A mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint

Abstract

The present invention discloses a mechanically decoupled single-port surgical robot quick-change mechanism with a movable joint, which is composed of a first joint drive mechanism, a second joint drive mechanism, a third joint drive mechanism, a fourth joint drive mechanism, a fifth joint drive mechanism, a sixth joint drive mechanism, a seventh joint drive mechanism, an eighth joint drive mechanism, a base shell, a base cover, a connector, and a locking mechanism. The surgical instrument quick-change mechanism adopts a mechanical decoupling mechanism, which completely solves the problem of mutual motion coupling generated when the joints of the surgical instrument actuator are swung; installing the mechanical decoupling mechanism on the base can simplify the structural design of the surgical instrument actuator, which is conducive to the mass production of the surgical instrument actuator. The mechanically decoupled quick-change mechanism with a movable joint for a single-port surgical robot of the present invention has the advantages of convenient disassembly and assembly, easy adjustment, accurate positioning, large rigidity, reasonable layout, miniaturization, and lightweight.

Description

Technical Field

[0001] The invention relates to a medical device in the field of minimally invasive surgery, and in particular to a quick-change mechanism of a minimally invasive single-port surgical robot suitable for minimally invasive surgery in 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, in the field of minimally invasive surgical robot system research, many prototypes have reached the level of commercial clinical application, including da Vinci, Zeus, LAPROTEK systems, etc. Through the study of the development of surgical robot systems, it is found that the surgical tool system is mainly composed of tool parts and quick-change devices. The development trend of the tool part is from rod transmission and low degrees of freedom to wire transmission 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 compact and integrated types, and its performance is becoming more and more efficient and stable. The two existing commercial minimally invasive surgical robots both use four-degree-of-freedom surgical tool systems with wire transmission, but these surgical tool systems still have shortcomings such as scattered structural layout and large external dimensions, so the surgical tool system still has great development potential.

[0005] In my country, the research and development of minimally invasive single-port surgical robots is still in its infancy, especially the research on surgical tool systems is still far behind foreign technologies. Therefore, the development of wire-driven, multi-degree-of-freedom surgical tools and matching quick-change devices with more stable and efficient performance is of great significance to fill the domestic gap and promote technological progress in related fields. Research and development of multi-degree-of-freedom surgical tool systems with different wire drive forms and quick-change methods from existing systems has far-reaching significance for improving my country's academic and technological status in this scientific research field. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the prior art and to provide a miniaturized, lightweight, mechanically decoupled quick-change mechanism with a mobile joint for a minimally invasive single-port surgical robot that is easy to disassemble and adjust, has accurate positioning, high rigidity, and a reasonable layout. The mechanism can clamp surgical tools to assist doctors in performing minimally invasive single-port surgical operations.

[0007] The present invention provides a miniaturized, lightweight quick-change mechanism with mechanical decoupling of mobile joints for a minimally invasive single-port surgical robot, which is convenient for disassembly and assembly, easy to adjust, accurate in positioning, has high rigidity, and reasonable layout. The specific scheme is as follows:

[0008] A mechanically decoupled single-port surgical robot quick-change mechanism with a moving joint comprises a fixed seat on which first, second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are mounted;

[0009] The first joint drive mechanism is installed on a fixed seat, and the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are installed on the same base, and the first joint drive mechanism is also connected to the base; the base can move axially along the axis of the arm segment of the surgical instrument actuator relative to the fixed seat; thereby realizing the axial movement of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms and the surgical instrument actuator relative to the fixed seat fixedly connected to the first joint drive mechanism along the axis of the arm segment of the surgical instrument actuator;

[0010] The second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are each connected to the surgical instrument actuator via an interface clutch disk; the second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms respectively drive the rotation of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators of the surgical instrument actuator via transmission parts.

[0011] Furthermore, the second joint driving mechanism includes a motor, which drives the gear shaft to rotate, and the gear shaft is connected to the interface clutch disk corresponding thereto;

[0012] The third, fourth, fifth and sixth joint drive mechanisms have the same structure, each comprising a motor, which drives the sun gear shaft to rotate, on which a large sun gear and a small sun gear are mounted, the large sun gear and the small sun gear are meshed with three planetary gears mounted on the planetary carrier gear shaft, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are evenly distributed around the axis of the sun gear shaft, and the planetary carrier gear shaft is connected to the interface clutch disk corresponding thereto;

[0013] The seventh and eighth joint drive mechanisms have the same structure, each comprising a motor, which drives the sun gear shaft to rotate, on which a large sun gear and a small sun gear are mounted, the large sun gear and the small sun gear are meshed with three planetary gears mounted on a planetary carrier, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are evenly distributed around the axis of the sun gear shaft, and the planetary carrier is connected to an interface clutch disc corresponding thereto;

[0014] A transition gear shaft is installed between the second, third, fourth, fifth and sixth joint drive mechanisms; a transition gear shaft is installed between the sixth and seventh joint drive mechanisms and the eighth joint drive mechanism respectively; no transition gear shaft is installed between the seventh and eighth joint drive mechanisms;

[0015] The gear shaft of the second joint drive mechanism is externally meshed with the transition gear shaft between the second and third joint drive mechanisms, and the transition gear shaft between the second and third joint drive mechanisms is externally meshed with the large sun gear of the third joint drive mechanism;

[0016] The planetary carrier gear shaft of the third joint drive mechanism is externally meshed with the transition gear shaft between the third and fourth joint drive mechanisms, and the transition gear shaft between the third and fourth joint drive mechanisms is externally meshed with the large sun gear of the fourth joint drive mechanism;

[0017] The planetary carrier gear shaft of the fourth joint drive mechanism is externally meshed with the transition gear shaft between the fourth and fifth joint drive mechanisms, and the transition gear shaft between the fourth and fifth joint drive mechanisms is externally meshed with the large sun gear of the fifth joint drive mechanism;

[0018] The planetary carrier gear shaft of the fifth joint drive mechanism is externally meshed with the transition gear shaft between the fifth and sixth joint drive mechanisms, and the transition gear shaft between the fifth and sixth joint drive mechanisms is externally meshed with the large sun gear of the sixth joint drive mechanism;

[0019] The planetary carrier gear shaft of the sixth joint drive mechanism is externally meshed with the transition gear shaft between the sixth and seventh joint drive mechanisms, and the transition gear shaft between the sixth and seventh joint drive mechanisms is externally meshed with the large sun gear of the seventh joint drive mechanism;

[0020] The planetary carrier gear shaft of the sixth joint drive mechanism is externally meshed with the transition gear shaft between the sixth and eighth joint drive mechanisms, and the transition gear shaft between the sixth and eighth joint drive mechanisms is externally meshed with the large sun gear of the eighth joint drive mechanism.

[0021] Furthermore, both ends of the gear shaft of the second joint driving mechanism are axially fixed by bearings, and the bearings are fixed on the base.

[0022] Furthermore, three pins extend out from one end of the planetary carrier gear shaft of the third, fourth, fifth and sixth joint drive mechanisms, and the three pins of the planetary carrier gear shaft are respectively inserted into the center holes of the three planetary gears, one end of the planetary carrier gear shaft is axially fixed by a bearing, and the other end of the planetary carrier gear shaft is axially fixed by three planetary gears, and both ends of the sun gear shaft and the large sun gear are axially fixed by bearings respectively, one of the bearings is fixed on the sun gear shaft and the large sun gear, and the other two bearings are fixed on the base, and one end of the planetary carrier gear shaft forms an interference fit with the interface clutch disk.

[0023] Furthermore, three pins extend from one end of the planetary frame of the seventh and eighth joint drive mechanisms, and the three pins of the planetary frame are respectively inserted into the center holes of the three planetary wheels, one end of the planetary frame is axially fixed by a bearing, and the other end of the planetary frame is axially fixed by the three planetary wheels, and both ends of the sun gear shaft and the large sun gear are axially fixed by bearings respectively, one of the bearings is fixed on the sun gear shaft and the large sun gear, and the other two bearings are fixed on the base, and one end of the planetary frame forms an interference fit with the interface clutch disk.

[0024] Furthermore, both ends of the transition gear shaft installed between the second, third, fourth, fifth and sixth joint drive mechanisms and between the sixth joint drive mechanism and the seventh joint drive mechanism and the eighth joint drive mechanism are axially fixed by bearings, and the bearings are fixed on the base.

[0025] Furthermore, the small sun gear and the sun gear shaft of the third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms have a "D"-shaped cross-section, and the "D"-shaped cross-section of the small sun gear and the sun gear shaft forms an interference fit, and the small sun gear and the sun gear shaft are circumferentially fixed by the "D"-shaped cross-section.

