CN110711032A

CN110711032A - Miniature surgical robot with rear-mounted motor

Info

Publication number: CN110711032A
Application number: CN201911001627.8A
Authority: CN
Inventors: 杜付鑫; 张钢; 彭崧; 苑宇龙; 王淦; 张涛
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2019-10-21
Filing date: 2019-10-21
Publication date: 2020-01-21
Anticipated expiration: 2039-10-21
Also published as: CN110711032B

Abstract

The invention relates to a miniature surgical robot with a rear-mounted motor, which comprises a V-shaped first connecting rod and a V-shaped second connecting rod, wherein the corner positions of the first connecting rod and the second connecting rod are connected through a connecting shaft, the bottom end of the first connecting rod is connected with a first motor, the bottom end of the second connecting rod penetrates through an output shaft of a second motor, the output shaft of the second motor is fixedly connected with one end of a swing arm arranged between the first connecting rod and the second connecting rod, the other end of the swing arm is hinged with one end of a third connecting rod, the other end of the third connecting rod is hinged with one end of a V-shaped rod, the corner position of the V-shaped rod is rotatably connected with the connecting shaft, the other end of the V-shaped rod is hinged with one end of a fourth connecting rod, the other end of the fourth connecting rod is hinged with a sliding table, the sliding table is rotatably connected with the top ends of the first connecting rod and the, the surgical robot provided by the invention has the advantages of small vibration and low surgical risk occurrence probability.

Description

Miniature surgical robot with rear-mounted motor

Technical Field

The invention relates to the technical field of medical surgical robots, in particular to a miniature surgical robot with a rear motor.

Background

With the development of scientific technology, the concept of "minimally invasive" has been advanced into various fields of surgical operation. The minimally invasive surgery refers to the surgery performed by using modern medical instruments such as laparoscopes, thoracoscopes and the like and related equipment. Compared with the traditional operation, the minimally invasive operation has the advantages of small wound, light pain, less bleeding, quick recovery and short hospitalization time, is favorable for improving the quality of the surgical operation and reducing the medical cost, is a revolutionary progress of the surgical operation, and is similar to one of the development directions of the 21 st century surgery. The application of the minimally invasive surgical instrument and the surgical robot changes the traditional surgical mode, brings convenience to the operation of doctors, brings less surgical injury to patients, and is the mainstream development direction at present.

The robot operation system is a comprehensive body integrating a plurality of modern high-tech means, a surgeon can operate a machine far away from an operating table, the robot operation system is completely different from the traditional operation concept, the problems of poor accuracy, overlong operation time, fatigue of the surgeon, lack of three-dimensional precision vision and the like in the traditional surgical operation are solved, the robot operation system has wide application prospect in the aspects of clinical minimally invasive operation, battlefield rescue, earthquake and tsunami disaster relief and the like, and is an extremely revolutionary surgical tool in the field of world minimally invasive surgery. Since the last 90 s, minimally invasive surgical robots represented by da vinci gradually become the frontier and research hotspots in the international robot field, and the system thereof integrates a plurality of emerging disciplines, thereby realizing minimally invasive, intelligent and digital surgical operations. Currently, the known fields of surgical robots mainly include orthopedic robots, neurosurgical robots, vascular interventional robots, laparoscopic surgical robots, and the like.

At present, most of surgical robots are driven by motors, the surgical platform and the mechanical arm are driven by electric power to move in all directions, and the driving motors are arranged at joint positions of the mechanical arm to change multiple degrees of freedom of the surgical robot, so that the flexibility of the robot is improved. However, the inventor finds that the mounting mode can lead to a surgical robot being light in weight, increase the driving torque of joints, easily cause the mechanical arm system to vibrate, reduce accuracy and possibly cause distraction of doctors, thereby increasing surgical risks.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a miniature surgical robot with a rear motor, which avoids the vibration of a mechanical arm, and has high action accuracy and low surgical risk.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a rearmounted miniaturized surgical robot of motor, first connecting rod and the second connecting rod including the V type, first connecting rod and second connecting rod corner position are connected through the connecting axle, first connecting rod bottom is connected with first motor, the output shaft that has the second motor is passed to second connecting rod bottom, the output shaft of second motor and the one end fixed connection of the swing arm of setting between first connecting rod and second connecting rod, the other end of swing arm is articulated with the one end of third connecting rod, the third connecting rod other end is articulated with V type pole one end, V type pole corner position rotates with the connecting axle to be connected, the other end and the fourth connecting rod one end of V type pole are articulated, the fourth connecting rod other end is articulated with the slip table, the slip table rotates with the top of first connecting rod and second connecting rod to be connected, elevating system is installed to the slip table, elevating system is connected with actuating mechanism, actuating mechanism is used for connecting terminal executive component.

