CN103892924A

CN103892924A - Robot-assisted no-coupling fast-changing titanium clamp surgical device for minimally invasive surgery

Info

Publication number: CN103892924A
Application number: CN201410172234.4A
Authority: CN
Inventors: 冯美; 金星泽; 赵继; 卢秀泉
Original assignee: Jilin University
Current assignee: Jilin jinbohong Intelligent Technology Co.,Ltd.
Priority date: 2014-04-25
Filing date: 2014-04-25
Publication date: 2014-07-02
Anticipated expiration: 2034-04-25
Also published as: CN103892924B

Abstract

The invention relates to a robot-assisted titanium clamp surgical device for minimally invasive surgery, in particular to a robot-assisted no-coupling fast-changing titanium clamp surgical device for minimally invasive surgery in order to solve the problem that currently, the robot-assisted titanium clamp surgical device for minimally invasive surgery is in shortage in China. A tail end executing mechanism of the device is connected with one end of a sleeve tube through a wrist connecting part, the other end of the sleeve tube is connected with a base of an adapter, a left small-jaw transmission mechanism, a wrist transmission mechanism, a sleeve tube transmission mechanism and a right small-jaw transmission mechanism are arranged on the upper surface of the base of the adapter in the shape of a rectangle, a transmission return mechanism is installed on the base of the adapter, the wrist transmission mechanism is connected with the wrist connecting part through a lower wrist traction steel wire and an upper wrist traction steel wire, and the left small-jaw transmission mechanism is connected with the tail end executing mechanism through a left small-jaw traction left steel wire and a left small-jaw traction right steel wire. The device is applied to the field of medical care.

Description

Nothing coupling quick-changing type titanium clamp pincers operation device for robot assisted Minimally Invasive Surgery

Technical field

The present invention relates to a kind of robot assisted Minimally Invasive Surgery titanium clamp pincers operation device, be specifically related to a kind of robot assisted Minimally Invasive Surgery with without coupling quick-changing type titanium clamp pincers operation device, belong to Miniature surgical device field.

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 cut two to four 5mm～10mm at body surface, by means of the image guiding of vision display system, operation device is stretched into the operation for the treatment of or having diagnosed in body by body surface otch.The patent No. is 200910075701.6, publication number is CN101732093A, the patent of invention that open day is on June 16th, 2010 discloses a kind of " micromanipulator for enterocoelia minimally invasive surgery ", this patented invention content is the clamp-type operation device for robot assisted Minimally Invasive Surgery, although compared with traditional Minimally Invasive Surgery device, this invention has increased the flexibility ratio of surgical action, when carpal joint rotates, the unnecessary motion of left finger and right finger can not get compensation, causes the steel wire of left finger and right finger easily to be broken.The patent No. is CN201110007611.5, publication number is CN102028548A, within open day, be that the patent of invention on April 2nd, 2011 discloses a kind of " abdominal-cavity minimal-invasion surgery robot clamp-type operation device ", this invention has compensated the motion of the left finger of operation device end and right finger by differential planet gear, the coupled motions of carpal joint and left finger, right finger are eliminated, but this mode complex structure, and wirerope-winding is larger at the corner of running part, easily rupture.The operation device that above-mentioned two kinds of inventions are mentioned in addition does not have quick change function, causes the replacing overlong time of operation device in operation process, is unfavorable for performing the operation carrying out smoothly.Up to now, domestic robot assisted Minimally Invasive Surgery in starting conceptual phase, does not form seriation scale with operation device yet.Lack this situation of titanium clamp pincers operation device for domestic robot assisted Minimally Invasive Surgery, the present invention proposes a kind of novel for robot assisted Minimally Invasive Surgery without coupling quick-changing type titanium clamp pincers operation device, the ligation that is used for clamping titanium and has pressed from both sides cystic duct or cystic artery etc.

Summary of the invention

The present invention is the situation that solves current domestic shortage robot assisted Minimally Invasive Surgery titanium clamp pincers operation device, design the auxiliary Minimally Invasive Surgery titanium clamp pincers operation device of a novel robot, clamp titanium for performing the operation and press from both sides to implement clamping (as the ligation of cystic duct, cystic artery) of intraluminal tissue.

The present invention addresses the above problem the technical scheme of taking to be: the present invention includes left unguiculus drive mechanism, wrist transmission mechanism, sleeve pipe drive mechanism, right unguiculus drive mechanism, the first guiding mechanism, the second guiding mechanism, transmission resetting-mechanism, end effector mechanism, sleeve pipe, adapter shoe, adapter upper cover, bearing support baffle plate, wrist connector, the lower steel wire of wrist traction, the upper steel wire of wrist traction, left unguiculus draws left steel wire, left unguiculus draws right steel wire, right unguiculus draws left steel wire, right unguiculus draws right steel wire, drive interface pedestal, four parting of baffle bolts and seven rigging screws, end effector mechanism is connected with one end of sleeve pipe by wrist connector, and the other end of sleeve pipe is connected with adapter shoe, left unguiculus drive mechanism, wrist transmission mechanism, sleeve pipe drive mechanism, on the rectangular upper surface that is arranged on adapter shoe of right unguiculus drive mechanism, the first guiding mechanism, the second guiding mechanism is arranged on the middle part of adapter shoe upper surface, transmission resetting-mechanism is arranged in adapter shoe, and transmission resetting-mechanism is between left unguiculus drive mechanism and wrist transmission mechanism and between right unguiculus drive mechanism and sleeve pipe drive mechanism, and wrist draws lower steel wire, the upper steel wire of wrist traction, left unguiculus draws left steel wire, left unguiculus draws right steel wire, right unguiculus draws left steel wire, right unguiculus draws right steel wire and is all inserted in sleeve pipe, and wrist transmission mechanism draws down steel wire by wrist, the upper steel wire of wrist traction is connected with wrist connector, and left unguiculus drive mechanism draws left steel wire by left unguiculus, left unguiculus draws right steel wire and is connected with end effector mechanism, and right unguiculus drive mechanism draws left steel wire by right unguiculus, right unguiculus draws right steel wire and is connected with end effector mechanism, and wrist transmission mechanism draws down steel wire by wrist, the upper steel wire of wrist traction is via the first guiding mechanism, the second guiding mechanism is connected with end effector mechanism, left unguiculus drive mechanism, wrist transmission mechanism, sleeve pipe drive mechanism, right unguiculus drive mechanism, the first guiding mechanism, the second guiding mechanism adopts gear drive, bearing support baffle plate passes through four parting of baffle bolt spiral-locks on the front end face of adapter shoe, adapter upper cover in adapter shoe, drives interface pedestal to be arranged on the lower surface of adapter shoe by seven rigging screw spiral-locks.

The invention has the beneficial effects as follows: solved the problem that lacks titanium clamp pincers operation device in current domestic robot assisted Minimally Invasive Surgery, this invention robot assisted Minimally Invasive Surgery clamps titanium and presss from both sides to implement intraluminal tissue for performing the operation clamping (as the ligation of cystic duct, cystic artery etc.) with titanium clamp pincers.This invention titanium clamp pincers can keep certain chucking power, and ensure that the titanium being held is clipped in the situation that clamping tissue there will not be the abdominal cavity of dropping before of implementing, eliminate the coupled motions of titanium clamp pincers wrist and left and right unguiculus by new mechanically decoupled method, and there is fast replacing device and can realize the quick-replaceable of titanium clamp pincers in art.

