A surgical robotic system

Abstract

The application relates to the field of medical instruments, in particular to a surgical robot system. The surgical robot system comprises a surgical robot, a host computer, a human-computer interface, a driving mechanism and an instrument structure, the human-computer interface acquires corresponding electric signals according to human hand actions, the driving mechanism drives the instrument structure to work according to the electric signals, the host computer is internally provided with a controller and a power supply, the controller receives the electric signals and controls the driving mechanism to work according to the electric signals, and the power supply supplies power for the driving mechanism. The technical problem that the handheld part of the surgical robot in the prior art is heavy and is not conducive to long-time operation is solved.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and more specifically to a surgical robot system. Background Technology

[0002] In 1987, the world's first successful laparoscopic cholecystectomy was performed, ushering in a new chapter in the development of minimally invasive techniques. This led to the emergence of numerous advanced surgical instruments, propelling the development and maturation of minimally invasive techniques. Compared to traditional surgery, minimally invasive surgery, characterized by less trauma, less pain, and faster recovery, is widely used in clinical practice, and minimally invasive surgical techniques have become a new direction representing medical development.

[0003] In existing technologies, traditional minimally invasive endoscopic surgical instruments are all slender rod structures. These instruments (e.g., needle holders, dissecting forceps, scalpels, scissors, etc.) are inserted into the body through small incisions in the patient's tissue walls (e.g., abdominal cavity, thoracic cavity). The surgeon controls the instrument at the distal end of the rod by manipulating a handle at the proximal end. Because traditional surgical instruments have only one degree of freedom, coupled with leverage, it is difficult for surgeons to achieve complex and precise operations. Another type is the master-slave separation minimally invasive surgical system, represented by "DaVinci." This system has a complex overall structure, high unit cost, and high operating costs; it is bulky and requires a dedicated large operating room; its operation is complex, requiring specialized training for surgeons to master, and even then, there is a long learning curve to achieve proficiency.

[0004] For example, patent application CN201480053589.X discloses a control unit for a medical device, which includes a drive unit and an attached user interface. The interface is operated by a user with one hand and actuates motors and control cables within the control unit, thereby controlling the positioning, movement, and operation of the medical device attached to the control unit. The drive unit includes a motor assembly and a cable system. The motor assembly includes one or more motors individually actuated by the interface, with a total of five motors. Three motors are used to pull and release the control cable, one motor is used to open and close the jaws of the gripper, and one motor is used to rotate the jaws. The motors can be electric motors powered by a battery pack housed in the proximal end (e.g., a FAULHABER motor with a gear ratio of 1:2561:64). The drive unit also includes the motor assembly, battery, controller circuitry, and a base for the hand interface. From the above, it is clear that the surgical robot in the aforementioned application has many parts and is heavy, which is not conducive to long-term use. Summary of the Invention

[0005] To address the technical problem of heavy handheld components in existing surgical robots, which hinders prolonged operation, this invention proposes a surgical robot system that solves the aforementioned technical problems. The technical solution of this invention is as follows:

[0006] A surgical robot system includes: a surgical robot comprising a human-machine interface, a drive mechanism, and an instrument structure; the human-machine interface acquiring corresponding electrical signals based on human hand movements, and the drive mechanism driving the instrument structure to operate based on the electrical signals; and a host unit containing a controller and a power supply, the controller receiving the electrical signals and controlling the drive mechanism to operate based on the electrical signals, and the power supply supplying power to the drive mechanism.

[0007] Furthermore, the device structure includes: a transmission mechanism; a shaft that couples the transmission mechanism to an actuating end; and an actuating end that includes a flexible arm and an actuating component, one end of the flexible arm being connected to the shaft and the other end of the flexible arm being rotatably connected to the actuating component.

[0008] Further, the transmission mechanism includes: an actuation device for driving the actuator to pitch or yaw; the actuation device includes an actuation frame, an actuator, and transmission cables; the actuation frame is hinged to the base; the actuator is hinged within the actuation frame, and the deflection direction of the actuator is perpendicular to the deflection direction of the actuation frame; the transmission cables are two in number, each connected to one side of the actuator and retracted under the drive of two deflection transmission shafts; the two transmission cables simultaneously... When the same amount of material is retracted and released, the actuator deflects; when the two transmission cables are retracted or released simultaneously and in the same amount, the actuator frame deflects; the actuator drives the execution end to pitch or yaw; the opening and closing transmission device includes an opening and closing transmission shaft, which drives the execution end to open and close via the opening and closing transmission cable; the rotation transmission device includes a rotation transmission shaft, which drives the execution end to rotate via a gear set and a drive rod; the actuator, the opening and closing transmission device, and the rotation transmission device are integrated and mounted on the plate.

[0009] Furthermore, the flexible arm includes at least two hinged joint links, which can swing relative to the axis in two mutually perpendicular directions. The actuator is connected to the joint links swinging in different directions via a drive cable assembly. When the actuator deflects, the drive cable assembly pulls the flexible arm, causing the actuator end to swing. When the actuator frame deflects, the drive cable assembly pulls the flexible arm, causing the actuator end to pitch.

[0010] Furthermore, the drive rod is connected to the actuation component via a flexible rotating arm, which is located inside the flexible arm, and the axial position and axial length of the flexible rotating arm are the same as those of the flexible arm.

[0011] Furthermore, the actuating component is a high-frequency instrument, and the main unit is also provided with a high-frequency energy module and / or an argon gas module. The high-frequency energy module and / or the argon gas module are connected to the high-frequency instrument via a cable, and the cable passes through the drive rod and is connected to the high-frequency instrument; and / or, the actuating component is a suction device, and the main unit is provided with a positive / negative pressure module. The positive / negative pressure module is connected to the suction device via a cable, and the cable passes through the drive rod and is connected to the suction device.

[0012] Furthermore, the high-frequency device includes two hinged electrodes and an opening and closing shaft. The driving ends of the two electrodes are movably connected to the opening and closing shaft. The opening and closing transmission cable drives the opening and closing shaft to reciprocate along the axial direction. The opening and closing shaft drives the two electrodes to swing to realize the opening and closing of the two electrodes.

[0013] Furthermore, the drive mechanism is detachably connected to the instrument structure and can acquire relevant information about the instrument structure. The drive mechanism includes a motor assembly, which is integrated and mounted on a motor mounting plate. The motor assembly is connected to each transmission shaft in the transmission mechanism via male and female connectors.

