CN108433812A

CN108433812A - A kind of integral layout structure of the single hole operating robot with running fix joint

Info

Publication number: CN108433812A
Application number: CN201810199633.8A
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: 2018-08-24

Abstract

The invention discloses a kind of integral layout structures of the single hole operating robot with running fix joint, are made of three surgical instruments and sheath card etc..Two of which is surgical procedure instrument one and surgical procedure instrument two, another is operation viewing instruments；Three surgical instrument parallel arrangements.Surgical instrument completely solves the mutual movement coupled problem generated when each joint rotation of surgical instrument executing agency using mechanically decoupled or control decoupling mechanism；The integral layout of the single hole operating robot with running fix joint for micro-wound surgical operation of the present invention it is simple for structure it is reasonable, compact in design, occupy little space, minimize, lightweight, mode is dismounted using surgical instrument executing agency and quick-changing mechanism quick change, different surgical instruments can easily be replaced, the flexibility used, convenience and the safety for enhancing single hole operating robot, are conducive to the popularization and application of single hole operating robot.

Description

A kind of integral layout structure of the single hole operating robot with running fix joint

Technical field

The present invention relates in a kind of micro-wound surgical operation field Medical Devices more particularly to one kind being suitable for thoracic cavity and abdomen The integral layout structure of the minimally invasive surgery single hole operating robot of the Minimally Invasive Surgery operation of chamber.

Background technology

It is known as 20th century medical science to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative, Minimally Invasive Surgery operation refers to that doctor is insinuated into progress hand in vivo by elongated surgical instrument by the miniature incision of human body surface Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast The advantages that, reach the curative effect identical as traditional open surgery.Manually operated Minimally Invasive Surgery instrument is passive operation form, generally End only has there are one freedom of motion.Doctor, which applies to drive by finger, in surgical procedure realizes end apparatus movement, and according to The various complex operations including suturing, knotting are smoothly completed by the kinematic dexterity of doctor's arm and wrist.But for For assisting minimally-invasive surgery robot system, since the operation of surgical instrument is completed by robot, and system of robot System itself does not have the flexibility of people's operation.Therefore, higher is proposed to the design of micro-wound operation robot Special surgical instrument Requirement.To adapt to the requirement of Minimally Invasive Surgery, the design of surgical instrument should meet that small, operation is flexible, various informative, is convenient for It is installed with robot arm, has enough rigidity and intensity, is suitable for medical environment requirement (such as repeatedly disinfection).Especially perform the operation Instrument should have more degree of freedom to meet requirement on flexibility, just adapt to the complicated operations operation such as suture knotting.

In micro-wound operation robot surgical procedure, operation tool is the portion being uniquely in contact with human lesion tissue Point, and the robot part of surgical procedure is directly executed, therefore, the performance of operation tool is that minimally-invasive surgery robot system is comprehensive Close the key point of performance.To adapt to the requirement of modernization Minimally Invasive Surgery, the design of operation tool should meet delicate structure, operation Flexibly, various informative, be easily changed, be suitble to requirements, the especially operation tool such as medical environment that should have more degree of freedom with full Sufficient requirement on flexibility, and to be easily changed the surgical procedure that could realize complexity.Therefore, the surgical device to match with operation tool The performance of tool is also the important component of minimally-invasive surgery robot system comprehensive performance, and performance indicator not only affects operation The use of tool also directly determines the design objective and layout type of main body system.In short, operation tool and fast replacing device Performance is to embody the key factor of surgical robot system overall performance level.

In the world, the existing more set model machines of minimally-invasive surgery robot system research field have reached commercial clinical application water It is flat, including da Vinci, Zeus, LAPROTEK system etc..Development by studying surgical robot system finds operation tool System is mainly made of tool portion and fast replacing device.The development trend of tool portion is to be passed from bar transmission, low degree-of-freedom to silk Dynamic, multiple degrees of freedom development, though structure increasingly simplifies, function becomes stronger and stronger；Fast replacing device is then gradually to tight Gather type, integrated-type development, performance also become more and more efficiently, stablize.Existing two sets are commercialized micro-wound operation robots The four-degree-of-freedom operation tool system being driven using silk, but there are still topology layout dispersion, shape rulers for these operation tool systems The shortcomings of very little larger, so operation tool system still has prodigious development potentiality.

Research and development in China, minimally invasive surgery single hole operating robot are still in infancy, especially to tool system of performing the operation Research also have larger gap compared with foreign technology, therefore, exploitation silk transmission, surgical instrument with degrees of freedom and match The more stable efficient fast replacing device of performance promotes related-art technology progress to be of great significance to filling the domestic gaps.It grinds Study carefully exploitation and possesses the surgical instrument with degrees of freedom system of different silk driving forms and quick change mode for being promoted from existing system China has far reaching significance in the science of the scientific research field, technology status.

Invention content

It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of easy disassembly, it is easy to adjustment, positioning standard Really, rigidity it is larger, it is rationally distributed minimize, the light-weighted single hole with running fix joint for micro-wound surgical operation The integral layout structure of operating robot, it can be clamped operation tool auxiliary doctor and implement minimally invasive single-hole surgical.

The present invention provides a kind of easy disassembly, be easy to adjustment, accurate positioning, the miniaturization that rigidity is larger, rationally distributed, The integral layout structure of the light-weighted single hole operating robot with running fix joint for micro-wound surgical operation, specifically Scheme is as follows：

A kind of integral layout structure of the single hole operating robot with running fix joint, including three surgical instruments, Two of which is surgical procedure instrument one and surgical procedure instrument two, another is operation viewing instruments；Three surgical instrument axis Line is parallel, and the surgical instrument executing agency of surgical instrument, which both passes through sheath card and enters inside of human body, to be operated and observe, sheath Fixing is scheduled at the single holes surgical aperture such as human body navel.

The surgical instrument one separately includes quick-changing mechanism and surgical instrument executing agency two parts；Surgical procedure instrument One quick-changing mechanism separately includes a fixed seat, and first, second, third, fourth, is equipped in the fixed seat Five, the six, the 7th and the 8th joint driving mechanism；

First joint driving mechanism of the quick-changing mechanism of the surgical procedure instrument one is mounted in a fixed seat, institute Remaining joint driving mechanism of the quick-changing mechanism for the surgical procedure instrument one stated is mounted on the same pedestal, operation behaviour Make pedestal of the first joint driving mechanism of the quick-changing mechanism of instrument one also with the quick-changing mechanism of the surgical procedure instrument one It is connected；The pedestal of the quick-changing mechanism of the surgical procedure instrument one can changing planes soon relative to the surgical procedure instrument one The fixed seat of structure is moved axially along one axis direction of arm section of the surgical instrument executing agency of surgical procedure instrument one；And then it realizes Remaining joint driving mechanism of the quick-changing mechanism of the surgical procedure instrument one and the surgical instrument of surgical procedure instrument one are held The row mechanism fixed seat edge connected relative to the first joint driving mechanism of the quick-changing mechanism with the surgical procedure instrument one One axis direction of arm section of the surgical instrument executing agency of surgical procedure instrument one moves axially；

Second, third, fourth, fifth, the six, the 7th and the 8th of the quick-changing mechanism of the surgical procedure instrument one are closed Section driving mechanism is connected each by an interface clutch discs with the surgical instrument executing agency；The surgical manipulator The joint driving mechanism of the second, third, fourth, fifth of the quick-changing mechanism of tool one, the six, the 7th and the 8th is distinguished by driving member The second, third, fourth, fifth of the surgical instrument executing agency of corresponding driving surgical procedure instrument one, the six, the 7th and the 8th The rotation of joint executing agency.

The surgical instrument executing agency of the surgical procedure instrument one includes first, second, third, fourth, the 5th, the Six, the seven, the 8th joint executing agency；Eight joint executing agencies include 8 degree of freedom, and 8 degree of freedom are from end Gear box one end starts, and is followed successively by：Along one axis z-axis direction one-movement-freedom-degree of arm section, around second joint axis x-axis to rotation from By spending, around third joints axes x-axis to rotation degree of freedom, around the 4th joints axes y-axis to rotation degree of freedom, around the 5th joint shaft Line z-axis is to rotation degree of freedom, around the 6th joints axes x-axis to rotation degree of freedom, around the 7th joints axes y-axis to rotation degree of freedom I, around the 7th joints axes y-axis to rotation degree of freedom II；The first, second, third, fourth, the five, the six, the 7th joints execute Mechanism each adjacent two joint freedom degrees axis direction spatial vertical, the 7th and the 8th two joint freedom degrees of joint executing agency Axis overlaps.