Brief description of the drawings

Fig. 1 is front view of the present invention, Fig. 2 be in Fig. 1 A-A to cutaway view, Fig. 3 is the structural representation of adapter shoe upper surface, Fig. 4 is the structural representation of adapter shoe lower surface, Fig. 5 is adapter upper cover lower surface configuration schematic diagram, Fig. 6 is adapter upper cover surface structure schematic diagram, Fig. 7 is left unguiculus drive mechanism structural representation, Fig. 8 is left unguiculus drive mechanism decomposing schematic representation, Fig. 9 is wrist transmission mechanism structural representation, Figure 10 is wrist transmission mechanism decomposing schematic representation, Figure 11 is sleeve pipe drive mechanism structural representation, Figure 12 is sleeve pipe drive mechanism decomposing schematic representation, Figure 13 is the structural representation of sleeve pipe drive mechanism while being connected with adapter shoe, Figure 14 is right unguiculus drive mechanism structural representation, Figure 15 is right unguiculus drive mechanism decomposition texture schematic diagram, Figure 16 is the first guiding mechanism structural representation, Figure 17 is the first guiding mechanism decomposition texture schematic diagram, Figure 18 is the second guiding mechanism structural representation, Figure 19 is the second guiding mechanism decomposition texture schematic diagram, Figure 20 is transmission resetting-mechanism decomposition texture schematic diagram, Figure 21 is end effector mechanism external structure schematic diagram, Figure 22 is end effector mechanism internal structure schematic diagram, Figure 23 is end effector mechanism decomposition texture schematic diagram, Figure 24 is wrist connecting-piece structure schematic diagram, Figure 25 is left unguiculus Facad structure schematic diagram, Figure 26 is wrist connector inside structure schematic diagram, Figure 27 is left unguiculus structure schematic diagram, Figure 28 is wrist connector outboard structure schematic diagram, Figure 29 is right unguiculus Facad structure schematic diagram, Figure 30 is right unguiculus structure schematic diagram, Figure 31 is the structural representation that drives interface pedestal.

Detailed description of the invention

Detailed description of the invention one: in conjunction with Fig. 1 and Fig. 2, present embodiment is described, robot assisted Minimally Invasive Surgery is with comprising left unguiculus drive mechanism 1 without coupling quick-changing type titanium clamp pincers operation device described in present embodiment, wrist transmission mechanism 2, sleeve pipe drive mechanism 3, right unguiculus drive mechanism 4, the first guiding mechanism 5, the second guiding mechanism 6, transmission resetting-mechanism 7, end effector mechanism 8, sleeve pipe 9, adapter shoe 57, adapter upper cover 58, bearing support baffle plate 59, wrist connector 60, the lower steel wire 76 of wrist traction, the upper steel wire 77 of wrist traction, left unguiculus draws left steel wire 78, left unguiculus draws right steel wire 79, right unguiculus draws left steel wire 80, right unguiculus draws right steel wire 81, drive interface pedestal 84, four parting of baffle bolts 82 and seven rigging screws 83, end effector mechanism 8 is connected with one end of sleeve pipe 9 by wrist connector 60, and the other end adapter shoe 57 of sleeve pipe 9 connects, left unguiculus drive mechanism 1, wrist transmission mechanism 2, sleeve pipe drive mechanism 3, on the rectangular upper surface that is arranged on adapter shoe 57 of right unguiculus drive mechanism 4, the first guiding mechanism 5, the second guiding mechanism 6 is arranged on the middle part of adapter shoe 57 upper surfaces, and transmission resetting-mechanism 7 is arranged in adapter shoe 57, and transmission resetting-mechanism 7 is between left unguiculus drive mechanism 1 and wrist transmission mechanism 2, the lower steel wire 76 of wrist traction, the upper steel wire 77 of wrist traction, left unguiculus draws left steel wire 78, left unguiculus draws right steel wire 79, right unguiculus draws left steel wire 80, right unguiculus draws right steel wire 81 and is all inserted in sleeve pipe 9, and wrist transmission mechanism 2 draws down steel wire 76 by wrist, the upper steel wire 77 of wrist traction is connected with wrist connector 60, and left unguiculus drive mechanism 1 draws left steel wire 78 by left unguiculus, left unguiculus draws right steel wire 79 and is connected with end effector mechanism 8, and right unguiculus drive mechanism 4 draws left steel wire 80 by right unguiculus, right unguiculus draws right steel wire 81 and is connected with end effector mechanism 8, and wrist transmission mechanism 2 draws down steel wire 76 by wrist, the upper steel wire 77 of wrist traction is via the first guiding mechanism 5, the second guiding mechanism 6 is connected with end effector mechanism 8, bearing support baffle plate 59 passes through four parting of baffle bolt 82 spiral-locks on the front end face of adapter shoe 57, adapter upper cover 58 in adapter shoe 57, drives interface pedestal 84 to be arranged on the lower surface of adapter shoe 57 by seven rigging screw 83 spiral-locks.

Detailed description of the invention two: present embodiment is described in conjunction with Fig. 7 and Fig. 8, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising left unguiculus transmission clutch discs 10 without the left unguiculus drive mechanism 1 of coupling quick-changing type titanium clamp pincers operation device, left unguiculus transmission rear bearing 11, left unguiculus power transmission shaft 12, left unguiculus travelling gear 13, left unguiculus transmission reseting wheel 14, left unguiculus driving sleeve 15 and left unguiculus transmission fore bearing 16, left unguiculus power transmission shaft 12 is by rear extremely front one section of 12-1 of left unguiculus power transmission shaft that is divided into successively, left unguiculus power transmission shaft two-stage nitration 12-2, three sections of 12-3 of left unguiculus power transmission shaft and four sections of 12-4 of left unguiculus power transmission shaft, the inner ring of left unguiculus transmission rear bearing 11 is sleeved on the lateral wall of left unguiculus power transmission shaft two-stage nitration 12-2, the outer ring of left unguiculus transmission rear bearing 11 is arranged in the first rear bearing installing hole 57-1-2 in adapter shoe 57, left unguiculus travelling gear 13 and left unguiculus transmission reseting wheel 14 are from top to bottom sleeved on four sections of 12-4 of left unguiculus power transmission shaft successively, and two left unguiculus transmission reseting wheel locating shaft 14-1 correspondences on left unguiculus transmission reseting wheel 14 are inserted in two left unguiculus travelling gear locating hole 13-1 on left unguiculus travelling gear 13, left unguiculus reset work surface 14-2 on left unguiculus transmission reseting wheel 14 is positioned at the side away from the upper left unguiculus travelling gear of left unguiculus travelling gear 13 section 13-2, the outer ring of left unguiculus transmission fore bearing 16 is arranged in the first fore bearing installing hole 58-1 on adapter upper cover 58, left unguiculus transmission clutch discs 10 is sleeved on the lateral wall of one section of 12-1 of left unguiculus power transmission shaft, the end face of left unguiculus transmission clutch discs 10 is provided with the left unguiculus transmission clutch discs interface tongue 10-1 matching with the first interface groove 84-1 driving in interface pedestal 84.

Present embodiment with the technique effect of detailed description of the invention three, detailed description of the invention five is: in the confined space of adapter shoe, realize the compactness of drive disk assembly and install, ensure stationarity and the reliability of transmission.

Other composition and annexation are identical with detailed description of the invention one.

Detailed description of the invention three: in conjunction with Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 9 and Figure 10 illustrate present embodiment, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising wrist transmission clutch discs 17 without the wrist transmission mechanism 2 of coupling quick-changing type titanium clamp pincers operation device, wrist transmission rear bearing 18, wrist power transmission shaft 19, wrist transmission reseting wheel 20, wrist travelling gear 21 and wrist transmission fore bearing 22, wrist power transmission shaft 19 is by rear extremely front one section of 19-1 of wrist power transmission shaft that is divided into successively, wrist power transmission shaft two-stage nitration 19-2, three sections of 19-3 of wrist power transmission shaft and four sections of 19-4 of wrist power transmission shaft, the inner ring of wrist transmission rear bearing 18 is sleeved on the lateral wall of wrist power transmission shaft two-stage nitration 19-2, the outer ring of wrist transmission rear bearing 18 is arranged in the second rear bearing installing hole 57-2-2 on adapter housing 57, wrist transmission reseting wheel 20 and wrist travelling gear 21 are from top to bottom sleeved on four sections of 19-4 of wrist power transmission shaft successively, and two wrist transmission reseting wheel locating shaft 20-1 correspondences on wrist transmission reseting wheel 20 are inserted in two wrist travelling gear locating hole 21-1 on wrist travelling gear 21, wrist transmission reset work surface 20-2 on wrist transmission reseting wheel 20 is positioned at the side near the wrist travelling gear section 21-2 on wrist travelling gear 21, the inner ring of wrist transmission fore bearing 22 is sleeved on four sections of 19-4 of wrist power transmission shaft, the outer ring of wrist transmission fore bearing 22 is arranged in the second fore bearing installing hole 58-2 on adapter upper cover 58, wrist transmission clutch discs 17 is sleeved on one section of 19-1 of wrist power transmission shaft, the end face of wrist transmission clutch discs 17 is provided with the wrist transmission clutch discs interface tongue 17-1 matching with the first interface groove 84-1 driving in interface pedestal 84.