[0014] Furthermore, the human-machine interface is connected to the end of the drive mechanism away from the transmission mechanism. The human-machine interface includes: a palm operating part adapted to the palm, wherein a pitch and yaw control unit is provided within the palm operating part, and the pitch and yaw control unit acquires a pitch and yaw electrical signal corresponding to the palm swing action; a finger operating part adapted to the finger, wherein the finger operating part is rotatably connected to the palm operating part, wherein an opening and closing control unit and a rotation control unit are provided within the finger operating part, wherein the opening and closing control unit acquires an opening and closing electrical signal for the opening and closing action, and the rotation control unit acquires a rotation electrical signal for the rotation action; and a binding member connected to the palm operating part to apply a restraining force to the back of the hand when the palm operates the palm operating part.

[0015] Furthermore, the pitch and yaw control unit includes a spherical sleeve and a ball-head rod. The spherical sleeve is disposed inside the palm operating part, and the rod head of the ball-head rod is connected to the drive mechanism. The ball head of the ball-head rod extends into the spherical sleeve and can swing relative to the spherical sleeve. A rocker sensor is disposed inside the ball head, and the rocker arm of the rocker sensor extends out of the ball head and is fixedly connected to the spherical sleeve. The rocker sensor acquires relative swing electrical signals between the ball head and the spherical sleeve in two orthogonal directions, namely pitch electrical signals and yaw electrical signals. A movable rod is disposed inside the finger operating part, and the movable rod rotates with the rotation of the finger operating part. The rotation control unit includes a rotation sensor, which is disposed on the movable rod and rotates with it to acquire rotation electrical signals. The opening and closing control unit includes a linear sensor. The movable rod reciprocates linearly along its axis under the drive of the clamp and connecting rod. The linear sensor moves linearly with the movable rod and acquires opening and closing electrical signals.

[0016] Based on the above technical solution, the technical effects that the present invention can achieve are as follows:

[0017] 1. The surgical robot system of the present invention, by setting up a host independent of the surgical robot and placing the controller and power supply in the host, can effectively reduce the weight of the surgical robot and facilitate long-term operation of the surgical robot by the user; further, the execution components include high-frequency instruments and / or aspiration instruments, which can realize a variety of instrument functions;

[0018] 2. The surgical robot system of the present invention, by setting up an actuation device, an opening and closing transmission device, and a rotation transmission device, can drive the actuator to achieve four degrees of freedom of movement: yaw, pitch, opening and closing, and rotation. The four transmission shafts are integrated and mounted on the plate, achieving integrated installation of the transmission shafts and greatly reducing the volume. Based on the structure of the actuation device using an actuator, actuation frame, and transmission cable, the actuation device can be integrated and mounted with the opening and closing transmission device and the rotation transmission device between the support plate and the plate, resulting in high integration and small size. Further refining the positional relationship of the transmission shafts, actuation device, drive rod, and opening and closing transmission cable can effectively reduce the volume on the one hand, and on the other hand... Multiple driving components drive the actuator to work along or parallel to the axial direction. Furthermore, the actuator in the actuation device is pulled by a transmission cable, eliminating the need for gears and coupling. The actuator and actuation frame can be precisely driven to deflect by controlling the extension and retraction of the two transmission cables. In addition, compared to existing gear and drive rod-driven braking devices, the transmission cable driving method only requires a drive structure, greatly simplifying the structure, reducing the number of parts, and making it smaller in size. This facilitates integration with other drive transmission structures, truly achieving miniaturization. The swing of the brake drives the actuator to yaw or pitch, enabling centralized control of the actuator's yaw and pitch, further simplifying the structure.

[0019] 3. The surgical robot system of the present invention is provided with a transmission mechanism coupled to the execution end via a shaft. The execution end includes a flexible arm. By setting the flexible arm, axial motion can be realized. Compared with the separation of pitch and yaw motion in split-axis motion, axial motion can realize the combination of pitch and yaw. When treating wounds, obstacle avoidance can be realized. The execution end has a high degree of freedom and is more intuitive and convenient to control.

[0020] 4. In the surgical robot system of the present invention, the drive rod is connected to the execution component through a flexible rotating arm. The flexible rotating arm is located inside the flexible arm and has the same axial position and axial length as the flexible arm. In this way, the drive rod can drive the execution component to rotate through the flexible rotating arm without affecting the position of the flexible arm. That is, there is no interference between the rotation of the execution component and the yaw and pitch motion.

[0021] 5. In the surgical robot system of the present invention, the drive mechanism and the instrument structure are detachably connected, and the first chip on the drive mechanism is connected to the second chip on the instrument structure to obtain relevant information of the instrument. Therefore, the drive mechanism and the instrument structure do not need to be set up one-to-one, which can effectively save parts.

[0022] 6. In the surgical robot system of the present invention, the motor assembly of the drive mechanism is set and integrated with the transmission shaft, which is highly integrated and small in size; the motor drive end and the transmission shaft are connected by a male and female plug-in connector, and with the help of a slot and hook structure, quick connection and disconnection between the motor drive end and the transmission shaft can be realized.

[0023] 7. In the surgical robot system of the present invention, the operator operates the palm operation part and the finger operation part on the human-machine interface by using the palm and fingers respectively. The pitch and yaw control unit acquires the pitch and yaw electrical signal and controls the pitch and yaw of the actuator according to the pitch and yaw electrical signal; the opening and closing control unit acquires the opening and closing electrical signal and controls the opening and closing of the actuator according to the opening and closing electrical signal; the rotation control unit acquires the rotation electrical signal and controls the rotation of the actuator according to the rotation electrical signal. In this way, the operator can achieve accurate control of the actuator by using his palm and finger movements. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the surgical robot system of the present invention;

[0025] Figure 2 This is a schematic diagram of the surgical robot.

[0026] Figure 3 This is a schematic diagram of the instrument structure of a surgical robot;

[0027] Figure 4 This is a structural diagram of the end where the transmission mechanism of the instrument is located.

[0028] Figure 5This is a three-dimensional structural diagram of the transmission mechanism;

[0029] Figure 6 for Figure 5 Enlarged view of part A;

[0030] Figure 7 This is a schematic diagram of the overall structure of the actuation device;

[0031] Figure 8 This is a schematic diagram of the actuator frame and actuator.

[0032] Figure 9 This is a schematic diagram of the self-rotating transmission device;

[0033] Figure 10 This is a schematic diagram of the female head reset plate.

[0034] Figure 11 This is a schematic diagram of the execution end structure;

[0035] Figure 12 A schematic diagram of the flexible self-rotating arm inside the actuator;

[0036] Figure 13 A schematic diagram of the overall external structure of the drive mechanism and human-machine interface;

[0037] Figure 14 This is a schematic diagram of the internal structure of the drive mechanism;

[0038] Figure 15 It is a male-female connector structure;

[0039] Figure 16 This is a schematic diagram of the male connector structure;

[0040] Figure 17 This is a schematic diagram of the male connector reset assembly on the male connector.