The second, third, fourth, fifth of the surgical instrument executing agency of the surgical procedure instrument one, the six, the 7th It is identical with the structure in the final drive box of the 8th executing agency, include respectively transmission wire wheel axis, line wheel, an interface clutch Disk；Interface clutch discs one end connecting joint driving mechanism, the other end is connected with transmission wire wheel axis, in the drive line Line wheel is installed on wheel shaft；By interface clutch discs rotation drive transmission wire wheel axis and line wheel rotation, transmission wire wheel axis and Line wheel by steel wire rope, close respectively by corresponding driving second joint, third joint, the 4th joint, the 5th joint, the 6th joint, the 7th Section and the rotation of the 8th joint；

Described one connecting sleeve one end of arm section is connected with the final drive box, and one connecting sleeve of arm section has Two rigid bent joints, each rigidity bent joint are equipped with one group of directive wheel one and four groups of tensioning wheels one, are used for steel wire rope It is oriented to and is tensioned；

Described arm section a connection piece is installed above have control second joint, third joint, the 4th joint, the 5th joint, 6th joint, the 7th joint, a guide wheel shaft of the 8th joint relative motion and two tension wheel shafts, wherein the guiding Wheel shaft one group of directive wheel two installed above and two connector one of arm section install one group above described two tension wheel shafts respectively Bearing up pulley two, two connector one of the arm section is installed above have control third joint, the 4th joint, the 5th joint, the 6th joint, 7th joint, the 8th joint relative motion two tension wheel shafts, wherein installing one respectively above two tension wheel shafts Group tensioning wheel three, two connector one of arm section have grooving above, are used for the opposite rotation of control arm Duan Eryu arms section one；

Two axis of directive wheel rotation axis opposite with second joint at second joint above arm section a connection piece overlaps, the Above two axis of directive wheel and two two axis of tensioning wheel and two connector one of arm section above two joint arm section a connection piece Two three axis of tensioning wheel it is parallel, alternate arm section a connection piece and arm section of the same joint rotation are controlled at second joint In directive wheel two and tensioning wheel two, three median planes installed on two connectors one are generally aligned in the same plane, the directive wheel one, two It can be freely rotated relative to the guide wheel shaft, the tensioning wheel one, two, three can be relative to tension wheel shaft freedom Rotation；

Third, the four, the five, the six, the seven, the 8th joint executing agencies and the second joint executing agency structure It is essentially identical, wherein the directive wheel axis of the 5th joint executing agency is overlapped with the rotation axis in the 5th joint, it is described Five connector of arm section, one rope grooves on the same side installation there are two tensioning wheel five, described two five axis of tensioning wheel with Grooving on vertical and described five connector one of two tensioning wheels five and arm section of grooving axis on five connector one of arm section is cut Line overlaps, and is used for the opposite rotation of control arm Duan Wuyu arms Duan Si；

6th joint, the 7th joint, the 8th joint guiding are installed in five connecting sleeve of the 5th joint arm section Wheel and tensioning wheel, two tensioning wheels for controlling same joint are arranged in directive wheel both sides, and control the same joint rotation Two tensioning wheel axis it is vertical with directive wheel axis, and two tensioning wheels and directive wheel tangent line overlap.

Further, at the end of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th Line wheel both sides in the gear box of end are mounted on guide frame.

Further, the line in the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th There is steel wire rope groove on wheel and transmission wire wheel axis, is used for lay winding wire ropes；The second, third, fourth, fifth, the six, the 7th and Grooved hole on the grooving in line wheel and transmission wire wheel axis in 8th joint executing agency, steel cord ends are embedded in slot after knotting Kong Zhong, for fixing steel cord ends.

Further, the correspondence of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th Joint arm section connector grooving grooved hole, steel cord ends are embedded in after knotting in slot, for fixing steel cord ends.

Further, it to prevent steel wire rope from deviating from from directive wheel and tensioning wheel, can be installed close to the position of tensioning wheel Guide hole plate, make steel wire rope moved into along directive wheel and tensioning wheel tangent line lay out directive wheel and tensioning wheel after from the guiding of guide hole plate Adjacent segment is pierced by hole.

Further, the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th is described Line wheel be set on the transmission wire wheel axis, have arc-shaped stay bolt on the line wheel and the transmission wire wheel axis Hole, relative rotation is adjusted between the line wheel and the transmission wire wheel axis makes steel wire reach suitable in drive path It is connected with and fastens after tightness.

Further, the first joint driving mechanism of the surgical procedure instrument one by a ball screw framework or The elevating lever of one telescopic rod of person or hydraulic pressure, cylinder driving drives its linear movement；As long as it can realize the operation behaviour Make the joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th and surgical instrument executing agency phase of instrument one It is axial along one axis direction of arm section for the fixed seat being connected with the first joint driving mechanism of the surgical procedure instrument one Movement.

The driving of quick-changing mechanism and decoupling-structure mode one-are mechanically decoupled：

The second joint driving mechanism of the surgical procedure instrument one includes a motor, motor-driven gear axis rotation Turn, the gear shaft is connected with interface clutch discs corresponding thereto；

It is the third of the surgical procedure instrument one, the four, the 5th identical with the structure of the 6th joint driving mechanism, respectively Including a motor, which drives sun wheel shaft rotation, and big sun gear and Sunny are equipped in the sun wheel shaft Wheel, big sun gear and small sun gear are engaged with three planetary gears on planet carrier gear axis, three planetary gears and small too Sun wheel external toothing, three planetary gears and big sun gear internal messing, three planetary gears are uniformly distributed around sun wheel shaft axis, the row Carrier gear shaft is connected with interface clutch discs corresponding thereto；

The 7th of the surgical procedure instrument one is identical with the structure of the 8th joint driving mechanism, includes respectively an electricity Machine, the motor drive sun wheel shaft rotation, big sun gear and small sun gear, big sun gear are equipped in the sun wheel shaft It is engaged with three planetary gears on planet carrier with small sun gear, three planetary gears and small sun gear external toothing, three rows Star-wheel and big sun gear internal messing, three planetary gears are evenly distributed with around sun wheel shaft axis, the planet carrier and corresponding thereto Interface clutch discs be connected；

It is respectively mounted between the second, third, fourth, fifth and the 6th joint driving mechanism of the surgical procedure instrument one There are one transition gear axles；Between 6th and the 7th joint driving mechanism and the 8th joint driving mechanism respectively There are one transition gear axles for installation；It is fitted without transition gear axle between 7th and the 8th joint driving mechanism；

The gear shaft of the second joint driving mechanism of the surgical procedure instrument one drives with second, third described joint Transition gear axle external toothing between motivation structure, the transition gear axle between second, third described joint driving mechanism and institute The big sun gear external toothing for the third joint driving mechanism stated；

The planet carrier gear axis of the third joint driving mechanism of the surgical procedure instrument one and the third, the 4th Transition gear axle external toothing between joint driving mechanism, the transition gear between the third, the 4th joint driving mechanism The big sun gear external toothing of axis and the 4th joint driving mechanism；

The planet carrier gear axis of 4th joint driving mechanism of the surgical procedure instrument one and described the four, the 5th Transition gear axle external toothing between joint driving mechanism, the transition gear between the four, the 5th joint driving mechanisms The big sun gear external toothing of axis and the 5th joint driving mechanism；

The planet carrier gear axis of 5th joint driving mechanism of the surgical procedure instrument one and described the five, the 6th Transition gear axle external toothing between joint driving mechanism, the transition gear between the five, the 6th joint driving mechanisms The big sun gear external toothing of axis and the 6th joint driving mechanism；

The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and described the six, the 7th Transition gear axle external toothing between joint driving mechanism, the mistake between the six, the 7th joint driving mechanisms Cross the big sun gear external toothing of gear shaft and the 7th joint driving mechanism；

The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and described the six, the 8th The transition gear axle external toothing between joint driving mechanism, the institute between the six, the 8th joint driving mechanisms The big sun gear external toothing of the transition gear axle stated and the 8th joint driving mechanism.

Further, the gear shaft both ends of the second joint driving mechanism of the surgical procedure instrument one pass through bearing axis To fixation, bearing is fixed on the base.

Further, the joint driving mechanism of third, the four, the 5th and the 6th of the surgical procedure instrument one is described Planet carrier gear axis one end stretch out three axis pins, three axis pins of planet carrier gear axis are inserted into the center of three planetary gears respectively Kong Zhong, planet carrier gear axis one end is by bearing axial restraint, and the planet carrier gear axis other end is by three planet wheel spindles to admittedly Fixed, respectively by bearing axial restraint, one of bearing is fixed on sun wheel shaft and big for sun wheel shaft and big sun gear both ends On sun gear, other two bearing is fixed on the base, and one end of planet carrier gear axis is formed with interface clutch discs to be interference fitted.

Further, the planet carrier one of the 7th and the 8th joint driving mechanism of the surgical procedure instrument one Three axis pins are stretched out at end, and three axis pins of planet carrier are inserted into respectively in the centre bore of three planetary gears, and planet carrier one end passes through axis Axial restraint is held, the planet carrier other end is passed through respectively by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends Bearing axial restraint, one of bearing are fixed in sun wheel shaft and big sun gear, other two bearing is fixed on the base, One end of planet carrier forms with interface clutch discs and is interference fitted.

Further, the second, third, fourth, fifth and the 6th joint driving mechanism of the surgical procedure instrument one Between and the 6th joint driving mechanism and the 7th joint driving mechanism and the 8th joint driving mechanism Between the transition gear axle both ends installed by bearing axial restraint, bearing is fixed on the base.

The driving of quick-changing mechanism and decoupling-structure mode two-control decoupling：

The joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th of the surgical procedure instrument one Structure it is identical, include respectively a motor, which drives transmission shaft rotation, the transmission shaft and connecing corresponding thereto Mouth clutch discs are connected；

Further, second, third, fourth, fifth, the six, the 7th and the 8th of the surgical procedure instrument one are closed The both ends of the drive shaft of driving mechanism is saved by bearing axial restraint, bearing is fixed on the base.