Present embodiment technique effect is identical with detailed description of the invention two.

Detailed description of the invention four: in conjunction with Figure 11, Figure 12, Figure 13 illustrates present embodiment, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising sleeve pipe transmission clutch discs 23 without the sleeve pipe drive mechanism 3 of coupling quick-changing type titanium clamp pincers operation device, sleeve pipe transmission rear bearing 24, sleeve pipe power transmission shaft 25, sleeve pipe transmission worm screw 26, sleeve pipe transmission fore bearing 27, sleeve pipe transmission worm-wheel shaft 28, worm-wheel shaft rear bearing 29 and then worm-wheel shaft fore bearing 30, sleeve pipe power transmission shaft 25 is divided into one section of 25-1 of sleeve pipe power transmission shaft from front to back successively, sleeve pipe power transmission shaft two-stage nitration 25-2, three sections of 25-3 of sleeve pipe power transmission shaft and four sections of 25-4 of sleeve pipe power transmission shaft, the inner ring of sleeve pipe transmission rear bearing 24 is sleeved on sleeve pipe power transmission shaft two-stage nitration 25-2, the outer ring of sleeve pipe transmission rear bearing 24 is arranged in the 3rd rear bearing installing hole 57-3-2 in adapter shoe 27, sleeve pipe transmission worm screw 26 is sleeved on four sections of 25-4 of sleeve pipe power transmission shaft, sleeve pipe transmission worm screw 26 is provided with sleeve pipe transmission reset work surface 26-1, the inner ring of sleeve pipe transmission fore bearing 27 is sleeved on four sections of 25-4 of sleeve pipe power transmission shaft, the outer ring of sleeve pipe transmission fore bearing 27 is arranged in the 3rd fore bearing installing hole 58-3 on adapter upper cover 58, sleeve pipe transmission clutch discs 23 is sleeved on one section of 25-1 of sleeve pipe power transmission shaft, the end face of sleeve pipe transmission clutch discs 23 be provided with drive interface pedestal 84 on the second interface groove 84-2 match sleeve pipe transmission clutch discs interface tongue 23-1, sleeve pipe transmission worm-wheel shaft 28 is by rear extremely front one section of 28-1 of sleeve pipe transmission worm-wheel shaft that is divided into successively, sleeve pipe transmission worm-wheel shaft two-stage nitration 28-2 and three sections of 28-3 of sleeve pipe transmission worm-wheel shaft, one section of 28-1 of sleeve pipe transmission worm-wheel shaft is transmission worm gear, one section of 28-1 of sleeve pipe transmission worm-wheel shaft is provided with tubaeform axis hole 28-1-1, sleeve pipe transmission worm-wheel shaft 28 is arranged on the quill bearing 57-9 of adapter shoe 57, the outer ring of worm-wheel shaft rear bearing 29 is arranged in the sleeve pipe rear bearing hole 57-9-1 on quill bearing 57-9, the inner ring of worm-wheel shaft rear bearing 29 is arranged on three sections of 28-3 of sleeve pipe transmission worm-wheel shaft, the outer ring of worm-wheel shaft fore bearing 30 is arranged in the sleeve pipe fore bearing hole 57-9-2 on quill bearing 57-9, the inner ring of worm-wheel shaft fore bearing 30 is arranged on three sections of 28-3 of sleeve pipe transmission worm-wheel shaft, one end of sleeve pipe transmission worm-wheel shaft 28 and sleeve pipe rear port 9-1 interference fit, wrist interface 60-1 on wrist connector 60 and sleeve pipe front port 9-2 interference fit, sleeve pipe transmission worm screw 26 engages with the worm gear on sleeve pipe transmission worm-wheel shaft one end 28-1.、

The technique effect of present embodiment is: utilize worm-gears to realize power by the commutation transmission to horizontal direction perpendicular to base direction, and drive mechanism compactness, meeting spatial design needs.

Detailed description of the invention five: present embodiment is described in conjunction with Figure 14 and Figure 15, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising right unguiculus clutch discs 31 without the right unguiculus drive mechanism 4 of coupling quick-changing type titanium clamp pincers operation device, right unguiculus transmission rear bearing 32, right unguiculus power transmission shaft 33, right unguiculus transmission reseting wheel 34, right unguiculus travelling gear 35 and right unguiculus transmission fore bearing 36, right unguiculus power transmission shaft 33 is divided into one section of 33-1 of right unguiculus power transmission shaft from front to back successively, right unguiculus power transmission shaft two-stage nitration 33-2, three sections of 33-3 of right unguiculus power transmission shaft and four sections of 33-4 of right unguiculus power transmission shaft, the inner ring of right unguiculus transmission rear bearing 32 is sleeved on right unguiculus power transmission shaft two-stage nitration 33-2, the outer ring of right unguiculus transmission rear bearing 32 is arranged in the 4th rear bearing installing hole 57-1-4 in adapter shoe 57, right unguiculus transmission reseting wheel 34 and right unguiculus travelling gear 35 are from top to bottom sleeved on four sections of 33-4 of right unguiculus power transmission shaft successively, and two right unguiculus transmission reseting wheel locating shaft 34-1 correspondences on right unguiculus transmission reseting wheel 34 are inserted in two right unguiculus travelling gear locating hole 35-1 on right unguiculus travelling gear 35, right unguiculus transmission reset work surface 34-2 on right unguiculus transmission reseting wheel 34 is positioned at the side away from the right unguiculus travelling gear section 35-2 on right unguiculus travelling gear 35, the inner ring of right unguiculus transmission fore bearing 36 is sleeved on four sections of 33-4 of right unguiculus power transmission shaft, the outer ring of right unguiculus transmission fore bearing 36 is arranged in the 4th fore bearing installing hole 58-4 on adapter upper cover 58, right unguiculus transmission clutch discs 31 is sleeved on one section of 33-1 of right unguiculus power transmission shaft, the end face of right unguiculus transmission clutch discs 31 be provided with drive interface pedestal 84 on the right unguiculus transmission clutch discs interface tongue 31-1 that matches of the second interface groove 84-2.

Detailed description of the invention six: present embodiment is described in conjunction with Figure 16 and Figure 17, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising first axis of guide 37 without the first guiding mechanism 5 of coupling quick-changing type titanium clamp pincers operation device, left unguiculus first compensates gear 38, right unguiculus first compensates gear 39, wrist transmission idler shaft 40 and wrist transmission idle pulley 41, first axis of guide 37 is by rear extremely front one section of 37-1 of first axis of guide that is divided into successively, the first axis of guide two-stage nitration 37-2, the first three sections of axis of guides 37-3, the first axis of guide two-stage nitration 37-2 lateral wall is provided with wrist transmission steel wire trough 37-2-1, left unguiculus first compensates gear 38 and is sleeved on one section of 37-1 of first axis of guide, right unguiculus first compensates gear 39 and is sleeved on three sections of 37-3 of first axis of guide, first axis of guide one end 37-1 is inserted in adapter shoe 57 after first axis of guide in installing hole 57-5, the first three sections of axis of guides 37-3 is arranged on adapter upper cover 58 before first axis of guide in installing hole 58-5, wrist transmission idler shaft 40 is by the rear one section of 40-1 of wrist transmission idler shaft that is extremely front divided into, wrist transmission idler shaft two-stage nitration 40-2 and three sections of 40-3 of wrist transmission idler shaft, one section of 40-1 of wrist transmission idler shaft is arranged on after the wrist transmission idler shaft in adapter shoe 57 in installing hole 57-7-3, three sections of 40-3 of wrist transmission idler shaft are arranged in the front installing hole 58-9 of wrist transmission idler shaft on adapter upper cover 58, wrist transmission idler shaft 41 is sleeved on three sections of 40-3 of wrist transmission idler shaft, first axis of guide 37, left unguiculus first compensates gear 38, right unguiculus first compensates gear 39 and synchronously rotates, wrist transmission idler shaft 41 compensates gear 39 with right unguiculus first and engages, wrist transmission idle pulley 41 compensates gear 39 with right unguiculus first and engages, wrist travelling gear 21 engages with wrist transmission idle pulley 41.

