A single-port surgical instrument with a movable and self-rotating positioning joint

Abstract

The present invention discloses a single-port surgical instrument with moving and self-rotating positioning joints. The execution mechanism of the surgical instrument is composed of a first to an eighth joint execution mechanism, a wire rope tensioning mechanism, a fixed pin shaft, a guiding mechanism, a housing of the surgical instrument execution mechanism, etc. The second to the eighth joint execution mechanisms of the surgical instrument execution mechanism are driven by wires. The interface clutch disks on the surgical instrument execution mechanism are arranged in a single row, making the lever arms between the fixed points of the surgical instrument execution mechanism on the interface base longer, which is more conducive to the fixation of the surgical instrument execution mechanism. Installing the decoupling mechanism on the joint driving mechanism can simplify the structural design of the surgical instrument execution mechanism and is beneficial to the mass production of the surgical instrument execution mechanism. The surgical instrument with moving and self-rotating positioning joints for a single-port surgical robot of the present invention has the advantages of being convenient for disassembly and assembly, accurate in positioning, large in stiffness, reasonable in layout, miniaturized, and lightweight.

Description

Technical Field

[0001] The present invention relates to a medical device in the field of minimally invasive surgery, and in particular to a surgical instrument of a minimally invasive surgical single-port surgical robot suitable for minimally invasive surgery of the thoracic cavity and the abdominal cavity. Background Art

[0002] Minimally invasive surgery, represented by laparoscopy, is hailed as one of the important contributions of medical science to human civilization in the 20th century. Minimally invasive surgery refers to the operation performed by doctors through tiny incisions on the surface of the human body with the help of slender surgical instruments. Compared with traditional open surgery, it has the advantages of small surgical incisions, less bleeding, small postoperative scars, and fast recovery time, achieving the same therapeutic effect as traditional open surgery. Manually operated minimally invasive surgical instruments are passively operated, and generally have only one degree of freedom of movement at the end. During the operation, the doctor drives the end instrument through the fingers, and relies on the flexibility of the doctor's arm and wrist to successfully complete various complex operations including suturing and knotting. However, for the auxiliary minimally invasive surgical robot system, since the operation of the surgical instrument is completed by the robot, the robot system itself does not have the flexibility of human operation. Therefore, higher requirements are put forward for the design of surgical instruments dedicated to minimally invasive surgical robots. In order to meet the requirements of minimally invasive surgery, the design of surgical instruments should meet the requirements of small size, flexible operation, diverse forms, easy installation with robot arms, sufficient rigidity and strength, and suitable for medical environment requirements (such as multiple disinfection). In particular, surgical instruments should have more degrees of freedom to meet flexibility requirements so that they can adapt to complex surgical operations such as suturing and knotting.

[0003] During the minimally invasive surgical robot operation, the surgical tool is the only part that comes into contact with the diseased tissue of the human body, and is also the part of the robot that directly performs the surgical operation. Therefore, the performance of the surgical tool is the key to the comprehensive performance of the minimally invasive surgical robot system. In order to meet the requirements of modern minimally invasive surgery, the design of surgical tools should meet the requirements of delicate structure, flexible operation, diverse forms, easy replacement, and suitability for medical environment. In particular, the surgical tool should have more degrees of freedom to meet the flexibility requirements, and it should be easy to replace in order to achieve complex surgical operations. Therefore, the performance of the surgical instruments matched with the surgical tools is also an important part of the comprehensive performance of the minimally invasive surgical robot system. Its performance indicators not only affect the use of surgical tools, but also directly determine the design indicators and layout of the main system. In short, the performance of surgical tools and quick-change devices is a key factor in reflecting the overall performance level of the surgical robot system.

[0004] Internationally, several prototypes in the field of research on minimally invasive surgical robot systems have reached the level of commercial clinical application, including the da Vinci, Zeus, LAPROTEK systems, etc. Through the research on the development of surgical robot systems, it is found that the surgical tool system mainly consists of a tool part and a quick-change device. The development trend of the tool part is from rod drive and low degrees of freedom to wire drive and multiple degrees of freedom. Although its structure is becoming more and more simplified, its functions are becoming more and more powerful; the quick-change device is gradually developing towards a compact and integrated type, and its performance is also becoming more and more efficient and stable. The two existing commercial minimally invasive surgical robots both adopt a wire-driven four-degree-of-freedom surgical tool system, but these surgical tool systems still have disadvantages such as scattered structural layout and large external dimensions, so the surgical tool system still has great development potential.

[0005] In China, the research and development of minimally invasive surgical single-port robots is still in its infancy. In particular, there is still a large gap in the research of surgical tool systems compared with foreign technologies. Therefore, the development of wire-driven, multi-degree-of-freedom surgical tools and more stable and efficient quick-change devices is of great significance for filling domestic gaps and promoting technological progress in related fields. The research and development of a multi-degree-of-freedom surgical tool system with a different wire drive form and quick-change method from existing systems is of profound significance for enhancing China's academic and technical status in this scientific research field. Summary of the Invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a miniaturized and lightweight surgical instrument with moving and self-rotating positioning joints for a single-port surgical robot, which is convenient for disassembly and assembly, has accurate positioning, large stiffness, and reasonable layout, and can assist doctors in performing minimally invasive surgical operations.

[0007] The present invention provides a miniaturized and lightweight surgical instrument with moving and self-rotating positioning joints for a single-port surgical robot, which is convenient for disassembly and assembly, has accurate positioning, large stiffness, and reasonable layout. The specific scheme is as follows:

[0008] A single-port surgical instrument with movable and self-rotating positioning joints, comprising first, second, third, fourth, fifth, sixth, seventh, and eighth joint actuators; the eight joint actuators include 8 degrees of freedom, and the 8 degrees of freedom start from one end of the end drive box and are, in sequence: the translational degree of freedom along the z-axis of the first arm segment, the rotational degree of freedom about the x-axis of the second joint axis, the self-rotational degree of freedom about the z-axis of the third joint axis, the rotational degree of freedom about the x-axis of the fourth joint axis, the self-rotational degree of freedom about the z-axis of the fifth joint axis, the rotational degree of freedom about the x-axis of the sixth joint axis, the first rotational degree of freedom about the y-axis of the seventh joint axis, and the second rotational degree of freedom about the y-axis of the seventh joint axis. The axes of the degrees of freedom of every two adjacent joints among the first, second, third, fourth, fifth, sixth, and seventh joint actuators are perpendicular to each other in space, and the axes of the degrees of freedom of the seventh and eighth joint actuators coincide.

[0009] The surgical instrument actuator is installed and fixed on the base of the joint drive mechanism, and the base of the joint drive mechanism is fixedly connected to the nut of a ball screw mechanism, and the ball screw mechanism is fixedly connected to the fixed seat.

