A seven-degree-of-freedom main manipulator for a surgical robot

Abstract

A seven-degree-of-freedom main operator for a surgical robot relates to a main operator. The present invention aims to solve the problem that the existing main operator cannot achieve gravity balance, creates a burden on the doctor's hand movement, and makes the doctor easily fatigued. The wrist yaw joint, shoulder joint and waist joint of the present invention rotate in the vertical direction, the shoulder joint and the waist joint are connected by a connecting rod, the wrist pitch joint and the elbow joint rotate in the horizontal direction, the wrist yaw joint and the wrist pitch joint are connected by a connecting rod, the wrist pitch joint and the elbow joint are connected by a connecting rod, the counterweight is installed at the end of the elbow joint, the wrist roll joint is connected to the wrist yaw joint by a clamping mechanism, and the axes of the wrist pitch joint, the wrist yaw joint and the wrist roll joint intersect at one point. The present invention can collect the posture information of the operator's (doctor's) hand and the open and angle between two fingers. The present invention is used in the field of medical devices.

Description

Technical Field

[0001] The present invention relates to a seven-degree-of-freedom master manipulator, and in particular to a seven-degree-of-freedom master manipulator for a surgical robot, which can collect the position information of the operator's (doctor's) hand and the opening and angle between two fingers, and belongs to the field of medical equipment. Background Art

[0002] Compared with traditional minimally invasive surgery, robot-assisted minimally invasive surgery system has many advantages and great development prospects. As a human-machine interaction interface, the main manipulator is an important part of the robot-assisted minimally invasive surgery system, which is used to collect the operator's (doctor's) hand movement information, specifically the operator's hand posture information and the opening and closing angle between the two fingers. However, most of the main hands used in the existing robot-assisted minimally invasive surgery systems in China are not driven by motors and cannot achieve this gravity balance. Then the gravity of the main hand itself will put a burden on the doctor's hand movement, making the doctor prone to fatigue. Summary of the invention

[0003] The purpose of the present invention is to solve the problem that the existing main manipulator cannot achieve gravity balance, which puts a burden on the doctor's hand movement and makes the doctor easily fatigued. Further, a seven-degree-of-freedom main manipulator for a surgical robot is provided.

[0004] The technical solution of the present invention is: a seven-degree-of-freedom main manipulator for a surgical robot includes a waist joint, a shoulder joint, an elbow joint, a wrist pitch joint and a wrist yaw joint, the wrist yaw joint, the wrist pitch joint, the elbow joint, the shoulder joint and the waist joint are connected in sequence, wherein the wrist yaw joint, the shoulder joint and the waist joint rotate in the vertical direction, the shoulder joint and the waist joint are connected by a connecting rod, the wrist pitch joint and the elbow joint rotate in the horizontal direction, the wrist yaw joint and the wrist pitch joint are connected by a connecting rod, and the wrist pitch joint and the elbow joint are connected by a connecting rod, it also includes a clamping mechanism, a wrist roll joint and a counterweight, the counterweight is installed at the end of the elbow joint, the wrist roll joint is connected to the wrist yaw joint through the clamping mechanism, and the axes of the wrist pitch joint, the wrist yaw joint and the wrist roll joint intersect at one point.

[0005] Furthermore, the clamping mechanism includes an L-shaped connecting rod, a driver, a motor, an encoder, an encoder bracket, a clamping bearing, a rotating shaft, a preload disk, a preload screw, a wire reel and a steel wire. The horizontal section of the L-shaped connecting rod is connected to the wrist yaw joint, the driver is installed on the vertical section of the L-shaped connecting rod, the motor is horizontally installed on the vertical section of the L-shaped connecting rod above the driver, the output shaft of the motor is connected to the wire reel, the encoder bracket is installed on the upper end of the vertical section of the L-shaped connecting rod, the encoder is installed in the encoder bracket, the rotating shaft is horizontally rotatably installed on the encoder bracket at the upper end of the vertical section of the L-shaped connecting rod through the clamping bearing, the rotating shaft is connected to the encoder, the preload disk is installed in the rotating shaft through the preload screw, and the steel wire is wound around the wire reel and the rotating shaft.

[0006] Furthermore, the steel wire is wound around the wire drum and the rotating shaft in a figure-8 shape.

