The invention provides a remote motion center device and a
robot system for minimally
invasive surgery. A remote center of motion device for minimally
invasive surgery, comprising: a support arm; the telecentric movement mechanism is hinged to the supporting arm; the
tail end executing mechanism comprises a mounting seat, a mounting
assembly and an operating instrument, the operating instrument is mounted on the mounting seat through the mounting
assembly, and the mounting seat is connected with the telecentric movement mechanism; the rotary motion
assembly is connected with the end, away from the
tail end executing mechanism, of the supporting arm; the pitching motion assembly comprises a pitching motor arranged on the supporting arm, a pitching lead screw arranged on the supporting arm, a driving sliding block arranged on the pitching lead screw in a sleeving mode, a first guide rod and a second guide rod, and the first guide rod and the second guide rod are arranged on the two sides of the pitching lead screw correspondingly and penetrate through the driving sliding block. The front
gravity compensation spring and the rear
gravity compensation spring are arranged on the two sides of the driving sliding block respectively. And the feeding movement assembly is arranged on the mounting seat.