Further, the degree of freedom of the surgical procedure instrument two can be with the one complete phase of surgical procedure instrument Together, it is applied to double end generic operation instrument, class instrument, shearing class instrument is such as clamped；It can also be in the surgical procedure instrument one On the basis of remove the 8th joint driving mechanism and the 8th joint executing agency, be applied to single head generic operation instrument, such as cut class device Tool；

The operation viewing instruments can remove the 8th joint drive on the basis of the surgical procedure instrument one Mechanism and the 8th joint executing agency, and seven freedom is changed on the basis of surgical procedure instrument one around the 7th joint shaft Line z-axis is to rotation degree of freedom；Or the 5th to seven freedom is changed to around the 5th joints axes y-axis to rotation degree of freedom, around Six joints axes x-axis are applied to 30 ° of hysteroscope class viewers to rotation degree of freedom around the 7th joints axes z-axis to rotation degree of freedom Tool；

The operation viewing instruments can also remove the seven, the 8th joints on the basis of the surgical procedure instrument one Driving mechanism and the seven, the 8th joint executing agencies；Or the 5th, six degree of freedom are changed to around the 5th joints axes y-axis to pendulum Turn degree of freedom, around the 6th joints axes x-axis to rotation degree of freedom, is applied to 360 ° of hysteroscope class viewing instruments.

Further, the pedestal of each surgical instrument includes base housing and base outer cover, the pedestal shell Body is equipped with twice positioning convex platform, and base housing two sides are respectively equipped with two stay bolt holes, the stay bolt hole and pedestal Outer cover is connected.

Further, there are two the base outer covers, it is mounted and fixed to the both sides of base housing respectively；Base outer cover Guide chute is designed above, and guide chute top is in " horn mouth " shape, to facilitate the installation of surgical instrument executing agency, pedestal Guide chute end and intermediate channel bottom are in " circular arc " shape sliding slot slot bottom of " circular arc " shape, guide chute end and middle part above outer cover Opening direction is vertical with guide chute axis direction, and the guide chute end of " circular arc " shape and intermediate channel bottom and surgical device The fixed pin shaft of tool executing agency forms " interference " cooperation, to prevent the fixed pin shaft of surgical instrument executing agency from base outer cover It " is skidded off " in guide chute end and intermediate channel bottom above, surgical instrument executing agency is caused " to be detached " with quick-changing mechanism；

Further, the surgical instrument executing agency of each surgical instrument can pacify along the guide chute above base outer cover It is attached on quick-changing mechanism；Design is there are two stay bolt hole on base outer cover, two stay bolt holes above base outer cover and pedestal The long axially bored line in stay bolt hole of housing upper face is vertical, is adjusted outside pedestal when base outer cover being facilitated to be mounted and fixed on base housing The relative mounting positions of cover and base housing.

Further, the interface pedestal of each surgical instrument further includes one for surgical instrument to be executed machine Structure is fixed to the retaining mechanism in interface pedestal；The retaining mechanism includes two groups, and every group includes that a locking is linked up with, two One end of locking hook is rotatably mounted on the same base outer cover, and the locking hook other end is equipped with groove, and surgical instrument executes Corresponding position is equipped with boss, the groove of locking hook above and corresponding position on surgical instrument executing agency shell on mechanism shell Boss cooperation be used for fixation surgical instrument executing agency.

Beneficial effects of the present invention：

The integral layout of the single hole operating robot with running fix joint for micro-wound surgical operation of the present invention Structure has the advantages that compared with prior art：

1. the whole cloth of the single hole operating robot with running fix joint for micro-wound surgical operation of the present invention Office is simple for structure rationally, compact in design, occupies little space, and enhances the convenience used and safety of single hole operating robot Property.

2. the whole cloth of the single hole operating robot with running fix joint for micro-wound surgical operation of the present invention Office's structure dismounts mode using surgical instrument executing agency and quick-changing mechanism quick change, can easily replace different surgical instruments, Enhance the flexibility of single hole operating robot used.

3. the whole cloth of the single hole operating robot with running fix joint for micro-wound surgical operation of the present invention Office's structure has the characteristics that miniaturization, lightweight, is conducive to the popularization and application of single hole operating robot.

4. the surgical device of the single hole operating robot with running fix joint for micro-wound surgical operation of the present invention Tool easy disassembly is easy to adjust, accurate positioning, rigidity is larger, rationally distributed, miniaturization, lightweight.

5. surgical instrument using mechanically decoupled, completely solves the phase generated when each joint rotation of surgical instrument executing agency Mutually movement coupled problem.

6. by adjusting relative installation between base outer cover and base housing, leading above base outer cover can be adjusted To relative installation between the interface clutch discs above sliding slot and base housing, to make surgical instrument executing agency be installed to When on quick-changing mechanism, the interface clutch discs above surgical instrument executing agency can be proper with the interface clutch discs above base housing It can coordinate well and be driven in place, interface clutch discs and the bottom above surgical instrument executing agency will not be caused because of interference The interface clutch discs of seat housing upper face can not coordinate.

7. making horn mouth at the top of the guide chute above tool apron outer cover, surgical instrument executing agency is made to be fit into quick change More convenient and quicker when mechanism；Guide chute curve can guarantee that cutter driving disk slides naturally and be docked without interfering；It is oriented to Sliding slot end and intermediate channel bottom can be accurately positioned the opposite peace of surgical instrument executing agency and quick-changing mechanism using interference fit Holding position.Surgical instrument executing agency is fit into and removes from quick-changing mechanism front upper place, meets custom operation direction, reduces Install and remove difficulty.

8. surgical instrument executing agency can accurately and reliably be fixed to above quick-changing mechanism by locked by hooks mechanism；Also may be used Easily to lock and unclamp surgical instrument executing agency.

9. the interface clutch discs above quick-changing mechanism use single-row arrangement, make surgical instrument executing agency in interface pedestal The arm of force between the fixed point in face is longer, is more advantageous in the fixation for ensureing surgical instrument executing agency on interface pedestal.

10. the interface clutch discs above quick-changing mechanism use single-row arrangement, motor and interface clutch discs " coaxially arranged ", can With by second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th The single-row arrangement of motor of joint driving mechanism, the 7th joint driving mechanism and the 8th joint driving mechanism reduces multiple quick changes The possibility interfered when mechanism co-operating, space layout are reasonable.

11. the design of mechanically decoupled mechanism is not designed on quick-changing mechanism in surgical instrument executing agency, it in this way can be with The structure design for simplifying surgical instrument executing agency, is conducive to surgical instrument executing agency mass production.

Description of the drawings

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is not necessarily pressed Only it is to be illustratively described the present invention according to ratio, drawings discussed below is only some embodiments in the present invention, is not limit The system present invention, for those of ordinary skill in the art, without having to pay creative labor, can also be according to this A little attached drawings obtain other attached drawings.

Fig. 1 is a kind of the whole of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Body layout structure schematic diagram.

Fig. 2 is a kind of the whole of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Body layout structure schematic front view.

Fig. 3 is a kind of the whole of single hole operating robot with running fix joint for micro-wound surgical operation of the invention One schematic top plan view of body layout structure arrangement.

Fig. 4 is a kind of the whole of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Two schematic top plan view of body layout structure arrangement.

Fig. 5, Fig. 6, Fig. 7 are a kind of single hole surgical engines with running fix joint for micro-wound surgical operation of the invention The instrument of device people regards schematic diagram, schematic top plan view with quick-changing mechanism assembly schematic front view, the right side.

Fig. 8, Fig. 9 are a kind of single hole operating robots with running fix joint for micro-wound surgical operation of the invention The mechanically decoupled quick-changing mechanism right side regard schematic diagram, schematic front view.

Figure 10, Figure 11 are a kind of single hole surgical machines with running fix joint for micro-wound surgical operation of the invention The control decoupling quick-changing mechanism right side of people regards schematic diagram, schematic front view.

Figure 12 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Two schematic front view of integral layout structure.

Figure 13 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Two arrangement of integral layout structure, one schematic top plan view.

Figure 14 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Two arrangement of integral layout structure, two schematic top plan view.

Figure 15 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Two arrangement of integral layout structure, three schematic top plan view.

Figure 16, Figure 17, Figure 18 are a kind of single hole hands with running fix joint for micro-wound surgical operation of the invention The instrument two of art robot regards schematic diagram, schematic top plan view with quick-changing mechanism assembly schematic front view, the right side.

Figure 19 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention Double end class instrument degrees of freedom combination schematic diagram.

Figure 20 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention 360 ° of instrument degrees of freedom combination schematic diagrames.

Figure 21 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention 30 ° of instrument degrees of freedom combination schematic diagrames.

Figure 22 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention 360 ° of two schematic diagrames of instrument degrees of freedom combination.

Figure 23 is a kind of single hole operating robot with running fix joint for micro-wound surgical operation of the invention 30 ° of two schematic diagrames of instrument degrees of freedom combination.

Specific implementation mode

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Whole description, it is clear that described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Base Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts it is all its His embodiment, shall fall within the protection scope of the present invention.

The explanation of label is specifically omitted in the label below：

1_Q~3_Q represent be：1_Q、2_Q、3_Q；1_Q~2_Q represent be：1_Q、2_Q；What 1_M~3_M was represented It is：1_M、2_M、3_M；9_3~16_2 represent be：9_3、10_3、11_3、12_3、13_3、14_3、15_2、16_2；2_4~ 8_10 represent be：2_4、3_10、4_10、5_10、6_10、7_10、8_10；3_3~6_3 represent be：3_3、4_3、5_3、 6_3；3_3~8_3 represent be：3_3、4_3、5_3、6_3、7_3、8_3；3_4~8_4 represent be：3_4、4_4、5_4、6_ 4、7_4、8_4；3_10~6_10 represent be：3_10、4_10、5_10、6_10；3_6~3_8 represent be：3_6、3_7、3_ 8；4_6~4_8 represent be：4_6、4_7、4_8；5_6~5_8 represent be：5_6、5_7、5_8；6_6~6_8 represent be： 6_6、6_7、6_8；7_6~7_8 represent be：7_6、7_7、7_8；8_6~8_8 represent be：8_6、8_7、8_8；2_3_1~ 5_6_1 represent be：2_3_1、3_4_1、4_5_1、5_6_1；2_3_1~6_8_1 represent be：2_3_1、3_4_1、4_5_1、 5_6_1、6_7_1、6_8_1；2_3_2~6_8_3 represent be：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_1~8_1 represent be：2_1、3_1、4_1、5_1、6_1、7_1、8_ 1；2_2~8_2 represent be：2_2、3_2、4_2、5_2、6_2、7_2、8_2；2_3_k~8_3_k represent be：2_3_k、3_ 3_k、4_3_k、5_3_k、6_3_k、7_3_k、8_3_k；2_4_k~8_4_k represent be：2_4_k、3_4_k、4_4_k、5_4_ k、6_4_k、7_4_k、8_4_k；2_5_k~8_5_k represent be：2_5_k、3_5_k、4_5_k、5_5_k、6_5_k、7_5_k、 8_5_k；2_6_k~8_6_k represent be：2_6_k、3_6_k、4_6_k、5_6_k、6_6_k、7_6_k、8_6_k.