[0026] Furthermore, the second, third, fourth, fifth and sixth joint drive mechanisms are arranged in series in a single row on the base; the seventh joint drive mechanism and the eighth joint drive mechanism are arranged in parallel with the sixth joint drive mechanism on the base.

[0027] Furthermore, the base comprises a base shell and a base cover, the base shell is provided with two positioning bosses, and two long bolt holes are respectively provided on two side surfaces of the base shell, and the long bolt holes are connected to the base cover.

[0028] Furthermore, there are two base covers, which are respectively installed and fixed on both sides of the base shell; a guide slot is designed on the base cover, and the top of the guide slot is in a "trumpet" shape to facilitate the installation of the surgical instrument actuator, and the end and middle slot bottom of the guide slot on the base cover are in an "arc" shape, and the opening direction of the end and middle "arc" slot bottom of the guide slot is perpendicular to the axial direction of the guide slot, and the end and middle slot bottom of the "arc" guide slot form an "interference" fit with the fixed pin of the surgical instrument actuator to prevent the fixed pin of the surgical instrument actuator from "slipping out" from the end and middle slot bottom of the guide slot on the base cover, causing the surgical instrument actuator to be "separated" from the quick-change mechanism;

[0029] Furthermore, the surgical instrument actuator can be installed on the quick-change mechanism along the guide groove on the base cover; two long bolt holes are designed on the base cover, and the two long bolt holes on the base cover are perpendicular to the long hole axis of the long bolt holes on the base shell, so as to facilitate the adjustment of the relative installation position of the base cover and the base shell when the base cover is installed and fixed on the base shell.

[0030] Furthermore, it also includes a locking mechanism for fixing the surgical instrument actuator to the base; the locking mechanism includes two groups, each group includes a locking hook, one end of the two locking hooks is rotatably installed on the same base cover, the other end of the locking hook is provided with a groove, and a boss is provided at a corresponding position on the surgical instrument actuator shell, and the groove on the locking hook cooperates with the boss at a corresponding position on the surgical instrument actuator shell to fix the surgical instrument actuator.

[0031] Furthermore, the first joint drive mechanism is driven by a ball screw mechanism, or a telescopic rod, or a hydraulic or cylinder-driven lifting rod to move linearly; it only needs to be able to realize the axial movement of the second joint drive mechanism, the third joint drive mechanism, the fourth joint drive mechanism, the fifth joint drive mechanism, the sixth joint drive mechanism, the seventh joint drive mechanism, the eighth joint drive mechanism and the surgical instrument actuator relative to the fixed seat fixedly connected to the first joint drive mechanism along the axis direction of the arm segment.

[0032] Beneficial effects of the present invention:

[0033] The quick-change mechanism with mechanical decoupling of mobile joints for minimally invasive single-port surgical robot of the present invention has the following beneficial effects compared with the prior art:

[0034] 1. The mechanically decoupled quick-change mechanism with a mobile joint for a minimally invasive surgical single-port surgical robot of the present invention is convenient for disassembly and assembly, easy to adjust, accurate in positioning, large in rigidity, reasonable in layout, miniaturized, and lightweight.

[0035] 2. The surgical instrument quick-change mechanism adopts mechanical decoupling, which completely solves the problem of mutual motion coupling caused by the swinging of the joints of the surgical instrument actuator.

[0036] 3. By adjusting the relative installation position between the base cover and the base shell, the relative installation position between the guide groove on the base cover and the interface clutch disk on the base shell can be adjusted, so that when the surgical instrument actuator M is installed on the quick-change mechanism N, the interface clutch disk on the surgical instrument actuator M can fit exactly with the interface clutch disk on the base shell for transmission, and the interface clutch disk on the surgical instrument actuator M and the interface clutch disk on the base shell will not be unable to fit due to interference.

[0037] 4. The top of the guide slot on the knife holder cover is made into a trumpet mouth, which makes it more convenient and quick to install the surgical instrument actuator M into the quick change mechanism N; the guide slot curve can ensure that the tool transmission disc slides naturally for docking without interference; the interference fit at the end and the middle groove bottom of the guide slot can accurately locate the relative installation position of the surgical instrument actuator M and the quick change mechanism N. The surgical instrument actuator M is installed, entered and removed from the front upper part of the quick change mechanism N, which conforms to the customary operation direction and reduces the difficulty of installation and removal.

[0038] 5. The hook locking mechanism can accurately and reliably fix the surgical instrument actuator M to the quick-change mechanism N; it can also conveniently lock and release the surgical instrument actuator M.

[0039] 6. The interface clutch disc on the quick-change mechanism N is arranged in a single row, so that the force arm between the fixing points of the surgical instrument actuator M on the base is longer, which is more conducive to ensuring the fixation of the surgical instrument actuator M on the base.

[0040] 7. The interface clutch disk on the quick-change mechanism N is arranged in a single row, and the motor and the interface clutch disk are "coaxially arranged", so that the motors of the second joint drive mechanism, the third joint drive mechanism, the fourth joint drive mechanism, the fifth joint drive mechanism, the sixth joint drive mechanism, the seventh joint drive mechanism and the eighth joint drive mechanism can be arranged in a single row, reducing the possibility of interference when multiple quick-change mechanisms act in coordination, and the space layout is reasonable.

[0041] 8. The mechanical decoupling mechanism is designed on the quick-change mechanism N instead of on the surgical instrument actuator M. This can simplify the structural design of the surgical instrument actuator M and facilitate the mass production of the surgical instrument actuator M. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are not necessarily to scale and are only illustrative descriptions of the present invention. The drawings described below are only some embodiments of the present invention and are not intended to limit the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 It is a right view schematic diagram of a double-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0044] Figure 2It is a schematic front view of a double-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0045] Figure 3 The present invention is a schematic top view of a double-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0046] Figure 4 It is a right view schematic diagram of a single-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0047] Figure 5 It is a schematic front view of a single-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0048] Figure 6 It is a schematic right view of the assembly of a mechanically decoupled quick-change mechanism with a moving joint and an instrument actuator for a minimally invasive single-port surgical robot according to the present invention.

[0049] Figure 7 The present invention is a schematic diagram of the assembly of a mechanically decoupled quick-change mechanism with a moving joint and an instrument actuator for a minimally invasive single-port surgical robot.

[0050] Figure 8 The present invention is a top view schematic diagram of the assembly of a mechanically decoupled quick-change mechanism with a moving joint and an instrument actuator for a minimally invasive single-port surgical robot.

[0051] Fig. 9 The present invention is a schematic diagram of a base cover structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0052] Fig.10 It is a right view schematic diagram of the structure of Embodiment 2 of a double-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0053] Fig.11 The present invention is a schematic diagram of the main structure of a second embodiment of a double-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0054] Fig.12 It is a right view schematic diagram of the structure of Embodiment 2 of a single-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot according to the present invention.

[0055] Fig.13 The present invention is a schematic diagram of the main structure of a second embodiment of a single-head instrument decoupling structure of a quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot.

[0056] Figure 14-16 yes Figure 7 A partial enlarged view of the .

[0057] Figure 17-Figure 18 yes Figure 8 A partial enlarged view of the . DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0059] Explanations of the numbers omitted in the following reference numerals: 2_4 to 8_10 represent: 2_4, 3_10, 4_10, 5_10, 6_10, 7_10, 8_10; 3_3 to 6_3 represent: 3_3, 4_3, 5_3, 6_3; 3_3 to 8_3 represent: 3_3, 4_3, 5_3, 6_3, 7_3, 8_3; 3_4 to 8_4 represent: 3_4, 4_4, 5_4, 6_4, 7_4, 8_4; 3_10 to 6_10 represent: 3_10, 4_10, 5_10, 6_10; 3_6 to 3_8 represent: 3_6, 3_7, 3_8; 4_6 to 4_8 represent: 4_6, 4_7, 4_8; 5_6 to 5_8 represent: 5_6 , 5_7, 5_8; 6_6~6_8 represents: 6_6, 6_7, 6_8; 7_6~7_8 represents: 7_6, 7_7, 7_8; 8_6~8_8 represents: 8_6, 8_7, 8_8; 2_3_1~5_6_1 represents: 2_3_1, 3_4_1, 4_5_1, 5_6_1; 2_3_1~6_8 _1 represents: 2_3_1, 3_4_1, 4_5_1, 5_6_1, 6_7_1, 6_8_1; 2_3_2~6_8_3 represent: 2_3_2, 2_3_3, 3_4_2, 3_4_3, 4_5_2, 4_5_3, 5_6_2, 5_6_3, 6_7_2, 6_7_3, 6_8_2, 6_8_3.