[0041] Figure 18 A schematic diagram of the internal structure of a human-machine interface;

[0042] Figure 19 This is a partial cross-sectional schematic diagram of the pitch and yaw control unit;

[0043] Figure 20 This is a schematic diagram of the pitch and yaw control unit;

[0044] Figure 21 A schematic diagram of the internal structure of the finger operating part;

[0045] In the diagram: 1-Transmission mechanism; 11-Actuation device; 111-Actuation frame; 112-Actuator; 1121-Drive cable assembly; 113-Transmission cable; 114-Base; 115-Deflection drive shaft; 116-Deflection fixed line wheel; 117-Deflection transition wheel; 12-Opening and closing transmission device; 121-Opening and closing drive shaft; 122-Opening and closing fixed line wheel; 123-Opening and closing transition wheel; 124-Opening and closing transmission cable; 13-Rotation transmission device; 131-Rotation drive shaft; 132-Drive gear; 133-Transmission gear 134-Driven gear; 135-Drive rod; 136-Flexible self-rotating arm; 137-Fourth connecting seat; 14-Plate; 141-Hook; 15-Support plate; 16-First housing; 161-Slot; 17-Support column; 18-Second chip; 19-Female head; 191-Chamfer; 2-Shaft; 3-Actuating end; 31-Flexible arm; 311-First connecting seat; 312-Joint connecting rod; 313-Second connecting seat; 32-Actuating assembly; 321-Electrode; 3211-Slanted groove; 322-Opening / closing Shaft; 323-Hinged shaft; 324-Third connecting seat; 3241-First limiting groove; 4-Drive mechanism; 41-Second housing; 411-First chip; 42-Motor assembly; 421-Male connector; 4211-Ground plug; 4212-Elastic telescopic component; 4213-Mounting hole; 43-Motor mounting plate; 431-Limiting block; 432-Elastic component; 433-Button; 5-Human machine interface; 51-Palm operating part; 511-Third housing; 512-Spherical sleeve; 5121-Top cover; 5122- Side sleeve; 51221-Second limiting groove; 513-Ball head rod; 5131-Rock sensor; 5132-Rock; 5133-Columnar protrusion; 52-Finger operating part; 521-Fourth housing; 522-Clamping piece; 523-Connecting rod; 524-Moving rod; 525-Rotation sensor; 526-Slot; 527-Linear sensor; 53-Bundle; 6-Female head reset plate; 61-Protrusion; 7-Male head reset assembly; 71-Magnetic component; 72-Electromagnetic reset plate; 8-Main unit; 9-Cable. Detailed Implementation

[0046] The invention will now be further described with reference to the accompanying drawings. In this description, it should be understood that the terms "radial," "axial," "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the drawings and are used only for the convenience of describing the invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. In this description, unless otherwise stated, "a plurality of" means two or more.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] like Figure 1-21 As shown, this embodiment provides a surgical robot system, including a surgical robot and a host 8. The surgical robot includes an instrument structure, a drive mechanism 4, and a human-machine interface 5. The human-machine interface 5 acquires corresponding electrical signals based on human hand movements, and the drive mechanism 4 drives the instrument structure to work based on the electrical signals. The host 8 receives the above-mentioned electrical signals and controls the surgical robot to work based on the electrical signals.

[0049] The device structure includes a transmission mechanism 1, a shaft 2, and an actuator 3. The shaft 2 is a hollow tube that couples the transmission mechanism 1 to the actuator 3. The actuator 3 performs various actions under the drive of the transmission mechanism 1. The transmission mechanism 1 includes an actuating device 11, an opening and closing transmission device 12, and a rotation transmission device 13. The actuating device 11 drives the actuator 3 to deflect and pitch, the opening and closing transmission device 12 drives the actuator 3 to open and close, and the rotation transmission device 13 drives the actuator 3 to rotate.

[0050] The actuation device 11 includes an actuation frame 111, an actuator 112, and a transmission cable 113. The actuation frame 111 is hinged to the base 114, and the actuator 112 is hinged inside the actuation frame 111. The transmission cable 113 drives the actuator 112 or the actuation frame 111 to deflect, and the deflection direction of the actuator 112 is perpendicular to the deflection direction of the actuation frame 111. Specifically, the two ends of the actuation frame 111 are hinged to the base 114 via a pitch axis, and the two ends of the actuator 112 are hinged to the inner wall of the actuation frame 111 via a yaw axis. The actuation frame 111 can drive the actuator 112 to deflect along the pitch axis, and the actuator 112 can deflect relative to the actuation frame 111 along the yaw axis. The pitch axis and yaw axis are arranged vertically. Preferably, the center points of the actuator frame 111 and the actuator 112 coincide, the pitch axis and the yaw axis are perpendicular and intersect, and the intersection point coincides with the aforementioned center point.

[0051] The deflection of the actuator frame 111 and the actuator 112 is driven by the transmission cable 113. Specifically, there are two transmission cables 113, each connected to one side of the actuator 112. The two transmission cables 113 are symmetrically arranged. When the two transmission cables 113 are simultaneously and equally wound and released, the actuator 112 deflects; when the two transmission cables 113 are simultaneously and equally wound or released, the actuator frame 111 deflects. Preferably, the two transmission cables 113 are connected to both sides of one end of the actuator 112. Preferably, the transmission cable 113 can be, but is not limited to, steel wire.

[0052] The transmission cable 113 is wound and unwound under the drive of the deflection drive shaft 115. There are two deflection drive shafts 115, each corresponding to a transmission cable 113. Each of the two deflection drive shafts 115 is equipped with a deflection guide wheel 116. One end of the transmission cable 113 is wound around the deflection guide wheel 116, and the other end of the transmission cable 113 is connected to the actuator 112. Preferably, the transmission cable 113 acts on the actuator 112 from above, and the direction of the tension in the transmission cable 113 is approximately perpendicular to the actuator 112 in its initial state. The direction of the tension in the transmission cable 113 is controlled by a deflection transition wheel 117, which passes around the deflection transition wheel 117 and connects to the actuator 112. The deflection transition wheel 117 is located directly above the actuator 112.

[0053] The deflection of actuator 112 causes the actuator end 3 to pitch and yaw. A drive cable assembly 1121 is provided on actuator 112. When actuator 112 deflects relative to actuator frame 111 along the yaw axis, actuator 112 causes actuator end 3 to yaw via drive cable assembly 1121; when actuator frame 111 causes actuator 112 to deflect along the pitch axis, actuator 112 causes actuator end 3 to pitch via drive cable assembly 1121. Further, drive cable assembly 1121 includes multiple drive cables. Preferably, at least a portion of the vertically extending middle section of each drive cable is a rod-like structure, i.e., the two ends of the drive cable are cable-like, and the middle portion is rod-like. This facilitates processing and enhances rigidity and hardness. More preferably, the two ends of the drive cable are steel wires, and the middle portion is a steel rod.