Embodiment one

Illustrate present embodiment in conjunction with Fig. 1~Figure 11, Figure 19~Figure 23, it is described that there is movement for micro-wound surgical operation The integral layout structure of the single hole operating robot of positioning joint, including three surgical instrument 1_Q~3_Q, two of which are hand Art operates instrument 1_Q~2_Q, another is operation viewing instruments 3_Q；Three surgical instrument 1_Q~3_Q parallel arrangements, operation Surgical instrument executing agency 1_M~3_M of instrument, which both passes through sheath card K and enters inside of human body, to be operated and observes, sheath card K It is fixed at the single holes surgical aperture such as human body navel.

One 1_Q of surgical procedure instrument includes quick-changing mechanism 1_N and surgical instrument executing agency 1_M two parts；Hand The quick-changing mechanism 1_N that art operates one 1_Q of instrument includes a fixed seat 1_1, and first installed on the fixed seat 1_1 Joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint The compositions such as driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8.

The first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument passes through a ball wire Thick stick mechanism 1_2 and fixed seat 1_1 is connected, and the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint are driven Motivation structure 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint drive machine Structure 8 is mounted on the same pedestal 1_3, the nut that first joint driving mechanism 1 passes through a ball screw framework 1_2 1_2_1 drives with the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint Motivation structure 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 are connected with the pedestal 1_3 of the 8th joint driving mechanism 8； The second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the pedestal 1_3 of the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 can relative to The connected fixed seat 1_1 of first joint driving mechanism 1 is along the one axis sides 9_2 of arm section of surgical instrument executing agency 1_M To axial movement；And then realize the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and 8 and of the 8th joint driving mechanism Surgical instrument executing agency 1_M is held relative to the fixed seat 1_1 being connected with first joint driving mechanism 1 along surgical instrument The one 9_2 axis directions of arm section of row mechanism 1_M move axially；

The second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument, third joint drive Mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 It is connected with the surgical instrument executing agency 1_M each by an interface clutch discs with the 8th joint driving mechanism 8；

The first joint driving mechanism 1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument passes through ball-screw machine The second joint driving mechanism 2 of one 1_Q of structure 1_2 driving surgical procedures instrument, third joint driving mechanism 3, the 4th joint drive Mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism The surgical instrument executing agency 1_M of 8 and one 1_Q of surgical procedure instrument is connected relative to first joint driving mechanism 1 Fixed seat 1_1 axially moved along the one 9_2 axis directions of arm section of the surgical instrument executing agency 1_M of one 1_Q of surgical procedure instrument It is dynamic；

The second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument, third joint drive Mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 Correspond to the surgical instrument executing agency of one 1_Q of driving surgical procedure instrument respectively by steel wire rope with the 8th joint driving mechanism 8 The second joint executing agency 10 of 1_M, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint execute machine The rotation of structure 13, the 6th joint executing agency 14, the 7th joint executing agency 15 and the 8th joint executing agency 16；

The surgical instrument executing agency 1_M of one 1_Q of surgical procedure instrument includes 8 degree of freedom, the operation 8 degree of freedom that the surgical instrument executing agency 1_M of one 1_Q of operation instrument includes are since the one end final drive box 1_4, successively For：Along one 9_2 axis z-axis direction one-movement-freedom-degree of arm section, around second joint 10_1 axis x-axis to rotation degree of freedom, around third Joint 11_1 axis x-axis is to rotation degree of freedom, around the 4th joint 12_1 axis y-axis to rotation degree of freedom, around the 5th joint 13_1 Axis z-axis is to rotation degree of freedom, around the 6th joint 14_1 axis x-axis to rotation degree of freedom, around the 7th joint 15_1 axis y-axis to Rotation degree of freedom I, around the 7th joint 15_1 axis y-axis to rotation degree of freedom II.The first, second, third, fourth, the 5th, Six, 15 each adjacent two joint freedom degrees axis direction spatial vertical of the 7th joint executing agency, the 7th and the 8th joint execute 16 two joint freedom degrees axis of mechanism overlap.

Second joint executing agency 10, the third joint executing agency the 11, the 4th of one 1_Q of surgical procedure instrument closes Save executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency 15 and the 8th pass The structure saved in the final drive box 1_4 of executing agency 16 is identical, includes respectively that there are one transmission wire wheel axis, line wheel, interfaces The compositions such as clutch discs, bearing；Interface clutch discs one end connecting joint driving mechanism 1_N, the other end and transmission wire wheel axis It is connected, line wheel is installed on the transmission wire wheel axis；Transmission wire wheel axis and line wheel are driven by the rotation of interface clutch discs Rotation is driven wire wheel axis and line wheel and drives second joint 10_1, third joint 11_1, the 4th joint by the way that steel wire rope is corresponding respectively 12_1, the 5th joint 13_1, the 6th joint 14_1, the 7th joint 15_1 and the 8th joint 16_1 rotations；

Described one one end 9_2 of arm section is connected with the final drive box 1_4, and there are two just by one 9_2 of arm section Property bent joint 1_12,1_13, each rigidity bent joint 1_12,1_13 are equipped with one group of directive wheel one and four groups of tensioning wheels One, it is oriented to and is tensioned for steel wire rope；

Arm section a connection piece 9_3 is installed above control second joint 10_1, third joint 11_1, the 4th joint 12_1, the 5th joint 13_1, the 6th joint 14_1, the 7th joint 15_1, the 8th joint 16_1 relative motions a directive wheel Axis and two tension wheel shafts, wherein guide wheel shaft one group of directive wheel two installed above and two connector of arm section, one 10_3, One group of tensioning wheel 2 is installed respectively, two connector of arm section, one 10_3 is installed above to be had above two tension wheel shafts Control third joint 11_1, the 4th joint 12_1, the 5th joint 13_1, the 6th joint 14_1, the 7th joint 15_1, the 8th joint Two tension wheel shafts of 16_1 relative motions, wherein installing one group of tensioning wheel three, institute respectively above two tension wheel shafts There is grooving above two connector of arm section, one 10_3 stated, is used for the opposite rotation of two 10_2 of control arm section and one 9_2 of arm section；

Two axis of directive wheel rotation opposite with second joint 10_1 at second joint 10_1 above arm section a connection piece 9_3 Axis overlaps, second joint 10_1 locate two axis of directive wheel above arm section a connection piece 9_3 and two two axis of tensioning wheel and Two three axis of tensioning wheel above two connector of arm section, one 10_3 are parallel, and the same joint pendulum is controlled at second joint 10_1 The directive wheel two installed on one 10_3 of alternate arm section a connection piece 9_3 and two connector of arm section turned and tensioning wheel two, three centers In face is generally aligned in the same plane, the directive wheel one, two can be freely rotated relative to the guide wheel shaft, the tensioning wheel One, it two, three can be freely rotated relative to the tension wheel shaft.

The third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency the 13, the 6th close Save executing agency 14, the 7th joint executing agency 15, the 8th joint executing agency 16 and 10 structure base of second joint executing agency This is identical.The directive wheel axis of the 5th joint executing agency 13 is overlapped with the rotation axis of the 5th joint 13_1, described Five connector of arm section, one 13_3 rope grooves on the same side installation there are two tensioning wheel five, described two five axis of tensioning wheel Line two tensioning wheels five vertical and described with the grooving axis on five connector of arm section, one 13_3 and five connector one of arm section Grooving tangent line on 13_3 overlaps, and is used for the opposite rotation of five 13_2 of control arm section and four 12_2 of arm section；5th joint The 6th joint 14_1, the 7th joint 15_1, the 8th joint 16_1 directive wheels are installed in five connecting sleeve 13_2 of arm section at 13_1 And tensioning wheel, two tensioning wheels for controlling same joint are arranged in directive wheel both sides, and control the same joint Two tensioning wheel axis of rotation are vertical with directive wheel axis, and control same joint rotation two tensioning wheels and Directive wheel tangent line overlaps.

Further, machine is executed in the second joint executing agency 10, third joint executing agency 11, the 4th joint Structure 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency 15 and the 8th joint execute machine Line wheel both sides in the final drive box 1_4 of structure 16 are mounted on guide frame；

Further, the second joint executing agency 10, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency 15 and the 8th joint executing agency There is steel wire rope groove in line wheel and transmission wire wheel axis in 16, is used for lay winding wire ropes；The second joint executing agency 10, third Joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency the 14, the 7th Grooved hole on the grooving in line wheel and transmission wire wheel axis in joint executing agency 15 and the 8th joint executing agency 16, steel wire rope End is embedded in after knotting in slot, for fixing steel cord ends.