[0060] Embodiment 1

[0061] Combination Figure 1 to Figure 3 , Figure 6 to Figure 9 , Figures 14 to 18 To describe this embodiment, the mechanically decoupled quick-change mechanism with a movable joint for a minimally invasive surgical single-port surgical robot comprises a fixed seat 1_1, and a first joint drive mechanism 1, a second joint drive mechanism 2, a third joint drive mechanism 3, a fourth joint drive mechanism 4, a fifth joint drive mechanism 5, a sixth joint drive mechanism 6, a seventh joint drive mechanism 7 and an eighth joint drive mechanism 8 installed on the fixed seat 1_1.

[0062] The first joint drive mechanism 1 is fixedly connected to the fixed seat 1_1 through a ball screw mechanism 1_2, and the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are installed on the same base 1_3, and the first joint drive mechanism 1 is connected to the base 1_3 of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 through a nut 1_2_1 of a ball screw mechanism 1_2; the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 The bases 1_3 of the first joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 can move axially along the axis direction of the arm segment 9_2 of the surgical instrument actuator M relative to the fixing seat 1_1 fixedly connected to the first joint drive mechanism 1; thereby realizing the axial movement of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 and the surgical instrument actuator M relative to the fixing seat 1_1 fixedly connected to the first joint drive mechanism 1 along the axis direction of the arm segment 9_2 of the surgical instrument actuator M;

[0063] The first joint drive mechanism 1 drives the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 and the surgical instrument actuator M to move axially along the arm segment-9_2 axis direction of the surgical instrument actuator M relative to the fixing seat 1_1 fixedly connected to the first joint drive mechanism 1;

[0064] The first joint drive mechanism 1, the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 respectively drive the movement of the first joint actuator 9, the second joint actuator 10, the third joint actuator 11, the fourth joint actuator 12, the fifth joint actuator 13, the sixth joint actuator 14, the seventh joint actuator 15 and the eighth joint actuator 16 of the surgical instrument actuator M through the steel wire rope;

[0065] The second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are each connected to the surgical instrument actuator M via an interface clutch disk 2_4 to 8_10;

[0066] The second joint driving mechanism 2 comprises a motor 2_1, the motor 2_1 is connected to a gear shaft 2_3 via a coupling 2_2, and the gear shaft 2_3 is connected to an interface clutch disc 2_4 corresponding thereto;

[0067] The third joint drive mechanism 3 includes a motor 3_1, which is connected to the sun gear shaft 3_3 through a coupling 3_2. A large sun gear 3_5 and a small sun gear 3_4 are installed on the sun gear shaft 3_3. The large sun gear 3_5 and the small sun gear 3_4 are meshed with three planetary gears 3_6 to 3_8 installed on the planetary carrier gear shaft 3_9. The three planetary gears 3_6 to 3_8 are externally meshed with the small sun gear 3_4, and the three planetary gears 3_6 to 3_8 are internally meshed with the large sun gear 3_5. The three planetary gears 3_6 to 3_8 are evenly distributed around the axis of the sun gear shaft 3_3. The planetary carrier gear shaft 3_9 is connected to the corresponding interface clutch disc 3_10;

[0068] The fourth joint driving mechanism 4 includes a motor 4_1, which is connected to the sun gear shaft 4_3 through a coupling 4_2. A large sun gear 4_5 and a small sun gear 4_4 are installed on the sun gear shaft 4_3. The large sun gear 4_5 and the small sun gear 4_4 are meshed with three planetary gears 4_6 to 4_8 installed on the planetary carrier gear shaft 4_9. The three planetary gears 4_6 to 4_8 are externally meshed with the small sun gear 4_4, and the three planetary gears 4_6 to 4_8 are internally meshed with the large sun gear 4_5. The three planetary gears 4_6 to 4_8 are evenly distributed around the axis of the sun gear shaft 4_3. The planetary carrier gear shaft 4_9 is connected to the corresponding interface clutch disc 4_10;

[0069] The fifth joint driving mechanism 5 includes a motor 5_1, which is connected to the sun gear shaft 5_3 through a coupling 5_2. A large sun gear 5_5 and a small sun gear 5_4 are installed on the sun gear shaft 5_3. The large sun gear 5_5 and the small sun gear 5_4 are meshed with three planetary gears 5_6 to 5_8 installed on the planetary carrier gear shaft 5_9. The three planetary gears 5_6 to 5_8 are externally meshed with the small sun gear 5_4, and the three planetary gears 5_6 to 5_8 are internally meshed with the large sun gear 5_5. The three planetary gears 5_6 to 5_8 are evenly distributed around the axis of the sun gear shaft 5_3. The planetary carrier gear shaft 5_9 is connected to the corresponding interface clutch disc 5_10;

[0070] The sixth joint drive mechanism 6 includes a motor 6_1, which is connected to the sun gear shaft 6_3 through a coupling 6_2. A large sun gear 6_5 and a small sun gear 6_4 are installed on the sun gear shaft 6_3. The large sun gear 6_5 and the small sun gear 6_4 are meshed with three planetary gears 6_6 to 6_8 installed on the planetary carrier gear shaft 6_9. The three planetary gears 6_6 to 6_8 are externally meshed with the small sun gear 6_4, and the three planetary gears 6_6 to 6_8 are internally meshed with the large sun gear 6_5. The three planetary gears 6_6 to 6_8 are evenly distributed around the axis of the sun gear shaft 6_3. The planetary carrier gear shaft 6_9 is connected to the corresponding interface clutch disc 6_10;

[0071] The seventh joint driving mechanism 7 includes a motor 7_1, which is connected to the sun gear shaft 7_3 through a coupling 7_2. A large sun gear 7_5 and a small sun gear 7_4 are installed on the sun gear shaft 7_3. The large sun gear 7_5 and the small sun gear 7_4 are meshed with three planetary gears 7_6 to 7_8 installed on a planetary carrier 7_8. The three planetary gears 7_6 to 7_8 are externally meshed with the small sun gear 7_4, and the three planetary gears 7_6 to 7_8 are internally meshed with the large sun gear 7_5. The three planetary gears 7_6 to 7_8 are evenly distributed around the axis of the sun gear shaft 7_3. The planetary carrier 7_9 is connected to the corresponding interface clutch disc 7_10;

[0072] The eighth joint driving mechanism 8 includes a motor 8_1, which is connected to the sun gear shaft 8_3 through a coupling 8_2. A large sun gear 8_5 and a small sun gear 8_4 are installed on the sun gear shaft 8_3. The large sun gear 8_5 and the small sun gear 8_4 are meshed with three planetary gears 8_6 to 8_8 installed on the planetary carrier 8_8. The three planetary gears 8_6 to 8_8 are externally meshed with the small sun gear 8_4, and the three planetary gears 8_6 to 8_8 are internally meshed with the large sun gear 8_5. The three planetary gears 8_6 to 8_8 are evenly distributed around the axis of the sun gear shaft 8_3. The planetary carrier 8_9 is connected to the corresponding interface clutch disc 8_10.

[0073] A transition gear shaft 2_3_1 to 5_6_1 is installed between the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6;

[0074] A transition gear shaft 6_7_1 and a transition gear shaft 6_8_1 are respectively installed between the sixth joint driving mechanism 6, the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8;

[0075] There is no transition gear shaft installed between the seventh joint driving mechanism 7 and the eighth joint driving mechanism 8;

[0076] The gear shaft 2_3 of the second joint drive mechanism 2 is externally meshed with the transition gear shaft 2_3_1 between the second joint drive mechanism 2 and the third joint drive mechanism 3, and the transition gear shaft 2_3_1 between the second joint drive mechanism 2 and the third joint drive mechanism 3 is externally meshed with the large sun gear 3_5 of the third joint drive mechanism 3;

[0077] The planetary carrier gear shaft 3_9 of the third joint drive mechanism 3 is externally meshed with the transition gear shaft 3_4_1 between the third joint drive mechanism 3 and the fourth joint drive mechanism 4, and the transition gear shaft 3_4_1 between the third joint drive mechanism 3 and the fourth joint drive mechanism 4 is externally meshed with the large sun gear 4_5 of the fourth joint drive mechanism 4;

[0078] The planetary carrier gear shaft 4_9 of the fourth joint drive mechanism 4 is externally meshed with the transition gear shaft 4_5_1 between the fourth joint drive mechanism 4 and the fifth joint drive mechanism 5, and the transition gear shaft 4_5_1 between the fourth joint drive mechanism 4 and the fifth joint drive mechanism 5 is externally meshed with the large sun gear 5_5 of the fifth joint drive mechanism 5;