[0007] Furthermore, the clamping mechanism also includes a limit screw, and a rotation groove with an incomplete arc is provided on the rotation shaft, and the limit screw passes through the rotation groove and is connected to the L-shaped connecting rod.

[0008] Furthermore, the wrist roll joint includes an upper shell, a right fingerplate assembly, a base assembly, a lower shell, a left fingerplate assembly, a differential adapter plate and a clamping shaft connector. The upper shell and the lower shell cover are mounted on the base assembly, the differential adapter plate is mounted on the clamping shaft connector, the clamping shaft connector is mounted at one end of the base assembly, and the left fingerplate assembly and the right fingerplate assembly are respectively mounted on the left and right sides of the base assembly.

[0009] Furthermore, the base assembly includes a main body, two bearing pre-tightening screws, two shaft end baffles, four base bearings, two gear shafts, a rotary encoder, an adjusting washer, a rotary encoder bracket and two set screws. The two gear shafts are vertically installed on one side of the main body, and the two gear shafts are meshed with each other. The left finger plate assembly and the right finger plate assembly are respectively installed on the two gear shafts by a set screw. A base bearing is respectively installed on the upper end and the lower end of the left finger plate assembly and the right finger plate assembly. A shaft end baffle is installed on the upper end of each gear shaft. Two bearing pre-tightening screws are installed on the upper ends of the two gear shafts. The rotary encoder is installed on the lower end of one of the gear shafts through the rotary encoder bracket. The adjusting washer is installed on the rotary encoder bracket to adjust the distance between the rotary encoder and the reading head.

[0010] Furthermore, the right fingerboard assembly includes a right fingerboard connecting rod and a right fingerboard, and the right fingerboard is mounted on the outer end surface of the right fingerboard connecting rod.

[0011] Furthermore, the left fingerboard assembly includes a left fingerboard and a left fingerboard connecting rod, and the left fingerboard is mounted on the outer end surface of the left fingerboard connecting rod.

[0012] Furthermore, the wrist roll joint also includes an elastic element, which is installed in the body, and two ends of the elastic element are respectively connected to the right fingerboard assembly and the left fingerboard assembly.

[0013] Preferably, the elastic element is a "W"-shaped spring.

[0014] Compared with the prior art, the present invention has the following effects:

[0015] 1. The present invention adds a counterweight block at the end of the elbow joint 5, which can balance part of the mass of the wrist assembly, thereby reducing the motor output torque of the elbow joint 5 and alleviating the motor burden of the elbow joint 5; the residual unbalanced torque is accurately compensated by the motor, so gravity balance can be achieved in any posture.

[0016] 2. The axes of the wrist joints (wrist pitch joint 4, wrist yaw joint 3 and wrist roll joint 2) of the present invention intersect at one point, which is conducive to solving the analytical solution of the robot's inverse kinematics rather than the numerical solution. There is no iterative calculation process, which simplifies the calculation.

[0017] 3. The shoulder joint 6 and waist joint 7 of the arm of the present invention are vertical axes, which can effectively save the compensation of gravity items, thereby simplifying the complexity of the control system.

[0018] 4. All joints of the present invention adopt wire transmission and are designed with a special wire pre-tightening structure, which can greatly reduce transmission error and reduce friction.

[0019] 5. The wrist roll joint of the present invention has a simple structure and a compact size. In order to enhance the stability of the control clip opening and closing angle signal during remote transmission, a differential adapter board is designed to convert the single-ended signal output by the control clip into a differential signal, which can offset common mode interference and externally radiated electromagnetic fields, thereby greatly enhancing the anti-interference ability of the control clip opening and closing angle signal. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is an axonometric view after the clamping mechanism 1 and the wrist rolling joint 2 are connected. Figure 3 It is a schematic diagram of the transmission structure of the joint shaft system of the clamping mechanism 1. Figure 4 This is the wire pretensioning structure diagram. Figure 5 It is a schematic diagram of the limiting structure of the clamping mechanism 1. Fig. 6 (a) is a front view of the steel wire pre-tightening principle. Fig. 6 (b) is a front view of the steel wire pre-tightening principle. Figure 7 Schematic diagram of the overall structure of the wrist roll joint 2. Figure 8 yes Figure 7 It is an exploded view. Fig. 9 yes Figure 7 The shaft transmission diagram. Fig.10 yes Figure 7 Schematic diagram of the component shaft system. Fig.11 yes Figure 7 Maximum opening and closing angle diagram in natural state. Fig.12 yes Figure 7 Diagram of the minimum opening angle in the clamped state. DETAILED DESCRIPTION

