CN103340687B - Decoupled quick change surgical device for robot assisted minimally invasive surgery - Google Patents

Abstract

The invention discloses a decoupled quick change surgical device for a robot assisted minimally invasive surgery, and relates to a surgical device for the robot assisted minimally invasive surgery, and in particular relates to the decoupled quick change surgical device for the robot assisted minimally invasive surgery, aiming at solving the problems of high probability of snap break of driving left finger and right finger, complex structure and over-long replacement time of surgical instruments in a surgical process existing in the conventional minimally invasive surgical device. The decoupled quick change surgical device comprises an upper blade transmission mechanism, a wrist transmission mechanism, a casing transmission mechanism, a lower blade transmission mechanism, a first resetting mechanism, a second resetting mechanism, a first guide mechanism, a second guide mechanism, a front-end surgical scissor mechanism, an adapter shell, an adapter upper cover, a casing, a wrist connecting piece, an upper blade traction lower steel wire, an upper blade traction upper steel wire, a wrist traction lower steel wire, a wrist traction upper steel wire, a lower blade traction lower steel wire, a lower blade traction upper steel wire and seven screws. The decoupled quick change surge surgical device is used in the robot assisted minimally invasive surgery.

Description

Robot assisted Minimally Invasive Surgery nothing coupling quick-changing type operation device

Technical field

The present invention relates to robot assisted Minimally Invasive Surgery operation device, be specifically related to robot assisted Minimally Invasive Surgery without coupling quick-changing type operation device.

Background technology

Micro-wound surgical operation is generally performed the operation also referred to as insertion type, it is the otch (or relying on the natural official jargon of human body) by cutting 2 ~ 45 ~ 10mm at body surface, image by means of vision display system guides, and operating theater instruments is stretched in body by body surface otch and carries out treating or diagnosing, the operation completed.Number of patent application is 200910073301.6, publication number is CN101732093A, publication date is that the application for a patent for invention on June 16th, 2010 discloses one " micromanipulator for enterocoelia minimally invasive surgery ", this patent application is taken turns by motor drive wire and then drive steel wire to realize operation pipe, carpal joint, left finger and right finger rotate, although this patent adds the flexibility ratio of surgical action, meet micro-surgical instrument at volume, many-sided requirement such as function and chucking power, but, when carpal joint rotates, the unwanted motion of left finger and right finger can not get compensating, cause driving the steel wire of left finger and right finger easily to break.Number of patent application is CN201110007611.5, publication number is CN102028548A, publication date is that the application for a patent for invention on April 27th, 2011 discloses one " abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments ", this patent application compensate for the motion of the left finger of operating theater instruments end and right finger by differential planet gear, eliminate carpal joint with left, the coupled motions of right finger, but this mode complex structure, and make coupled motions be difficult to eliminate completely due to the mismachining tolerance of differential planet gear, this operating theater instruments does not have quick change function in addition, cause the replacing construction of operating theater instruments in operation process long, be unfavorable for that operation is carried out smoothly.

Summary of the invention

The present invention is that the steel wire of the left finger of driving and right finger solving existing Minimally Invasive Surgery device is easily broken, and complex structure, the problem that in operation process, operating theater instruments replacing construction is long, and then robot assisted Minimally Invasive Surgery nothing coupling quick-changing type operation device is proposed.

The present invention is the technical scheme taked that solves the problem: the present invention includes top cutter drive mechanism, wrist transmission mechanism, quill drive mechanism, bottom knife drive mechanism, first resetting-mechanism, second resetting-mechanism, first guiding mechanism, second guiding mechanism, front end operating scissors mechanism, adapter housing, adapter upper cover, sleeve pipe, wrist connector, the lower steel wire of top cutter traction, the upper steel wire of top cutter traction, the lower steel wire of wrist traction, the upper steel wire of wrist traction, the lower steel wire of bottom knife traction, the upper steel wire of bottom knife traction and seven screws, top cutter drive mechanism, wrist transmission mechanism, quill drive mechanism, bottom knife drive mechanism is rectangular to be arranged on adapter housing, and one end of sleeve pipe is fixedly mounted on adapter housing, and the other end of sleeve pipe is connected with front end operating scissors mechanism by wrist connector, and front end operating scissors mechanism comprises wrist axes, wrist, blade installation shaft, top cutter and bottom knife, wrist is connected with wrist connector by wrist axes, and top cutter is connected with wrist by blade installation shaft with bottom knife, and top cutter and bottom knife are symmetrical arranged, the lower steel wire of top cutter traction, the lower steel wire of the upper steel wire wrist traction of top cutter traction, the upper steel wire of wrist traction, the lower steel wire of bottom knife traction, the upper steel wire of bottom knife traction is inserted in sleeve pipe, first guiding mechanism and the second guiding mechanism side by side parallel are arranged on the middle part of adapter housing, one end of the lower steel wire of top cutter traction is connected with top cutter drive mechanism, the other end of the lower steel wire of top cutter traction is walked around the first guiding mechanism and is connected with top cutter through sleeve pipe, one end of the upper steel wire of top cutter traction is connected with top cutter drive mechanism, the other end of the upper steel wire of top cutter traction is walked around the first guiding mechanism and is connected with top cutter through sleeve pipe, one end of the lower steel wire of wrist traction is connected with wrist transmission mechanism, the other end of the lower steel wire of wrist traction is walked around the first guiding mechanism and is connected with wrist through sleeve pipe, one end of the upper steel wire of wrist traction is connected with wrist transmission mechanism, the other end of the upper steel wire of wrist traction is walked around the first guiding mechanism and is connected with wrist through sleeve pipe, one end of the lower steel wire of bottom knife traction is connected with bottom knife drive mechanism, the lower steel wire of bottom knife traction is walked around the second guiding mechanism and is connected with bottom knife through sleeve pipe, one end of the upper steel wire of bottom knife traction is connected with bottom knife drive mechanism, the second guiding mechanism that the other end of the upper steel wire of bottom knife traction is walked around is connected with bottom knife through sleeve pipe, quill drive mechanism is connected with one end of sleeve pipe, adapter upper cover is contained on adapter housing by seven screw fasteners.

The invention has the beneficial effects as follows: the invention solves existing robot assisted Minimally Invasive Surgery apparatus due to gear clearance and driving error and cause the compensating motion inaccuracy of operating theater instruments end-effector and then the problem causing the coupled motions between carpal joint and end-effector to eliminate completely; This invention also solves existing robot assisted Minimally Invasive Surgery operating theater instruments and not there is quick change function, cause operation replacing construction long, affect the problem of surgical quality, the present invention has without features such as coupled motions and quick-changing type functions, drive mechanism resets and coordinates with operating theater instruments quick change construction in addition, and the zero point realizing operating theater instruments drive mechanism while carrying out Fast Installation resets.

Accompanying drawing explanation

Fig. 1 is overall structure schematic diagram of the present invention, Fig. 2 be in Fig. 1 A-A to sectional view, Fig. 3 is adapter housing top view, Fig. 4 is adapter shell structure schematic diagram, Fig. 5 is adapter upper interior surface structural representation, Fig. 6 is exterior surface schematic diagram on adapter, Fig. 7 is adapter housing interior structure schematic diagram, Fig. 8 is top cutter drive mechanism structural representation, Fig. 9 is top cutter drive mechanism decomposing schematic representation, Figure 10 is quill drive structural scheme of mechanism, Figure 11 is decomposition texture schematic diagram of the present invention, Figure 12 is quill drive mechanism partial structurtes schematic diagram, Figure 13 is quill drive mechanism exploded structural representation, Figure 14 is front end operating scissors structural scheme of mechanism, Figure 15 is front end operating scissors structural scheme of mechanism, Figure 16 is wrist connector perspective view, Figure 17 is wrist axes structural representation, Figure 18 is the front view of wrist, Figure 19 a is wrist runner left side structure schematic diagram, Figure 19 b is wrist runner right side structure schematic diagram, Figure 20 is a is top blade form schematic diagram, Figure 20 b is bottom blade form schematic diagram, Figure 21 is the front view of top cutter, Figure 22 be in Figure 21 B-B to sectional view, Figure 23 is adapter housing and adapter upper cover decomposing schematic representation, Figure 24 drives understructure schematic diagram, Figure 25 is wrist transmission mechanism schematic diagram, Figure 26 is wrist transmission mechanism decomposing schematic representation, Figure 27 is bottom knife drive mechanism schematic diagram, Figure 28 is bottom knife drive mechanism decomposing schematic representation.