Furthermore, the first motor and the second motor are both fixed on the driving wire mechanism, the driving wire mechanism is connected with the third motor, the third motor can drive the driving mechanism to swing, and the driving wire mechanism is connected with the actuating mechanism through a wire sheath and can drive the actuating mechanism to work.

Furthermore, elevating system is including fixing the fourth motor on slip table top, fourth motor output shaft and lead screw connection, and the lead screw is connected with the slider, the slider is connected with actuating mechanism, can drive actuating mechanism's motion.

Further, drive wire mechanism includes the support body, and the support body is connected with the fixed third motor that sets up, by its rotation of third motor drive, be provided with a plurality of fourth motors on the support body, the output shaft and the drive wheel fixed connection of fourth motor, the wire portion that the winding has the sheath on the drive wheel, the wire portion one end and the drive wheel fixed connection of sheath, the other end is connected with actuating mechanism, and the drive wheel can drive the wire portion motion of sheath, and the wire portion of sheath drives actuating mechanism work.

Furthermore, sheath portion one end of silk sheath is connected with the buckle of fixing at the support body, the other end and slider fixed connection.

Further, the support body is connected with the support in a rotating mode, the support is fixedly arranged, a wire sheath bundling pipe made of flexible materials is arranged between the support and the sliding table, and the plurality of wire sheaths are arranged inside the wire sheath bundling pipe.

Furthermore, the frame body is also provided with a guide wheel for guiding the wire part of the wire sheath.

Furthermore, the actuating mechanism comprises an intermediate box body, a plurality of intermediate shafts are arranged in the intermediate box body, the other end of the wire part of the wire sheath is wound on the intermediate shafts, the end part of the wire sheath is fixedly connected with the intermediate shafts, a driven wheel positioned outside the box body is arranged at the end part of the intermediate shafts, the driven wheel and the intermediate box body are connected with a quick-change mechanism, the quick-change mechanism can drive the quick-change mechanism to work, and the quick-change mechanism is used for connecting a terminal actuating element.

Further, quick change mechanism includes the shell, the shell can be dismantled with middle box and be connected, the shell be connected with follow the drive shaft of the coaxial setting of driving wheel, drive shaft one end is rotated with the shell and is connected, and the other end is provided with the draw-in groove, and the drive shaft passes through the draw-in groove and is connected with the fixture block joint that sets up on the follow driving wheel, the winding has the drive wire in the drive shaft, the drive wire stretches out to the shell outside and is used for being connected with terminal executive component.

Further, shell fixedly connected with sleeve pipe, the drive wire stretches out to the outside part of shell and arranges at the intraductal portion of cover, and the sleeve pipe is used for carrying out the line concentration to the drive wire, the slip table bottom is connected with the fixed plate, and the sleeve pipe passes the fixed plate, the fixed plate is used for fixing the sleeve pipe.

The invention has the beneficial effects that:

1. according to the surgical robot with the rear motor, the first connecting rod and the second connecting rod are of the V-shaped structures, and the first motor and the second motor are arranged at the bottoms of the first connecting rod and the second connecting rod, so that the gravity center of the whole surgical robot moves backwards, the operation is more stable, the configuration of surgical personnel is reduced, and the risk of major surgical accidents is reduced.

2. According to the surgical robot with the rear motor, the two four-bar mechanisms are adopted to drive the sliding table to rotate around the hinged point of the sliding table and the first connecting bar and the second connecting bar through the arrangement of the third connecting bar, the V-shaped bar and the fourth connecting bar, so that the movement is quicker and more flexible.

3. According to the surgical robot with the rear motor, the driving wire mechanism adopts the wire sheath to drive the actuating mechanism to work, and compared with the traditional wire driving device adopting the framework and the guide wheel for wiring, the accumulated error of the wire sheath is small, and the driving is more accurate.