Further, the second joint executing agency 10, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency 15 and the 8th joint executing agency 16 corresponding joint arm section connector 9_3~16_2 grooving grooved holes, steel cord ends are embedded in after knotting in slot, for solid Determine steel cord ends.

Further, the second joint executing agency 10, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency 13, the 6th joint executing agency 14, the 7th joint executing agency 15 and the 8th joint executing agency 16 line wheel is set on the transmission wire wheel axis, the line wheel with have on the transmission wire wheel axis it is arc-shaped Stay bolt hole, relative rotation is adjusted between the line wheel and the transmission wire wheel axis makes steel wire reach conjunction in drive path It is connected with and fastens after suitable rate of tension.

As the second joint driving mechanism 2 of Fig. 8, Fig. 9, the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument include One motor 2_1, motor 2_1 are connected by shaft joint 2_2 with gear shaft 2_3, the gear shaft 2_3 and corresponding thereto Interface clutch discs 2_4 be connected；

The third joint driving mechanism 3 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 3_ 1, motor 3_1 are connected by shaft joint 3_2 with sun wheel shaft 3_3, and big sun gear is equipped on the sun wheel shaft 3_3 3_5 and small sun gear 3_4, big sun gear 3_5 and small sun gear 3_4 and three planets on planet carrier gear axis 3_9 Take turns 3_6~3_8 engagements, three planetary gear 3_6~3_8 and small sun gear 3_4 external toothings, three planetary gear 3_6~3_8 with it is big too Sun wheel 3_5 internal messings, three planetary gear 3_6~3_8 are uniformly distributed around sun wheel shaft 3_3 axis, the planet carrier gear axis 3_9 Interface clutch discs 3_10 corresponding thereto is connected；

The 4th joint driving mechanism 4 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 4_ 1, motor 4_1 are connected by shaft joint 4_2 with sun wheel shaft 4_3, and big sun gear is equipped on the sun wheel shaft 4_3 4_5 and small sun gear 4_4, big sun gear 4_5 and small sun gear 4_4 and three planets on planet carrier gear axis 4_9 Take turns 4_6~4_8 engagements, three planetary gear 4_6~4_8 and small sun gear 4_4 external toothings, three planetary gear 4_6~4_8 with it is big too Sun wheel 4_5 internal messings, three planetary gear 4_6~4_8 are uniformly distributed around sun wheel shaft 4_3 axis, the planet carrier gear axis 4_9 Interface clutch discs 4_10 corresponding thereto is connected；

The 5th joint driving mechanism 5 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 5_ 1, motor 5_1 are connected by shaft joint 5_2 with sun wheel shaft 5_3, and big sun gear is equipped on the sun wheel shaft 5_3 5_5 and small sun gear 5_4, big sun gear 5_5 and small sun gear 5_4 and three planets on planet carrier gear axis 5_9 Take turns 5_6~5_8 engagements, three planetary gear 5_6~5_8 and small sun gear 5_4 external toothings, three planetary gear 5_6~5_8 with it is big too Sun wheel 5_5 internal messings, three planetary gear 5_6~5_8 are uniformly distributed around sun wheel shaft 5_3 axis, the planet carrier gear axis 5_9 Interface clutch discs 5_10 corresponding thereto is connected；

The 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 6_ 1, motor 6_1 are connected by shaft joint 6_2 with sun wheel shaft 6_3, and big sun gear is equipped on the sun wheel shaft 6_3 6_5 and small sun gear 6_4, big sun gear 6_5 and small sun gear 6_4 and three planets on planet carrier gear axis 6_9 Take turns 6_6~6_8 engagements, three planetary gear 6_6~6_8 and small sun gear 6_4 external toothings, three planetary gear 6_6~6_8 with it is big too Sun wheel 6_5 internal messings, three planetary gear 6_6~6_8 are uniformly distributed around sun wheel shaft 6_3 axis, the planet carrier gear axis 6_9 Interface clutch discs 6_10 corresponding thereto is connected；

The 7th joint driving mechanism 7 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 7_ 1, which is connected by shaft joint 7_2 with sun wheel shaft 7_3, and big sun gear 7_5 is equipped on the sun wheel shaft 7_3 With small sun gear 7_4, big sun gear 7_5 and small sun gear 7_4 and three planetary gear 7_6~7_8 on planet carrier 7_8 It engages, three planetary gear 7_6~7_8 and small sun gear 7_4 external toothings, in three planetary gear 7_6~7_8 and big sun gear 7_5 Engagement, three planetary gear 7_6~7_8 are evenly distributed with around sun wheel shaft 7_3 axis, the planet carrier 7_9 and corresponding thereto Interface clutch discs 7_10 is connected；

The 8th joint driving mechanism 8 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument includes a motor 8_ 1, which is connected by shaft joint 8_2 with sun wheel shaft 8_3, and big sun gear 8_5 is equipped on the sun wheel shaft 8_3 With small sun gear 8_4, big sun gear 8_5 and small sun gear 8_4 and three planetary gear 8_6~8_8 on planet carrier 8_8 It engages, three planetary gear 8_6~8_8 and small sun gear 8_4 external toothings, in three planetary gear 8_6~8_8 and big sun gear 8_5 Engagement, three planetary gear 8_6~8_8 are evenly distributed with around sun wheel shaft 8_3 axis, the planet carrier 8_9 and corresponding thereto Interface clutch discs 8_10 is connected；

The second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument, third joint drive There are one being respectively mounted between mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 Transition gear axle 2_3_1~5_6_1；

The 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument is closed with the described the 7th It is separately installed with a transition gear axle 6_7_1 and transition tooth between section driving mechanism 7 and the 8th joint driving mechanism 8 Wheel shaft 6_8_1；

The 7th joint driving mechanism 7 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument and the described the 8th closes It is fitted without transition gear axle between section driving mechanism 8；

The gear shaft of the second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The transition gear axle 2_ between 2_3 and the second joint driving mechanism 2 and the third joint driving mechanism 3 3_1 external toothings, the transition tooth between the second joint driving mechanism 2 and the third joint driving mechanism 3 The big sun gear 3_5 external toothings of wheel shaft 2_3_1 and the third joint driving mechanism 3；

The planet carrier of the third joint driving mechanism 3 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The transition tooth between gear shaft 3_9 and the third joint driving mechanism 3 and the 4th joint driving mechanism 4 Wheel shaft 3_4_1 external toothings, it is described between the third joint driving mechanism 3 and the 4th joint driving mechanism 4 The big sun gear 4_5 external toothings of transition gear axle 3_4_1 and the 4th joint driving mechanism 4；

The planet carrier of the 4th joint driving mechanism 4 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The transition tooth between gear shaft 4_9 and the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5 Wheel shaft 4_5_1 external toothings, it is described between the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5 The big sun gear 5_5 external toothings of transition gear axle 4_5_1 and the 5th joint driving mechanism 5；

The planet carrier of the 5th joint driving mechanism 5 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The transition tooth between gear shaft 5_9 and the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 Wheel shaft 5_6_1 external toothings, it is described between the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 The big sun gear 6_5 external toothings of transition gear axle 5_6_1 and the 6th joint driving mechanism 6；

The planet carrier of the 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The transition tooth between gear shaft 6_9 and the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7 Wheel shaft 6_7_1 external toothings, it is described between the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7 The big sun gear 7_5 external toothings of transition gear axle 6_7_1 and the 7th joint driving mechanism 7；

The planet carrier of the 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The transition tooth between gear shaft 6_9 and the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8 Wheel shaft 6_8_1 external toothings, it is described between the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8 The big sun gear 8_5 external toothings of transition gear axle 6_8_1 and the 8th joint driving mechanism 8；

Further, the tooth of the second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The both ends wheel shaft 2_3 are fixed on by bearing 2_5 and bearing 2_6 axial restraints, bearing 2_5 and bearing 2_6 on pedestal 1_3.

Further, the institute of the third joint driving mechanism 3 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Three axis pins are stretched out in the one end planet carrier gear axis 3_9 stated, and three axis pins of planet carrier gear axis 3_9 are inserted into three planets respectively In the centre bore for taking turns 3_6~3_8, planet carrier gear one end axis 3_9 passes through bearing 3_11 axial restraints, planet carrier gear axis 3_9 The other end passes through bearing respectively by three planetary gear 3_6~3_8 axial restraints, sun wheel shaft 3_3 and the both ends big sun gear 3_5 3_12 and bearing 3_13 axial restraints, bearing 3_12 are fixed on sun wheel shaft 3_3 and big sun gear 3_5, bearing 3_11 and axis It holds 3_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 3_9 is formed with interface clutch discs 3_10 to be interference fitted.

Further, the institute of the 4th joint driving mechanism 4 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Three axis pins are stretched out in the one end planet carrier gear axis 4_9 stated, and three axis pins of planet carrier gear axis 4_9 are inserted into three planets respectively In the centre bore for taking turns 4_6~4_8, planet carrier gear one end axis 4_9 passes through bearing 4_11 axial restraints, planet carrier gear axis 4_9 The other end passes through bearing respectively by three planetary gear 4_6~4_8 axial restraints, sun wheel shaft 4_3 and the both ends big sun gear 4_5 4_12 and bearing 4_13 axial restraints, bearing 4_12 are fixed on sun wheel shaft 4_3 and big sun gear 4_5, bearing 4_11 and axis It holds 4_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 4_9 is formed with interface clutch discs 4_10 to be interference fitted.