[0054] Furthermore, it also includes a plate 14, on which two deflection drive shafts 115 are integrated and mounted, and a deflection transition wheel 117 is disposed on the plate 14.

[0055] The opening and closing transmission device 12 includes an opening and closing transmission shaft 121, which drives the actuator 3 to open and close via an opening and closing transmission cable 124. Specifically, the opening and closing transmission shaft 121 is provided with opening and closing retaining pulleys 122, one end of the opening and closing transmission cable 124 is wound around the two opening and closing retaining pulleys 122, and the other end of the opening and closing transmission cable 124 drives the actuator to open and close. When the opening and closing transmission shaft 121 rotates, it realizes the winding and unwinding of the opening and closing transmission cable 124. The opening and closing transmission cable 124 passes through the middle of the actuator 112 to drive the opening and closing of the actuator 3.

[0056] Furthermore, it also includes an opening / closing transition wheel 123, which controls the tension direction of the opening / closing transmission cable 124. The opening / closing transition wheel 123 is mounted on the plate 14. The opening / closing transmission cable 124 passes through the opening / closing transition wheel 123 and extends through the middle of the actuator 112 in a direction perpendicular to the actuator 112 in the initial state. The opening / closing of the actuator 3 is achieved by driving the opening / closing shaft of the actuator 3 to move linearly through the opening / closing transmission cable 124. The opening / closing transmission cable 124 can be, but is not limited to, steel wire.

[0057] The self-rotating transmission device 13 includes a self-rotating transmission shaft 131, which drives the actuator 3 to rotate via a gear set and a drive rod 135. Specifically, the gear set includes a drive gear 132 mounted on the self-rotating transmission shaft 131, a transmission gear 133 that serves as a transmission mechanism, and a driven gear 134 mounted on the drive rod 135. The self-rotating transmission shaft 131 drives the drive gear 132 to rotate, and the drive gear 132 drives the driven gear 134 to rotate via the transmission gear 133. The driven gear 134 drives the drive rod 135 to rotate, and the drive rod 135 drives the actuator 3 to rotate.

[0058] Preferably, the two deflection drive shafts 115, the opening and closing drive shaft 121 and the self-transmission drive shaft 131 are all integrated and mounted on the plate 14 and distributed around the base 114.

[0059] Furthermore, it also includes a support plate 15, which is arranged parallel to and spaced apart from the plate 14. The actuator 11, the opening and closing transmission device 12, and the rotation transmission device 13 are integrated and installed between the support plate 15 and the plate 14. Specifically, the seat 114 is installed on the side of the support plate 15 near the plate 14, and the seat 114 is installed in the middle of the support plate 15. Four transmission shafts 115 are rotatably arranged between the support plate 15 and the plate 14, and the four transmission shafts 115 are distributed around the seat 114. The drive rod 135 passes through the actuator 112 to drive the execution end 3 to rotate. The opening and closing transmission cable 124 passes through the drive rod 135 to drive the execution end 3 to open and close. The drive cable assembly 1121 surrounds the outer periphery of the drive rod 135.

[0060] Furthermore, a support column 17 is provided between the plate 14 and the support plate 15 to enhance the stable connection between the plate 14 and the support plate 15.

[0061] Furthermore, the transmission mechanism 1 also includes a first housing 16 disposed on the outside, and the actuating device 11, the opening and closing transmission device 12, the rotation transmission device 13, the plate 14 and the support plate 15 are all disposed inside the first housing 16.

[0062] One end of shaft 2 is connected to support plate 15. Drive cable assembly 1121, drive rod 135 and opening and closing transmission cable 135 can all pass through support plate 15 and extend into shaft 2, and pass through shaft 2 to connect with actuator 3 to drive actuator 3 to move; the other end of shaft 2 is connected to actuator 3.

[0063] The actuating end 3 includes a flexible arm 31 and an actuating component 32. One end of the flexible arm 31 is connected to the shaft 2, and the other end of the flexible arm 31 is connected to the actuating component 32. Specifically, the flexible arm 31 includes at least two joint links 312, which are sequentially hinged together. The joint links 312 are in the shape of a ring with a certain thickness, and each joint link 312 has a hinge structure extending axially from its outer periphery. Adjacent joint links 312 are hinged together through the hinge structure. The joint link 312 closer to the shaft 2 is fixedly connected to the shaft 2 through a first connecting seat 311, and the joint link 312 closer to the actuating component 32 is rotatably connected to the actuating component 32 through a second connecting seat 313. Preferably, the first connecting seat 311 and the joint link 312 can be hinged or fixedly connected, and the second connecting seat 313 and the joint link 312 can be hinged or fixedly connected, as long as the first connecting seat 311, at least two joint links 312 and the second connecting seat 313 are deflected along two vertical hinge axes.

[0064] The drive cable assembly 1121 drives the joint link 312 to move as the actuator 112 deflects. Specifically, the drive cable assembly includes at least three drive cables. Under the action of the actuator, the drive cables drive the flexible arm to deflect in two vertical directions, so that the flexible arm 31 drives the actuator 32 to pitch and yaw.

[0065] In this embodiment, the execution component 32 includes a high-frequency instrument, which includes two hinged electrodes 321. The middle portions of the two electrodes 321 are hinged together by a hinge shaft 323. An opening and closing shaft 322 passes through the driving ends of the two electrodes 321, movably connecting the two electrodes 321. Specifically, the driving ends of the two electrodes 321 have inclined slots 3211, and the opening and closing shaft 322 passes through the inclined slots 3211 on the two electrodes 321 to movably connect the two electrodes 321.

[0066] Furthermore, a third connecting seat 324 is provided outside the driving ends of the two electrodes 321, and the execution component 32 is connected to the flexible arm 31 through the third connecting seat 324. Specifically, one end of the third connecting seat 324 is rotatably connected to the second connecting seat 313, and the other end of the third connecting seat 324 is forked. The driving ends of the two electrodes 321 and the opening and closing shaft 322 are placed between the two forks, and both ends of the hinge shaft 323 are respectively connected to the two forks to realize the connection between the two electrodes 321 and the third connecting seat 324. The third connecting seat 324 also has a first limiting groove 3241, and both ends of the opening and closing shaft 322 extend into the first limiting groove 3241 and move along the first limiting groove 3241. Preferably, the first limiting groove 3241 extends axially.