4. According to the surgical robot with the rear motor, the middle box body is detachably connected with the shell of the quick-change mechanism, so that the quick-change mechanism is convenient to replace.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

FIG. 1 is a schematic view of the overall structure of embodiment 1 of the present invention;

FIG. 2 is a schematic front view of the overall structure of embodiment 1 of the present invention;

FIG. 3 is a front view of the assembly of the first connecting rod, the second connecting rod, the swing arm, the V-shaped rod, the third connecting rod and the fourth connecting rod in the embodiment 1 of the present invention;

FIG. 4 is a side view of the assembly of the first link, the second link, the swing arm, the V-shaped bar, the third link and the fourth link in accordance with embodiment 1 of the present invention;

FIG. 5 is a schematic structural view of a drive line mechanism according to embodiment 1 of the present invention;

FIG. 6 is a schematic view of a buckle structure according to embodiment 1 of the present invention;

FIG. 7 is a schematic view of the assembly of the intermediate box and the driven wheel in embodiment 1 of the present invention;

FIG. 8 is a schematic view showing the assembly of a driven wheel and a driving shaft according to embodiment 1 of the present invention;

FIG. 9 is a schematic structural view of a housing according to embodiment 1 of the present invention;

fig. 10 is a schematic view of the connection between the quick-change mechanism and the middle box according to embodiment 1 of the present invention;

wherein, 1, a support, 2, a rotating shaft, 3, a third motor, 4, a motor bracket, 5, a first motor, 6, a second motor, 7, a first connecting rod, 8, a second connecting rod, 9, a swing arm, 10, a connecting shaft, 11, a third connecting rod, 12, a V-shaped rod, 13, a fourth connecting rod, 14, a sliding table, 15, a fourth motor, 16, a coupler, 17, a screw rod, 18, a sliding block, 19, a first frame body part, 20, a second frame body part, 20-1, a channel steel, 20-2, a first fixed steel plate, 20-3, a second fixed steel plate, 21, a driving wheel, 22, a wire part, 23, a sheath part, 24, a buckle, 24-1, a first buckle part, 24-2, a second buckle part, 25, a first guide wheel, 26, a sheath bundling pipe, 27, an intermediate box body, 28, a driven wheel, 28-1, a clamping block, 29, a shell, 29-1, a first clamping groove, 29-2, a second clamping groove, 29-3, a step structure, 29-4, a press hook, 30, a driving shaft, 31, a driving wire, 32, a sleeve, 33, a fixing plate, 34, an inserting plate, 35, a clamping plate, 35-1, a clamping head and 36, and a second guide wheel.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.

Just as the introduction of background art, current surgical robot motor mounting means makes the robot head heavy foot light, leads to the robotic arm system to shake easily, and the degree of accuracy descends, has increased the operation risk, and to above-mentioned problem, this application provides a rearmounted miniaturized surgical robot of motor.

In a typical embodiment example 1 of this application, as shown in fig. 1-10, a rearmounted miniaturized surgical robot of motor, support 1 including the U type, the support rotates through pivot 2 and is connected with the drive line mechanism, drive line mechanism and pivot fixed connection, and the pivot passes through the bearing with the support and rotates and be connected, the pivot passes through the coupling joint with the output shaft of third motor 3, the third motor can drive the axis that the drive line mechanism set up along first direction in the horizontal plane and rotate, the third motor is fixed on motor support 4, motor support fixes on the support.

The driving line mechanism top is fixed with first motor 5 and second motor 6, and first motor and the coaxial setting in opposite directions of second motor, the output shaft and the 7 bottom fixed connections of first connecting rod of first motor can drive first connecting rod and rotate, the output shaft of second motor pass second connecting rod 8 and with the one end fixed connection of swing arm 9, first connecting rod and second connecting rod are V type structure, and first connecting rod and second connecting rod are connected through connecting axle 10 of turning position department, and first motor can drive first connecting rod and second connecting rod through the connecting axle and be synchronous motion.

The swing arm sets up between first connecting rod and second connecting rod, and the one end of swing arm and the output shaft fixed connection of second motor, the other end are articulated with the one end of third connecting rod 11, and the other end of third connecting rod is articulated with the one end of V type pole 12, and the turning position and the connecting axle of V type pole are rotated and are connected, and the other end of V type pole is articulated with the one end of two fourth connecting rods 13, and the other end of two fourth connecting rods is articulated with slip table 14, the both sides face of slip table is articulated with the top of first connecting rod and second connecting rod

And the sliding table is provided with a lifting mechanism, the lifting mechanism is connected with an actuating mechanism, and the actuating mechanism is used for connecting a tail end actuating element.

