a series of gears to move, so that the jaw A rotates clockwise or anticlockwise, one side of the mechanical transmission set 62 is provided with a plug interface 56 with a heat-permeable function, the top surface of the mechanical transmission set 62 is fixedly connected with a hand-held controller 59, the outer wall of the hand-held controller 59 is provided with a mode button 58, an internal gear 32 is fixed on the hand-held controller 59, when the hand-held controller 59 rotates clockwise or anticlockwise, the gear rod 1 is driven to rotate, the tail end of the gear rod 1 is connected with the rotation sensor B12, the gear rod 01 rotates to generate an angle, and the angle is recognized by the rotation sensor B12, a signal is generated and input into the main control unit 35, the main control unit 35 receives the signal and processes the signal into an output signal according to the signal and sends the output signal to the driving motor E8, the driving motor E8 drives a series of mechanical transmission, so that the far-end jaw A can swing left and right or up and down, the hand back attachment piece 61 is welded on the outer wall of the hand-held controller 59, the hand back attachment piece 61 is provided with the hand back attachment device 60 on the top surface, the manipulator grasping and rotating controller 57 is inserted on the top surface of the hand-held controller 59, and the control unit and the interface can provide more natural and flexible control for the operation of medical equipment such as a laparoscope for a surgeon, have small volume, light weight and are easier for surgical operation; the wound area is small, the healing time is short, and the recovery time is fast; the wound area is small, the infection is not easy to happen, and the safety is higher.

Referring to fig. 1, 2, 3, 5, 7 and 9, the manipulator grip and rotation controller 57 includes a return spring 24, a lever 25, a threaded sleeve 31 and a guard plate 26, the return spring 24 is sleeved inside the threaded sleeve 31, the return spring 24 and a rotating pin B29 are located inside the return spring sleeve 30, a rotating pin B29 is disposed at the top end of the lever 25, a cap 28 is disposed at the top end of the lever 25, a thumb and a forefinger are respectively disposed between the lever 25 and the guard plate 26 during operation, when the lever is pinched in the middle, under the action of the rotating pin B29 and the rotating pin a27, the flexible driving shaft A3 is pulled up, the return spring 24 is pulled out, the rotating sensor a10 catches the moving stroke, thereby generating a signal, the signal is input to the main control unit 35, the main control unit 35 receives the signal, and outputs a signal to the driving motor D7 according to the moving stroke of the flexible driving shaft A3, and the driving motor D7 drives a series of gears to move, thereby effecting opening or closing of the jaws a. The shield 26 is pivotally attached to the outer wall of the bell cup 28 by a pivot pin A27. The main control unit battery pack 63 comprises a main control unit casing 52, a battery casing 53 and a fixing plate 11, an electric contact 2 is arranged at the top of the fixing plate 11, a rotary inductor A10 and a rotary sensor B12 are arranged inside the fixing plate 11, a screen 51 is fixedly connected to one side of the fixing plate 11, a driving motor D7 is fixedly connected to the inside of the fixing plate 11, a driving motor E8 and a driving motor F9 are arranged inside the fixing plate 11, the driving motor D7, the driving motor E8 and the driving motor F9 are driving motors, the screen 13 is used for displaying an operation mode and a battery state, and a charging interface 38 is fixedly connected to the top surface of the fixing plate 11. The driving motor 8 is connected with the gear F5 to drive the wire clamping disc 34 to rotate, the cable 14 is driven by the rotation of the wire clamping disc 34 and can rotate clockwise and anticlockwise under the auxiliary rotation action of the small guide wheel 15, when the small guide wheel 15 rotates to one side, the cable 14 on the other side can be loosened or tightened, the jaw A at the far end can swing left and right or up and down, the main control unit shell 52 and the battery shell 53 are clamped in a matched mode, and the outer wall of the main control unit shell 52 is provided with a driving motor A45, a driving motor B46, a driving motor C47, a rotary inductor female end A48, an electric contact female end 49, a rotary inductor female end B50 and a screen 51. The outer wall of the battery shell 53 is provided with a female end socket 39, an electric contact male end 40, a flexible driving shaft B41, a socket A42, a socket B43 and a socket C44, and a battery pack 36 is arranged in the battery shell 53. The driving motor D7 engages the turbine a6 to rotate, which drives the gear D19 to rotate, and the gear D19 rotates to drive the rotating shaft 20 to move linearly up and down, so as to drive the connecting rod 22 to move linearly up and down, thereby controlling the opening or closing of the distal end jaw a. Mechanical transmission group 62 includes wire clamping disc 34, little guide pulley 15, turbine B16, gear B17, axis of rotation 20, connecting rod 22 and chucking piece 23, the outer wall joint of connecting rod 22 has chucking piece 23, the outer wall cup joint gear E21 of connecting rod 22, the outer wall cup joint gear D19 of connecting rod 22, gear D19 is provided with two, the outer wall meshing of gear D19 is connected with turbine A6 and turbine B16, the outer wall meshing of turbine A6 is connected with gear F5. The driving motor F9 is engaged with the gear A4, the rotation of the gear A4 drives the gear C18 to rotate, the gear B17 is also linked to rotate, the gear B17 drives the turbine B16 to rotate, the rotation of the turbine B16 drives the gear E21 to rotate, the rotation of the gear E21 drives the connecting rod 22 to rotate, and therefore the distal jaw A is driven to rotate clockwise or anticlockwise, and the distal jaw A is connected with the hand-held controller 59 through the threaded sleeve 31. The outer wall of the turbine A6 is connected with a gear rod 1 in a meshed mode, the outer wall of the small guide wheel 15 is wound with a cable 14, the cable 14 is wound with the wire clamping disc 34, the gear B17 is connected with the gear C18 in a meshed mode, the gear C18 is connected with the gear A4 in a meshed mode, and 6 small guide wheels 15 are arranged. A flexible driving shaft A3, an internal gear 32 and a lead 33 are arranged in the hand-held controller 59, one end of the flexible driving shaft A3 is fixedly connected with the auxiliary rod 55, and the lead 33 is connected with the mode button 58 to the electric contact 02, so that the hospitalization time and other cost of the patient can be reduced; reduce the operation risk and improve the working efficiency.