[0010] The structures inside the end drive boxes of the second, third, fourth, fifth, sixth, seventh, and eighth actuators are the same, and each includes a drive wire wheel shaft, a wire wheel, and an interface clutch disc; one end of the interface clutch disc is connected to the joint drive mechanism, and the other end is connected to the drive wire wheel shaft, and a wire wheel is installed on the drive wire wheel shaft; the rotation of the interface clutch disc drives the rotation of the drive wire wheel shaft and the wire wheel.

[0011] The first joint actuator is that the surgical instrument actuator axially moves along the axis of the first arm segment of the surgical instrument actuator relative to the fixed seat fixedly connected to the ball screw mechanism through the ball screw mechanism fixedly connected to the housing of the joint drive mechanism.

[0012] The second joint actuator includes a second joint drive wire wheel shaft, a wire wheel, an interface clutch disc, a first arm segment connecting sleeve, a second arm segment connecting sleeve, a first arm segment connecting piece, a first second arm segment connecting piece, a second second arm segment connecting piece, and the second joint at the connection between the first arm segment connecting piece and the first second arm segment connecting piece;

[0013] One end of the second joint interface clutch disc is connected to the second joint drive mechanism, and the other end is connected to the second joint drive wire wheel shaft, and a wire wheel is installed on the second joint drive wire wheel shaft; the rotation of the second joint interface clutch disc drives the rotation of the second joint drive wire wheel shaft and the wire wheel;

[0014] One end of the connecting sleeve of the first arm segment is fixedly connected to the end transmission box. The connecting sleeve of the first arm segment has two rigid bending joints, and each rigid bending joint is equipped with a set of first guide wheels and four sets of first tension wheels for guiding and tensioning the steel wire rope.

[0015] The other end of the connecting sleeve of the first arm segment at the second joint where the first arm segment connecting piece and the second arm segment connecting piece one are connected is fixedly connected to the first arm segment connecting piece. One guide wheel shaft and two tension wheel shafts for controlling the relative movement of the second, third, fourth, fifth, sixth, seventh, and eighth joints are installed on the first arm segment connecting piece. One set of second guide wheels and the second arm segment connecting piece one are installed on the guide wheel shaft. One set of second tension wheels is installed on each of the two tension wheel shafts. One end of the connecting sleeve of the second arm segment is fixedly connected to the second arm segment connecting piece one. Two tension wheel shafts for controlling the relative movement of the third, fourth, fifth, sixth, seventh, and eighth joints are installed on the second arm segment connecting piece one. One set of third tension wheels is installed on each of the two tension wheel shafts. There is a rope groove on the second arm segment connecting piece one for controlling the relative swing of the second arm segment and the first arm segment.

[0016] The axis of the second guide wheel on the first arm segment connecting piece at the second joint coincides with the relative swing axis of the second joint. The axis of the second guide wheel and the axes of the two second tension wheels on the first arm segment connecting piece at the second joint are parallel to the axes of the two third tension wheels on the second arm segment connecting piece one. The center planes of the second guide wheel and the second and third tension wheels installed on the adjacent first arm segment connecting piece and the second arm segment connecting piece one for controlling the swing of the same joint at the second joint are located in the same plane. The first and second guide wheels can rotate freely relative to the guide wheel shaft. The first, second, and third tension wheels can rotate freely relative to the tension wheel shaft. The other end of the connecting sleeve of the second arm segment is fixedly connected to the second arm segment connecting piece two.

[0017] The structures of the third, fourth, fifth, sixth, seventh, and eighth joint actuators are basically the same as that of the second joint actuator. The axis of the guide wheel of the third joint actuator coincides with the self-rotation axis of the third joint. Two fifth tension wheels are installed on the same side of the rope groove on the first arm segment connecting piece three. The axes of the two fifth tension wheels are perpendicular to the axis of the rope groove on the first arm segment connecting piece five, and the tangents of the two fifth tension wheels and the rope groove on the first arm segment connecting piece three coincide for controlling the relative self-rotation of the third arm segment and the second arm segment.

[0018] Inside the connecting sleeve of arm segment three at the third joint, a fourth joint, a fifth joint, a sixth joint, a seventh joint, an eighth joint guide wheel and a tension wheel are installed. The two tension wheels controlling the same joint are respectively arranged on both sides of the guide wheel. The axes of the two tension wheels controlling the swing of the same joint are perpendicular to the axis of the guide wheel, and the tangents of the two tension wheels and the guide wheel coincide.

[0019] The axis of the guide wheel of the fifth joint actuator coincides with the axis of self-rotation of the fifth joint. Two tension wheels six are installed on the same side of the rope groove on the first connecting piece of arm segment five. The axes of the two tension wheels six are perpendicular to the axis of the rope groove on the first connecting piece of arm segment five, and the tangents of the two tension wheels six and the rope groove on the first connecting piece of arm segment five coincide, which is used to control the relative self-rotation of arm segment five and arm segment four;

[0020] Inside the connecting sleeve of arm segment five at the fifth joint, a sixth joint, a seventh joint, an eighth joint guide wheel and a tension wheel are installed. The two tension wheels controlling the same joint are respectively arranged on both sides of the guide wheel. The axes of the two tension wheels controlling the swing of the same joint are perpendicular to the axis of the guide wheel, and the tangents of the two tension wheels and the guide wheel coincide.

[0021] The second, third, fourth, fifth, sixth, seventh and eighth joint actuators respectively drive the second joint, third joint, fourth joint, fifth joint, sixth joint, seventh joint and eighth joint to rotate through steel wire ropes;

[0022] Furthermore, guiding structures are installed on both sides of the wire wheels in the end drive boxes of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators; each of the guiding structures includes a guide wheel shaft, a guide wheel set and a sleeve. The sleeve is sleeved on the guide wheel shaft, and the guide wheel is sleeved on the guide wheel shaft; both ends of the guide wheel shaft are fixed on the base housing.

[0023] Furthermore, the sleeves of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators are in interference connection with the corresponding connecting pieces at both ends and are fixed by pin shafts.

[0024] Furthermore, there are wire rope grooves on the wire wheels and drive wire wheel shafts in the second, third, fourth, fifth, sixth, seventh and eighth joint actuators for winding wire ropes; there are slot holes on the rope grooves of the wire wheels and drive wire wheel shafts in the second, third, fourth, fifth, sixth, seventh and eighth joint actuators. After the end of the wire rope is knotted, it is embedded in the slot holes for fixing the end of the wire rope.

[0025] Further, the corresponding joint arm segment connecting piece rope grooves of the second, third, fourth, fifth, sixth, seventh, and eighth joint actuators have slot holes. After the end of the steel wire rope is knotted, it is embedded in the slot holes for fixing the end of the steel wire rope.

[0026] Further, to prevent the steel wire rope from slipping out of the guide pulley and the tension pulley, a guide hole plate can be installed near the tension pulley, so that the steel wire rope winds in and out of the guide pulley and the tension pulley along the tangents of the guide pulley and the tension pulley and then passes through the guide hole of the guide hole plate to the adjacent joint.