Detailed description of the invention

Detailed description of the invention one: composition graphs 1 to Figure 28 illustrates present embodiment, robot assisted Minimally Invasive Surgery described in present embodiment comprises top cutter drive mechanism 1 without coupling quick-changing type operation device, wrist transmission mechanism 2, quill drive mechanism 3, bottom knife drive mechanism 4, first resetting-mechanism 5, second resetting-mechanism 6, first guiding mechanism 7, second guiding mechanism 8, front end operating scissors mechanism 9, adapter housing 33, adapter upper cover 34, sleeve pipe 35, wrist connector 36, the lower steel wire 46 of top cutter traction, the upper steel wire 47 of top cutter traction, the lower steel wire 48 of wrist traction, the upper steel wire 49 of wrist traction, the lower steel wire 50 of bottom knife traction, the upper steel wire 51 of bottom knife traction and seven screws 52, top cutter drive mechanism 1, wrist transmission mechanism 2, quill drive mechanism 3, bottom knife drive mechanism 4 is rectangular to be arranged on adapter housing 33, and one end of sleeve pipe 35 is fixedly mounted on adapter housing 33, and the other end of sleeve pipe 35 is connected with front end operating scissors mechanism 9 by wrist connector 36, and front end operating scissors mechanism 9 comprises wrist axes 37, wrist 38, blade installation shaft 39, top cutter 40 and bottom knife 41, wrist 38 is connected with wrist connector 36 by wrist axes 37, and top cutter 40 is connected with wrist 38 by blade installation shaft 39 with bottom knife 41, and top cutter 40 and bottom knife 41 are symmetrical arranged, the lower steel wire 46 of top cutter traction, the upper steel wire 47 of top cutter traction, the lower steel wire 48 of wrist traction, the upper steel wire 49 of wrist traction, the lower steel wire 50 of bottom knife traction, the upper steel wire 51 of bottom knife traction is inserted in sleeve pipe 35, first guiding mechanism 7 and the second guiding mechanism 8 side by side parallel are arranged on the middle part of adapter housing 33, one end of the lower steel wire 46 of top cutter traction is connected with top cutter drive mechanism 1, the other end of the lower steel wire 46 of top cutter traction is walked around the first guiding mechanism 7 and is connected with top cutter 40 through sleeve pipe 35, one end of the upper steel wire 47 of top cutter traction is connected with top cutter drive mechanism 1, the other end of the upper steel wire 47 of top cutter traction is walked around the first guiding mechanism 7 and is connected with top cutter 4 through sleeve pipe 35, one end of the lower steel wire 48 of wrist traction is connected with wrist transmission mechanism 2, the other end of the lower steel wire 48 of wrist traction is walked around the first guiding mechanism 7 and is connected with wrist 38 through sleeve pipe 35, one end of the upper steel wire 49 of wrist traction is connected with wrist transmission mechanism 2, the other end of the upper steel wire 49 of wrist traction is walked around the first guiding mechanism 7 and is connected with wrist 38 through sleeve pipe 35, one end of the lower steel wire 50 of bottom knife traction is connected with bottom knife drive mechanism 4, the lower steel wire 50 of bottom knife traction is walked around the second guiding mechanism 8 and is connected with bottom knife 41 through sleeve pipe 35, one end of the upper steel wire 51 of bottom knife traction is connected with bottom knife drive mechanism 4, the second guiding mechanism 8 that the other end of the upper steel wire 51 of bottom knife traction is walked around is connected with bottom knife 41 through sleeve pipe 35, quill drive mechanism 3 is connected with one end of sleeve pipe 35, adapter upper cover 34 passes through seven screw 52 spiral-locks on adapter housing 33.

In present embodiment, the lower surface of adapter housing 33 is provided with the first clutch disk hole 33-1-1, second clutch disk hole 33-2-1, 3rd clutch disk hole 33-3-1 and the 4th clutch disk hole 33-4-1, first clutch disk hole 33-1-1 and the 4th clutch disk hole 33-4-1 with adapter housing 33 along its length centrage be symmetrical arranged, second clutch disk hole 33-2-1 and the 3rd clutch disk hole 33-3-1 with adapter housing 33 along its length centrage be symmetrical arranged, and the second clutch disk hole 33-2-1 is positioned at the front side of the first clutch disk hole 33-1-1, 3rd clutch disk hole 33-3-1 is positioned at the front side of the 4th clutch disk hole 33-4-1, the top cutter transmission clutch discs 10 of top cutter drive mechanism 1 is arranged in the first clutch disk hole 33-1-1, the wrist transmission clutch discs 54 of wrist transmission mechanism 2 is arranged in the second clutch disk hole 33-2-1, the quill drive clutch discs 66 of quill drive mechanism 3 is arranged in the 3rd clutch disk hole 33-3-1, the bottom knife transmission clutch discs 60 of bottom knife drive mechanism 4 is arranged in the 4th clutch disk hole 33-4-1, the upper surface of adapter housing 33 is provided with the first rear bearing installing hole 33-1-2, second rear bearing installing hole 33-2-2, 3rd rear bearing installing hole 33-3-2, 4th rear bearing installing hole 33-4-2, installing hole 33-6 after installing hole 33-5 and second axis of guide after first axis of guide, second rear bearing installing hole 33-2-2 and the 3rd rear bearing installing hole 33-3-2 with adapter housing 33 along its length centrage be symmetrical arranged, first rear bearing installing hole 33-1-2 and the 4th rear bearing installing hole 33-4-2 with adapter housing 33 along its length centrage be symmetrical arranged, the centrage of the first rear bearing installing hole 33-1-2 overlaps with the centrage of the first clutch disk hole 33-1-1, the centrage of the second rear bearing installing hole 33-2-2 overlaps with the centrage of the second clutch disk hole 33-2-1, the centrage of the 3rd rear bearing installing hole 33-3-2 overlaps with the centrage of the 3rd clutch disk hole 33-3-1, the centrage of the 4th rear bearing installing hole 33-4-2 overlaps with the centrage of the 4th clutch disk hole 33-4-1, the lower surface of adapter upper cover 34 is provided with the first fore bearing installing hole 34-1, second fore bearing installing hole 34-2, 3rd fore bearing installing hole 34-3, 4th fore bearing installing hole 34-4, installing hole 34-6 before installing hole 34-5 and second axis of guide before first axis of guide, the centrage of the first fore bearing installing hole 34-1 overlaps with the centrage of the first rear bearing installing hole 33-1-2, the centrage of the second fore bearing installing hole 34-2 overlaps with the centrage of the first rear bearing installing hole 33-2-2, the centrage of the 3rd fore bearing installing hole 34-3 overlaps with the centrage of the 3rd rear bearing installing hole 33-3-2, the centrage of the 4th fore bearing installing hole 34-4 overlaps with the centrage of the 4th rear bearing installing hole 33-4-2, before first axis of guide, the centrage of installing hole 34-5 overlaps with the centrage of installing hole 33-5 after first axis of guide, before second axis of guide, the centrage of installing hole 34-6 overlaps with the centrage of installing hole 33-6 after second axis of guide, the upper surface of adapter housing 33 is provided with the first reset keyseat 33-7, first return spring holder 33-8, second reset keyseat 33-9 and the second return spring holder 33-10, first reset keyseat 33-7, first return spring holder 33-8, the symmetrical centre face of the second reset keyseat 33-9 and the second return spring holder 33-10 is all in same level, described horizontal plane is the symmetrical centre face of top cutter drive mechanism 1 and wrist transmission mechanism 2 center of rotation, the left end face of the first return spring holder 33-8 is provided with the first spring eye 33-8-1, the its right end face of the second return spring holder 33-10 is provided with the second spring eye 33-10-1, adapter housing 33 left and right sides end face is respectively provided with a groove respectively, first reset key lever 16-3 is pressed into and rebounds from corresponding groove, perform the reset function of operating theater instruments, second reset key lever 70-3 is pressed into and rebounds from corresponding groove, perform the reset function of operating theater instruments, the lower surface of adapter housing 33 is provided with first interface tongue 33-14 and the second interface tongue 33-15, first interface tongue 33-14 coordinates with the first interface groove 53-1 driven in interface pedestal 53, second interface tongue 33-15 coordinates with the second interface groove 53-2 driven in interface pedestal 53, the end face of adapter upper cover 34 is provided with the 3rd reset keyseat 34-7 and the 4th reset keyseat 34-8, 3rd reset keyseat 34-7 and the 4th reset keyseat 34-8 is corresponding respectively at the first reset keyseat 33-7 on adapter housing 33 and the 3rd reset keyseat 33-9, the end face of adapter upper cover 34 is provided with upper cover square groove 34-9, the front side of adapter upper cover 34 is provided with cannula exit groove 34-10, the upper cover left surface 34-11 of adapter upper cover 34, upper cover right flank 34-12 and upper cover trailing flank 34-13 is placed with seven upper cover screwed hole 34-14, the left surface of adapter housing 33, right flank and trailing flank are placed with seven screw plate 33-13, the center of each screw plate 33-13 is provided with a screwed hole, corresponding with the upper cover screwed hole 34-14 of seven on adapter upper cover 34 respectively, by seven screws 52, adapter upper cover 34 and adapter housing 33 are connected and fixed.

