CN108420533B

CN108420533B - Single-hole surgical robot integral layout structure with movable and autorotation positioning joints

Info

Publication number: CN108420533B
Application number: CN201810199631.9A
Authority: CN
Inventors: 胡三元; 冯红光; 程晓林; 田兆辉; 姜秀新; 樊炳辉
Original assignee: Qilu Hospital of Shandong University
Current assignee: Qilu Hospital of Shandong University
Priority date: 2018-03-09
Filing date: 2018-03-09
Publication date: 2024-08-20
Anticipated expiration: 2038-03-09
Also published as: CN108420533A

Abstract

The invention discloses an integral layout structure of a single-hole surgical robot with movable and autorotation positioning joints, which consists of three surgical instruments, a sheath card and the like. Two of the two surgical operation instruments are a first surgical operation instrument and a second surgical operation instrument, and the other surgical operation instrument is a surgical observation instrument; the three surgical instruments are arranged in parallel. The mechanical decoupling or control decoupling mechanism is adopted in the surgical instrument, so that the problem of mutual motion coupling generated when each joint of the surgical instrument actuating mechanism swings is completely solved; the single-hole surgical robot with the movable and autorotation positioning joints for the minimally invasive surgery has the advantages of simple and reasonable overall layout structure, compact layout, small occupied space, miniaturization and light weight, and different surgical instruments can be conveniently replaced by adopting a quick-change dismounting mode of the surgical instrument executing mechanism and the quick-change mechanism, so that the flexibility, convenience and safety of the use of the single-hole surgical robot are enhanced, and the popularization and application of the single-hole surgical robot are facilitated.

Description

Single-hole surgical robot integral layout structure with movable and autorotation positioning joints

Technical Field

The invention relates to medical equipment in the field of minimally invasive surgery, in particular to an overall layout structure of a minimally invasive surgical single-hole surgical robot suitable for minimally invasive surgical operations of thoracic and abdominal cavities.

Background

Minimally invasive surgery represented by laparoscopy is known as one of important contributions of medical science to human civilization in the 20 th century, and minimally invasive surgery refers to surgery performed by a doctor penetrating into the body through a tiny incision in the surface of the human body by means of an elongated surgical instrument. Compared with the traditional open surgery, the traditional open surgery has the advantages of small surgical incision, small bleeding amount, small postoperative scar, quick recovery time and the like, and achieves the same curative effect as the traditional open surgery. The manual minimally invasive surgical instruments are passive forms of operation, typically with only one degree of freedom of movement at the distal end. In the operation process, a doctor applies a drive to realize the action of the tail end instrument by fingers, and various complex operations including suturing and knotting are smoothly finished by the movement flexibility of the arm and the wrist of the doctor. However, with respect to the auxiliary minimally invasive surgical robot system, since the operation of the surgical instrument is performed by the robot, the robot system itself does not have flexibility of human operation. Therefore, higher requirements are put on the design of surgical instruments dedicated to minimally invasive surgical robots. In order to meet the requirements of minimally invasive surgery, the surgical instrument is designed to meet the requirements of small volume, flexible operation, various forms, convenient installation with a robot arm, sufficient rigidity and strength, suitability for medical environment requirements (such as multiple disinfection) and the like. In particular, the surgical instrument has more degrees of freedom to meet the flexibility requirement so as to be suitable for complex surgical operations such as suture knot tying and the like.

In the minimally invasive surgical robot operation process, the surgical tool is the only part in contact with the pathological tissues of the human body and is also the robot part for directly performing the surgical operation, so that the performance of the surgical tool is the key point of the comprehensive performance of the minimally invasive surgical robot system. In order to meet the requirements of modern minimally invasive surgery, the design of the surgical tool should meet the requirements of exquisite structure, flexible operation, various forms, easy replacement, suitability for medical environment and the like, and particularly the surgical tool should have more degrees of freedom to meet the flexibility requirement and be easy to replace to realize complex surgical operation. Therefore, the performance of the surgical instrument matched with the surgical tool is also an important component of the comprehensive performance of the minimally invasive surgical robot system, and the performance index of the surgical instrument not only influences the use of the surgical tool, but also directly determines the design index and layout mode of the body system. In summary, the performance of the surgical tool and quick-change device is a key factor in representing the overall performance level of the surgical robotic system.

Internationally, a plurality of prototypes in the field of minimally invasive surgical robot system research reach the level of commercial clinical application, including da Vinci, zeus, LAPROTEK systems and the like. The development of surgical robotic systems has been studied to find that surgical tool systems are mainly composed of tool parts and quick-change devices. The development trend of the tool part is that the tool part is developed from rod transmission, low freedom degree to wire transmission and multiple degrees of freedom, the structure is simplified more and more, and the functions are more and more powerful; the quick-change device gradually develops to compact and integrated type, and the performance is also becoming more and more efficient and stable. The existing two sets of commercial minimally invasive surgical robots are four-degree-of-freedom surgical tool systems adopting wire transmission, but the surgical tool systems still have the defects of scattered structural layout, larger external dimensions and the like, so the surgical tool systems still have great development potential.

In China, the research and development of the minimally invasive surgical single-hole surgical robot is still in a starting stage, and particularly, the research on a surgical tool system is greatly different from that of foreign technologies, so that the development of a wire-driven, multi-degree-of-freedom surgical tool and a matched quick-change device with more stable and efficient performance has important significance for filling domestic blank and promoting technical progress in related fields. The research and development of the multi-degree-of-freedom surgical tool system with different silk transmission forms and quick-change modes compared with the existing system has profound significance for improving academic and technical status of China in the scientific research field.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides the integral layout structure of the single-hole surgical robot with the movable and autorotation positioning joints, which is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, miniaturized and light in weight, and is used for minimally invasive surgery.

The invention provides a single-hole surgical robot with movable and autorotation positioning joints, which is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, small in weight, and used for minimally invasive surgery, and the whole layout structure comprises the following specific schemes:

The single-hole surgical robot integral layout structure with the movable and autorotation positioning joints comprises three surgical instruments, wherein two surgical instruments are a first surgical operation instrument and a second surgical operation instrument, and the other surgical instrument is a surgical observation instrument; the three surgical instrument axes are arranged in parallel, and the surgical instrument actuating mechanisms of the surgical instruments penetrate through the sheath clamp to enter the human body for surgical operation and observation, and the sheath clamp is fixed at a single-hole surgical opening of the navel of the human body.

The surgical instrument I comprises a quick-change mechanism and a surgical instrument executing mechanism respectively; the quick-change mechanism of the first surgical operation instrument comprises a fixed seat, and a first joint driving mechanism, a second joint driving mechanism, a third joint driving mechanism, a fourth joint driving mechanism, a fifth joint driving mechanism, a sixth joint driving mechanism, a seventh joint driving mechanism and an eighth joint driving mechanism are arranged on the fixed seat;

The first joint driving mechanism of the quick-change mechanism of the first surgical operation instrument is arranged on a fixed seat, the other joint driving mechanisms of the quick-change mechanism of the first surgical operation instrument are arranged on the same base, and the first joint driving mechanism of the quick-change mechanism of the first surgical operation instrument is also connected with the base of the quick-change mechanism of the first surgical operation instrument; the base of the quick-change mechanism of the first surgical operation instrument can axially move along the axial direction of the arm section of the surgical instrument executing mechanism of the first surgical operation instrument relative to the fixed seat of the quick-change mechanism of the first surgical operation instrument; the other joint driving mechanisms of the quick-change mechanism of the first surgical operation instrument and the surgical instrument actuating mechanism of the first surgical operation instrument are axially moved along the axial direction of the arm section of the surgical instrument actuating mechanism of the first surgical operation instrument relative to a fixed seat fixedly connected with the first joint driving mechanism of the quick-change mechanism of the first surgical operation instrument;

The second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms of the quick-change mechanism of the first surgical operation instrument are respectively connected with the surgical instrument executing mechanism through an interface clutch disc; the second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms of the quick-change mechanism of the first surgical operation instrument respectively drive the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms of the surgical operation instrument through transmission parts correspondingly.

The surgical instrument executing mechanism of the surgical operating instrument I comprises a first joint executing mechanism, a second joint executing mechanism, a third joint executing mechanism, a fourth joint executing mechanism, a fifth joint executing mechanism, a sixth joint executing mechanism, a seventh joint executing mechanism and an eighth joint executing mechanism; the eight joint actuating mechanisms comprise 8 degrees of freedom, and the 8 degrees of freedom are sequentially from one end of the tail end transmission box: the arm segment moves in the direction of an axis z, swings in the axial direction around a second joint axis x, swings in the axial direction around a third joint axis z, swings in the axial direction around a fourth joint axis x, swings in the axial direction around a fifth joint axis z, swings in the axial direction around a sixth joint axis x, swings in the axial direction around a seventh joint axis y, and swings in the axial direction around a seventh joint axis y to swing in the axial direction of a second arm. The first, second, third, fourth, fifth, sixth and seventh joint actuating mechanisms are spatially perpendicular to the axis direction of each adjacent two joints, and the two joints of the seventh and eighth joint actuating mechanisms are overlapped with each other.