[0079] The planetary carrier gear shaft 5_9 of the fifth joint drive mechanism 5 is externally meshed with the transition gear shaft 5_6_1 between the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6, and the transition gear shaft 5_6_1 between the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6 is externally meshed with the large sun gear 6_5 of the sixth joint drive mechanism 6;

[0080] The planetary carrier gear shaft 6_9 of the sixth joint drive mechanism 6 is externally meshed with the transition gear shaft 6_7_1 between the sixth joint drive mechanism 6 and the seventh joint drive mechanism 7, and the transition gear shaft 6_7_1 between the sixth joint drive mechanism 6 and the seventh joint drive mechanism 7 is externally meshed with the large sun gear 7_5 of the seventh joint drive mechanism 7;

[0081] The planetary carrier gear shaft 6_9 of the sixth joint drive mechanism 6 is externally meshed with the transition gear shaft 6_8_1 between the sixth joint drive mechanism 6 and the eighth joint drive mechanism 8, and the transition gear shaft 6_8_1 between the sixth joint drive mechanism 6 and the eighth joint drive mechanism 8 is externally meshed with the large sun gear 8_5 of the eighth joint drive mechanism 8;

[0082] Furthermore, both ends of the gear shaft 2_3 of the second joint driving mechanism 2 are axially fixed by bearings 2_5 and bearings 2_6, and the bearings 2_5 and bearings 2_6 are fixed on the base 1_3.

[0083] Furthermore, three pins extend out from one end of the planetary carrier gear shaft 3_9 of the third joint drive mechanism 3, and the three pins of the planetary carrier gear shaft 3_9 are respectively inserted into the center holes of the three planetary gears 3_6 to 3_8, one end of the planetary carrier gear shaft 3_9 is axially fixed by a bearing 3_11, and the other end of the planetary carrier gear shaft 3_9 is axially fixed by three planetary gears 3_6 to 3_8, and both ends of the sun gear shaft 3_3 and the large sun gear 3_5 are axially fixed by bearings 3_12 and bearings 3_13 respectively, the bearing 3_12 is fixed on the sun gear shaft 3_3 and the large sun gear 3_5, the bearings 3_11 and bearings 3_13 are fixed on the base 1_3, and one end of the planetary carrier gear shaft 3_9 forms an interference fit with the interface clutch disk 3_10.

[0084] Furthermore, three pins extend out from one end of the planetary carrier gear shaft 4_9 of the fourth joint drive mechanism 4, and the three pins of the planetary carrier gear shaft 4_9 are respectively inserted into the center holes of the three planetary gears 4_6 to 4_8, one end of the planetary carrier gear shaft 4_9 is axially fixed by a bearing 4_11, and the other end of the planetary carrier gear shaft 4_9 is axially fixed by three planetary gears 4_6 to 4_8, and both ends of the sun gear shaft 4_3 and the large sun gear 4_5 are axially fixed by bearings 4_12 and bearings 4_13 respectively, the bearing 4_12 is fixed on the sun gear shaft 4_3 and the large sun gear 4_5, the bearings 4_11 and bearings 4_13 are fixed on the base 1_3, and one end of the planetary carrier gear shaft 4_9 forms an interference fit with the interface clutch disk 4_10.

[0085] Furthermore, three pins extend out from one end of the planetary carrier gear shaft 5_9 of the fifth joint drive mechanism 5, and the three pins of the planetary carrier gear shaft 5_9 are respectively inserted into the center holes of the three planetary gears 5_6 to 5_8, one end of the planetary carrier gear shaft 5_9 is axially fixed by a bearing 5_11, and the other end of the planetary carrier gear shaft 5_9 is axially fixed by three planetary gears 5_6 to 5_8, and the two ends of the sun gear shaft 5_3 and the large sun gear 5_5 are axially fixed by bearings 5_12 and bearings 5_13 respectively, the bearing 5_12 is fixed on the sun gear shaft 5_3 and the large sun gear 5_5, the bearings 5_11 and bearings 5_13 are fixed on the base 1_3, and one end of the planetary carrier gear shaft 5_9 forms an interference fit with the interface clutch disk 5_10.

[0086] Furthermore, three pins extend out from one end of the planetary carrier gear shaft 6_9 of the sixth joint drive mechanism 6, and the three pins of the planetary carrier gear shaft 6_9 are respectively inserted into the center holes of the three planetary gears 6_6 to 6_8, one end of the planetary carrier gear shaft 6_9 is axially fixed by a bearing 6_11, and the other end of the planetary carrier gear shaft 6_9 is axially fixed by three planetary gears 6_6 to 6_8, and both ends of the sun gear shaft 6_3 and the large sun gear 6_5 are axially fixed by bearings 6_12 and bearings 6_13 respectively, the bearing 6_12 is fixed on the sun gear shaft 6_3 and the large sun gear 6_5, the bearing 6_11 and bearing 6_13 are fixed on the base 1_3, and one end of the planetary carrier gear shaft 6_9 forms an interference fit with the interface clutch disk 6_10.

[0087] Furthermore, three pins extend from one end of the planetary carrier 7_9 of the seventh joint driving mechanism 7, and the three pins of the planetary carrier 7_9 are respectively inserted into the center holes of the three planetary gears 7_6 to 7_8, one end of the planetary carrier 7_9 is axially fixed by a bearing 7_11, and the other end of the planetary carrier 7_9 is axially fixed by three planetary gears 7_6 to 7_8, and both ends of the sun gear shaft 7_3 and the large sun gear 7_5 are axially fixed by bearings 7_12 and bearings 7_13 respectively, the bearing 7_12 is fixed on the sun gear shaft 7_3 and the large sun gear 7_5, the bearings 7_11 and bearings 7_13 are fixed on the base 1_3, and one end of the planetary carrier gear shaft 7_9 forms an interference fit with the interface clutch disk 7_10.

[0088] Furthermore, three pins extend from one end of the planetary carrier 8_9 of the eighth joint drive mechanism 8, and the three pins of the planetary carrier 8_9 are respectively inserted into the center holes of the three planetary gears 8_6 to 8_8, one end of the planetary carrier 8_9 is axially fixed by a bearing 8_11, and the other end of the planetary carrier 8_9 is axially fixed by three planetary gears 8_6 to 8_8, and both ends of the sun gear shaft 8_3 and the large sun gear 8_5 are axially fixed by bearings 8_12 and bearings 8_13 respectively, the bearing 8_12 is fixed on the sun gear shaft 8_3 and the large sun gear 8_5, the bearings 8_11 and bearings 8_13 are fixed on the base 1_3, and one end of the planetary carrier gear shaft 8_9 forms an interference fit with the interface clutch disk 8_10.

[0089] Furthermore, the two ends of the transition gear shafts 2_3_1~6_8_1 installed between the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6 and between the sixth joint drive mechanism 6 and the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are axially fixed by bearings 2_3_2~6_8_3, and the bearings 2_3_2~6_8_3 are fixed on the base 1_3.

[0090] Furthermore, the small sun gears 3_4~8_4 and the sun gear shafts 3_3~8_3 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 have a "D"-shaped cross-section, and the "D"-shaped cross-section of the small sun gears 3_4~8_4 and the sun gear shafts 3_3~8_3 form an interference fit, and the small sun gears 3_4~8_4 and the sun gear shafts 3_3~8_3 are circumferentially fixed via the "D"-shaped cross-section.

[0091] Furthermore, the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 are arranged in series in a single row on the base 1_3; the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 are arranged in parallel with the sixth joint drive mechanism 6 on the base 1_3.

[0092] Furthermore, the base 1_3 includes a base shell 1_3_1 and a base cover 1_3_2, the base shell 1_3_1 is provided with two positioning bosses, and two long bolt holes are respectively provided on two side surfaces of the base shell 1_3_1, and the long bolt holes are connected to the base cover 1_3_2.

[0093] Furthermore, there are two base covers 1_3_2, which are respectively installed and fixed on both sides of the base shell 1_3_1; a guide slot is designed on the base cover 1_3_2, and the top of the guide slot is in a "trumpet" shape to facilitate the installation of the surgical instrument actuator M. The end and the middle slot bottom of the guide slot on the base cover 1_3_2 are in an "arc" shape, and the opening direction of the end and the middle "arc" slot bottom of the guide slot is perpendicular to the axial direction of the guide slot, and the end and the middle slot bottom of the "arc" shaped guide slot form an "interference" fit with the fixed pin 1_3_4 of the surgical instrument actuator M to prevent the fixed pin 1_3_4 of the surgical instrument actuator M from "slipping out" from the end and the middle slot bottom of the guide slot on the base cover 1_3_2, resulting in the "separation" of the surgical instrument actuator M from the quick-change mechanism N;

[0094] Furthermore, the surgical instrument actuator M can be installed on the quick-change mechanism N along the guide groove on the base cover 1_3_2; two long bolt holes are designed on the base cover 1_3_2, and the two long bolt holes on the base cover 1_3_2 are perpendicular to the long hole axes of the long bolt holes on the base shell 1_3_1, so as to facilitate the adjustment of the relative installation positions of the base cover 1_3_2 and the base shell 1_3_1 when the base cover 1_3_2 is installed and fixed on the base shell 1_3_1.