The invention relates to a minimally invasive surgery robot hand, which comprises a gear rod 1; 2. an electrical contact; 3. a flexible drive shaft A; 4. a gear A; 5. a gear F; 6. a turbine A; 7. driving a motor D; 8. driving a motor E; 9. driving a motor F; 10. a rotation sensor; 11. a fixing plate; 12. a rotation sensor; 14. a cable; 15. a small guide wheel; 16. a turbine B; 17. a gear B; 18. a gear C; 19. a gear D; 20. a rotating shaft; 21. a gear E; 22. a connecting rod; 23. a clamping block; 24. a return spring; 25. a lever; 26. a guard plate; 27. a rotation pin A; 28. sleeving a cap; 29. a rotation pin B; 30. a return spring housing; 31. a threaded sleeve; 32. an internal gear; 33. a wire; 34. clamping a wire coil; 35. a main control unit; 36. a battery pack; 38. a charging interface; 39. a female end socket; 40. an electrical contact male end; 41. a flexible drive shaft B; 42. a socket A; 43. a socket B; 44. a socket C; 45. driving a motor A; 46. driving a motor B; 47. driving a motor C; 48. rotating the inductor female end A; 49. an electrical contact female end; 50. rotating the inductor female end B; 51. a screen; 52. a main control unit housing; 53. a battery case; 54. a manipulator; 55. an auxiliary lever; 56. a diathermanous functional plug interface; 57. a manipulator grasping and rotating controller; 58. a mode button; 59. a hand-held controller; 60. a back-of-hand attachment device; 61. a back of hand adhesive sheet; 62. a mechanical transmission set; 63. the main control unit battery pack and the components are all universal standard components or components known by a person skilled in the art, and the structure and the principle of the main control unit battery pack and the components are known by a technical manual or a conventional experimental method.