The technique effect of present embodiment is: by the first guiding mechanism by the Motion Transmission of wrist mechanism to wrist haulage cable, avoid the multiple winding of steel wire rope in wrist mechanism, simultaneously, the first guiding mechanism coordinates by laterally zygomorphic two pairs of gears with the second guiding mechanism, in transmitting left unguiculus, the motion of right unguiculus, remove the coupling of wrist and unguiculus.

Other composition and annexation are identical with detailed description of the invention one or three.

Detailed description of the invention seven: present embodiment is described in conjunction with Figure 18 and Figure 19, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising second axis of guide 42 without the second guiding mechanism 6 of coupling quick-changing type titanium clamp pincers operation device, left unguiculus second compensates gear 43, left unguiculus guide gear 44, left unguiculus transmission idler shaft 45, left unguiculus transmission idle pulley 46, left unguiculus directive wheel 47, right unguiculus directive wheel 48, right unguiculus guide gear 49, right unguiculus transmission idler shaft 50, right unguiculus transmission idle pulley 51 and right unguiculus second compensate gear 52, second axis of guide 42 is divided into one section of 42-1 of second axis of guide from front to back successively, the second axis of guide two-stage nitration 42-2 and three sections of 42-3 of second axis of guide, the second one section of axis of guide 42-1 is arranged on after second axis of guide in adapter shoe 57 in installing hole 57-6, the second three sections of axis of guides 42-3 is arranged in the front installing hole 58-6 of second axis of guide on adapter upper cover 58, left unguiculus second compensates gear 43, left unguiculus guide gear 44, left unguiculus directive wheel 47 is from top to bottom sleeved on second axis of guide one end 42-1 successively, and two left unguiculus directive wheel locating shaft 47-1 correspondences on left unguiculus directive wheel 47 are inserted in two left unguiculus guide gear locating hole 44-1 on left unguiculus guide gear 44, left unguiculus transmission idle pulley 46 is sleeved on left unguiculus transmission idler shaft 45, left unguiculus transmission idler shaft 45 is inserted into left unguiculus second and compensates in the left unguiculus idle pulley installing hole 43-2 on gear 43, left unguiculus second compensates gear 43 and is provided with left idle pulley and dodges groove 43-1, left unguiculus directive wheel 47 lateral walls are provided with left unguiculus transmission steel wire trough 47-2, right unguiculus directive wheel 48, right unguiculus guide gear 49, right unguiculus the second compensation wheel 52 is from top to bottom sleeved on three sections of 42-3 of second axis of guide successively, and two right unguiculus guide-localization axle 48-1 correspondences on right unguiculus directive wheel 48 are inserted in two right unguiculus guide gear locating hole 49-1 on right unguiculus guide gear 49, right unguiculus transmission idle pulley 51 is sleeved on right unguiculus transmission idler shaft 50, right unguiculus transmission idler shaft 50 is inserted into right unguiculus second and compensates in the right unguiculus idle pulley installing hole 52-2 on gear 52, right unguiculus second compensates gear 52 and is provided with right idle pulley and dodges groove 52-1, right unguiculus directive wheel 48 lateral walls are provided with right unguiculus transmission steel wire trough 48-2, left unguiculus transmission idle pulley 46 engages with left unguiculus guide gear 44, right unguiculus transmission idle pulley 51 engages with right unguiculus guide gear 49, left unguiculus first compensates gear 38 and compensates gear 43 with left unguiculus second and engage, right unguiculus first compensates gear 39 and compensates gear 52 with right unguiculus second and engage, right unguiculus travelling gear 35 engages with right unguiculus transmission idle pulley 51, left unguiculus travelling gear 13 engages with left unguiculus transmission idle pulley 46.

The technique effect of present embodiment is: the second guiding mechanism has compensated the coupled motions of wrist in transmitting left unguiculus, the motion of right unguiculus, has removed the coupling of tail house wrist and unguiculus.

Other composition and annexation are identical with detailed description of the invention one, two, five or six.

Detailed description of the invention eight: present embodiment is described in conjunction with Figure 20, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising the first reset key 53 without the transmission resetting-mechanism 7 of coupling quick-changing type titanium clamp pincers operation device, the first back-moving spring 54, the second reset key 55, the second back-moving spring 56, the first reset pedestal 57-7 and the second reset pedestal 57-8, the lower end of the first reset key 53 is inserted in the first reset chute 57-7-2 on the first reset pedestal 57-7, the upper end of the first reset key 53 contacts with the first reset placed side 58-7 on adapter upper cover 58, the rear side of the first reset key 53 is provided with the first reset operation bar 53-3, the both sides of the first reset key 53 are respectively provided with respectively a first reset work surface 53-1, one end of the first back-moving spring 54 is arranged in the first reset chute 57-7-2 on the first reset pedestal 57-7, the other end of the first back-moving spring 54 contacts with the first spring face 53-2 in the first reset key 53, the lower end of the second reset key 55 is inserted in the second reset chute 57-8-2 on the second reset pedestal 57-8, the upper end of the second reset key 55 contacts with the second reset placed side 58-8 on adapter upper cover 58, the rear side of the second reset key 55 is provided with the second reset operation bar 55-3, the both sides of the second reset key 55 are respectively provided with respectively a second reset work surface 55-1, one end of the second back-moving spring 56 is arranged in the second reset chute 57-8-2 on the second reset pedestal 57-8, the other end of the second back-moving spring 56 contacts with the second spring end face 55-2 in the second reset key 55, the first reset work surface 53-1 of the first reset key 53 both sides respectively with left unguiculus transmission reseting wheel 14 on left unguiculus transmission reset work surface 14-2, wrist transmission reset work surface 20-2 on wrist transmission reseting wheel 20 coordinates, the second reset work surface 55-1 of the second reset key 55 both sides respectively with sleeve pipe transmission worm screw 26 on sleeve pipe transmission reset work surface 26-1, right unguiculus transmission reset work surface 34-2 on right unguiculus transmission reseting wheel 34 coordinates.

The technique effect of present embodiment is: met end effector mechanism under any attitude, resetting-mechanism can complete reset function, and simple and reliable.

Other composition and annexation are identical with detailed description of the invention one, two, three, four or five.