[0021] Specific implementation method 1: Combination Figures 1 to 12The present embodiment is described. A seven-degree-of-freedom main manipulator for a surgical robot in the present embodiment includes a waist joint 7, a shoulder joint 6, an elbow joint 5, a wrist pitch joint 4 and a wrist yaw joint 3. The wrist yaw joint 3, the wrist pitch joint 4, the elbow joint 5, the shoulder joint 6 and the waist joint 7 are connected in sequence, wherein the wrist yaw joint 3, the shoulder joint 6 and the waist joint 7 rotate in the vertical direction, the shoulder joint 6 and the waist joint 7 are connected by a connecting rod, the wrist pitch joint 4 and the elbow joint 5 rotate in the horizontal direction, the wrist yaw joint 3 and the wrist pitch joint 4 are connected by a connecting rod, and the wrist pitch joint 4 and the elbow joint 5 are connected by a connecting rod. It also includes a clamping mechanism 1, a wrist roll joint 2 and a counterweight 8. The counterweight 8 is installed at the end of the elbow joint 5. The wrist roll joint 2 is connected to the wrist yaw joint 3 through the clamping mechanism 1. The axes of the wrist pitch joint 4, the wrist yaw joint 3 and the wrist roll joint 2 intersect at one point.

[0022] Specific implementation method 2: Combination Figures 1 to 5 The clamping mechanism 1 of the present embodiment includes an L-shaped connecting rod 1-1, a driver 1-2, a motor 1-3, an encoder 1-4, an encoder bracket 1-5, a clamping bearing 1-6, a rotating shaft 1-7, a preload disk 1-8, a preload screw 1-9, a wire drum 1-10 and a steel wire 1-12. The horizontal section of the L-shaped connecting rod 1-1 is connected to the wrist swing joint 3, the driver 1-2 is installed on the vertical section of the L-shaped connecting rod 1-1, and the motor 1-3 is horizontally installed on the vertical section of the L-shaped connecting rod 1-1 above the driver 1-2. On the upper part, the output shaft of the motor 1-3 is connected to the wire drum 1-10, the encoder bracket 1-5 is installed at the upper end of the vertical section of the L-shaped connecting rod 1-1, the encoder 1-4 is installed in the encoder bracket 1-5, the rotating shaft 1-7 is horizontally rotated and installed on the encoder bracket 1-5 at the upper end of the vertical section of the L-shaped connecting rod 1-1 through the clamping bearing 1-6, the rotating shaft 1-7 is connected to the encoder 1-4, the pre-tightening disk 1-8 is installed in the rotating shaft 1-7 through the pre-tightening screw 1-9, and the steel wire 1-12 is wound on the wire drum 1-10 and the rotating shaft 1-7. In this arrangement, the motor axis and the rotating shaft axis are parallel to each other, and the motor power is transmitted to the rotating shaft through the steel wire rope transmission. In this embodiment, the pre-tightening of the steel wire rope can be achieved by relatively rotating the pre-tightening disk and the rotating shaft, and the rotating pre-tightening disk and the rotating shaft are mutually fixed by the end face pre-tightening screw. Other components and connection relationships are the same as those in the specific embodiment one.

[0023] The rotating shaft 1-7 of this embodiment is supported by the bearing 1-6, and the bearing 1-6 is pre-tightened by the pre-tightening nut to achieve axial positioning. A rotary encoder is installed at the end of the rotating shaft 1-7, which moves synchronously with the rotating shaft. The encoder bracket 1-5 is connected to the base. At this time, the encoder head 1-4 fixed on the encoder bracket 1-5 can measure the angle of rotation of the rotary encoder, that is, the angle of the rotating shaft. The washer under the encoder bracket is used to adjust the distance between the rotary encoder and the rotary encoder head 1-4 so that it meets the installation accuracy requirements of the encoder.

[0024] Specific implementation method three: Combination Figure 8 To illustrate this embodiment, the steel wire 1-12 of this embodiment is wound around the wire drum 1-10 and the rotating shaft 1-7 in the form of an 8-shaped circle. With this arrangement, the pre-tightening of the steel wire is firm and reliable. Other components and connection relationships are the same as those of the specific embodiment one or two.