The upper surface of the driving interface pedestal 53 in present embodiment is provided with first interface groove 53-1, second interface groove 53-2, first drive hole 53-3, second drive hole 53-4, 3rd drive hole 53-5, four-wheel drive hole 53-6, first baffle plate 53-7, second baffle 53-8 and third gear plate 53-9, the end of first interface groove 53-1 and the second interface groove 53-2 is herringbone opening, first drive hole 53-3, second drive hole 53-4, the centrage of the 3rd drive hole 53-5 and four-wheel drive hole 53-6 respectively with the first clutch disk hole 33-1-1 on adapter housing 33, second clutch disk hole 33-2-1, the centrage of the 3rd clutch disk hole 33-3-1 and the 4th clutch disk hole 33-4-1 is just right, first baffle plate 53-7 is arranged on the left side driving interface pedestal 53, when operating theater instruments is installed, contact with adapter housing 33 left outer surface, second baffle 53-8 is arranged on the right side driving interface pedestal 53, when operating theater instruments is installed, contact with outer surface on the right side of adapter housing 33, third gear plate 53-9 is arranged on the upside driving interface pedestal 53, when operating theater instruments is installed, contact with adapter housing 33 upper outside surfaces.Top cutter driving mechanism, wrist driving mechanism, sleeve pipe driving mechanism and bottom knife driving mechanism are installed on the first drive hole 53-3 driven in interface pedestal 53 respectively, second drive hole 53-4, in 3rd drive hole 53-5 and four-wheel drive hole 53-6, top cutter driving mechanism, wrist driving mechanism, sleeve pipe driving mechanism and bottom knife driving mechanism are connected with a drive motors respectively, by top cutter driving mechanism, wrist driving mechanism, driving clutch discs on sleeve pipe driving mechanism and bottom knife driving mechanism and top cutter drive mechanism 1, wrist transmission mechanism 2, the cooperation of the transmission clutch discs 10 of quill drive mechanism 3 and bottom knife drive mechanism 4 lower end, by the Motion Transmission of drive motors to the adapter of operating theater instruments.

Detailed description of the invention two: composition graphs 8 and Fig. 9 illustrate present embodiment, robot assisted Minimally Invasive Surgery described in present embodiment comprises top cutter transmission clutch discs 10 without the top cutter drive mechanism 1 of coupling quick-changing type operation device, top cutter driven rear axle holds 11, wire wheel axis 12 under top cutter transmission, top cutter transmission is reached the standard grade wheel 13, top cutter transmission fore bearing 14 and three top cutter drive mechanism holding screws 15, under top cutter transmission, wire wheel axis 12 is by rear extremely front successively by wire wheel axis one section of 12-1 under all-in-one-piece top cutter processed transmission, wire wheel axis two-stage nitration 12-2 under top cutter transmission, wire wheel axis three sections of 12-3 under top cutter transmission, wire wheel axis five sections of 12-5 compositions under wire wheel axis four sections of 12-4 and top cutter transmission under top cutter transmission, under top cutter transmission, wire wheel axis three sections of 12-3 are that transmission is rolled off the production line wheel, the roll off the production line lateral wall of wheel of described transmission is provided with the lower steel wire trough 12-3-1 of top cutter traction and the lower fixation with steel wire groove 12-3-2 of top cutter traction, top cutter transmission wheel 13 of reaching the standard grade is sleeved on the lateral wall of wire wheel axis four sections of 12-4 under top cutter transmission, and top cutter transmission is reached the standard grade, the external diameter of wheel 13 is equal with the external diameter of wire wheel axis three sections of 12-3 under top cutter transmission, the reach the standard grade lateral wall of wheel 13 of top cutter transmission is provided with the upper steel wire trough 13-1 of top cutter traction, the upper fixation with steel wire groove 13-2 and top cutter reset contact surface 13-3 of top cutter traction, the inner ring of top cutter transmission fore bearing 14 is sleeved on the lateral wall of wire wheel axis five sections of 12-5 under top cutter transmission, the outer ring of top cutter transmission fore bearing 14 is arranged on the first fore bearing installing hole 34-1 on adapter upper cover 34, the inner ring that top cutter driven rear axle holds 11 is sleeved on the lateral wall of wire wheel axis two-stage nitration 12-2 under top cutter transmission, the outer ring that top cutter driven rear axle holds 11 is arranged on the first rear bearing installing hole 33-1-2 on adapter housing 33, top cutter transmission clutch discs 10 is sleeved on the lateral wall of wire wheel axis one section of 12-1 under top cutter transmission, the end face of top cutter transmission clutch discs 10 is provided with and the top cutter clutch discs interface tongue 10-1 driving the first interface groove 53-1 in interface pedestal 53 to match, three top cutter drive mechanism holding screws 15 are uniform to be arranged on top cutter transmission and to reach the standard grade on the lateral wall of wheel 13 except top cutter reset contact surface 13-3.

The technique effect of present embodiment is: the yaw motion achieving top cutter, and utilization steel wire drive achieves accurate, steady, the long-distance transmission from top cutter power source to top cutter.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention three: present embodiment is described in conjunction with Figure 25 and Figure 26, robot assisted Minimally Invasive Surgery described in present embodiment comprises wrist transmission clutch discs 54 without the wrist transmission mechanism 2 of coupling quick-changing type operation device, wrist driven rear axle holds 55, wire wheel axis 56 under wrist transmission, wrist transmission is reached the standard grade wheel 57, wrist transmission fore bearing 58 and three wrist transmission mechanism holding screws 59, under wrist transmission, wire wheel axis 56 is from front to back successively by wire wheel axis one section of 56-1 under the wrist transmission of support one, wire wheel axis two-stage nitration 56-2 under wrist transmission, wire wheel axis three sections of 56-3 under wrist transmission, wire wheel axis five sections of 56-5 compositions under wire wheel axis four sections of 56-4 and wrist transmission under wrist transmission, under wrist transmission, wire wheel axis three sections of 56-3 are that transmission is rolled off the production line wheel, the roll off the production line lateral wall of wheel of described transmission is provided with the lower steel wire trough 56-3-1 of wrist traction and the lower fixation with steel wire groove 56-3-2 of wrist traction, wrist transmission wheel 57 of reaching the standard grade is sleeved on the lateral wall of wire wheel axis four sections of 56-4 under wrist transmission, and wrist transmission is reached the standard grade, the external diameter of wheel 57 is identical with the external diameter of wire wheel axis three sections of 56-3 under wrist transmission, the reach the standard grade lateral wall of wheel 57 of wrist transmission is provided with the upper steel wire trough 57-1 of wrist traction, the upper fixation with steel wire groove 57-2 and wrist reset contact surface 57-3 of wrist traction, the inner ring of wrist transmission fore bearing 58 is sleeved on the lateral wall of wire wheel axis five sections of 56-5 under wrist transmission, the outer ring of wrist transmission fore bearing 58 is arranged on the second fore bearing installing hole 34-2 on adapter upper cover 34, the inner ring that wrist driven rear axle holds 55 is sleeved on the lateral wall of wire wheel axis two-stage nitration 56-2 under wrist transmission, the outer ring that wrist driven rear axle holds 55 is arranged on the second rear bearing installing hole 33-2-2 on adapter housing 33, wrist transmission clutch discs 54 is sleeved on the lateral wall of the upper steel wire trough 57-1 of wrist traction, the end face of wrist transmission clutch discs 54 is provided with and the wrist clutch discs interface tongue 54-1 driving the first interface groove 53-1 in interface pedestal 53 to match, three wrist transmission mechanism holding screws 59 are uniform to be arranged on wrist transmission and to reach the standard grade on the lateral wall of wheel 57 except wrist reset contact surface 57-3.