[0067] To achieve self-rotation, the drive rod 135 is connected to the actuator 32 via a flexible rotating arm 136. One end of the drive rod 135 is fixedly connected to the flexible rotating arm 136, and the other end of the flexible rotating arm 136 is connected to the actuator 32 via a fourth connecting seat 137. Specifically, the fourth connecting seat 137 is slidably connected to the opening / closing shaft 322. A connecting block extends from the middle of the opening / closing shaft 322 toward the fourth connecting seat 137. The connecting block extends into the fourth connecting seat 137 and can slide axially within the fourth connecting seat 137. Limiting structures are provided at the ends of the connecting block and the fourth connecting seat 137 to prevent relative rotation between the connecting block and the fourth connecting seat 137 and to prevent the connecting block from disengaging from the fourth connecting seat 137. The drive rod 135 can drive the actuator 32 to rotate via the fourth connecting seat 137. Preferably, the flexible rotating arm 136 is located inside the flexible arm 31, and the axial position and axial length of the flexible rotating arm 136 are the same as those of the flexible arm 31. Thus, the flexible rotating arm 136 can perform pitch and yaw movements along with the flexible arm 31, and can also drive the actuator 32 to rotate under the drive of the drive rod 135. Furthermore, when the flexible arm 31 maintains a pitch and yaw posture, the drive rod can drive the flexible rotating arm 136 to rotate within the flexible arm 31 without affecting the pitch and yaw posture of the flexible arm 31. That is, there is no interference between the pitch and yaw movement and the rotation movement, ensuring the accuracy of the instrument's operation. More preferably, the flexible rotating arm 136 is a universal joint.

[0068] To achieve the opening and closing of the electrodes 321, the opening and closing transmission cable 124 drives the opening and closing shaft 322 to move axially, thereby causing the two electrodes 321 to deflect towards or away from each other, thus realizing the opening and closing of the two motors 321. Specifically, the opening and closing transmission cable 124 passes through the drive rod 135 and the flexible self-rotating arm 136 in sequence and is connected to the opening and closing shaft 322. When the opening and closing transmission shaft 121 rotates, it drives the opening and closing transmission cable 124 to retract, and the opening and closing transmission cable 124 pulls the opening and closing shaft 322 to slide upward along the fourth connecting seat 137, thereby realizing the retraction of the two electrodes 321. Furthermore, an elastic reset member is also provided in the fourth connecting seat 137. The elastic reset member is used to provide a reset force for the opening and closing shaft 322, and the opening and closing transmission cable 124 passes through the elastic reset member and is connected to the opening and closing shaft 322. When the two electrodes 321 need to be closed, the opening and closing drive shaft 121 rotates, driving the opening and closing drive cable 124 on it to retract the wire. The opening and closing drive cable 124 drives the opening and closing shaft 322 to slide upward along the axial direction against the force of the elastic reset member, thereby closing the two electrodes 321. When the two electrodes 321 need to be opened, the opening and closing drive shaft 121 rotates, driving the opening and closing drive cable 124 on it to release the wire. Under the action of the elastic reset member, the opening and closing shaft 322 slides downward along the fourth connecting seat 137, thereby opening the two electrodes 321. Preferably, the elastic reset member can be, but is not limited to, a compression spring.

[0069] The drive mechanism 4 is detachably connected to the end of the transmission mechanism 1 furthest from the shaft 2. The drive mechanism 4 drives each transmission shaft in the transmission mechanism 1. The drive mechanism 4 includes a second housing 41 and a motor assembly 42. The motor assembly 42 is housed inside the second housing 41 and includes four motors: two actuation motors, one opening / closing motor, and one rotation motor. The four motors are arranged in parallel and connected to the four transmission shafts respectively. The motor assembly 42 is integrated and mounted on a motor mounting plate 43. The drive end of each motor in the motor assembly 42 is connected to the corresponding transmission shaft. Each motor and its corresponding transmission shaft are connected by a male and female connector. Specifically, the drive end of each motor in the motor assembly 42 is connected to a male connector 421, and the end of each transmission shaft connected to the motor is provided with a female connector 19. The transmission connection between the two is achieved by inserting the ground plug 4211 on the male connector 421 into the corresponding socket on the female connector 19. Specifically, the floor insert 4211 can be cylindrical or other non-cylindrical shapes. In this embodiment, for ease of processing, the floor insert 4211 is set to be cylindrical, and there are at least two of them.

[0070] Furthermore, to facilitate the insertion of the ground plug 4211 on the male connector 421 into the socket on the female connector 19, a chamfer 191 can be provided at the opening of the socket.

[0071] Furthermore, the ground plug 4211 on the male connector 421 is mounted on the male connector 421 via an elastic telescopic member 4212. Specifically, the male connector 421 has a mounting hole 4213 corresponding to the ground plug 4211, and the ground plug 4211 is telescopically mounted within the mounting hole 4213 via the elastic telescopic member 4212. In the initial state, the ground plug 4211 extends out of the mounting hole 4213 under the action of the elastic telescopic member 4212; if the ground plug 4211 does not correspond to the socket on the female connector 19, under external force, the ground plug 4211 can overcome the force of the elastic telescopic member 4212 and retract into the mounting hole 4213 without affecting the quick assembly and disassembly between the drive mechanism 4 and the transmission mechanism 1 via the quick-change mechanism.

[0072] To achieve the reset of all female heads 19 on the drive shaft, a female head reset plate 6 can be provided. The female head reset plate 6 has protrusions 61 distributed on it, which correspond to the positions of the insertion holes on all female heads 19 in the initial state. By inserting the protrusions 61 into the insertion holes, all female heads 19 can be reset simultaneously.

[0073] To reset all male connectors 421, a male connector reset assembly 7 can be provided. The male connector reset assembly 7 includes two magnetic components 71 with opposite polarities and an electromagnetic reset plate 72. The two magnetic components 71 are symmetrically arranged and rotate with the male connector 421. The electromagnetic reset plate 72 is fixedly installed. The electromagnetic reset plate 72 senses the magnetic pole reversal of the magnetic components 71 and sends an electrical signal to control the corresponding motor to rotate and reset the male connector. Specifically, each male connector 421 corresponds to one male connector reset assembly 7. Both magnetic components 71 are semi-circular and surround the outer wall of the male connector 421. The SN boundary line of the two magnetic components 71 is collinear with the line connecting the two ground plugs 4211 on the male connector 421. The electromagnetic reset plate 72 is fixed on the motor mounting plate 43 and located on the SN boundary line of the two magnetic components 71. The electromagnetic reset plate 72 is used to detect the SN pole reversal. When the male connector is reset, the motor first drives the male connector 421 to rotate slowly in a fixed direction. When the magnetic component 71 on the male connector 421 is in position, the electromagnetic reset plate 72 detects the switching of the SN poles and sends an electrical signal to control the motor to stop rotating, thus resetting the male connector 421.