The second, third, fourth, fifth, sixth, seventh and eighth actuating mechanisms of the first surgical operating instrument have the same structure in the tail end transmission boxes, and each comprises a transmission line wheel shaft, a line wheel and an interface clutch disc; one end of the interface clutch disc is connected with the joint driving mechanism, the other end of the interface clutch disc is connected with a transmission line wheel shaft, and a line wheel is arranged on the transmission line wheel shaft; the rotation of the interface clutch disc drives the rotation of the transmission line wheel shaft and the rotation of the line wheel, and the transmission line wheel shaft and the line wheel correspondingly drive the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint, the seventh joint and the eighth joint to rotate respectively through steel wire ropes;

one end of the arm section connecting sleeve is fixedly connected with the tail end transmission box, the arm section connecting sleeve is provided with two rigid bending joints, and each rigid bending joint is provided with a group of first guide wheels and four groups of first tensioning wheels for guiding and tensioning a steel wire rope;

The arm section connecting piece is provided with a guide wheel shaft and two tensioning wheel shafts for controlling the relative movement of a second joint, a third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint and an eighth joint, wherein a group of guide wheels and a group of arm section connecting pieces I are arranged on the guide wheel shaft, a group of tensioning wheels II are respectively arranged on the two tensioning wheel shafts, the arm section connecting piece I is provided with two tensioning wheel shafts for controlling the relative movement of the third joint, the fourth joint, the fifth joint, the sixth joint, the seventh joint and the eighth joint, a group of tensioning wheels III are respectively arranged on the two tensioning wheel shafts, and a rope groove is formed on the arm section connecting piece I and used for controlling the relative swinging of the arm section II and the arm section I;

The second axis of the guide wheel on the first connecting piece of the arm section at the second joint is overlapped with the relative swing axis of the second joint, the second axis of the guide wheel on the first connecting piece of the arm section at the second joint and the two second axes of the tensioning wheels are parallel to the three axes of the two tensioning wheels on the first connecting piece of the arm section, the second center surfaces of the guide wheel II and the tensioning wheels II and the three center surfaces of the guide wheel II arranged on the connecting piece of the adjacent arm section and the first connecting piece of the arm section, which are controlled to swing by the same joint, are positioned in the same plane, the guide wheel I and the guide wheel II can rotate freely relative to the guide wheel axle, and the tensioning wheels I, II and III can rotate freely relative to the tensioning wheel axle;

The third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms are basically identical to the second joint actuating mechanism in structure, wherein the axis of a guide wheel of the third joint actuating mechanism is coincident with the rotation axis of the third joint, two tensioning wheels five are arranged on the same side of a rope groove on the first arm section three connecting piece, the axes of the two tensioning wheels five are perpendicular to the axis of the rope groove on the first arm section five connecting piece, and the tangents of the two tensioning wheels five and the rope groove on the first arm section three connecting piece are coincident and are used for controlling the relative rotation of the third arm section and the second arm section;

and a fourth joint, a fifth joint, a sixth joint, a seventh joint, an eighth joint, a guide wheel and a tensioning wheel are arranged in the third joint arm section three connecting sleeve, two tensioning wheels for controlling the same joint are respectively arranged on two sides of the guide wheel, the axes of the two tensioning wheels for controlling the same joint to swing are perpendicular to the axis of the guide wheel, and the tangents of the two tensioning wheels and the guide wheel are overlapped.

The axis of the guide wheel of the fifth joint actuating mechanism is coincident with the rotation axis of the fifth joint, two tensioning wheels six are arranged on the same side of the rope groove on the first arm section five connecting piece, the axes of the two tensioning wheels six are perpendicular to the axis of the rope groove on the first arm section five connecting piece, and the tangents of the two tensioning wheels six and the rope groove on the first arm section five connecting piece are coincident and are used for controlling the relative rotation of the first arm section five and the fourth arm section;

the fifth joint is provided with a sixth joint, a seventh joint, an eighth joint, a guide wheel and a tensioning wheel in the fifth connecting sleeve, the two tensioning wheels controlling the same joint are respectively arranged on two sides of the guide wheel, the axes of the two tensioning wheels controlling the same joint to swing are perpendicular to the axis of the guide wheel, and the tangents of the two tensioning wheels and the guide wheel coincide.

Further, guide structures are arranged on two sides of the wire wheel in the tail end transmission box of the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms.

Further, wire rope grooves are formed in wire wheels and transmission wire wheel shafts in the second, third, fourth, fifth, sixth, seventh and eighth joint executing mechanisms and are used for winding wire ropes; and slotted holes are formed in rope grooves on a wire wheel and a transmission wire wheel shaft in the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms, and the tail ends of the steel wire ropes are embedded into the slotted holes after knotted and are used for fixing the tail ends of the steel wire ropes.

Further, the rope grooves of the connecting pieces of the corresponding joint arm sections of the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms are provided with slotted holes, and the tail ends of the steel wire ropes are embedded into the slotted holes after being knotted and are used for fixing the tail ends of the steel wire ropes.

Furthermore, in order to prevent the wire rope from falling out of the guide wheel and the tensioning wheel, a guide pore plate can be arranged at a position close to the tensioning wheel, so that the wire rope passes through the guide pore plate to the adjacent joint after passing in and out of the guide wheel and the tensioning wheel along the tangent line of the guide wheel and the tensioning wheel.

Further, the wire wheels of the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms are sleeved on the transmission wire wheel shaft, the wire wheels and the transmission wire wheel shaft are provided with arc-shaped long bolt holes, and relative rotation angles between the wire wheels and the transmission wire wheel shaft are adjusted to enable the steel wire to be connected and fastened through bolts after the proper tension degree of the steel wire in a transmission path is achieved.

Further, the first joint driving mechanism of the first surgical operation device is driven to linearly move by a ball screw mechanism or a telescopic rod or a lifting rod driven by hydraulic pressure and a cylinder; the first joint driving mechanism and the second joint driving mechanism can move axially along the axial direction of the arm section relative to the fixed seat fixedly connected with the first joint driving mechanism of the first surgical operation device.

Driving and decoupling structure mode of quick change mechanism-mechanical decoupling:

the second joint driving mechanism of the first surgical operation instrument comprises a motor, the motor drives the gear shaft to rotate, and the gear shaft is connected with the interface clutch disc corresponding to the gear shaft;

The third, fourth, fifth and sixth joint driving mechanisms of the first surgical operation device have the same structure and respectively comprise a motor, the motor drives a sun gear shaft to rotate, a large sun gear and a small sun gear are arranged on the sun gear shaft, the large sun gear and the small sun gear are meshed with three planetary gears arranged on a planet carrier gear shaft, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are uniformly distributed around the axis of the sun gear shaft, and the planet carrier gear shaft is connected with an interface clutch disc corresponding to the planetary gear shaft;

the seventh joint driving mechanism and the eighth joint driving mechanism of the first surgical operation instrument have the same structure and respectively comprise a motor, the motors drive a sun gear shaft to rotate, a large sun gear and a small sun gear are arranged on the sun gear shaft, the large sun gear and the small sun gear are meshed with three planetary gears arranged on a planet carrier, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are uniformly distributed around the axis of the sun gear shaft, and the planet carrier is connected with an interface clutch disc corresponding to the planetary carrier;

A transition gear shaft is arranged among the second, third, fourth, fifth and sixth joint driving mechanisms of the first surgical operation instrument; a transition gear shaft is respectively arranged between the sixth joint driving mechanism and the seventh joint driving mechanism and between the sixth joint driving mechanism and the eighth joint driving mechanism; a transition gear shaft is not arranged between the seventh joint driving mechanism and the eighth joint driving mechanism;

The gear shaft of the second joint driving mechanism of the first surgical operation instrument is externally meshed with the transition gear shafts between the second joint driving mechanism and the third joint driving mechanism, and the transition gear shafts between the second joint driving mechanism and the third joint driving mechanism are externally meshed with the large sun gear of the third joint driving mechanism;

The planet carrier gear shaft of the third joint driving mechanism of the first surgical operation instrument is externally meshed with the transition gear shafts between the third joint driving mechanism and the fourth joint driving mechanism, and the transition gear shafts between the third joint driving mechanism and the fourth joint driving mechanism are externally meshed with the large sun gear of the fourth joint driving mechanism;

the planet carrier gear shaft of the fourth joint driving mechanism of the first surgical operation instrument is externally meshed with the transition gear shafts between the fourth joint driving mechanism and the fifth joint driving mechanism, and the transition gear shafts between the fourth joint driving mechanism and the fifth joint driving mechanism are externally meshed with the large sun gear of the fifth joint driving mechanism;

The planet carrier gear shaft of the fifth joint driving mechanism of the first surgical operation instrument is externally meshed with the transition gear shafts between the fifth joint driving mechanism and the sixth joint driving mechanism, and the transition gear shafts between the fifth joint driving mechanism and the sixth joint driving mechanism are externally meshed with the large sun gear of the sixth joint driving mechanism;

the planet carrier gear shaft of the sixth joint driving mechanism of the first surgical operation device is externally meshed with the transition gear shafts between the sixth joint driving mechanism and the seventh joint driving mechanism, and the transition gear shafts between the sixth joint driving mechanism and the seventh joint driving mechanism are externally meshed with the large sun gear of the seventh joint driving mechanism;

The planet carrier gear shaft of the sixth joint driving mechanism of the first surgical operation device is externally meshed with the transition gear shafts between the sixth joint driving mechanism and the eighth joint driving mechanism, and the transition gear shafts between the sixth joint driving mechanism and the eighth joint driving mechanism are externally meshed with the large sun gear of the eighth joint driving mechanism.

Furthermore, two ends of a gear shaft of the second joint driving mechanism of the first surgical operation device are axially fixed through bearings, and the bearings are fixed on the base.

Further, one end of the planet carrier gear shaft of the third, fourth, fifth and sixth joint driving mechanisms of the first surgical operation device extends out of three pin shafts, the three pin shafts of the planet carrier gear shaft are respectively inserted into the center holes of the three planet gears, one end of the planet carrier gear shaft is axially fixed through bearings, the other end of the planet carrier gear shaft is axially fixed through the three planet gears, two ends of the sun gear shaft and two ends of the large sun gear are respectively axially fixed through bearings, one bearing is fixed on the sun gear shaft and the large sun gear, the other two bearings are fixed on the base, and one end of the planet carrier gear shaft and the interface clutch disc form interference fit.

