CN109091231B

CN109091231B - Main operation arm for minimally invasive surgery

Info

Publication number: CN109091231B
Application number: CN201711314221.6A
Authority: CN
Inventors: 王树新; 张淮锋; 李建民; 孔康; 苏赫; 王炳强; 孙之建
Original assignee: Shandong Weigao Surgical Robot Co Ltd
Current assignee: Shandong Weigao Surgical Robot Co Ltd
Priority date: 2017-06-21
Filing date: 2017-12-12
Publication date: 2020-06-30
Anticipated expiration: 2037-12-12
Also published as: CN109091231A

Abstract

The invention relates to a main operating arm for minimally invasive surgery, which solves the technical problems that operation of an operating tool is complex and low in flexibility in the existing minimally invasive surgery operation process, eye and hand movement is not coordinated when a doctor operates, and the hand shaking of the doctor affects the surgery quality. The invention is widely applied to the technical field of medical instruments.

Description

Main operation arm for minimally invasive surgery

Technical Field

The invention relates to medical equipment in the technical field of medical instruments, in particular to a minimally invasive surgery main operation arm capable of assisting a doctor in implementing minimally invasive surgery operation.

Background

Minimally invasive surgery represented by laparoscope is known as one of important contributions of medical science in the 20 th century to human civilization, and minimally invasive surgery operation refers to operation performed by a doctor who uses a slender surgical tool to probe into a human body through a tiny incision on the surface of the human body. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery. However, minimally invasive surgery brings benefits to patients and also brings difficulties to doctors in handling, such as: 1) due to the limitation of small holes on the body surface, the freedom degree of the tool is reduced to four, and the flexibility is greatly reduced; 2) the operation direction of the doctor is opposite to the expected direction, the movement of eyes and hands is not coordinated, and the fatigue is easy to occur; 3) a doctor can only obtain operation scene information through a two-dimensional image on a monitor, and the feeling in the depth direction is lacked; 4) the shaking of the hands of the surgeon may be amplified by the elongated surgical tools, which may adversely affect the procedure; 5) lack of strength sensation. Therefore, the surgeon must be trained for a long period of time to perform minimally invasive surgical procedures, and even then, minimally invasive procedures are currently used only in relatively simple surgical procedures.

Therefore, there is a strong need in the field of minimally invasive surgery for an auxiliary device to extend the ability of the surgeon to overcome the above-mentioned disadvantages and enable the surgeon to more easily perform minimally invasive surgical procedures.

Disclosure of Invention

The invention provides a minimally invasive surgery main operating arm which is simple to operate, high in flexibility and not prone to causing fatigue of doctors, and aims to solve the technical problems that operation tools are complex to operate and low in flexibility in the existing minimally invasive surgery operation process, eye and hand motions are not coordinated when doctors operate, and the hand shaking of the doctors can affect the surgery quality.

The invention provides a main operating arm for minimally invasive surgery, which comprises a main end connecting rod, a passive connecting rod II, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, wherein the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the main end connecting rod is rotationally connected with the driven connecting rod II; the first motor of the master hand is connected to the driven connecting rod II, and the output shaft of the first motor of the master hand is connected with the connecting rod at the main end; the wrist sliding seat is connected with a linear module, the wrist of the main hand is connected with the linear module, the second motor of the main hand is connected to the main end connecting rod, the output shaft of the second motor of the main hand is connected with the wrist sliding seat through a transmission mechanism, and the output shaft of the third motor of the main hand is connected with the linear module.

Further preferably, the first motor of the master hand, the second motor of the master hand and the third motor of the master hand are respectively connected with an encoder.

According to a further preferable technical scheme, the linear module on the wrist sliding seat comprises a main hand screw rod and a wrist seat, the wrist seat is connected with a nut on the main hand screw rod, the main hand wrist is fixedly connected with the wrist seat, and a third main hand motor is connected with the main hand screw rod.

Further preferably, the main wrist comprises an L-shaped wrist fixing connecting rod and an L-shaped wrist connecting rod I, L-shaped wrist connecting rod II, the L-shaped wrist connecting rod I is connected with the bottom of the L-shaped wrist fixing connecting rod through a bearing, and the L-shaped wrist connecting rod II is connected with the L-shaped wrist connecting rod I through a bearing; one end of the L-shaped wrist connecting rod II is connected with an operating handle, and the other end of the L-shaped wrist connecting rod II is connected with an opening and closing seat through a bearing; the bottom of the L-shaped wrist fixing connecting rod is connected with a first wrist motor, the side surface of the L-shaped wrist connecting rod I is connected with a second wrist motor, and the bottom of the L-shaped wrist connecting rod II is connected with a third wrist motor; an output shaft of the first wrist motor is connected with an L-shaped wrist connecting rod I through a bevel gear, a second wrist motor is connected with an L-shaped wrist connecting rod II through a bevel gear, and a third wrist motor is connected with the opening and closing seat through a bevel gear; the L-shaped wrist fixing connecting rod is fixedly connected with the wrist seat.

Further preferably, the first motor of the wrist, the second motor of the wrist and the third motor of the wrist are respectively connected with an encoder.

A further preferred technical scheme is that the driven connecting rod II is connected with a translation device, the translation device comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral end seat, a first driven connecting rod, a second driven connecting rod, a third driven connecting rod and a fourth driven connecting rod, the first driven connecting rod and the second driven connecting rod are equal in length, and the third driven connecting rod and the fourth driven connecting rod are equal in length; one end of the first driven connecting rod and one end of the second driven connecting rod are respectively and rotatably connected to the quadrilateral fixed seat, and the other ends of the first driven connecting rod and the second driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat; one end of the third driven connecting rod and one end of the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral middle seat, and the other ends of the third driven connecting rod and the fourth driven connecting rod are respectively and rotatably connected to the quadrilateral end seat; a quadrilateral first band-type brake is connected to the quadrilateral fixed seat, and a quadrilateral second band-type brake is connected to the quadrilateral middle seat; the quadrilateral end seat is fixedly connected with the driven connecting rod II.

According to a further preferred technical scheme, the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod, a ball screw and a power-assisted motor, the ball screw is connected onto the lifting seat, a ball screw nut is connected onto the ball screw, the sliding rod is fixedly connected with the ball screw nut, an output shaft of the power-assisted motor is connected with the ball screw, and a quadrilateral fixing seat is fixedly connected with the sliding rod.

The translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod and a vertically-arranged synchronous belt transmission mechanism, the vertically-arranged synchronous belt transmission mechanism is connected to the lifting seat, and the sliding rod is fixedly connected with a synchronous belt on the vertically-arranged synchronous belt transmission mechanism through an intermediate connecting piece; the quadrilateral fixing seat is fixedly connected with the sliding rod.

A further preferred technical scheme is that the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod, a chain wheel, a chain and a counterweight, the chain wheel is connected to the lifting seat, one end of the chain is connected with the top of the sliding rod through a connecting piece, the other end of the chain is fixedly connected with the top of the counterweight after being guided by the chain wheel, and the gravity of the sliding rod and the corresponding tail end load of the sliding rod is equal to that of the counterweight; the quadrilateral fixing seat is fixedly connected with the sliding rod.