[0027] Further, the second, third, fourth, fifth, and sixth joint actuators are arranged in a single row in sequence in the end transmission box; the seventh and eighth joint actuators are arranged in parallel with the sixth joint actuator in the end transmission box.

[0028] Further, the wire wheels of the second, third, fourth, fifth, sixth, seventh, and eighth joint actuators are sleeved on the transmission wire wheel shaft. There are arc-shaped long bolt holes on the wire wheel and the transmission wire wheel shaft. After adjusting the relative rotation angle between the wire wheel and the transmission wire wheel shaft, they are connected and fastened with bolts; one end of the transmission wire wheel shaft is fixed on the housing of the surgical instrument actuator through a bearing, and the other end of the transmission wire wheel shaft is fixed on the housing of the surgical instrument actuator through a bearing; one end of the transmission wire wheel shaft and the interface clutch disc have a "D"-shaped cross-section, and the "D"-shaped cross-sections of the transmission wire wheel shaft and the interface clutch disc form an interference fit. One end of the transmission wire wheel shaft and the interface clutch disc are circumferentially fixed through the "D"-shaped cross-section, and one end of the transmission wire wheel shaft and the interface clutch disc are axially fixed through bolts.

[0029] Further, one end of the front drive steel wire of the second, third, fourth, fifth, sixth, seventh, and eighth joint actuators is fixed in the wire groove of the respective corresponding wire wheel, and the other end of the front drive steel wire is fixed in the annular wire groove of the respective corresponding joint; one end of the rear drive steel wire is fixed in the wire groove of the respective corresponding transmission wire wheel shaft, and the other end of the rear drive steel wire is fixed in the annular wire groove of the respective corresponding joint; by adjusting the relative rotation angle between the wire wheel and the transmission wire wheel shaft, the front drive steel wire and the rear drive steel wire reach an appropriate tension in the transmission path, and then the transmission wire wheel shaft and the wire wheel are connected and fastened with bolts.

[0030] The beneficial effects of the present invention:

[0031] The surgical instrument with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention has the following beneficial effects compared with the prior art:

[0032] 1. The surgical instrument with movable and rotatable positioning joints for single-port surgical robots according to the present invention is convenient for disassembly and assembly, has accurate positioning, large stiffness, reasonable layout, miniaturization, and light weight.

[0033] 2. The joint drive mechanism of the surgical instrument adopts mechanical decoupling or control decoupling, completely solving the problem of mutual motion coupling generated when the joints of the surgical instrument actuator swing.

[0034] 3. The surgical instrument actuator has flexible movements, a small range of motion for completing various actions, and effectively solves the interference problem during multi-instrument cooperation.

[0035] 4. The interface clutch disc on the surgical instrument actuator M is arranged in a single row, making the lever arm between the fixed points of the surgical instrument M on the interface base longer, which is more conducive to the fixation of the surgical instrument actuator M on the joint drive mechanism N.

[0036] 5. The interface clutch disc on the surgical instrument actuator M is arranged in a single row, and the motor on the joint drive mechanism N is "coaxially arranged" with the interface clutch disc. The drive motors of the second joint actuator, the third joint actuator, the fourth joint actuator, the fifth joint actuator, the sixth joint actuator, the seventh joint actuator, and the eighth joint actuator can be arranged in a single row, reducing the possibility of interference during the coordinated movement of multiple instruments and having a reasonable spatial layout.

[0037] 6. The mechanical decoupling mechanism is designed on the joint drive mechanism N instead of on the surgical instrument actuator M, which can simplify the structural design of the surgical instrument actuator M and is conducive to the mass production of the surgical instrument actuator M. Description of the Drawings

[0038] Figure 1 is a schematic diagram of the degree-of-freedom combination of a double-headed instrument of the surgical instrument actuator for a single-port surgical robot according to the present invention.

[0039] Figure 2 is a schematic diagram of the degree-of-freedom combination of a single-headed instrument of the surgical instrument actuator with movable and rotatable positioning joints for a single-port surgical robot and a 30° laparoscope.

[0040] Figure 3 is a schematic diagram of the degree-of-freedom combination of a 360° laparoscope of the surgical instrument actuator with movable and rotatable positioning joints for a single-port surgical robot according to the present invention.

[0041] Figure 4 is a schematic front view of the structure of the surgical instrument actuator with movable and rotatable positioning joints for a single-port surgical robot according to the present invention.

[0042] Figure 5It is a right view schematic diagram of the structure of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention.

[0043] Figure 6 It is a front view schematic diagram of the assembly of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot and a joint drive mechanism according to the present invention.

[0044] Figure 7 It is a right view schematic diagram of the assembly of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot and a joint drive mechanism according to the present invention.

[0045] Figure 8 It is a top view schematic diagram of the assembly of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot and a joint drive mechanism according to the present invention.

[0046] Figure 9 It is a front view schematic diagram of the structure of Embodiment 2 of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention.

[0047] Figure 10 It is a right view schematic diagram of the structure of Embodiment 2 of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention.

[0048] Figure 11 It is a front view schematic diagram of the structure of Embodiment 3 of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention.

[0049] Figure 12 It is a front view schematic diagram of the assembly of Embodiment 2 of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention.

[0050] Figure 13 It is a right view schematic diagram of the assembly of Embodiment 2 of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention.

[0051] Figure 14 It is a top view schematic diagram of the assembly of Embodiment 2 of a surgical instrument actuator with moving and self-rotating positioning joints for a single-port surgical robot according to the present invention.

[0052] Figures 15 - 17 It is Figure 4 a partial enlarged view in

[0053] Figures 18 - 20 It is Figure 5 a partial enlarged view in

[0054] In the figure:

[0055] Joints drive mechanism N, surgical instrument actuator M,

[0056] Fixed seat 1_1, ball screw mechanism 1_2, base 1_3, base housing 1_3_1, base cover 1_3_2, locking hook 1_3_3_1, locking hook 1_3_3_2, fixed pin 1_3_4,

[0057] Guide wheel shafts 1_4_1_1, 1_4_1_2, 1_4_1_3, 1_4_1_4, 1_4_1_5, 1_4_1_6, 1_4_1_7, 1_4_1_8; guide wheel sets 1_4_2_1, 1_4_2_2, 1_4_2_3, 1_4_2_4, 1_4_2_5, 1_4_2_6, 1_4_2_7, 1_4_2_8;

[0058] First joint 1_5; second joint 2_1; third joint 3_1, fourth joint 4_1, fifth joint 5_1, sixth joint 6_1, seventh joint 7_1, eighth joint 8_1;

[0059] First arm segment 1_6; second arm segment 2_2; third arm segment 3_2; fourth arm segment 4_2; fifth arm segment 5_2; sixth arm segment 6_2; seventh arm segment 7_2; eighth arm segment 8_2;

