CN114587600B - Robot for minimally invasive surgery - Google Patents

Abstract

The invention provides a robot for minimally invasive surgery, which comprises a linear drive carrier plate module, a linear drive module, a robot flexible arm module, an end execution module and a robot bracket module, wherein the linear drive carrier plate module is arranged on the linear drive module; the linear driving support plate module and the linear driving module are respectively installed on the robot support module, and the robot support module and the linear driving support plate module are in linear front-back guide fit; the line-driven carrier plate module is respectively connected with the robot flexible arm module and the tail end executing device. The invention has the advantages that the flexible arm of the robot has smaller volume and high flexibility, avoids the limitation of constant single-end curvature of the traditional concentric tube robot, and overcomes the defect of larger volume of the traditional line driving robot; the end effector can be quickly assembled and disassembled, the application range of the surgical robot is enlarged, and the defect that the end effector of the traditional surgical robot is difficult to replace is overcome.

Description

A robot for minimally invasive surgery

technical field

The invention relates to medical equipment, in particular to a robot for minimally invasive surgery.

Background technique

With the rapid development of technology in medical related fields, minimally invasive surgery has become an important development stage in clinical surgery. Surgical robots are increasingly used in minimally invasive surgery of human cavity and organs.

Traditional surgical robots are mostly rigid structures, large in size and unable to track the location of non-linear lesions. They are prone to damage when they come into contact with body cavities, organs, blood vessels, and sensitive tissues. Compared with traditional rigid surgical instruments and surgical robots, flexible surgical robots are more and more used in minimally invasive surgery because of their compact size, flexibility and flexibility, and active control. Concentric tube robots and wire-driven robots are typical representatives of flexible surgical robots. A concentric tube robot is generally formed by nesting a set of pre-bent highly elastic concentric tubes, and each concentric tube has two degrees of freedom in translation and rotation. The concentric tubes nested together can form different constant curvature curve segments due to the difference in translation and rotation; line-driven robots are generally connected in sequence by a number of tiny hollow joints, and each joint is surrounded by holes and threads , the pulling force of the thread can move regularly at the end of the previous joint, and the combination of multiple joints forms a fixed curve shape. Therefore, concentric tube robots and wire drives can complete the task of tracking 3D curves in luminal organs with active control and certain deformation capabilities. Concentric tube robots and wire-actuated robots have been proposed for neurosurgery, urology, and cardiac surgery.

However, the concentric tube robot needs to be formed by nesting multiple pre-bent concentric tubes, and the pre-bending curvature of the concentric tubes will change due to time and use; the line-driven robot has the defect of single shape change; and the end effector Most of them are fixed with the mechanical arm, so that it cannot be replaced or the replacement speed is slow, which greatly limits the scope of use of the surgical robot.

Therefore, how to develop a flexible minimally invasive surgical robot that is stable, reliable, diverse in shape, small in size and quickly replaceable with an end effector is a technical problem to be solved urgently by those skilled in the art.

Contents of the invention

In order to solve the problems in the prior art, the present invention provides a robot for minimally invasive surgery.

The invention provides a robot for minimally invasive surgery, including a line-driven carrier module, a linear drive module, a robot flexible arm module, an end effector module, and a robot bracket module; the line-driven carrier module and the linear drive module are respectively Installed on the robot bracket module, the robot bracket module and the wire-driven carrier module are guided in a straight line forward and backward; the wire-driven carrier module is respectively connected with the robot flexible arm module and the end effector to drive the The flexible arm module of the robot performs a bending movement, and drives the end effector to perform clamping work; the linear drive module is connected to the wire-driven carrier module, and drives the wire-driven carrier module to move forward and backward in a straight line. The robot flexible arm module moves back and forth following the wire-driven carrier module; the end effector module is installed on the robot flexible arm module.

As a further improvement of the present invention, the flexible arm module of the robot is composed of at least two wire drive tubes nested with each other. The serpentine pipe joint includes at least four flexible arm wire rope through holes, and the flexible arm wire rope through holes are distributed around the circumference of the serpentine pipe joint at intervals, and the flexible arm wire rope through holes contain flexible arm wires. One end of the flexible arm wire rope is connected to the front end of the wire drive tube, and the other end is connected to the wire drive carrier module, the spring tube is fixed on the wire drive carrier module, and the wire drive The tubes correspond to the line drive carrier modules one by one, and different line drive tubes are installed on different line drive carrier modules, each line drive carrier module is connected to a linear drive module, and different line drive tubes are provided by different Linear drive module and line drive carrier board module drive.