[0095] Furthermore, the quick-change mechanism N base 1_3 for minimally invasive surgical single-port surgical robot also includes a locking mechanism 1_3_3 for fixing the surgical instrument actuator M to the base 1_3; the locking mechanism 1_3_3 includes two groups, each group includes a locking hook, namely a locking hook 1_3_3_1 and a locking hook 1_3_3_2, one end of the locking hook 1_3_3_1 and the locking hook 1_3_3_2 are rotatably mounted on the same base cover 1_3_2, the other end of the locking hook 1_3_3_1 and the locking hook 1_3_3_2 are provided with grooves, and a boss is provided at a corresponding position on the outer shell of the surgical instrument actuator M, and the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 cooperate with the bosses at corresponding positions on the outer shell of the surgical instrument actuator M to fix the surgical instrument actuator M.

[0096] The first joint drive mechanism 1 can use a ball screw mechanism 1_2, or a telescopic rod, or a lifting rod driven by hydraulics, cylinders, etc., as long as it can realize the axial movement of the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 and the surgical instrument actuator M relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1 along the arm segment -9_2 axis direction of the surgical instrument actuator M.

[0097] Working principle of the present invention:

[0098] The first joint drive mechanism 1 realizes axial forward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M: the motor 1_4 on the first joint drive mechanism 1 is started to make its output shaft rotate clockwise, driving the coupling 1_5 and the lead screw 1_2_2 on the first joint drive mechanism 1 to rotate clockwise, driving the nut 1_2_1 on the first joint drive mechanism 1 to realize axial forward movement, and the nut 1_2_1 on the first joint drive mechanism 1 drives the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6. The bases 1_3 of the mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 move forward along the axial direction of the arm segment 9_2 relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1; thereby driving the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 to realize axial forward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1.

[0099] The first joint drive mechanism 1 realizes axial backward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M: the motor 1_4 on the first joint drive mechanism 1 is started to rotate its output shaft counterclockwise, driving the coupling 1_5 and the lead screw 1_2_2 on the first joint drive mechanism 1 to rotate counterclockwise, driving the nut 1_2_1 on the first joint drive mechanism 1 to realize axial backward movement, and the nut 1_2_1 on the first joint drive mechanism 1 drives the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6. The base 1_3 of the mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 moves backward along the axial direction of the arm segment 9_2 relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1; thereby driving the second joint drive mechanism 2, the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, the sixth joint drive mechanism 6, the seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 to realize axial backward movement along the axis of the arm segment 9_2 of the surgical instrument actuator M relative to the fixed seat 1_1 fixedly connected to the first joint drive mechanism 1.

[0100] The interface clutch disk 2_4 of the second joint drive mechanism 2 rotates clockwise around the axis of the gear shaft 2_3: the motor 2_1 on the second joint drive mechanism 2 is started to rotate its output shaft clockwise, driving the coupling 2_2 and the gear shaft 2_3 on the second joint drive mechanism 2 to rotate clockwise, driving the interface clutch disk 2_4 on the second joint drive mechanism 2 to rotate clockwise around the axis of the gear shaft 2_3. The arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, so that the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 changes.

[0101] The gear shaft 2_3 of the second joint drive mechanism 2 is externally meshed with the transition gear shaft 2_3_1 between the second joint drive mechanism 2 and the third joint drive mechanism 3, and the transition gear shaft 2_3_1 between the second joint drive mechanism 2 and the third joint drive mechanism 3 is externally meshed with the large sun gear 3_5 of the third joint drive mechanism 3; at this time, the gear shaft 2_3 of the second joint drive mechanism 2 drives the transition gear shaft 2_3_1 between the second joint drive mechanism 2 and the third joint drive mechanism 3 to rotate counterclockwise; the transition gear shaft 2_3_1 between the second joint drive mechanism 2 and the third joint drive mechanism 3 drives the third joint drive mechanism 3, the outer gear of the big sun gear 3_5 on the third joint drive mechanism 3 rotates clockwise; the three planetary gears 3_6~3_8 on the third joint drive mechanism 3 are all meshed with the big sun gear 3_5, and each planetary gear 3_6~3_8 rotates clockwise around its own axis and at the same time rotates clockwise around the axis of the sun gear shaft 3_3, the three planetary gears 3_6~3_8 drive the planetary carrier gear shaft 3_9 to rotate clockwise around the axis of the sun gear shaft 3_3, and the planetary carrier gear shaft 3_9 drives the interface clutch plate 3_10 to rotate clockwise around the axis of the sun gear shaft 3_3. At this time, the small sun gear 3_4 and the sun gear shaft 3_3 on the third joint drive mechanism 3 do not rotate. While the second joint 10_1 is swinging clockwise, the third joint 11_1 is also swinging clockwise. By setting an appropriate ratio, the third joint 11_1 and the second joint 10_1 can have "the same direction and equal rotation speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, causing the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 to change, the arm segment 3 11_2 does not passively swing relative to the arm segment 2 10_2, causing the relative angle between the arm segment 3 11_2 and the arm segment 2 10_2 to remain unchanged, thereby achieving the purpose of "decoupling" through the mechanical structure.

[0102] The planetary gear shaft 3_9 of the third joint drive mechanism 3 is externally meshed with the transition gear shaft 3_4_1 between the third joint drive mechanism 3 and the fourth joint drive mechanism 4, and the transition gear shaft 3_4_1 between the third joint drive mechanism 3 and the fourth joint drive mechanism 4 is externally meshed with the large sun gear 4_5 of the fourth joint drive mechanism 4; at this time, the planetary gear shaft 3_9 of the third joint drive mechanism 3 drives the transition gear shaft 3_4_1 between the third joint drive mechanism 3 and the fourth joint drive mechanism 4 to rotate counterclockwise; the transition gear shaft 3_4_1 between the third joint drive mechanism 3 and the fourth joint drive mechanism 4 drives the fourth joint drive mechanism 4 to rotate counterclockwise. The outer gear of the large sun gear 4_5 on the driving mechanism 4 rotates clockwise; the three planetary gears 4_6~4_8 on the fourth joint driving mechanism 4 are all meshed with the large sun gear 4_5, and each planetary gear 4_6~4_8 rotates clockwise around its own axis and at the same time rotates clockwise around the axis of the sun gear shaft 4_3, and the three planetary gears 4_6~4_8 drive the planetary carrier gear shaft 4_9 to rotate clockwise around the axis of the sun gear shaft 4_3, and the planetary carrier gear shaft 4_9 drives the interface clutch plate 4_10 to rotate clockwise around the axis of the sun gear shaft 4_3. At this time, the small sun gear 4_4 and the sun gear shaft 4_3 on the fourth joint driving mechanism 4 do not rotate. While the third joint 11_1 is swinging clockwise, the fourth joint 12_1 is also swinging clockwise. By setting an appropriate ratio, the fourth joint 12_1 and the second joint 10_1 can have "the same direction and equal rotation speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, causing the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 to change, the arm segment 4 12_2 does not passively swing relative to the arm segment 3 11_2, causing the relative angle between the arm segment 4 12_2 and the arm segment 3 11_2 to remain unchanged, thereby achieving the purpose of "decoupling" through a mechanical structure.

