CN114869469A

CN114869469A - Six-freedom-degree mechanical arm for transurethral endoscopic surgery

Info

Publication number: CN114869469A
Application number: CN202210351302.8A
Authority: CN
Inventors: 李汉忠; 王根
Original assignee: Beijing Kemai Xuanji Medical Technology Co ltd
Current assignee: Beijing Kemai Xuanji Medical Technology Co ltd
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2022-08-09

Abstract

A six-degree-of-freedom mechanical arm for transurethral endoscopic surgery comprises a mechanical arm base assembly, a first section arm, a second section arm assembly, a third section arm, a fourth section arm assembly, a fifth section arm assembly and a tail end flange. The six-degree-of-freedom mechanical arm for transurethral endoscopic surgery adopts a new mechanical arm configuration design aiming at the requirements of medical surgery, fully meets the space requirements in the surgery process, and can meet the requirements of urinary surgery and other medical surgeries such as orthopedic surgery and the like.

Description

Six-freedom-degree mechanical arm for transurethral endoscopic surgery

Technical Field

The invention belongs to the field of machinery. In particular to a six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery.

Background

The robot operation system is a complex integrating a plurality of modern high-tech means, a surgeon can operate a machine far away from an operating table for operation, the concept is completely different from the traditional operation concept, the robot operation system is a truly revolutionary surgical tool in the field of worldwide minimally invasive surgery, and a mechanical arm is a main execution component of the operation robot system.

At present, the collaborative mechanical arm at home and abroad mainly takes an 6/7 shaft as a main part, is a universal mechanical arm, is mainly applied to industrial scenes, is mainly focused on the application of the industrial scenes in the design of a working space, and is obviously insufficient in the aspect of a medical surgical robot. Meanwhile, in the aspect of safety level, the safety certification of the existing mechanical arm in the market is mostly related to industrial safety certification, and related medical certification is not available. The KUKA Med series mechanical arm has medical related safety certification, but the problem of insufficient working space of the mechanical arm exists in the operation process.

Disclosure of Invention

As described above, although the prior art proposes various solutions, there always occurs a deviation when the surgical requirements are met, and the surgical effect cannot be perfectly achieved.

The six-degree-of-freedom mechanical arm provided by the embodiment of the invention can better meet the working space requirement in the urethroscope operation process, and has medical related safety certification, so that the operation process is safer and the risk is lower.

The embodiment of the invention provides a six-degree-of-freedom mechanical arm, aiming at the requirements of medical operations, the six-degree-of-freedom mechanical arm provided by the embodiment adopts a new mechanical arm configuration design, fully meets the space requirements in the operation process, can meet the requirements of urinary operations and can also meet other medical operations such as orthopedic operations, and the like, and the motion simulation results of the mechanical arm are shown in fig. 10-17.

The six-degree-of-freedom mechanical arm provided by the embodiment of the invention adopts a self-developed joint motor module, the rated load capacity of the mechanical arm is 7kg, and the maximum load capacity is 9kg, so that the operation load requirement is fully met. In contrast, KUKA LBR Med 7R800 robot arm maximum load capacity of 7 kg.

The six-degree-of-freedom mechanical arm provided by the embodiment of the invention is provided with the torque sensor at each joint, so that the dynamic model of the mechanical arm is favorably decoupled, the position control based on dynamics is favorably carried out, and the control of the mechanical arm is favorably realized and is more smooth.

According to the six-degree-of-freedom mechanical arm provided by the embodiment of the invention, each joint is fed back by adopting the double encoders, sufficient feedback information is provided for the accurate control of the mechanical arm, the parameters such as the movement speed and the position of the mechanical arm are obtained by calculation through the read position information, and the precision of the operation is improved.

The embodiment of the invention provides a six-degree-of-freedom mechanical arm for transurethral endoscopic surgery, which comprises a mechanical arm base assembly 01, a first section arm 02, a second section arm assembly 03, a third section arm 04, a fourth section arm assembly 05, a fifth section arm assembly 06 and an end flange 07.