The working principle of the invention is as follows: the main control unit and the battery are arranged in the main control unit shell 52 and the battery shell 53, the main control unit shell 52 and the battery shell 53 are fixed at the mechanical transmission group 62, and the battery components of the main control unit are independent and separated and assembled when in use. The driving motor D7, the driving motor E8 and the driving motor F9 are driving motors, the screen 13 is used for displaying an operation mode and a battery state, the driving motor 8 is connected with the gear F5 to drive the wire clamping disc 34 to rotate, the cable 14 is driven by the rotation of the wire clamping disc 34 and can rotate clockwise and anticlockwise under the auxiliary rotation action of the small guide wheel 15, when the small guide wheel 15 rotates to one side, the cable 14 on the other side can loosen or tighten, the jaw A at the far end can swing left and right or up and down, the driving motor D7 is connected with the turbine A6 to rotate to drive the gear D19 to rotate, the gear D19 rotates to drive the rotating shaft 20 to move up and down linearly, and the connecting rod 22 is driven to move up and down linearly, so that the opening or closing of the jaw A at the far end can be controlled. The driving motor F9 is engaged with the gear A4, the rotation of the gear A4 drives the gear C18 to rotate, the gear B17 is also linked to rotate, the gear B17 drives the turbine B16 to rotate, the rotation of the turbine B16 drives the gear E21 to rotate, the rotation of the gear E21 drives the connecting rod 22 to rotate, and therefore the distal jaw A is driven to rotate clockwise or anticlockwise, and the distal jaw A is connected with the hand-held controller 59 through the threaded sleeve 31. When the flexible driving shaft A3 is pulled up under the action of the rotating pin B29 and the rotating pin A27, the return spring 24 is pulled open, the rotating sensor A10 catches the movement stroke, a signal is generated and input to the main control unit 35, the main control unit 35 receives the signal and outputs a signal to the driving motor D7 according to the movement stroke of the flexible driving shaft A3, and the driving motor D7 drives a series of gears to move, so that the opening or closing of the jaw A is realized. When the thumb and the forefinger are released, the reset is completed under the action of the reset spring 24, when the thumb and the manipulator grasp and rotate the controller 57, the flexible driving shaft A3 is driven to rotate, the rotation sensor A10 catches the rotation angle, a signal is generated therefrom and is input to the main control unit 35, the main control unit 35 receives the signal and outputs a signal to the driving motor F9 according to the rotation angle of the flexible driving shaft A3, the driving motor F9 drives a series of gears to move, thereby realizing the clockwise or counterclockwise rotation of the jaw A, the internal gear 32 is fixed on the hand-held controller 59, when the hand-held controller 59 is rotated clockwise or counterclockwise, the gear rod 1 is driven to rotate, the tail end of the gear rod 1 is connected with the rotation sensor B12, the gear rod 01 rotates to generate an angle, the angle is recognized by the rotation sensor B12, thereby generating a signal which is input to the main control unit 35, the main control unit 35 receives the signal and processes the signal into an output signal according to the signal to the driving motor E8, the driving motor E8 drives a series of mechanical transmissions, so that the distal jaw a can swing left and right or up and down, the lead 33 is connected with the mode button 58 to the electrical contact 02, and the control unit and the interface can provide a surgeon with more natural and flexible control over the operation of medical equipment such as a laparoscope, and are small in size, light in weight and easier to operate; the wound area is small, the healing time is short, and the recovery time is fast; the wound area is small, so that the wound is not easy to infect and is safer; reducing patient hospitalization time and other cost costs; reduce the operation risk and improve the working efficiency.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.