[0060] Rigid bending joints 1_12, 1_13; guide wheels 1_12_1, 1_13_1; tension wheels 1_12_2, 1_13_3‘’

[0061] Two tension wheel shafts 1_15, 1_16; a set of guide wheels 1_17; tension wheels 1_18, 1_19; surgical instrument actuator housing 1_20; end drive box 1_4;

[0062] First arm segment connecting sleeve 1_10;

[0063] First arm segment connecting piece 1_11; guide wheel shaft 1_14;

[0064] Second arm segment 2_2; drive wire wheel shaft 2_3; wire wheel 2_4; interface clutch disc 2_5; first second arm segment connecting piece 2_6; second arm segment connecting sleeve 2_7; second second arm segment connecting piece 2_8; tension wheel shafts 2_10, 2_11; tension wheels 2_13, 2_14;

[0065] Tension wheels 5_17 to 5_18; first fifth arm segment connecting piece 5_6; fifth arm segment connecting sleeve 5_7. Detailed implementation mode

[0066] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0067] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular forms are also intended to include the plural forms. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0068] As introduced in the background art, the research and development of minimally invasive surgical single-port robotic systems in the prior art is still in its infancy. In particular, there is still a significant gap in the research of surgical tool systems compared with foreign technologies. Therefore, the development of a wire drive, multi-degree-of-freedom surgical tool and a more stable and efficient quick-change device is of great significance for filling domestic gaps and promoting technological progress in related fields. The research and development of a multi-degree-of-freedom surgical tool system with a wire drive form and a quick-change method different from existing systems is of profound significance for enhancing China's academic and technical status in this scientific research field. To solve the above technical problems, the present application proposes a single-port surgical instrument with moving and self-rotating positioning joints.

[0069] Embodiment 1

[0070] Combined with Figure 1 , Figures 4 - 8 , Figures 15 - 20 This embodiment is described. The surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot includes a first joint actuator 1, a second joint actuator 2, a third joint actuator 3, a fourth joint actuator 4, a fifth joint actuator 5, a sixth joint actuator 6, a seventh joint actuator 7, an eighth joint actuator 8, and a surgical instrument actuator housing 1_20, etc.

[0071] The surgical instrument actuator M has 8 degrees of freedom. Starting from one end of the end transmission box 1_4, the 8 degrees of freedom of the surgical instrument actuator M are as follows: the degree of freedom of moving in the z-axis direction along the axis of the first arm segment 1_6, the degree of freedom of swinging in the x-axis direction around the axis of the second joint 2_1, the degree of freedom of self-rotation in the z-axis direction around the axis of the third joint 3_1, the degree of freedom of swinging in the x-axis direction around the axis of the fourth joint 4_1, the degree of freedom of self-rotation in the z-axis direction around the axis of the fifth joint 5_1, the degree of freedom of swinging in the x-axis direction around the axis of the sixth joint 6_1, the degree of freedom of swinging in the y-axis direction I around the axis of the seventh joint 7_1, and the degree of freedom of swinging in the y-axis direction II around the axis of the seventh joint 7_1. The axes of the degrees of freedom of every two adjacent joints of the first, second, third, fourth, fifth, sixth, and seventh joint actuators 7 are perpendicular to each other in space, and the axes of the degrees of freedom of the seventh and eighth joint actuators 8 coincide.

[0072] The surgical instrument actuator M is installed and fixed on the base 1_3 of the joint drive mechanism N. The base housing 1_3_1 of the joint drive mechanism N is fixedly connected to the nut of a ball screw mechanism 1_2, and the ball screw mechanism 1_2 is fixedly connected to the fixed seat 1_1.

[0073] The structures inside the end transmission boxes 1_4 of the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 are the same, and each includes a drive wire wheel shaft, a wire wheel, an interface clutch disc, a bearing, etc. One end of the interface clutch disc is connected to the joint drive mechanism N, and the other end is connected to the drive wire wheel shaft. A wire wheel is installed on the drive wire wheel shaft. The rotation of the interface clutch disc drives the rotation of the drive wire wheel shaft and the wire wheel.

[0074] The first joint actuator 1 is that the surgical instrument actuator M axially moves along the axis of the first arm segment 1_6 of the surgical instrument actuator M relative to the fixed seat 1_1 fixedly connected to the ball screw mechanism 1_2 through the ball screw mechanism 1_2 fixedly connected to the base housing 1_3 of the joint drive mechanism N.

[0075] The second joint actuator 2 includes a second joint drive wire wheel shaft 2_3, a wire wheel 2_4, an interface clutch disc 2_5, a connecting sleeve 1_10 for the first arm segment, a connecting sleeve 2_7 for the second arm segment, a connecting member 1_11 for the first arm segment, a first connecting member 2_6 for the second arm segment, a second connecting member 2_8 for the second arm segment, and the second joint 2_1 at the connection between the connecting member 1_11 for the first arm segment and the first connecting member 2_6 for the second arm segment.

[0076] One end of the second joint interface clutch disc 2_5 is connected to the second joint drive mechanism, and the other end is connected to the second joint drive pulley shaft 2_3. A wire pulley 2_4 is installed on the second joint drive pulley shaft 2_3; the rotation of the second joint interface clutch disc 2_5 drives the rotation of the second joint drive pulley shaft 2_3 and the wire pulley 2_4;

[0077] One end of the connecting sleeve 1_10 of the first arm segment is fixedly connected to the end transmission box 1_4. The connecting sleeve 1_10 of the first arm segment has two rigid bending joints 1_12 and 1_13. A set of guide wheels 1_12_1 and 1_13_1 and four sets of tension wheels 1_12_2 and 1_13_2 are installed on each of the rigid bending joints 1_12 and 1_13 for wire rope guiding and tensioning;

