CN112370167B - Robot surgical manipulator and minimally invasive surgical robot suitable for various hole numbers - Google Patents

Abstract

The invention relates to a robot surgical mechanical arm and a minimally invasive surgical robot suitable for various hole numbers, wherein a transmission device of the robot surgical mechanical arm is in transmission with a flexible arm through a wire rope, and the flexible arm is provided with a force sensor for sensing the stress of an execution tail end; the flexibility is improved by the multi-degree-of-freedom arrangement of the flexible arm; the configuration layout design of the transmission device, the driving device and the flexible arm can ensure that the surgical incision is smaller and the surgery is more minimally invasive in the combination of double holes and multiple holes; the minimally invasive surgery robot suitable for various hole numbers can form single-hole, double-hole and multi-hole minimally invasive surgery robots according to clinical requirements; the method has the advantages of multiple indications, wide coverage range and flexible conversion of the number of holes and the number of branches. The endoscope and the tail end operation instrument move through multiple degrees of freedom of the flexible arm, so that the spatial omnibearing pose can be realized, the surgical field is enlarged, and the blind area is avoided. The degree of freedom of the mechanical arms outside the body is higher than 6, so that the mechanical arms are favorable for being deployed beside a bed, a remote movement central point can be easily formed, and the mechanical arms do not interfere with a human body.

Description

Robot surgical manipulator and minimally invasive surgical robot suitable for various hole numbers

Technical Field

The invention relates to the technical field of surgical robots, in particular to a robotic surgical manipulator and a minimally invasive surgical robot suitable for various hole numbers.

Background

With the development of minimally invasive surgical operations, robots have been widely used in the medical field. Traditionally, a doctor uses an endoscope to perform minimally invasive surgery, and the adopted instrument is based on the principle of a reverse lever, so that the minimally invasive surgery is not intuitive and has high operation difficulty. The robot minimally invasive surgery has a plurality of advantages, and for a patient, the robot surgery has small wound, quick postoperative recovery and light postoperative pain; for doctors, the robot can extend the range of hands, improve flexibility, zoom control scale, improve operation precision, eliminate trembling and increase operation fields. In order to further reduce the number and size of the minimally invasive surgery incisions, reduce the infection possibility and improve the postoperative recovery quality. Minimally invasive surgical robots have been used in various departments of hospitals for a wide range of applications, including laparoscopic surgery, thoracoscopic surgery, head and neck surgery, gynecology, urology, and the like.

Surgical robotic systems typically include a doctor's console, bedside robotic arms, robotic surgical robotic arms, and an imaging system. The doctor operates the main end equipment on the doctor console, controls the bedside mechanical arm and the surgical mechanical arm at the auxiliary end in a master-slave operation mode, the robotic surgical mechanical arm is positioned at the tail end of the bedside mechanical arm, directly acts on human tissues in a patient body to carry out surgery, and simultaneously, an imaging system presents a surgical field to the doctor through an endoscope in the surgery.

Currently, a few surgical robots have been popularized and applied, wherein the Da Vinci surgical robot of the american intuition corporation is the most widely applied surgical robot product. Currently, existing surgical robots can be classified into multi-hole surgical robots and single-hole surgical robots according to a way of entering from a terminal. Porous surgical robots are prone to multiple incisions in the body, with large trauma, such as: in the minimally invasive thyroid robot surgery, the patient usually enters the surgery through four holes of the bilateral axillary areola and is provided with four incisions. Although a multi-hole surgical robot can enter a body from one wound in some operations, the operation implementation of a narrow operation cavity is not facilitated due to the large gaps among the arms of a plurality of surgical instruments, for example, in a thyroid tumor minimally invasive operation, four surgical instrument arms can enter an operation position from a single armpit or mouth, but the wound of a single incision is large due to the large gaps among the arms of the four surgical instruments. The single-hole surgical robot can reduce trauma, but the operation range is restricted, so that the single-hole surgical robot has few indications and is not beneficial to popularization and application. Therefore, the existing surgical robot has narrow application range, large volume and high price, and cannot be flexibly deployed in different hospital departments. Meanwhile, the existing surgical robot tail end surgical instrument arm does not have the function of force measurement, force feedback cannot be achieved, and force sense of a doctor in the operation process is lacked. In addition, the endoscope is mostly a rigid rod, and the flexibility is not enough, leading to the art field blind area. In addition, most surgical robots's bedside arm adopts link mechanism's far field center of motion to realize that surgical instruments and patient contact position department form motionless point, and external arm degree of freedom is less than 6 usually, and mechanism design is complicated and easily interferes with the human body, and bedside puts loaded down with trivial details.

Therefore, there is a need for a surgical robot that can flexibly perform multi-hole, dual-hole, and single-hole approaches, has force sensing and endoscope flexible positioning, and is easy to deploy flexibly in different operating rooms.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a robot surgical mechanical arm and a minimally invasive surgical robot suitable for various holes.

In order to achieve the above object, the present invention provides a robotic surgical arm, comprising a plurality of robotic surgical arms, each of the robotic surgical arms comprising a flexible arm, a transmission device and a driving device;

the transmission device is detachably connected to the driving device; the driving device provides power to the transmission device, and the wire rope in the transmission device is pulled to drive each joint of the flexible arm to move.

The invention provides a minimally invasive surgery robot suitable for various hole numbers in a second aspect, which comprises a bedside positioning device and a robot surgery mechanical arm; the robotic surgical manipulator arm is mounted to a bedside positioning device.

The invention provides a double-hole minimally invasive surgery robot in a third aspect, which comprises two double-robot surgery mechanical arms and two bedside positioning devices; each double-branch robot surgical mechanical arm comprises two robot surgical mechanical arms which are connected through a multi-hole-site connecting plate; each double-robot surgical manipulator arm is mounted on 1 bedside positioning device.

The invention provides a single-hole minimally invasive surgery robot in a fourth aspect, which comprises a bedside positioning device and four robot surgical mechanical arms, wherein the four robot surgical mechanical arms comprise four robot surgical mechanical arms, and the four robot surgical mechanical arms are formed by connecting multi-hole-site connecting plates.

The invention provides a porous minimally invasive surgery robot, which comprises a plurality of bedside positioning devices and a plurality of robot surgical mechanical arms, wherein each robot surgical mechanical arm is connected to each bedside positioning device through a respective porous connecting plate.

The technical scheme of the invention has the following beneficial technical effects:

(1) the invention is suitable for minimally invasive surgical robots with various hole numbers to perform single-hole, double-hole and multi-hole surgical approaches according to clinical requirements, can adopt surgical approaches with more human body incisions, such as thyroid surgeries through bilateral axillary areola four-hole approaches, and can also adopt single-incision or natural cavity channel approaches, and has the advantages of multiple indications, wide coverage range and flexible conversion of the hole numbers and the branch numbers.

(2) In single-hole and double-hole operations, the flexible arm has small clearance and can reduce the incision. The minimally invasive surgery instrument has the advantages of improving the characteristics of minimally invasive surgery by reducing the number of incisions and the size of the incisions, along with less bleeding, less pain, benefit for recovery and high patient satisfaction. The minimally invasive surgery with different types and various opening numbers is facilitated, for example, the robot can select the branch numbers of various types for carrying out thyroid minimally invasive surgery and abdominal cavity surgery, and the requirements of different surgeries are met.

(3) Robot operation arm and split type bedside positioner can dispose in different hospital departments in a flexible way, according to the operation formula requirement, form the surgical robot of different grade type, reduce and dispose the volume, through the modularization combination, reduce cost increases clinical application's type.

(4) The surgical manipulator at the tail end of the surgical robot has the function of force measurement, force feedback can be achieved, force immersion is increased, and misjudgment is avoided.