[0025] The motor 1-3 of this embodiment is fixed with the L-shaped connecting rod 1-1 and placed parallel to the axis of the rotating shaft 1-7. A wire drum 1-10 is installed on the motor output shaft and is fixedly connected to the motor output shaft by a set screw. The wire drum 1-10 and the rotating shaft 1-7 are connected and transmitted by steel wire ropes at both ends, and the way of winding the steel wire is 8-shaped. More specifically, one end of the two sections of steel wire is fixed at the two positions ① and ② of the wire drum in Figure 6, and the other ends of the two sections of steel wire rope pass through the holes ③ and ④ of the rotating shaft 1-7, wherein the steel wire rope passing through ③ or ④ needs to be knotted inside the rotating shaft 1-7, and the steel wire passing through ④ or ③ also needs to pass through the holes on the preload disk 1-8 and then be knotted inside the preload disk 1-8. At this time, the relative rotation of the rotating shaft 1-7 and the preload disk 1-8 can realize the preload of the wire rope, and finally the rotating shaft and the end surface of the preload disk are tightly fitted by the preload screw 1-9, and the two are fixed to each other by friction.

[0026] Specific implementation method four: Combination Figure 5 To explain this embodiment, the clamping mechanism 1 of this embodiment further includes a limit screw 1-11, and a rotation groove with an incomplete arc is provided on the rotation shaft 1-7. The limit screw 1-11 passes through the rotation groove and is connected to the L-shaped connecting rod 1-1. In this way, a limit pin is installed on the L-shaped connecting rod, and a rotation groove with an incomplete arc is provided on the rotation shaft, thereby achieving the limit of the joint. Other components and connection relationships are the same as those of the specific embodiments one, two or three.

[0027] In order to limit the maximum range of the joint rotation angle, a mechanical limit structure is designed; an incomplete arc rotation groove is provided in the middle of the two bearings of the rotating shaft 1-7, and the limit pin 1-11 is fixedly connected to the L-shaped connecting rod 1-1 and partially penetrates into the incomplete arc groove. When the rotating shaft rotates to the extreme position, the limit pin 1-11 will collide with the groove boundary, thereby realizing the joint limiting function.

[0028] This embodiment also includes a cover body 1-12, and the cover body 1-12 covers the motor 1-3 and the encoder bracket 1-5.

[0029] Specific implementation method five: Combination Figure 1 to Figure 2 , Figures 7 to 12 This embodiment is described. The wrist roll joint 2 of this embodiment includes an upper shell 2-1, a right finger plate assembly 2-2, a base assembly 2-3, a lower shell 2-4, a left finger plate assembly 2-5, a differential adapter plate 2-6 and a clamping shaft connector 2-7. The upper shell 2-1 and the lower shell 2-4 are mounted on the base assembly 2-3, the differential adapter plate 2-6 is mounted on the clamping shaft connector 2-7, the clamping shaft connector 2-7 is mounted on one end of the base assembly 2-3, and the left finger plate assembly 2-5 and the right finger plate assembly 2-2 are respectively mounted on the left and right sides of the base assembly 2-3. This arrangement prevents the two cutting knives 2 from interfering with each other when rotating, and the spacing between the two cutting knives 2 is 3-8mm. Other components and connection relationships are the same as those of the specific embodiments one, two, three or four.

[0030] This embodiment has a beautiful appearance, is generally cone-shaped, and conforms to ergonomics. It can provide a seven-degree-of-freedom main operating hand that can collect the operator's (doctor's) hand movement information (posture and opening and closing angle between two fingers).

[0031] The upper shell, lower shell and clamping shaft connector 2-7 of this embodiment are connected to the base assembly through two threaded holes. The right finger plate assembly and the left finger plate assembly are connected to the gear shaft in the base assembly through set screws, so that the finger plate drives the gear shaft to move synchronously.

[0032] The base component 2 - 3 of the control clip of this embodiment is designed to have a conical shape with a rounded end and a narrow front end.