Further, one ends of the planet carrier of the seventh joint driving mechanism and the eighth joint driving mechanism of the first surgical operation device extend out of three pin shafts, the three pin shafts of the planet carrier are respectively inserted into the center holes of the three planet gears, one end of the planet carrier is axially fixed through the bearings, the other end of the planet carrier is axially fixed through the three planet gears, two ends of the sun gear shaft and the large sun gear are respectively axially fixed through the bearings, one bearing is fixed on the sun gear shaft and the large sun gear, the other two bearings are fixed on the base, and one end of the planet carrier is in interference fit with the interface clutch disc.

Furthermore, two ends of a transition gear shaft arranged between the second joint driving mechanism, the third joint driving mechanism, the fourth joint driving mechanism, the fifth joint driving mechanism and the sixth joint driving mechanism and between the seventh joint driving mechanism and the eighth joint driving mechanism of the first surgical operation instrument are axially fixed through bearings, and the bearings are fixed on the base.

Driving and decoupling structural mode two-control decoupling of the quick change mechanism:

the second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms of the first surgical operation instrument have the same structure and respectively comprise a motor, the motor drives a transmission shaft to rotate, and the transmission shaft is connected with an interface clutch disc corresponding to the transmission shaft;

Further, two ends of a transmission shaft of the second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms of the first surgical operation instrument are axially fixed through bearings, and the bearings are fixed on the base.

The degree of freedom of the second surgical operation instrument can be completely the same as that of the first surgical operation instrument and is applied to double-head operation instruments, such as clamping instruments and shearing instruments; the eighth joint driving mechanism and the eighth joint executing mechanism can be removed on the basis of the first surgical operation instrument and can be applied to single-head operation instruments, such as cutting instruments; the surgical observation instrument can remove the eighth joint driving mechanism and the eighth joint actuating mechanism on the basis of the first surgical operation instrument, and change the seventh degree of freedom into the axial rotation degree of freedom around the seventh joint axis z on the basis of the first surgical operation instrument; or the fifth to seventh degrees of freedom are changed into the degrees of freedom of swinging around the fifth joint axis y in the axial direction, the degrees of freedom of swinging around the sixth joint axis x in the axial direction, and the degrees of freedom of rotation around the seventh joint axis z in the axial direction, so that the device is applied to a 30-degree endoscope type observation device; the surgical observation instrument can also remove the seventh joint driving mechanism, the eighth joint driving mechanism and the seventh joint actuating mechanism and the eighth joint actuating mechanism on the basis of the surgical operation instrument; or the fifth and sixth degrees of freedom are changed into the degrees of freedom of swinging around the fifth joint axis y and the sixth joint axis x, and the device is applied to 360-degree endoscopic observation devices.

Further, the base of each surgical instrument comprises a base shell and a base outer cover, two positioning bosses are arranged on the base shell, two long bolt holes are respectively formed in two side faces of the base shell, and the long bolt holes are connected with the base outer cover.

Further, the number of the base outer covers is two, and the base outer covers are respectively arranged and fixed on two sides of the base shell; the guide chute is designed on the base housing, the top end of the guide chute is in a horn mouth shape so as to facilitate the installation of the surgical instrument executing mechanism, the tail end of the guide chute and the bottom of the middle part of the guide chute are in an arc shape, the opening directions of the bottoms of the arc-shaped chute at the tail end and the middle part of the guide chute are perpendicular to the axial direction of the guide chute, and the tail end of the arc-shaped guide chute and the bottom of the middle part of the arc-shaped chute form interference fit with a fixed pin roll of the surgical instrument executing mechanism so as to prevent the fixed pin roll of the surgical instrument executing mechanism from sliding out of the tail end of the guide chute and the bottom of the middle part of the guide chute on the base housing, thereby leading the surgical instrument executing mechanism to be separated from the quick-change mechanism;

Further, the surgical instrument executing mechanism of each surgical instrument can be arranged on the quick-change mechanism along the guide chute on the base housing; two long bolt holes are designed on the base outer cover, the two long bolt holes on the base outer cover are perpendicular to the long bolt hole axis on the base shell, and the installation relative position of the base outer cover and the base shell is convenient to adjust when the base outer cover is installed and fixed on the base shell.

Further, the interface base of each surgical instrument further comprises a locking mechanism for securing the surgical instrument actuator to the interface base; the locking mechanism comprises two groups, each group comprises a locking hook, one ends of the two locking hooks are rotatably arranged on the same base outer cover, the other ends of the locking hooks are provided with grooves, the corresponding positions on the surgical instrument executing mechanism shell are provided with bosses, and the grooves on the locking hooks are matched with the bosses on the corresponding positions on the surgical instrument executing mechanism shell to fix the surgical instrument executing mechanism.

The invention has the beneficial effects that:

compared with the prior art, the integral layout structure of the single-hole surgical robot with the movable and autorotation positioning joints for the minimally invasive surgery has the following beneficial effects:

1. the single-hole surgical robot with the movable and autorotation positioning joints for the minimally invasive surgery has the advantages of simple and reasonable overall layout structure, compact layout and small occupied space, and enhances the convenience and safety of the use of the single-hole surgical robot.

2. The whole layout structure of the single-hole surgical robot with the movable and autorotation positioning joints for minimally invasive surgery adopts a quick-change disassembly and assembly mode of the surgical instrument executing mechanism and the quick-change mechanism, so that different surgical instruments can be conveniently replaced, and the flexibility of the use of the single-hole surgical robot is enhanced.

3. The whole layout structure of the single-hole surgical robot with the movable and autorotation positioning joints for the minimally invasive surgery has the characteristics of miniaturization and light weight, and is favorable for popularization and application of the single-hole surgical robot.

4. The surgical instrument of the single-hole surgical robot with the movable and autorotative positioning joints for minimally invasive surgery is convenient to assemble and disassemble, easy to adjust, accurate in positioning, high in rigidity, reasonable in layout, small in size and light in weight.

5. The surgical instrument adopts mechanical decoupling, and the problem of mutual motion coupling generated when each joint of the surgical instrument actuating mechanism swings is completely solved.

6. Through adjusting the relative mounted position between base dustcoat and the base casing, can adjust the relative mounted position between the interface clutch disc on the guide chute on the base dustcoat and the base casing to when making surgical instrument actuating mechanism install quick change mechanism, interface clutch disc on the surgical instrument actuating mechanism can cooperate the transmission in place just with the interface clutch disc on the base casing, can not lead to interface clutch disc on the surgical instrument actuating mechanism and the interface clutch disc on the base casing to cooperate because of interfering.

7. The top of the guide chute on the cutter holder outer cover is made into a horn mouth, so that the surgical instrument executing mechanism is more convenient and faster to install into the quick-change mechanism; the curve of the guide chute can ensure that the cutter transmission disc naturally slides to be butted without interference; the tail end of the guide chute and the bottom of the middle part of the guide chute are in interference fit, so that the relative installation positions of the surgical instrument executing mechanism and the quick-change mechanism can be accurately positioned. The surgical instrument actuating mechanism is installed from the front upper part of the quick-change mechanism to enter and be detached, accords with the habitual operation direction, and reduces the installation and detachment difficulty.

8. The hook locking mechanism can accurately and reliably fix the surgical instrument executing mechanism on the quick-change mechanism; the actuating mechanism of the surgical instrument can be conveniently locked and unlocked.

9. The interface clutch disc on the quick-change mechanism adopts single-row arrangement, so that the arm of force between the fixed points of the surgical instrument actuating mechanism on the interface base is longer, and the fixation of the surgical instrument actuating mechanism on the interface base is more favorable for ensuring.

10. The interface clutch disc on the quick-change mechanism is arranged in a single row, and the motors and the interface clutch disc are coaxially arranged, so that the motors of the second joint driving mechanism, the third joint driving mechanism, the fourth joint driving mechanism, the fifth joint driving mechanism, the sixth joint driving mechanism, the seventh joint driving mechanism and the eighth joint driving mechanism can be arranged in a single row, the possibility of interference when a plurality of quick-change mechanisms act cooperatively is reduced, and the space arrangement is reasonable.

11. The mechanical decoupling mechanism is designed on the quick-change mechanism and is not designed on the surgical instrument executing mechanism, so that the structural design of the surgical instrument executing mechanism can be simplified, and the mass production of the surgical instrument executing mechanism is facilitated.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly introduced below, it being obvious that the drawings in the following description are not necessarily to scale, but merely exemplary of the present invention, the drawings described below are only some embodiments of the present invention and not limiting the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic view of the overall layout of a single-hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 2 is a schematic front view of the overall layout of a single-hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 3 is a schematic top view of the overall layout arrangement of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 4 is a two-top schematic view of the overall layout structure arrangement of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 5,6 and 7 are front view, right view and top view of an instrument and quick change mechanism assembly for a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 8 and 9 are a right-side schematic view and a front-side schematic view of a mechanical decoupling quick-change mechanism of a single-hole surgical robot with a mobile and self-rotating positioning joint for minimally invasive surgery.

Fig. 10 and 11 are a right-side schematic view and a front-side schematic view of a control decoupling quick-change mechanism of a single-hole surgical robot with a mobile and self-rotating positioning joint for minimally invasive surgery.

Fig. 12 is a schematic front view of the overall layout of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 13 is a schematic top view of a two-layout arrangement of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 14 is a schematic top view of a two-layout overall configuration of a single-hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

Fig. 15 is a three-top schematic view of a two-layout arrangement of a single-hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery in accordance with the present invention.