(5) The endoscope and the instrument arm have more freedom of movement, can realize the spatial omnibearing position and pose positioning, enlarge the surgical field and avoid blind areas. In addition, the degree of freedom of the mechanical arms outside the body is higher than 6, so that the mechanical arms are favorable for being deployed beside a bed, a remote movement central point can be easily formed, and the mechanical arms do not interfere with a human body.

(6) The robot surgical manipulator arm of the invention can be used in combination to form a triangular surgical configuration.

(7) The execution tail end of the invention can be a tail end operation instrument or an endoscope, and can be selected according to the field requirement, so that the combination is convenient.

Drawings

FIG. 1 is a schematic view of a robotic surgical instrument arm assembly;

FIG. 2 is a schematic view of the mounting dimensional parameters of the flexible arm and the transmission;

FIG. 3 is a schematic illustration of an array of different numbers of robotic surgical arms; wherein (a) the two surgical instrument arms are distributed according to 90 degrees; (b) the 4 surgical instrument arms are distributed according to 90 degrees;

FIG. 4 is a schematic view of a flexible arm assembly;

FIG. 5 is a schematic view of the composition of a first joint set;

FIG. 6 is a schematic view of the triangular configuration formed by the flexible arms;

FIG. 7 is a schematic diagram of the composition of a third joint set; wherein (a) is a schematic diagram of a composition structure; (b) is a schematic view of the movement direction; (c) is a schematic view of the supporting drag hook;

FIG. 8 is a schematic view of joint components and a dual-wire closed loop drive principle; wherein (a) is a side view; (b) is a top view of through holes uniformly distributed along the circumference; (c) a bilaterally symmetrical top view;

FIG. 9 is a schematic view of the principle of the hollow passing wire rope inside the joint connecting rod;

FIG. 10 is a schematic diagram of a force sensor assembly;

FIG. 11 is a schematic view of the end effector assembly;

FIG. 12 is a schematic view of the transmission assembly; wherein (a) is an external structure schematic diagram, and (b) is an internal structure schematic diagram; (c) is a schematic structural diagram of the card locking device;

FIG. 13 is a pulley wire drive and tension configuration diagram; wherein (a) is a schematic diagram of a tensioning principle, and (b) is a schematic diagram of adjusting the pretightening force of a spring; (c) adjusting the pretightening force of the spring for the lever;

FIG. 14 is a schematic view of the components of the driving device and the connection relationship with the transmission device;

FIG. 15 is a schematic diagram of an implementation of an endoscopic robotic surgical manipulator arm;

FIG. 16 is a schematic view of a binocular endoscope of a flexible arm of a robotic surgical instrument;

FIG. 17 is a schematic view of a bedside positioning device;

FIG. 18 is a schematic view of a minimally invasive surgical robot assembly suitable for use with various hole counts; wherein (a) is a schematic overall structure diagram; (b) is a single robot surgical mechanical arm; (c) is a double-robot surgical mechanical arm; (d) four robotic surgical arms;

FIG. 19 is a single robotic surgical arm and a multi-aperture minimally invasive surgical robot;

FIG. 20 is a two-legged robotic surgical manipulator and a two-hole minimally invasive surgical robot; wherein (a) is a view of a surgical instrument arm (the two executing ends are an end effector and an endoscope, respectively); (b) is another view of the surgical instrument arm (both executing ends are end-effectors); (c) is a schematic view of collaboration;

FIG. 21 is a four-robot surgical instrument arm and a single-port minimally invasive surgical robot; wherein (a) is a schematic view of a robotic surgical arm; (b) is a schematic view of a single-hole minimally invasive surgery robot;

FIG. 22 is a schematic diagram of a double-hole approach of a double-hole minimally invasive surgical robot for thyroid minimally invasive surgery;

FIG. 23 is a schematic view of a double-hole minimally invasive surgical robot performing a transoral approach to thyroid minimally invasive surgery;

FIG. 24 is a schematic view of a single-hole approach of a robot for double-hole minimally invasive surgery for thyroid minimally invasive surgery;

FIG. 25 is a schematic diagram of a four-hole approach of a robotic multi-hole minimally invasive surgery for thyroid minimally invasive surgery;

FIG. 26 is a schematic view of a single-port minimally invasive surgical robot for performing a single-port abdominal minimally invasive surgery;

FIG. 27 is a schematic diagram of a four-hole approach of a multi-hole minimally invasive surgical robot for performing laparoscopic minimally invasive surgery.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The invention provides a robot surgical instrument arm D which is composed of a flexible arm 1, a transmission device 2 and a driving device 3, and is shown in figure 1.

The drive means 3 provides a power output to the transmission means 2 which in turn pulls the wires inside the transmission means, which wires are connected to the respective articulated joints of the flexible arm 1, driving the joint in motion. The power device 3 and the transmission device 2 are arranged at the rear, and the small-radius long-distance operation of the flexible arm can be realized through the tension transmission of a wire rope.

The flexible arm 1 and the transmission device 2 are driven by a wire rope and are arranged integrally. In the operation process, the flexible arm 1 and the transmission device 2 are integrally replaced according to the requirement. In operation, the driving device 3 is fixed on the extracorporeal device, the transmission device 2 is connected to the driving device 1 through a quick connecting device, such as a locking device, the flexible arm extends to the human body in the installation direction, and when the arm is changed, the transmission device is drawn out in the direction far away from the human body.

As shown in fig. 2, the flexible arm 1 is mounted in a mounting hole 261 at the top end of the transmission 2, and the combined end of the upper half of the transmission is a triangular prism with rounded edges. Two triangular prism outer sides 1 and 2 at the outer side of the triangular prism intersect at an intersection line l₁The line passing through the center of the mounting hole 261 and perpendicular to the top surface of the triangular prism is a vertical line l₂，l₁And l₂Parallel and at a distance h from the central axis l of the first link 116 of the flexible arm₃And the intersecting line l₁Is alpha and the radius of the first flexible arm link 116 is r, in order to ensure that the first flexible arm link does not moveBeyond the intersection line l₁Then the flexible arm first link length d is not greater than (h-r)/sin (α) according to the sine function of right triangle ABC.

To achieve minimally invasive surgical robots with different hole counts, different numbers of robotic surgical arms D may be rotated about a rotation axis (intersection line l)₁) The flexible arms 1 are distributed according to a certain angle alpha (not more than 90 degrees and generally 90 degrees) in an array mode, the directions of the flexible arms 1 are consistent, and the gaps q are the smallest when the transmission devices 2 of the robot surgical mechanical arms are adjacent. As shown in fig. 3(a), one embodiment is to distribute two robotic surgical arms at an angle α of 90 °, and the right view can see the distribution of the mounting holes. As shown in fig. 3(b), one embodiment is to distribute 4 robotic surgical flexible arms at 90 ° intervals, and the right view can see the distribution of the flexible arm mounting holes. The transmission devices are adjacent to each other in sequence, the gap at the mounting hole of each flexible arm is 2(h-r) at the minimum, the gap between the two flexible arms is reduced, the flexible arms are more compact, and the required operation incision is small in minimally invasive operation.

The flexible arm includes a first joint group 11, a second joint group 12, a third joint group 13, a force sensor 14, an execution tip 15, and a link connecting the respective parts, and when the execution tip is an endoscope, the force sensor 14 may not be disposed, as shown in fig. 4.

As shown in fig. 5, the first joint group 11 is composed of a swing joint 111, a yaw joint 112, and a pitch joint 113, each having 1 degree of rotational freedom, and the rotational axes thereof are orthogonal to each other and correspond to a shoulder joint of a human body.