According to one embodiment of the present invention, for example, the base assembly 01 includes a first rotary joint 0101, a base table 0102, a base end cover 0103, a heavy-duty connector 0104, a base assembly motor driver 01051, and a base assembly electrical adapter plate 01061; all the components of the base assembly 01 are integrally installed on the base table 0102, the base table 0102 is provided with component installation holes and a base table limiting groove 01021, and the base table limiting groove 01021 is configured to limit the rotation angle range of the first rotary joint 0101.

According to one embodiment of the present invention, for example, the second arm assembly 03 comprises a second arm 0301, a second rotary joint 0303, a third rotary joint 0302, a second arm assembly motor driver 01052, a second arm assembly electrical adapter plate 01062;

all components of the second arm assembly 03 are integrally mounted on a second arm 0301, the second arm 0301 is provided with component mounting holes, and meanwhile, a second arm limiting groove 03011 is further formed for limiting the rotation angle ranges of the second rotary joint 0303 and the third rotary joint 0302;

preferably, the second rotary joint 0303 is fixedly installed with the first knuckle arm 02, the third rotary joint 0302 is fixedly installed with the third knuckle arm 04, and a related cable led out from the fourth knuckle arm 05 is led out from a central hole of the third rotary joint 0302;

preferably, the second rotary joint 0303 and the third rotary joint 0302 are fixedly connected to the second arm 0301, and the second arm assembly motor driver 01052 and the second arm assembly electrical adapter plate 01062 are fixedly connected to the second arm 0301. Connecting the cables, and penetrating the related cables from the central hole of the second rotary joint 0303;

preferably, the second arm assembly motor driver 01052 comprises two motor drivers for driving the second rotary joint 0303 and the third rotary joint 0302, respectively;

preferably, the second arm assembly electrical adapter 01062 used on the second arm assembly 03 and the base assembly electrical adapter 01061 on the base assembly 01 have the same circuit configuration.

According to an embodiment of the present invention, for example, the fourth arm assembly 05 includes a fourth rotary joint 0503, a fourth arm 0502, a fifth rotary joint 0501, a first cover 0504, a fourth arm assembly motor driver 01053, and a fourth arm assembly electrical adapter 01063;

preferably, all components of the fourth arm assembly 05 are integrally mounted on the fourth arm 0502, the fourth arm 0502 is provided with a component mounting hole, and a fourth arm limiting groove 05021 for limiting the rotation angle ranges of the fourth rotary joint 0503 and the fifth rotary joint 0501;

preferably, the fifth rotary joint 0501 is fixedly mounted on the fourth arm 0502, and the cable associated with the fifth arm 06 passes through the central hole of the fifth rotary joint 0501; the third arm 04 is fixedly connected with the fourth rotary joint 0503, and the fourth rotary joint 0503 is fixedly connected with the fourth arm 0502; the fifth rotary joint 0501 is fixedly connected with the fourth arm 0502 after being assembled; the motor driver 01053 of the fourth arm assembly, the electrical adapter plate 01063 of the fourth arm assembly and the first protective cover 0504 are fixed and connected, and are connected with cables related to the fifth rotary joint 0501, the fourth rotary joint 0503 and the fifth arm 06, and the cables penetrate through a center hole of the fourth rotary joint 0503; the first shield 0504 is fixedly connected to the fourth arm 0502;

preferably, the fourth arm assembly motor driver 01053 comprises two motor drivers driving the fourth rotary joint 0503 and the fifth rotary joint 0501, respectively.