As a further improvement of the present invention, the length of each of the wire drive tubes increases sequentially from the outermost tube to the innermost tube, and the spring tube of the wire drive tube is always inside the outer layer of the wire drive tube. There is a gap between the front and rear two serpentine joints.

As a further improvement of the present invention, the front end surface of the serpentine pipe joint is provided with an axially protruding arc-shaped protruding structure, and there are two arc-shaped protruding structures around the serpentine The circumferential intervals of the pipe joints are distributed at 180 degrees, and the rear end surface of the serpentine pipe joint is provided with an arc-shaped groove structure, and there are two arc-shaped groove structures around the The circumferential interval is 180 degrees, and the arc-shaped convex structure and the arc-shaped groove structure located on the same serpentine pipe joint are distributed at 90 degrees intervals, and the arc of the serpentine pipe joint located behind The curved protruding structure is hinged front and rear with the arc-shaped groove structure of the serpentine pipe joint at the front, and the flexible Arm cord through hole.

As a further improvement of the present invention, the flexible arm wire rope is made of nickel-titanium alloy. When the length of the flexible arm wire rope is shortened in a certain direction, the wire drive tube is deformed to the corresponding direction of the shortened flexible arm wire rope. Bending, and the shortening degree of the length is different, and the elastic deformation is different; after the flexible arm cord returns to the original length, the wire driving tube returns to the original state, and the outer layer of the wire driving tube is covered with a food-grade transparent heat shrinkable tube.

As a further improvement of the present invention, the robot bracket module includes a support end plate, a fixed end end plate, a flexible arm support, an optical shaft, a flange coupling, a fixed end bearing seat and a support end bearing seat, the flexible The arm support is installed on the end plate of the support end, the flexible arm module of the robot passes through the support of the flexible arm, and the optical axis is fixed on the end plate of the support end and the fixed end end through a flange coupling. Between the plates, the fixed end bearing seat is fixed on the fixed end end plate, the support end bearing seat is fixed on the support end end plate, and the wire drive carrier module is sliding with the optical axis In cooperation, the optical axis is used to constrain the rotation of the wire-driven carrier module and guide the linear motion of the wire-driven carrier module.

As a further improvement of the present invention, the linear drive module includes a lead screw, a lead screw nut, a lead screw nut seat, a geared motor, a motor bracket and a plum blossom coupling, and the lead screw communicates with the The fixed end bearing seat is fixed between the support end end plate and the fixed end end plate, the lead screw nut is installed on the lead screw, the lead screw nut seat is fixed with the lead screw nut, and the The screw nut seat is connected to the wire-driven carrier module, the motor bracket is fixed on the fixed end plate, the geared motor is fixed on the motor bracket, and the geared motor passes through the plum blossom coupling The shaft device is connected with the lead screw, and drives the lead screw to rotate, thereby driving the wire-driven carrier module to move back and forth in a straight line.

As a further improvement of the present invention, there are at least two wire-driven carrier modules, which are divided into a left fixed wire-driven carrier module and a right fixed wire-driven carrier module, both of which are mirror images of each other, and one wire-driven tube corresponds to A wire-driven carrier module, the wire-driven carrier module includes a support frame, a steering gear for a wire-driven tube, a steering wheel, a winding arm and a linear bearing, wherein the wire-driven carrier module connected to the innermost tube is additionally Contains the steering gear for the actuator and the steering gear bracket for the actuator, the steering gear for the wire drive pipe is installed on the support frame, the steering gear bracket for the actuator is fixed on the support frame, the steering gear for the actuator is connected to the The actuator is fixed with a steering gear bracket, the steering gear for the wire drive tube and the steering gear for the actuator are connected to the steering wheel, the winding arm is fixed to the steering wheel, and the flexible arm wire of the robot flexible arm module The rope is fixedly connected to the winding arm fixed on the steering gear for the wire drive tube, the end effector wire rope of the end effector module is fixedly connected to the winding arm fixed on the steering gear for the actuator, and the support frame The screw nut seat is connected with the linear drive module, the linear bearing is fixed on the support frame, and the optical axis passes through the linear bearing.