The second joint group is a yaw joint with 1 rotational degree of freedom, and is similar to a human elbow joint, and the tail end of the flexible arm can be moved in a large range. As shown in fig. 6, in the configuration of the single-hole and double-hole surgical robot, two flexible arms which are attached together can form a certain angle beta (the angle beta ranges from 0 degree at the minimum angle, 60 degrees to 180 degrees at the maximum angle and 90 degrees at the typical value) by utilizing the yaw joint 112 of the first joint group 11, and a triangular surgical configuration can be easily formed by combining the second joint (the angle gamma ranges from 0 degree at the minimum angle, 0 degree at the maximum angle, 30 degrees to 90 degrees at the maximum angle and 45 degrees at the typical value) groups, so that a triangular area formed during double-arm surgery of a doctor is simulated, and the operation is facilitated.

As shown in fig. 7, the third joint group 13 is composed of a group of joints connected in series, and the rotation axes of two adjacent joints are orthogonally arranged (such as a1 and a2), and is composed of more than 2 joints, as shown in fig. 7 (a); similar to the human wrist joint, fine pitch and yaw movements of the tip are achieved, as shown in fig. 7 (b). The joints of the third joint group form arc-shaped sections, the positions and postures of the executing tail ends can be adjusted by the sections, meanwhile, the curved shapes formed by the sections can be used as draw hooks and the like in the operation process to support and hook human tissues, the more the joint sections are, the longer the arc lines of the draw hooks are, the pressure on the human tissues can be relieved, and meanwhile, the larger the bending angle is, as shown in fig. 7 (c).

As shown in fig. 8(a), each of the joints is formed by two connecting rods 121 and 122 through a hinge mechanism, the joint rotates around a pin 125 at both sides, and the two connecting rods are provided with a certain inclined surface 126 along the rotating direction, generally 0-60 degrees, and the typical value is 45 degrees, so as to increase the rotating angle of the joint; one pin mode is that the support shafts of the connecting rods 122 at one side are distributed close to the outside, the support shafts of the connecting rods 121 at the other side are close to the inside and are inserted and installed from the axial direction, and the pin shafts are inserted and fixed after being aligned with the pin holes; the other pin shaft mode is that the supporting shaft of the connecting rod 122 on one side is close to the right, the shaft end face is an arc entity, the supporting shaft end face of the connecting rod 121 on the other side is a hollowed arc, the connecting rod 121 is pushed in from the left side during installation to enable the hollowed arc to be matched with the arc entity, the hollowed arc is fixedly blocked by the aid of the protruding steps on the right side, and the flexible arm can be pulled and fixed when a rope penetrates through the flexible arm. The joint forms a closed-loop tensioning transmission chain through a pair of (2) wire ropes, one ends of the pair of wire ropes respectively penetrate through two holes in the joint connecting rod 122, which are symmetrical around a central shaft, and are fixed in corresponding holes of the connecting rod 121, the other ends of the pair of wire ropes are respectively connected to the output shaft of the motor through a transmission mechanism, and the output shaft of the motor is respectively wound and fixed in the clockwise direction and the anticlockwise direction. The drive wire may be routed through the hollow portion of each link of the flexible arm or through a through hole 127 in the outer wall of the link. For through hole transmission through the outer wall of the connecting rod, through holes are formed in the outer wall of each section of the connecting rod along the circumferential direction, the number of the through holes of each connecting rod is at least 2 times of the subsequent degree of freedom, and each through hole is symmetrical along the central axis of the connecting rod and has another through hole, so that the closed loop is reducedThe diameter of the hole is 0.3-0.6 mm. The distribution form of the through holes meets the condition that the front and the rear joints are orthogonal or parallel without interference, and one of the two distribution forms is a form of uniformly distributing the through holes along the circumference (figure 8(b)), and at the moment, the pin shaft is arranged in the pin shaft and does not interfere with the silk rope. The other is a symmetrical distribution mode (figure 8(c)) of the two sides of the symmetrical pin shaft, through holes are distributed on the two sides of the pin shaft respectively, the distance of the width of the pin shaft is reserved in the middle of each side, interference between a wire rope and the pin shaft when the wire rope is driven to a next joint is avoided, the pin shaft is not required to be arranged inside, and the structure is compact. For example, as shown in the top view of fig. 8(b), in one example holes are distributed in the connecting rod as r-r, the number of through holes is 10, r 2 and c, r 4 and r 3, r 6 and r 5, r 8 and r 7, r 0 and r 1 are symmetrical along the central axis, and the series of through holes provide the through path for the pitch joint, the second joint group, the third joint group of the first joint group and the driving wire rope at the end of the flexible arm. For example, as shown in fig. 8(c), there are 12 through holes symmetrically distributed along two sides of pin shaft, 6 through holes on each side, ((r) and ((c)), and ((r) and (r) 9, ((0) and (r)) 9

Sixthly, and

symmetric along central axis, and (c), (d), (c) and (d)

Sixthly, the width of the pin shaft is reserved between the two parts. As shown in fig. 8(b), when driving, by tensioning the 1 wire rope 123 passing through the hole (r), the other wire rope 124 in the hole (nini) is loosened, and the joint is pulled to rotate anticlockwise around the pin shaft 125; by loosening 1 wire rope 123, tensioning the other wire rope 124 on the opposite side, pulling the joint to rotate clockwise around the pin 125, the wire ropes of the other holes continue to pass through the connecting rod 121 for driving and controlling the next joint, for example, a pair of symmetrical holes (c), (c) or (c) in the connecting rod of the next joint is adopted. Links 121 and 122 are hollow 127 within to allow room for passage of a drive wire, electrical cable or other wire at the end of the actuation.

As shown in fig. 5, to drive the revolute joint 111 of the first joint group 11, two wire ropes 114 and 115 are wound and fixed on the first link 116 in clockwise and counterclockwise directions, respectively. The first link 116 is driven to rotate clockwise by tightening one of the wires 114 while loosening the other wire 115, and to rotate in the opposite direction by loosening the opposite tension. The remaining wire rope passes through the first link hollow portion and through the disc space 117 at the end of the first link to prevent the wire rope from rubbing too much or winding up. In order to drive the yawing joint 112 of the first joint set 11 to move, a pair of wires 118 (which pass through the through holes r and ninu corresponding to fig. 8(b) on the connecting rod 111) are symmetrically selected, the wires are far away from the joint rotating shaft, two ends of the wires are respectively fixed at the near end of the second connecting rod 120, and the wires (which pass through the through holes r) on one side are tensioned, and the wires (which pass through the through holes ninu) on the other side are loosened to drive the yawing joint 112 of the first joint set to rotate. The rest of the wire ropes sequentially pass through the outer wall through holes of the second connecting rod 120. In order to drive the pitch joint 113 of the first joint set 11, a pair of wire ropes 119 (which pass through holes r and ninu corresponding to fig. 8(b) on the connecting rod 120) are symmetrically selected, the wire ropes are farthest from the rotation axis of the joint shaft, both ends of the wire ropes are respectively fixed at the near end of the third connecting rod 121, and the pitch joint 119 of the first joint set 11 is driven to rotate by tensioning the wire rope on one side (which passes through the through hole r) and loosening the wire rope on the other side (which passes through the through hole ninu). The layout of the transmission wire rope is arranged in sequence to drive the second joint group 12.

Each joint of the third joint group 13 is controlled by coupling, two wire ropes which are symmetrical around the central axis of the flexible arm are arranged to form a pair of closed loop wire drives, two pairs of four wire ropes which are arranged orthogonally are adopted to sequentially pass through all two rods of the third joint group, and the tail ends of the wire ropes are fixed on a near-end connecting rod at the tail end of the execution, so that the third joint group is driven by coupling to yaw and pitch, and a snake-shaped arc section is realized. As shown in fig. 7, one embodiment is that 1 pair of vertically symmetrical wire ropes pass through all the pitch joints 131 of the third joint group, the joint is driven to pitch by the tension wire ropes, and another pair of horizontally symmetrical wire ropes pass through all the yaw joints 132 of the third joint group, and the joint is driven to yaw by the tension wire ropes, and the movement direction is shown in fig. 7 (b).