According to one embodiment of the present invention, for example, fifth arm assembly 06 includes guide plate 0601, sixth rotary joint 0602, fifth arm lever 0603, fifth arm assembly motor driver 01054, end motor driver 0604, second cover 0605, second electrical adapter plate 0607 and third electrical adapter plate 0606;

preferably, all components of the fifth arm assembly 06 are integrally mounted on the fifth arm lever 0603, and each component mounting hole is formed in the fifth arm lever 0603; the sixth rotary joint 0602 and the fifth arm lever 0603 are fixedly installed, the guide plate 0601 and the third electrical adapter plate 0606 are fixed with the sixth rotary joint 0602, and the cable penetrates through a center hole of the sixth rotary joint 0602 to the tail part;

preferably, the fifth arm assembly motor driver 01054, the end motor driver 0604, the second electrical adapter plate 0607 are fixed and connected with the second protecting cover 0605, and connected with a cable led out of the sixth rotary joint 0602; the second protecting cover 0605 is fixedly installed with the fifth arm lever 0603, and the end flange 07 is fixedly installed with the sixth rotary joint 0602;

preferably, fifth arm assembly motor driver 01054 is used to drive sixth rotary joint 0602; tip motor driver 0604 is used to drive the surgical tip tool.

According to an embodiment of the present invention, for example, the first rotary joint 0101 of the base assembly 01 is fixedly installed on the first arm segment 02, and the cable led from the second arm segment 03 passes through the central hole of the first rotary joint 0101; the base table 0102 is fixedly connected with the first rotary joint 0101; the base assembly motor driver 01051, the base assembly electrical adapter plate 01061 and the heavy-duty connector 0104 are fixedly installed with the base end cover 0103 respectively and are connected in parallel;

preferably, the assembled base end cover assembly is connected with the cable under the mechanical arm base, the base end cover 0103 is fixedly connected with the base platform 0102, and the base end cover assembly comprises a base end cover 0103, a heavy-load connector 0104, a base assembly motor driver 01051 and a base assembly electrical adapter plate 01061.

According to one embodiment of the present invention, for example, each rotary joint of a six-degree-of-freedom robot arm for transurethral endoscopic surgery includes a first encoder 08, a second encoder 09, a brake 11, a torque motor 12, a harmonic reducer 13, and a torque sensor 14;

preferably, the first encoder 08 is configured to detect the position information of the joints of the mechanical arm, the second encoder 09 is configured to detect the rotation speed and the position of the rotor of the torque motor 12, and a zero point sensor 16 is installed at each joint;

preferably, when the power is cut off, the brake 11 holds the motor shaft tightly to be immobile, so that the mechanical arm is in a static state and the posture is kept.

According to one embodiment of the invention, for example, the first segment arm 02 connects the first rotary joint 0101 and the second rotary joint 0303, the third segment arm 04 connects the third rotary joint 0302 and the fourth rotary joint 0503, and the fifth segment arm 06 connects the fifth rotary joint 0501 and the end flange 07.

Drawings

Fig. 1 is a general structure of a novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a base assembly 01 in a novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a second joint arm assembly 03 in the novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a fourth arm assembly 05 in a novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a fifth arm assembly 06 in the novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to the embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a second arm rod of the novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to the embodiment of the invention.

Fig. 7 is a schematic structural diagram of a fourth arm rod of the novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to the embodiment of the invention.

Fig. 8 is a schematic structural view of a base station in a novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery according to an embodiment of the present invention.

Fig. 9 is a schematic structural diagram of a novel six-degree-of-freedom mechanical arm joint applicable to transurethral endoscopic surgery according to an embodiment of the present invention.

Fig. 10-11 are diagrams of the angle range and angular velocity of the joint of the up-and-down swing of the novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery, provided by the embodiment of the present invention.

Fig. 12-13 are diagrams of the joint angular range and joint angular velocity of the novel six-degree-of-freedom robotic arm yaw applicable to transurethral endoscopic surgery, provided by an embodiment of the present invention.

Fig. 14-15 are diagrams of the angle range and the joint angular velocity of the novel six-degree-of-freedom mechanical arm inclined 45 ° swing-1 joint applicable to transurethral endoscopic surgery, provided by the embodiment of the present invention.