The technique effect of present embodiment is: the elevating movement achieving wrist, and utilization steel wire drive achieves accurate, steady, the long-distance transmission from wrist power source to wrist.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention four: in conjunction with Figure 10, Figure 11, Figure 12 and Figure 13 illustrates present embodiment, robot assisted Minimally Invasive Surgery described in present embodiment comprises quill drive clutch discs 66 without the quill drive mechanism 3 of coupling quick-changing type operation device, quill drive rear bearing 67, quill drive fore bearing 68, quill drive axle 26, crossed helical gears 27, little axle sleeve 28, casing joints 29, sleeve pipe helical gear 29-1, bearing block 33-11, first set tubular shaft 30, second Casing bearing 31 and large shaft sleeve 32, quill drive axle 26 is by rear extremely front successively by all-in-one-piece quill processed one section of 26-1, quill two-stage nitration 26-2, quill three sections of 26-3 and quill four sections of 26-4 compositions, crossed helical gears 27 is sleeved on the lateral wall of quill three sections of 26-3, crossed helical gears 27 is provided with crossed helical gears reset contact surface 27-1, the inner ring of quill drive fore bearing 68 is arranged on the lateral wall of quill four sections of 26-4, the outer ring of quill drive fore bearing 68 is arranged on the 3rd fore bearing installing hole 34-3 on adapter upper cover 34, the inner ring of quill drive rear bearing 67 is sleeved on the lateral wall of quill two-stage nitration 26-2, the outer ring of quill drive rear bearing 67 is arranged on the 3rd rear bearing installing hole 33-3-2 on adapter housing 33, quill drive clutch discs 66 is sleeved on the lateral wall of quill one section of 26-1, the end face of quill drive clutch discs 66 is provided with and the quill drive clutch discs interface tongue 66-1 driving the second interface groove 53-2 in interface pedestal 53 to match, casing joints 29 is arranged on the bearing block 33-11 of adapter housing 33, and casing joints 29 passes from the cannula exit groove 34-10 of adapter upper cover 34, sleeve pipe helical gear 29-1, first set tubular shaft 30, second Casing bearing 31, large shaft sleeve 32 is sleeved on the lateral wall of casing joints 29 successively, the inner ring of first set tubular shaft 30 contacts with sleeve pipe back-up ring 29-2 on casing joints 29 lateral wall, the outer ring of first set tubular shaft 30 is arranged in bearing back seat side opening 33-11-1, the outer ring of the second Casing bearing 31 is arranged in bearing block front-side holes 33-11-2, large shaft sleeve 32 contacts with the second Casing bearing 31, one end of casing joints 29 and one end interference fit of sleeve pipe 35, one end of wrist connector 36 and the other end interference fit of sleeve pipe 35, wrist connector 36 other end end face side by side parallel is provided with two wrist otic placode 36-5, wrist connector 36 other end end face is laid with the first towing pad 36-1, second towing pad 36-2, 3rd towing pad 36-3, 3rd towing pad 36-4, and the first towing pad 36-1, second towing pad 36-2, 3rd towing pad 36-3, 3rd towing pad 36-4 all with the inner space of sleeve pipe 35.

Present embodiment middle sleeve transmission clutch discs 66 and quill one section of 26-1 are interference fit, the axle center hole of quill drive clutch discs 66 and the cross section of quill one section of 26-1 are D font, the rear side of casing joints 29 is sleeve pipe helical gear 29-1, sleeve pipe helical gear 29-1 coordinates with crossed helical gears 27, transmit motion on sleeve pipe 35, large shaft sleeve 32 is fixed on casing joints 29, prevent casing joints 32 from sliding from cannula exit groove 34-10 forward, the upper surface, front side of adapter housing 33 is provided with arcuate groove 33-12, facilitates the assembling of large shaft sleeve 32.

The technique effect of present embodiment is: the axial rotation realizing sleeve pipe.Achieved from quill drive clutch discs to operating theater instruments sleeve pipe staggered transmission spatially by a pair crossed helical gears, the kind of drive is simple, and transmission effect is steady.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention five: present embodiment is described in conjunction with Figure 27 and Figure 28, robot assisted Minimally Invasive Surgery described in present embodiment comprises bottom knife transmission clutch discs 60 without the bottom knife drive mechanism 4 of coupling quick-changing type operation device, bottom knife driven rear axle holds 61, wire wheel axis 62 under bottom knife transmission, bottom knife transmission is reached the standard grade wheel 63, bottom knife transmission fore bearing 64 and three bottom knife drive mechanism holding screws 65, under bottom knife transmission, wire wheel axis 62 is by rear extremely front successively by all-in-one-piece bottom knife drive line wheel shaft processed one section of 62-1, bottom knife drive line wheel shaft two-stage nitration 62-2, bottom knife drive line wheel shaft three sections of 62-3, bottom knife drive line wheel shaft four sections of 62-4 and bottom knife drive line wheel shaft five sections of 62-5 compositions, under bottom knife transmission, wire wheel axis three sections of 62-3 are that transmission is rolled off the production line wheel, the roll off the production line lateral wall of wheel of described transmission is provided with traction steel wire holddown groove 62-3-2 under the lower steel wire trough 62-3-1 of bottom knife traction and bottom knife, bottom knife transmission wheel 63 of reaching the standard grade is sleeved on the lateral wall of wire wheel axis four sections of 62-4 under bottom knife transmission, and bottom knife transmission is reached the standard grade, the external diameter of wheel 63 is identical with the external diameter of wire wheel axis three sections of 62-3 under bottom knife transmission, the reach the standard grade lateral wall of wheel 63 of bottom knife transmission is provided with the upper steel wire trough 63-1 of bottom knife traction, the upper fixation with steel wire groove 63-2 and bottom knife reset contact surface 63-3 of bottom knife traction, the inner ring of bottom knife transmission fore bearing 64 is sleeved on top cutter transmission and rolls off the production line on the lateral wall of wheel five sections of 62-5, the outer ring of bottom knife transmission fore bearing 64 is arranged on the 4th fore bearing installing hole 34-4 on adapter upper cover 34, the inner ring that bottom knife driven rear axle holds 61 is sleeved on the lateral wall of wire wheel axis two-stage nitration 62-2 under bottom knife transmission, the outer ring that bottom knife driven rear axle holds 61 to be arranged on adapter housing 33 on 33-4-2, bottom knife transmission clutch discs 60 is sleeved on the lateral wall of wire wheel axis one section of 62-1 under bottom knife transmission, the end face of bottom knife transmission clutch discs 60 is provided with and the bottom knife clutch discs interface tongue 60-1 driving the second interface groove 53-2 in interface pedestal 53 to match, three bottom knife drive mechanism holding screws 65 are uniform to be arranged on bottom knife transmission and to reach the standard grade on the lateral wall of wheel 63 except bottom knife reset contact surface 63-3.

The technique effect of present embodiment is: the yaw motion achieving bottom knife, and utilization steel wire drive achieves accurate, steady, the long-distance transmission from bottom knife power source to bottom knife.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention six: present embodiment is described in conjunction with Figure 23, robot assisted Minimally Invasive Surgery described in present embodiment also comprises the first resetting-mechanism 5 without coupling quick-changing type operation device, first resetting-mechanism 5 comprises the first reset key 16, first back-moving spring 17, first reset keyseat 33-7 and the first return spring holder 33-8, one end of first back-moving spring 17 is arranged in the first back-moving spring hole 33-8-1 of the first return spring holder 33-8, the other end of the first back-moving spring 17 contacts with the first spring end face 16-2 of the first reset key 16, the lower surface of the first reset key 16 contacts with the first reset keyseat 33-7, the upper surface of the first reset key 16 contacts with the 3rd reset keyseat 34-7 on adapter upper cover 34, the rear side of the first reset key 16 is provided with the first reset key lever 16-3, the both sides of the first reset key 16 are respectively provided with a first reset work surface 16-1 respectively.