In one embodiment, as shown in fig. 9, the wire rope is driven through the hollow of the links, and discs 1101, 1102, 1103 and 1104 with through holes are provided at both ends of each of the links 121 and 122. When a joint in the first joint set 11 and the second joint set 12 is driven to move, a pair of symmetrical wire ropes 1106 penetrate through a pair of central symmetrical through holes of the proximal disc 1103 of the upper link 121 of the joint into the hollow space of the link, penetrate through a pair of central symmetrical through holes of the distal disc 1102 and are fixed on corresponding through holes of the proximal disc 1101 of the lower link 122. The remaining wire rope 1105 continues through the puck apertures 1103, 1102, 1101, and 1104, which in turn drives the next joint. When the third joint group is driven, all joints are controlled in a coupling mode, and the wire rope penetrates through the starting disc of the first joint of the third joint group and then sequentially penetrates through the through holes in the outer wall of the connecting rod to be driven.

In the force sensor 14, as shown in fig. 10, a thin rod 141 (fig. 4) is disposed at a joint portion between the third joint group of the flexible arm and the execution end, 4 strain gauges 142 are arranged at the upper half portion of the thin rod in a full-bridge manner, and are sequentially spaced at equal intervals in the horizontal and vertical directions around the circumferential direction to measure an axial force Fz; 4 strain gauges are arranged on the lower half portion, and the 1 st strain gauge, the 3 rd strain gauge and the 2 nd strain gauge, the 4 th strain gauge form a half bridge respectively, and lateral forces F _ x and F _ y are measured respectively. The signal from the strain gage can be converted to a signal of force using a force sensing measurement method.

In the force sensing measurement method, an Euler-Bernoulli beam equation is used for establishing a relation equation S ═ Sx, Sy, Sz ═ F (F) between a strain gauge measurement signal S and an external force. The force can be expressed as a vector, i.e. the magnitude of the measured force is R at a yaw angle theta and a pitch angle phi. Thus, the external force can be expressed as [ θ, Φ, R ] ═ g(s). Applying a certain force to the force sensor under different yaw angles and pitch angles by an experimental method, measuring signals of the strain gauge, and identifying parameters of a relation equation g (S) to obtain the force sensing measuring method.

The executing end 15 is an end operating instrument or an endoscope, the end operating instrument is provided with an opening and closing hinge mechanism which is composed of a first sectional body 151, a second sectional body 152, a supporting shaft 153 and a driving wire 154(154a) or 155(155a), can realize opening and closing actions in single-action and double-action modes, and can form a separating clamp and a straight separating clamp, as shown in fig. 11; it can also be a curved separator, a nondestructive grasping forceps, an electric knife, etc. for clamping and separating human tissues.

As shown in fig. 11, in this embodiment, in order to realize the single-acting opening and closing of the first segment in the single-acting mode, the second segment is stationary, the second segment 152 is rigidly connected to the supporting shaft 153, and the first segment 151 is driven to move bidirectionally by a pair of closed-loop transmission wires 154, wherein one end of one wire 1541 is fixed to a point a on one side of the first segment 151, the other end thereof is wound around the motor output shaft counterclockwise along the flexible arm to the transmission, and the other end thereof is fixed to a point b on the other side of the first segment, the other end thereof is wound around the motor output shaft clockwise along the flexible arm to the transmission, and the point a and the point b are tightly symmetrical about the central axis of the supporting shaft, and the opening and closing movements of the first segment in the single-acting mode are realized by tightening and loosening the two wires with each other.

In one embodiment, to effect opening and closing of the two segments 151 and 152 in the double acting mode, closed loop drive wires 154, 155 are connected to the first segment 151 and the second segment 152, respectively, to drive both to effect bi-directional movement, referred to as the single acting mode, to effect double acting opening and closing of the end effector.

The support shaft 153 may be a metal or an insulator, and is an insulator when used for electrocoagulation and nerve detection in surgical procedures. The first segment 151 and the second segment 152 are connected to the detecting device through two signal wires respectively, and penetrate through the hollow of the flexible arm, so as to be used for nerve detection. Similarly, when the first block 151 and the second block 152 are arranged as electrodes, they are connected to a high frequency power supply device through two power supply lines, respectively, for forming a bipolar electrocoagulation clamp.

The transmission device 2 is composed of a power connection shaft 21, a transmission wheel set 22, a locking device 23, a housing 24, a first electrical connection plate 25, a fixing plate 26 and a wire rope, as shown in fig. 12. Each power connecting shaft 21 in the transmission device 2 receives the motor motion output by the driving device 3, drives the pulleys of a group of driving wheels to rotate, and thereby pulls the wire rope to move. The axial direction of the power connecting shaft 21 is parallel to the axial direction of the flexible arm mounting hole 261 of the fixed plate 26, and this arrangement can reduce the volume of the transmission 2.

The number of power connecting shafts 21 and the number of transmission wheel sets 22 are equal to the number of degrees of freedom driving of the flexible arm 1, and in one embodiment, the number is 7, and the power connecting shafts and the number are used for driving the first joint set 11, the second joint set 12, the third joint set 13 and the end effector 15 to move in 3, 1, 2 and 1 degrees of freedom respectively.

The combined end of the upper half part of the transmission device 2 is a triangular prism, the angle gamma of the vertex angle is not more than 90 degrees, and the topmost end is provided with a round chamfer. The mounting hole 261 of the flexible arm is also the output hole of the wire rope, is close to the top, and the distance of the center from the intersection line of the outer side surface of the triangular prism is h.

As shown in fig. 12 and 13(a), the set of driving wheel sets 22 is composed of a series of parallel wheel sets 221, orthogonal wheel sets 222(223), etc. for driving the wire rope to a predetermined direction and position and keeping the wire rope tensioned. The rotation axes of each pulley of the parallel wheel set 221 are parallel, and the pulleys are located on the same plane, and the positions of the spatial arrangement of the pulleys are different. The orthogonal wheel set 222(223) is composed of two pulleys, and the rotation axes of the pulleys are perpendicular and orthogonal and are positioned on the same plane. The silk rope passes through 2 quadrature wheelsets and several parallel wheelset, can realize that the direction of power rotation axis is unanimous with silk rope delivery outlet direction. One embodiment is that the wire rope fixed on the power rotation shaft 211 is not on the same plane with the next pulley due to interference, etc., first, the orthogonal wheel set 223 is used to translate the transmission plane of the wire rope, then the parallel wheel set 221 and other parallel wheel sets are used to transmit the wire rope, then the orthogonal wheel set 222 is used to change the direction of the transmission plane, and the wire rope is output through the wire rope output hole, and the axis of the wire rope output hole is parallel to the axis of the power rotation shaft 211. One embodiment is that the wire rope fixed on the power rotating shaft 211 and the next pulley are on the same plane, the tension wire rope directly drives the wire rope through the parallel wheel set 225, then the direction of the driving plane is changed through the orthogonal wheel set 224, and the wire rope is output through the wire rope output hole, and the axis of the wire rope output hole is parallel to the axis of the power rotating shaft 211.