[0103] The planetary carrier gear shaft 4_9 of the fourth joint drive mechanism 4 is externally meshed with the transition gear shaft 4_5_1 between the fourth joint drive mechanism 4 and the fifth joint drive mechanism 5, and the transition gear shaft 4_5_1 between the fourth joint drive mechanism 4 and the fifth joint drive mechanism 5 is externally meshed with the large sun gear 5_5 of the fifth joint drive mechanism 5; at this time, the planetary carrier gear shaft 4_9 of the fourth joint drive mechanism 4 drives the transition gear shaft 4_5_1 between the fourth joint drive mechanism 4 and the fifth joint drive mechanism 5 to rotate counterclockwise; the transition gear shaft 4_5_1 between the fourth joint drive mechanism 4 and the fifth joint drive mechanism 5 drives the fifth joint drive mechanism 5 to rotate counterclockwise. The outer gear of the large sun gear 5_5 on the driving mechanism 5 rotates clockwise; the three planetary gears 5_6~5_8 on the fifth joint driving mechanism 5 are all meshed with the large sun gear 5_5, and each planetary gear 5_6~5_8 rotates clockwise around its own axis and at the same time rotates clockwise around the axis of the sun gear shaft 5_3, and the three planetary gears 5_6~5_8 drive the planetary carrier gear shaft 5_9 to rotate clockwise around the axis of the sun gear shaft 5_3, and the planetary carrier gear shaft 5_9 drives the interface clutch plate 5_10 to rotate clockwise around the axis of the sun gear shaft 5_3. At this time, the small sun gear 5_4 and the sun gear shaft 5_3 on the fifth joint driving mechanism 5 do not rotate. While the fourth joint 12_1 is swinging clockwise, the fifth joint 13_1 is also swinging clockwise. By setting an appropriate ratio, the fifth joint 13_1 and the second joint 10_1 can have "the same direction and equal rotation speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, causing the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 to change, the arm segment 5 13_2 does not passively swing relative to the arm segment 4 12_2, causing the relative angle between the arm segment 5 13_2 and the arm segment 4 12_2 to remain unchanged, thereby achieving the purpose of "decoupling" through a mechanical structure.

[0104] The planetary carrier gear shaft 5_9 of the fifth joint drive mechanism 5 is externally meshed with the transition gear shaft 5_6_1 between the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6, and the transition gear shaft 5_6_1 between the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6 is externally meshed with the large sun gear 6_5 of the sixth joint drive mechanism 6; at this time, the planetary carrier gear shaft 5_9 of the fifth joint drive mechanism 5 drives the transition gear shaft 5_6_1 between the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6 to rotate counterclockwise; the transition gear shaft 5_6_1 between the fifth joint drive mechanism 5 and the sixth joint drive mechanism 6 drives the sixth joint drive mechanism 6 to rotate counterclockwise. The outer gear of the large sun gear 6_5 on the driving mechanism 6 rotates clockwise; the three planetary gears 6_6~6_8 on the sixth joint driving mechanism 6 are all meshed with the large sun gear 6_5, and each planetary gear 6_6~6_8 rotates clockwise around its own axis and at the same time rotates clockwise around the axis of the sun gear shaft 6_3, and the three planetary gears 6_6~6_8 drive the planetary carrier gear shaft 6_9 to rotate clockwise around the axis of the sun gear shaft 6_3, and the planetary carrier gear shaft 6_9 drives the interface clutch plate 6_10 to rotate clockwise around the axis of the sun gear shaft 6_3. At this time, the small sun gear 6_4 and the sun gear shaft 6_3 on the sixth joint driving mechanism 6 do not rotate. While the fifth joint 13_1 is swinging clockwise, the sixth joint 14_1 is also swinging clockwise. By setting an appropriate ratio, the sixth joint 14_1 and the second joint 10_1 can have "the same direction and equal rotation speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, causing the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 to change, the arm segment 6 14_2 does not passively swing relative to the arm segment 5 13_2, causing the relative angle between the arm segment 6 14_2 and the arm segment 5 13_2 to remain unchanged, thereby achieving the purpose of "decoupling" through a mechanical structure.

[0105] The planetary carrier gear shaft 6_9 of the sixth joint drive mechanism 6 is externally meshed with the transition gear shaft 6_7_1 between the sixth joint drive mechanism 6 and the seventh joint drive mechanism 7, and the transition gear shaft 6_7_1 between the sixth joint drive mechanism 6 and the seventh joint drive mechanism 7 is externally meshed with the large sun gear 7_5 of the seventh joint drive mechanism 7; at this time, the planetary carrier gear shaft 6_9 of the sixth joint drive mechanism 6 drives the transition gear shaft 6_7_1 between the sixth joint drive mechanism 6 and the seventh joint drive mechanism 7 to rotate counterclockwise; the transition gear shaft 6_7_1 between the sixth joint drive mechanism 6 and the seventh joint drive mechanism 7 drives the seventh joint drive mechanism 7 to rotate counterclockwise. The outer gear of the large sun gear 7_5 on the joint drive mechanism 7 rotates clockwise; the three planetary gears 7_6~7_8 on the seventh joint drive mechanism 7 are all meshed with the large sun gear 7_5, and each planetary gear 7_6~7_8 rotates clockwise around its own axis and at the same time rotates clockwise around the axis of the sun gear shaft 7_3, the three planetary gears 7_6~7_8 drive the planetary carrier 7_9 to rotate clockwise around the axis of the sun gear shaft 7_3, and the planetary carrier 7_9 drives the interface clutch plate 7_10 to rotate clockwise around the axis of the sun gear shaft 7_3. At this time, the small sun gear 7_4 and the sun gear shaft 7_3 on the seventh joint drive mechanism 7 do not rotate. While the sixth joint 14_1 is swinging clockwise, the seventh joint 15_1 is also swinging clockwise. By setting an appropriate ratio, the seventh joint 15_1 and the second joint 10_1 can have "the same direction and equal rotation speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, causing the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 to change, the arm segment 7 15_2 does not passively swing relative to the arm segment 6 14_2, causing the relative angle between the arm segment 7 15_2 and the arm segment 6 14_2 to remain unchanged, thereby achieving the purpose of "decoupling" through a mechanical structure.

[0106] The planetary gear shaft 6_9 of the sixth joint drive mechanism 6 is externally meshed with the transition gear shaft 6_8_1 between the sixth joint drive mechanism 6 and the eighth joint drive mechanism 8, and the transition gear shaft 6_8_1 between the sixth joint drive mechanism 6 and the eighth joint drive mechanism 8 is externally meshed with the large sun gear 8_5 of the eighth joint drive mechanism 8; at this time, the planetary gear shaft 6_9 of the sixth joint drive mechanism 6 drives the transition gear shaft 6_8_1 between the sixth joint drive mechanism 6 and the eighth joint drive mechanism 8 to rotate counterclockwise; the transition gear shaft 6_8_1 between the sixth joint drive mechanism 6 and the eighth joint drive mechanism 8 drives the eighth joint drive mechanism 8 to rotate counterclockwise. The outer gear of the large sun gear 8_5 on the joint drive mechanism 8 rotates clockwise; the three planetary gears 8_6~8_8 on the eighth joint drive mechanism 8 are all meshed with the large sun gear 8_5, and each planetary gear 8_6~8_8 rotates clockwise around its own axis and at the same time rotates clockwise around the axis of the sun gear shaft 8_3, the three planetary gears 8_6~8_8 drive the planetary carrier 8_9 to rotate clockwise around the axis of the sun gear shaft 8_3, and the planetary carrier 8_9 drives the interface clutch plate 8_10 to rotate clockwise around the axis of the sun gear shaft 8_3. At this time, the small sun gear 8_4 and the sun gear shaft 8_3 on the eighth joint drive mechanism 8 do not rotate. While the sixth joint 14_1 is swinging clockwise, the eighth joint 16_1 is also swinging clockwise. By setting an appropriate ratio, the eighth joint 16_1 and the second joint 10_1 can have "the same direction and equal rotation speed". When the arm segment 2 10_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 1 9_2, causing the relative angle between the arm segment 2 10_2 and the arm segment 1 9_2 to change, the arm segment 8 16_2 does not passively swing relative to the arm segment 6 14_2, causing the relative angle between the arm segment 8 16_2 and the arm segment 6 14_2 to remain unchanged, thereby achieving the purpose of "decoupling" through a mechanical structure.

[0107] The interface clutch disk 2_4 of the second joint drive mechanism 2 realizes counterclockwise rotation around the axis of the gear shaft 2_3: the interface clutch disk 2_4 of the second joint drive mechanism 2 realizes counterclockwise rotation around the axis of the gear shaft 2_3 and the interface clutch disk 2_4 of the second joint drive mechanism 2 realizes clockwise rotation around the axis of the gear shaft 2_3 "the transmission route is the same, but the direction of rotation is opposite".