As a further improvement of the present invention, the end effector module includes a fixed part and an updateable part, the fixed part includes a fixed base, a connecting rod, a spring and a fixed end magnet, the rear end of the fixed base is connected to the flexible arm of the robot The front end of the module is connected, the front end of the fixed base is nested with the connecting rod, the spring clip is arranged between the connecting rod and the fixed base, and the fixed end magnet is arranged on the connecting rod. The connecting rod is connected with an end effector wire, and the end effector wire passes through the fixed base, the robot flexible arm module, and then connects with the wire-driven carrier module; the updateable part includes a pull rod, an outer layer bracket, movable end magnet, operating tool head and hinge arm, the pull rod is located in the outer support, the operating tool head is respectively hinged with the outer support and hinge arm, the front end of the pull rod is connected to the The hinge arm is hinged, the rear end of the pull rod is connected to the movable end magnet, and the movable end magnet cooperates with the fixed end magnet.

As a further improvement of the present invention, the rear end of the outer bracket is provided with a radial protrusion structure, and the fixed base is provided with an L-shaped locking groove. When installing, the radial direction of the outer bracket The protruding structure is screwed into the locking groove of the fixed base to complete the installation; the pull rod is provided with a docking hole, and the movable end magnet is arranged in the docking hole, when the fixed part and the movable When updating the connection, the connecting rod is inserted into the docking hole, and the movable end magnet is attracted to the fixed end magnet.

The beneficial effects of the present invention are: the flexible arm of the robot is small in size and high in flexibility, avoiding the limitation of constant curvature at one end of the traditional concentric tube robot, and at the same time overcoming the disadvantage of large volume of the traditional line-driven robot; the end effector can realize fast Assembling and disassembling expands the scope of application of the surgical robot and overcomes the shortcoming of difficulty in replacing the end effector of traditional surgical robots.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For Those of ordinary skill in the art can also obtain other solutions according to these drawings without making creative efforts.

Fig. 1 is a structural diagram of a robot used for minimally invasive surgery in an embodiment of the present invention.

Fig. 2 is a three-dimensional structure diagram of the robot support module in one embodiment of the present invention.

Fig. 3 is a three-dimensional structure diagram of a linear drive module in an embodiment of the present invention.

Fig. 4.1 is a three-dimensional view of the coiled pipe joint of the flexible arm module of the robot in one embodiment of the present invention.

Fig. 4.2 is a three-dimensional structure diagram of the initial state of the flexible arm module of the robot in one embodiment of the present invention.

Fig. 4.3 is a three-dimensional structure diagram of a bending state of the robot flexible arm module in an embodiment of the present invention.

Fig. 5.1 is a three-dimensional structure diagram of the left fixed line driven carrier module in an embodiment of the present invention.

Fig. 5.2 is a three-dimensional structure diagram of the right fixed line driven carrier module in an embodiment of the present invention.

Fig. 6.1 is a three-dimensional structural diagram of the fixed part of the end effector module in one embodiment of the present invention.

Figure 6.2 is a partial cross-sectional view of an updatable portion of an end effector module in one embodiment of the present invention.

Fig. 6.3 is a three-dimensional structural diagram of the working state of the end effector in one embodiment of the present invention.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", " The orientations or positional relationships indicated by "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and Simplified descriptions, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the scope of the present invention. In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, a feature defined as "first", "second", etc. may expressly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediary, and it can be the internal communication of two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.

The present invention will be further described below in conjunction with the description of the drawings and specific embodiments.

The present invention provides a robot for minimally invasive surgery. FIG. 1 is a structural diagram of a robot for minimally invasive surgery in an embodiment of the present invention, which mainly includes a robot support module 100, a linear drive module 200, and a robot flexible arm module. 300 , a wire-driven carrier module 400 , and an end effector module 500 .