As shown in fig. 13(a), to tension the wire rope, an intermediate pulley is added between two pulleys in the parallel pulley set, the intermediate pulley is deviated to the line connecting the two pulleys, and the wire rope is wound around the intermediate pulley in the opposite direction to the other two pulleys, thereby tensioning the wire rope to a certain pre-tension by changing the direction in which the wire rope is wound around the pulleys and adjusting the position of the pulleys. For one embodiment, pulley 2252 is located between pulleys 2251 and 2253 with the two pulley lines being offset a distance from the distances 2251 and 2252, the direction of the wire wrapping around pulley 2252 is counter-clockwise (clockwise) as opposed to clockwise (counter-clockwise) as it wraps around pulleys 2251 and 2253. Furthermore, the intermediate pulley is installed on a spring, and the rigidity K and the starting position X0 of the spring are adjusted to form a certain pretightening force F which is K (X-X0). As shown in fig. 13(b), in one embodiment, a pulley 22521 is mounted on the spring 22522 to set a start position and adjust spring preload. Further, the starting position X0 of the spring is controlled by the linear motor 22523, and the position of the linear motor 22523 is adjusted, so that the pretension can be dynamically adjusted. Furthermore, the middle pulley is connected with one section of a lever, the distance from a connecting point to a fulcrum is a, the other end of the lever is connected with a spring, the distance from the connecting point to the fulcrum is b, the fulcrum is positioned between the two ends, and the rigidity is adjusted to be Y & ltkb/a & gt by controlling the position of the fulcrum or the position of the connecting point of the spring/pulley and the lever in the lever, so that the rigidity-variable control of the tension force of the wire rope is realized. As shown in fig. 13(c), in one embodiment, the pulley 22521 is connected to one end of the lever 22525, and is connected to the spring 22522, where the distance from the fulcrum 22524 is a, and the distance from the other end of the lever is b, and the position of the fulcrum 22524 along the lever is adjusted, so as to change the values of a and b, dynamically change the stiffness coefficient Y at the pulley end to Kb/a, and adjust the spring position X by the linear motor 22523, so as to adjust the preload force F to Y (X-X0) to Kb/a (X-X0), thereby realizing the variable stiffness control of the preload force.

As shown in fig. 12(a), (b), (c), the locking device 23 is composed of several pre-tightening lock pins symmetrically distributed on both sides of the transmission fixing plate 26, and the button-free pre-tightening lock pin is composed of a sliding pin 231, a sliding sleeve 232 and a spring 233; the push button latch also includes a push button 234. The button-free lock pins and the button-provided lock pins are at least 1 respectively, are distributed in parallel and are connected through a connecting rod 235. The button 233 is rigidly mounted on the sliding pin 231 and extends a certain distance out of the transmission device, facilitating the button; the sliding pin 231 is installed in the sliding sleeve 232 and can slide axially, the spring 232 is sleeved on the sliding pin 231, one side of the spring is blocked by the stepped protrusion of the sliding pin 231, and the other side of the spring is blocked by the sliding sleeve. When the two-side buttons 234 are pressed or released, the other slide pins are simultaneously pressed or released in a linked manner.

The tail end of the power connecting shaft 21 is provided with an input flange, and grooves or convex columns are distributed along the circumference.

A plurality of conductive contact electrodes are distributed on the first electric connecting plate 25 and correspondingly connected to a nerve detection wire of the tail end operation instrument and a power supply wire of the electrode forceps. One embodiment is 2 electrodes for the nerve detection signal line and one embodiment is 2 electrodes for the supply line of the bipolar coagulation forceps.

The drive unit consists of an output flange 31, a motor 32, a second electrical connection contact plate 33 and a housing 34. The motor 32 is mounted on the housing 34, and the output end of the motor 32 is connected with the output flange 31. The number of the power connecting shafts 21 of the motor 32 and the output flange 31 and the transmission device 2 are equal, the positions are distributed uniformly, and power is transmitted after the transmission device 2 and the driving device 3 are connected. The output flange 32 is circumferentially provided with projections or recesses for corresponding connection with the input flange of the transmission 2 for torque transmission.

As shown in fig. 12 and 14, the transmission sliding pin 231 is kept in the pop-up state under the pre-tightening force of the spring 233, when the transmission 2 is installed in the driving device 3, the button 234 is pressed, all the sliding pins 231 on both sides slide inward for a certain distance under the driving of the connecting rod 235, at this time, the transmission 2 enters the driving device 3 for a certain distance, after the sliding pin with the button is aligned with the open slot 341, the button 234 is released, at this time, under the action of the spring 233, the sliding pin 231 extends into the closed slot 342, so that the transmission 2 and the driving device 3 are fixed. One side of the open slot 341 is open for the convenience of user operation, and when the transmission device 2 is taken out from the driving device 3, the button is pressed to operate reversely. As shown in fig. 12, one embodiment is 2 no-button combinations and 1 with-button combinations.

As shown in fig. 14, the second electrical connection contact plate 33 has a plurality of conductive spring contacts distributed thereon, which correspond to the electrodes of the first electrical connection plate 25 one to one.

When the execution end 15 is an endoscope, the robotic surgical arm is a flexible endoscopic arm, and is composed of a transmission device 2, a driving device 3 and a flexible arm 4, as shown in fig. 15. The flexible arm 4 is composed of a first joint group 41, a second joint group 42, a third joint group 43, and a binocular endoscope 44. The first joint group 41 at least comprises 1 revolute joint and a pitch joint, the second joint group 43 at least comprises 1 pitch joint, and the third joint group 43 is formed by a plurality of sections of coupling joints. As shown in fig. 16, the monocular or binocular endoscope 44 has a certain declination angle in the installation direction of the end of the flexible arm 4, typically 0 to 60 degrees downward viewing, to improve the effective surgical field and reduce the requirements for the working space of the flexible arm 4.

The bedside positioning device comprises a movable base A, a positioning truss device B and a multi-degree-of-freedom mechanical arm C. The movable base A can move on the ground through the pulleys, and is locked and braked by the brake device after being in place. The positioning truss device B is arranged on the movable base A and can provide vertical height direction movable positioning and transverse horizontal movable positioning. The base of the multi-degree-of-freedom mechanical arm C is mounted at the tail end of the positioning truss device B, and the change of the position and posture of the tail end is realized through multi-joint motion, so that the external positioning is provided for the robot surgical mechanical arm (the execution tail end is a tail end operation instrument or an endoscope) outside the body, as shown in fig. 17. The multi-degree-of-freedom mechanical arm C is provided with a motion joint with more than 6 degrees of freedom, can realize any spatial pose, and can realize that the flexible arm meets the requirement of a remote motion center when the flexible arm is positioned in a human body incision through motion constraint of the pose of the tail end, so that the body surface incision part is not damaged. In a more preferred embodiment, the multi-degree-of-freedom mechanical arm has 7 degrees of freedom, and the configuration of the mechanical arm is changed in a kinematic null space of the mechanical arm while the pose of the tail end is kept, so that the interference with a human body can be avoided.

In yet another aspect, a minimally invasive surgical robot with several holes is provided, which is formed by combining a bedside positioning device and a robotic surgical arm D, and is connected by a multi-hole-site connecting plate 6, as shown in fig. 18 (a). The bedside positioning device can be provided with a plurality of devices, and is flexibly arranged in an operating room. The plurality of robot surgical instrument arms arranged at the tail end of the bedside positioning device are formed by connecting 1 or a plurality of robot surgical instrument arms (the execution tail end is a tail end operation instrument or an endoscope) through a multi-hole-site connecting plate 6. Embodiments include a single robotic surgical arm (fig. 18(b)), a double robotic surgical arm (fig. 18(c)), and a four robotic surgical arm (fig. 18 (d)). 1 or a plurality of robot surgical instrument arms are arranged on a multi-hole site connecting plate 6, and the multi-hole site connecting plate 6 comprises a locking arm clamp 5 which is rigidly arranged on the multi-hole site connecting plate; the first link of the 1 or more flexible arms is passed through the locking arm clamp 5 and fastened to support the long span flexible arm.