Fig. 16, 17 and 18 are front view, right view and top view of an assembly of a second instrument and quick change mechanism of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery according to the present invention.

FIG. 19 is a schematic view of a dual-headed instrument degrees of freedom combination for a single-hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery in accordance with the present invention.

FIG. 20 is a 360 instrument degrees of freedom combination schematic view of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery in accordance with the present invention.

FIG. 21 is a 30 instrument degree of freedom combination schematic of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery in accordance with the present invention.

FIG. 22 is a two-dimensional view of a 360 instrument degree of freedom combination of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery in accordance with the present invention.

FIG. 23 is a 30 instrument degree of freedom combination two schematic view of a single hole surgical robot with mobile and self-rotating positioning joints for minimally invasive surgery in accordance with the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The explanation of the reference numerals is specifically omitted among the reference numerals described below:

1_Q to 3_Q are represented by: 1_Q, 2_Q, 3_Q;1_Q to 2_Q are represented by: 1_Q, 2_Q; 1_M-3_M are represented by: 1_m, 2_m, 3_M;9_3 to 16_2 are represented by: 9_3, 10_3, 11_3, 12_3, 13_3, 14_3, 15_2, 16_2;2_4 to 8_10 are represented by: 2_4, 3_10, 4_10, 5_10, 6_10, 7_10, 8_10;3_3 to 6_3 are represented by: 3_3, 4_3, 5_3, 6_3;3_3 to 8_3 are represented by: 3_3, 4_3, 5_3, 6_3, 7_3, 8_3;3_4 to 8_4 are represented by: 3_4, 4_4, 5_4, 6_4, 7_4, 8_4;3_10 to 6_10 are represented by: 3_10, 4_10, 5_10, 6_10;3_6 to 3_8 are represented by: 3_6, 3_7, 3_8;4_6 to 4_8 are represented by: 4_6, 4_7, 4_8;5_6 to 5_8 are represented by: 5_6, 5_7, 5_8;6_6 to 6_8 are represented by: 6_6, 6_7, 6_8;7_6 to 7_8 are represented by: 7_6, 7_7, 7_8;8_6 to 8_8 are represented by: 8_6, 8_7, 8_8;2_3_1 to 5_6_1 are represented by: 2_3_1, 3_4_1, 4_5_1, 5_6_1;2_3_1 to 6_8_1 are represented by: 2_3_1, 3_4_1, 4_5_1, 5_6_1, 6_7_1, 6_8_1;2_3_2 to 6_8_3 are represented by: 2_3_2, 2_3_3, 3_4_2, 3_4_3, 4_5_2, 4_5_3, 5_6_2, 5_6_3, 6_7_2, 6_7_3, 6_8_2, 6_8_3;2_1 to 8_1 are represented by: 2_1, 3_1, 4_1, 5_1, 6_1, 7_1, 8_1;2_2 to 8_2 are represented by: 2_2, 3_2, 4_2, 5_2, 6_2, 7_2, 8_2;2_3_k to 8_3_k are represented by: 2_3_k, 3_3_k, 4_3_k, 5_3_k, 6_3_k, 7_3_k, 8_3_k;2_4_k to 8_4_k are represented by: 2_4_k, 3_4_k, 4_4_k, 5_4_k, 6_4_k, 7_4_k, 8_4_k;2_5_k to 8_5_k are represented by: 2_5_k, 3_5_k, 4_5_k, 5_5_k, 6_5_k, 7_5_k, 8_5_k;2_6_k to 8_6_k are represented by: 2_6_k, 3_6_k, 4_6_k, 5_6_k, 6_6_k, 7_6_k, 8_6_k.

Example 1

The overall layout structure of the single-hole surgical robot with the mobile and autorotation positioning joints for minimally invasive surgery according to the present embodiment will be described with reference to fig. 1 to 11 and fig. 19 to 23, and includes three surgical instruments 1_Q to 3_Q, two of which are surgical instruments 1_Q to 2_Q, and the other is a surgical viewing instrument 3_Q; the three surgical instruments 1_Q-3_Q are arranged in parallel, and the surgical instrument actuating mechanisms 1_M-3_M of the surgical instruments penetrate through the sheath clamp K to enter the human body for surgical operation and observation, and the sheath clamp K is fixed at a single-hole surgical opening of the navel of the human body.

The first surgical operation device 1_Q comprises a quick change mechanism 1_N and a surgical operation device executing mechanism 1_M; the quick-change mechanism 1_N of the first 1_Q surgical operating device comprises a fixing seat 1_1, a first joint driving mechanism 1, a second joint driving mechanism 2, a third joint driving mechanism 3, a fourth joint driving mechanism 4, a fifth joint driving mechanism 5, a sixth joint driving mechanism 6, a seventh joint driving mechanism 7, an eighth joint driving mechanism 8 and the like which are arranged on the fixing seat 1_1.

The first joint driving mechanism 1 of the quick change mechanism 1_N of the surgical operation instrument one 1_Q is fixedly connected with the fixed seat 1_1 through a ball screw mechanism 1_2, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 are arranged on the same base 1_3, and the first joint driving mechanism 1 is connected with the bases 1_3 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 through nuts 1_2_1 of the ball screw mechanism 1_2; the bases 1_3 of the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 can axially move along the axial direction 9_2 of the arm section one of the surgical instrument executing mechanism 1_M relative to the fixed base 1_1 fixedly connected with the first joint driving mechanism 1; the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7, the eighth joint driving mechanism 8 and the surgical instrument executing mechanism 1_M axially move relative to the fixed seat 1_1 fixedly connected with the first joint driving mechanism 1 along the axial direction 9_2 of the arm section one of the surgical instrument executing mechanism 1_M;

The second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the quick-change mechanism 1_N of the first surgical operation device 1_Q are respectively connected with the surgical operation device executing mechanism 1_M through an interface clutch disc;

The first joint driving mechanism 1 of the quick change mechanism 1_N of the first operating device 1_Q drives the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7, the eighth joint driving mechanism 8 and the operating device executing mechanism 1_m of the operating device 1_Q of the first operating device 1_Q to axially move along the axial direction of the arm segment one 9_2 of the operating device executing mechanism 1_m of the operating device 1_Q relative to the fixed seat 1_1 fixedly connected with the first joint driving mechanism 1;

The second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the quick-change mechanism 1_N of the first 1_Q surgical operation instrument correspondingly drive the rotation of the second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16 of the first 1_Q surgical operation instrument through steel wire ropes;

The surgical instrument actuating mechanism 1_m of the surgical operating instrument one 1_Q comprises 8 degrees of freedom, and the surgical instrument actuating mechanism 1_m of the surgical operating instrument one 1_Q comprises 8 degrees of freedom from one end of the tail end transmission box 1_4, which are sequentially as follows: the degree of freedom is moved in the axial direction of the first 9_2 axis of the arm segment, the degree of freedom is axially swung around the second 10_1 axis x, the degree of freedom is axially rotated around the third 11_1 axis z, the degree of freedom is axially swung around the fourth 12_1 axis x, the degree of freedom is axially rotated around the fifth 13_1 axis z, the degree of freedom is axially swung around the sixth 14_1 axis x, the degree of freedom is axially swung around the seventh 15_1 axis y, and the degree of freedom II is axially swung around the seventh 15_1 axis y. The first, second, third, fourth, fifth, sixth and seventh joint actuators 15 are spatially perpendicular to each other in the axis direction of the joint union, and the two joint union axes of the seventh and eighth joint actuators 16 coincide.

The second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16 of the first 1_Q have the same structure in the tail end transmission box 1_4, and each of the two actuating mechanisms comprises a transmission line wheel shaft, a line wheel, an interface clutch disc, a bearing and the like; one end of the interface clutch disc is connected with the joint driving mechanism 1_N, the other end of the interface clutch disc is connected with a transmission line wheel shaft, and a line wheel is arranged on the transmission line wheel shaft; the transmission line wheel shaft and the line wheel are driven to rotate through the rotation of the interface clutch disc, and the transmission line wheel shaft and the line wheel correspondingly drive the second joint 10_1, the third joint 11_1, the fourth joint 12_1, the fifth joint 13_1, the sixth joint 14_1, the seventh joint 15_1 and the eighth joint 16_1 to rotate through steel wire ropes respectively;

One end of the arm section I9_2 is fixedly connected with the tail end transmission box 1_4, the arm section I9_2 is provided with two rigid bending joints 1_12 and 1_13, and each rigid bending joint 1_12 and 1_13 is provided with a group of guide wheels I and four groups of tensioning wheels I for guiding and tensioning a steel wire rope;

the arm section connecting piece 9_3 is provided with a guide wheel shaft and two tensioning wheel shafts which control the relative movement of the second joint 10_1, the third joint 11_1, the fourth joint 12_1, the fifth joint 13_1, the sixth joint 14_1, the seventh joint 15_1 and the eighth joint 16_1, wherein the guide wheel shaft is provided with a group of guide wheel two and an arm section two connecting piece 10_3, the two tensioning wheel shafts are respectively provided with a group of tensioning wheel two, the arm section two connecting piece 10_3 is provided with two tensioning wheel shafts which control the relative movement of the third joint 11_1, the fourth joint 12_1, the fifth joint 13_1, the sixth joint 14_1, the seventh joint 15_1 and the eighth joint 16_1, the two tensioning wheel shafts are respectively provided with a group of tensioning wheel three, and the arm section two connecting piece 10_3 is provided with a rope groove which is used for controlling the relative swinging of the arm section two 10_2 and the arm section one 9_2;

The second axis of the guide wheel on the first arm section connecting piece 9_3 of the second joint 10_1 coincides with the relative swing axis of the second joint 10_1, the second axis of the guide wheel on the first arm section connecting piece 9_3 of the second joint 10_1 and the second axes of the two tensioning wheels are parallel to the third axes of the two tensioning wheels on the first arm section connecting piece 10_3, the second center planes of the guide wheel II and the tensioning wheels II and the third center planes of the guide wheel II installed on the adjacent arm section connecting piece 9_3 and the first arm section connecting piece 10_3 for controlling the swing of the same joint at the second joint 10_1 are located in the same plane, the guide wheel I and the guide wheel II can rotate freely relative to the guide wheel axle, and the tensioning wheels I, II and III can rotate freely relative to the tensioning wheel axle.