[0078] The other end of the first arm section connecting sleeve 1_10 at the second joint 2_1 where the first arm section connecting member 1_11 is connected to the first second arm section connecting member 2_6 is fixedly connected to the first arm section connecting member 1_11. One guide wheel shaft 1_14 and two tension wheel shafts 1_15, 1_16 for controlling the relative movement of the second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 are installed on the first arm section connecting member 1_11. A set of guide wheels 1_17 and the first second arm section connecting member 2_6 are installed on the guide wheel shaft 1_14. A set of tension wheels 1_18, 1_19 are respectively installed on the two tension wheel shafts 1_15, 1_16. One end of the second arm section connecting sleeve 2_7 is fixedly connected to the first second arm section connecting member 2_6. Two tension wheel shafts 2_10, 2_11 for controlling the relative movement of the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 are installed on the first second arm section connecting member 2_6. A set of tension wheels 2_13, 2_14 are respectively installed on the two tension wheel shafts 2_10, 2_11. There is a rope groove on the first second arm section connecting member 2_6 for controlling the relative swing of the second arm section 2_2 and the first arm section 1_6. The axis of the guide wheel 1_17 on the first arm section connecting member 1_11 at the second joint 2_1 coincides with the relative swing axis of the second joint 2_1. The axis of the guide wheel 1_17 on the first arm section connecting member 1_11 at the second joint 2_1 and the axes of the two tension wheels 1_18, 1_19 are parallel to the axes of the two tension wheels 2_13, 2_14 on the first second arm section connecting member 2_6. The center planes of the guide wheels and the tension wheels installed on the adjacent first arm section connecting member 1_11 and the first second arm section connecting member 2_6 for controlling the swing of the same joint at the second joint 2_1 are located in the same plane. The guide wheel 1_17 can rotate freely relative to the guide wheel shaft 1_14. The tension wheels 1_18, 1_19, 2_13, 2_14 can rotate freely relative to the tension wheel shafts 1_15, 1_16, 2_10, 2_11. The other end of the second arm section connecting sleeve 2_7 is fixedly connected to the second second arm section connecting member 2_8.

[0079] The third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 are basically the same in structure as the second joint actuator 2. Among them, the axis of the guide wheel of the third joint actuator 3 coincides with the rotation axis of the third joint 3_1. Two tension wheels 3_17 and 3_18 are installed on the same side of the rope groove on the first three-arm connecting member 3_6. The axes of the two tension wheels 3_17 and 3_18 are perpendicular to the axis of the rope groove on the first three-arm connecting member 3_6, and the tangents of the two tension wheels 3_17 and 3_18 and the rope groove on the first three-arm connecting member 3_6 coincide, which is used to control the relative rotation of the third arm 3_2 and the second arm 2_2. Inside the three-arm connecting sleeve 3_7 at the third joint 3_1, guide wheels and tension wheels of the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 are installed. The two tension wheels for controlling the same joint are respectively arranged on both sides of the guide wheel, and the axes of the two tension wheels for controlling the swing of the same joint are perpendicular to the axis of the guide wheel, and the tangents of the two tension wheels and the guide wheel for controlling the swing of the same joint coincide.

[0080] The axis of the guide wheel of the fifth joint actuator 5 coincides with the rotation axis of the fifth joint 5_1. Two tension wheels 5_17 and 5_18 are installed on the same side of the rope groove on the first five-arm connecting member 5_6. The axes of the two tension wheels 5_17 and 5_18 are perpendicular to the axis of the rope groove on the first five-arm connecting member 5_6, and the tangents of the two tension wheels 5_17 and 5_18 and the rope groove on the first five-arm connecting member 5_6 coincide, which is used to control the relative rotation of the fifth arm 5_2 and the fourth arm 4_2. Inside the five-arm connecting sleeve 5_7 at the fifth joint 5_1, guide wheels and tension wheels of the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 are installed. The two tension wheels for controlling the same joint are respectively arranged on both sides of the guide wheel, and the axes of the two tension wheels for controlling the swing of the same joint are perpendicular to the axis of the guide wheel, and the tangents of the two tension wheels and the guide wheel for controlling the swing of the same joint coincide.

[0081] The second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 respectively drive the second joint 2_1, the third joint 3_1, the fourth joint 4_1, the fifth joint 5_1, the sixth joint 6_1, the seventh joint 7_1, and the eighth joint 8_1 to rotate through steel wire ropes;

[0082] Further, guiding structures are installed on both sides of the wire wheels in the end drive boxes 1_4 of the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8; each of the guiding structures includes a guide wheel shaft, a guide wheel set, and a sleeve. The sleeve is sleeved on the guide wheel shaft, and the guide wheel is sleeved on the guide wheel shaft; both ends of the guide wheel shaft are fixed to the base housing 1_3_1.

[0083] Further, the sleeves of the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 are in interference connection with the corresponding connecting parts at both ends and fixed by pin shafts.

[0084] Further, the wire wheels and the drive wire wheel shafts in the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 have wire rope grooves for winding wire ropes; there are slot holes in the rope grooves on the wire wheels and the drive wire wheel shafts in the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8. After the end of the wire rope is knotted, it is embedded in the slot holes for fixing the end of the wire rope.

[0085] Further, the corresponding joint arm segment connecting parts of the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 have slot holes in the rope grooves. After the end of the wire rope is knotted, it is embedded in the slot holes for fixing the end of the wire rope.

[0086] Further, to prevent the wire rope from slipping out of the guide wheel and the tensioning wheel, a guide hole plate can be installed near the tensioning wheel, so that the wire rope winds in and out of the guide wheel and the tensioning wheel along the tangents of the guide wheel and the tensioning wheel and then passes through the guide holes of the guide hole plate to the adjacent joint.

[0087] Further, the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, and the sixth joint actuator 6 are arranged in a single row in sequence in the end drive box 1_3_4; the seventh joint actuator 7 and the eighth joint actuator 8 are arranged in parallel with the sixth joint actuator 6 in the end drive box 1_3_4.

[0088] Further, the wire wheels of the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 are sleeved on the transmission wire wheel shaft. There are arc-shaped long bolt holes on the wire wheel and the transmission wire wheel shaft. After adjusting the relative rotation angle between the wire wheel and the transmission wire wheel shaft, they are connected and fastened with bolts. One end of the transmission wire wheel shaft is fixed to the surgical instrument actuator housing 1_20 through a bearing, and the other end of the transmission wire wheel shaft is fixed to the surgical instrument actuator housing 1_20 through a bearing. One end of the transmission wire wheel shaft has a "D"-shaped cross-section with the interface clutch disc. The "D"-shaped cross-section of the transmission wire wheel shaft and the interface clutch disc form an interference fit. One end of the transmission wire wheel shaft is circumferentially fixed to the interface clutch disc through the "D"-shaped cross-section, and one end of the transmission wire wheel shaft is axially fixed to the interface clutch disc through bolts.

[0089] Further, one end of the front drive steel wire of the second joint actuator 2, the third joint actuator 3, the fourth joint actuator 4, the fifth joint actuator 5, the sixth joint actuator 6, the seventh joint actuator 7, and the eighth joint actuator 8 is fixed in the wire groove of the respective corresponding wire wheel, and the other end of the front drive steel wire is fixed in the annular wire groove of the respective corresponding joints 2_1 to 8_1. One end of the rear drive steel wire is fixed in the wire groove of the respective corresponding transmission wire wheel shaft, and the other end of the rear drive steel wire is fixed in the annular wire groove of the respective corresponding joints 2_1 to 8_1. By adjusting the relative rotation angle between the wire wheel and the transmission wire wheel shaft, the front drive steel wire and the rear drive steel wire reach an appropriate tension in the transmission path, and then the transmission wire wheel shaft and the wire wheel are connected and fastened to each other with bolts.