Claims

1. The minimally invasive surgery robot hand comprises an auxiliary rod (55), a hand-held controller (59), a mechanical transmission group (62), a main control unit shell (52), a battery shell (53), a wire clamping disc (34), a gear B (17), a reset spring (24), a flexible driving shaft A (3) and a fixing plate (10), and is characterized in that a manipulator (54) is sleeved at one end of the auxiliary rod (55), the other end of the auxiliary rod (55) is fixedly connected with the mechanical transmission group (62), the bottom end of the mechanical transmission group (62) is fixedly connected with a main control unit battery assembly (63), one side of the mechanical transmission group (62) is provided with a heat-transmitting functional plug interface (56), the top surface of the mechanical transmission group (62) is fixedly connected with the hand-held controller (59), the outer wall of the hand-held controller (59) is provided with a mode button (58), and a hand-back laminating sheet (61) is welded on the outer wall of the hand-held controller (59), the top surface of hand back laminating piece (61) is equipped with hand back laminating device (60), the top surface of holding controller (59) is pegged graft and is had manipulator gripping and rotary controller (57).

2. The minimally invasive surgery robot hand according to claim 1, wherein the manipulator grasping and rotating controller (57) comprises a return spring (24), a lever (25), a threaded sleeve (31) and a protection plate (26), the return spring (24) is sleeved inside the threaded sleeve (31), the return spring (24) and a rotating pin B (29) are located inside the return spring sleeve (30), the rotating pin B (29) is arranged at the top end of the lever (25), a sleeving cap (28) is arranged at the top of the lever (25), and the protection plate (26) is rotatably connected to the outer wall of the sleeving cap (28) through the rotating pin A (27).

3. The minimally invasive surgery robot hand according to claim 1, wherein the main control unit battery assembly (63) comprises a main control unit casing (52), a battery casing (53) and a fixing plate (11), an electric contact (2) is arranged at the top of the fixing plate (11), a rotary inductor A (10) and a rotary sensor B (12) are arranged inside the fixing plate (11), a screen (51) is fixedly connected to one side of the fixing plate (11), a driving motor D (7), a driving motor E (8) and a driving motor F (9) are fixedly connected to the inside of the fixing plate (11), and a charging interface (38) is fixedly connected to the top surface of the fixing plate (11).

4. The minimally invasive surgery robot hand according to claim 3, characterized in that the main control unit housing (52) and the battery housing (53) are in fit clamping connection, and a driving motor A (45), a driving motor B (46), a driving motor C (47), a rotary inductor female end A (48), an electric contact female end (49), a rotary inductor female end B (50) and a screen (51) are arranged on the outer wall of the main control unit housing (52).

5. Minimally invasive surgery robot hand according to claim 3, characterized in that the outer wall of the battery housing (53) is provided with a female socket (39), an electric contact male (40), a flexible drive shaft B (41), a socket A (42), a socket B (43) and a socket C (44), and a battery pack (36) is arranged in the battery housing (53).

6. The minimally invasive surgery robot hand according to claim 1, wherein the mechanical transmission set (62) comprises a wire clamping disc (34), a small guide wheel (15), a turbine B (16), a gear B (17), a rotating shaft (20), two connecting rods (22) and two clamping blocks (23), the clamping blocks (23) are clamped on the outer wall of each connecting rod (22), a gear E (21) is sleeved on the outer wall of each connecting rod (22), a gear D (19) is sleeved on the outer wall of each connecting rod (22), the two gears D (19) are arranged, the outer wall of each gear D (19) is connected with a turbine A (6) and a turbine B (16) in a meshed mode, and the outer wall of each turbine A (6) is connected with a gear F (5) in a meshed mode.

7. The minimally invasive surgery robot hand according to claim 6, wherein a gear rod (1) is connected to the outer wall of the turbine A (6) in a meshed mode, a cable (14) is wound on the outer wall of the small guide wheel (15), the cable (14) is wound on the wire clamping disc (34), the gear B (17) is connected with the gear C (18) in a meshed mode, the gear C (18) is connected with the gear A (4) in a meshed mode, and 6 small guide wheels (15) are arranged.

8. The minimally invasive surgery robot hand according to claim 1, characterized in that a flexible driving shaft A (3), an internal gear (32) and a lead (33) are arranged in the hand-held controller (59), and one end of the flexible driving shaft A (3) is fixedly connected with the auxiliary rod (55).