Fig. 2 is a three-dimensional structural diagram of the robot support module in an embodiment of the present invention, the robot support module 100 includes a support end end plate 101, a fixed end end plate 102, a flexible arm support 103, an optical axis 104, and a flange coupling 105, fixed end bearing housing 106, supporting end bearing housing 107, flexible arm support 103 is installed on the supporting end end plate 101, robot flexible arm module 300 passes through flexible arm supporting 103, optical axis 104 is fixed by flange coupling 105 Between the supporting end plate 101 and the fixed end plate 102 , the fixed end bearing seat 106 is fixed on the fixed end end plate 102 , and the supporting end bearing seat 107 is fixed on the supporting end end plate 101 . The function of the optical axis 103 is to constrain the rotation of the wire-driven carrier module 400 and to guide the linear motion of the wire-driven carrier module 400 .

Fig. 3 is a three-dimensional structure diagram of a linear drive module in an embodiment of the present invention, the linear drive module 200 includes a lead screw 201, a lead screw nut 202, a lead screw nut seat 203, a geared motor 204, a motor bracket 205, and a plum blossom coupling , the lead screw 201 is connected between the support end end plate 101 and the fixed end end plate 102 through the support end bearing seat 107 and the fixed end bearing seat 106, the lead screw nut 202 is installed on the lead screw 201, and the lead screw nut 202 The function is to cooperate with the lead screw 201 to install, and to complete the linear motion of the wire-driven carrier module 400 under the drive of the reduction motor 204. The lead screw nut seat 203 is fixed to the lead screw nut 202. The function of the lead screw nut seat 203 is to drive the linear The module 200 is fixed with the wire drive carrier module 400, the motor bracket 205 is fixed on the fixed end end plate 102, the geared motor 204 is fixed on the motor bracket 205, the geared motor 204 is connected with the lead screw 201 through a plum blossom coupling, and the driven screw 201 spins.

Next, Fig. 4.1, Fig. 4.2, and Fig. 4.3 are used as an embodiment of the present invention to explain the movement process of the robot flexible arm module 300. As shown in Fig. The tubes 301 are nested with each other. The front part of the wire drive tube is a serpentine tube joint structure 3001. As shown in Figure 4.1, the serpentine tube joint 3001 includes at least four through holes 30011, and the inside of the through holes 30011 can pass through the wire rope 3002. The serpentine joint 3001 contains a convex structure 30012 and a groove structure 30013. During installation, the protrusion structure 30012 and the groove structure 30013 of the two serpentine joints 3001 are aligned to complete the fit. After the fit, the two serpentine joints 3001 There are gaps. The rear parts of the two wire drive pipes are all spring pipes. The length of each wire drive tube increases sequentially from the outermost tube to the innermost tube, and the spring tube part of the wire drive tube is always inside the outer layer of the wire drive tube. As shown in Figure 4.2, the initial state of the inner wire drive tube 302 and the outer wire drive tube 301 is a straight tube. Different lengths of the wire rope 3002 in this direction produce different angles. After the angles are superimposed, the wire drive tube can be bent at different angles, and finally the bending state shown in Figure 4.3 can be realized. The rear ends of the inner wire drive tube 302 and the outer wire drive tube 301 are fixed on the corresponding wire drive carrier module 400, the geared motor 204 drives the screw 201 to rotate, and the screw nut 202 converts the rotation motion of the screw 201 into a translational motion, The front and rear motions are transmitted to the wire-driven carrier module 400 through the screw nut seat 203 fixed with the wire-driven carrier module 400. Since the rear end of the wire-driven tube is fixed on the wire-driven carrier module 400, this front and rear motion can be transmitted. The flexible arm module 300 of the robot realizes the forward and backward movement of the inner line driving tube 302 and the outer line driving tube 301 .