[0074] Furthermore, to achieve rapid assembly and disassembly between the drive mechanism 4 and the transmission mechanism 1, the drive mechanism 4 and the transmission mechanism 1 are connected via a quick-change mechanism. This quick-change mechanism includes a limiting block 431 mounted on the motor mounting plate 43 and a hook 141 mounted on the plate 14. The limiting block 431 is slidably mounted on the side of the motor mounting plate 43 closest to the transmission mechanism 1. The limiting block 431 has a slot and is connected to the inner wall of the second housing 41 via an elastic element 432. The hook 141 extends into and engages in the slot, achieving rapid connection between the drive mechanism 4 and the transmission mechanism 1. Preferably, the end of the hook 141 that engages with the slot is wedge-shaped. When the hook 141 moves towards the slot, it pushes the limiting block 431 to slide on the motor mounting plate 43 against the force of the elastic element 432, ultimately causing the wedge-shaped end of the hook 141 to extend into the slot and be limited. If the drive mechanism 4 and the transmission mechanism 1 need to be disengaged, a button 433 is provided on the second housing 41. By pressing the button 433, the limiting block 431 is pushed to slide, contacting the locking groove to limit the locking hook 141. The locking hook 141 can then be disengaged from the locking groove, thus disengaging the drive mechanism 4 and the transmission mechanism 1. The elastic element 432 is optional but not limited to a spring.

[0075] Using the aforementioned quick-change mechanism, combined with the male connector 421 structure, the female connector reset plate 6, and the male connector reset assembly 5, when connecting the drive mechanism 4 to the instrument structure, the female connector reset plate 6 can be used first to reset all female connectors 19, then the quick-change mechanism can be used to connect the drive mechanism 4 to the instrument structure, and then the male connector 421 can be reset. Alternatively, the male connector 421 and the female connectors 19 can be reset separately before being connected using the quick-change mechanism.

[0076] Furthermore, the drive mechanism 4 and the instrument structure may not be uniquely connected. A first chip 411 is provided on the end face of the drive mechanism 4 where it connects to the instrument structure, and a PIN pin socket is provided on the first chip 411. A second chip 18 is provided on the end face of the instrument structure where it connects to the drive mechanism 4, and a PIN pin is provided on the second chip 18. Electrical connection between the first chip 411 and the second chip 18 is achieved by inserting the PIN pin into the PIN pin socket. The first chip 411 can obtain relevant instrument information from the second chip 18. Specifically, the second housing 41 of the drive mechanism 4 protrudes at least partially toward the transmission mechanism 1. The first chip 411 is provided on the end face of the protrusion. A corresponding slot 161 is provided inside the first housing 16 of the transmission mechanism 1. The second chip 18 is provided on the bottom surface of the slot 161. When the protrusion of the drive mechanism 4 is inserted into the slot 161, the first chip 411 connects with the second chip 18, and the first chip 411 can obtain relevant information from the second chip 18. This relevant information includes instrument type, instrument lifespan, and number of uses.

[0077] The human-machine interface 5 is operated by the user's hand and acquires electrical signals based on the user's hand movements. The drive mechanism 4 then drives the instrument structure to work based on these electrical signals. The human-machine interface 5 is connected to the end of the drive mechanism 4 that is furthest from the transmission mechanism 1. When the user operates the human-machine interface 5 with their hand, the control units within the human-machine interface 5 recognize the user's hand movements and convert them into corresponding electrical signals.

[0078] The human-machine interface 5 includes a palm operation part 51, a finger operation part 52 and a binding member 53. The palm operation part 51 is connected to the drive mechanism 4, the finger operation part 52 is rotatably connected to the palm operation part 51, and the binding member 53 is connected to the palm operation part 51 to apply a restraining force to the back of the hand when the palm operates the palm operation part 51.

[0079] The palm operation unit 51 includes a third housing 511 and a pitch and yaw control unit disposed within the third housing 511. The shape of the third housing 511 is adapted to the shape of a human palm for easy gripping. The pitch and yaw control unit includes a spherical sleeve 512 and a ball-head rod 513. The ball-head sleeve 512 is fixedly disposed inside the third housing 511. One end of the ball-head rod 513 is a ball head, and the other end is a rod head. The ball head of the ball-head rod 513 extends into the spherical sleeve 512 and can swing relative to the ball-head rod 513. The rod head of the ball-head rod 513 extends out of the third housing 511 and connects to the second housing 41 of the drive mechanism 4. The ball head of the ball joint 513 has a hollow structure, housing a rocker sensor 5131. An opening is provided at the top of the ball head, through which the rocker arm 5132 of the rocker sensor 5131 extends and connects to the inner top surface of the spherical sleeve 512. When the ball joint 513 and the spherical sleeve 512 swing relative to each other, the rocker arm 5132 will yaw. The rocker sensor 5131 acquires relative swing electrical signals between the ball joint 513 and the spherical sleeve 512 in two orthogonal directions, which are divided into pitch and yaw signals. Preferably, the spherical sleeve 512 includes an upper cover 5121 and a side sleeve 5122. The side sleeve 5122 is fitted around the outer periphery of the ball head of the ball joint 513, and the upper cover 5121 is located above the ball joint 513 and connected to the rocker arm 5132.

[0080] Furthermore, to prevent the spherical sleeve 512 from rotating along the axis of the ball head rod 513, a columnar protrusion 5133 is provided on the outer wall of the ball head of the ball head rod 513, and a second limiting groove 51221 is opened on the spherical sleeve 512. The columnar protrusion 5133 extends into the second limiting groove 51221 to prevent relative rotation between the two. Furthermore, the second limiting groove 51221 is an elongated hole provided on the side sleeve body 5122 and extending axially. Even further, the second limiting groove 51221 can extend to the lower periphery of the side sleeve body 5122 to form an opening, so that the spherical sleeve 512 can swing relative to the ball head rod 513 but will not rotate relative to the ball head rod 513.

[0081] When the palm acts on the palm operating part 51, the palm grips the third housing 511. When the palm causes the third housing 511 to tilt, the spherical sleeve 512 inside the third housing 511 swings relative to the ball head rod 513 in the tilting direction. The rocker sensor 5131 acquires the tilting electrical signal and transmits the signal to the controller in the host 8. The controller in the host 8 drives the brake motor to drive the actuator 3 to perform the tilting action based on the electrical signal. When the palm causes the third housing 511 to pitch, the spherical sleeve 512 inside the third housing 511 swings relative to the ball head rod 513 in the pitching direction. The rocker sensor 5131 acquires the pitch electrical signal and transmits the signal to the controller in the host 8. The controller in the host 8 drives the brake motor to drive the actuator 3 to perform the pitching action based on the electrical signal.