Fig. 16-17 are diagrams of the novel six-degree-of-freedom mechanical arm tilt 45 ° swing-2 joint angle range and joint angular velocity applicable to transurethral endoscopic surgery, provided by an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings. Those skilled in the art will appreciate that the present invention is not limited to the drawings and the following examples.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "far", "near", etc., are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and should not be construed as limiting the specific scope of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only to distinguish technical features, have no essential meaning, and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features.

The novel six-degree-of-freedom mechanical arm applicable to transurethral endoscopic surgery provided by the embodiment of the invention is integrally constructed as shown in fig. 1, and comprises a mechanical arm base assembly 01, a first section arm 02, a second section arm assembly 03, a third section arm 04, a fourth section arm assembly 05, a fifth section arm assembly 06 and an end flange 07.

As shown in fig. 2, the base assembly 01 includes a first rotary joint 0101, a base table 0102, a base end cover 0103, a heavy-duty connector 0104, a base assembly motor driver 01051, and a base assembly electrical adapter plate 01061. All the components of the mechanical arm base assembly 01 are integrally installed on the base table 0102, each component installation hole is formed in the base table 0102, and a base table limiting groove 01021 (see fig. 8) is further designed and configured to limit the rotation angle range of the first rotary joint 0101.

As shown in fig. 3, the second arm assembly 03 includes a second arm 0301, a second rotary joint 0303, a third rotary joint 0302, a second arm assembly motor driver 01052 (including two motor drivers for driving the second/third rotary joints, respectively), and a second arm assembly electrical adapter 01062. The second arm assembly electrical adapter 01062 used in the second arm assembly 03 and the base assembly electrical adapter 01061 in the base assembly 01 may have the same circuit structure. All components of the second arm assembly 03 are integrally mounted on the second arm 0301, the second arm 0301 is provided with component mounting holes, and meanwhile, a second arm limiting groove 03011 is further formed for limiting the rotation angle ranges of the second rotary joint 0303 and the third rotary joint 0302. Fig. 6 is a schematic structural diagram of a second arm 0301 of a novel six-degree-of-freedom mechanical arm applicable to a transurethral endoscopic surgery according to an embodiment of the present invention, wherein the structure of a second arm limiting groove 03011 is shown. The second rotary joint 0303 is firstly installed and fixed with the first section arm 02, meanwhile, the third rotary joint 0302 is installed and fixed with the third section arm 04, and related cables led out from the fourth section arm 05 are led out from a center hole of the third rotary joint 0302 for standby. The second rotary joint 0303 and the third rotary joint 0302 are fixedly connected with the second arm 0301, and the second arm assembly motor driver 01052 (including two motor drivers for driving the second/third rotary joint), the second arm assembly electrical adapter plate 01062 and the second arm 0301 are fixedly connected. The cable connection is completed and the associated cable is passed through the central hole of the second rotary joint 0303.

As shown in fig. 4, the fourth arm assembly 05 includes a fourth rotation joint 0503, a fourth arm 0502, a fifth rotation joint 0501, a first cover 0504, a fourth arm assembly motor driver 01053 (including two motor drivers for driving the fourth and fifth rotation joints, respectively), and a fourth arm assembly electrical adapter 01063. As shown in fig. 4, all components of the fourth arm assembly 05 are integrally mounted on the fourth arm 0502, and the fourth arm 0502 is provided with a fourth arm limiting groove 05021 for limiting the rotation angle range of the fourth rotary joint 0503 and the fifth rotary joint 0501 while being provided with a component mounting hole, as shown in fig. 7. The fifth rotary joint 0501 is first fixed to the fourth arm 0502, and the cable associated with the fifth arm 06 is passed through the central hole of the fifth rotary joint 0501. The third arm 04 is fixedly connected to the fourth rotary joint 0503, and the fourth rotary joint 0503 is fixedly connected to the fourth arm 0502. The fifth rotary joint 0501 is fixedly connected to the fourth arm 0502 after being assembled, and straightens the relevant cable. The fourth arm assembly motor driver 01053, the electrical adapter plate 01063 of the fourth arm assembly are fixedly connected with the first protective cover 0504 and wired, and meanwhile, the cables are wired with the related cables of the fifth rotary joint 0501, the fourth rotary joint 0503 and the fifth arm 06, and the related cables penetrate through the center hole of the fourth rotary joint 0503. The first shield 0504 is fixedly connected to the fourth arm 0502.