The third joint actuator 11, the fourth joint actuator 12, the fifth joint actuator 13, the sixth joint actuator 14, the seventh joint actuator 15, and the eighth joint actuator 16 have substantially the same structure as the second joint actuator 10. The guide wheel axis of the third joint executing mechanism 11 is coincident with the rotation axis of the third joint 11_1, two tensioning wheels are arranged on the same side of the rope groove on the first arm segment three connecting piece 11_3, the two tensioning wheel axes are perpendicular to the rope groove axis on the first arm segment three connecting piece 11_3, and the two tensioning wheels are coincident with the rope groove tangential line on the first arm segment three connecting piece 11_3 and are used for controlling the relative rotation of the third arm segment 11_2 and the second arm segment 10_2; the third joint 11_1 is provided with a fourth joint 12_1, a fifth joint 13_1, a sixth joint 14_1, a seventh joint 15_1, an eighth joint 16_1 guide wheel and a tensioning wheel in the arm section three connecting sleeve 11_2, the two tensioning wheels controlling the same joint are respectively arranged on two sides of the guide wheel, the axes of the two tensioning wheels controlling the same joint to swing are perpendicular to the axes of the guide wheel, and the tangents of the two tensioning wheels controlling the same joint to swing are overlapped with the tangents of the guide wheel.

Further, guide structures are mounted on both sides of the wire wheels in the end transmission boxes 1_4 of the second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16;

Further, wire rope grooves are formed on wire wheels and transmission wire wheel shafts in the second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16 and are used for winding wire ropes; the wire wheels and the wire wheel shafts of the second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16 are provided with slotted holes, and the tail ends of the wire ropes are embedded into the slotted holes after being knotted and used for fixing the tail ends of the wire ropes.

Further, the rope grooves of the corresponding joint arm segment connectors 9_3-16_2 of the second joint actuator 10, the third joint actuator 11, the fourth joint actuator 12, the fifth joint actuator 13, the sixth joint actuator 14, the seventh joint actuator 15 and the eighth joint actuator 16 are provided with slotted holes, and the tail ends of the steel wire ropes are embedded into the slotted holes after being knotted and used for fixing the tail ends of the steel wire ropes.

Further, the second joint executing mechanism 10, the third joint executing mechanism 11, the fourth joint executing mechanism 12, the fifth joint executing mechanism 13, the sixth joint executing mechanism 14, the seventh joint executing mechanism 15 and the eighth joint executing mechanism 16 are sleeved on the transmission line wheel shaft, the transmission line wheel and the transmission line wheel shaft are provided with arc-shaped long bolt holes, and the relative rotation angle between the transmission line wheel and the transmission line wheel shaft is adjusted to enable the steel wire to reach proper tension in the transmission path and then to be connected and fastened through bolts.

as shown in fig. 8 and 9, the second joint driving mechanism 2 of the quick-change mechanism 1_N of the surgical operation device 1_Q includes a motor 2_1, the motor 2_1 is connected with a gear shaft 2_3 through a coupling 2_2, and the gear shaft 2_3 is connected with an interface clutch disc 2_4 corresponding to the gear shaft 2_3;

The third joint driving mechanism 3 of the quick-change mechanism 1_N of the surgical operation device 1_Q comprises a motor 3_1, the motor 3_1 is connected with a sun gear shaft 3_3 through a coupler 3_2, a large sun gear 3_5 and a small sun gear 3_4 are arranged on the sun gear shaft 3_3, the large sun gear 3_5 and the small sun gear 3_4 are meshed with three planetary gears 3_6-3_8 arranged on a planet carrier gear shaft 3_9, the three planetary gears 3_6-3_8 are meshed with the small sun gear 3_4, the three planetary gears 3_6-3_8 are meshed with the large sun gear 3_5, the three planetary gears 3_6-3_8 are uniformly distributed around the axis of the sun gear shaft 3_3, and the planet carrier gear shaft 3_9 is connected with an interface clutch disc 3_10 corresponding to the planetary gear shaft;

The fourth joint driving mechanism 4 of the quick-change mechanism 1_N of the surgical operation device one 1_Q comprises a motor 4_1, the motor 4_1 is connected with a sun gear shaft 4_3 through a coupler 4_2, a large sun gear 4_5 and a small sun gear 4_4 are arranged on the sun gear shaft 4_3, the large sun gear 4_5 and the small sun gear 4_4 are meshed with three planetary gears 4_6-4_8 arranged on a planet carrier gear shaft 4_9, the three planetary gears 4_6-4_8 are meshed with the small sun gear 4_4 externally, the three planetary gears 4_6-4_8 are meshed with the large sun gear 4_5 internally, the three planetary gears 4_6-4_8 are uniformly distributed around the axis of the sun gear shaft 4_3, and the planet carrier gear shaft 4_9 is connected with an interface clutch disc 4_10 corresponding to the planetary gear shaft;

The fifth joint driving mechanism 5 of the quick-change mechanism 1_N of the surgical operation device one 1_Q comprises a motor 5_1, the motor 5_1 is connected with a sun gear shaft 5_3 through a coupling 5_2, a large sun gear 5_5 and a small sun gear 5_4 are arranged on the sun gear shaft 5_3, the large sun gear 5_5 and the small sun gear 5_4 are meshed with three planetary gears 5_6-5_8 arranged on a planet carrier gear shaft 5_9, the three planetary gears 5_6-5_8 are meshed with the small sun gear 5_4, the three planetary gears 5_6-5_8 are meshed with the large sun gear 5_5, the three planetary gears 5_6-5_8 are uniformly distributed around the axis of the sun gear shaft 5_3, and the planet carrier gear shaft 5_9 is connected with an interface clutch disc 5_10 corresponding to the planetary gear shaft;

The sixth joint driving mechanism 6 of the quick-change mechanism 1_N of the surgical operation device one 1_Q comprises a motor 6_1, the motor 6_1 is connected with a sun gear shaft 6_3 through a coupler 6_2, a large sun gear 6_5 and a small sun gear 6_4 are arranged on the sun gear shaft 6_3, the large sun gear 6_5 and the small sun gear 6_4 are meshed with three planetary gears 6_6-6_8 arranged on a planet carrier gear shaft 6_9, the three planetary gears 6_6-6_8 are meshed with the small sun gear 6_4, the three planetary gears 6_6-6_8 are meshed with the large sun gear 6_5, the three planetary gears 6_6-6_8 are uniformly distributed around the axis of the sun gear shaft 6_3, and the planet carrier gear shaft 6_9 is connected with an interface clutch disc 6_10 corresponding to the planetary gear shaft 6_9;

The seventh joint driving mechanism 7 of the quick-change mechanism 1_N of the surgical operation device one 1_Q comprises a motor 7_1, the motor is connected with a sun gear shaft 7_3 through a coupler 7_2, a large sun gear 7_5 and a small sun gear 7_4 are arranged on the sun gear shaft 7_3, the large sun gear 7_5 and the small sun gear 7_4 are meshed with three planetary gears 7_6-7_8 arranged on a planet carrier 7_8, the three planetary gears 7_6-7_8 are meshed with the small sun gear 7_4 externally, the three planetary gears 7_6-7_8 are meshed with the large sun gear 7_5 internally, the three planetary gears 7_6-7_8 are uniformly distributed around the axis of the sun gear shaft 7_3, and the planet carrier 7_9 is connected with an interface clutch disc 7_10 corresponding to the planetary gear carrier;

The eighth joint driving mechanism 8 of the quick-change mechanism 1_N of the surgical operation device one 1_Q comprises a motor 8_1, the motor is connected with a sun gear shaft 8_3 through a coupler 8_2, a large sun gear 8_5 and a small sun gear 8_4 are arranged on the sun gear shaft 8_3, the large sun gear 8_5 and the small sun gear 8_4 are meshed with three planetary gears 8_6-8_8 arranged on a planet carrier 8_8, the three planetary gears 8_6-8_8 are meshed with the small sun gear 8_4 externally, the three planetary gears 8_6-8_8 are meshed with the large sun gear 8_5 internally, the three planetary gears 8_6-8_8 are uniformly distributed around the axis of the sun gear shaft 8_3, and the planet carrier 8_9 is connected with an interface clutch disc 8_10 corresponding to the planetary gear carrier;

A transition gear shaft 2_3_1 to 5_6_1 is arranged among the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 of the quick change mechanism 1_N of the first 1_Q surgical operation instrument;

A transition gear shaft 6_7_1 and a transition gear shaft 6_8_1 are respectively arranged between the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the quick change mechanism 1_N of the surgical operation instrument one 1_Q;

a transition gear shaft is not arranged between the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the quick change mechanism 1_N of the first 1_Q surgical operation device;

The gear shaft 2_3 of the second joint driving mechanism 2 of the quick change mechanism 1_N of the surgical operation device 1_Q is externally meshed with the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3, and the transition gear shaft 2_3_1 between the second joint driving mechanism 2 and the third joint driving mechanism 3 is externally meshed with the large sun gear 3_5 of the third joint driving mechanism 3;

the planet carrier gear shaft 3_9 of the third joint driving mechanism 3 of the quick change mechanism 1_N of the first 1_Q is externally meshed with the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4, and the transition gear shaft 3_4_1 between the third joint driving mechanism 3 and the fourth joint driving mechanism 4 is externally meshed with the large sun gear 4_5 of the fourth joint driving mechanism 4;