[0082] The finger operation unit 52 includes a fourth housing 521, an opening / closing control unit, and a rotation control unit. The fourth housing 521 is rotatably connected to the third housing 511. When the palm acts on the palm operation unit 51, the fingers can simultaneously act on the finger operation unit 52. A movable rod 524 is disposed within the fourth housing 521. The opening / closing control unit includes a linear sensor 527, which moves linearly with the movable rod 524 to acquire an opening / closing electrical signal and transmits it to the controller in the host unit 8. The controller in the host unit 8 drives an opening / closing motor based on the opening / closing electrical signal to drive the actuator 3 to perform an opening / closing action. The rotation control unit includes a rotation sensor 525, which senses the rotation of the movable rod 524 to acquire a rotation electrical signal and transmits it to the controller in the host unit 8. The controller in the host unit 8 drives a rotation motor based on the rotation electrical signal to drive the actuator 3 to perform a rotation action.

[0083] Specifically, the movable rod 524 is slidably installed inside the fourth housing 521. A clamping piece 522 is provided on the fourth housing 521. The clamping piece 522 is connected to one end of the movable rod 524 via a connecting rod 523. One end of the clamping piece 522 is connected to one end of the connecting rod 523, and the other end of the connecting rod 523 is movably connected to the movable rod 524. The end of the clamping piece 522 connected to the connecting rod 523 is hinged to the fourth housing 521. When an external force pushes the clamping piece 522 to deflect, the clamping piece 522 drives the connecting rod 523 to deflect, and the connecting rod 523 drives the movable rod 524 to move linearly along its axial direction. Preferably, the end of the connecting rod 523 connected to the movable rod 524 has an elongated hole, through which a fixing member passes to movably connect the connecting rod 523 and the movable rod 524. Preferably, there are two clamping pieces 522, each connected to a movable rod 524 via a connecting rod 523. The two clamping pieces 522 are symmetrically arranged about the rotation axis 524. The thumb and forefinger simultaneously press or release the two clamping pieces 522, causing the movable rod 524 to move linearly. Preferably, the free end of the clamping piece 522 protrudes from the outer surface of the fourth housing 521 under the action of a reset member. The reset member can be, but is not limited to, a torsion spring.

[0084] More preferably, the movable rod 524 has a slot 526 formed by two spaced disc structures. The linear sensor 527 is slidably disposed in the fourth housing 521. At least part of the linear sensor 527 extends into the slot 526. When the movable rod 524 moves linearly, the slot 526 on it drives the linear sensor 527 to move linearly, and the linear sensor 527 acquires the opening and closing electrical signal.

[0085] Specifically, when the finger acts on the two clips 522 and drives the fourth housing 521 to rotate, it causes the movable rod 524 inside to rotate accordingly. A rotation sensor 525 is installed on the movable rod 524. The rotation sensor 525 rotates together with the movable rod 524 to obtain the rotation electrical signal.

[0086] The main unit 8 contains a controller and a power supply. The controller receives electrical signals and controls the drive mechanism 4 to operate based on these signals. The power supply provides power to the drive mechanism 4. The controller and the power supply are electrically connected. The main unit 8 is electrically connected to the surgical robot via a cable 9, which can be a multi-core cable. The controller is electrically connected to each sensor in the human-machine interface 5 via the cable 9 to receive electrical signals from each sensor. The controller is also connected to the drive mechanism 4 via the cable 9, and the controller can control the operation of the drive mechanism 4.

[0087] Furthermore, the main unit 8 is also equipped with a high-frequency energy module and / or an argon gas module. The high-frequency energy module and / or argon gas module are connected to the high-frequency instrument via a cable 9. The cable 9 passes through the drive rod 135 and is connected to the two electrodes 321 of the high-frequency instrument.

[0088] Based on the above structure, the working principle of the surgical robot in this embodiment is as follows: the operator's hand extends into the opening between the palm operation part 51 and the binding member 53, the palm grasps the palm operation part 51, and the fingers operate the finger operation part 52.

[0089] When the actuator 3 needs to perform pitch and yaw movements, the palm drives the third housing 511 to yaw. The spherical sleeve 512 inside the third housing 511 yaws relative to the ball head of the ball joint 513. The rocker sensor 5131 obtains the pitch and yaw electrical signals corresponding to the palm swing and transmits the obtained pitch and yaw electrical signals to the controller. The controller receives the pitch and yaw electrical signals and calculates and converts them into the rotation amount of the two actuator motors in the motor group 42. The controller controls the rotation of the two actuator motors according to the rotation amount. The two actuator motors drive the two deflection drive shafts 115 to rotate. The two deflection drive shafts 115 drive the two transmission cables 113 to retract and extend, causing the actuator frame 111 and / or actuator 112 to deflect. The drive cable group 1121 on the actuator 112 pulls the joint link 312 of the flexible arm 31 to perform pitch and yaw movements.

[0090] When the actuator 3 needs to perform the opening and closing action, the fingers pinch the clamp 522 to overcome the force of the reset member and deflect it. The connecting rod 523 deflects accordingly, and the connecting rod 523 drives the movable rod 524 to move linearly. The slot 526 on the rotating rod 524 drives the linear sensor 527 to move linearly. The linear sensor 527 acquires the opening and closing electrical signal and transmits the opening and closing electrical signal to the controller. The controller receives the opening and closing electrical signal and calculates and converts it into the rotation amount of the opening and closing motor in the motor group 42. The controller controls the opening and closing motor to rotate according to the rotation amount. The opening and closing motor drives the opening and closing transmission shaft 121 to rotate. The opening and closing transmission shaft 121 drives the opening and closing transmission cable 124 to retract and extend. The opening and closing transmission cable 124 drives the opening and closing shaft 322 to move linearly along the first limiting groove 3241. The opening and closing shaft 322 drives the driving ends of the two electrodes 321 to realize the opening and closing of the two electrodes 321.

[0091] When the actuator 3 needs to perform a rotation action, the finger rotates the fourth housing 521, causing the movable rod 524 inside to rotate. The rotation sensor 525 on the movable rod 524 also rotates accordingly. The rotation sensor 525 acquires the rotation electrical signal and transmits the rotation electrical signal to the controller. The controller receives the rotation electrical signal and calculates and converts it into the rotation amount of the self-rotating motor in the motor group 42. The controller controls the self-rotating motor to rotate according to the rotation amount. The self-rotating motor drives the self-rotating transmission shaft 131 to rotate. The self-rotating transmission shaft 131 drives the drive gear 132 on it to rotate. The drive gear 132 drives the driven gear 134 to rotate through the transmission gear 133, thereby driving the drive rod 135 to rotate. The drive rod 135 drives the actuator 32 to rotate through the flexible self-rotating arm 136, realizing the rotation of the actuator 32.