[0033] Specific implementation method six: Combination Figure 1 to Figure 2 , Figures 7 to 12To illustrate this embodiment, the base assembly 2-3 of this embodiment includes a body 2-3-9, two bearing pre-tightening screws 2-3-1, two shaft end baffles 2-3-2, four base bearings 2-3-3, two gear shafts 2-3-4, a rotary encoder 2-3-5, an adjusting washer 2-3-6, a rotary encoder bracket 2-3-7 and two set screws 2-3-8. The two gear shafts 2-3-4 are vertically installed on one side of the body 2-3-9, and the two gear shafts 2-3-4 are meshed with each other. The left finger plate assembly 2-5 and the right finger plate assembly 2-2 are respectively installed by a set screw 2-3-8. Installed on two gear shafts 2-3-4, the upper and lower ends of the left finger plate assembly 2-5 and the right finger plate assembly 2-2 are each installed with a base bearing 2-3-3, the upper end of each gear shaft 2-3-4 is installed with a shaft end baffle 2-3-2, two bearing pre-tightening screws 2-3-1 are installed on the upper ends of the two gear shafts 2-3-4, the rotary encoder 2-3-5 is installed on the lower end of one of the gear shafts 2-3-4 through the rotary encoder bracket 2-3-7, and the adjusting washer 2-3-6 is installed on the rotary encoder bracket 2-3-7 to adjust the distance between the rotary encoder 2-3-5 and the reading head. Such an arrangement facilitates the collection of the operator's (doctor's) hand movement information. Other components and connection relationships are the same as those of the specific implementation methods one, two, three, four or five.

[0034] The upper portion of the gear shaft in this embodiment passes through two bearings, and the axial positioning is achieved by pressing the shaft end baffle plate through the bearing pre-tightening screws.

[0035] The lower part of the gear shaft of this embodiment is equipped with a rotary encoder, which moves synchronously with the fingerboard. The rotary encoder bracket is connected to the base.

[0036] Specific implementation method seven: Combination Fig.10 To explain this embodiment, the right fingerboard assembly 2-2 of this embodiment includes a right fingerboard connecting rod 2-2-1 and a right fingerboard 2-2-2, and the right fingerboard 2-2-2 is installed on the outer end surface of the right fingerboard connecting rod 2-2-1. With such an arrangement, the reset is fast. The other components and connection relationships are the same as those of the specific embodiments 1, 2, 3, 4, 5 or 6.

[0037] Specific implementation method eight: Combination Fig.10 To explain this embodiment, the left fingerboard assembly 2-5 of this embodiment includes a left fingerboard 2-5-1 and a left fingerboard connecting rod 2-5-2, and the left fingerboard 2-5-1 is installed on the outer end surface of the left fingerboard connecting rod 2-5-2. Such an arrangement gives flexibility to the reset. The other components and connection relationships are the same as any one of the specific embodiments 1 to 7.

[0038] Specific implementation method nine: Combination Fig.10To explain this embodiment, the wrist roll joint 2 of this embodiment also includes an elastic element 2-8, which is installed in the body 2-3-9, and the two ends of the elastic element 2-8 are respectively connected to the right fingerboard assembly 2-2 and the left fingerboard assembly 2-5. In this way, the right fingerboard assembly and the left fingerboard assembly of this embodiment are connected to the elastic element. The elastic element is used to restore the clip to the initial position, that is, the maximum opening and closing angle. The other components and connection relationships are the same as any one of the specific embodiments one to eight.

[0039] Specific implementation method ten: Combination Fig.10 To illustrate this embodiment, the elastic element 2-8 of this embodiment is a "W"-shaped spring. In this way, the shape of the elastic element of this embodiment can be arbitrary, in particular, such as a spring leaf, a torsion spring, etc. The other components and connection relationships are the same as any one of the specific embodiments 1 to 9.

[0040] Combination Figures 1 to 12 The working principle of the present invention is described:

[0041] When the present invention is actually used, the doctor puts two fingers of the hand into the fingerboard of the control clamp and drags the main hand at will according to his own will, and the joints of the main hand make follow-up movements. Since the present invention can achieve gravity balance, the main hand has almost no hindering effect on the movement of the doctor's hand.

[0042] In order to enhance the stability of the control clip opening and closing angle signal during remote transmission, a differential adapter plate is designed to convert the single-ended signal output by the control clip into a differential signal to enhance the anti-interference ability. Here, the circular differential adapter plate is installed in the clamp shaft connector to make full use of the remaining space without adding extra space and reducing the overall size.