The line-driven carrier module 400 is divided into a left fixed line-driven carrier module 410 and a right fixed line-driven carrier module 420. In this embodiment, the left fixed line-driven carrier module 410 is connected to the inner line drive tube 302, and The outer wire driving tube 301 is connected to the right fixed wire driving carrier module 410, and Fig. 5.1 is a three-dimensional structure diagram of the left fixed wire driving carrier module in an embodiment of the present invention. Fig. 5.2 is a three-dimensional structure diagram of the right fixed line driven carrier module in an embodiment of the present invention. The left fixed wire drive carrier module 410 includes a support frame 411, a steering gear 412 for a wire drive tube, a steering plate 413, a winding arm 414, a linear bearing 415, a flange coupling 416, a steering gear 417 for an actuator, and a steering gear for an actuator The bracket 418, the right fixed line drive carrier module 420 includes a support frame 421, a steering gear 422 for line drive tubes, a steering wheel 423, a winding arm 424, a linear bearing 425, and a flange coupling 426. The end of the inner wire driving tube 302 is fixed on the left fixed wire driving carrier module 410 by the flange coupling 416, and the two wire ropes 3002 separated by 180° on the inner wire driving tube 302 are respectively wound on the steering gear 412 and fixed on the inner wire driving tube 302. At both ends of the wire winding arm 414, the steering gear 412 for the wire driving tube rotates to drive the wire winding arm 414 to rotate and pull the wire rope in a certain direction and loosen the wire rope at the other end, so that the bending of the inner wire driving tube 301 can be realized. The end of the outer line driving tube 301 is fixed on the right fixed line driving carrier module 420 by the flange coupling 426, and the two wire ropes separated by 180° on the outer line driving tube 301 are respectively wound on the steering gear 422 fixed with the line driving tube. At both ends of the wire winding arm 424, the steering gear 422 for the wire driving tube rotates to drive the wire winding arm 424 to rotate and pull the wire rope in a certain direction and loosen the wire rope at the other end to realize the bending of the outer wire driving pipe 302. The wire rope of the end effector module 500 is wound on the wire winding arm 414 fixed to the actuator steering gear 417 . The linear bearings 415 and 425 are used for cooperating with the optical axis 104 for installation, and the support frames 411 and 421 are fixed with the lead screw nut seat 203 .

The installation and working process of the end effector module 500 will be explained below by using Fig. 6.1, Fig. 6.2 and Fig. 6.3 as an embodiment of the present invention. The end effector module 500 is divided into a fixed part 510 and an updateable part 520. Figure 6.1 is a three-dimensional structural diagram of the fixed part 510. The fixed part 510 includes a fixed base 511, a connecting rod 512, a spring 513, and a fixed end magnet 514. Figure 6.2 shows Partial sectional view of the renewable part 520 , the renewable part 520 includes a pull rod 521 , an outer bracket 522 , a movable end magnet 523 , an operating tool head 524 , a hinge arm 525 and a pin 526 . The fixed base 511 contains a circular groove structure 5112, which can match with the protruding structure 30012 of the serpentine joint 3001 of the inner wire drive tube 302, and there is no gap between the fixed base 511 and the serpentine joint 3001 after cooperation. One section of the spring 513 is fixed on the fixed base 511, and one end is fixed on the bottom of the connecting rod 512. The bottom of the connecting rod 512 is also fixed with the wire rope 5001, and the wire rope 5001 passes through the fixed base 511 and the hollow part of the robot flexible arm module 300 and the steering gear for the actuator. 417 is connected to the fixed winding arm 414. The outer bracket 522, the pull rod 521, the operating tool head 524, and the hinge arm 525 form a hinge structure through the pin 526, and the pull rod 521 moves up and down to drive the operating tool head 524 to open and close. The outer bracket 522 contains a protruding structure 5221, and the fixed base 511 contains a groove 5111. When installing, the movable end magnet 523 fixed on the pull rod 521 and the fixed end magnet 514 fixed on the connecting pull rod 512 are mutually attracted. The protruding structure 5221 on the outer support 522 is aligned with the groove 5111 on the fixed base 511. When the outer support 522 contacts the fixed base 511, rotate the outer support 522 to fix it with the fixed base 511 to complete the process. The installation is finally shown in Figure 4.3. When the actuator uses the steering gear 417 to rotate and drive the fixed winding arm 414 to rotate, the wire rope 5001 is tightened, driving the connecting rod 512 to move downward, compressing the spring 513, and due to the attraction between the magnets, the connecting rod 512 moves downward It can drive the pull rod 521 to move downward, so that the two operating tool heads 524 are closed. When the actuator uses the steering gear 417 to rotate in the opposite direction to drive the fixed winding arm 414 to rotate in the opposite direction, the wire rope 5001 is relaxed, and the spring 513 returns to the initial state. Push the connecting rod 512 to move upward, and due to the attraction between the magnets, the upward movement of the connecting rod 512 can drive the upward movement of the connecting rod 521 to open the two operating tool heads 524 . When disassembling the updateable part 520 , first rotate the outer support 522 to separate the protruding structure 5221 from the groove 5111 , and then separate the magnet to complete the disassembly.