Detailed description of the invention nine: present embodiment is described in conjunction with Figure 21 to Figure 31, described in present embodiment, robot assisted Minimally Invasive Surgery is with comprising wrist axes 61 without the end effector mechanism 8 of coupling quick-changing type titanium clamp pincers operation device, unguiculus pedestal 62, left unguiculus the first wrist wheel 63, right unguiculus the first wrist wheel 64, left unguiculus the second wrist wheel 65, right unguiculus the second wrist wheel 66, left unguiculus the first wrist directive wheel 67, right unguiculus the first wrist directive wheel 68, titanium presss from both sides the first directive wheel cap 69, left unguiculus the second wrist directive wheel 70, right unguiculus the second wrist directive wheel 71, titanium presss from both sides the second directive wheel cap 72, unguiculus axle 73, left unguiculus 74 and right unguiculus 75, parallelly side by side on the front end face of wrist connector 60 be provided with two wrist otic placode 60-2, on each wrist otic placode 60-2, be respectively provided with respectively a wrist axes installing hole 60-3, the front end face of wrist connector 60 is provided with the first towing pad 60-4, the second towing pad 60-5, the 3rd towing pad 60-6, the 4th towing pad 60-7, the 5th towing pad 60-8 and the 6th towing pad 60-9, and the first towing pad 60-4, the second towing pad 60-5, the 3rd towing pad 60-6, the 4th towing pad 60-7, the 5th towing pad 60-8 and the 6th towing pad 60-9 are all communicated with the inner chamber of sleeve pipe 9, the two ends of wrist axes 61 respectively correspondence are inserted in two wrist axes installing hole 60-3, left unguiculus the first wrist wheel 63, right unguiculus the first wrist wheel 64, unguiculus pedestal 62, right unguiculus the second wrist wheel 66 and left unguiculus the second wrist wheel 65 are sleeved in wrist axes 61 from left to right successively, unguiculus pedestal 62 is arranged on the middle part of wrist axes 61 by pedestal installing hole 62-1, two titanium clamp pincers otic placode 62-6 are symmetricly set on the both sides of unguiculus pedestal 62, on each titanium clamp pincers otic placode 62-6, be respectively provided with respectively a titanium clamp pincers installing hole 62-7, right unguiculus the first wrist directive wheel 68, left unguiculus the first wrist directive wheel 67 and titanium press from both sides the first directive wheel cap 69 and are sleeved on successively on the first foot guide axle 62-4, right unguiculus the second wrist directive wheel 71, left unguiculus the second wrist directive wheel 70 and titanium press from both sides the second directive wheel cap 72 and are sleeved on successively on the second foot guide axle 62-5, the two ends of unguiculus axle 73 respectively correspondence are inserted in two titanium clamp pincers installing hole 62-7, left unguiculus 74 and right unguiculus 75 are from top to bottom sleeved on unguiculus axle 73 successively, left unguiculus 74 is made up of left unguiculus runner 74-1 and left pincers 74-2, left unguiculus runner 74-1 is provided with left unguiculus installing hole 74-1-1, left unguiculus ring like steel wire groove 74-1-2 and left unguiculus steel wire locating hole 74-1-3, left pincers 74-2 is provided with the first titanium folder holddown groove 74-2-1 and the first titanium folder mounting groove 74-2-2, right unguiculus 75 is made up of right unguiculus runner 75-1 and right pincers 75-2, right unguiculus runner 75-1 is provided with right unguiculus installing hole 75-1-1, right unguiculus ring like steel wire groove 75-1-2 and right unguiculus steel wire locating hole 75-1-3, right pincers 75-2 is provided with the second titanium folder holddown groove 75-2-1 and the second titanium folder mounting groove 75-2-2, unguiculus pedestal 62 is connected with wrist connector 60 by wrist axes 61, left unguiculus 74 and right unguiculus 75 are arranged on unguiculus pedestal 62 by unguiculus axle 73, one end of the lower steel wire 76 of wrist traction is via wrist traction steel wire groove 62-2, the first towing pad 60-4 on sleeve pipe 9 is fixedly connected with the wrist steel wire locating hole 62-3 on unguiculus pedestal 62, the other end of the lower steel wire 76 of wrist traction is connected with the other end of the upper steel wire 77 of wrist traction via the wrist transmission steel wire trough 37-2-1 on the first guiding mechanism 5 through sleeve pipe 9, one end of the upper steel wire 77 of wrist traction is via wrist traction steel wire groove 62-2 upside, on sleeve pipe 9, the second towing pad 60-5 is fixedly connected with the wrist steel wire locating hole 62-3 on unguiculus pedestal 62, the other end of the upper steel wire 77 of wrist traction is connected with the lower steel wire 77 of wrist traction via the wrist transmission steel wire trough 37-2-1 on the first guiding mechanism 5, left unguiculus draws one end of left steel wire 78 successively via left unguiculus ring like steel wire groove 74-1-2 left side, left unguiculus the first wrist directive wheel 67 downsides, the upside of left unguiculus the first wrist 63, the 3rd towing pad 60-6 on sleeve pipe 9 is fixedly connected with the upper left unguiculus steel wire of left unguiculus 74 locating hole 74-1-3, the other end that left unguiculus draws left steel wire 78 is connected with the other end that left unguiculus draws right steel wire 79 via the left unguiculus transmission steel wire trough 47-2 on the second guiding mechanism 6, left unguiculus draws one end of right steel wire 79 successively via left unguiculus ring like steel wire groove 74-1-2 right side, left unguiculus the second wrist directive wheel 70 upsides, left unguiculus the second wrist is taken turns 65 downsides, the second upper towing pad 60-8 of sleeve pipe 9 is fixedly connected with the left unguiculus steel wire locating hole 74-1-3 on left unguiculus 74, the other end that left unguiculus draws right steel wire 79 is connected with the other end that left unguiculus draws left steel wire 78 via the left unguiculus transmission steel wire trough 47-2 on the second guiding mechanism 6, right unguiculus draws one end of left steel wire 80 successively via right unguiculus ring like steel wire groove 75-1-2 left side, right unguiculus the first wrist directive wheel 68 downsides, right unguiculus the first wrist is taken turns 64 upsides, the 4th towing pad 60-7 on sleeve pipe 9 is fixedly connected with the right unguiculus steel wire locating hole 75-1-3 on right unguiculus 75, the other end that right unguiculus draws left steel wire 80 is connected with the other end that right unguiculus draws right steel wire 81 via the right unguiculus transmission steel wire trough 48-2 on the second guiding mechanism 6, one end that right unguiculus draws right steel wire 81 is successively via the right side of right unguiculus ring like steel wire groove 75-1-2, right unguiculus the second wrist directive wheel 71 upsides, right unguiculus the second wrist is taken turns 66 downsides, the second towing pad 60-9 on sleeve pipe 9 is fixedly connected with the right unguiculus steel wire locating hole 75-1-3 on right unguiculus 75, the other end that right unguiculus draws right steel wire 81 is connected with the other end that right unguiculus draws left steel wire 80 via the right unguiculus transmission steel wire trough 48-2 on the second guiding mechanism 6.

The technique effect of present embodiment is: what steel wire rope can be stable is fixed on left unguiculus and right unguiculus, and steel wire rope passes through respectively unguiculus, directive wheel and wrist towing pad with tangential direction, reduce the friction between steel wire rope and end fitting, improved the ruggedness of steel wire rope.

Other composition and annexation are identical with detailed description of the invention eight.

Claims

1. robot assisted Minimally Invasive Surgery, with without coupling quick-changing type titanium clamp pincers operation device, is characterized in that: described robot assisted Minimally Invasive Surgery is with comprising left unguiculus drive mechanism (1) without coupling quick-changing type titanium clamp pincers operation device, wrist transmission mechanism (2), sleeve pipe drive mechanism (3), right unguiculus drive mechanism (4), the first guiding mechanism (5), the second guiding mechanism (6), transmission resetting-mechanism (7), end effector mechanism (8), sleeve pipe (9), adapter shoe (57), adapter upper cover (58), bearing support baffle plate (59), wrist connector (60), the lower steel wire (76) of wrist traction, the upper steel wire (77) of wrist traction, left unguiculus draws left steel wire (78), left unguiculus draws right steel wire (79), right unguiculus draws left steel wire (80), right unguiculus draws right steel wire (81), drive interface pedestal (84), four parting of baffle bolts (82) and seven rigging screws (83), end effector mechanism (8) is connected with one end of sleeve pipe (9) by wrist connector (60), the other end adapter shoe (57) of sleeve pipe (9) connects, left unguiculus drive mechanism (1), wrist transmission mechanism (2), sleeve pipe drive mechanism (3), on the rectangular upper surface that is arranged on adapter shoe (57) of right unguiculus drive mechanism (4), the first guiding mechanism (5), the second guiding mechanism (6) is arranged on the middle part of adapter shoe (57) upper surface, transmission resetting-mechanism (7) is arranged in adapter shoe (57), and transmission resetting-mechanism (7) is positioned between left unguiculus drive mechanism (1) and wrist transmission mechanism (2), the lower steel wire (76) of wrist traction, the upper steel wire (77) of wrist traction, left unguiculus draws left steel wire (78), left unguiculus draws right steel wire (79), right unguiculus draws left steel wire (80), right unguiculus draws right steel wire (81) and is all inserted in sleeve pipe (9), and wrist transmission mechanism (2) draws down steel wire (76) by wrist, the upper steel wire (77) of wrist traction is connected with wrist connector (60), and left unguiculus drive mechanism (1) draws left steel wire (78) by left unguiculus, left unguiculus draws right steel wire (79) and is connected with end effector mechanism (8), and right unguiculus drive mechanism (4) draws left steel wire (80) by right unguiculus, right unguiculus draws right steel wire (81) and is connected with end effector mechanism (8), and wrist transmission mechanism (2) draws down steel wire (76) by wrist, the upper steel wire (77) of wrist traction is via the first guiding mechanism (5), the second guiding mechanism (6) is connected with end effector mechanism (8), bearing support baffle plate (59) passes through four parting of baffle bolts (82) spiral-lock on the front end face of adapter shoe (57), adapter upper cover (58) is upper in adapter shoe (57) by seven rigging screws (83) spiral-lock, drives interface pedestal (84) to be arranged on the lower surface of adapter shoe (57).

2. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type titanium clamp pincers operation device according to claim 1, it is characterized in that: left unguiculus drive mechanism (1) comprises left unguiculus transmission clutch discs (10), left unguiculus transmission rear bearing (11), left unguiculus power transmission shaft (12), left unguiculus travelling gear (13), left unguiculus transmission reseting wheel (14), left unguiculus driving sleeve (15) and left unguiculus transmission fore bearing (16), left unguiculus power transmission shaft (12) is by rear extremely front one section of the left unguiculus power transmission shaft (12-1) that is divided into successively, left unguiculus power transmission shaft two-stage nitration (12-2), left unguiculus power transmission shaft three sections of (12-3) and four sections of left unguiculus power transmission shafts (12-4), the inner ring of left unguiculus transmission rear bearing (11) is sleeved on the lateral wall of left unguiculus power transmission shaft two-stage nitration (12-2), the outer ring of left unguiculus transmission rear bearing (11) is arranged in the first rear bearing installing hole (57-1-2) in adapter shoe (57), left unguiculus travelling gear (13) and left unguiculus transmission reseting wheel (14) are from top to bottom sleeved on left unguiculus power transmission shaft four sections (12-4) successively, and two left unguiculus transmission reseting wheel locating shafts (14-1) correspondence on left unguiculus transmission reseting wheel (14) is inserted in two the left unguiculus travelling gear locating holes (13-1) on left unguiculus travelling gear (13), left unguiculus reset work surface (14-2) on left unguiculus transmission reseting wheel (14) is positioned at the side away from left unguiculus travelling gear (13) upper left unguiculus travelling gear section (13-2), the outer ring of left unguiculus transmission fore bearing (16) is arranged in the first fore bearing installing hole (58-1) on adapter upper cover (58), left unguiculus transmission clutch discs (10) is sleeved on the lateral wall of left unguiculus power transmission shaft one section (12-1), the end face of left unguiculus transmission clutch discs (10) is provided with the left unguiculus transmission clutch discs interface tongue (10-1) matching with the first interface groove (84-1) driving in interface pedestal (84).

3. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type titanium clamp pincers operation device according to claim 1, it is characterized in that: wrist transmission mechanism (2) comprises wrist transmission clutch discs (17), wrist transmission rear bearing (18), wrist power transmission shaft (19), wrist transmission reseting wheel (20), wrist travelling gear (21) and wrist transmission fore bearing (22), wrist power transmission shaft (19) is by rear extremely front one section of the wrist power transmission shaft (19-1) that is divided into successively, wrist power transmission shaft two-stage nitration (19-2), wrist power transmission shaft three sections of (19-3) and four sections of wrist power transmission shafts (19-4), the inner ring of wrist transmission rear bearing (18) is sleeved on the lateral wall of wrist power transmission shaft two-stage nitration (19-2), the outer ring of wrist transmission rear bearing (18) is arranged in the second rear bearing installing hole (57-2-2) on adapter housing (57), wrist transmission reseting wheel (20) and wrist travelling gear (21) are from top to bottom sleeved on wrist power transmission shaft four sections (19-4) successively, and two wrist transmission reseting wheel locating shafts (20-1) correspondence on wrist transmission reseting wheel (20) is inserted in two the wrist travelling gear locating holes (21-1) on wrist travelling gear (21), wrist transmission reset work surface (20-2) on wrist transmission reseting wheel (20) is positioned at the side near the wrist travelling gear section (21-2) on wrist travelling gear (21), the inner ring of wrist transmission fore bearing (22) is sleeved on wrist power transmission shaft four sections (19-4), the outer ring of wrist transmission fore bearing (22) is arranged in the second fore bearing installing hole (58-2) on adapter upper cover (58), wrist transmission clutch discs (17) is sleeved on wrist power transmission shaft one section (19-1), the end face of wrist transmission clutch discs (17) is provided with the wrist transmission clutch discs interface tongue (17-1) matching with the first interface groove (84-1) driving in interface pedestal (84).

4. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type titanium clamp pincers operation device according to claim 1, it is characterized in that: sleeve pipe drive mechanism (3) comprises sleeve pipe transmission clutch discs (23), sleeve pipe transmission rear bearing (24), sleeve pipe power transmission shaft (25), sleeve pipe transmission worm screw (26), sleeve pipe transmission fore bearing (27), sleeve pipe transmission worm-wheel shaft (28), worm-wheel shaft rear bearing (29) and then worm-wheel shaft fore bearing (30), sleeve pipe power transmission shaft (25) is divided into one section of sleeve pipe power transmission shaft (25-1) from front to back successively, sleeve pipe power transmission shaft two-stage nitration (25-2), sleeve pipe power transmission shaft three sections of (25-3) and four sections of sleeve pipe power transmission shafts (25-4), the inner ring of sleeve pipe transmission rear bearing (24) is sleeved on sleeve pipe power transmission shaft two-stage nitration (25-2), the outer ring of sleeve pipe transmission rear bearing (24) is arranged in the 3rd rear bearing installing hole (57-3-2) in adapter shoe (27), sleeve pipe transmission worm screw (26) is sleeved on sleeve pipe power transmission shaft four sections (25-4), sleeve pipe transmission worm screw (26) is provided with sleeve pipe transmission reset work surface (26-1), the inner ring of sleeve pipe transmission fore bearing (27) is sleeved on sleeve pipe power transmission shaft four sections (25-4), the outer ring of sleeve pipe transmission fore bearing (27) is arranged in the 3rd fore bearing installing hole (58-3) on adapter upper cover (58), sleeve pipe transmission clutch discs (23) is sleeved on sleeve pipe power transmission shaft one section (25-1), the end face of sleeve pipe transmission clutch discs (23) be provided with drive that upper the second interface groove (84-2) of interface pedestal (84) matches sleeve pipe transmission clutch discs interface tongue (23-1), sleeve pipe transmission worm-wheel shaft (28) is by rear extremely front one section of the sleeve pipe transmission worm-wheel shaft (28-1) that is divided into successively, sleeve pipe transmission worm-wheel shaft two-stage nitration (28-2) and three sections of sleeve pipe transmission worm-wheel shafts (28-3), sleeve pipe transmission worm-wheel shaft one section (28-1) is transmission worm gear, sleeve pipe transmission worm-wheel shaft one section (28-1) is provided with tubaeform axis hole (28-1-1), sleeve pipe transmission worm-wheel shaft (28) is arranged in the quill bearing (57-9) of adapter shoe (57), the outer ring of worm-wheel shaft rear bearing (29) is arranged in the sleeve pipe rear bearing hole (57-9-1) in quill bearing (57-9), the inner ring of worm-wheel shaft rear bearing (29) is arranged on sleeve pipe transmission worm-wheel shaft three sections (28-3), the outer ring of worm-wheel shaft fore bearing (30) is arranged in the sleeve pipe fore bearing hole (57-9-2) in quill bearing (57-9), the inner ring of worm-wheel shaft fore bearing (30) is arranged on sleeve pipe transmission worm-wheel shaft three sections (28-3), one end of sleeve pipe transmission worm-wheel shaft (28) and sleeve pipe rear port (9-1) interference fit, wrist interface (60-1) on wrist connector (60) and sleeve pipe front port (9-2) interference fit, sleeve pipe transmission worm screw (26) engages with the worm gear on sleeve pipe transmission worm-wheel shaft one end (28-1).

5. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type titanium clamp pincers operation device according to claim 1, it is characterized in that: right unguiculus drive mechanism (4) comprises right unguiculus clutch discs (31), right unguiculus transmission rear bearing (32), right unguiculus power transmission shaft (33), right unguiculus transmission reseting wheel (34), right unguiculus travelling gear (35) and right unguiculus transmission fore bearing (36), right unguiculus power transmission shaft (33) is divided into one section of right unguiculus power transmission shaft (33-1) from front to back successively, right unguiculus power transmission shaft two-stage nitration (33-2), right unguiculus power transmission shaft three sections of (33-3) and four sections of right unguiculus power transmission shafts (33-4), the inner ring of right unguiculus transmission rear bearing (32) is sleeved on right unguiculus power transmission shaft two-stage nitration (33-2), the outer ring of right unguiculus transmission rear bearing (32) is arranged in the 4th rear bearing installing hole (57-1-4) in adapter shoe (57), right unguiculus transmission reseting wheel (34) and right unguiculus travelling gear (35) are from top to bottom sleeved on right unguiculus power transmission shaft four sections (33-4) successively, and two right unguiculus transmission reseting wheel locating shafts (34-1) correspondence on right unguiculus transmission reseting wheel (34) is inserted in two the right unguiculus travelling gear locating holes (35-1) on right unguiculus travelling gear (35), right unguiculus transmission reset work surface (34-2) on right unguiculus transmission reseting wheel (34) is positioned at the side away from the right unguiculus travelling gear section (35-2) on right unguiculus travelling gear (35), the inner ring of right unguiculus transmission fore bearing (36) is sleeved on right unguiculus power transmission shaft four sections (33-4), the outer ring of right unguiculus transmission fore bearing (36) is arranged in the 4th fore bearing installing hole (58-4) on adapter upper cover (58), right unguiculus transmission clutch discs (31) is sleeved on right unguiculus power transmission shaft one section (33-1), the end face of right unguiculus transmission clutch discs (31) is provided with and the right unguiculus transmission clutch discs interface tongue (31-1) that drives upper the second interface groove (84-2) of interface pedestal (84) to match.

6. according to nothing coupling quick-changing type titanium clamp pincers operation device for robot assisted Minimally Invasive Surgery described in claim 1 or 3, it is characterized in that: the first guiding mechanism (5) comprises first axis of guide (37), left unguiculus first compensates gear (38), right unguiculus first compensates gear (39), wrist transmission idler shaft (40) and wrist transmission idle pulley (41), first axis of guide (37) is by rear extremely front one section of first axis of guide (37-1) that is divided into successively, the first axis of guide two-stage nitration (37-2), first three sections of the axis of guides (37-3), the first axis of guide two-stage nitration (37-2) lateral wall is provided with wrist transmission steel wire trough (37-2-1), left unguiculus first compensates gear (38) and is sleeved on first axis of guide one section (37-1), right unguiculus first compensates gear (39) and is sleeved on first axis of guide three sections (37-3), first axis of guide one end (37-1) is inserted into after upper first axis of guide of adapter shoe (57) in installing hole (57-5), first three sections of the axis of guides (37-3) are arranged in the front installing hole (58-5) of upper first axis of guide of adapter upper cover (58), wrist transmission idler shaft (40) is by rear one section of the wrist transmission idler shaft (40-1) that is extremely front divided into, wrist transmission idler shaft two-stage nitration (40-2) and three sections of wrist transmission idler shafts (40-3), wrist transmission idler shaft one section (40-1) is arranged on after the wrist transmission idler shaft in adapter shoe (57) in installing hole (57-7-3), wrist transmission idler shaft three sections (40-3) is arranged in the front installing hole (58-9) of wrist transmission idler shaft on adapter upper cover (58), wrist transmission idler shaft (41) is sleeved on wrist transmission idler shaft three sections (40-3), first axis of guide (37), left unguiculus first compensates gear (38), right unguiculus first compensates gear (39) and synchronously rotates, wrist transmission idler shaft (41) compensates gear (39) with right unguiculus first and engages, wrist transmission idle pulley (41) compensates gear (39) with right unguiculus first and engages, wrist travelling gear (21) engages with wrist transmission idle pulley (41).

7. according to claim 1, 2, nothing coupling quick-changing type titanium clamp pincers operation device for robot assisted Minimally Invasive Surgery described in 5 or 6, it is characterized in that: the second guiding mechanism (6) comprises second axis of guide (42), left unguiculus second compensates gear (43), left unguiculus guide gear (44), left unguiculus transmission idler shaft (45), left unguiculus transmission idle pulley (46), left unguiculus directive wheel (47), right unguiculus directive wheel (48), right unguiculus guide gear (49), right unguiculus transmission idler shaft (50), right unguiculus transmission idle pulley (51) and right unguiculus second compensate gear (52), second axis of guide (42) is divided into one section of second axis of guide (42-1) from front to back successively, the second axis of guide two-stage nitration (42-2) and three sections of second axis of guides (42-3), second one section of the axis of guide (42-1) is arranged on after second axis of guide in adapter shoe (57) in installing hole (57-6), second three sections of the axis of guides (42-3) are arranged in the front installing hole (58-6) of second axis of guide on adapter upper cover (58), left unguiculus second compensates gear (43), left unguiculus guide gear (44), left unguiculus directive wheel (47) is from top to bottom sleeved on second axis of guide one end (42-1) successively, and two left unguiculus directive wheel locating shafts (47-1) correspondence on left unguiculus directive wheel (47) is inserted in two the left unguiculus guide gear locating holes (44-1) on left unguiculus guide gear (44), left unguiculus transmission idle pulley (46) is sleeved on left unguiculus transmission idler shaft (45), left unguiculus transmission idler shaft (45) is inserted into left unguiculus second and compensates in the left unguiculus idle pulley installing hole (43-2) on gear (43), left unguiculus second compensates gear (43) and is provided with left idle pulley and dodges groove (43-1), left unguiculus directive wheel (47) lateral wall is provided with left unguiculus transmission steel wire trough (47-2), right unguiculus directive wheel (48), right unguiculus guide gear (49), right unguiculus the second compensation wheel (52) is from top to bottom sleeved on second axis of guide three sections (42-3) successively, and two right unguiculus guide-localization axles (48-1) correspondence on right unguiculus directive wheel (48) is inserted in two the right unguiculus guide gear locating holes (49-1) on right unguiculus guide gear (49), right unguiculus transmission idle pulley (51) is sleeved on right unguiculus transmission idler shaft (50), right unguiculus transmission idler shaft (50) is inserted into right unguiculus second and compensates in the right unguiculus idle pulley installing hole (52-2) on gear (52), right unguiculus second compensates gear (52) and is provided with right idle pulley and dodges groove (52-1), right unguiculus directive wheel (48) lateral wall is provided with right unguiculus transmission steel wire trough (48-2), left unguiculus transmission idle pulley (46) engages with left unguiculus guide gear (44), right unguiculus transmission idle pulley (51) engages with right unguiculus guide gear (49), left unguiculus first compensates gear (38) and compensates gear (43) with left unguiculus second and engage, right unguiculus first compensates gear (39) and compensates gear (52) with right unguiculus second and engage, right unguiculus travelling gear (35) engages with right unguiculus transmission idle pulley (51), left unguiculus travelling gear (13) engages with left unguiculus transmission idle pulley (46).