The technique effect of present embodiment is: when pressing first resets key lever 16-3 end, the top cutter reset contact surface 13-3 that first reset work surface 16-1 and the top cutter transmission of both sides are reached the standard grade on wheel 13 contacts, and going deep into along with the first reset key lever 16-3 pressing, the contact area of the first reset work surface 16-1 and top cutter reset contact surface 13-3 increases gradually, drive top cutter drive mechanism 1 and wrist transmission mechanism 2 to rotate simultaneously, when the first reset key lever 16-3 end has pressed, first reset work surface 16-1 and the top cutter reset contact surface 13-3 of both sides become two planes contacted with each other, top cutter drive mechanism 1 and wrist transmission mechanism 2 turn to initial position, under this initial position, the wrist clutch discs interface tongue 54-1 of the wrist transmission clutch discs 54 on the top cutter clutch discs interface tongue 10-1 of the blade transmission clutch discs 10 on top cutter drive mechanism 1 and wrist transmission mechanism 2 overlaps with the vertical centrage of the first interface tongue 33-14 on adapter housing 33 lower surface.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention seven: present embodiment is described in conjunction with Figure 23, robot assisted Minimally Invasive Surgery described in present embodiment also comprises the second resetting-mechanism 6 without coupling quick-changing type operation device, second resetting-mechanism 6 comprises the second reset key 70, second back-moving spring 71, second reset keyseat 33-9 and the second return spring holder 33-10, one end of second back-moving spring 71 is arranged in the second back-moving spring hole 33-10-1 of the second reset key spring base 33-10, the other end of the second back-moving spring 71 contacts with the spring end face 70-2 of the second reset key 70, the lower surface of the second reset key 70 contacts with the second reset keyseat 33-9, the upper surface of the second reset key 70 contacts with the 4th reset keyseat 34-8 on adapter upper cover 34, the rear side of the second reset key 70 is provided with the second reset key lever 70-3, the both sides of the second reset key 70 are respectively provided with a second reset work surface 70-1 respectively.

The technique effect of present embodiment is: when pressing second resets key lever 70-3 end, the bottom knife reset surface 63-3 that second reset work surface 70-1 and the bottom knife transmission of both sides are reached the standard grade on wheel 63 contacts, and going deep into along with the second reset key lever 70-3 pressing, the contact area of the second reset work surface 70-1 and bottom knife reset surface 63-3 increases gradually, drive quill drive mechanism 3 and bottom knife drive mechanism 4 to rotate simultaneously, when the second reset key lever 70-3 end has pressed, second reset work surface 70-1 of both sides and bottom knife reset surface 63-3 becomes two parallel planes contacted with each other, quill drive mechanism 3 and bottom knife drive mechanism 4 turn to initial position, under this initial position, the bottom knife interface tongue 60-1 of bottom knife transmission clutch discs 60 on the sleeve pipe clutch discs interface tongue 66-1 of the quill drive clutch discs 66 in quill drive mechanism 3 and bottom knife drive mechanism 4 overlaps with the vertical centrage of the second interface tongue 33-15 on adapter housing 33 lower surface.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention eight: composition graphs 1 and Fig. 7 illustrate present embodiment, robot assisted Minimally Invasive Surgery described in present embodiment comprises first axis of guide 18 without the first guiding mechanism 7 of coupling quick-changing type operation device, first directive wheel 20, second directive wheel 21, 3rd directive wheel 22 and the 4th directive wheel 23, 4th directive wheel 23, 3rd directive wheel 22, second directive wheel 21 and the first directive wheel 20 are sleeved on first axis of guide 18 successively, one end of first axis of guide 18 to be inserted into before first axis of guide in installing hole 34-5, the other end of first axis of guide 18 is inserted into installing hole 33-5 after first axis of guide.

The technique effect of present embodiment is: reset key structure is simple, and easy to process, its both sides have the reset work surface at certain angle of inclination, the drive mechanism in motion thread can be returned to initial zero position state during work, and work process is rapid, stable; Reset key can be rebounded by back-moving spring after reset work completes, and brings operator certain feel in execution reset work.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention nine: composition graphs 1 and Fig. 7 illustrate present embodiment, robot assisted Minimally Invasive Surgery described in present embodiment comprises second axis of guide 69, guideway 19, the 5th directive wheel 24 and the 6th directive wheel 25 without the second guiding mechanism 8 of coupling quick-changing type operation device, 6th directive wheel 25, guideway 19, the 5th directive wheel 24 are sleeved on second axis of guide 69 successively, one end of second axis of guide 69 is inserted into before second axis of guide in installing hole 34-6, and the other end of second axis of guide 69 to be inserted into after second axis of guide in installing hole 33-6.

The technique effect of present embodiment is: to the steel wire rope of drawing from operating theater instruments sleeve pipe except producing the effect of guiding, also has certain effect of entering, realizes the accurate transmission from the drive mechanism adapter housing to front end operating scissors mechanism.Other composition and annexation identical with detailed description of the invention one.

Detailed description of the invention ten: present embodiment is described in conjunction with Figure 14 to Figure 22, robot assisted Minimally Invasive Surgery described in present embodiment also comprise first without the front end operating scissors mechanism 9 of coupling quick-changing type operation device on the left of directive wheel 42, directive wheel 43 on the left of in the of second, first right hand guide wheels 44 and the second right hand guide wheels 45, wrist axes 37 is arranged between two wrist otic placode 36-5 on wrist connector 36, wrist axes 37 is provided with left side towing pad 37-1 and right side towing pad 37-2, wrist 38 comprises wrist runner 38-1, wrist substrate 38-2, two blade otic placode 38-3, left side guiding groove 38-4, right side guiding groove 38-5, left side axis of guide 38-6 and right side axis of guide 38-7, wrist runner 38-1 is radially provided with wrist ring like steel wire groove 38-1-1, the middle part of wrist runner 38-1 is provided with wrist axis hole 38-1-2 vertically, wrist 38 is arranged on the centre of wrist axes 37 by wrist axis hole 38-1-2, wrist runner 38-1 is positioned at the rear side of wrist substrate 38-2, two blade otic placode 38-3 are symmetricly set on the both sides of wrist substrate 38-2, each blade otic placode 38-3 is respectively provided with a blade mounting holes 38-3-1 respectively, the two ends of blade installation shaft 39 are inserted in corresponding blade mounting holes 38-3-1 respectively, left side axis of guide 38-6 and right side axis of guide 38-7 is symmetricly set on the both sides of wrist substrate 38-2, left side guiding groove 38-4 and right side guiding groove 38-5 is symmetricly set on the both sides of wrist substrate 38-2, top cutter 40 is cut 40-2 by top cutter runner 40-1 and a left side and is formed, top cutter runner 40-1 and a left side are cut 40-2 and are made one, top cutter runner 40-1 is radially provided with top cutter ring like steel wire groove 40-1-1, top cutter runner 40-1 is provided with vertically top cutter installing hole 40-1-3, top cutter installing hole 40-1-3 is sleeved in blade installation shaft 39, the lower surface of top cutter runner 40-1 is provided with top cutter fixation with steel wire groove 40-1-2, up stroke block 40-1-4 coordinates with the down stroke block 41-1-4 on bottom knife 41, bottom knife 41 is cut 41-2 by bottom knife runner 41-1 and the right side and is formed, bottom knife runner 41-1 and the right side are cut 41-2 and are made one, bottom knife runner 41-1 is radially provided with bottom knife ring like steel wire groove 41-1-1, bottom knife runner 41-1 is provided with vertically bottom knife installing hole 41-1-3, bottom knife installing hole 41-1-3 is sleeved in blade installation shaft 39, the lower surface of bottom knife runner 41 is provided with bottom knife fixation with steel wire groove 41-1-2, the rear side of bottom knife runner 41-1 is provided with down stroke block 41-1-4, down stroke block 40-1-4 matches with the up stroke block 40-1-4 of top cutter runner 40-1, left side axis of guide 38-6 is vertically set on wrist substrate 38-2, and left side axis of guide 38-6 is positioned at the side of top cutter 40, on the left of in the of first, on the left of directive wheel 42 and second, directive wheel 43 is sleeved on the axis of guide 38-6 of left side successively, right side axis of guide 38-7 is vertically set on wrist substrate 38-2, and right side axis of guide 38-7 is positioned at the side of bottom knife 41, first right hand guide wheels 44 and the second right hand guide wheels 45 are sleeved on the axis of guide 38-7 of right side successively.