As shown in fig. 5, the fifth arm assembly 06 includes a guide plate 0601, a sixth rotary joint 0602, a fifth arm lever 0603, a fifth arm assembly motor driver 01054 (for driving the sixth rotary joint), an end motor driver 0604 (for driving an operation end tool), a second protecting cover 0605, a second electrical adapter plate 0607, and a third electrical adapter plate 0606 (for an operation end tool). As shown in fig. 5, all the components of the fifth arm assembly 06 are integrally mounted on the fifth arm 0603, and the fifth arm 0603 is provided with component mounting holes. The sixth rotary joint 0602 is fixed to the fifth arm 0603, the guide plate 0601 and the third electrical adapter plate 0606 are fixed to the sixth rotary joint 0602, and the relevant cable penetrates through the center hole of the sixth rotary joint 0602 to the tail. The fifth arm assembly motor driver 01054 (driving the sixth rotary joint), the end motor driver 0604 (for driving the surgical end tool), the second electrical adapter plate 0607 and the second protecting cover 0605 are fixedly connected and wired, and meanwhile, the fifth arm assembly motor driver and the sixth rotary joint 0602 are led out to form a cable for wiring. The second protecting cover 0605 and the fifth arm 0603 are fixedly installed, and the end flange 07 and the sixth rotary joint 0602 are fixedly installed.

As shown in fig. 1, 2 and 8, the first rotary joint 0101 of the base assembly 01 is fixedly attached to the first arm 02, and the relevant cable led from the second arm assembly 03 passes through the central hole of the first rotary joint 0101. The base table 0102 is fixedly connected to the first rotary joint 0101. The base assembly motor driver 01051, the base assembly electrical adapter plate 01061 and the heavy-duty connector 0104 are fixedly installed with the base end cover 0103 respectively, and wiring connection is completed. The assembled base end cover assembly (including base end cover 0103, heavy load connector 0104, base assembly motor driver 01051 and base assembly electrical adapter plate 01061) is connected with the cable under the mechanical arm base, and then base end cover 0103 and base platform 0102 are connected firmly.

As shown in fig. 9, each rotary joint of the robot arm includes a first encoder 08, a second encoder 09, a brake 11, a torque motor 12, a harmonic reducer 13, and a torque sensor 14. The first encoder 08 is configured to detect the joint position information of the robot arm, the second encoder 09 is configured to detect the rotational speed and position of the rotor of the torque motor 12, when the machine is powered off, the brake 11 holds the motor shaft and keeps the robot arm in a stationary state, the attitude is maintained, and a zero point sensor 16 is mounted at each joint (see fig. 3, 4, and 5).

EtherCAT communication is adopted among all motor drivers of the mechanical arm and between all the motor drivers and the mechanical arm control cabinet.

Further, with respect to the connection relationship of the components, referring to fig. 1 to 8, the first arm 02 connects the first rotary joint 0101 and the second rotary joint 0303, the third arm 04 connects the third rotary joint 0302 and the fourth rotary joint 0503, and the fifth arm 06 connects the fifth rotary joint 0501 and the end flange 07.