The multi-hole connecting plate 6 is distributed with a plurality of mounting hole positions according to 90 degrees or 180 degrees for mounting the driving device 3.

The end-effector of each robotic surgical arm is one of a separation forceps, an atraumatic grasper, an electrotome, an ultrasonic blade, or an endoscope.

One embodiment, a single-limb robotic surgical arm and a multi-aperture minimally invasive surgical robot, is shown in fig. 19. The single robot surgical mechanical arm comprises 1 robot surgical mechanical arm, a flexible arm is fixed by a locking arm clamp 5 and is fixed at the tail end of the bedside positioning device through a multi-hole-site connecting plate 6. The multi-hole minimally invasive surgery robot consists of four split minimally invasive surgery robots, each split minimally invasive surgery robot comprises 1 single robot surgery mechanical arm and 1 bedside positioning device, and the execution tail ends of the four single robot surgery mechanical arms are respectively a separating clamp, a nondestructive grasping clamp, an electrotome or ultrasonic knife and an endoscope. In operation, the porous operation robot enters the human body from 4 incisions of the human body respectively, and the execution tail end of the flexible arm is sent to an operation area.

In one embodiment, a two-pronged robotic surgical robot and a two-hole minimally invasive surgical robot are provided, as shown in fig. 20. The executing end of the 2 robotic surgical arms in the two-branch robotic surgical arms is an end-effector (fig. 20(b)) or the executing end of the 1 robotic surgical arms is an end-effector and the other executing end is an endoscope (fig. 20(a)), and the two-branch robotic surgical arms are composed of multi-porous connecting plates 6. The double-hole minimally invasive surgery robot consists of two double-branch robot surgery mechanical arms and two bedside positioning devices, wherein one double-branch surgery mechanical arm comprises 2 robot surgery mechanical arms with execution tail ends serving as tail end operation instruments; the other double-arm surgical instrument arm comprises 1 executing end-to-end operating instrument robot arm and 1 executing end-to-end endoscope robot instrument arm. In operation, the double-hole operation robot enters the human body from two incisions of the human body respectively, and the execution tail end of the flexible arm is sent to an operation area.

In one embodiment, a four-arm robotic surgical arm and a single-port minimally invasive surgical robot are shown in fig. 21. The four-robot surgical arm is composed of 4 robot surgical arms (fig. 21(a)) via multi-hole site connecting plates 6. 3 execution ends are end operation instruments, and 1 execution end is an endoscope. In the operation, the single-hole operation robot enters the human body from 1 cut or natural cavities such as oral cavity and the like of the human body respectively, and the executing tail end of the flexible arm is sent to the operation area.

In one embodiment, a robotic double-port minimally invasive surgery for double-port minimally invasive thyroid surgery is shown in fig. 22. Two incisions are respectively formed in areola on two sides of a human body, poking cards are respectively placed in the incisions, and two robot mechanical arms are respectively placed in the poking cards to reach the thyroid part of the neck.

One embodiment is a transoral access for a single-port minimally invasive surgical robotic thyroid minimally invasive surgery, as shown in fig. 23. The four robot surgical mechanical arms of the single-hole minimally invasive surgical robot are integrally placed through the mouth, and the execution tail end reaches the thyroid part of the neck.

One embodiment is a single-port approach for a single-port minimally invasive surgical robotic thyroid minimally invasive surgery, as shown in fig. 24. An incision is made in the armpit at the left side or the right side of the human body, the four robot surgical mechanical arms of the single-hole minimally invasive surgical robot are integrally placed through the incision, and the execution tail end reaches the thyroid part of the neck.

One embodiment is a four-hole approach of a multi-hole minimally invasive surgical robot to perform thyroid minimally invasive surgery, as shown in fig. 25. Four incisions are respectively formed in the areola armpits at two sides of a human body, poking cards can be respectively placed in the incisions, and single robot surgical mechanical arms are respectively placed in the poking cards to reach the thyroid part of the neck.

The minimally invasive thyroid surgery is performed by using the minimally invasive surgical robot, no opening is formed in the neck, no trace is left after the neck surgery, the appearance is attractive, the radius of the flexible arm is small, the diameter r of a mechanical arm of a single robot surgery with the execution tail end serving as a tail end operation instrument is about 4-10mm, the diameter r of a mechanical arm of the robot surgery with the execution tail end serving as an endoscope is about 6-15mm, and the required incision is smaller and more minimally invasive. The thyroid operation area is narrow, the anatomical structure is not easy to be fully exposed, the flexible arm with more than 5 degrees of freedom can realize the control of any pose of the endoscope, and the operation field is good; the robot surgical mechanical arm with more than 7 degrees of freedom can flexibly position and operate the tail end instrument, and the surgical action is more flexible.

One embodiment is a single port minimally invasive surgical robot for performing a single port access to a minimally invasive abdominal surgery, as shown in fig. 26. 1, an incision is made in the abdominal cavity of a human body, the whole four robot surgical mechanical arms of the single-hole minimally invasive surgical robot are placed through the incision, and the execution tail end reaches the surgical position.

One embodiment is a four-port approach to a robotic laparoscopic minimally invasive procedure with a multi-port minimally invasive surgery, as shown in fig. 27. Four incisions are formed in the abdominal cavity of a human body, poking cards can be respectively placed in the incisions, four single robot surgical manipulator arms are respectively placed in the poking cards, and the tail end of an operator reaches a surgical position.

In summary, the invention provides a robot surgical arm and a minimally invasive surgical robot suitable for various hole numbers, wherein a transmission device of the robot surgical arm is in transmission with a flexible arm through a wire rope, and the flexible arm is provided with a force sensor for sensing the stress of an execution tail end; the flexibility is improved by the multi-degree-of-freedom arrangement of the flexible arm; the configuration layout design of the transmission device, the driving device and the flexible arm can ensure that the surgical incision is smaller and the surgery is more minimally invasive in the combination of proper double holes and multiple holes; the minimally invasive surgical robots with single holes, double holes and multiple holes can be formed according to clinical requirements, single-hole, double-hole and multiple-hole surgical approaches are realized, and different types of minimally invasive surgery with variable hole numbers are facilitated; the robot can select various types of branch numbers for thyroid minimally invasive surgery and abdominal cavity surgery, meets different surgical requirements, has multiple indications and wide coverage range, and flexibly changes the hole number and the branch number. The endoscope and the tail end operation instrument can realize the all-dimensional pose positioning through the multi-degree-of-freedom movement of the flexible arm, thereby enlarging the surgical field and avoiding the blind area. In addition, the degree of freedom of the mechanical arms outside the body is higher than 6, so that the mechanical arms are favorable for being deployed beside a bed, a remote movement central point can be easily formed, and the mechanical arms do not interfere with a human body.

It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.