The planet carrier gear shaft 4_9 of the fourth joint driving mechanism 4 of the quick change mechanism 1_N of the first 1_Q is externally meshed with the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5, and the transition gear shaft 4_5_1 between the fourth joint driving mechanism 4 and the fifth joint driving mechanism 5 is externally meshed with the large sun gear 5_5 of the fifth joint driving mechanism 5;

the planet carrier gear shaft 5_9 of the fifth joint driving mechanism 5 of the quick change mechanism 1_N of the surgical operation device one 1_Q is externally meshed with the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6, and the transition gear shaft 5_6_1 between the fifth joint driving mechanism 5 and the sixth joint driving mechanism 6 is externally meshed with the large sun gear 6_5 of the sixth joint driving mechanism 6;

the planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 of the quick change mechanism 1_N of the surgical operation device 1_Q is externally meshed with the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7, and the transition gear shaft 6_7_1 between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 is externally meshed with the large sun gear 7_5 of the seventh joint driving mechanism 7;

The planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 of the quick change mechanism 1_N of the surgical operation device 1_Q is externally meshed with the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8, and the transition gear shaft 6_8_1 between the sixth joint driving mechanism 6 and the eighth joint driving mechanism 8 is externally meshed with the large sun gear 8_5 of the eighth joint driving mechanism 8;

Further, two ends of the gear shaft 2_3 of the second joint driving mechanism 2 of the quick-change mechanism 1_N of the surgical operating device 1_Q are axially fixed through a bearing 2_5 and a bearing 2_6, and the bearing 2_5 and the bearing 2_6 are fixed on the base 1_3.

Further, one end of the planet carrier gear shaft 3_9 of the third joint driving mechanism 3 of the quick-change mechanism 1_N of the surgical operating apparatus 1_Q extends out of three pins, the three pins of the planet carrier gear shaft 3_9 are respectively inserted into the central holes of the three planet gears 3_6-3_8, one end of the planet carrier gear shaft 3_9 is axially fixed through a bearing 3_11, the other end of the planet carrier gear shaft 3_9 is axially fixed through three planet gears 3_6-3_8, two ends of the sun gear shaft 3_3 and the large sun gear 3_5 are respectively axially fixed through a bearing 3_12 and a bearing 3_13, the bearing 3_12 is fixed on the sun gear shaft 3_3 and the large sun gear 3_5, the bearing 3_11 and the bearing 3_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 3_9 forms interference fit with the interface clutch disc 3_10.

Further, one end of the planet carrier gear shaft 4_9 of the fourth joint driving mechanism 4 of the quick-change mechanism 1_N of the surgical operating apparatus 1_Q extends out of three pins, the three pins of the planet carrier gear shaft 4_9 are respectively inserted into the central holes of the three planet gears 4_6-4_8, one end of the planet carrier gear shaft 4_9 is axially fixed through a bearing 4_11, the other end of the planet carrier gear shaft 4_9 is axially fixed through three planet gears 4_6-4_8, two ends of the sun gear shaft 4_3 and the large sun gear 4_5 are respectively axially fixed through a bearing 4_12 and a bearing 4_13, the bearing 4_12 is fixed on the sun gear shaft 4_3 and the large sun gear 4_5, the bearing 4_11 and the bearing 4_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 4_9 forms interference fit with the interface clutch disc 4_10.

Further, one end of the planet carrier gear shaft 5_9 of the fifth joint driving mechanism 5 of the quick-change mechanism 1_N of the surgical operating apparatus 1_Q extends out of three pins, the three pins of the planet carrier gear shaft 5_9 are respectively inserted into the central holes of the three planet gears 5_6-5_8, one end of the planet carrier gear shaft 5_9 is axially fixed through a bearing 5_11, the other end of the planet carrier gear shaft 5_9 is axially fixed through three planet gears 5_6-5_8, two ends of the sun gear shaft 5_3 and the large sun gear 5_5 are respectively axially fixed through a bearing 5_12 and a bearing 5_13, the bearing 5_12 is fixed on the sun gear shaft 5_3 and the large sun gear 5_5, the bearing 5_11 and the bearing 5_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 5_9 and the interface clutch disc 5_10 form interference fit.

Further, one end of the planet carrier gear shaft 6_9 of the sixth joint driving mechanism 6 of the quick-change mechanism 1_N of the surgical operating apparatus 1_Q extends out of three pins, the three pins of the planet carrier gear shaft 6_9 are respectively inserted into the central holes of the three planetary gears 6_6-6_8, one end of the planet carrier gear shaft 6_9 is axially fixed through the bearing 6_11, the other end of the planet carrier gear shaft 6_9 is axially fixed through the three planetary gears 6_6-6_8, two ends of the sun gear shaft 6_3 and the large sun gear 6_5 are respectively axially fixed through the bearing 6_12 and the bearing 6_13, the bearing 6_12 is fixed on the sun gear shaft 6_3 and the large sun gear 6_5, the bearing 6_11 and the bearing 6_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 6_9 and the interface clutch disc 6_10 form interference fit.

Further, one end of the planet carrier 7_9 of the seventh joint driving mechanism 7 of the quick-change mechanism 1_N of the surgical operating device 1_Q extends out of three pins, the three pins of the planet carrier 7_9 are respectively inserted into the central holes of the three planetary gears 7_6-7_8, one end of the planet carrier 7_9 is axially fixed through a bearing 7_11, the other end of the planet carrier 7_9 is axially fixed through three planetary gears 7_6-7_8, two ends of the sun gear shaft 7_3 and the large sun gear 7_5 are respectively axially fixed through a bearing 7_12 and a bearing 7_13, the bearing 7_12 is fixed on the sun gear shaft 7_3 and the large sun gear 7_5, the bearing 7_11 and the bearing 7_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 7_9 and the interface clutch disc 7_10 form interference fit.

Further, one end of the planet carrier 8_9 of the eighth joint driving mechanism 8 of the quick-change mechanism 1_N of the surgical operating device 1_Q extends out of three pins, the three pins of the planet carrier 8_9 are respectively inserted into the central holes of the three planetary gears 8_6-8_8, one end of the planet carrier 8_9 is axially fixed through a bearing 8_11, the other end of the planet carrier 8_9 is axially fixed through three planetary gears 8_6-8_8, two ends of the sun gear 8_3 and the large sun gear 8_5 are respectively axially fixed through a bearing 8_12 and a bearing 8_13, the bearing 8_12 is fixed on the sun gear 8_3 and the large sun gear 8_5, the bearing 8_11 and the bearing 8_13 are fixed on the base 1_3, and one end of the planet carrier gear shaft 8_9 and the interface clutch disc 8_10 form interference fit.

Further, two ends of a transition gear shaft 2_3_1 to 6_8_1 of a quick change mechanism 1_N of the surgical operation device 1_Q are respectively axially fixed through bearings 2_3_2 to 6_8_3 between a second joint driving mechanism 2, a third joint driving mechanism 3, a fourth joint driving mechanism 4, a fifth joint driving mechanism 5 and a sixth joint driving mechanism 6 and between the sixth joint driving mechanism 6 and the seventh joint driving mechanism 7 and between the eighth joint driving mechanism 8, the bearings 2_3_2 to 6_8_3 are fixed on the base 1_3.

As shown in fig. 10 and 11, the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8 of the quick-change mechanism 1_N of the surgical operation instrument one 1_Q have the same structure, each of which comprises a motor 2_1-8_1, the motors 2_1-8_1 are connected with transmission shafts 2_3_k-8_3_k through coupling devices 2_2-8_2, and the transmission shafts 2_3_k-8_3_k are connected with interface clutch plates 2_4_k-8_4_k corresponding to the transmission shafts 2_3_k-8_4_k;

Further, the two ends of the transmission shafts 2_3_k to 8_3_k of the quick-change mechanism 1_N of the surgical operation device 1_Q are axially fixed through bearings 2_5_k to 8_k and bearings 2_6_k to 8_6_k, and the bearings 2_5_k to 8_5_k and bearings 2_6_k to 8_6_k are fixed on the base 1_3.

The first joint driving mechanism 1 of the first surgical operating device 1_Q may use a ball screw mechanism 1_2, may be a telescopic rod, may also be a lifting rod driven by hydraulic pressure, a cylinder or the like, and may be as long as the second joint driving mechanism 2, the third joint driving mechanism 3, the fourth joint driving mechanism 4, the fifth joint driving mechanism 5, the sixth joint driving mechanism 6, the seventh joint driving mechanism 7, the eighth joint driving mechanism 8 and the surgical device executing mechanism M of the first surgical operating device 1_Q can be realized and axially moved along the axial direction of the arm segment one 9_2 of the surgical device executing mechanism M relative to the fixed seat 1_1 fixedly connected with the first joint driving mechanism 1 of the surgical operating device 1_Q.

Further, the interface base 1_3 of the first 1_Q surgical operation device includes a base housing 1_3_1 and a base cover 1_3_2, two positioning bosses are disposed on the base housing 1_3_1, two long bolt holes are respectively disposed on two sides of the base housing 1_3_1, and the long bolt holes are connected with the base cover 1_3_2.