Elevating system is including fixing fourth motor 15 in the slip table upper end, the output shaft of fourth motor passes through shaft coupling 16 and is connected with the one end of lead screw 17, and the other end and the bearing frame of lead screw rotate to be connected, the bearing frame is fixed on the slip table, be connected with slider 18 on the lead screw, slider and the slide sliding connection who sets up on the slip table, the slider is connected with actuating mechanism, can drive actuating mechanism along the motion of slip table.

The first motor can drive the first connecting rod and the second connecting rod to rotate around an axis arranged in the second direction in the horizontal plane, and the second direction is perpendicular to the first direction.

The second motor can drive the swing arm and rotate to drive the slip table through third connecting rod, V type pole and fourth connecting rod around its rotation with first connecting rod, second connecting rod pin joint.

Through the effect of first motor and second motor, can drive the regulation of terminal executive component position and angle, through elevating system, can drive terminal executive component and get into or withdraw from the abdominal cavity.

The driving wire mechanism is connected with the actuating mechanism through a wire sheath, the action of the actuating mechanism is driven by the wire sheath, the driving wire mechanism comprises a frame body, the frame body comprises a first frame body part 19 and a second frame body part 20, the second frame body part is fixed to the top of the first frame body part and is formed by welding four steel plates and used for fixing a first motor and a second motor, the second frame body part comprises two oppositely-arranged channel steel 20-1, two sides of the two channel steel are respectively fixed with a first fixed steel plate 20-2 and a second fixed steel plate 20-3, and the first fixed steel plate, the second fixed steel plate and the two channel steel form a cavity structure.

Four fifth motors are fixed on the first fixed steel plate, six fifth motors are fixed on the second fixed steel plate, and output shafts of the fifth motors respectively extend out of the outer sides of the first fixed steel plate and the second fixed steel plate and are fixedly connected with driving wheels 21.

In this implementation, the silk sheath includes sheath portion 23 and the silk portion 22 that is located the inside of sheath portion, silk portion adopts the steel wire to make, sheath portion adopts rubber material to make, and silk portion both ends stretch out to the outside of sheath portion.

One end of the wire part is wound on the driving wheel, the end part of the wire part is fixedly connected with the driving wheel, and the other end of the wire part is connected with the actuating mechanism.

One end of the sheath part is fixedly connected with a buckle 24 fixed on the frame body, the other end of the sheath part is fixedly connected with the sliding block, the buckle comprises a first buckle part 24-1 and a second buckle part 24-2, semicircular grooves matched with the sheath part are formed in the first buckle part and the second clamping block part, the first buckle part and the second buckle part are fixedly connected through bolts, and the end part of the sheath part of the silk sheath can be pressed and fixed through the first buckle part and the second clamping block part through the bolts.

In this embodiment, a first guide wheel 25 is disposed on the wire portion of the wire sheath partially led out from the driving wheel, and the first guide wheel is rotatably connected to the frame body and contacts with the wire portion of the wire sheath for guiding the wire portion of the wire sheath.

In this embodiment, a wire sheath bundling tube 26 made of a flexible material is disposed between the slider and the support, a plurality of wire sheaths led out by the driving wheel enter the wire sheath bundling tube, the other end of each wire sheath penetrates through the wire sheath bundling tube and then is connected with the actuator, and the wire sheath bundling tube is used for concentrating the plurality of wire sheaths and preventing the plurality of wire sheaths from being arranged in a scattered manner.

The actuating mechanism comprises an intermediate box body 27 fixedly connected with the sliding block, twelve intermediate shafts are arranged in the intermediate box body and are rotatably connected with the intermediate box body, the other ends of the wire parts of the twelve wire sheaths extend into the intermediate box body and are wound on the intermediate shafts, the end parts of the wire sheaths are fixedly connected with the intermediate shafts, and the end parts of the sheath parts of the wire sheaths are fixedly connected with the sliding block.