8. according to claim 1,2,3, nothing coupling quick-changing type titanium clamp pincers operation device for robot assisted Minimally Invasive Surgery described in 4 or 5, it is characterized in that: transmission resetting-mechanism (7) comprises the first reset key (53), the first back-moving spring (54), the second reset key (55), the second back-moving spring (56), the first reset pedestal (57-7) and the second reset pedestal (57-8), the lower end of the first reset key (53) is inserted in the first reset chute (57-7-2) on the first reset pedestal (57-7), the upper end of the first reset key (53) contacts with the first reset placed side (58-7) on adapter upper cover (58), the rear side of the first reset key (53) is provided with the first reset operation bar (53-3), the both sides of the first reset key (53) are respectively provided with respectively a first reset work surface (53-1), one end of the first back-moving spring (54) is arranged in the first reset chute (57-7-2) on the first reset pedestal (57-7), the other end of the first back-moving spring (54) contacts with the first spring face (53-2) in the first reset key (53), the lower end of the second reset key (55) is inserted in the second reset chute (57-8-2) on the second reset pedestal (57-8), the upper end of the second reset key (55) contacts with the second reset placed side (58-8) on adapter upper cover (58), the rear side of the second reset key (55) is provided with the second reset operation bar (55-3), the both sides of the second reset key (55) are respectively provided with respectively a second reset work surface (55-1), one end of the second back-moving spring (56) is arranged in the second reset chute (57-8-2) on the second reset pedestal (57-8), the other end of the second back-moving spring (56) contacts with the second spring end face (55-2) in the second reset key (55), the first reset work surface (53-1) of the first reset key (53) both sides respectively with left unguiculus transmission reseting wheel (14) on left unguiculus transmission reset work surface (14-2), wrist transmission reset work surface (20-2) on wrist transmission reseting wheel (20) coordinates, the second reset work surface (55-1) of the second reset key (55) both sides respectively with sleeve pipe transmission worm screw (26) on sleeve pipe transmission reset work surface (26-1), right unguiculus transmission reset work surface (34-2) on right unguiculus transmission reseting wheel (34) coordinates.

9. robot assisted Minimally Invasive Surgery is used without coupling quick-changing type titanium clamp pincers operation device according to claim 8, it is characterized in that: end effector mechanism (8) comprises wrist axes (61), unguiculus pedestal (62), left unguiculus the first wrist wheel (63), right unguiculus the first wrist wheel (64), left unguiculus the second wrist wheel (65), right unguiculus the second wrist wheel (66), left unguiculus the first wrist directive wheel (67), right unguiculus the first wrist directive wheel (68), titanium presss from both sides the first directive wheel cap (69), left unguiculus the second wrist directive wheel (70), right unguiculus the second wrist directive wheel (71), titanium presss from both sides the second directive wheel cap (72), unguiculus axle (73), left unguiculus (74) and right unguiculus (75), parallel two wrist otic placodes (60-2) that are provided with side by side on the front end face of wrist connector (60), on each wrist otic placode (60-2), be respectively provided with respectively a wrist axes installing hole (60-3), the front end face of wrist connector (60) is provided with the first towing pad (60-4), the second towing pad (60-5), the 3rd towing pad (60-6), the 4th towing pad (60-7), the 5th towing pad (60-8) and the 6th towing pad (60-9), and the first towing pad (60-4), the second towing pad (60-5), the 3rd towing pad (60-6), the 4th towing pad (60-7), the 5th towing pad (60-8) and the 6th towing pad (60-9) are all communicated with the inner chamber of sleeve pipe (9), the two ends of wrist axes (61) respectively correspondence are inserted in two wrist axes installing holes (60-3), left unguiculus the first wrist wheel (63), right unguiculus the first wrist wheel (64), unguiculus pedestal (62), right unguiculus the second wrist wheel (66) and left unguiculus the second wrist wheel (65) are sleeved in wrist axes (61) from left to right successively, unguiculus pedestal (62) is arranged on the middle part of wrist axes (61) by pedestal installing hole (62-1), two titanium clamp pincers otic placodes (62-6) are symmetricly set on the both sides of unguiculus pedestal (62), on each titanium clamp pincers otic placode (62-6), be respectively provided with respectively a titanium clamp pincers installing hole (62-7), right unguiculus the first wrist directive wheel (68), left unguiculus the first wrist directive wheel (67) and titanium press from both sides the first directive wheel cap (69) and are sleeved on successively on the first foot guide axle (62-4), right unguiculus the second wrist directive wheel (71), left unguiculus the second wrist directive wheel (70) and titanium press from both sides the second directive wheel cap (72) and are sleeved on successively on the second foot guide axle (62-5), the two ends of unguiculus axle (73) respectively correspondence are inserted in two titanium clamp pincers installing holes (62-7), left unguiculus (74) and right unguiculus (75) are from top to bottom sleeved on unguiculus axle (73) successively, left unguiculus (74) is made up of left unguiculus runner (74-1) and left pincers (74-2), left unguiculus runner (74-1) is provided with left unguiculus installing hole (74-1-1), left unguiculus ring like steel wire groove (74-1-2) and left unguiculus steel wire locating hole (74-1-3), left pincers (74-2) are provided with the first titanium folder holddown groove (74-2-1) and the first titanium folder mounting groove (74-2-2), right unguiculus (75) is made up of right unguiculus runner (75-1) and right pincers (75-2), right unguiculus runner (75-1) is provided with right unguiculus installing hole (75-1-1), right unguiculus ring like steel wire groove (75-1-2) and right unguiculus steel wire locating hole (75-1-3), right pincers (75-2) are provided with the second titanium folder holddown groove (75-2-1) and the second titanium folder mounting groove (75-2-2), unguiculus pedestal (62) is connected with wrist connector (60) by wrist axes (61), left unguiculus (74) and right unguiculus (75) are arranged on unguiculus pedestal (62) by unguiculus axle (73), one end of the lower steel wire (76) of wrist traction is via wrist traction steel wire groove (62-2), the first towing pad (60-4) on sleeve pipe (9) is fixedly connected with the wrist steel wire locating hole (62-3) on unguiculus pedestal (62), the other end of the lower steel wire (76) of wrist traction is connected with the other end of the upper steel wire (77) of wrist traction via the wrist transmission steel wire trough (37-2-1) on the first guiding mechanism (5) through sleeve pipe (9), one end of the upper steel wire (77) of wrist traction is via wrist traction steel wire groove (62-2) upside, upper the second towing pad of sleeve pipe (9) (60-5) is fixedly connected with the wrist steel wire locating hole (62-3) on unguiculus pedestal (62), the other end of the upper steel wire (77) of wrist traction is connected via the lower steel wire (77) of the wrist transmission steel wire trough (37-2-1) on the first guiding mechanism (5) and wrist traction, left unguiculus draws one end of left steel wire (78) successively via left unguiculus ring like steel wire groove (74-1-2) left side, left unguiculus the first wrist directive wheel (67) downside, the upside of left unguiculus the first wrist (63), the 3rd towing pad (60-6) on sleeve pipe (9) is fixedly connected with left unguiculus (74) upper left unguiculus steel wire locating hole (74-1-3), the other end that left unguiculus draws left steel wire (78) is connected with the other end that left unguiculus draws right steel wire (79) via the left unguiculus transmission steel wire trough (47-2) on the second guiding mechanism (6), left unguiculus draws one end of right steel wire (79) successively via left unguiculus ring like steel wire groove (74-1-2) right side, left unguiculus the second wrist directive wheel (70) upside, left unguiculus second wrist wheel (65) downside, upper second towing pad (60-8) of sleeve pipe (9) is fixedly connected with the left unguiculus steel wire locating hole (74-1-3) on left unguiculus (74), the other end that left unguiculus draws right steel wire (79) is connected with the other end that left unguiculus draws left steel wire (78) via the left unguiculus transmission steel wire trough (47-2) on the second guiding mechanism (6), right unguiculus draws one end of left steel wire (80) successively via right unguiculus ring like steel wire groove (75-1-2) left side, right unguiculus the first wrist directive wheel (68) downside, right unguiculus first wrist wheel (64) upside, the 4th towing pad (60-7) on sleeve pipe (9) is fixedly connected with the right unguiculus steel wire locating hole (75-1-3) on right unguiculus (75), the other end that right unguiculus draws left steel wire (80) is connected with the other end that right unguiculus draws right steel wire (81) via the right unguiculus transmission steel wire trough (48-2) on the second guiding mechanism (6), one end that right unguiculus draws right steel wire (81) is successively via the right side of right unguiculus ring like steel wire groove (75-1-2), right unguiculus the second wrist directive wheel (71) upside, right unguiculus second wrist wheel (66) downside, the second towing pad (60-9) on sleeve pipe (9) is fixedly connected with the right unguiculus steel wire locating hole (75-1-3) on right unguiculus (75), the other end that right unguiculus draws right steel wire (81) is connected with the other end that right unguiculus draws left steel wire (80) via the right unguiculus transmission steel wire trough (48-2) on the second guiding mechanism (6).