[0090] Specifically, the wire rope routing is as follows:

[0091] The forward driving wire paths of the second joint 2_1, third joint 3_1, fourth joint 4_1, fifth joint 5_1, sixth joint 6_1, seventh joint 7_1, and eighth joint 8_1 are basically the same. One end of the forward driving wire of the second joint 2_1, third joint 3_1, fourth joint 4_1, fifth joint 5_1, sixth joint 6_1, seventh joint 7_1, and eighth joint 8_1 is respectively fixed in the wire grooves of the wire wheels on the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8. The other ends of the forward driving wires of the second joint 2_1, third joint 3_1, fourth joint 4_1, fifth joint 5_1, sixth joint 6_1, seventh joint 7_1, and eighth joint 8_1 are respectively wound out counterclockwise from the wire grooves of the wire wheels on the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8, then bypass the guide wheels in the end transmission box 1_4, and then successively bypass the guide wheel sets 1_12_1, 1_13_1 and tension wheel sets 1_12_2, 1_13_2 at the two rigid bending joints 1_12, 1_13 on the first arm segment 1_6, the guide wheel sets and tension wheel sets for controlling the relative movement of the arm segment of this joint at each joint between this joint and the end transmission box 1_4, the tension wheel set for controlling the relative movement of the arm segment of this joint at this joint, and are wound counterclockwise into the annular wire groove in the arm segment connecting piece at this joint and fixed in the annular wire groove in the arm segment connecting piece at this joint.

[0092] The routing directions of the rear drive wires for the second joint 2_1, third joint 3_1, fourth joint 4_1, fifth joint 5_1, sixth joint 6_1, seventh joint 7_1, and eighth joint 8_1 are basically the same. One ends of the rear drive wires for the second joint 2_1, third joint 3_1, fourth joint 4_1, fifth joint 5_1, sixth joint 6_1, seventh joint 7_1, and eighth joint 8_1 are respectively fixed in the wire grooves of the wire wheels on the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8. The other ends of the rear drive wires for the second joint 2_1, third joint 3_1, fourth joint 4_1, fifth joint 5_1, sixth joint 6_1, seventh joint 7_1, and eighth joint 8_1 are respectively wound out clockwise from the wire grooves of the wire wheels on the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8, then bypass the guide wheels in the end transmission box 1_4, and then successively bypass the guide wheel sets 1_12_1, 1_13_1 and tension wheel sets 1_12_2, 1_13_2 at the two rigid bending joints 1_12, 1_13 on the first arm segment 1_6, the guide wheel sets and tension wheel sets for controlling the relative movement of the arm segment of this joint at each joint between this joint and the end transmission box 1_4, the tension wheel set for controlling the relative movement of the arm segment of this joint at this joint, and are wound clockwise into the annular wire groove in the arm segment connecting piece at this joint and fixed in the annular wire groove in the arm segment connecting piece at this joint.

[0093] The working principle of the present invention:

[0094] The respective arm segments 2_2 to 8_2 in the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 rotate clockwise around their respective corresponding joint 2_1 to 8_1 guide wheel shafts: The interface clutch discs of the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 rotate clockwise under the power input of the joint drive mechanism N. The interface clutch discs of the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 drive the drive wire wheel shafts and wire wheels of the respective joint actuators 2 to 8 to rotate clockwise. The drive wire wheel shafts and wire wheels of the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 drive the drive steel wires of the respective arm segments 2_2 to 8_2 to rotate clockwise. The drive steel wires of the respective arm segments 2_2 to 8_2 drive the drive steel wires of the respective arm segments 2_2 to 8_2 to bypass the guide wheels in the end drive box 1_4 and then sequentially bypass the guide wheel sets 1_12_1 and 1_13_1 and the tension wheel sets 1_12_2 and 1_13_3 at the two rigid bending joints 1_12 and 1_13 on the first arm segment, the guide wheel sets and tension wheel sets for controlling the relative movement of the joint arm segment at each joint between this joint and the end drive box 1_4, the tension wheel set for controlling the relative movement of the joint arm segment at this joint, and the rope groove of the first arm segment connector at this joint to rotate clockwise, thereby driving this arm segment to rotate clockwise.

[0095] Each arm segment 2_2 to 8_2 in the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 rotates counterclockwise around the corresponding joint 2_1 to 8_1 guide wheel shaft: The interface clutch discs of the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 rotate counterclockwise under the power input of the joint drive mechanism N. The interface clutch discs of the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 drive the drive wire wheel shafts and wire wheels of each joint actuator 2 to 8 to rotate counterclockwise. The drive wire wheel shafts and wire wheels of the second joint actuator 2, third joint actuator 3, fourth joint actuator 4, fifth joint actuator 5, sixth joint actuator 6, seventh joint actuator 7, and eighth joint actuator 8 drive the drive wires of each arm segment 2_2 to 8_2 to rotate counterclockwise. The drive wires of each arm segment 2_2 to 8_2 drive the drive wires of each arm segment 2_2 to 8_2 to bypass the guide wheels in the end drive box 1_4 and then successively bypass the guide wheel groups 1_12_1 and 1_13_1 and the tension wheel groups 1_12_2 and 1_13_3 at the two rigid bending joints 1_12 and 1_13 on the first arm segment, the guide wheel groups and tension wheel groups for controlling the relative movement of the joint arm segment at each joint between this joint and the end drive box 1_4, the tension wheel group for controlling the relative movement of the joint arm segment at this joint, and the rope groove of the first arm segment connector at this joint to rotate counterclockwise, thereby driving this arm segment to rotate counterclockwise.

[0096] The first joint actuator 1 realizes axial forward movement along the axis direction of the first arm segment 1_6: The surgical instrument actuator M axially moves forward along the axis direction of the first arm segment 1_6 of the surgical instrument actuator M relative to the fixed seat 1_1 fixed to the ball screw mechanism 1_2 through the ball screw mechanism 1_2 fixed to the housing 1_3 of the joint drive mechanism, so as to realize the axial forward movement of the first joint actuator 1 along the axis direction of the first arm segment 1_6.

[0097] The first joint actuator 1 realizes axial backward movement along the axis direction of the first arm segment 1_6: The surgical instrument actuator M axially moves backward along the axis direction of the first arm segment 1_6 of the surgical instrument actuator M relative to the fixed seat 1_1 fixed to the ball screw mechanism 1_2 through the ball screw mechanism 1_2 fixed to the housing 1_3 of the joint drive mechanism, so as to realize the axial backward movement of the first joint actuator 1 along the axis direction of the first arm segment 1_6.