The intermediate shaft extends out of the intermediate box and is fixedly connected with a driven wheel 28, the driven wheel and the intermediate box are connected with a quick-change mechanism, and the quick-change mechanism is used for connecting a tail end execution element.

The quick-change mechanism comprises a shell 29, the shell comprises a top shell wall and side shell walls fixed at four edges of the top shell wall, the inner side surface of the top shell wall is rotatably connected with a plurality of driving shafts 30, the driving shafts and driven wheels are coaxially arranged, three clamping blocks 28-1 are arranged on the end surfaces of the driven wheels, three clamping grooves matched with the clamping blocks are formed in the end portions of the driving shafts, the driving shafts can be connected with the driven wheels in a clamping mode through the clamping grooves and the clamping blocks, the driven wheels can drive the driving shafts to synchronously rotate by rotating, driving wires 31 are wound on the driving shafts, the end portions of the driving wires are fixedly connected with the driving shafts, the driving wires are wound on second guide wheels 36 arranged on the top shell wall and then extend out of the shell.

Be fixed with sleeve pipe 32 on the lateral part conch wall of shell bottom, a plurality of drive wires that stretch out to the shell outside are arranged at the intraductal, and the sleeve pipe is used for carrying out the line concentration to the drive wire, the bottom of slip table is connected with fixed plate 33 through bolt detachable, and the sleeve pipe passes the fixed plate, the fixed plate is used for supporting and fixing the sleeve pipe.

The shell is detachably connected with the middle box body, two plug boards 34 are arranged on the middle box body, one side of each plug board is provided with a clamping board 35 made of elastic plastic materials, each clamping board is provided with a triangular clamping head 35-1, two side shell walls of the shell corresponding to the plug boards are provided with first clamping grooves 29-1, the plug boards can be inserted into the first clamping grooves, one side of each first clamping groove is provided with a second clamping groove 29-2 communicated with the end part of the first clamping groove, the second clamping grooves penetrate through the end faces of the shell walls of the side parts, the first clamping grooves and the second clamping grooves can form a ladder structure 29-3, after the clamping boards are inserted through the first clamping grooves, as the clamping boards are made of the elastic plastic materials, the clamping boards can be bent towards one side of the plug boards under the action of the first clamping grooves, so that the plug boards and the clamping boards jointly extend into the first clamping, the cardboard can't receive the restriction, and the reconversion, triangular dop are fixed with the stair structure joint to the fixing of shell and middle box has been realized.

The end face of the shell provided with the second clamping groove is connected with a pressing hook 29-4 supported by elastic materials through a bolt, and the pressing hook can apply pressure on the clamping plate under the action of external force, so that the clamping plate is bent and deformed, the clamping plate can extend into the first clamping groove, and the shell and the middle box body can be conveniently separated.

In the surgical robot with the rear motor, the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all connected with the control system and receive the instruction of the control system to work.

When the surgical robot with the rear motor is used, a shell of the quick-change mechanism is fixedly connected with the middle box body through the clamping plate and the inserting plate, the driving shaft is clamped and fixed with the driven wheel, the tail end of the driving shaft is connected with the tail end execution element, the tail end execution element can be an existing surgical execution element, surgical personnel can select the surgical personnel according to actual needs, detailed description is omitted, the control system sends instructions to the first motor, the second motor and the third motor to adjust the position and the angle of the tail end execution element, controls the fourth motor to work to control the tail end execution element to enter or exit the abdominal cavity, controls the fifth motor to work to drive the driving wheel to work, the driving wheel can carry out wire receiving and releasing operation on the wire part of the wire sheath, so that the driven wheel is driven to rotate, the driving shaft drives the driving shaft to carry out wire receiving and releasing, and then the operation of the tail end execution element is driven by the wire winding and unwinding actions of different driving wires.

The rearmounted surgical robot of motor of this embodiment, first motor, the second motor sets up the bottom at first connecting rod and second connecting rod, because first connecting rod and second connecting rod are V type structure, so first motor and second motor are located the rear side of slip table, and slip table and third motor set up the both sides at first connecting rod and second connecting rod respectively, the third motor also sets up the rear side position at surgical robot promptly, then the focus of whole surgical robot is close to the rear side setting, the light problem of surgical robot head weight foot has been avoided, in the time of the use, whole surgical robot can not produce the vibration, the degree of accuracy is high, the risk that the surgical accident takes place has been reduced.