Further preferably, the driven connecting rod II is connected with a translation device, and the translation device comprises a main end sliding rod end, a driven connecting rod I, a first fixed belt wheel, a second fixed belt wheel, a first rotating belt wheel, a second rotating belt wheel, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of a driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake.

According to a further preferable technical scheme, the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod, a ball screw and a power-assisted motor, the ball screw is connected onto the lifting seat, a ball screw nut is connected onto the ball screw, the sliding rod is fixedly connected with the ball screw nut, an output shaft of the power-assisted motor is connected with the ball screw, and a main end sliding rod end is fixedly connected with the sliding rod.

The translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod and a vertically-arranged synchronous belt transmission mechanism, the vertically-arranged synchronous belt transmission mechanism is connected to the lifting seat, and the sliding rod is fixedly connected with a synchronous belt on the vertically-arranged synchronous belt transmission mechanism through an intermediate connecting piece; the main end sliding rod end is fixedly connected with the sliding rod.

A further preferred technical scheme is that the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod, a chain wheel, a chain and a counterweight, the chain wheel is connected to the lifting seat, one end of the chain is connected with the top of the sliding rod through a connecting piece, the other end of the chain is fixedly connected with the top of the counterweight after being guided by the chain wheel, and the gravity of the sliding rod and the corresponding tail end load of the sliding rod is equal to that of the counterweight; the main end sliding rod end is fixedly connected with the sliding rod.

Compared with the prior art, the main operating arm for minimally invasive surgery has the following beneficial effects:

(1) the input control end is used for controlling the action of the device for clamping the minimally invasive surgical instrument, has simple operation and high flexibility, can overcome the problem of inconsistent eye and hand movement in the prior minimally invasive technology, further can reduce the surgical fatigue of doctors and ensure the surgical quality.

(2) The condition that the shaking of the hands of the doctor is amplified by a slender surgical tool can not occur, and the stability of the surgical process is ensured.

(3) Compared with the minimally invasive surgery robot technology, the minimally invasive surgery robot has the advantages of small volume, light weight, easiness in use and the like, can be used together with conventional minimally invasive surgery instruments/equipment, and reduces surgery cost.

Further features of the invention will be apparent from the description of the embodiments which follows.

Drawings

FIG. 1 is a general schematic view of the minimally invasive surgical instrument assistance system of the present invention;

FIG. 2 is a schematic view of a locking structure of a beam rotation motion in the minimally invasive surgical instrument auxiliary system;

FIG. 3 is a schematic view of a connection structure between a cross beam and a telescopic rod in the minimally invasive surgical instrument auxiliary system;

FIG. 4 is a schematic view of a connection structure of a master end slide bar or a slave end slide bar and a lifting seat in the auxiliary system of the minimally invasive surgical instrument;

FIG. 5 is a schematic diagram of an alternative structure of a lifting structure at the tail end of the minimally invasive surgical instrument auxiliary system, wherein (a) a structure for providing power for a belt transmission mechanism is shown, and (b) a structure for realizing lifting in a counterweight mode is shown;

FIG. 6 is a schematic layout of a surgeon operating end and an instrument operating end of a minimally invasive surgical instrument assistance system;

FIG. 7 is a schematic diagram of an embodiment of a pure translational passive arm of a minimally invasive surgical instrument assistance system based on a synchronous belt drive;

FIG. 8 is a schematic diagram of the locking mechanism of the passive link II for pure translation of the passive arm based on synchronous belt drive;

FIG. 9 is a schematic view of the connection structure of the main end link and the wrist slide in the auxiliary system of the minimally invasive surgical instrument;

FIG. 10 is a schematic view showing the structure of the wrist part of the main hand, (a) is a view showing a front view angle, and (b) is a view showing a rear view angle;

FIG. 11 is a schematic view of a minimally invasive surgical instrument assistance system in the form of a pure translational passive arm linkage;

FIG. 12 is a schematic view of the structure of FIG. 11 satisfying translational movement;

FIG. 13 is a schematic view of a minimally invasive surgical instrument assistance system in the form of a surgeon operating arm coupling link;

FIG. 14 is a schematic view of the constraint condition of FIG. 13 in which two rotating links achieve pure linear motion;

fig. 15 is a kinematic exploded view of the structure shown in fig. 13.

FIG. 16 is a schematic view of an overall rotation structure of an instrument manipulation arm of the minimally invasive surgical instrument assistance system;

FIG. 17 is a schematic view of the instrument manipulation arm of the minimally invasive surgical instrument assistance system;

FIG. 18 is a schematic view of the instrument manipulation end meeting the requirements of a minimally invasive surgical procedure;

FIG. 19 is a schematic illustration of the instrument arm in a folded state;

FIG. 20 is a schematic structural view of an embodiment of a linkage-based transmission employed by the instrument manipulation arm;

FIG. 21 is a schematic view of a multiple degree of freedom surgical instrument employed by the minimally invasive surgical instrument assistance system;

FIG. 22 is a schematic view of a layout of a minimally invasive surgical instrument assistance system in combination with an existing minimally invasive instrument to assist surgery;

FIG. 23 is a schematic view of a surgeon performing a surgical procedure using a minimally invasive surgical instrument assistance system.

The symbols in the drawings illustrate that:

1. the robot comprises a base, 2, a column, 3, a beam, 4, a telescopic rod, 5, a lifting seat, 6, a main end sliding rod, 7, a slave end sliding rod, 100, a doctor operating end, 200, an instrument operating end, 21, a beam brake, 30, a guide rail, 31, a guide rail sliding block, 32, a rack, 33, a gear, 51, a power-assisted motor seat, 52, a power-assisted motor, 53, a brake, 54, a ball screw seat, 55, a ball screw, 56, a ball screw nut, 57, a spline seat, 501, a power-assisted motor, 502, a synchronous pulley, 503, a synchronous pulley, 504, a brake, 505, a synchronous belt, 506, a connecting piece, 507, a chain, 508, a chain wheel, 509, a counterweight, 101, a passive connecting rod I, 102, a passive connecting rod II, 103, a main end connecting rod, 104, a wrist sliding seat, 105, a master hand wrist, 201, a slave end base, 202, a connecting rod seat, 203, a slave end connecting rod I, 204, a slave end, 206. an instrument lifting seat 207, a surgical instrument 208, a long shaft 209, a new instrument lifting seat 1010, a main end sliding rod end 1011, a first band-type brake 1012, a first synchronous cog belt 1013, a first fixed pulley 1014, a first rotating pulley 1015, a hollow shaft 1016, a connecting shaft 1021, a second band-type brake 1022, a second synchronous cog belt 1023, a second fixed pulley 1024, a second rotating pulley 90, a main hand first motor 91, a main hand connecting rod flange 1031, a main hand synchronous belt 1032, a main hand second motor 1041, a main hand screw rod 1042, a main hand guide rail 1043, a wrist seat 1043, a wrist fixing connecting rod 1051, a 1052, a wrist connecting rod I, 1053, a wrist connecting rod II, 1054, an opening and closing seat 1055, an operating handle 1056, a wrist first motor 1057, a wrist second motor 1060, a 1058, a third motor 1059, a bevel gear 1061, a bevel gear, 1062. a groove-shaped connecting surface, 80, a new main end sliding rod end, 81, a quadrilateral fixed seat, 82, a quadrilateral middle seat, 83, a quadrilateral end seat, 84, a first driven connecting rod, 85, a second driven connecting rod, 86, a third driven connecting rod, 87, a fourth driven connecting rod, 88, a quadrilateral first band-type brake, 89, a quadrilateral second band-type brake, 140, a deflection connecting rod, 141, a first coupling connecting rod, 142, a second coupling connecting rod, 143, a main hand lifting power-assisted motor, 144, a rotating axis, 145, a straight line, 146, 147, a large coupling belt wheel, 148, a small coupling belt wheel, 149, a coupling synchronous belt, 2011, a slave hand first motor, 2012, a small bevel gear, 2013, a rotating connecting shaft, 2014, a large bevel gear, 2020, a slave hand driving belt wheel, 2021.2021, a connecting rod driving motor, 2022, a connecting rod driving belt wheel, 2023, a slave hand driving synchronous belt, 2024, a connecting rod belt wheel, 2025, a first connecting rod, 2026. the surgical instrument comprises a second connecting rod, a third connecting rod, a 2028, a fourth connecting rod, a 2029, a first rotating belt wheel from a hand, a 2030, a first fixed shaft from the hand, a 2031, a first synchronous belt from the hand, a 2032, a second rotating belt from the hand, a 2033, a second fixed shaft from the hand, a 2034, a first fixed belt wheel from the hand, a 2041, a second synchronous belt from the hand, a 2042, a second fixed belt wheel from the hand, a 2043, a third rotating belt from the hand, a 2044, an intermediate adaptor, 2060, a linear module, 2061, an instrument driving screw, 2062, an instrument driving seat, 2063, an instrument lifting spline, 2064, an instrument lifting motor, 280, a fixed point, 290, a boundary, 11, an operating bed, 12, a patient, 13, an endoscope, 14, a puncture endoscope, 15, a common endoscope instrument, 16, an endoscope puncture point, 17, an auxiliary system puncture point, 18, a doctor, and 19, and a monitor.

Detailed Description

The present invention will be described in further detail below with reference to specific embodiments thereof with reference to the attached drawings.

As shown in fig. 1, the minimally invasive surgical instrument auxiliary system includes a base 1, a vertical column 2 which can be lifted on the base 1, a beam 3 which is rotatably connected to the vertical column 2, a telescopic rod 4 which can be horizontally moved on the beam 3, a lifting base 5 which is rotatably mounted at the end of the telescopic rod 4 through a rotary joint, and a main end slide bar 6 and a slave end slide bar 7 which can realize lifting movement on the lifting base 5, wherein a doctor operating end 100 is fixedly connected to the end of the main end slide bar 6, and an instrument operating end 200 of the present invention is fixedly connected to the end of the slave end slide bar 7.

The lifting motion of the upright post 2 on the base 1 is active motion, and the embodiments of a screw-guide rail, a screw-spline, a gear-rack and the like under the drive of hydraulic pressure or a motor can be adopted. The rotary motion of the beam 3 relative to the upright post 2 is driven motion which can be driven by hand in a reverse direction, one specific structure is shown in fig. 2, the beam band-type brake 21 arranged in the upright post 2 can lock the rotary motion of the beam 3 relative to the upright post 2, and a doctor triggers the beam band-type brake 21 through a button and the like in the using process to electrically release the beam band-type brake 21, so that the beam 3 can be freely rotated manually relative to the upright post 2. The horizontal movement of the telescopic rod 4 on the cross beam 3 is a driven movement which can be driven by manual reverse driving, one specific structure is shown in fig. 3, a rack 32 is fixedly connected to the bottom side inside the cross beam 3, a guide rail 30 is fixedly connected to the top side inside the cross beam 3, the telescopic rod 4 is fixedly connected to a guide rail sliding block 31 which can slide on the guide rail 30, a gear 33 is rotatably installed at one end of the telescopic rod 4 and is meshed with the rack 32, the rotation of the gear 33 can be locked by a band-type brake fixed in the telescopic rod, a doctor triggers in the using process through a button and the like to release the band-type brake for locking the gear 33, and the telescopic rod 4 can move linearly under the constraint of the guide; in addition to the embodiment shown in fig. 3, the horizontal movement of the telescopic rod 4 on the cross beam 3 can also adopt the embodiments of a screw-guide rail, a screw-spline, a gear-rack and the like under the drive of hydraulic pressure or a motor; the rotary movement of the lifting base 5 relative to the telescopic bar 4 is also a passive movement that can be driven in a manually reversible manner, and its embodiment can be implemented in a similar manner to the rotary movement of the cross beam 3 relative to the upright 2.

The lifting motion of the main end sliding rod 6 or the slave end sliding rod 7 relative to the lifting seat 5 is also a passive motion which can be driven by manual reverse driving, and is realized in a manner that a part indicated by a mark 6(7) in fig. 4 is the main end sliding rod 6 or the slave end sliding rod 7, the main end sliding rod 6 and the slave end sliding rod 7 both adopt spline structures, the spline seat 57 is fixedly installed on the lifting seat 5, the top of the main end sliding rod 6 or the slave end sliding rod 7 is fixedly connected with the ball screw nut 56 through a connecting piece, the ball screw seat 54 is fixedly connected to the upper part of the lifting seat 5, the top of the ball screw 55 is rotatably installed in a central hole of the ball screw seat 54 through a bearing, and the band-type brake 53 fixedly installed on the end surface of the ball screw seat 54 can lock the rotation of. The booster motor 52 is arranged on the upper part of the lifting seat 5 through a booster motor seat 51, and the top end of the ball screw 55 is connected with an output shaft of the booster motor 52 through a coupler; when the electric bicycle is used, a doctor electrically releases the band-type brake 53 through external excitation, the ball screw 55 can rotate, and the power-assisted motor 52 is electrically powered to output constant torque which is converted into upward lifting force by the ball screw nut 56 through the ball screw 55; for the doctor operating end, the lifting force provided by the ball screw nut 56 is equal to the gravity of the whole body formed by the master end slide bar 6 and the doctor operating end 100, and for the instrument operating end, the lifting force provided by the ball screw nut 56 is equal to the gravity formed by the slave end slide bar 7 and the instrument operating end 200; therefore, when the doctor operates the doctor operating end 100 or the instrument operating end 200 manually, the doctor does not feel the influence of gravity, and the lightness of manual operation is ensured.