Further, the institute of the 5th joint driving mechanism 5 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Three axis pins are stretched out in the one end planet carrier gear axis 5_9 stated, and three axis pins of planet carrier gear axis 5_9 are inserted into three planets respectively In the centre bore for taking turns 5_6~5_8, planet carrier gear one end axis 5_9 passes through bearing 5_11 axial restraints, planet carrier gear axis 5_9 The other end passes through bearing respectively by three planetary gear 5_6~5_8 axial restraints, sun wheel shaft 5_3 and the both ends big sun gear 5_5 5_12 and bearing 5_13 axial restraints, bearing 5_12 are fixed on sun wheel shaft 5_3 and big sun gear 5_5, bearing 5_11 and axis It holds 5_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 5_9 is formed with interface clutch discs 5_10 to be interference fitted.

Further, the institute of the 6th joint driving mechanism 6 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Three axis pins are stretched out in the one end planet carrier gear axis 6_9 stated, and three axis pins of planet carrier gear axis 6_9 are inserted into three planets respectively In the centre bore for taking turns 6_6~6_8, planet carrier gear one end axis 6_9 passes through bearing 6_11 axial restraints, planet carrier gear axis 6_9 The other end passes through bearing respectively by three planetary gear 6_6~6_8 axial restraints, sun wheel shaft 6_3 and the both ends big sun gear 6_5 6_12 and bearing 6_13 axial restraints, bearing 6_12 are fixed on sun wheel shaft 6_3 and big sun gear 6_5, bearing 6_11 and axis It holds 6_13 to be fixed on pedestal 1_3, one end of planet carrier gear axis 6_9 is formed with interface clutch discs 6_10 to be interference fitted.

Further, the institute of the 7th joint driving mechanism 7 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Three axis pins are stretched out in one end planet carrier 7_9 for stating, and three axis pins of planet carrier 7_9 are inserted into three planetary gear 7_6~7_8's respectively In centre bore, the one end planet carrier 7_9 by bearing 7_11 axial restraints, the planet carrier 7_9 other ends by three planetary gear 7_6~ 7_8 axial restraints, sun wheel shaft 7_3 and the both ends big sun gear 7_5 pass through bearing 7_12 and bearing 7_13 axial restraints, axis respectively It holds 7_12 to be fixed on sun wheel shaft 7_3 and big sun gear 7_5, bearing 7_11 and bearing 7_13 are fixed on pedestal 1_3, planet One end of frame gear shaft 7_9 forms with interface clutch discs 7_10 and is interference fitted.

Further, the institute of the 8th joint driving mechanism 8 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Three axis pins are stretched out in one end planet carrier 8_9 for stating, and three axis pins of planet carrier 8_9 are inserted into three planetary gear 8_6~8_8's respectively In centre bore, the one end planet carrier 8_9 by bearing 8_11 axial restraints, the planet carrier 8_9 other ends by three planetary gear 8_6~ 8_8 axial restraints, sun wheel shaft 8_3 and the both ends big sun gear 8_5 pass through bearing 8_12 and bearing 8_13 axial restraints, axis respectively It holds 8_12 to be fixed on sun wheel shaft 8_3 and big sun gear 8_5, bearing 8_11 and bearing 8_13 are fixed on pedestal 1_3, planet One end of frame gear shaft 8_9 forms with interface clutch discs 8_10 and is interference fitted.

Further, second joint driving mechanism 2, the third of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Between joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 and institute Pacify between the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 stated The both ends transition gear axle 2_3_1~6_8_1 of dress pass through bearing 2_3_2~6_8_3 axial restraints, bearing 2_3_2~6_ respectively 8_3 is fixed on pedestal 1_3.

Such as Figure 10, Figure 11, the second joint driving mechanism 2 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument, Third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism the 6, the 7th Joint driving mechanism 7 is identical with the structure of the 8th joint driving mechanism 8, includes respectively a motor 2_1~8_1, motor 2_1 ~8_1 is connected by shaft joint 2_2~8_2 with transmission shaft 2_3_k~8_3_k, the transmission shaft 2_3_k~8_3_k and with Its corresponding interface clutch discs 2_4_k~8_4_k is connected；

Further, second joint driving mechanism 2, the third of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument Joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint The both ends transmission shaft 2_3_k~8_3_k of driving mechanism 7 and the 8th joint driving mechanism 8 pass through bearing 2_5_k~8_5_ K and bearing 2_6_k~8_6_k axial restraints, bearing 2_5_k~8_5_k and bearing 2_6_k~8_6_k are fixed on pedestal 1_3 On.

The first joint driving mechanism 1 of one 1_Q of surgical procedure instrument can use a ball screw framework 1_ 2, it can also be a telescopic rod, can also be the elevating lever of the drivings such as hydraulic pressure, cylinder, as long as the operation behaviour can be realized Make the second joint driving mechanism 2 of one 1_Q of instrument, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint are driven Motivation structure 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 and surgical instrument execute Mechanism M is relative to the fixed seat 1_1 being connected with the first joint driving mechanism 1 of one 1_Q of surgical procedure instrument along operation The one 9_2 axis directions of arm section of instrument executing agency M move axially.

Further, the interface pedestal 1_3 of one 1_Q of surgical procedure instrument includes base housing 1_3_1 and pedestal Outer cover 1_3_2, the base housing 1_3_1 are equipped with twice positioning convex platform, and the two sides base housing 1_3_1 are respectively equipped with two A stay bolt hole, the stay bolt hole are connected with base outer cover 1_3_2.

Further, there are two the base outer cover 1_3_2, it is mounted and fixed to the two of base housing 1_3_1 respectively Side；Guide chute is designed above base outer cover 1_3_2, guide chute top is in " horn mouth " shape, to facilitate surgical instrument to hold The installation of row mechanism M, guide chute end and intermediate channel bottom are in " circular arc " shape, guide chute end above base outer cover 1_3_2 And " circular arc " shape sliding slot slot bottom opening direction at middle part is vertical with guide chute axis direction, and the guiding for being somebody's turn to do " circular arc " shape is slided The fixed pin shaft 1_3_4 of slot end and intermediate channel bottom and surgical instrument executing agency 1_M form " interference " cooperation, to prevent from performing the operation The fixed pin shaft 1_3_4 of instrument executing agency 1_M from above base outer cover 1_3_2 guide chute end and intermediate channel bottom in " skidding off " causes surgical instrument executing agency 1_M " to be detached " with quick-changing mechanism 1_N；

Further, the surgical instrument executing agency 1_M of one 1_Q of surgical procedure instrument can be along base outer cover 1_3_2 The guide chute in face is installed on quick-changing mechanism 1_N；There are two stay bolt hole, base outer cover 1_ for design on base outer cover 1_3_2 Two stay bolt holes above 3_2 are vertical with the long axially bored line in stay bolt hole above base housing 1_3_1, facilitate base outer cover 1_ The positions opposite with the installation of base housing 1_3_1 base outer cover 1_3_2 are adjusted when 3_2 is mounted and fixed on base housing 1_3_1 It sets.

Further, the quick-changing mechanism 1_N interface pedestal 1_3 for minimally invasive surgery single hole operating robot, also Include a retaining mechanism 1_3_3 for being fixed to surgical instrument executing agency 1_M on interface pedestal 1_3；The lock Tight mechanism 1_3_3 includes two groups, and every group includes that a locking is linked up with, respectively locking hook 1_3_3_1 and locking hook 1_3_ One end of 3_2, locking hook 1_3_3_1 and locking hook 1_3_3_2 are rotatably mounted on the same base outer cover 1_3_2, are locked Tight hook 1_3_3_1 and the locking hook 1_3_3_2 other ends are equipped with groove, and position is corresponded on surgical instrument executing agency 1_M shells It has installed boss, position is corresponded on the groove above locking hook 1_3_3_1,1_3_3_2 and surgical instrument executing agency 1_M shells The boss cooperation set is used for fixation surgical instrument executing agency 1_M.

The degree of freedom of two 2_Q of surgical procedure instrument can be identical with one 1_Q of surgical procedure instrument, Applied to double end generic operation instrument, class instrument, shearing class instrument is such as clamped；It can also be in one 1_Q of surgical procedure instrument On the basis of remove the 8th joint driving mechanism 8 and the 8th joint executing agency 16, be applied to single head generic operation instrument, such as cut class Instrument；The operation viewing instruments can remove the 8th joint drive on the basis of surgical procedure one 1_Q of instrument Mechanism 8 and the 8th joint executing agency 16, and seven freedom is changed on the basis of surgical procedure one 1_Q of instrument around the 7th Joint 15_1 axis z-axis is to rotation degree of freedom, such as Figure 21；Or the 5th to seven freedom is changed to around the 5th joint 13_1 axis Y-axis is to rotation degree of freedom, around the 6th joint 14_1 axis x-axis to rotation degree of freedom, around the 7th joint 15_1 axis z-axis to rotation Degree of freedom, such as Figure 23 are applied to 30 ° of hysteroscope class viewing instruments；The operation viewing instruments 3_Q can also be in the operation Remove the 7th joint driving mechanism 7, the 8th joint driving mechanism 8 and the 7th joint executing agency on the basis of one 1_Q of operation instrument 15, the 8th joint executing agency 16, such as Figure 20；Or the 5th, six degree of freedom are changed to around the 5th joint 13_1 axis y-axis to pendulum Turn degree of freedom, around the 6th joint 14_1 axis x-axis to rotation degree of freedom, such as Figure 22, is applied to 360 ° of hysteroscope class viewing instruments.