Claims (40)

1. A robot surgical mechanical arm is characterized by comprising a plurality of robot surgical mechanical arms, wherein each robot surgical mechanical arm comprises a flexible arm (1), a transmission device (2) and a driving device (3);

the transmission device (2) is detachably connected to the driving device (3); the driving device (3) provides power to the transmission device (2), and a wire rope in the transmission device (2) is pulled to drive each joint of the flexible arm (1) to move;

the flexible arm (1) comprises a first joint group (11), a second joint group (12), a third joint group (13), a force sensor (14) and an execution tail end (15) which are arranged in sequence; the transmission device (2) and the flexible arm (1) are in transmission through a wire rope, so that the first joint group (11) can perform turning, yawing and pitching operations, when the execution tail end (15) is an endoscope, or one of the operations of the turning and the pitching can be reduced, the second joint group (12) can perform the turning operation, and the third joint group (13) can perform the arc bending operation; the force sensor (14) is used for sensing the force applied to the execution tail end;

the third joint group (13) is a group of serial joints, and the rotating shafts of two adjacent joints are orthogonally arranged to alternately realize pitching and yawing;

each joint of the third joint group (13) is controlled by two pairs of orthogonally arranged silk ropes in a coupling way; each pair of wire ropes is symmetrically arranged along the central axis of the third joint group (13), one pair of wire ropes drives all pitching joints of the third joint group (13), and the other pair of wire ropes drives all yawing joints of the third joint group (13); two pairs of silk ropes sequentially pass through all connecting rods of the third joint group, and the tail ends of the two pairs of silk ropes are fixed on the near-end connecting rod at the tail end of the execution unit, so that the third joint group is driven in a coupling mode to yaw and pitch to form a snake-shaped arc section;

the first joint group (11) comprises a first connecting rod (116), and two groups of wire ropes are wound and fixed on the first connecting rod (116) in clockwise and anticlockwise directions respectively; the clockwise wire rope is tensioned, and the anticlockwise wire rope is loosened to realize the clockwise rotation of the first connecting rod (116); the first connecting rod (116) rotates anticlockwise by tensioning the anticlockwise wire rope and loosening the clockwise wire rope;

the flexible arm (1) is installed in a mounting hole of the transmission device (2), the distance from the center of the mounting hole to the extension intersection line of two inclined planes at the combined end of the transmission device (2) is h, the included angle between the first flexible arm connecting rod (116) and the central axis of the mounting hole is alpha, the radius of the first flexible arm connecting rod (116) is r, and the length l of the first flexible arm connecting rod is not more than (h-r)/sin (alpha).

2. The robotic surgical instrument arm of claim 1, wherein the robotic surgical instrument arm is capable of being used alone, in two combinations, or in four combinations.

3. The robotic surgical arm according to claim 2, wherein the transmission (2) and the drive means (3) are connected longitudinally, and the front end of the transmission (2) is configured as a combined end having two inclined planes with an included angle of not more than 90 °, and assembled by positioning between the inclined planes.

4. The robotic surgical instrument arm of claim 3, wherein the flexible arms (1) are mounted near the proximal end of the assembly end such that the flexible arms (1) approach each other when the plurality of robotic surgical instrument arms are used in combination, reducing the size of the opening.

5. The robotic surgical instrument arm of claim 3, wherein the two flexible arms are symmetrically yawed outward by the first joint set (11) to form a minimum 0 ° angle and a maximum of 60 ° to 180 ° angles, and symmetrically yawed inward or outward by the second joint set (12) to form a triangular surgical configuration with a minimum 0 ° angle and a maximum of 30 ° to 90 ° angles.

6. The robotic surgical arm of claim 1, wherein the wires are symmetrically disposed on opposite sides of the joint at the pitch or yaw, and wherein the wires are disposed as far away from the joint axis of rotation as possible by tightening the wires on one side of the joint and loosening the wires on the opposite side to rotate the joint axis of rotation to effect the pitch or yaw.

7. The robotic surgical instrument arm of claim 5, wherein the support shaft of each joint at pitch or yaw is hinged by two links via a pin, the joints rotate around the pins, the two links have a slope along the rotation direction, the slope is 0-60 ° and the rotation angle of the joints is increased.

8. The robotic surgical instrument arm of claim 7, wherein the links on both sides of the pin axis have a support axis on the inside and a support axis on the outside, and the two pin axes are axially mounted and fixed by inserting pins after aligning with the support axis pin holes;

or the support shafts are symmetrically arranged on the two connecting rods, the shaft end faces of the left support shafts of the connecting rods on the two sides are arc-shaped bodies, the end face of the right support shaft is a hollowed arc, the connecting rod on the other side is pushed in from the left side during installation to enable the hollowed arc to be matched with the arc-shaped bodies, the hollow arc is fixedly blocked by the protruding steps on the right side, and the support shafts can be tensioned and fixed when the wire ropes pass through the flexible arms.

9. The robotic surgical instrument arm of claim 6, wherein each joint is formed by two hinged links, the links are hollow, the outer wall is provided with a through hole, and the wire rope is transmitted through the hollow structure or the through hole of the outer wall.

10. The robotic surgical instrument arm of claim 9, wherein a proximal disc and a distal disc are disposed within each link, and the wire is passed or secured through holes in the proximal and distal discs.

11. The robotic surgical arm of claim 3, wherein the force sensor (14) comprises a rod disposed at a junction between the third joint set (13) and the actuator tip, and a full-bridge strain gauge disposed on the rod, the full-bridge strain gauges being spaced apart from each other at equal intervals in sequence around the circumference to measure axial force, and the full-bridge strain gauges being spaced apart from each other at equal intervals in sequence around the circumference to measure lateral force, the symmetrical strain gauges forming a half bridge, respectively.

12. The robotic surgical instrument arm of claim 11, wherein the equation of relationship between the strain gage signal S and the external force F is established using the euler-bernoulli beam equation:

S＝[Sx,Sy,Sz]＝f(F)；

when the yaw angle is theta and the pitch angle is phi, the magnitude of the measured force is R, and the vector of the external force F is expressed as [ theta, phi, R ] ═ g (S); applying external force with a certain magnitude to the force sensor (14) under different yaw angles and pitch angles, measuring strain gauge signals, and performing parameter identification on a relation equation g (S) to obtain the relation between the strain gauge signals S and the external force F.

13. The robotic surgical instrument arm according to claim 11, wherein the execution tip is a tip handling instrument comprising a support shaft articulated to the tip of the flexible arm (1) by a first segment and a second segment; the first subsection body and the second subsection body are connected through a driving wire rope to realize opening and closing actions in a single-action mode or a double-action mode.

14. The robotic surgical instrument arm of claim 13, wherein the implement tip is a tip-manipulating instrument, the tip-manipulating instrument being a straight-type separation forceps, a curved-type separator, a non-invasive grasper, or an electrotome.

15. The robotic surgical instrument arm of claim 13, wherein the first segment and the second segment are in single-action mode, the second segment being rigidly connected to a support shaft at the end of the flexible arm (1); one end of a closed loop wire rope is fixed at a point a on one side of the first subsection body, the other end of the closed loop wire rope is driven to the transmission device along the flexible arm to be wound on the output shaft of the motor in the anticlockwise direction, one end of the other closed loop wire rope is fixed at a point b on the other side of the first subsection body, the other end of the closed loop wire rope is driven to the transmission device along the flexible arm to be wound on the output shaft of the motor in the clockwise direction, the point a and the point b are symmetrical along the central axis of the supporting shaft, and the opening and the closed loop action of the first subsection body in the single-action mode are realized through the mutual tensioning and loosening of the two closed loop wire ropes.

16. The robotic surgical arm of claim 13, wherein the first segment and the second segment are in a dual motion mode, the two segments each being connected to a closed loop drive wire, the opening and closing of the two segments being actuated by tensioning and releasing the two closed loop wires from each other.

17. The robotic surgical instrument arm of any of claims 13 to 16, wherein the support shaft at the distal end of the flexible arm (1) is an insulator for nerve detection during a surgical procedure, and the first segment and the second segment are respectively connected to the detection device through the flexible arm via signal wires;

or the supporting shaft at the tail end of the flexible arm (1) is an insulator, and when the first section body and the second section body are arranged as electrodes, the first section body and the second section body are respectively connected to a high-frequency power supply device through two power supply lines to form the bipolar electrocoagulation pliers.

18. The robotic surgical arm according to claim 3, wherein the transmission means (2) comprises a plurality of power connection shafts (21), transmission wheel sets (22), and a wire rope; the number of the power connecting shafts (21) is the same as the degree of freedom of the flexible arms (1); each power shaft receives the driving force of the driving device (3), and the tension of the wire rope is adjusted through the corresponding transmission wheel set to drive the flexible arm (1) to move with one degree of freedom.