[0108] The interface clutch disks 3_10~6_10 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize clockwise rotation around the axis of the gear shaft 3_3~6_3: the interface clutch disk 2_4 of the second joint drive mechanism 2 realizes clockwise rotation around the axis of the gear shaft 2_3. The "transmission method is similar". All of them are actively rotated by the joint drive mechanism, and the movement is transmitted step by step to all the joint drive mechanisms on the side close to the end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument actuator M. By setting an appropriate ratio, all the joint drive mechanisms behind the active rotating joint drive mechanism (close to the side of the end joint (joint seven 15_1 and joint eight 16_1) of the surgical instrument actuator M) can have the "same direction and equal speed" as the active rotating joint drive mechanism, so that the arm segment of the surgical instrument actuator M controlled by the active rotating joint drive mechanism is relative to the previous adjacent arm segment (away from the end joint (joint seven 15_1 and joint eight 16_1)) actively swings clockwise to change the relative angle between the arm segment of the surgical instrument actuator M controlled by the active rotating joint driving mechanism and the previous adjacent arm segment (the side away from the terminal joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)), the arm segments of the surgical instrument actuator M controlled by all the joint driving mechanisms behind the active rotating joint driving mechanism (close to the side of the terminal joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) do not passively swing relative to the arm segment of the surgical instrument actuator M controlled by the active rotating joint driving mechanism, so that the relative angle between the arm segments of the surgical instrument actuator M controlled by all the joint driving mechanisms behind the active rotating joint driving mechanism (close to the side of the terminal joint of the surgical instrument actuator M (joint seven 15_1 and joint eight 16_1)) and the arm segment of the surgical instrument actuator M controlled by the active rotating joint driving mechanism does not change, thereby achieving the purpose of "decoupling" through mechanical structure.

[0109] The interface clutch disks 3_10~6_10 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize counterclockwise rotation around the axes of the gear shafts 3_3~6_3: the interface clutch disks 3_10~6_10 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize counterclockwise rotation around the axes of the gear shafts 3_3~6_3, and the interface clutch disks 3_10~6_10 of the third joint drive mechanism 3, the fourth joint drive mechanism 4, the fifth joint drive mechanism 5, and the sixth joint drive mechanism 6 realize clockwise rotation around the axes of the gear shafts 3_3~6_3 "same transmission route, opposite direction".

[0110] The interface clutch disk 7_10 of the seventh joint drive mechanism 7 realizes clockwise rotation around the axis of the sun gear shaft 7_3: start the motor 7_1 on the seventh joint drive mechanism 7 to rotate its output shaft clockwise, driving the coupling 7_2, sun gear shaft 7_3, and small sun gear 7_4 on the seventh joint drive mechanism 7 to rotate clockwise, and the three planetary gears 7_6~7_8 are all engaged with the outside of the small sun gear 7_4, and each planetary gear 7_6~7_8 rotates counterclockwise around its own axis and clockwise around the axis of the sun gear shaft 7_3 at the same time, the three planetary gears 7_6~7_8 drive the planetary carrier 7_9 to rotate clockwise around the axis of the sun gear shaft 7_3, and the planetary carrier 7_9 drives the interface clutch disk 7_10 to rotate clockwise around the axis of the sun gear shaft 7_3. The outer gear of the large sun gear 7_5 on the seventh joint drive mechanism 7 is externally meshed with the transition gear shaft 6_7_1 of the seventh joint drive mechanism 7 and the sixth joint drive mechanism 6. At this time, the large sun gear 7_5 on the seventh joint drive mechanism 7 does not rotate. The arm segment 7 15_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment 6 14_2, so that the relative angle between the arm segment 7 15_2 and the arm segment 6 14_2 changes.

[0111] The interface clutch disk 7_10 of the seventh joint drive mechanism 7 realizes counterclockwise rotation around the axis of the sun gear shaft 7_3: the interface clutch disk 7_10 of the seventh joint drive mechanism 7 realizes counterclockwise rotation around the axis of the sun gear shaft 7_3 and the interface clutch disk 7_10 of the seventh joint drive mechanism 7 realizes clockwise rotation around the axis of the sun gear shaft 7_3 "the transmission route is the same, but the direction of rotation is opposite".

[0112] The interface clutch disk 8_10 of the eighth joint drive mechanism 8 realizes clockwise rotation around the axis of the sun gear shaft 8_3: start the motor 8_1 on the eighth joint drive mechanism 8 to rotate its output shaft clockwise, driving the coupling 8_2, the sun gear shaft 8_3, and the small sun gear 8_4 on the eighth joint drive mechanism 8 to rotate clockwise, and the three planetary gears 8_6~8_8 are all engaged with the outside of the small sun gear 8_4, and each planetary gear 8_6~8_8 rotates counterclockwise around its own axis and clockwise around the axis of the sun gear shaft 8_3 at the same time, the three planetary gears 8_6~8_8 drive the planet carrier 8_9 to rotate clockwise around the axis of the sun gear shaft 8_3, and the planet carrier 8_9 drives the interface clutch disk 8_10 to rotate clockwise around the axis of the sun gear shaft 8_3. The outer gear of the large sun gear 8_5 on the eighth joint drive mechanism 8 is externally meshed with the transition gear shaft 6_8_1 of the eighth joint drive mechanism 8 and the sixth joint drive mechanism 6, and at this time, the large sun gear 8_4 on the eighth joint drive mechanism 8 does not rotate. The arm segment eight 16_2 of the surgical instrument actuator M actively swings clockwise relative to the arm segment six 14_2, so that the relative angle between the arm segment eight 16_2 and the arm segment six 14_2 changes.

[0113] The interface clutch disk 8_10 of the eighth joint drive mechanism 8 realizes counterclockwise rotation around the axis of the sun gear shaft 8_3: the interface clutch disk 8_10 of the eighth joint drive mechanism 8 realizes counterclockwise rotation around the axis of the sun gear shaft 8_3 and the interface clutch disk 8_10 of the eighth joint drive mechanism 8 realizes clockwise rotation around the axis of the sun gear shaft 8_3 "the transmission route is the same, but the direction of rotation is opposite".

[0114] Adjustment of the relative installation position between the base cover 1_3_2 and the base shell 1_3_1:

[0115] Two long bolt holes are designed on the base cover 1_3_2, and two long bolt holes are designed on the two side surfaces of the base shell 1_3_1 respectively. The two long bolt holes on the base cover 1_3_2 are perpendicular to the long hole axes of the long bolt holes on the base shell 1_3_1. When the two base covers 1_3_2 are fixed to the base shell 1_3_1, the relative installation positions of the base cover 1_3_2 and the base shell 1_3_1 can be adjusted by adjusting the relative fixing positions of the long bolt holes of the base cover 1_3_2 and the base shell 1_3_1.

[0116] Installation and disassembly between surgical instrument actuator M and joint drive mechanism N:

[0117] When the surgical instrument actuator M is installed in the joint drive mechanism N, the surgical instrument actuator M slides along the top of the "trumpet-shaped" guide slot on the base cover 1_3_2 into the end of the guide slot and the middle slot bottom on the base cover 1_3_2, and the end of the guide slot and the middle slot bottom on the base cover 1_3_2 form an "interference" fit with the fixed pin of the surgical instrument actuator M. At the same time, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base covers 1_3_2 are rotated respectively, so that the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 cooperate with the bosses at the corresponding positions on the outer shell of the surgical instrument actuator M, so as to prevent the fixed pin 1_3_4 of the surgical instrument actuator M from "slipping out" from the guide slot on the base cover 1_3_2, causing the surgical instrument actuator M to "separate" from the joint drive mechanism N. At the same time, the two positioning bosses on the base shell 1_3_1 can position and fix the surgical instrument actuator M;

[0118] When the surgical instrument actuator M is separated from the joint driving mechanism N, the two locking hooks 1_3_3_1 and 1_3_3_2 on the two base covers 1_3_2 are rotated simultaneously to separate the grooves on the locking hooks 1_3_3_1 and 1_3_3_2 from the bosses at the corresponding positions on the outer shell of the surgical instrument actuator M, and the surgical instrument actuator M slides out of the base cover 1_3_2 from the top of the "trumpet-shaped" guide groove along the end of the guide groove on the base cover 1_3_2 and the bottom of the middle groove, so that the surgical instrument actuator M is "separated" from the joint driving mechanism N.

[0119] Example 2

[0120] Combination Figure 10 to Figure 13 In this embodiment, based on the technical solution of the first embodiment, the layout of the quick-change mechanism with mechanical decoupling of the mobile joint for the minimally invasive single-port surgical robot can be changed to the following: Figure 10 to Figure 13 That is, the layout of the quick-change mechanism with mechanical decoupling of the moving joint for the minimally invasive surgical single-port surgical robot in the technical solution of the first embodiment is adjusted to the technical solution of the second embodiment, and at the same time, the layout of the transmission box of the surgical instrument actuator M is also adjusted to the technical solution of the second embodiment, which can also correctly drive and mechanically decouple.