Fig. 10, 11, 12, 13, 14, 15, 16 and 17 show the range of motion of the arm's extreme positions for swinging each joint angle. The TCP position at the tail end of the mechanical arm is set to be (-1000, -30 and 140), RCM swinging is carried out between-45 degrees and +45 degrees, and the range of each joint angle and the joint angular velocity are simulated in the figures 10-17. Meanwhile, when the six-degree-of-freedom mechanical arm provided by the embodiment of the invention is designed, each joint angle is larger than the joint angle range and the joint angular speed in simulation and is far larger than the design requirement.

Claims

1. The six-degree-of-freedom mechanical arm for the transurethral endoscopic surgery is characterized by comprising a mechanical arm base assembly (01), a first section arm (02), a second section arm assembly (03), a third section arm (04), a fourth section arm assembly (05), a fifth section arm assembly (06) and a terminal flange (07).

2. The six-degree-of-freedom robotic arm for transurethral endoscopic surgery as in claim 1, wherein the base assembly (01) comprises a first rotary joint (0101), a base table (0102), a base end cap (0103), a heavy-duty connector (0104), a base assembly motor driver (01051), and a base assembly electrical adapter plate (01061); all parts of base assembly (01) all integrated installation have on base platform (0102), have each part mounting hole on base platform (0102), still have base platform spacing groove (01021), and base platform spacing groove (01021) configure to the rotation angle scope of restriction first rotary joint (0101).

3. The six-degree-of-freedom robotic arm for transurethral endoscopic surgery according to claim 1 or 2, characterized in that the second articulated arm assembly (03) comprises a second arm bar (0301), a second revolute joint (0303), a third revolute joint (0302), a second articulated arm assembly motor driver (01052), a second articulated arm assembly electrical adaptor plate (01062);

all parts of the second arm assembly (03) are integrally mounted on a second arm lever (0301), the second arm lever (0301) is provided with part mounting holes, and meanwhile, a second arm lever limiting groove (03011) is further arranged and used for limiting the rotating angle range of the second rotating joint (0303) and the third rotating joint (0302);

preferably, the second rotary joint (0303) is fixedly installed with the first section arm (02), the third rotary joint (0302) is fixedly installed with the third section arm (04), and a related cable led out from the fourth section arm (05) is led out from a central hole of the third rotary joint (0302);

preferably, the second rotary joint (0303) and the third rotary joint (0302) are fixedly connected with the second arm lever (0301), and the second arm assembly motor driver (01052) and the second arm assembly electrical adapter plate (01062) are fixedly connected with the second arm lever (0301); connecting the cables, and penetrating the related cables from the central hole of the second rotary joint (0303);

preferably, the second arm assembly motor driver (01052) comprises two motor drivers for driving the second rotary joint (0303) and the third rotary joint (0302), respectively;

preferably, the second arm assembly electrical adapter plate (01062) used on the second arm assembly (03) and the base assembly electrical adapter plate (01061) on the base assembly (01) have the same circuit configuration.

4. The six-degree-of-freedom robotic arm for transurethral endoscopic surgery as in any of claims 1-3, wherein the fourth-segment arm assembly (05) comprises a fourth rotary joint (0503), a fourth arm lever (0502), a fifth rotary joint (0501), a first cover (0504), a fourth-segment arm assembly motor driver (01053), a fourth-segment arm assembly electrical adapter plate (01063);

preferably, all components of the fourth arm assembly (05) are integrally mounted on the fourth arm lever (0502), each component mounting hole is machined in the fourth arm lever (0502), and a fourth arm lever limiting groove (05021) is further machined for limiting the rotation angle range of the fourth rotary joint (0503) and the fifth rotary joint (0501);

preferably, the fifth rotary joint (0501) is fixedly mounted with the fourth arm (0502), and the cable associated with the fifth arm (06) passes through the central hole of the fifth rotary joint (0501); the third arm (04) is fixedly connected with a fourth rotary joint (0503), and the fourth rotary joint (0503) is fixedly connected with a fourth arm lever (0502); the fifth rotary joint (0501) is fixedly connected with the fourth arm lever (0502) after being assembled; a fourth arm assembly motor driver (01053), a fourth arm assembly electric adapter plate (01063) and a first protective cover (0504) are fixed and connected in a wiring mode, and are connected with a fifth rotary joint (0501), a fourth rotary joint (0503) and a cable related to a fifth arm (06), and the cable penetrates through a center hole of the fourth rotary joint (0503); the first protecting cover (0504) is fixedly connected with the fourth arm lever (0502);

preferably, the fourth arm assembly motor driver (01053) comprises two motor drivers driving the fourth rotary joint (0503) and the fifth rotary joint (0501), respectively.