In addition to the screw-spline structure shown in fig. 4, the lifting movement of the master end slide bar 6 or the slave end slide bar 7 relative to the lifting base 5 can also be realized by two embodiments shown in fig. 5, as shown in (a) of fig. 5 (the part indicated by the reference number 6(7) in fig. 5 is the master end slide bar 6 or the slave end slide bar 7), the synchronous pulley 502 and the synchronous pulley 503 are rotatably mounted on the lifting base 5, the synchronous pulley 502 can be driven by the assisting motor 501, the synchronous pulley 503 can be locked by the band-type brake 504, both the master end slide bar 6 and the slave end slide bar 7 adopt the spline structure, the spline base 57 is fixedly mounted on the lifting base 5, and the top of the master end slide bar 6 or the slave end slide bar 7 is fixedly connected with the linear movement part of the synchronous belt 505 through an intermediate connection piece; thus, in use, the doctor electrically releases the internal contracting brake 504 by external excitation, and the power-assisted motor 502 is electrically powered to output a constant torque which is converted into a lifting force equivalent to the gravity of the main end slide bar 6 or the auxiliary end slide bar 7 and the corresponding tail end load by the synchronous pulley 502. As shown in fig. 5 (b), the master end slide bar 6 and the slave end slide bar 7 both adopt spline structures, the spline seat 57 is fixedly installed on the lifting seat 5, the chain wheel 508 is rotatably installed on the top of the lifting seat 5, one end of the chain 507 is connected with the top of the master end slide bar 6 or the slave end slide bar 7 through the connecting piece 506, the other end is fixedly connected with the top of the counterweight 509 after being guided by the chain wheel 508, and the chain wheel 508 can be locked by the contracting brake; thus, when the doctor electrically releases the band brake for locking the sprocket 508 by external excitation during use, the weight 509 is equivalent to the weight of the master end slide 6 or the slave end slide 7 and the corresponding end load, so that the doctor does not feel the influence of the weight when manually operating the doctor operating end 100 or the instrument operating end 200, thereby ensuring the lightness of manual operation. Besides the specific structures shown in fig. 4 and 5, the tail end lifting of the present invention can also adopt a gear-rack or hydraulic structure, and the detailed structure thereof is not described herein again.

FIG. 6 shows the layout of the doctor operating end and the instrument operating end of the minimally invasive surgical instrument auxiliary system, wherein the doctor operating end 100 is integrally and fixedly installed at the bottom of the main end slide bar 6, one end of the passive connecting rod I101 is rotatably installed at the bottom end of the main end slide bar 6, and the rotation axis of the passive connecting rod I101 is consistent with the gravity direction; one end of the driven connecting rod II102 is rotatably arranged at the other end of the driven connecting rod I101, and the rotating axis of the driven connecting rod II is consistent with the gravity direction; the main end connecting rod 103 is rotatably arranged at the other end of the driven connecting rod II102, and the rotating axis of the main end connecting rod is consistent with the gravity direction; the wrist sliding seat 104 is rotatably arranged at the lower part of the main end connecting rod 103, and the rotating axis of the wrist sliding seat is vertical to the gravity direction; the primary wrist 105 is slidably mounted on the wrist slide 104. The instrument operation end 200 is fixedly arranged at the bottom of the slave end slide bar 7 through one end of the slave end base 201, and the connecting rod seat 202 is rotatably arranged at the other end of the slave end base 201, and the rotating axis of the connecting rod seat is consistent with the gravity direction; one end of a slave end connecting rod I203 is rotatably arranged at the bottom of the connecting rod seat 202, one end of a slave end connecting rod II204 is arranged at the other end of the slave end connecting rod I203, an instrument lifting seat 206 is arranged at the other end of the slave end connecting rod II204, an instrument seat 205 is slidably arranged on the instrument lifting seat 206, and a surgical instrument 207 can be arranged at the top of the instrument seat 205. During auxiliary operation, the right hand of the doctor can hold the related structure of the wrist 105 of the main hand to input motion to the doctor operating end 100, and meanwhile, the instrument operating end 200 can track the motion of the doctor operating end 100 in real time under the control of an external controller; features of the present invention include the surgeon's ability to slide the wrist 105 on the wrist slide 104 in a direction that is parallel to the direction of the instrument holder 205 on the instrument lift 206 throughout the movement. Specific embodiments for implementing the features of the present invention are as follows.

Fig. 7 shows a pure translational passive arm embodiment based on synchronous belt transmission of the minimally invasive surgical instrument auxiliary system of the invention, wherein a main end slide rod end 1010 is fixedly connected to the bottom of a main end slide rod 6, a bearing is sleeved on the lower portion of the main end slide rod end 1010, and then the bottom of the main end slide rod end 1010 is fixedly connected with a first fixed belt pulley 1013; one end of the passive link I101 is rotatably mounted on a bearing at the lower part of the main end slide rod end 1010, and the first internal contracting brake 1011 can lock the relative rotation of the passive link I101 and the main end slide rod end 1010. At the other end of the driven link I101, there is a hollow shaft 1015 rotatably mounted on the driven link I101 through a bearing, as shown in fig. 8, a second fixed pulley 1023 is fixedly mounted at the top of the hollow shaft 1015, a first rotating pulley 1014 is fixedly mounted at the bottom, the first rotating pulley 1014 is connected with the first fixed pulley 1013 through a first timing belt 1012, as shown in fig. 7, so that the movement of the hollow shaft 1015 relative to the main end slide bar end 1010 is pure translation. A connecting shaft 1016 which is rotatably installed through a bearing is arranged inside the hollow shaft 1015, one end of the driven connecting rod II102 is fixedly connected to the top of the connecting shaft 1016 through a screw, and the rotating motion of the connecting shaft 1016 relative to the hollow shaft 1015 can be locked through a second internal contracting brake 1021 which is installed on the driven connecting rod I101; the second rotating belt wheel 1024 is mounted at the other end of the driven link II102 through a bearing, the second rotating belt wheel 1024 is connected with the second fixed belt wheel 1023 through a second synchronous cog belt 1022, so that the movement of the second rotating belt wheel 1024 relative to the second fixed belt wheel 1023 is pure translation, and then it can be obtained that: the movement of the second rotating pulley 1024 relative to the primary end slide bar 1010 is a pure translation. A first motor 90 for the master hand is fixedly mounted on the second rotating pulley 1024, an output shaft of the first motor 90 for the master hand is connected to a driving shaft rotatably mounted in the second rotating pulley 1024 through a bearing by a coupling, and the bottom of the driving shaft is fixedly connected to the main end link 103 through a link flange 91 for the master hand. Thus, when the primary hand first motor 90 maintains a certain position, there are: 1) when the first band-type brake 1011 and the second band-type brake 1021 are locked, the main end connecting rod I101, the main end connecting rod II102, the first rotating belt wheel 1014 and the second rotating belt wheel 1024 are all locked, and the main end connecting rod 103 cannot move; 2) when the first band-type brake 1011 and the second band-type brake 1021 are released, the main end connecting rod I101, the main end connecting rod II102, the first rotating belt wheel 1014 and the second rotating belt wheel 1024 are released, and the main end connecting rod 103 will make pure translation relative to the main end sliding rod end 1010 along with the movement of the main end connecting rod I101 and the main end connecting rod II 102; when the first band-type brake 1011 and the second band-type brake 1021 are locked and the first master hand motor 90 rotates, the master end link 103 will rotate in a direction perpendicular to the ground with respect to the second rotating pulley 1024. When the operator holds the wrist 105 of the main hand to rotate the main end link 103 relative to the passive link II102, the first motor 90 of the main hand generates a motion signal.

