The invention relates to a robotic
surgical instrument arm and a minimally-invasive
surgical robot applicable to various hole numbers. A transmission device of the robotic
surgical instrument arm anda flexible arm are in transmission through a
wire rope, and the flexible arm is provided with a
force sensor which is used for sensing stress of an executing end; due to multiple-degree-of-freedom arranging of the flexible arm, the flexibility is improved; due to configuration
layout design of the transmission device, a driving device and the flexible arm, a
surgical operation incision in dual-hole and multi-hole combinations can be smaller, and a
surgical operation is more minimally-invasive; the minimally-invasive
surgical robot applicable to various hole numbers can be assembled into single-hole, dual-hole and multi-hole minimally-invasive surgical robots according to clinical requirements; and the quantity of adaptive diseases is large, the coverage is extensive, and the hole numbers and a
branch quantity are changed flexibly. Through multiple-degree-of-freedom motion of the flexible arm, an
endoscope and an end operating appliance can achieve omni-bearing poses in space, the fieldof view of the
surgical operation is enlarged, and blind areas are avoided. The quantity of
degrees of freedom of an in-vitro mechanical arm is greater than 6, bedside deployment is facilitated, anda remote motion center point can be relatively easily formed and is free of interference with human bodies.