The operation principle of the present invention：

It is opposite between the base outer cover 1_3_2 and base housing 1_3_1 of the quick-changing mechanism 1_N of one 1_Q of surgical procedure instrument The adjustment of installation site：

Design is there are two stay bolt hole on base outer cover 1_3_2, and the two sides base housing 1_3_1 separately design that there are two long Bolt hole, two stay bolt holes above base outer cover 1_3_2 are hung down with the long axially bored line in stay bolt hole above base housing 1_3_1 It directly, can be by adjusting base outer cover 1_3_2 and pedestal when two base outer cover 1_3_2 are fixed on base housing 1_3_1 The fixed position relative in the stay bolt hole of shell 1_3_1 is opposite with the installation of base housing 1_3_1 to adjust base outer cover 1_3_2 Position.

Installation and dismounting between the surgical instrument executing agency M and joint driving mechanism N of one 1_Q of surgical procedure instrument：

When surgical instrument executing agency 1_M is installed in joint driving mechanism 1_N, surgical instrument executing agency 1_M along The guide chute top of " horn mouth " shape above base outer cover 1_3_2 slides into guide chute end above base outer cover 1_3_2 End and intermediate channel bottom, the guide chute end and intermediate channel bottom above base outer cover 1_3_2 are with surgical instrument executing agency 1_M's Fixed pin shaft forms " interference " cooperation, while rotating two locking hook 1_3_3_ above two base outer cover 1_3_2 respectively 1,1_3_3_2 keeps the groove above locking hook 1_3_3_1,1_3_3_2 corresponding on surgical instrument executing agency 1_M shells The boss of position coordinates, to prevent the fixed pin shaft 1_3_4 of surgical instrument executing agency 1_M above base outer cover 1_3_2 It " is skidded off " in guide chute, surgical instrument executing agency 1_M is caused " to be detached " with joint driving mechanism 1_N.Meanwhile base housing Twice positioning convex platform on 1_3_1 can be positioned and fixed to surgical instrument executing agency 1_M；

When surgical instrument executing agency 1_M is detached from joint driving mechanism 1_N, while rotating outside two pedestals respectively Two lockings hook 1_3_3_1,1_3_3_2 above 1_3_2 are covered, the groove above locking hook 1_3_3_1,1_3_3_2 is made It is detached with the boss of corresponding position on surgical instrument executing agency 1_M shells, surgical instrument executing agency 1_M is along base outer cover Guide chute end and intermediate channel bottom above 1_3_2 skid off base outer cover 1_3_ from the guide chute top of " horn mouth " shape 2, so that surgical instrument executing agency 1_M " is detached " with joint driving mechanism 1_N.

Embodiment two

Illustrate present embodiment in conjunction with Figure 12~Figure 18, on the basis of the technical solution of embodiment one, can will be used for micro- The integral layout structure for creating the single hole operating robot with running fix joint of surgical operation is changed in 12~Figure 18 of attached drawing Structure.The single hole with running fix joint for micro-wound surgical operation in the technical solution of embodiment one is performed the operation The integral layout structural adjustment of robot is the technical solution of the integral layout structure two of embodiment two, i.e., will be in embodiment one Rigid joint 1_12,1_13 of surgical instrument are changed to antecurvature formula by side bent type.

The integral layout structure of the above-mentioned single hole operating robot with running fix joint for micro-wound surgical operation The 4th surgical instrument can also be increased, play Auxiliary support surgical procedure space and drainage.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention In god and principle, any modification, equivalent replacement, improvement and so on should be included within the scope of the present invention.

Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.

Claims

1. a kind of integral layout structure of the single hole operating robot with running fix joint, which is characterized in that including three Surgical instrument, two of which are surgical procedure instrument one and surgical procedure instrument two, another is operation viewing instruments；Three hands The axis of art instrument is parallel；

The surgical instrument one separately includes quick-changing mechanism and surgical instrument executing agency two parts；Surgical procedure instrument one Quick-changing mechanism separately includes a fixed seat, and first, second, third, fourth, the 5th, is equipped in the fixed seat Six, the 7th and the 8th joint driving mechanism；

First joint driving mechanism of the quick-changing mechanism of the surgical procedure instrument one is mounted in a fixed seat, described Remaining joint driving mechanism of the quick-changing mechanism of surgical procedure instrument one is mounted on the same pedestal, the surgical manipulator First joint driving mechanism of the quick-changing mechanism of tool one is also connected with the pedestal of the quick-changing mechanism of the surgical procedure instrument one； The pedestal of the quick-changing mechanism of the surgical procedure instrument one can be relative to the quick-changing mechanism of the surgical procedure instrument one Fixed seat is moved axially along one axis direction of arm section of the surgical instrument executing agency of surgical procedure instrument one；And then described in realizing Surgical procedure instrument one quick-changing mechanism remaining joint driving mechanism and surgical procedure instrument one surgical instrument execute machine The structure fixed seat connected relative to the first joint driving mechanism of the quick-changing mechanism with the surgical procedure instrument one is along operation Operate one axis direction of the arm section axial movement of the surgical instrument executing agency of instrument one；

It drives in the joint of second, third, fourth, fifth, the six, the 7th and the 8th of the quick-changing mechanism of the surgical procedure instrument one Motivation structure is connected each by an interface clutch discs with the surgical instrument executing agency；The surgical procedure instrument one The joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th of quick-changing mechanism corresponded to respectively by driving member Drive the joint of second, third, fourth, fifth, the six, the 7th and the 8th of the surgical instrument executing agency of surgical procedure instrument one The rotation of executing agency.

2. a kind of integral layout structure of the single hole operating robot with running fix joint as described in claim 1, Be characterized in that, the surgical instrument executing agency of the surgical procedure instrument one includes first, second, third, fourth, the 5th, Six, the seven, the 8th joint executing agencies；Eight joint executing agencies include 8 degree of freedom, and 8 degree of freedom are from end End gear box one end starts, and is followed successively by：Along one axis z-axis direction one-movement-freedom-degree of arm section, around second joint axis x-axis to rotation Degree of freedom, around third joints axes x-axis to rotation degree of freedom, around the 4th joints axes y-axis to rotation degree of freedom, around the 5th joint Axis z-axis is free to rotation around the 7th joints axes y-axis around the 6th joints axes x-axis to rotation degree of freedom to rotation degree of freedom I is spent, around the 7th joints axes y-axis to rotation degree of freedom II；The first, second, third, fourth, the five, the six, the 7th joints are held Row mechanism each adjacent two joint freedom degrees axis direction spatial vertical, the 7th and the 8th two joint freedom of joint executing agency Axis is spent to overlap；

Further, the second, third, fourth, fifth of the surgical instrument executing agency of the surgical procedure instrument one, Six, the 7th is identical with the structure in the final drive box of the 8th executing agency, respectively include one transmission wire wheel axis, line wheel, Interface clutch discs；Interface clutch discs one end connecting joint driving mechanism, the other end is connected with transmission wire wheel axis, described Transmission wire wheel axis on line wheel is installed；The rotation of transmission wire wheel axis and line wheel, transmission are driven by the rotation of interface clutch discs Corresponding driving second joint, third joint, the 4th joint, the 5th joint, the 6th are closed respectively by steel wire rope for wire wheel axis and line wheel Section, the 7th joint and the rotation of the 8th joint；

Described one connecting sleeve one end of arm section is connected with the final drive box, and there are two one connecting sleeves of arm section Rigid bent joint, each rigidity bent joint are equipped with one group of directive wheel one and four groups of tensioning wheels one, are oriented to for steel wire rope With tensioning；

Described arm section a connection piece is installed above control second joint, third joint, the 4th joint, the 5th joint, the 6th Joint, the 7th joint, a guide wheel shaft of the 8th joint relative motion and two tension wheel shafts, wherein the guide wheel shaft Two connector one of one group of directive wheel two installed above and arm section installs one group of tensioning wheel above described two tension wheel shafts respectively Two, two connector one of the arm section is installed above control third joint, the 4th joint, the 5th joint, the 6th joint, the 7th Joint, the 8th joint relative motion two tension wheel shafts, wherein one group is installed above two tension wheel shafts respectively Bearing up pulley three, two connector one of arm section have grooving above, are used for the opposite rotation of control arm Duan Eryu arms section one；

Two axis of directive wheel rotation axis opposite with second joint at second joint above arm section a connection piece overlaps, and second closes Two axis of directive wheel and two two axis of tensioning wheel at section above arm section a connection piece and two above two connector one of arm section Three axis of a tensioning wheel is parallel, and alternate arm section a connection piece and arm Duan Erlian of the same joint rotation are controlled at second joint In directive wheel two and tensioning wheel two, three median planes installed on fitting one are generally aligned in the same plane, the directive wheel one, two It is freely rotated relative to the guide wheel shaft, the tensioning wheel one, two, three can freely turn relative to the tension wheel shaft It is dynamic；

The third, the four, the five, the six, the seven, the 8th joint executing agencies and second joint executing agency structure are basic It is identical, wherein the directive wheel axis of the 5th joint executing agency is overlapped with the rotation axis in the 5th joint, the arm There are two tensioning wheel five, described two five axis of tensioning wheel and arm sections for the same side installation of section five connectors, one rope grooves on Grooving tangent line weight on vertical and described five connector one of two tensioning wheels five and arm section of grooving axis on five connectors one It closes, is used for the opposite rotation of control arm Duan Wuyu arms Duan Si；

Be equipped in 5th joint arm section, five connecting sleeve the 6th joint, the 7th joint, the 8th joint directive wheel and Tensioning wheel, two tensioning wheels for controlling same joint are arranged in directive wheel both sides, and control the two of the same joint rotation A tensioning wheel axis is vertical with directive wheel axis, and two tensioning wheels and directive wheel tangent line overlap；

Further, it is passed in the end of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th Line wheel both sides in dynamic box are mounted on guide frame；

Further, the line wheel in the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th and There is steel wire rope groove on transmission wire wheel axis, is used for lay winding wire ropes；The second, third, fourth, fifth, the six, the 7th and the 8th Grooved hole on the grooving in line wheel and transmission wire wheel axis in the executing agency of joint, steel cord ends are embedded in slot after knotting In, for fixing steel cord ends；

Further, the corresponding joint of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th Arm section connector grooving grooved hole, steel cord ends are embedded in after knotting in slot, for fixing steel cord ends；

Further, it to prevent steel wire rope from deviating from from directive wheel and tensioning wheel, can be oriented to being installed close to the position of tensioning wheel Orifice plate, make steel wire rope moved into along directive wheel and tensioning wheel tangent line lay out directive wheel and tensioning wheel after from the pilot hole of guide hole plate It is pierced by adjacent segment；

Further, the line of the joint executing agency of the second, third, fourth, fifth, the six, the 7th and the 8th Wheel is set on the transmission wire wheel axis, has arc-shaped stay bolt hole, institute on the line wheel and the transmission wire wheel axis Relative rotation is adjusted between the line wheel stated and the transmission wire wheel axis makes steel wire reach suitable rate of tension in drive path After be connected with and fasten.