The invention provides a robot for minimally invasive surgery. The flexible arm of the robot has small dimensions and high flexibility, and can be well adapted to narrow and multi-curved natural cavities. It overcomes the single shape change and insufficient stability of traditional surgical robots. defects; the end effector can be quickly replaced to meet the needs of different surgical scenarios, effectively reducing the time cost.

The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be assumed that the specific implementation of the present invention is limited to these descriptions. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention, some simple deduction or replacement can be made, which should be regarded as belonging to the protection scope of the present invention.

Claims (5)

1. A robot for minimally invasive surgery, characterized in that: it includes a line-driven carrier module, a linear drive module, a robot flexible arm module, an end effector module and a robot support module; the line-driven carrier module, linear drive The modules are respectively installed on the robot bracket module, and the robot bracket module and the wire-driven carrier module are guided in a straight line forward and backward; the wire-driven carrier module is respectively connected with the robot flexible arm module and the end effector module, and drives The flexible arm module of the robot performs a bending movement, and drives the end effector module to perform clamping work; the linear drive module is connected to the wire-driven carrier module, and drives the wire-driven carrier module to move back and forth in a straight line, The robot flexible arm module moves back and forth following the wire-driven carrier module; the end effector module is installed on the robot flexible arm module; the robot flexible arm module is composed of at least two wire-driven tubes nested with each other , the front part of the wire drive tube is composed of a serpentine pipe joint hinged front and rear, and the rear part is a spring tube. The serpentine pipe joint includes at least four flexible arm wire rope through holes, and the flexible arm wire rope through holes Distributed at intervals around the circumference of the serpentine pipe joint, the through hole of the flexible arm wire rope contains a flexible arm wire rope, one end of the flexible arm wire rope is connected to the front end of the wire drive tube, and the other end is connected to the front end of the wire drive pipe. The line drive carrier module is connected, the spring tube is fixed on the line drive carrier module, the line drive tube is in one-to-one correspondence with the line drive carrier module, and different line drive tubes are correspondingly installed on different line drives. On the drive carrier module, each line drive carrier module is connected to a linear drive module, and different line drive tubes are driven by different linear drive modules and line drive carrier modules; the robot bracket module includes a support end plate, a fixed end End plate, flexible arm support, optical shaft, flange coupling, fixed end bearing seat and support end bearing seat, the flexible arm support is installed on the support end end plate, and the robot flexible arm module passes through The flexible arm is supported, the optical axis is fixed between the supporting end plate and the fixed end end plate through a flange coupling, and the fixed end bearing seat is fixed on the fixed end end plate , the support end bearing seat is fixed on the support end plate, the wire-driven carrier module is in sliding fit with the optical axis, and the optical axis is used to constrain the rotation of the wire-driven carrier module, And guide the linear motion of the line-driven carrier module; the linear drive module includes a lead screw, a lead screw nut, a lead screw nut seat, a geared motor, a motor bracket and a plum blossom coupling, and the lead screw passes through the support The end bearing seat and the fixed end bearing seat are fixed between the support end end plate and the fixed end end plate, the screw nut is installed on the lead screw, and the lead screw nut seat is connected to the fixed end end plate. The lead screw nut is fixed, the lead screw nut seat is connected with the line drive carrier board module, the motor bracket is fixed on the fixed end end plate, the deceleration motor is fixed on the motor support, and the deceleration The motor is connected to the lead screw through the plum blossom coupling, and drives the lead screw to rotate, thereby driving the line-driven carrier module to move back and forth in a straight line; there are at least two line-driven carrier modules, which are divided into left and fixed The wire-driven carrier module, the right fixed wire-driven carrier module, the two are mirror images of each other, and a wire-driven tube corresponds to a wire-driven carrier module, the wire-driven carrier module includes a support frame, and the steering gear for the wire-driven tube , a rudder plate, a wire