Further, the two base covers 1_3_2 are respectively arranged and fixed on two sides of the base shell 1_3_1; the guide chute is designed on the base housing 1_3_2, the top end of the guide chute is in a horn mouth shape so as to facilitate the installation of the surgical instrument executing mechanism M, the tail end of the guide chute on the base housing 1_3_2 and the bottom of the middle part of the guide chute are in an arc shape, the opening directions of the bottoms of the arc-shaped chute at the tail end and the middle part of the guide chute are perpendicular to the axial direction of the guide chute, and the tail end of the arc-shaped guide chute and the bottom of the middle part of the arc-shaped chute form interference fit with the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism 1_M so as to prevent the fixed pin shaft 1_3_4 of the surgical instrument executing mechanism 1_M from sliding out of the tail end of the guide chute on the base housing 1_3_2 and the bottom of the middle part of the guide chute, so that the surgical instrument executing mechanism 1_M is separated from the quick change mechanism 1_N;

further, the surgical instrument actuator 1_m of the surgical instrument one 1_Q may be mounted to the quick-change mechanism 1_N along a guide chute on the base housing 1_3_2; two long bolt holes are designed on the base outer cover 1_3_2, the two long bolt holes on the base outer cover 1_3_2 are perpendicular to the long hole axes of the long bolt holes on the base shell 1_3_1, and the installation relative positions of the base outer cover 1_3_2 and the base shell 1_3_1 can be conveniently adjusted when the base outer cover 1_3_2 is installed and fixed on the base shell 1_3_1.

Further, the quick-change mechanism 1_N for the minimally invasive surgical single-hole surgical robot further comprises a locking mechanism 1_3_3 for fixing the surgical instrument actuator 1_m to the interface base 1_3; the locking mechanism 1_3_3 comprises two groups, each group comprises a locking hook, the locking hooks are respectively a locking hook 1_3_3_1 and a locking hook 1_3_3_2, one ends of the locking hooks 1_3_3_1 and the locking hooks 1_3_3_2 are rotatably arranged on the same base housing 1_3_2, grooves are formed in the other ends of the locking hooks 1_3_1 and the locking hooks 1_3_2, bosses are arranged at corresponding positions on a shell of the surgical instrument executing mechanism 1_M, and the grooves on the locking hooks 1_3_3_1 and 1_3_2 are matched with the bosses at corresponding positions on the shell of the surgical instrument executing mechanism 1_M to fix the surgical instrument executing mechanism 1_M.

The degree of freedom of the second surgical operation instrument 2_Q can be completely the same as that of the first surgical operation instrument 1_Q, and the second surgical operation instrument can be applied to double-head type operation instruments, such as clamping type instruments and shearing type instruments; the eighth joint driving mechanism 8 and the eighth joint executing mechanism 16 can be removed on the basis of the first 1_Q of the surgical operation instruments and can be applied to single-head operation instruments such as cutting instruments; the surgical observation instrument can remove the eighth joint driving mechanism 8 and the eighth joint actuating mechanism 16 on the basis of the first surgical operation instrument 1_Q, and change the seventh degree of freedom into an axial rotation degree of freedom around the axis z of the seventh joint 15_1 on the basis of the first surgical operation instrument 1_Q, as shown in fig. 21; or the fifth to seventh degrees of freedom are changed into the degrees of freedom of swinging around the axis y of the fifth joint 13_1, the degrees of freedom of swinging around the axis x of the sixth joint 14_1 and the degrees of freedom of rotation around the axis z of the seventh joint 15_1, as shown in fig. 23, and the device is applied to a 30-degree endoscope type observation device; the surgical observation instrument 3_Q may also be configured to eliminate the seventh joint driving mechanism 7, the eighth joint driving mechanism 8, the seventh joint actuating mechanism 15, and the eighth joint actuating mechanism 16 based on the first surgical operation instrument 1_Q, as shown in fig. 20; or the fifth and sixth degrees of freedom are changed to the degrees of freedom of swinging around the axis y of the fifth joint 13_1 and the degrees of freedom of swinging around the axis x of the sixth joint 14_1, as shown in fig. 22, and the device is applied to a 360-degree endoscope type observation device.

The working principle of the invention is as follows:

Adjustment of the relative mounting position between the base housing 1_3_2 and the base housing 1_3_1 of the quick-change mechanism 1_N of surgical instrument one 1_Q:

Two long bolt holes are designed on the base housing 1_3_2, two long bolt holes are respectively designed on two side surfaces of the base housing 1_3_1, the two long bolt holes on the base housing 1_3_2 are perpendicular to long bolt hole axes on the base housing 1_3_1, and when the two base housings 1_3_2 are fixed on the base housing 1_3_1, the installation relative positions of the base housing 1_3_2 and the base housing 1_3_1 can be adjusted by adjusting the relative fixed positions of the long bolt holes of the base housing 1_3_2 and the base housing 1_3_1.

Mounting and dismounting of the surgical instrument actuator M and the joint driving mechanism N of the surgical instrument one 1_Q:

When the surgical instrument actuator 1_m is installed in the joint driving mechanism 1_N, the surgical instrument actuator 1_m slides into the guide chute end and the middle groove bottom on the base housing 1_3_2 along the top end of the guide chute in the shape of a "bell mouth" on the base housing 1_3_2, the guide chute end and the middle groove bottom on the base housing 1_3_2 form an "interference" fit with the fixed pin of the surgical instrument actuator 1_m, and simultaneously the two locking hooks 1_3_3_1, 1_3_3_2 on the two base housings 1_3_2 are respectively rotated, so that the grooves on the locking hooks 1_3_3_1, 1_3_3_2 are matched with the bosses on the corresponding positions on the housing of the surgical instrument actuator 1_m, to prevent the fixed pin 1_3_4 of the surgical instrument actuator 1_m from "sliding out" of the guide chute on the base housing 1_3_2, resulting in the separation of the surgical instrument actuator 1_m from the joint driving mechanism 1_N ". Meanwhile, two positioning bosses on the base shell 1_3_1 can position and fix the surgical instrument executing mechanism 1_M;

When the surgical instrument actuator 1_m is separated from the joint driving mechanism 1_N, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base housings 1_3_2 are simultaneously rotated respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are separated from the boss on the corresponding position on the housing of the surgical instrument actuator 1_m, the surgical instrument actuator 1_m slides out of the base housing 1_3_2 along the tail end of the guide chute on the base housing 1_3_2 and the bottom of the middle part of the guide chute in a "bell mouth" shape, and the surgical instrument actuator 1_m is separated from the joint driving mechanism 1_N.

Example two

The present embodiment will be described with reference to fig. 12 to 18, in which the overall layout structure of a single-hole surgical robot having a mobile and self-rotating positioning joint for minimally invasive surgery can be changed to the structure of fig. 12 to 18, based on the technical scheme of the first embodiment. Namely, the overall layout structure of the single-hole surgical robot with the movable and autorotative positioning joints in the technical scheme of the first embodiment is adjusted to the technical scheme of the overall layout structure II of the second embodiment, namely, the rigid joints 1_12 and 1_13 of the surgical instrument in the first embodiment are changed from lateral bending to forward bending.

The whole layout structure of the single-hole surgical robot with the movable and autorotation positioning joints for minimally invasive surgery can also be added with a fourth surgical instrument to assist in supporting a surgical operation space and drainage.

The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the invention.

While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims

1. The integral layout structure of the single-hole surgical robot with the movable and autorotation positioning joints is characterized by comprising three surgical instruments, wherein two surgical instruments are a first surgical operation instrument and a second surgical operation instrument, and the other surgical instrument is a surgical observation instrument; the axes of the three surgical instruments are arranged in parallel;

The first surgical operation device comprises a quick change mechanism and a surgical device executing mechanism; the quick-change mechanism of the first surgical operation instrument comprises a fixed seat, and a first, a second, a third, a fourth, a fifth, a sixth, a seventh and an eighth joint driving mechanisms are arranged on the fixed seat;

The first joint driving mechanism of the quick-change mechanism of the first surgical operation instrument is arranged on a fixed seat, the other joint driving mechanisms of the quick-change mechanism of the first surgical operation instrument are arranged on the same base, and the first joint driving mechanism of the quick-change mechanism of the first surgical operation instrument is also connected with the base of the quick-change mechanism of the first surgical operation instrument; the base of the quick change mechanism of the first surgical operation instrument can axially move along the first axial direction of the arm section of the surgical operation instrument executing mechanism of the first surgical operation instrument relative to the fixed base of the quick change mechanism of the first surgical operation instrument, so that the rest joint driving mechanisms of the quick change mechanism of the first surgical operation instrument and the surgical operation instrument executing mechanism of the first surgical operation instrument can axially move along the first axial direction of the arm section of the surgical operation instrument executing mechanism of the first surgical operation instrument relative to the fixed base fixedly connected with the first joint driving mechanism of the quick change mechanism of the first surgical operation instrument;

The second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms of the quick-change mechanism of the first surgical operation instrument are respectively connected with the surgical instrument executing mechanism through an interface clutch disc; the second, third, fourth, fifth, seventh and eighth joint driving mechanisms of the quick-change mechanism of the first surgical operation instrument respectively correspondingly drive the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms of the surgical operation instrument through transmission parts;

The degree of freedom of the second surgical operation instrument is identical to that of the first surgical operation instrument; or the eighth joint driving mechanism and the eighth joint executing mechanism are removed on the basis of the first surgical operation instrument;

The surgical instrument executing mechanism of the surgical operating instrument I comprises a first joint executing mechanism, a second joint executing mechanism, a third joint executing mechanism, a fourth joint executing mechanism, a fifth joint executing mechanism, a sixth joint executing mechanism, a seventh joint executing mechanism and an eighth joint executing mechanism; the eight joint actuating mechanisms comprise 8 degrees of freedom, and the 8 degrees of freedom are sequentially from one end of the tail end transmission box: a degree of freedom is moved in the direction of an axis z of the arm section, a degree of freedom is swung in the axial direction of a second joint axis x, a degree of freedom is rotated in the direction of a third joint axis z, a degree of freedom is swung in the direction of a fourth joint axis x, a degree of freedom is rotated in the direction of a fifth joint axis z, a degree of freedom is swung in the direction of a sixth joint axis x, a degree of freedom is swung in the direction of a seventh joint axis y, and a degree of freedom II is swung in the direction of a seventh joint axis y; the first, second, third, fourth, fifth, sixth and seventh joint actuating mechanisms are spatially perpendicular to the axis direction of each adjacent two joints, and the two joints of the seventh and eighth joint actuating mechanisms are overlapped with each other;