[0098] Installation and disassembly between the surgical instrument actuator M with moving and self-rotating positioning joints and the joint drive mechanism N

[0099] When the surgical instrument actuator M is installed into the joint drive mechanism N, the surgical instrument actuator M slides into the bottom of the end and middle of the guiding chute on the upper surface of the base housing 1_3_2 along the top of the "flare" - shaped guiding chute on the upper surface of the base housing 1_3_2. The bottom of the end and middle of the guiding chute on the upper surface of the base housing 1_3_2 forms an interference fit with the fixing pin shaft 1_3_4 of the surgical instrument actuator M. At the same time, rotate the two locking hooks 1_3_3_1 and 1_3_3_2 on the upper surface of the two base housings 1_3_2 respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are engaged with the bosses at the corresponding positions on the housing of the surgical instrument actuator M, to prevent the fixing pin shaft 1_3_4 of the surgical instrument actuator M from "sliding out" of the guiding chute on the upper surface of the base housing 1_3_2, resulting in the "separation" of the surgical instrument actuator M and the joint drive mechanism N. At the same time, the two positioning bosses on the base housing 1_3_1 can position and fix the surgical instrument actuator M;

[0100] When the surgical instrument actuator M is separated from the joint drive mechanism N, rotate the two locking hooks 1_3_3_1 and 1_3_3_2 on the upper surface of the two base housings 1_3_2 respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 are separated from the bosses at the corresponding positions on the housing of the surgical instrument actuator M. The surgical instrument actuator M slides out of the base housing 1_3_2 along the bottom of the end and middle of the guiding chute on the upper surface of the base housing 1_3_2 from the top of the "flare" - shaped guiding chute, so that the surgical instrument actuator M and the joint drive mechanism N are "separated".

[0101] Embodiment 2

[0102] Combined with Figure 9 、 Figure 10 、 Figures 12 - 14 To illustrate this embodiment, on the basis of the technical solution of Embodiment 1, the layout of the two rigid bending joints 1_12 and 1_13 of the arm segment 1_6 of the surgical instrument actuator M with moving and self - rotating positioning joints can be changed to the structure in Figure 9 、 Figure 10 in it.

[0103] Combined with Figure 9 、 Figure 10 、 Figures 12 - 14 To illustrate this embodiment, on the basis of the technical solution of Embodiment 1, the layout of the two rigid bending joints 1_12 and 1_13 of the arm segment 1_6 of the surgical instrument actuator M with moving and self - rotating positioning joints for single - hole surgical robots can be changed to the structure in Figure 9, Figure 10 The structure in [reference]. That is, the layout of the two rigid bending joints 1_12 and 1_13 of the first arm segment 1_6 of the surgical instrument actuator M with moving and self-rotating positioning joints in the technical solution of Example 1 is adjusted to the technical solution of Example 2, and it can still be correctly driven and decoupled.

[0104] Example 3

[0105] Combined with Figure 11 To illustrate this embodiment, based on the technical solutions of Example 1 or Example 2, the wire rope layout of the surgical instrument actuator M with moving and self-rotating positioning joints can be changed to the structure in [reference]. Figure 11 The structure in [reference].

[0106] Combined with Figure 11 To illustrate this embodiment, based on the technical solutions of Example 1 or Example 2, the layout of the transmission box 1_4 of the surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot can be changed to the structure in [reference]. Figure 11 The structure in [reference]. That is, the layout of the transmission box of the surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot in the technical solution of Example 1 or Example 2 is adjusted to the technical solution of Example 3, and at the same time, the layout of the joint drive mechanism N for mechanical decoupling or control decoupling of the minimally invasive single-port surgical robot is also adjusted to the technical solution of Example 3, and it can still be correctly driven and decoupled.

[0107] The above-mentioned surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot can be applied to double-headed instruments, such as clamping instruments, shearing instruments, etc.; for example, Figure 2 , by removing the eighth joint actuator 8 of the above-mentioned surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot, the surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot can be applied to single-headed instruments, such as cutting instruments, etc.; by changing the seventh joint 7_1 to a self-rotating joint, it can be applied to 30° endoscope instruments, etc. For example, Figure 3 , by removing the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 of the above-mentioned surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot, the surgical instrument actuator M with moving and self-rotating positioning joints for a single-port surgical robot can be applied to 360° endoscope instruments, etc.