winding arm and a linear bearing, wherein the wire drive carrier board module connected to the innermost tube additionally includes a steering gear for an actuator and a steering gear bracket for an actuator, and the steering gear for a wire drive tube is installed on the On the support frame, the steering gear bracket for the actuator is fixed on the support frame, the steering gear for the actuator is fixed to the steering gear bracket for the actuator, and the steering gear for the wire drive tube is connected to the steering gear for the actuator. The steering wheel, the winding arm is fixed to the steering wheel, the flexible arm wire rope of the robot flexible arm module is fixedly connected to the winding arm fixed on the steering gear for the line drive tube, and the end effector module The wire rope of the end effector is fixedly connected with the winding arm fixed on the actuator steering gear, the support frame is connected with the linear drive module through the screw nut seat, and the linear bearing is fixed on the support On the frame, the optical axis passes through the linear bearing; the end effector module includes a fixed part and a renewable part, the fixed part includes a fixed base, a connecting rod, a spring and a fixed end magnet, and the rear of the fixed base The end is connected with the front end of the robot flexible arm module, the front end of the fixed base is nested with the connecting rod, the spring clamp is arranged between the connecting rod and the fixed base, and the fixed end magnet is arranged on On the connecting rod, the connecting rod is connected with an end effector wire, and the end effector wire successively passes through the fixed base, the robot flexible arm module, and then connects with the wire-driven carrier module; The update part includes a pull rod, an outer bracket, a movable end magnet, an operating tool head and a hinge arm, the pull rod is located inside the outer bracket, and the operating tool head is respectively hinged with the outer bracket and the hinge arm, The front end of the pull rod is hinged to the hinge arm, the rear end of the pull rod is connected to the movable end magnet, and the movable end magnet cooperates with the fixed end magnet. 2. The robot for minimally invasive surgery according to claim 1, characterized in that: the length of each of the wire-driven tubes increases sequentially from the outermost tube to the innermost tube, and the length of the wire-driven tubes The spring tube is always inside the line drive tube of the outer layer, and there is a gap between the front and rear two serpentine joints. 3. The robot for minimally invasive surgery according to claim 1, characterized in that: the front end surface of the serpentine joint is provided with an arc-shaped convex structure protruding in the axial direction, and the arc There are two protruding structures in the shape of two and distributed around the circumferential interval of the serpentine joint at 180 degrees. The rear end surface of the serpentine joint is provided with an arc-shaped groove structure, and the arc-shaped concave There are two groove structures and they are distributed at intervals of 180 degrees around the circumference of the serpentine joint, and the arc-shaped convex structure and the arc-shaped groove structure located on the same serpentine joint are spaced at 90 degrees Distribution, the arc-shaped protruding structure of the serpentine pipe joint located at the back is hinged front and rear with the arc-shaped groove structure of the serpentine pipe joint located at the front, the arc-shaped protruding structure, The arc-shaped groove structure is provided with said flexible arm wire rope through hole. 4. The robot for minimally invasive surgery according to claim 1, characterized in that: the flexible arm wire rope is made of nickel-titanium alloy, and when the length of the flexible arm wire rope is shortened in a certain direction, the wire drives The tube deforms and bends in the corresponding direction of the shortened flexible arm cord, and the shortening degree is different, and the elastic deformation is different; after the flexible arm cord returns to the original length, the wire drive tube returns to its original state, The outer layer of the tube is covered with a food-grade transparent heat-shrinkable tube. 5. The robot for minimally invasive surgery according to claim 1, characterized in that: the rear end of the outer support is provided with a radial protrusion structure, and the fixed base is provided with an L-shaped locking recess When installing, screw the radial protruding structure of the outer bracket into the locking groove of the fixed base to complete the installation; the tie rod is provided with a butt hole, and the movable end The magnet is arranged in the docking hole, when the fixed part and the renewable part are connected, the connecting rod is inserted into the docking hole, and the movable end magnet is attracted to the fixed end magnet.

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