FIG. 9 shows an embodiment of the surgeon's manipulation of the arm of the present invention, in which the wrist slide 104 is rotatably mounted on the lower portion of the main end link 103, and the wrist slide 104 is driven by a main hand second motor 1032 mounted on the upper portion of the main end link 103 via a main hand timing belt 1031. A main hand screw 1041 and a main hand guide rail 1042 are parallelly installed in the wrist sliding seat 104, and a wrist seat 1043 is fixedly connected with a slider of the main hand guide rail 1042 and fixedly connected with a nut of the main hand screw 1041; thus, when the master lead screw 1041 is driven by the output shaft of the third motor of the master hand to move, the wrist base 1043 will slide linearly under the constraint of the master hand guide rail 1042, and the master wrist 105 fixedly mounted on the wrist base 1043 will also slide linearly. When the operator holds the wrist 105 of the master hand to move the wrist seat 1043 linearly, the third motor of the master hand generates a motion signal. The primary hand second motor 1032 generates a motion signal when the operator grasps the primary hand wrist 105 to rotate the wrist slide 104 relative to the lower portion of the primary end link 103.

FIG. 10 (a), (b) show an embodiment of the main wrist 105 of the present invention, in which a wrist fixing link 1051 having an L-shape is fixedly connected to a wrist seat 1043 via a slot-shaped connecting surface 1062 at an upper portion thereof, one end of a wrist link I1052 having an L-shape is rotatably mounted to a bottom portion of the wrist fixing link 1051 via a bearing, and the wrist link I1052 is driven via a first wrist motor 1056 mounted to a bottom surface of the wrist fixing link 1051 via a bevel gear 1060; one end of wrist link II1053 having an L shape is rotatably mounted on the upper portion of wrist link I1052 by a bearing, and wrist link II1053 is driven by wrist second motor 1057 mounted on the side of wrist link I1052 by bevel gear 1059; the opening and closing seat 1054 is rotatably arranged at the other end of the wrist connecting rod II1053 through a bearing, and the opening and closing seat 1054 can be driven by a wrist third motor 1058 arranged at the bottom surface of the wrist connecting rod II1053 through a bevel gear 1061; the opening and closing angle of the opening and closing seat 1054 can be measured by a sensor installed inside thereof. An operating handle 1055 is fixedly arranged at the driven end of the wrist connecting rod II1053, an operator can operate the whole doctor operating end 100 by holding the operating handle 1055, the doctor holds the operating handle 1055 to rotate the wrist connecting rod I1052, and the first wrist motor 1056 can generate a motion signal; the doctor holds the operating handle 1055 to rotate the wrist connecting rod II1053, and the second wrist motor 1057 generates a motion signal; when the doctor holds the operating handle 1055 and rotates the opening and closing base 1054 with the fingers, the wrist third motor 1058 generates a motion signal. The L-shaped wrist fixing link 1051 is provided with a mounting groove 1063 for fixedly connecting with the second coupling link 142 of fig. 13.

A first main hand motor 90, a second main hand motor 1032, a third main hand motor connected to a main hand screw 1041, a first wrist motor 1056, a second wrist motor 1057 and a third wrist motor 1058 which are arranged at the doctor operating end 100 are all provided with encoders for feeding back the motion angle of each motor; the doctor operating end 100 is a motion input device, a doctor can operate the device by holding the operating handle 1055, each motor encoder records motion information of the doctor hand, and the external controller controls the motion of the instrument operating end 200 according to the motion information.

In addition to the embodiment based on the synchronous belt transmission shown in fig. 7, the purely translational passive arm of the operating end 100 of the doctor can also adopt the embodiment shown in fig. 11, the new main end slide rod end 80 can be fixedly installed on the main end slide rod 6, the quadrilateral fixing seat 81 is fixedly connected to the new main end slide rod end 80, the first passive link 84 and the second passive link 85 with the same length are respectively and rotatably installed on the quadrilateral fixing seat 81, the other ends of the first passive link 84 and the second passive link 85 are respectively and rotatably installed on the quadrilateral intermediate seat 82, and the quadrilateral fixing seat 81, the first passive link 84, the second passive link 85 and the quadrilateral intermediate seat 82 form a parallelogram. A quadrilateral first internal contracting brake 88 capable of locking the second passive connecting rod 85 is arranged on the quadrilateral fixed seat 81, when the quadrilateral first internal contracting brake 88 is locked, the second passive connecting rod 85 and the quadrilateral fixed seat 81 do not move relatively, and the position of the quadrilateral middle seat 82 is fixed; when the quadrilateral first band-type brake 88 is released, the second driven link 85 can rotate relative to the quadrilateral fixed seat 81, and the quadrilateral middle seat 82 can make pure translation relative to the quadrilateral fixed seat 81 under the constraint of the formed quadrilateral. A third passive link 86 and a fourth passive link 87 having the same length are rotatably mounted on the other end of the quadrangular intermediate seat 82, the other ends of the third passive link 86 and the fourth passive link 87 are rotatably connected to the quadrangular end seat 83, and the quadrangular intermediate seat 82, the third passive link 86, the fourth passive link 87, and the quadrangular end seat 83 form a parallelogram. A quadrilateral second band-type brake 89 capable of locking the third driven connecting rod 86 is arranged on the quadrilateral middle seat 82, when the quadrilateral second band-type brake 89 is locked, the third driven connecting rod 86 and the quadrilateral middle seat 82 do not move relatively, and the position of the quadrilateral end seat 83 is fixed; when the quadrilateral second band-type brake 89 is released, the third driven link 86 can rotate relative to the quadrilateral middle seat 82, and the quadrilateral end seat 83 can make pure translation relative to the quadrilateral middle seat 82 under the constraint of the formed quadrilateral; when the quadrilateral first band-type brake 88 and the quadrilateral second band-type brake 89 are locked simultaneously, the position of the quadrilateral end seat 83 cannot be moved; when the first and second brakes 88 and 89 are released simultaneously, the quadrangular end seat 83 can make a pure translational motion relative to the quadrangular fixed seat 81, as shown in fig. 12, and when the quadrangular end seat 83 moves from the m position to the n position, the quadrangular end seat 83 has no rotational motion but only a translational motion relative to the quadrangular fixed seat 81 due to the constraint of the parallelogram. A first master hand motor 90, which can drive a master end link 103 via a master hand link flange 91, can be fastened to the square end mount 83.