[0108] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0109] Although the specific implementation manners of the present invention have been described in conjunction with the accompanying drawings, it is not a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications or deformations that can be made without creative efforts on the basis of the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A single-port surgical instrument with a movable and self-rotating positioning joint, characterized in that, It includes the first to eighth joint actuators; the eight joint actuators include 8 degrees of freedom. Starting from one end of the end transmission box, the 8 degrees of freedom are in sequence: the degree of freedom of moving along the z-axis of the first arm segment, the degree of freedom of swinging around the x-axis of the second joint axis, the degree of freedom of self-rotation around the z-axis of the third joint axis, the degree of freedom of swinging around the x-axis of the fourth joint axis, the degree of freedom of self-rotation around the z-axis of the fifth joint axis, the degree of freedom of swinging around the x-axis of the sixth joint axis, the first degree of freedom of swinging around the y-axis of the seventh joint axis, and the second degree of freedom of swinging around the y-axis of the seventh joint axis; the axes of the degrees of freedom of every two adjacent joints of the first to seventh joint actuators are perpendicular to each other in space, and the axes of the degrees of freedom of the seventh and eighth joint actuators coincide; The actuator is installed and fixed on the base of the joint drive mechanism, and the second to sixth joint actuators are arranged in a single row in sequence within the end transmission box; The seventh and eighth joint actuators are arranged in parallel after the sixth joint actuator within the end transmission box; the base of the joint drive mechanism is fixedly connected to the nut of a ball screw mechanism, and the ball screw mechanism is fixedly connected to the fixed seat; the structures within the end transmission boxes of the second to eighth joint actuators are the same, and each includes a transmission wire wheel shaft, a wire wheel, and an interface clutch disc; one end of the interface clutch disc is connected to the joint drive mechanism, and the other end is connected to the transmission wire wheel shaft, and a wire wheel is installed on the transmission wire wheel shaft; the rotation of the interface clutch disc drives the rotation of the transmission wire wheel shaft and the wire wheel; The second joint actuator includes a second joint transmission wire wheel shaft, a wire wheel, an interface clutch disc, a connecting sleeve of the first arm segment, a connecting sleeve of the second arm segment, a connecting piece of the first arm segment, a first connecting piece of the second arm segment, a second connecting piece of the second arm segment, and the second joint at the connection between the connecting piece of the first arm segment and the first connecting piece of the second arm segment; One end of the second joint interface clutch disc is connected to the second joint drive mechanism, and the other end is connected to the second joint transmission wire wheel shaft, and a wire wheel is installed on the second joint transmission wire wheel shaft; the rotation of the second joint interface clutch disc drives the rotation of the second joint transmission wire wheel shaft and the wire wheel; One end of the connecting sleeve of the first arm segment is fixedly connected to the end transmission box. The connecting sleeve of the first arm segment has two rigid bending joints, and each rigid bending joint is equipped with a set of guide wheels one and four sets of tension wheels one for wire rope guiding and tensioning; The other end of the arm segment one connecting sleeve at the second joint at the connection between the arm segment one connecting piece and the arm segment two connecting piece one is fixedly connected to the arm segment one connecting piece. One guide wheel shaft and two tension wheel shafts (1-15, 1-16) for controlling the relative movement of the second to eighth joints are installed on the arm segment one connecting piece. A set of guide wheels two and the arm segment two connecting piece one are installed on the guide wheel shaft. A set of tension wheels two are respectively installed on the two tension wheel shafts (1-15, 1-16). One end of the arm segment two connecting sleeve is fixedly connected to the arm segment two connecting piece one. Two tension wheel shafts (2-10, 2-11) for controlling the relative movement of the third to eighth joints are installed on the arm segment two connecting piece one. A set of tension wheels three are respectively installed on the two tension wheel shafts (2-10, 2-11). There is a rope groove on the arm segment two connecting piece one for controlling the relative swing of the arm segment two and the arm segment one; The axis of the guide wheel two on the arm segment one connecting piece at the second joint coincides with the relative swing axis of the second joint. The axis of the guide wheel two and the axes of the two tension wheels two on the arm segment one connecting piece at the second joint are parallel to the axes of the two tension wheels three on the arm segment two connecting piece one. The center planes of the guide wheel two and the tension wheels two and three installed on the adjacent arm segment one connecting piece and the arm segment two connecting piece one for controlling the swing of the same joint at the second joint are located in the same plane. The guide wheels one and two can rotate freely relative to the guide wheel shaft. The tension wheels one, two, and three can rotate freely relative to the tension wheel shaft. The other end of the arm segment two connecting sleeve is fixedly connected to the arm segment two connecting piece two; Guide structures are installed on both sides of the wire wheel in the end transmission box of the second to eighth joint actuators; each of the guide structures includes a guide wheel shaft, a guide wheel set, and a sleeve. The sleeve is sleeved on the guide wheel shaft. The guide wheel set is sleeved on the guide wheel shaft. Both ends of the guide wheel shaft are fixed on the base housing; The wire wheel and the transmission wire wheel shaft in the second to eighth joint actuators have wire rope grooves for winding the wire rope; there are slot holes on the wire rope grooves of the wire wheel and the transmission wire wheel shaft in the second to eighth joint actuators. After the end of the wire rope is knotted, it is embedded in the slot holes for fixing the end of the wire rope; there are slot holes on the rope grooves of the corresponding joint arm segment connecting pieces of the second to eighth joint actuators. After the end of the wire rope is knotted, it is embedded in the slot holes for fixing the end of the wire rope; To prevent the wire rope from slipping out of the guide wheel and the tension wheel, a guide hole plate is installed near the tension wheel, so that the wire rope winds in and out of the guide wheel and the tension wheel along the tangents of the guide wheel and the tension wheel and then passes through the guide holes of the guide hole plate to the adjacent joint; The third to eighth joint actuators have the same structure as the second joint actuator. Among them, the axis of the guide wheel of the third joint actuator coincides with the axis of self-rotation of the third joint. Two tension wheels five are installed on the same side of the rope groove on the first connecting piece of the third arm section. The axes of the two tension wheels five are perpendicular to the axis of the rope groove on the first connecting piece of the fifth arm section, and the tangents of the two tension wheels five and the rope groove on the first connecting piece of the third arm section coincide, which is used to control the relative self-rotation of the third arm section and the second arm section; In the connecting sleeve of the third arm section at the third joint, the guide wheels and tension wheels of the fourth to eighth joints are installed. The two tension wheels for controlling the same joint are respectively arranged on both sides of the guide wheel. The axes of the two tension wheels for controlling the swing of the same joint are perpendicular to the axis of the guide wheel, and the tangents of the two tension wheels and the guide wheel coincide; The axis of the guide wheel of the fifth joint actuator coincides with the axis of self-rotation of the fifth joint. Two tension wheels five are installed on the same side of the rope groove on the first connecting piece of the fifth arm section. The axes of the two tension wheels five are perpendicular to the axis of the rope groove on the first connecting piece of the fifth arm section, and the tangents of the two tension wheels five and the rope groove on the first connecting piece of the fifth arm section coincide, which is used to control the relative self-rotation of the fifth arm section and the fourth arm section; In the connecting sleeve of the fifth arm section at the fifth joint, the guide wheels and tension wheels of the sixth, seventh, and eighth joints are installed. The two tension wheels for controlling the same joint are respectively arranged on both sides of the guide wheel. The axes of the two tension wheels for controlling the swing of the same joint are perpendicular to the axis of the guide wheel, and the tangents of the two tension wheels and the guide wheel coincide; The first joint actuator includes a ball screw mechanism. The ball screw mechanism is fixedly connected to the housing of the joint drive mechanism and axially moves relative to the fixed seat along the axis direction of the first arm section of the surgical instrument actuator. The fixed seat is fixedly connected to the ball screw mechanism; The second to eighth joint actuators respectively drive the second to eighth joints to rotate through steel wire ropes.

2. The single-port surgical instrument with a movable and self-rotating positioning joint as claimed in claim 1, wherein The sleeves of the second to eighth joint actuators are in interference connection with the corresponding connecting pieces at both ends and are fixed by pins.

3. The single-port surgical instrument with a movable and rotatable positioning joint as claimed in claim 1, wherein The wire wheel sets of the second to eighth joint actuators are sleeved on the driving wire wheel shaft. There are arc-shaped long bolt holes on the wire wheel and the driving wire wheel shaft. After adjusting the relative rotation angle between the wire wheel and the driving wire wheel shaft, they are connected and fastened with bolts. One end of the driving wire wheel shaft is fixed on the housing of the surgical instrument actuator through a bearing, and the other end of the driving wire wheel shaft is fixed on the housing of the surgical instrument actuator through a bearing. One end of the driving wire wheel shaft and the interface clutch disc have a "D"-shaped cross-section. The "D"-shaped cross-sections of the driving wire wheel shaft and the interface clutch disc form an interference fit. One end of the driving wire wheel shaft and the interface clutch disc are circumferentially fixed through the "D"-shaped cross-section, and one end of the driving wire wheel shaft and the interface clutch disc are axially fixed through bolts. One end of the front driving steel wire of the second to eighth joint actuators is fixed in the wire groove of the corresponding wire wheel, and the other end of the front driving steel wire is fixed in the annular wire groove of the corresponding joint. One end of the rear driving steel wire is fixed in the wire groove of the corresponding driving wire wheel shaft, and the other end of the rear driving steel wire is fixed in the annular wire groove of the corresponding joint. By adjusting the relative rotation angle between the wire wheel and the driving wire wheel shaft, the front driving steel wire and the rear driving steel wire reach an appropriate tension in the transmission path, and then the driving wire wheel shaft and the wire wheel are connected and fastened with bolts.

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