[0043] The right finger plate assembly and the left finger plate assembly are connected to the gear shaft in the base assembly through set screws, so that the finger plate drives the gear shaft to move synchronously. The upper part of the gear shaft passes through two bearings, and the shaft end baffle is pressed by the bearing pre-tightening screws to achieve axial positioning. A rotary encoder is installed at the lower part of the gear shaft, which moves synchronously with the finger plate. The rotary encoder bracket is connected to the base. At this time, the encoder reader fixed on the rotary encoder bracket can measure the rotation angle of the rotary encoder, that is, the opening and closing angle of the finger plate. The adjustment washer is used to adjust the distance between the rotary encoder and the rotary encoder reader to meet the installation accuracy requirements of the encoder.

[0044] The right fingerboard assembly and the left fingerboard assembly are connected to the elastic element. In the natural state, the elastic element moves the left and / or right fingerboard connecting rods to the maximum angle alpha (this angle is measured relative to the central axis). At this time, the end plane of the fingerboard connecting rod contacts the end plane of the base. Here, alpha can be specially designed according to the requirements of different usage scenarios. When the operator moves the angle between the two fingerboards to the minimum angle beta, the front end plane of the fingerboard connecting rod contacts the side plane of the base, thereby realizing the function of mechanical limiting. When the fingerboard is at the maximum angle alpha, the deformation of the elastic element is the smallest; when the fingerboard is at the minimum angle beta, the deformation of the elastic element is the largest, and a certain feedback force is applied to the operator. The shape of the elastic element here can be arbitrary, in particular, such as spring leaves, torsion springs, etc.

[0045] The base component of the control clamp is designed to have a conical shape with a rounded end and a narrow front end. The rounded end makes the operator's base of the thumb feel comfortable, and the narrow front end increases the opening and closing angle range of the control clamp, so as to avoid discomfort in operation due to excessive alpha. According to the maximum angle alpha and the minimum angle beta, the unilateral fingerboard movement range is calculated to be 0-(alpha-beta). Finally, the overall opening and closing angle range of the master hand control clamp of the robot-assisted minimally invasive surgery system is 0-2*(alpha-beta). In particular, this range can be 0-60°. The angle detected by the rotary encoder is a unilateral fingerboard angle, while the angle output to the operating end of the robot-assisted minimally invasive surgery system is a bilateral angle. The resolution of the instrument clamping opening and closing angle mapped to the operating end is half of the actual resolution of the rotary encoder. In particular, if the actual resolution of the rotary encoder is 360° / (2 13 ), the resolution of the instrument clamping opening and closing angle mapped to the operating end is 360° / (2 12 ).