The technique effect of present embodiment is: front end operating scissors mechanism structure is symmetrical, and on it, the winding of steel wire rope is also symmetrical, therefore when front end operating scissors mechanism kinematic, each position stress equalization, stable movement; Front end operating scissors mechanism structure is compact, succinct.Other composition and annexation identical with detailed description of the invention one or four.

Quick-changing mechanism principle

Top cutter drive mechanism 1, wrist transmission mechanism 2, the width of the bottom knife clutch discs interface tongue 60-1 in the bottom knife transmission clutch discs 60 of quill drive mechanism 3 and bottom knife drive mechanism 4 lower end is slightly wider than the width of the first interface tongue 33-14 on adapter housing 33 lower surface and the second interface tongue 33-15, top cutter drive mechanism 1, wrist transmission mechanism 2, the width of the bottom knife clutch discs interface tongue 60-1 in the bottom knife transmission clutch discs 60 of quill drive mechanism 3 and bottom knife drive mechanism 4 lower end etc. are wider than top cutter driving mechanism, wrist driving mechanism, clutch discs interface groove in driving clutch discs on sleeve pipe driving mechanism and bottom knife driving mechanism and drive the width of first interface groove 53-1 in interface pedestal 53 and the second interface groove 53-2, by the second reset key 70 of the first reset key 16 and the second resetting-mechanism 6 that press the first resetting-mechanism 5, make top cutter drive mechanism 1, wrist transmission mechanism 2, quill drive mechanism 3 and bottom knife drive mechanism 4 return to initial position fast, now, again that the first interface tongue 33-14 on adapter housing 33 lower surface is corresponding with the first interface groove 53-1 driven in interface pedestal 53 and the second interface groove 53-2 respectively with the second interface tongue 33-15, by the front end of adapter housing 33, slip into from the herringbone opening part of first interface groove 53-1 and the second interface groove 53-2 end, when driving the third gear plate 53-9 in interface pedestal 53 to contact with the upper outside surfaces of adapter housing 33, complete the Fast Installation of operating theater instruments, during removal operating theater instruments, first drive motors is driven to rotate by instruction, make top cutter drive mechanism 1, wrist transmission mechanism 2, quill drive mechanism 3 and bottom knife drive mechanism 4 return to initial position fast, by the second reset key 70 of the first reset key 16 and the second resetting-mechanism 6 that press the first resetting-mechanism 5, keep the initial position of drive mechanism, skid off fast by the first interface groove 53-1 driven in interface pedestal 53 and the second interface groove 53-2.

Wrist disappears coupling principle

Left side towing pad 37-1 in wrist axes 37 and the symmetrical centre place plane of right side towing pad 37-2 are the symmetrical centre face of wrist axes 37, wrist 38 is arranged on the centre of wrist axes 37 by wrist axis hole 38-1-2, and wrist 38 and wrist axes 37 are tight fit, both do not have relative motion, the symmetrical centre of the left side guiding groove 38-4 on wrist substrate 38-2 overlaps with the symmetrical centre of left side towing pad 37-1, and the symmetrical centre of right side guiding groove 38-5 overlaps with the symmetrical centre of right side towing pad 37-2, when wrist transmission mechanism 2 works, the lower steel wire 48 of wrist traction and the upper steel wire 49 of wrist traction is driven to rotate, thus realize the rotational motion of front end operating scissors mechanism 9 around wrist connector 36, the lower steel wire 46 of top cutter traction and the upper length of steel wire 47 between top cutter 40 and wrist axes 37 of top cutter traction remain unchanged, the lower steel wire 50 of bottom knife traction and the upper length of steel wire 51 between bottom knife 41 and wrist axes 37 of bottom knife traction remain unchanged, thus eliminate the lower steel wire 46 of top cutter traction and the upper steel wire 47 of top cutter traction, the tension that the lower steel wire 50 of bottom knife traction and the upper steel wire 51 of bottom knife traction produce around the rotational motion of wrist connector 36 because of front end operating scissors mechanism 9 or the trend loosened, when namely eliminating the wrist rotation of apparatus front end, the problem of top cutter 40 and bottom knife 41 unwanted motion cannot be compensated.

Claims (4)