[0092] As an alternative to this embodiment, the execution component 32 may also include a suction device. A positive / negative pressure module is provided within the main unit 8, and the positive / negative pressure module is connected to the suction device via a cable 9. The cable 9 passes through the drive rod 135 and is connected to the suction device. Alternatively, other devices may be selected as the execution component according to actual operational needs.

[0093] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A surgical robot system, characterized in that, include: The surgical robot includes a human-machine interface (5), a drive mechanism (4), and an instrument structure. The human-machine interface (5) acquires corresponding electrical signals based on the human hand movements, and the drive mechanism (4) drives the instrument structure to work based on the electrical signals. The host (8) is equipped with a controller and a power supply. The controller receives the electrical signal and controls the drive mechanism (4) to work according to the electrical signal. The power supply provides power to the drive mechanism (4). The device structure includes: Transmission mechanism (1); Shaft (2), which couples the transmission mechanism (1) to the actuator (3); The execution end (3) includes a flexible arm (31) and an execution component (32). One end of the flexible arm (31) is connected to the shaft (2), and the other end of the flexible arm (31) is rotatably connected to the execution component (32). The transmission mechanism (1) includes: An actuation device (11) is used to drive the actuator (3) to pitch or yaw. The actuation device (11) includes an actuation frame (111), an actuator (112), and a transmission cable (113). The actuation frame (111) is hinged to the base (114). The actuator (112) is hinged inside the actuation frame (111), and the deflection direction of the actuator (112) is perpendicular to the deflection direction of the actuation frame (111). There are two transmission cables (113), which are respectively connected to both sides of the actuator (112) and are wound up and down under the drive of two deflection transmission shafts (115). When the two transmission cables (113) are wound up and down at the same time and in the same amount, the actuator (112) deflects. When the two transmission cables (113) are wound up or down at the same time and in the same amount, the actuator frame (111) deflects. The actuator (112) drives the execution end (3) to pitch or yaw. The opening and closing transmission device (12) includes an opening and closing transmission shaft (121), which drives the actuator (3) to open and close via an opening and closing transmission cable (124); The self-rotation transmission device (13) includes a self-rotation transmission shaft (131), which drives the actuator (3) to rotate via a gear set and a drive rod (135); The actuation device (11), the opening and closing transmission device (12), and the rotation transmission device (13) are integrated and installed on the plate (14); The flexible arm (31) includes at least two hinged joint links (312), which can swing relative to the axis (2) in two mutually perpendicular directions. The actuator (112) is connected to the joint links (312) that swing in different directions via a drive cable assembly (1121). When the actuator (112) deflects, the drive cable assembly (1121) pulls the flexible arm (31) to drive the actuator end (3) to swing. When the actuator frame (111) deflects, the drive cable assembly (1121) pulls the flexible arm (31) to drive the actuator end (3) to pitch. The drive mechanism (4) is detachably connected to the instrument structure and can obtain relevant information about the instrument structure. The drive mechanism (4) includes a motor assembly, which is integrated on the motor mounting plate (43). The motor assembly and each transmission shaft in the transmission mechanism (1) are connected by corresponding male and female connectors.

2. The surgical robot system according to claim 1, characterized in that, The drive rod (135) is connected to the actuation component (32) via a flexible rotating arm (136). The flexible rotating arm (136) is located inside the flexible arm (31), and the axial position and axial length of the flexible rotating arm (136) are the same as those of the flexible arm (31).

3. The surgical robot system according to claim 1, characterized in that, The execution component (32) is a high-frequency instrument. The host (8) is also equipped with a high-frequency energy module and / or an argon gas module. The high-frequency energy module and / or argon gas module are connected to the high-frequency instrument via a cable (9). The cable (9) passes through the drive rod (135) and is connected to the high-frequency instrument. Alternatively, The actuator is a suction device. The main unit is equipped with a positive / negative pressure module, which is connected to the suction device via a cable. The cable passes through the drive rod and is connected to the suction device.

4. A surgical robot system according to claim 3, characterized in that, The high-frequency device includes two hinged electrodes (321) and an opening and closing shaft (322). The driving ends of the two electrodes (321) are movably connected to the opening and closing shaft (322). The opening and closing transmission cable (124) drives the opening and closing shaft (322) to reciprocate along the axial direction. The opening and closing shaft (322) drives the two electrodes (321) to swing to realize the opening and closing of the two electrodes (321).

5. A surgical robot system according to claim 1, characterized in that, The human-machine interface (5) is connected to the end of the drive mechanism (4) away from the transmission mechanism (1), and the human-machine interface (5) includes: Palm operation unit (51), the palm operation unit (51) is adapted to the palm, and the palm operation unit (51) is provided with a pitch and yaw control unit, the pitch and yaw control unit acquires the pitch and yaw electrical signal corresponding to the palm swing action; The finger operation part (52) is adapted to the finger and is rotatably connected to the palm operation part. The finger operation part (52) is provided with an opening and closing control unit and a rotation control unit. The opening and closing control unit acquires the opening and closing electrical signal of the opening and closing action, and the rotation control unit acquires the rotation electrical signal of the rotation action. A binding member (53) is connected to the palm operating part (51) to apply a restraining force to the back of the hand when the palm operates the palm operating part (51).

6. A surgical robot system according to claim 5, characterized in that, The pitch and yaw control unit includes a spherical sleeve (512) and a ball head rod (513). The spherical sleeve (512) is disposed inside the palm operation part (51). The rod head of the ball head rod (513) is connected to the drive mechanism (4). The ball head rod (513) extends into the spherical sleeve (512) and can swing relative to the spherical sleeve (512). A rocker sensor (5131) is disposed inside the ball head. The rocker arm (5132) of the rocker sensor (5131) extends out of the ball head and is fixedly connected to the spherical sleeve (512). The rocker sensor (5131) acquires the relative swing electrical signals of the ball head and the spherical sleeve (512) in two orthogonal directions, which are pitch electrical signals and yaw electrical signals, respectively. The finger operation part (52) is provided with a movable rod (524), which rotates with the rotation of the finger operation part (52). The rotation control unit includes a rotation sensor (525), which is mounted on the movable rod (524) and rotates with it to acquire the rotation electrical signal. The opening and closing control unit includes a linear sensor (527). The movable rod (524) moves linearly along its axis under the drive of the clamp (522) and the connecting rod (523). The linear sensor (527) moves linearly with the movable rod (524) and acquires the opening and closing electrical signal.

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