19. The robotic surgical instrument arm of claim 18, wherein the drive wheel set (22) includes two sets of drive wheels, each set driving two sets of spaced apart wires wound in opposite directions on the power connection shaft (21).

20. The robotic surgical instrument arm of claim 19, wherein one of the two sets of drive wheels is provided with orthogonal sets of wheels having axes of rotation oriented orthogonally and in a common plane, and parallel sets of wheels having axes of rotation both parallel and having pulleys in a common plane, to adjust the two sets of spaced wire drives to a common plane for symmetrical drive output in the direction of the output aperture; the two groups of driving wheels form non-collinear deviation through the middle pulley to generate pretightening force, and the direction of the wire rope wound on the middle pulley is opposite to that of the other two groups of driving wheels.

21. The robotic surgical instrument arm of claim 20, wherein a middle pulley of the two sets of drive wheels is pressed against the wire rope by an adjustment spring, the spring force of the adjustment spring being adjusted, and the pre-tension of the middle pulley being adjusted.

22. The robotic surgical instrument arm of claim 21, wherein an initial position of the spring is adjusted by a motor, thereby adjusting a spring force of the adjustment spring.

23. The robotic surgical instrument arm of claim 22, wherein the intermediate pulley of the two sets of drive wheels is coupled to one face of one end of the lever and an opposite face of the other end of the lever is coupled to an adjustment spring, the adjustment spring applying a preload force to the intermediate pulley via the lever, the position of the fulcrum of the lever along the lever being adjusted to adjust the preload force of the intermediate pulley.

24. The robotic surgical arm according to claim 23, wherein the transmission means (2) further comprises a fixing plate (26), a number of latching means (23) and a housing (24); the fixing plate (26) is arranged in the shell (24) and is used for installing each power connecting shaft (21); the locking and clamping device (23) is arranged on the fixing plate (26) and extends out of the shell (24) laterally; when the shell (24) is connected to the shell of the driving device (3), the shell is fixed through the locking device (23).

25. The robotic surgical instrument arm of claim 24, wherein the latch device (23) comprises a sliding pin (231), a sliding sleeve (232), and a spring (233); the sliding sleeve (232) is fixed to the fixing plate (26), and the sliding pin (231) can axially move on the sliding sleeve (232) and is pre-tensioned outwards through a spring; the sliding pin (231), the spring (233) and the sliding sleeve (232) are symmetrically distributed on two sides of the fixing plate (26).

26. The robotic surgical instrument arm of claim 25, wherein the latch device (23) further comprises a button (234) and a link (235), and the slide pins are at least 3 pairs and symmetrically distributed along the fixation plate (26); the sliding pins (231) on the same side of the fixing plate (26) are rigidly connected through a connecting rod (235), and 1 or more outer end sliding pins (231) are connected to the button (234); the button (234) projects laterally from the housing (24); at least 2 pairs of sliding pins (231) have no buttons (234).

27. The robotic surgical arm according to claim 26, wherein the drive means (3) is provided with an open slot on both sides for insertion of the button (234) when the actuator (2) is mounted to the drive means (3) and a closed slot for limiting the disengagement of the actuator (2) from the drive means (3) when the slide pin (231) has been inserted.

28. The robotic surgical arm according to claim 20, wherein the drive means (3) comprises a plurality of motor output connection output flanges, each output flange being connected to a flange of a corresponding power connection shaft (21), concentrically and coaxially, transmitting torque.

29. The robotic surgical arm according to claim 28, wherein the transmission means (2) comprises a first electrical connection plate (25); the drive means (3) comprises a second electrical connection contact plate; a first electrical connection plate (25) is in electrical contact with the second electrical connection contact plate, providing electrical power supply to the actuating tip.

30. The robotic surgical instrument arm of one of claims 1 to 4, wherein the performing tip is a split forceps, an atraumatic grasper, an electrotome, an ultrasonic blade, or an endoscope.

31. The robotic surgical arm of claim 30, wherein the endoscope is a monocular or binocular endoscope, and the mounting direction is at a declination angle of 0 ° to 60 °.

32. A minimally invasive surgical robot adapted for use with various hole counts, comprising a bedside positioning device and a robotic surgical arm according to any of claims 1-31; the robotic surgical manipulator arm is mounted to a bedside positioning device.

33. The minimally invasive surgical robot suitable for various hole counts according to claim 32, wherein the bedside positioning device comprises a movement adjusting part and a multi-degree-of-freedom mechanical arm; the movement adjusting part drives the multi-degree-of-freedom mechanical arm to move, adjust the height and horizontally move; the multi-degree-of-freedom mechanical arm moves through multiple joints to change the position and the posture of the tail end; the robot surgical manipulator arm is mounted to the end of the multi-degree-of-freedom manipulator arm.

34. The minimally invasive surgical robot suitable for various hole numbers according to claim 33, further comprising a multi-hole-site connecting plate (6), wherein the transmission device (2) of each flexible arm (1) is arranged on the multi-hole-site connecting plate (6) through the driving device (3), the transmission devices (2) are arranged in an adjacent or symmetrical way, and each flexible arm (1) extends out of the through hole of the multi-hole-site connecting plate (6); the multi-hole-position connecting plate (6) is provided with a locking arm clamp (5), each locking arm clamp (5) is provided with a plurality of mounting holes, each mounting hole can be used for fixing one flexible arm (1), and each flexible arm (1) is driven independently.

35. A double-hole minimally invasive surgery robot is characterized by comprising two double-robot surgical mechanical arms and two bedside positioning devices; each double-armed robotic surgical instrument arm comprises two robotic surgical instrument arms according to any one of claims 1 to 31, formed by joining together multi-porous site webs; each double-robot surgical manipulator arm is mounted on 1 bedside positioning device.

36. The dual-port minimally invasive surgical robot according to claim 35, wherein the multi-degree-of-freedom mechanical arm changes the position and posture of the end by multi-joint movement; the double-branch robot surgical mechanical arm is arranged at the tail end of the multi-degree-of-freedom mechanical arm through a multi-hole-position connecting plate; the two-branch robot surgical instrument arm is arranged in a multi-degree-of-freedom mechanical arm, one executing tail end is a tail end operating instrument, and the other executing tail end is an endoscope; the other one is arranged in a double-branch robot surgical mechanical arm of the multi-degree-of-freedom mechanical arm, and two executing tail ends are tail end operating instruments.

37. A single-port minimally invasive surgical robot comprising a bedside positioning device and four robotic surgical robotic arms, the four robotic surgical robotic arms comprising four robotic surgical robotic arms according to any of claims 1-31, connected by multi-port junction plates.

38. The single-hole minimally invasive surgical robot according to claim 37, wherein the multi-degree-of-freedom mechanical arm changes the position and posture of the end through multi-joint movement; the four robot surgical mechanical arms are arranged at the tail ends of the 1 multi-degree-of-freedom mechanical arm through multi-hole-position connecting plates; the executing tail ends of the three robot surgical instrument arms are tail end operating instruments, and the executing tail ends of one robot surgical instrument arm are endoscopes.

39. A multi-aperture minimally invasive surgical robot comprising a plurality of bedside positioning devices and a plurality of robotic surgical arms according to any of claims 1 to 31, each robotic surgical arm being connected to each bedside positioning device by a respective multi-aperture site connecting plate.

40. The multi-aperture minimally invasive surgical robot according to claim 39, wherein the multi-degree-of-freedom mechanical arm changes the position and posture of the end through multi-joint movement; the executing tail end of at least one robot surgical instrument arm is a tail end operating instrument, and the executing tail end is an endoscope.

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