Further, the end transmission boxes of the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms of the first surgical operating instrument are identical in structure and each comprise a transmission line wheel shaft, a line wheel and an interface clutch disc; one end of the interface clutch disc is connected with the joint driving mechanism, the other end of the interface clutch disc is connected with a transmission line wheel shaft, and a line wheel is arranged on the transmission line wheel shaft; the rotation of the interface clutch disc drives the rotation of the transmission line wheel shaft and the rotation of the line wheel, and the transmission line wheel shaft and the line wheel correspondingly drive the second joint, the third joint, the fourth joint, the fifth joint, the sixth joint, the seventh joint and the eighth joint to rotate respectively through steel wire ropes;

Further, one end of the arm section connecting sleeve is fixedly connected with the tail end transmission box, the arm section connecting sleeve is provided with two rigid bending joints, and each rigid bending joint is provided with a group of first guide wheels and four groups of first tensioning wheels for guiding and tensioning the steel wire rope;

the third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms are identical to the second joint actuating mechanism in structure, wherein the axis of a guide wheel of the third joint actuating mechanism is coincident with the rotation axis of the third joint, two tensioning wheels five are arranged on the same side of a rope groove on the first arm section three connecting piece, the axes of the two tensioning wheels five are perpendicular to the axis of the rope groove on the first arm section five connecting piece, and the tangent lines of the two tensioning wheels five and the rope groove on the first arm section three connecting piece are coincident for controlling the relative rotation of the third arm section and the second arm section;

A fourth joint, a fifth joint, a sixth joint, a seventh joint, an eighth joint, a guide wheel and a tensioning wheel are arranged in the third connecting sleeve of the arm section at the third joint, two tensioning wheels for controlling the same joint are respectively arranged at two sides of the guide wheel, the axes of the two tensioning wheels for controlling the same joint to swing are perpendicular to the axis of the guide wheel, and the tangents of the two tensioning wheels and the guide wheel are overlapped;

A fifth joint, a seventh joint, an eighth joint guide wheel and a tensioning wheel are arranged in the fifth connecting sleeve of the arm section at the fifth joint, two tensioning wheels controlling the same joint are respectively arranged at two sides of the guide wheel, the axes of the two tensioning wheels controlling the same joint to swing are perpendicular to the axis of the guide wheel, and the tangents of the two tensioning wheels and the guide wheel are overlapped;

further, the two sides of the wire wheel in the tail end transmission box of the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms are respectively provided with a guide structure;

Further, wire rope grooves are formed in wire wheels and transmission wire wheel shafts in the second, third, fourth, fifth, sixth, seventh and eighth joint executing mechanisms and are used for winding wire ropes; the wire wheels in the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms and the rope grooves on the transmission wire wheel shafts are provided with slotted holes, and the tail ends of the wire ropes are embedded into the slotted holes after being knotted and used for fixing the tail ends of the wire ropes;

Further, the rope grooves of the connecting pieces of the corresponding joint arm sections of the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms are provided with slotted holes, and the tail ends of the steel wire ropes are embedded into the slotted holes after being knotted and are used for fixing the tail ends of the steel wire ropes;

Further, in order to prevent the wire rope from falling out of the guide wheel and the tensioning wheel, a guide pore plate is arranged at a position close to the tensioning wheel, so that the wire rope passes through the guide pore plate from the guide hole of the guide pore plate to the adjacent joint after being wound into the guide wheel and the tensioning wheel along the tangent line of the guide wheel and the tensioning wheel;

Further, the wire wheels of the second, third, fourth, fifth, sixth, seventh and eighth joint actuating mechanisms are sleeved on the transmission wire wheel shaft, the wire wheels and the transmission wire wheel shaft are provided with arc-shaped long bolt holes, and relative rotation angles between the wire wheels and the transmission wire wheel shaft are adjusted to enable the steel wires to be connected and fastened through bolts after being tensioned in a transmission path.

2. The overall arrangement of a single-hole surgical robot with mobile and self-rotating positioning joints according to claim 1, wherein the quick-change mechanism adopts a mechanical decoupling and driving mode:

The planet carrier gear shaft of the sixth joint driving mechanism of the first surgical operation device is externally meshed with the transition gear shafts between the sixth joint driving mechanism and the eighth joint driving mechanism, and the transition gear shafts between the sixth joint driving mechanism and the eighth joint driving mechanism are externally meshed with the large sun gear of the eighth joint driving mechanism;

Furthermore, two ends of a gear shaft of the second joint driving mechanism of the first surgical operation instrument are axially fixed through bearings, and the bearings are fixed on the base;

Further, one end of the planet carrier gear shaft of the third, fourth, fifth and sixth joint driving mechanisms of the first surgical operation device extends out of three pin shafts, the three pin shafts of the planet carrier gear shaft are respectively inserted into the central holes of the three planet gears, one end of the planet carrier gear shaft is axially fixed through bearings, the other end of the planet carrier gear shaft is axially fixed through the three planet gears, two ends of the sun gear shaft and the large sun gear are respectively axially fixed through bearings, one bearing is fixed on the sun gear shaft and the large sun gear, the other two bearings are fixed on the base, and one end of the planet carrier gear shaft and the interface clutch disc form interference fit;

Further, one end of the planet carrier of the seventh joint driving mechanism and one end of the planet carrier of the eighth joint driving mechanism of the first surgical operating instrument extend out of three pin shafts, the three pin shafts of the planet carrier are respectively inserted into the center holes of the three planet gears, one end of the planet carrier is axially fixed through the bearings, the other end of the planet carrier is axially fixed through the three planet gears, two ends of the sun gear shaft and the large sun gear are respectively axially fixed through the bearings, one bearing is fixed on the sun gear shaft and the large sun gear, the other two bearings are fixed on the base, and one end of the planet carrier is in interference fit with the interface clutch disc;

3. The overall arrangement of a single-hole surgical robot with mobile and self-rotating positioning joints according to claim 1, wherein the quick-change mechanism adopts a controlled decoupling and driving mode:

4. The integrated layout structure of a single-hole surgical robot with a mobile and self-rotating positioning joint according to claim 1, wherein,

The surgical observation instrument removes an eighth joint driving mechanism and an eighth joint executing mechanism on the basis of the first surgical operation instrument, and changes the seventh freedom degree into an axial rotation freedom degree around a seventh joint axis z on the basis of the first surgical operation instrument; or the fifth to seventh degrees of freedom are changed to the degrees of freedom of swinging axially around the fifth joint axis y, the degrees of freedom of swinging axially around the sixth joint axis x, and the degrees of freedom of rotation axially around the seventh joint axis z;

Or the surgical observation instrument removes the seventh joint driving mechanism, the eighth joint driving mechanism and the seventh joint actuating mechanism and the eighth joint actuating mechanism on the basis of the surgical operation instrument; or the fifth and sixth degrees of freedom are changed to the degrees of freedom of swinging axially around the fifth joint axis y and the degrees of freedom of swinging axially around the sixth joint axis x.

5. The integrated layout structure of a single-hole surgical robot with a mobile and autorotation positioning joint according to claim 1, wherein the base comprises a base shell and a base outer cover, two positioning bosses are arranged on the base shell, two long bolt holes are respectively arranged on two side surfaces of the base shell, and the long bolt holes are connected with the base outer cover.

6. The integrated layout structure of the single-hole surgical robot with the movable and autorotation positioning joints according to claim 5, wherein the number of the base outer covers is two, and the two base outer covers are respectively arranged and fixed on two sides of the base shell; a guide chute is arranged on the base outer cover, and the top end of the guide chute is in a horn mouth shape; the bottom of the guide chute at the tail end and the bottom of the middle part of the guide chute on the base housing are arc-shaped, the opening directions of the arc-shaped chute at the tail end and the bottom of the middle part of the guide chute are perpendicular to the axial direction of the guide chute, and the arc-shaped guide chute at the tail end and the bottom of the middle part of the guide chute form interference fit with a fixed pin shaft of a surgical instrument executing mechanism.

7. The single hole surgical robot with the movable and autorotation positioning joints according to claim 5, wherein the base cover is provided with two long bolt holes, the two long bolt holes on the base cover are perpendicular to the long hole axes of the long bolt holes on the base shell, and the installation relative positions of the base cover and the base shell are adjusted when the base cover is installed and fixed on the base shell.

8. The integrated layout of single hole surgical robots with mobile and self-rotating positioning joints according to claim 5, further comprising a locking mechanism for securing the surgical instrument actuators to the interface base; the locking mechanism comprises two groups, each group comprises a locking hook, one ends of the two locking hooks are rotatably arranged on the same base outer cover, the other ends of the locking hooks are provided with grooves, the corresponding positions on the surgical instrument executing mechanism shell are provided with bosses, and the grooves on the locking hooks are matched with the bosses on the corresponding positions on the surgical instrument executing mechanism shell to fix the surgical instrument executing mechanism.

9. The overall arrangement of a single-hole surgical robot with mobile and self-rotating positioning joints according to claim 1, wherein the first joint driving mechanism is driven to move linearly by a ball screw mechanism, or a telescopic rod or hydraulic, air cylinder driven lifting rod.