And this embodiment drive line mechanism drives actuating mechanism action through the silk sheath, and the accumulative total error of silk sheath is little, and the action precision is higher.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. The utility model provides a miniaturized surgical robot of rearmounted motor, a serial communication port, including the first connecting rod and the second connecting rod of V type, first connecting rod and second connecting rod corner position are connected through the connecting axle, first connecting rod bottom is connected with first motor, the output shaft that has the second motor is passed to second connecting rod bottom, the output shaft of second motor and the one end fixed connection of the swing arm of setting between first connecting rod and second connecting rod, the other end of swing arm is articulated with the one end of third connecting rod, the third connecting rod other end is articulated with V type pole one end, V type pole corner position rotates with the connecting axle to be connected, the other end of V type pole is articulated with fourth connecting rod one end, the fourth connecting rod other end is articulated with the slip table, the slip table rotates with the top of first connecting rod and second connecting rod to be connected, elevating system is installed to the slip table, elevating system is connected with actuating mechanism, actuating mechanism is used for connecting terminal executive component.

2. The micro surgical robot with a rear motor according to claim 1, wherein the first motor and the second motor are fixed on a driving wire mechanism, the driving wire mechanism is connected with a third motor, the third motor can drive the driving wire mechanism to swing, and the driving wire mechanism is connected with the actuator through a wire sheath and can drive the actuator to work.

3. The miniaturized surgical robot with rear-mounted motor as claimed in claim 2, wherein the lifting mechanism comprises a fourth motor fixed on the top end of the sliding table, an output shaft of the fourth motor is connected with a lead screw, the lead screw is connected with a slide block, and the slide block is connected with the actuator and can drive the actuator to move.

4. The micro surgical robot with the rear-mounted motor according to claim 3, wherein the driving wire mechanism includes a frame body, the frame body is connected to a third motor which is fixedly disposed, and is driven by the third motor to rotate, the frame body is provided with a plurality of fifth motors, output shafts of the fifth motors are fixedly connected to a driving wheel, a wire portion of a wire sheath is wound on the driving wheel, one end of the wire portion of the wire sheath is fixedly connected to the driving wheel, the other end of the wire portion of the wire sheath is connected to the actuator, the driving wheel can drive the wire portion of the wire sheath to move, and the wire portion of the wire sheath drives the actuator to operate.

5. The motorized, miniaturized surgical robot of claim 4 wherein one end of the sheath portion of the sheath is connected to a buckle fixed to the frame and the other end is fixedly connected to the slider.

6. The motorized, miniaturized surgical robot of claim 4, wherein the frame is rotatably connected to a support, the support is fixedly disposed, a sheath bundle tube made of a flexible material is disposed between the support and the slide, and the plurality of sheaths are disposed inside the sheath bundle tube.

7. The motorized, miniaturized surgical robot of claim 4 further comprising a guide wheel mounted on the frame for guiding the wire portion of the wire sheath.

8. The motorized, miniaturized surgical robot of claim 4 wherein the actuator comprises an intermediate housing, the intermediate housing has a plurality of intermediate shafts disposed therein, the other end of the wire portion of the wire sheath is wound around the intermediate shafts and has an end fixedly connected to the intermediate shafts, the end of the intermediate shafts has a driven wheel disposed outside the housing, the driven wheel and the intermediate housing are connected to a quick-change mechanism capable of driving the quick-change mechanism, and the quick-change mechanism is used for connecting the end actuator.

9. The motorized, miniaturized surgical robot of claim 8 wherein the quick-change mechanism comprises a housing detachably connected to the middle housing, the housing is connected to a driving shaft coaxially disposed with the driven wheel, one end of the driving shaft is rotatably connected to the housing, the other end of the driving shaft is provided with a locking slot, the driving shaft is connected to a locking block disposed on the driven wheel by the locking slot, the driving shaft is wound with a driving wire, and the driving wire extends out of the housing for connection to the end effector.

10. The miniaturized surgical robot with the rear motor as claimed in claim 9, wherein a sleeve is fixedly connected to the housing, the portion of the driving wire extending out of the housing is disposed inside the sleeve, the sleeve is used for collecting the driving wire, a fixing plate is connected to the bottom end of the sliding table, the sleeve penetrates through the fixing plate, and the fixing plate is used for fixing the sleeve.