3. the integral layout structure of the single hole operating robot with running fix joint as described in claim 1, feature It is, the quick-changing mechanism uses mechanically decoupled and type of drive：

The second joint driving mechanism of the surgical procedure instrument one includes a motor, which rotates, The gear shaft is connected with interface clutch discs corresponding thereto；

It is the third of the surgical procedure instrument one, the four, the 5th identical with the structure of the 6th joint driving mechanism, include respectively One motor, the motor drive sun wheel shaft rotation, big sun gear and small sun gear are equipped in the sun wheel shaft, greatly Sun gear and small sun gear are engaged with three planetary gears on planet carrier gear axis, outside three planetary gears and small sun gear Engagement, three planetary gears and big sun gear internal messing, three planetary gears are uniformly distributed around sun wheel shaft axis, the planet carrier tooth Wheel shaft is connected with interface clutch discs corresponding thereto；

The 7th of the surgical procedure instrument one is identical with the structure of the 8th joint driving mechanism, includes respectively a motor, The motor drives sun wheel shaft rotation, is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and Small sun gear is engaged with three planetary gears on planet carrier, three planetary gears and small sun gear external toothing, three planets Wheel and big sun gear internal messing, three planetary gears are evenly distributed with around sun wheel shaft axis, the planet carrier and corresponding thereto Interface clutch discs are connected；

It is mounted on one between the second, third, fourth, fifth and the 6th joint driving mechanism of the surgical procedure instrument one A transition gear axle；It is installed respectively between 6th and the 7th joint driving mechanism and the 8th joint driving mechanism There are one transition gear axles；It is fitted without transition gear axle between 7th and the 8th joint driving mechanism；

The gear shaft of the second joint driving mechanism of the surgical procedure instrument one and second, third described joint drive machine Transition gear axle external toothing between structure, transition gear axle between second, third described joint driving mechanism with it is described The big sun gear external toothing of third joint driving mechanism；

The planet carrier gear axis of the third joint driving mechanism of the surgical procedure instrument one and the third, the 4th joint Transition gear axle external toothing between driving mechanism, transition gear axle between the third, the 4th joint driving mechanism with The big sun gear external toothing of 4th joint driving mechanism；

The planet carrier gear axis of 4th joint driving mechanism of the surgical procedure instrument one and the four, the 5th joints Transition gear axle external toothing between driving mechanism, transition gear axle between the four, the 5th joint driving mechanisms with The big sun gear external toothing of 5th joint driving mechanism；

The planet carrier gear axis of 5th joint driving mechanism of the surgical procedure instrument one and the five, the 6th joints Transition gear axle external toothing between driving mechanism, transition gear axle between the five, the 6th joint driving mechanisms with The big sun gear external toothing of 6th joint driving mechanism；

The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and the six, the 7th joints Transition gear axle external toothing between driving mechanism, the transition tooth between the six, the 7th joint driving mechanisms The big sun gear external toothing of wheel shaft and the 7th joint driving mechanism；

The planet carrier gear axis of 6th joint driving mechanism of the surgical procedure instrument one and the six, the 8th joints The transition gear axle external toothing between driving mechanism, it is described between the six, the 8th joint driving mechanisms The big sun gear external toothing of transition gear axle and the 8th joint driving mechanism；

Further, the gear shaft both ends of the second joint driving mechanism of the surgical procedure instrument one are axially solid by bearing Fixed, bearing is fixed on the base；

Further, the row of the joint driving mechanism of third, the four, the 5th and the 6th of the surgical procedure instrument one Three axis pins are stretched out in carrier gear shaft one end, and three axis pins of planet carrier gear axis are inserted into the centre bore of three planetary gears respectively In, planet carrier gear axis one end by bearing axial restraint, the planet carrier gear axis other end by three planetary gear axial restraints, Respectively by bearing axial restraint, one of bearing is fixed on sun wheel shaft and the big sun for sun wheel shaft and big sun gear both ends On wheel, other two bearing is fixed on the base, and one end of planet carrier gear axis is formed with interface clutch discs to be interference fitted；

Further, described planet carrier one end of the 7th and the 8th joint driving mechanism of the surgical procedure instrument one is stretched Go out three axis pins, three axis pins of planet carrier are inserted into respectively in the centre bore of three planetary gears, and planet carrier one end passes through bearing axis To fixation, the planet carrier other end passes through bearing respectively by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends Axial restraint, one of bearing are fixed in sun wheel shaft and big sun gear, other two bearing is fixed on the base, planet One end of frame forms with interface clutch discs and is interference fitted；

Further, between the second, third, fourth, fifth and the 6th joint driving mechanism of the surgical procedure instrument one And between the 6th joint driving mechanism and the 7th joint driving mechanism and the 8th joint driving mechanism By bearing axial restraint, bearing is fixed on the base at the transition gear axle both ends of installation.

4. the integral layout structure of the single hole operating robot with running fix joint as described in claim 1, feature It is, the quick-changing mechanism is using control decoupling and type of drive：

The knot of the joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th of the surgical procedure instrument one Structure is identical, includes respectively a motor, the motor drive transmission shaft rotation, the transmission shaft and interface corresponding thereto from Disk is closed to be connected.

Further, the joint of second, third, fourth, fifth, the six, the 7th and the 8th of the surgical procedure instrument one is driven The both ends of the drive shaft of motivation structure is fixed on the base by bearing axial restraint, bearing.

5. the integral layout structure of the single hole operating robot with running fix joint as described in claim 1, feature It is, the degree of freedom of the surgical procedure instrument two is identical with the surgical procedure instrument one；Or described Remove the 8th joint driving mechanism and the 8th joint executing agency on the basis of surgical procedure instrument one；

Further or the operation viewing instruments remove the 8th joint on the basis of the surgical procedure instrument one Driving mechanism and the 8th joint executing agency, and seven freedom is changed to close around the 7th on the basis of surgical procedure instrument one Nodal axisn line z-axis is to rotation degree of freedom；Or be changed to the 5th to seven freedom around the 5th joints axes y-axis to rotation degree of freedom, Around the 6th joints axes x-axis to rotation degree of freedom, around the 7th joints axes z-axis to rotation degree of freedom；Or the operation is seen Examine that instrument removes the seven, the 8th joint driving mechanisms on the basis of the surgical procedure instrument one and the seven, the 8th joints are held Row mechanism；Or the 5th, six degree of freedom are changed to around the 5th joints axes y-axis to rotation degree of freedom, around the 6th joints axes x-axis To rotation degree of freedom.

6. the integral layout structure of the single hole operating robot with running fix joint as described in claim 1, feature It is, the pedestal includes base housing and base outer cover, and the base housing is equipped with twice positioning convex platform, pedestal shell Body two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.

7. the integral layout structure of the single hole operating robot with running fix joint as claimed in claim 6, feature It is, there are two the base outer covers, is mounted and fixed to the both sides of base housing respectively；It designs and is oriented to above base outer cover Sliding slot, guide chute top are in " horn mouth " shape；Guide chute end and intermediate channel bottom are in " circular arc " shape above base outer cover, " circular arc " shape sliding slot slot bottom opening direction at guide chute end and middle part is vertical with guide chute axis direction, and should " circle The guide chute end and intermediate channel bottom of arc " shape form " interference " cooperation with the fixed pin shaft of surgical instrument executing agency.

8. the integral layout structure of the single hole operating robot with running fix joint as claimed in claim 6, feature It is, stay bolt hole there are two designs on the base outer cover, two stay bolt holes above base outer cover and base housing The long axially bored line in stay bolt hole above is vertical, when base outer cover being facilitated to be mounted and fixed on base housing adjust base outer cover with The relative mounting positions of base housing.

9. the integral layout structure of the single hole operating robot with running fix joint as claimed in claim 6, feature It is, further includes a retaining mechanism for being fixed to surgical instrument executing agency in interface pedestal；The locking machine Structure includes two groups, and every group includes that a locking is linked up with, and one end of two locking hooks is rotatably mounted on the same base outer cover, It locks the hook other end and is equipped with groove, corresponding position is equipped with boss on surgical instrument executing agency shell, and locking is linked up with above The boss cooperation of groove and corresponding position on surgical instrument executing agency shell is used for fixation surgical instrument executing agency.

10. the integral layout structure of the single hole operating robot with running fix joint as described in claim 1, feature It is, first joint driving mechanism is driven by a ball screw framework or a telescopic rod or hydraulic pressure, cylinder Elevating lever drives its linear movement.