In addition to the embodiment of the surgeon's manipulation arm shown in fig. 9, the surgeon's manipulation arm may also take the form as shown in fig. 13, with the deflection link 140 rotatably mounted via bearings to the lower portion of the main end link 103 (144 indicates the axis of rotation of the deflection link 140 relative to the main end link 103) and may be driven by the main hand second motor 1032 and the main hand timing belt 1031 via pulleys fixed thereto; one end of the first coupling link 141 is rotatably installed at the lower portion of the deflection link 140 and can be driven by a master lift assist motor 143 installed at the deflection link 140, the lower end of the first coupling link 141 is rotatably connected with one end of the second coupling link 142 through a bearing, and the other end of the second coupling link 142 is fixedly installed with the master wrist 105; the first coupling link 141 and the second coupling link 142 pass a specific constraint condition such that the primary wrist 105 makes a linear motion when the first coupling link 141 and the second coupling link 142 move, the constraint condition is as shown in fig. 14, the large coupling pulley 147 is fixedly installed at a lower portion of the deflection link 140, the small coupling pulley 148 is fixedly connected to the second coupling link 142 and is installed at one end of the first coupling link 141 to rotate together with the second coupling link 142 through a bearing, the large coupling pulley 147 and the small coupling pulley 148 are connected through a coupling timing belt 149, a transmission ratio between the large coupling pulley 147 and the small coupling pulley 148 is 2, and the first coupling link 141 and the second coupling link 142 are equal in length; under such constraint conditions, the movement that the doctor can operate the arm is shown in fig. 15, when the master hand lifting assist motor 143 is kept still and the master hand second motor 1032 is movable, the first coupling link 141 cannot rotate relative to the deflecting link 140, and the second coupling link 142 cannot rotate relative to the first coupling link 141, at this time, the master hand wrist 105 swings only with the deflecting link 140, as shown in (a) of fig. 15; when the main hand lifting assisting motor 143 is movable and the main hand second motor 1032 is stationary, the deflecting link 140 is stationary, the first coupling link 141 is rotatable with respect to the deflecting link 140, and the second coupling link 142 is also rotatable with respect to the first coupling link 141, and due to the constraint effects of the large coupling pulley 147, the small coupling pulley 148 and the coupling timing belt 149, the main hand wrist 105 can only reciprocate linearly along the straight line 146 shown in fig. 15 (b). This feature allows the mechanism shown in fig. 13 to have equivalent function and performance to the mechanism shown in fig. 9. That is, the motion signal generated by the master lift assist motor 143 reflects the linear motion of the master wrist 105, which is equivalent to the motion signal generated by the third motor of the master hand in FIG. 9.

The master lift assist motor 143 is provided with an encoder for feeding back the movement angle of the motor.

Fig. 16 shows an embodiment of the overall rotation of the instrument operation arm according to the present invention, the slave base 201 is fixedly installed at the lower end of the slave base rod 7, the rotation connection shaft 2013 is vertically and rotatably installed on the slave base 201 through a bearing, the slave first motor 2011 can drive the bevel pinion 2012 to rotate, the bevel pinion 2014 fixedly connected with the rotation connection shaft 2013 is meshed with the bevel pinion 2012, and the slave first motor 2011 can drive the rotation connection shaft 2013 to rotate.

Fig. 17 shows an embodiment of the present invention, which is based on a synchronous belt drive, wherein the instrument operation arm is arranged in a vertical direction, namely: the top end of the connecting rod seat 202 is fixedly connected with a rotating connecting shaft 2013, and when the first hand motor 2011 rotates, the mechanical operating arm can be driven to rotate along a rotating axis vertical to the ground; the link base 202 is of an inverted L-shaped structure, a link driving motor 2021 is installed at the top of the link base, the link driving motor 2021 is installed on a slave hand driving pulley 2020 of the link base 202 in a driving and rotating manner, a slave hand first fixing shaft 2030 is fixedly installed at the bottom of the link base 202, a slave hand first rotating pulley 2029 is installed on the slave hand first fixing shaft 2030 in a rotating manner through a bearing, a slave hand driving belt 2023 is connected between the slave hand driving pulley 2020 and the slave hand first rotating pulley 2029 through a slave hand driving belt 2023, and the transmission ratio between the two is 1: 1; one end of the slave end link I203 is fixedly mounted on the slave hand first rotating pulley 2029, and the slave end link I203 can rotate under the driving of the link driving motor 2021 along with the slave hand first rotating pulley 2029; the slave hand first fixed shaft 2030 passes through the slave end connecting rod I203 without contacting with the same; inside the slave end link I203, the slave hand first fixed pulley 2034 is fixedly attached to the slave hand first fixed shaft 2030 through a square shaft-square hole fitting, inside the other end of the slave end link I203, the slave hand second fixed shaft 2033 is fixedly attached, the slave hand second rotating pulley 2032 is rotatably attached to the slave hand second fixed shaft 2033 through a bearing, the slave hand first fixed pulley 2034 and the slave hand second rotating pulley 2032 are connected by the slave hand first synchronizing belt 2031, and the transmission ratio therebetween is 1: 1; one end of the slave end link II204 is fixedly mounted on the slave hand second rotating pulley 2032, and the slave hand second fixing shaft 2033 passes through the slave end link II204 without contacting therewith; on the inner side of the slave end link II204, the slave hand second fixed pulley 2042 is fixedly mounted on the slave hand second fixed shaft 2033 through a square shaft-square hole fit, the slave hand third rotating pulley 2043 is rotatably mounted on the other end of the inner side of the slave end link II204 through a bearing, the slave hand second fixed pulley 2042 and the slave hand third rotating pulley 2043 are connected through a slave hand second timing belt 2041, and the transmission ratio between the two is 1: 1; the instrument lift 206 is fixedly mounted on the slave hand third rotating pulley 2043 via an intermediate adaptor 2044; two ends of the instrument driving screw 2061 are rotatably mounted on the instrument lifting seat 206 through bearings, two ends of an instrument lifting spline 2063 parallel to the axis of the instrument driving screw 2061 are fixedly mounted on the instrument lifting seat 206, the instrument driving seat 2062 is fixedly connected with a slide block of the instrument lifting spline 2063 and a nut of the instrument driving screw 2061, and the instrument seat 205 is fixedly mounted on the instrument driving seat 2062; thus, when the instrument driving screw 2061 is driven by the instrument lift motor 2064 mounted on the bottom of the instrument lift base 206 to move, the instrument driving base 2062 linearly slides together with the instrument base 205 under the constraint of the instrument lift spline 2063, and the surgical instrument 207 further mounted on the instrument base 205 linearly slides together therewith.

During initial assembly, the axis of the surgical instrument 207 in the length direction is ensured to intersect with the rotation axis of the rotation connecting shaft 2013, the direction of the rotation axis of the slave end connecting rod II204 is parallel to the direction of the rotation axis of the connecting rod seat 202, and the instrument lifting seat 206 is parallel to the slave end connecting rod I203; in this way, since the slave hand first fixed pulley 2034 is fixed relative to the link base 202, when the slave end link I203 is driven to rotate, the slave hand second rotating pulley 2032 will make a pure translational motion relative to the link base 202 together with the slave end link II204 fixed thereto, under the constraint of the slave hand first timing belt 2031; further, since the second fixed pulley 2042 of the slave hand is fixed relative to the slave end connecting rod I203, when the slave end connecting rod II204 moves, the instrument lifting seat 206 will be always parallel to the slave end connecting rod I203 due to the constraint of the second synchronous belt 2041 of the slave hand; such constraint conditions enable the instrument rod to always pass through a fixed point in space during the movement of the instrument operation arm, such as the fixed point 280 shown in fig. 18, that is, when the link driving motor 2021 rotates, under the constraint of each synchronous belt inside the instrument operation arm, the slave end link I203, the slave end link II204 and the instrument lifting seat 206 will move under the constraint of the mechanism of the present invention, and the instrument rod always passes through the fixed point 280 no matter the instrument lifting seat 206 moves to the boundary a or the boundary c or any intermediate position b; the fixing point 280 is designed and initially assembled to be arranged on the rotating connecting shaft 2013, so that when the first motor 2011 drives the rotating connecting shaft 2013 to rotate, and further drives the whole instrument operating arm to move along the rotating connecting shaft 2013 in the direction perpendicular to the paper surface, the axis direction of the instrument rod still passes through the fixing point 280 all the time; finally, the raising and lowering motion of the implement base 205 is also arranged so that the implement shaft always passes through the fixed point 280 when it is driven by the implement lift motor 2064. The instrument operation arm adopts a vertical layout mode, namely the axis of the rotating connecting shaft 2013 is vertical to the ground, the layout mode can ensure that the abduction space of the instrument operation arm is minimum, the boundary of the abduction space is a boundary 290 shown in fig. 18, and the radius size of the boundary is the distance from a fixed point 280 to the top of the instrument lifting seat 206; the present invention also has an advantage in that the instrument manipulation arm has a foldable feature, as shown in fig. 19, and is compact in size and convenient to transport after being folded.