1. robot assisted Minimally Invasive Surgery nothing coupling quick-changing type operation device, it comprises top cutter drive mechanism (1), wrist transmission mechanism (2), quill drive mechanism (3), bottom knife drive mechanism (4), first resetting-mechanism (5), second resetting-mechanism (6), first guiding mechanism (7), second guiding mechanism (8), front end operating scissors mechanism (9), adapter housing (33), adapter upper cover (34), sleeve pipe (35), wrist connector (36), the lower steel wire (46) of top cutter traction, the upper steel wire (47) of top cutter traction, the lower steel wire (48) of wrist traction, the upper steel wire (49) of wrist traction, the lower steel wire (50) of bottom knife traction, the upper steel wire (51) of bottom knife traction and seven screws (52), top cutter drive mechanism (1), wrist transmission mechanism (2), quill drive mechanism (3), bottom knife drive mechanism (4) is rectangular to be arranged on adapter housing (33), one end of sleeve pipe (35) is fixedly mounted on adapter housing (33), the other end of sleeve pipe (35) is connected with front end operating scissors mechanism (9) by wrist connector (36), front end operating scissors mechanism (9) comprises wrist axes (37), wrist (38), blade installation shaft (39), top cutter (40) and bottom knife (41), wrist (38) is connected with wrist connector (36) by wrist axes (37), top cutter (40) is connected with wrist (38) by blade installation shaft (39) with bottom knife (41), and top cutter (40) and bottom knife (41) are symmetrical arranged, the lower steel wire (46) of top cutter traction, the upper steel wire (47) of top cutter traction, the lower steel wire (48) of wrist traction, the upper steel wire (49) of wrist traction, the lower steel wire (50) of bottom knife traction, the upper steel wire (51) of bottom knife traction is inserted in sleeve pipe (35), first guiding mechanism (7) and the second guiding mechanism (8) side by side parallel are arranged on the middle part of adapter housing (33), one end of the lower steel wire (46) of top cutter traction is connected with top cutter drive mechanism (1), the other end of the lower steel wire (46) of top cutter traction is walked around the first guiding mechanism (7) through sleeve pipe (35) and is connected with top cutter (40), one end of the upper steel wire (47) of top cutter traction is connected with top cutter drive mechanism (1), the other end of the upper steel wire (47) of top cutter traction is walked around the first guiding mechanism (7) and is connected with top cutter (4) through sleeve pipe (35), one end of the lower steel wire (48) of wrist traction is connected with wrist transmission mechanism (2), the other end of the lower steel wire (48) of wrist traction is walked around the first guiding mechanism (7) through sleeve pipe (35) and is connected with wrist (38), one end of the upper steel wire (49) of wrist traction is connected with wrist transmission mechanism (2), the other end of the upper steel wire (49) of wrist traction is walked around the first guiding mechanism (7) and is connected with wrist (38) through sleeve pipe (35), one end of the lower steel wire (50) of bottom knife traction is connected with bottom knife drive mechanism (4), the lower steel wire (50) of bottom knife traction is walked around the second guiding mechanism (8) through sleeve pipe (35) and is connected with bottom knife (41), one end of the upper steel wire (51) of bottom knife traction is connected with bottom knife drive mechanism (4), the second guiding mechanism (8) that the other end of the upper steel wire (51) of bottom knife traction is walked around is connected with bottom knife (41) through sleeve pipe (35), quill drive mechanism (3) is connected with one end of sleeve pipe (35), adapter upper cover (34) by seven screw (52) spiral-locks on adapter housing (33), top cutter drive mechanism (1) comprises top cutter transmission clutch discs (10), top cutter driven rear axle holds (11), wire wheel axis (12) under top cutter transmission, top cutter transmission is reached the standard grade wheel (13), top cutter transmission fore bearing (14) and three top cutter drive mechanism holding screws (15), under top cutter transmission, wire wheel axis (12) is by rear extremely front successively by wire wheel axis one section (12-1) under all-in-one-piece top cutter processed transmission, wire wheel axis two-stage nitration (12-2) under top cutter transmission, wire wheel axis three sections (12-3) under top cutter transmission, wire wheel axis five sections (12-5) composition under wire wheel axis four sections (12-4) and top cutter transmission under top cutter transmission, under top cutter transmission, wire wheel axis three sections (12-3) to roll off the production line wheel for transmission, the roll off the production line lateral wall of wheel of described transmission is provided with fixation with steel wire groove (12-3-2) under the lower steel wire trough (12-3-1) of top cutter traction and top cutter traction, top cutter transmission wheel (13) of reaching the standard grade is sleeved on the lateral wall of wire wheel axis four sections (12-4) under top cutter transmission, and top cutter transmission is reached the standard grade, the external diameter of wheel (13) is equal with the external diameter of wire wheel axis three sections (12-3) under top cutter transmission, the reach the standard grade lateral wall of wheel (13) of top cutter transmission is provided with the upper steel wire trough (13-1) of top cutter traction, the upper fixation with steel wire groove (13-2) of top cutter traction and top cutter reset contact surface (13-3), the inner ring of top cutter transmission fore bearing (14) is sleeved on the lateral wall of wire wheel axis five sections (12-5) under top cutter transmission, the outer ring of top cutter transmission fore bearing (14) is arranged on the first fore bearing installing hole (34-1) on adapter upper cover (34), the inner ring that top cutter driven rear axle holds (11) is sleeved on the lateral wall of wire wheel axis two-stage nitration (12-2) under top cutter transmission, the outer ring that top cutter driven rear axle holds (11) is arranged on the first rear bearing installing hole (33-1-2) on adapter housing (33), top cutter transmission clutch discs (10) is sleeved on the lateral wall of wire wheel axis one section (12-1) under top cutter transmission, the end face of top cutter transmission clutch discs (10) is provided with and top cutter clutch discs interface tongue (10-1) driving the first interface groove (53-1) in interface pedestal (53) to match, three top cutter drive mechanism holding screws (15) are uniform to be arranged on top cutter transmission and to reach the standard grade on the lateral wall of wheel (13) except top cutter reset contact surface (13-3), bottom knife drive mechanism (4) comprises bottom knife transmission clutch discs (60), bottom knife driven rear axle holds (61), wire wheel axis (62) under bottom knife transmission, bottom knife transmission is reached the standard grade wheel (63), bottom knife transmission fore bearing (64) and three bottom knife drive mechanism holding screws (65), under bottom knife transmission, wire wheel axis (62) is by rear extremely front successively by all-in-one-piece bottom knife drive line one section, wheel shaft (62-1) processed, bottom knife drive line wheel shaft two-stage nitration (62-2), three sections, bottom knife drive line wheel shaft (62-3), bottom knife drive line wheel shaft four sections (62-4) and five sections, bottom knife drive line wheel shaft (62-5) composition, under bottom knife transmission, wire wheel axis three sections (62-3) to roll off the production line wheel for transmission, the roll off the production line lateral wall of wheel of described transmission is provided with traction steel wire holddown groove (62-3-2) under the lower steel wire trough (62-3-1) of bottom knife traction and bottom knife, bottom knife transmission wheel (63) of reaching the standard grade is sleeved on the lateral wall of wire wheel axis four sections (62-4) under bottom knife transmission, and bottom knife transmission is reached the standard grade, the external diameter of wheel (63) is identical with the external diameter of wire wheel axis three sections (62-3) under bottom knife transmission, the reach the standard grade lateral wall of wheel (63) of bottom knife transmission is provided with the upper steel wire trough (63-1) of bottom knife traction, the upper fixation with steel wire groove (63-2) of bottom knife traction and bottom knife reset contact surface (63-3), the inner ring of bottom knife transmission fore bearing (64) is sleeved on top cutter transmission and rolls off the production line on the lateral wall of wheel five sections (62-5), the outer ring of bottom knife transmission fore bearing (64) is arranged on the 4th fore bearing installing hole (34-4) on adapter upper cover (34), the inner ring that bottom knife driven rear axle holds (61) is sleeved on the lateral wall of wire wheel axis two-stage nitration (62-2) under bottom knife transmission, the outer ring that bottom knife driven rear axle holds (61) is arranged on adapter housing (33), bottom knife transmission clutch discs (60) is sleeved on the lateral wall of wire wheel axis one section (62-1) under bottom knife transmission, the end face of bottom knife transmission clutch discs (60) is provided with and bottom knife clutch discs interface tongue (60-1) driving the second interface groove (53-2) in interface pedestal (53) to match, three bottom knife drive mechanism holding screws (65) are uniform to be arranged on bottom knife transmission and to reach the standard grade on the lateral wall of wheel (63) except bottom knife reset contact surface (63-3), first guiding mechanism (7) comprises first axis of guide (18), first directive wheel (20), second directive wheel (21), 3rd directive wheel (22) and the 4th directive wheel (23), 4th directive wheel (23), 3rd directive wheel (22), second directive wheel (21) and the first directive wheel (20) are sleeved on first axis of guide (18) successively, one end of first axis of guide (18) to be inserted into before first axis of guide in installing hole (34-5), the other end of first axis of guide (18) is inserted into installing hole (33-5) after first axis of guide, second guiding mechanism (8) comprises second axis of guide (69), guideway (19), 5th directive wheel (24) and the 6th directive wheel (25), 6th directive wheel (25), guideway (19), 5th directive wheel (24) is sleeved on second axis of guide (69) successively, one end of second axis of guide (69) to be inserted into before second axis of guide in installing hole (34-6), the other end of second axis of guide (69) to be inserted into after second axis of guide in installing hole (33-6), front end operating scissors mechanism (9) also comprise first on the left of directive wheel (42), directive wheel (43) on the left of in the of second, first right hand guide wheels (44) and the second right hand guide wheels (45), wrist axes (37) is arranged between two wrist otic placodes (36-5) on wrist connector (36), wrist axes (37) is provided with left side towing pad (37-1) and right side towing pad (37-2), wrist (38) comprises wrist runner (38-1), wrist substrate (38-2), two blade otic placodes (38-3), left side guiding groove (38-4), right side guiding groove (38-5), the left side axis of guide (38-6) and the right side axis of guide (38-7), wrist runner (38-1) is radially provided with wrist ring like steel wire groove (38-1-1), the middle part of wrist runner (38-1) is provided with wrist axis hole (38-1-2) vertically, wrist (38) is arranged on the centre of wrist axes (37) by wrist axis hole (38-1-2), wrist runner (38-1) is positioned at the rear side of wrist substrate (38-2), two blade otic placodes (38-3) are symmetricly set on the both sides of wrist substrate (38-2), each blade otic placode (38-3) is respectively provided with respectively a blade mounting holes (38-3-1), the two ends of blade installation shaft (39) are inserted in corresponding blade mounting holes (38-3-1) respectively, the left side axis of guide (38-6) and the right side axis of guide (38-7) are symmetricly set on the both sides of wrist substrate (38-2), left side guiding groove (38-4) and right side guiding groove (38-5) are symmetricly set on the both sides of wrist substrate (38-2), top cutter (40) is cut (40-2) by top cutter runner (40-1) and a left side and is formed, top cutter runner (40-1) and a left side are cut (40-2) and are made one, top cutter runner (40-1) is radially provided with top cutter ring like steel wire groove (40-1-1), top cutter runner (40-1) is provided with vertically top cutter installing hole (40-1-3), top cutter installing hole (40-1-3) is sleeved in blade installation shaft (39), the lower surface of top cutter runner (40-1) is provided with top cutter fixation with steel wire groove (40-1-2), up stroke block (40-1-4) coordinates with the down stroke block (41-1-4) on bottom knife (41), bottom knife (41) is cut (41-2) by bottom knife runner (41-1) and the right side and is formed, bottom knife runner (41-1) and the right side are cut (41-2) and are made one, bottom knife runner (41-1) is radially provided with bottom knife ring like steel wire groove (41-1-1), bottom knife runner (41-1) is provided with vertically bottom knife installing hole (41-1-3), bottom knife installing hole (41-1-3) is sleeved in blade installation shaft (39), the lower surface of bottom knife runner (41) is provided with bottom knife fixation with steel wire groove (41-1-2), the rear side of bottom knife runner (41-1) is provided with down stroke block (41-1-4), down stroke block (40-1-4) matches with the up stroke block (40-1-4) of top cutter runner (40-1), the left side axis of guide (38-6) is vertically set on wrist substrate (38-2), and the left side axis of guide (38-6) is positioned at the side of top cutter (40), on the left of in the of first, on the left of directive wheel (42) and second, directive wheel (43) is sleeved on the left side axis of guide (38-6) successively, the right side axis of guide (38-7) is vertically set on wrist substrate (38-2), and the right side axis of guide (38-7) is positioned at the side of bottom knife (41), first right hand guide wheels (44) and the second right hand guide wheels (45) are sleeved on the right side axis of guide (38-7) successively, it is characterized in that: wrist transmission mechanism (2) comprises wrist transmission clutch discs (54), wrist driven rear axle holds (55), wire wheel axis (56) under wrist transmission, wrist transmission is reached the standard grade wheel (57), wrist transmission fore bearing (58) and three wrist transmission mechanism holding screws (59), under wrist transmission, wire wheel axis (56) is from front to back successively by wire wheel axis one section (56-1) under the wrist transmission of support one, wire wheel axis two-stage nitration (56-2) under wrist transmission, wire wheel axis three sections (56-3) under wrist transmission, wire wheel axis five sections (56-5) composition under wire wheel axis four sections (56-4) and wrist transmission under wrist transmission, under wrist transmission, wire wheel axis three sections (56-3) to roll off the production line wheel for transmission, the roll off the production line lateral wall of wheel of described transmission is provided with fixation with steel wire groove (56-3-2) under the lower steel wire trough (56-3-1) of wrist traction and wrist traction, wrist transmission wheel (57) of reaching the standard grade is sleeved on the lateral wall of wire wheel axis four sections (56-4) under wrist transmission, and wrist transmission is reached the standard grade, the external diameter of wheel (57) is identical with the external diameter of wire wheel axis three sections (56-3) under wrist transmission, the reach the standard grade lateral wall of wheel (57) of wrist transmission is provided with the upper steel wire trough (57-1) of wrist traction, the upper fixation with steel wire groove (57-2) of wrist traction and wrist reset contact surface (57-3), the inner ring of wrist transmission fore bearing (58) is sleeved on the lateral wall of wire wheel axis five sections (56-5) under wrist transmission, the outer ring of wrist transmission fore bearing (58) is arranged on the second fore bearing installing hole (34-2) on adapter upper cover (34), the inner ring that wrist driven rear axle holds (55) is sleeved on the lateral wall of wire wheel axis two-stage nitration (56-2) under wrist transmission, the outer ring that wrist driven rear axle holds (55) is arranged on the second rear bearing installing hole (33-2-2) on adapter housing (33), wrist transmission clutch discs (54) is sleeved on the lateral wall of wire wheel axis one section (56-1) under wrist transmission, the end face of wrist transmission clutch discs (54) is provided with and wrist clutch discs interface tongue (54-1) driving the first interface groove (53-1) in interface pedestal (53) to match, three wrist transmission mechanism holding screws (59) are uniform to be arranged on wrist transmission and to reach the standard grade on the lateral wall of wheel (57) except wrist reset contact surface (57-3).

2. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type operation device according to claim 1, it is characterized in that: quill drive mechanism (3) comprises quill drive clutch discs (66), quill drive rear bearing (67), quill drive fore bearing (68), quill drive axle (26), crossed helical gears (27), little axle sleeve (28), casing joints (29), sleeve pipe helical gear (29-1), bearing block (33-11), first set tubular shaft (30), second Casing bearing (31) and large shaft sleeve (32), quill drive axle (26) is by rear extremely front successively by all-in-one-piece quill processed a section (26-1), quill two-stage nitration (26-2), quill three sections (26-3) and quill four sections (26-4) composition, crossed helical gears (27) is sleeved on the lateral wall of quill three sections (26-3), crossed helical gears (27) is provided with crossed helical gears reset contact surface (27-1), the inner ring of quill drive fore bearing (68) is arranged on the lateral wall of quill four sections (26-4), the outer ring of quill drive fore bearing (68) is arranged on the 3rd fore bearing installing hole (34-3) on adapter upper cover (34), the inner ring of quill drive rear bearing (67) is sleeved on the lateral wall of quill two-stage nitration (26-2), the outer ring of quill drive rear bearing (67) is arranged on the 3rd rear bearing installing hole (33-3-2) on adapter housing (33), quill drive clutch discs (66) is sleeved on the lateral wall of quill one section (26-1), the end face of quill drive clutch discs (66) is provided with and quill drive clutch discs interface tongue (66-1) driving the second interface groove (53-2) in interface pedestal (53) to match, casing joints (29) is arranged on the bearing block (33-11) of adapter housing (33), and casing joints (29) passes from the cannula exit groove (34-10) of adapter upper cover (34), sleeve pipe helical gear (29-1), first set tubular shaft (30), second Casing bearing (31), large shaft sleeve (32) is sleeved on the lateral wall of casing joints (29) successively, the inner ring of first set tubular shaft (30) contacts with sleeve pipe back-up ring (29-2) on casing joints (29) lateral wall, the outer ring of first set tubular shaft (30) is arranged in bearing back seat side opening (33-11-1), the outer ring of the second Casing bearing (31) is arranged in bearing block front-side holes (33-11-2), large shaft sleeve (32) contacts with the second Casing bearing (31), one end of casing joints (29) and one end interference fit of sleeve pipe (35), one end of wrist connector (36) and the other end interference fit of sleeve pipe (35), wrist connector (36) other end end face side by side parallel is provided with two wrist otic placodes (36-5), wrist connector (36) other end end face is laid with the first towing pad (36-1), second towing pad (36-2), 3rd towing pad (36-3), 4th towing pad (36-4), and the first towing pad (36-1), second towing pad (36-2), 3rd towing pad (36-3), 4th towing pad (36-4) all with the inner space of sleeve pipe (35).

3. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type operation device according to claim 1, it is characterized in that: described robot assisted Minimally Invasive Surgery also comprises the first resetting-mechanism (5) without coupling quick-changing type operation device, first resetting-mechanism (5) comprises the first reset key (16), first back-moving spring (17), first reset keyseat (33-7) and the first return spring holder (33-8), one end of first back-moving spring (17) is arranged in the first back-moving spring hole (33-8-1) of the first return spring holder (33-8), the other end of the first back-moving spring (17) contacts with first spring end face (16-2) of the first reset key (16), the lower surface of the first reset key (16) contacts with the first reset keyseat (33-7), the upper surface of the first reset key (16) contacts with the 3rd reset keyseat (34-7) on adapter upper cover (34), the rear side of the first reset key (16) is provided with the first reset key lever (16-3), the both sides of the first reset key (16) are respectively provided with a first reset work surface (16-1) respectively.

4. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type operation device according to claim 1, it is characterized in that: described robot assisted Minimally Invasive Surgery also comprises the second resetting-mechanism (6) without coupling quick-changing type operation device, second resetting-mechanism (6) comprises the second reset key (70), second back-moving spring (71), second reset keyseat (33-9) and the second return spring holder (33-10), one end of second back-moving spring (71) is arranged in the second back-moving spring hole (33-10-1) of the second reset key spring base (33-10), the other end of the second back-moving spring (71) contacts with the spring end face (70-2) of the second reset key (70), the lower surface of the second reset key (70) contacts with the second reset keyseat (33-9), the upper surface of the second reset key (70) contacts with the 4th reset keyseat (34-8) on adapter upper cover (34), the rear side of the second reset key (70) is provided with the second reset key lever (70-3), the both sides of the second reset key (70) are respectively provided with a second reset work surface (70-1) respectively.