5. The six-degree-of-freedom mechanical arm for transurethral endoscopic surgery according to any one of claims 1-4, wherein the fifth-segment arm assembly (06) comprises a guide plate (0601), a sixth rotary joint (0602), a fifth arm lever (0603), a fifth-segment arm assembly motor driver (01054), an end motor driver (0604), a second protective cover (0605), a second electrical adapter plate (0607) and a third electrical adapter plate (0606);

preferably, all parts of the fifth arm assembly (06) are integrally mounted on the fifth arm lever (0603), and each part mounting hole is formed in the fifth arm lever (0603); the sixth rotary joint (0602) and the fifth arm rod (0603) are fixedly installed, the guide plate (0601) and the third electric adapter plate (0606) are fixed with the sixth rotary joint (0602), and the cable penetrates through a center hole of the sixth rotary joint (0602) to the tail part;

preferably, the fifth arm assembly motor driver (01054), the end motor driver (0604), the second electrical adapter plate (0607) are fixed and connected with the second protecting cover (0605) and lead out a cable for connection with the sixth rotary joint (0602); the second protecting cover (0605) is fixedly installed with the fifth arm rod (0603), and the end flange (07) is fixedly installed with the sixth rotary joint (0602);

preferably, the fifth arm assembly motor driver (01054) is for driving the sixth rotary joint (0602); an end motor driver (0604) is used to drive the surgical end tool.

6. The six-degree-of-freedom mechanical arm for transurethral endoscopic surgery as defined in any one of claims 1-5, wherein the first rotary joint (0101) of the base assembly (01) is fixedly mounted to the first arm (02), and the cable led from the second arm assembly (03) passes through a central hole of the first rotary joint (0101); the base table (0102) is fixedly connected with the first rotary joint (0101); the base assembly motor driver (01051), the base assembly electrical adapter plate (01061) and the heavy-load connector (0104) are fixedly installed on the base end cover (0103) respectively and are wired;

preferably, the assembled base end cover assembly is connected with the cable under the mechanical arm base, and base end cover (0103) is connected with base platform (0102) admittedly, base end cover assembly includes base end cover (0103), heavy load connector (0104), base assembly motor driver (01051) and base assembly electrical adapter plate (01061).

7. The six-degree-of-freedom robotic arm for transurethral endoscopic surgery as claimed in any one of claims 1-6, wherein each rotary joint of the six-degree-of-freedom robotic arm for transurethral endoscopic surgery comprises a first encoder (08), a second encoder (09), a brake (11), a torque motor (12), a harmonic reducer (13), and a torque sensor (14);

preferably, the first encoder (08) is configured to detect the position information of the mechanical arm joint, the second encoder (09) is configured to detect the rotating speed and the position of the rotor of the torque motor (12), and a zero point sensor (16) is installed at each joint;

preferably, when the power is cut off, the brake (11) tightly holds the motor shaft to make the motor shaft not move, so that the mechanical arm is in a static state, and the posture is kept.

8. The six-degree-of-freedom mechanical arm for transurethral endoscopic surgery according to any one of claims 1-7, characterized in that the first segment arm (02) connects the first rotary joint (0101) and the second rotary joint (0303), the third segment arm (04) connects the third rotary joint (0302) and the fourth rotary joint (0503), and the fifth segment arm (06) connects the fifth rotary joint (0501) and the end flange (07).