In addition to the above-mentioned embodiments of the instrument operation arm based on the synchronous belt transmission, the instrument operation arm may also adopt the embodiments based on the link transmission as shown in fig. 20, one end of the first link 2025 is rotatably mounted at a position lower than the middle of the link base 202 through a bearing and is connected to the link pulley 2024, the link pulley 2024 can be driven by the link driving motor 2021 through the slave hand-driven synchronous belt 2023 and the link driving pulley 2022, and further can drive the first link 2025 to rotate; one end of the second link 2026 is rotatably mounted at the lower part of the link base 202 through a bearing, the other end is rotatably connected with the middle upper position of the third link 2027 through a bearing, the top of the third link 2027 is rotatably connected with the middle right position of the first link 2025 through a bearing, and the link base 202, the first link 2025, the second link 2026 and the third link 2027 form a first parallelogram a through mutually connected rotary joints, as shown in fig. 20; the right end of the first link 2025 is rotatably connected to the top end of the fourth link 2028, the bottom end of the third link 2027 is rotatably connected to one end of the protrusion structure of the new instrument lift seat 209 through a rotary joint, the bottom end of the fourth link 2028 is rotatably connected to the other end of the protrusion structure of the new instrument lift seat 209 through a rotary joint, and the first link 2025, the third link 2027, the fourth link 2028 and the new instrument lift seat 209 form a second parallelogram B through mutually connected rotary joints, as shown in fig. 20; under such constraint, the position of the fixed point 280 is located at the intersection point of the extension lines of the two rotary joints on the connecting rod base 202 and the extension lines of the two rotary joints on the new instrument lift base 209, and the sliding of the instrument base 205 on the new instrument lift base 209 is arranged so that the axis of the instrument rod passes through the fixed point 280. The linear module 2060 mounted on the new instrument lift mount 209 enables the instrument mount 205 to move linearly.

FIG. 21 shows a multi-degree-of-freedom surgical instrument according to the present invention, which may be embodied in the form of a published patent application (application No. 201510669801.1), and the detailed structure thereof is not included in the scope of the present invention and will not be described herein.

FIGS. 22 and 23 show an exemplary endoscopic procedure using the minimally invasive surgical instrument support system, in which a patient 12 is fixed on an operating table 11 before the operation, and a doctor 18 selects instrument puncture points on the body surface of the patient 12 according to the operation requirement, namely, an endoscope puncture point 14 of an endoscope 13, an endoscopic instrument puncture point 16 of a general endoscopic instrument 15, and an auxiliary system puncture point 17 used in the system of the present invention; since the patient 12 is fixed in position, the spatial positions of the puncture points are also fixed, and the normal endoscopic instrument 15 and the endoscope 13 are directly operated manually, so that the puncture points can directly pass through the two puncture points 14 and 16; the surgical instrument 207 is arranged on the instrument operation end 200 of the invention, and the mechanical arm of the instrument operation end 200 is provided with a fixing point 280 which can enable the surgical instrument 207 to pass through all the time in the movement process, so that the fixing point 280 on the instrument operation end 200 and the fixed auxiliary system puncture point 17 on the body surface of the patient 12 are coincided with each other before the operation, so as to avoid additional damage to the patient 12 caused by the movement of the surgical instrument 207 in the operation process; the procedure for making the fixation point 280 and the auxiliary system puncture point 17 coincide with each other is: the minimally invasive surgical instrument auxiliary system moves to the position beside an operating bed 11 and then is locked, and the moving amount of the upright post 2 relative to the base 1 is independently and quickly adjusted, so that the cross beam 3 reaches a certain height; then, the doctor synchronously releases the band brakes of the locking beam 3, the locking gear 33, the lifting seat 5 and the slave end slide bar 7 by external excitation, and then the doctor can hold the slave end base 201, carefully and slowly move the instrument operation end 200 to make the fixing point 280 on the instrument operation end 200 coincide with the auxiliary system puncture point 17 on the patient 12, and then lock the above-mentioned band brakes to make the beam 3, the telescopic rod 4, the lifting seat 5 and the slave end slide bar 7 unable to be moved any more; after the operation end of the instrument is in place, a doctor releases the brake for locking the sliding rod 6 at the main end, the brake for locking the passive connecting rod I101 and the brake for locking the passive connecting rod II102 through another external excitation, further manually adjusts the wrist 105 of the main hand to a comfortable position, and then locks the brakes, so that the sliding rod 6 at the main end, the passive connecting rod I101 and the passive connecting rod II102 can not be moved any more. Then, the doctor 18 can observe the monitor 19 displaying the focus image acquired by the endoscope 13, operate the ordinary endoscopic instrument 15 with the left hand, operate the master wrist 105 with the right hand to perform the operation, and hold the endoscope 13 by another endoscope-holding doctor. During the operation, the wrist sliding seat 104 is always parallel to the instrument lifting seat 206, and the amount of movement of the surgical instrument 207 on the instrument lifting seat 206 is equal to the amount of movement of the wrist 105 of the main hand on the wrist sliding seat 104; when the doctor operates the master wrist 105 to move, the master end connecting rod 103 rotates relative to the passive connecting rod II102, the wrist sliding seat 104 rotates relative to the master end connecting rod 103, and the master wrist 105 moves relative to the wrist sliding seat 104, and synchronously, the motor in the instrument operation end drives the connecting rod seat 202 to rotate relative to the slave end seat 201 by the rotation amount equal to that of the master end connecting rod 103, the slave end connecting rod I203 rotates relative to the connecting rod seat 202 by the movement amount equal to that of the wrist sliding seat 104, and the instrument seat 205 moves relative to the instrument lifting seat 206 by the movement amount equal to that of the master wrist 105; in the same manner, the surgeon utilizes each joint in the primary wrist 105 to accomplish control of each joint in the surgical instrument 207.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art should be informed by the teachings of the present invention, other configurations of the components, the driving device and the connection means, which are similar to the technical solution and are not designed creatively, shall fall within the protection scope of the present invention without departing from the inventive spirit of the present invention.

Claims

1. A minimally invasive surgery main operation arm is characterized by comprising a main end connecting rod, a driven connecting rod II, a wrist sliding seat, a main hand wrist, a main hand first motor, a main hand second motor and a main hand third motor, wherein the wrist sliding seat is rotatably connected with the main end connecting rod, and the main hand wrist is slidably connected with the wrist sliding seat; the main end connecting rod is rotationally connected with the driven connecting rod II; the first motor of the main hand is connected to the driven connecting rod II, and the output shaft of the first motor of the main hand is connected with the main end connecting rod; the wrist sliding seat is connected with a linear module, the wrist of the main hand is connected with the linear module, the second motor of the main hand is connected to the main end connecting rod, the output shaft of the second motor of the main hand is connected with the wrist sliding seat through a transmission mechanism, and the output shaft of the third motor of the main hand is connected with the linear module.