[0121] The above-mentioned quick-change mechanism N with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot can be applied to the drive and mechanical decoupling of double-head instruments, such as the drive and mechanical decoupling of clamping instruments and shearing instruments; the eighth joint drive mechanism 8 of the above-mentioned quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive surgical single-port surgical robot is removed, such as Figure 4 , Figure 5 The quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive single-port surgical robot can be applied to the drive and mechanical decoupling of single-head instruments, such as cutting instruments and 30° laparoscope instruments. The seventh joint drive mechanism 7 and the eighth joint drive mechanism 8 of the quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive single-port surgical robot can be removed, and the quick-change mechanism with mechanical decoupling of a moving joint for a minimally invasive single-port surgical robot can be applied to the drive and mechanical decoupling of 360° laparoscope instruments.

[0122] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0123] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A single-port surgical robot quick-change mechanism with mechanical decoupling of a mobile joint, characterized in that: It comprises a fixing seat, on which the first, second, third, fourth, fifth, sixth, seventh and eighth joint driving mechanisms are installed; The first joint drive mechanism is installed on a fixed seat, and the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are installed on the same base, and the first joint drive mechanism is also connected to the base; the base can move axially along the axis of the arm segment of the surgical instrument actuator relative to the fixed seat; thereby realizing the axial movement of the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms and the surgical instrument actuator relative to the fixed seat fixedly connected to the first joint drive mechanism along the axis of the arm segment of the surgical instrument actuator; The second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms are each connected to the surgical instrument actuator via an interface clutch disk; the second, third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms respectively drive the rotation of the second, third, fourth, fifth, sixth, seventh and eighth joint actuators of the surgical instrument actuator via a transmission member; The second joint driving mechanism includes a motor, which drives the gear shaft to rotate, and the gear shaft is connected to the interface clutch disk corresponding to it; The third, fourth, fifth and sixth joint drive mechanisms have the same structure, each comprising a motor, which drives the sun gear shaft to rotate, on which a large sun gear and a small sun gear are mounted, the large sun gear and the small sun gear are meshed with three planetary gears mounted on the planetary carrier gear shaft, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are evenly distributed around the axis of the sun gear shaft, and the planetary carrier gear shaft is connected to the interface clutch disk corresponding thereto; The seventh and eighth joint drive mechanisms have the same structure, each comprising a motor, which drives the sun gear shaft to rotate, on which a large sun gear and a small sun gear are mounted, the large sun gear and the small sun gear are meshed with three planetary gears mounted on a planetary carrier, the three planetary gears are externally meshed with the small sun gear, the three planetary gears are internally meshed with the large sun gear, the three planetary gears are evenly distributed around the axis of the sun gear shaft, and the planetary carrier is connected to an interface clutch disc corresponding thereto; A transition gear shaft is installed between the second, third, fourth, fifth and sixth joint drive mechanisms; a transition gear shaft is installed between the sixth and seventh joint drive mechanisms and the eighth joint drive mechanism respectively; no transition gear shaft is installed between the seventh and eighth joint drive mechanisms; The gear shaft of the second joint drive mechanism is externally meshed with the transition gear shaft between the second and third joint drive mechanisms, and the transition gear shaft between the second and third joint drive mechanisms is externally meshed with the large sun gear of the third joint drive mechanism; the planetary carrier gear shaft of the third joint drive mechanism is externally meshed with the transition gear shaft between the third and fourth joint drive mechanisms, and the transition gear shaft between the third and fourth joint drive mechanisms is externally meshed with the large sun gear of the fourth joint drive mechanism; The planetary carrier gear shaft of the fourth joint drive mechanism is externally meshed with the transition gear shaft between the fourth and fifth joint drive mechanisms, and the transition gear shaft between the fourth and fifth joint drive mechanisms is externally meshed with the large sun gear of the fifth joint drive mechanism; the planetary carrier gear shaft of the fifth joint drive mechanism is externally meshed with the transition gear shaft between the fifth and sixth joint drive mechanisms, and the transition gear shaft between the fifth and sixth joint drive mechanisms is externally meshed with the large sun gear of the sixth joint drive mechanism; the planetary carrier gear shaft of the sixth joint drive mechanism is externally meshed with the transition gear shaft between the sixth and seventh joint drive mechanisms, and the transition gear shaft between the sixth and seventh joint drive mechanisms is externally meshed with the large sun gear of the seventh joint drive mechanism; the planetary carrier gear shaft of the sixth joint drive mechanism is externally meshed with the transition gear shaft between the sixth and eighth joint drive mechanisms, and the transition gear shaft between the sixth and eighth joint drive mechanisms is externally meshed with the large sun gear of the eighth joint drive mechanism; The second, third, fourth, fifth and sixth joint drive mechanisms are arranged in series in a single row on the base; the seventh and eighth joint drive mechanisms are arranged in parallel with the sixth joint drive mechanism on the base.

2. A mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint as claimed in claim 1, characterized in that: Both ends of the gear shaft of the second joint driving mechanism are axially fixed by bearings, and the bearings are fixed on the base; Three pins extend from one end of the planetary carrier gear shaft of the third, fourth, fifth and sixth joint drive mechanisms, and the three pins are respectively inserted into the center holes of the three planetary gears. One end of the planetary carrier gear shaft is axially fixed by a bearing, and the other end of the planetary carrier gear shaft is axially fixed by three planetary gears; both ends of the sun gear shaft and the large sun gear of the third, fourth, fifth and sixth joint drive mechanisms are axially fixed by bearings, one of the bearings is fixed on the sun gear shaft and the large sun gear, and the other two bearings are fixed on the base, and one end of the planetary carrier gear shaft forms an interference fit with the interface clutch disc; One end of the planetary frame of the seventh and eighth joint drive mechanisms extends three pins, and the three pins of the planetary frame are respectively inserted into the center holes of the three planetary wheels, one end of the planetary frame is axially fixed by a bearing, and the other end of the planetary frame is axially fixed by the three planetary wheels; the sun gear shaft and the large sun gear of the seventh and eighth joint drive mechanisms are axially fixed by bearings at both ends, one of the bearings is fixed on the sun gear shaft and the large sun gear, and the other two bearings are fixed on the base, and one end of the planetary frame forms an interference fit with the interface clutch disc; Both ends of the transition gear shaft installed between the second, third, fourth, fifth and sixth joint drive mechanisms and between the sixth joint drive mechanism and the seventh joint drive mechanism and the eighth joint drive mechanism are axially fixed by bearings, and the bearings are fixed on the base.

3. The mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint as claimed in claim 1, characterized in that: The small sun gear and the sun gear shaft of the third, fourth, fifth, sixth, seventh and eighth joint drive mechanisms have a "D"-shaped cross-section, and the "D"-shaped cross-section of the small sun gear and the sun gear shaft forms an interference fit, and the small sun gear and the sun gear shaft are circumferentially fixed through the "D"-shaped cross-section.

4. The mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint as claimed in claim 1, characterized in that: The base comprises a base shell and a base cover. The base shell is provided with two positioning bosses. Two long bolt holes are respectively provided on two side surfaces of the base shell. The long bolt holes are connected to the base cover.

5. A mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint as claimed in claim 4, characterized in that: There are two base covers, which are respectively installed and fixed on both sides of the base shell; a guide slot is designed on the base cover, and the top of the guide slot is in a "trumpet" shape; the end and middle bottom of the guide slot on the base cover are in an "arc" shape, and the opening direction of the end and middle bottom of the guide slot is perpendicular to the axial direction of the guide slot, and the end and middle bottom of the "arc" shaped guide slot form an "interference" fit with the fixed pin shaft of the surgical instrument actuator.

6. A mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint as claimed in claim 4, characterized in that: The base cover is designed with two long bolt holes, and the two long bolt holes on the base cover are perpendicular to the long hole axes of the long bolt holes on the base shell, so as to facilitate the adjustment of the relative installation position of the base cover and the base shell when the base cover is installed and fixed on the base shell.

7. A mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint as claimed in claim 4, characterized in that: It also includes a locking mechanism for fixing the surgical instrument actuator to the base; the locking mechanism includes two groups, each group includes a locking hook, one end of the two locking hooks is rotatably installed on the same base cover, the other end of the locking hook is provided with a groove, and a boss is provided at a corresponding position on the surgical instrument actuator shell, and the groove on the locking hook cooperates with the boss at a corresponding position on the surgical instrument actuator shell to fix the surgical instrument actuator.

8. The mechanically decoupled single-port surgical robot quick-change mechanism with a mobile joint as claimed in claim 1, characterized in that: The first joint driving mechanism is a ball screw mechanism, or a telescopic rod, or a lifting rod driven by hydraulic pressure or cylinder.

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