Claims

1. A seven-degree-of-freedom master manipulator for a surgical robot, comprising a waist joint (7), a shoulder joint (6), an elbow joint (5), a wrist pitch joint (4) and a wrist yaw joint (3), wherein the wrist yaw joint (3), the wrist pitch joint (4), the elbow joint (5), the shoulder joint (6) and the waist joint (7) are connected in sequence, wherein (3), (6) and (7) rotate in the vertical direction, the shoulder joint (6) and the waist joint (7) are connected by a connecting rod, the wrist pitch joint (4) and the elbow joint (5) rotate in the horizontal direction, the wrist yaw joint (3) and the wrist pitch joint (4) are connected by a connecting rod, and the wrist pitch joint (4) and the elbow joint (5) are connected by a connecting rod, characterized in that: It also includes a clamping mechanism (1), a wrist roll joint (2) and a counterweight (8), wherein the counterweight (8) is installed at the end of the elbow joint (5), (2) is connected to (3) through (1), and the axes of (4), (3) and (2) intersect at one point; the clamping mechanism (1) includes an L-shaped connecting rod (1-1), a driver (1-2), a motor (1-3), an encoder (1-4), an encoder bracket (1-5), a clamping bearing (1-6), a rotating shaft (1-7), a preload disk (1-8), a preload screw (1-9), a wire drum (1-10) and a steel wire (1-12), and the L-shaped connecting rod (1-1 ) is connected to the wrist yaw joint (3), the driver (1-2) is installed on the vertical section of the L-shaped connecting rod (1-1), the motor (1-3) is horizontally installed on the vertical section of the L-shaped connecting rod (1-1) above the driver (1-2), the output shaft of the motor (1-3) is connected to the wire drum (1-10), the encoder bracket (1-5) is installed on the upper end of the vertical section of the L-shaped connecting rod (1-1), the encoder (1-4) is installed in the encoder bracket (1-5), and the rotating shaft (1-7) is horizontally rotated by the clamping bearing (1-6) to the encoder bracket (1-7) installed on the upper end of the vertical section of the L-shaped connecting rod (1-1). The invention relates to a wrist clamping mechanism (1) comprising a plurality of rotating shafts (1-5), a rotating shaft (1-7) connected to an encoder (1-4), a preload disk (1-8) installed in the rotating shaft (1-7) through a preload screw (1-9), and a steel wire (1-12) wound around a wire drum (1-10) and the rotating shaft (1-7); the steel wire (1-12) is wound around the wire drum (1-10) and the rotating shaft (1-7) in the form of an 8-shaped circle; the clamping mechanism (1) further comprises a limit screw (1-11), a rotating groove with an incomplete arc is provided on the rotating shaft (1-7), and the limit screw (1-11) passes through the rotating groove and is connected to the L-shaped connecting rod (1-1); the wrist is turned The rolling joint (2) comprises an upper shell (2-1), a right finger plate assembly (2-2), a base assembly (2-3), a lower shell (2-4), a left finger plate assembly (2-5), a differential adapter plate (2-6) and a clamping shaft connector (2-7); the upper shell (2-1) and the lower shell (2-4) are mounted on the base assembly (2-3); the differential adapter plate (2-6) is mounted on the clamping shaft connector (2-7); the clamping shaft connector (2-7) is mounted on one end of the base assembly (2-3); and the left finger plate assembly (2-5) and the right finger plate assembly (2-2) are respectively mounted on the left and right sides of the base assembly (2-3);The base assembly (2-3) comprises a body (2-3-9), two bearing pre-tightening screws (2-3-1), two shaft end baffles (2-3-2), four base bearings (2-3-3), two gear shafts (2-3-4), a rotary encoder (2-3-5), an adjustment washer (2-3-6), a rotary encoder bracket (2-3-7) and two set screws (2-3-8). The two gear shafts (2-3-4) are vertically mounted on one side of the body (2-3-9), and the two gear shafts (2-3-4) are meshed with each other. The left finger plate assembly (2-5) and the right finger plate assembly (2-2) are respectively mounted on the two gear shafts through a set screw (2-3-8). On the axle (2-3-4), a base bearing (2-3-3) is installed at the upper end and lower end of the left finger plate assembly (2-5) and the right finger plate assembly (2-2), a shaft end baffle (2-3-2) is installed at the upper end of each gear shaft (2-3-4), two bearing pre-tightening screws (2-3-1) are installed at the upper ends of the two gear shafts (2-3-4), a rotary encoder (2-3-5) is installed at the lower end of one of the gear shafts (2-3-4) through a rotary encoder bracket (2-3-7), and an adjusting washer (2-3-6) is installed on the rotary encoder bracket (2-3-7) to adjust the distance between the rotary encoder (2-3-5) and the reading head. ; 2. The seven-degree-of-freedom master manipulator for a surgical robot according to claim 1, characterized in that: The right fingerboard assembly (2-2) comprises a right fingerboard connecting rod (2-2-1) and a right fingerboard (2-2-2). The right fingerboard (2-2-2) is mounted on the outer end surface of the right fingerboard connecting rod (2-2-1).

3. The seven-degree-of-freedom master manipulator for a surgical robot according to claim 2, characterized in that: The left fingerboard assembly (2-5) comprises a left fingerboard (2-5-1) and a left fingerboard connecting rod (2-5-2). The left fingerboard (2-5-1) is mounted on the outer end surface of the left fingerboard connecting rod (2-5-2).

4. The seven-degree-of-freedom master manipulator for a surgical robot according to claim 3, characterized in that: The wrist roll joint (2) also includes an elastic element (2-8), which is installed in the body (2-3-9), and the two ends of the elastic element (2-8) are respectively connected to the right fingerboard component (2-2) and the left fingerboard component (2-5).

5. The seven-degree-of-freedom master manipulator for a surgical robot according to claim 4, characterized in that: The elastic element (2-8) is a "W" shaped spring.

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