2. The minimally invasive surgery main operating arm according to claim 1, characterized in that encoders are respectively connected to the main hand first motor, the main hand second motor and the main hand third motor.

3. The minimally invasive surgery main operating arm according to claim 1, wherein the linear module on the wrist sliding base comprises a main hand screw and a wrist base, the wrist base is connected with a nut on the main hand screw, the main hand wrist is fixedly connected with the wrist base, and the main hand third motor is connected with the main hand screw.

4. The minimally invasive surgery main operating arm according to claim 1, characterized in that the main wrist comprises an L-shaped wrist fixing connecting rod and an L-shaped wrist connecting rod I, L-shaped wrist connecting rod II, wherein the L-shaped wrist connecting rod I is connected with the bottom of the L-shaped wrist fixing connecting rod through a bearing, and the L-shaped wrist connecting rod II is connected with the L-shaped wrist connecting rod I through a bearing; one end of the L-shaped wrist connecting rod II is connected with an operating handle, and the other end of the L-shaped wrist connecting rod II is connected with an opening and closing seat through a bearing; the bottom of the L-shaped wrist fixing connecting rod is connected with a first wrist motor, the side surface of the L-shaped wrist connecting rod I is connected with a second wrist motor, and the bottom of the L-shaped wrist connecting rod II is connected with a third wrist motor; an output shaft of the first wrist motor is connected with an L-shaped wrist connecting rod I through a bevel gear, the second wrist motor is connected with an L-shaped wrist connecting rod II through a bevel gear, and the third wrist motor is connected with the opening and closing seat through a bevel gear; the L-shaped wrist fixing connecting rod is fixedly connected with the wrist seat.

5. The minimally invasive surgery main operating arm according to claim 4, characterized in that an encoder is connected to each of the wrist first motor, the wrist second motor and the wrist third motor.

6. The minimally invasive surgery main operating arm according to claim 1, 2, 3, 4 or 5, characterized in that a translation device is connected with the passive connecting rod II;

the translation device comprises a quadrilateral fixed seat, a quadrilateral middle seat, a quadrilateral end seat, a first passive connecting rod, a second passive connecting rod, a third passive connecting rod and a fourth passive connecting rod, wherein the first passive connecting rod and the second passive connecting rod are equal in length, and the third passive connecting rod and the fourth passive connecting rod are equal in length; one end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral fixed seat, and the other end of each of the first driven connecting rod and the second driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat; one end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral middle seat, and the other end of each of the third driven connecting rod and the fourth driven connecting rod is respectively and rotatably connected to the quadrilateral tail end seat; the quadrilateral fixed seat is connected with a quadrilateral first internal contracting brake, and the quadrilateral middle seat is connected with a quadrilateral second internal contracting brake; the quadrilateral tail end seat is fixedly connected with the driven connecting rod II.

7. The minimally invasive surgery main operation arm according to claim 6, characterized in that a lifting device is connected to the translation device, the lifting device comprises a lifting seat, a slide rod, a ball screw and a power-assisted motor, the ball screw is connected to the lifting seat, a ball screw nut is connected to the ball screw, the slide rod is fixedly connected with the ball screw nut, an output shaft of the power-assisted motor is connected with the ball screw, and the quadrilateral fixing seat is fixedly connected with the slide rod.

8. The minimally invasive surgery main operating arm as claimed in claim 6, wherein the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a slide rod and a vertically arranged synchronous belt transmission mechanism, the vertically arranged synchronous belt transmission mechanism is connected to the lifting seat, and the slide rod is fixedly connected with a synchronous belt on the vertically arranged synchronous belt transmission mechanism through an intermediate connecting piece; the quadrilateral fixing seat is fixedly connected with the sliding rod.

9. The minimally invasive surgery main operating arm according to claim 6, characterized in that the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod, a chain wheel, a chain and a counterweight, the chain wheel is connected to the lifting seat, one end of the chain is connected with the top of the sliding rod through a connecting piece, the other end of the chain is fixedly connected with the top of the counterweight after being guided by the chain wheel, and the gravity of the sliding rod and the corresponding tail end load of the sliding rod are equal to that of the counterweight; the quadrilateral fixing seat is fixedly connected with the sliding rod.

10. The minimally invasive surgery main operating arm according to claim 1, 2, 3, 4 or 5, characterized in that the passive connecting rod II is connected with a translation device, and the translation device comprises a main end sliding rod end, a passive connecting rod I, a first fixed belt pulley, a second fixed belt pulley, a first rotating belt pulley, a second rotating belt pulley, a first synchronous toothed belt and a second synchronous toothed belt; one end of the driven connecting rod I is connected with the main end sliding rod end through a bearing, and the other end of the driven connecting rod I is connected with a hollow shaft; the interior of the hollow shaft is connected with a connecting shaft through a bearing, and one end of the driven connecting rod II is fixedly connected with the connecting shaft; the first fixed belt wheel is connected with the end of the main end sliding rod, the second fixed belt wheel is connected with the top of the hollow shaft, the first rotating belt wheel is connected with the bottom of the hollow shaft, the second rotating belt wheel is connected with the other end of the driven connecting rod II through a bearing, the first synchronous toothed belt is connected between the first rotating belt wheel and the first fixed belt wheel, and the second synchronous toothed belt is connected between the second rotating belt wheel and the second fixed belt wheel; the connecting shaft is connected with a second band-type brake, and the driven connecting rod I is connected with a first band-type brake.

11. The minimally invasive surgery main operation arm according to claim 10, wherein a lifting device is connected to the translation device, the lifting device comprises a lifting seat, a slide rod, a ball screw and a power-assisted motor, the ball screw is connected to the lifting seat, a ball screw nut is connected to the ball screw, the slide rod is fixedly connected with the ball screw nut, an output shaft of the power-assisted motor is connected with the ball screw, and a main end slide rod end is fixedly connected with the slide rod.

12. The minimally invasive surgery main operating arm as claimed in claim 10, wherein the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a slide rod and a vertically arranged synchronous belt transmission mechanism, the vertically arranged synchronous belt transmission mechanism is connected to the lifting seat, and the slide rod is fixedly connected with a synchronous belt on the vertically arranged synchronous belt transmission mechanism through an intermediate connecting piece; and the main end sliding rod end is fixedly connected with the sliding rod.

13. The minimally invasive surgery main operating arm according to claim 10, characterized in that the translation device is connected with a lifting device, the lifting device comprises a lifting seat, a sliding rod, a chain wheel, a chain and a counterweight, the chain wheel is connected to the lifting seat, one end of the chain is connected with the top of the sliding rod through a connecting piece, the other end of the chain is fixedly connected with the top of the counterweight after being guided by the chain wheel, and the gravity of the sliding rod and the corresponding tail end load of the sliding rod is equal to that of the counterweight; and the main end sliding rod end is fixedly connected with the sliding rod.