A stiffness control method for a surgical robot arm and a surgical robot arm

Abstract

The present invention discloses a stiffness control method for a surgical robotic arm and a surgical robotic arm, wherein the surgical robotic arm comprises: a first phase change tube, a second phase change tube, a first water conduit, a second water conduit, a front end chuck, a shoulder chuck, a first elbow chuck, a second elbow chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer covering layer; the surgical robotic arm in the embodiment of the present invention can realize the adjustment of axial stiffness, the surgical robotic arm in a flexible state can well adapt to the complex shape of the natural cavity of the human body to ensure the safety of the operation, and the surgical robotic arm in a rigid state can provide a stable operating platform for the terminal surgical manipulator to ensure the accuracy of the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a stiffness control method of a surgical robot arm and the surgical robot arm. Background Art

[0002] Minimally invasive surgery has undergone a surgical innovation from laparoscopic surgery to single-port surgery and then to natural cavity endoscopic surgery. Natural cavity endoscopic surgery is to send the endoscopic surgical robot arm into the human body along the natural cavity (such as the esophagus and bronchus, etc.). When its end reaches the lesion, the end surgical manipulator (such as separation forceps, grasping forceps, needle holders, scissors, etc.) is sent to the end of the endoscopic surgical robot arm along the inner cavity channel and fixed to the end to perform related surgical operations. However, the main point that limits the widespread application of natural cavity endoscopic surgery is surgical tools, such as endoscopic surgical robot arms. In the process of sending the endoscopic surgical robot arm into the body along the natural cavity of the human body, it needs to have a certain flexibility to adapt to the complex shape of the natural cavity of the human body; and when the end surgical manipulator carried at its end performs related surgical operations, it needs to have a certain rigidity to provide a stable operating platform for the end to perform precise operation control. Therefore, there is a contradiction between rigidity and flexibility in the endoscopic surgical robot arm.

[0003] The endoscopic surgical robot arm in the prior art has a greater rigidity than the natural cavity of the human body and cannot adapt well to the natural cavity of the human body when entering the human body along the natural cavity; and when performing related surgical operations, its rigidity is not enough to provide a stable platform for the end surgical manipulator, so the control accuracy of the end surgical manipulator is difficult to guarantee.

[0004] Therefore the prior art still needs to be improved and enhanced. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, an object of the present invention is to provide a stiffness control method for a surgical robot arm and a surgical robot arm, aiming to solve the problem in the prior art that the axial stiffness of an endoscopic surgical robot arm cannot be adjusted.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An embodiment of the present invention provides a surgical robot arm, which includes: a first phase change tube, a second phase change tube, a first water conduit, a second water conduit, a front chuck, a shoulder chuck, a first elbow chuck, a second elbow chuck, a wrist chuck, a rear chuck, a central pillar, a shoulder control line, a wrist control line, and an outer covering layer;

[0008] One end of the first phase change tube and one end of the second phase change tube are both arranged in the front end chuck, and the end faces of one end of the first phase change tube and one end of the second phase change tube are arranged flush with the end face of the front end chuck, and the other end of the first phase change tube and the other end of the second phase change tube pass through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and are arranged in the rear end chuck;

[0009] The first end of the first water conduit and the first end of the second water conduit extend outward from the front end chuck respectively; the outer cylindrical surface of the first water conduit fits with the inner cylindrical surface of the first phase change tube, and the outer cylindrical surface of the second water conduit fits with the inner cylindrical surface of the second phase change tube. The first water conduit and the second water conduit are used to inject hot water and conduct heat to the first phase change tube and the second phase change tube, so that the temperature of the first phase change tube and the second phase change tube increases; the first water conduit and the second water conduit are also used to inject cold water and absorb the heat in the first phase change tube and the second phase change tube, so that the temperature of the first phase change tube and the second phase change tube decreases;

[0010] A liquid reflux channel is provided in the rear end chuck, and the liquid reflux channel is connected to the second end of the first water conduit and the second end of the second water conduit;

[0011] The central pillar is located between the first phase change tube and the second phase change tube, and the end surface of one end of the central pillar is flush with the end surface of the front chuck, and the other end passes through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and is connected to the rear end chuck; the outer coating layer is coated on the outer cylindrical surfaces of the front end chuck, the shoulder chuck, the first elbow chuck, the second elbow chuck, the wrist chuck and the rear end chuck;

[0012] One end of the shoulder control line extends out of the front end chuck, and the other end passes through the shoulder chuck and is connected to the first elbow chuck; one end of the wrist control line extends out of the front end chuck, and the other end passes through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and is connected to the rear end chuck.

[0013] Furthermore, in the surgical robot arm, the rear end chuck is provided with: a first central support hole, a first terminal surgical manipulator hole, a first wrist control line hole, a first phase change tube hole, a second phase change tube hole, a liquid reflux channel inlet and a liquid reflux channel outlet;

[0014] The first central pillar hole is arranged concentrically with the rear end chuck, the first terminal surgical manipulator hole is symmetrically distributed on both sides of the first central pillar hole, the first phase change tube hole and the second phase change tube hole are symmetrically distributed relative to the first central pillar hole and are located on the side of the first terminal surgical manipulator hole, the first wrist control line hole is symmetrically distributed relative to the first central pillar hole and is located between adjacent first terminal surgical manipulator holes and first phase change tube holes and between adjacent first terminal surgical manipulator holes and second phase change tube holes; the liquid reflux channel inlet and the liquid reflux channel outlet are located inside the rear end chuck and are connected to the liquid reflux channel, the liquid reflux channel inlet is connected to the first phase change tube hole, and the liquid reflux channel outlet is connected to the second phase change tube hole.

[0015] Further, in the surgical robot arm, the front end chuck is provided with: a second central support hole, a second end surgical manipulator hole, a first shoulder control line hole, a third phase change tube hole and a second wrist control line hole;

[0016] The second center pillar hole is arranged concentrically with the front end chuck, and the second end surgical manipulator hole, the first shoulder control line hole, the third phase change tube hole and the second wrist control line hole are symmetrically distributed on the outside of the second center pillar hole, the second wrist control line hole is located between the second center pillar hole and the third phase change tube hole, and the first shoulder control line hole is located between the adjacent second end surgical manipulator hole and the third phase change tube hole.

[0017] Further, in the surgical robot arm, the shoulder chuck is provided with: a third central support hole, a third terminal surgical manipulator hole, a second shoulder control line hole, a fourth phase change tube hole and a third wrist control line hole;

[0018] The third center pillar hole is arranged concentrically with the shoulder chuck, and the third terminal surgical manipulator hole, the second shoulder control line hole, the fourth phase change tube hole and the third wrist control line hole are symmetrically distributed on the outside of the third center pillar hole, the third wrist control line hole is located between the third center pillar hole and the fourth phase change tube hole, and the second shoulder control line hole is located between the adjacent third terminal surgical manipulator hole and the fourth phase change tube hole.

[0019] Further, in the surgical robot arm, the first chuck of the elbow is provided with: a fourth central support hole, a fourth terminal surgical manipulator hole, a third shoulder control line hole, a fifth phase change tube hole and a fourth wrist control line hole;

[0020] The fourth center support hole is arranged concentrically with the first chuck of the elbow, and the fourth terminal surgical manipulator hole, the third shoulder control line hole, the fifth phase change tube hole and the fourth wrist control line hole are symmetrically distributed on the outside of the fourth center support hole. The fourth wrist control line hole is located between the fourth center support hole and the fifth phase change tube hole, and the third shoulder control line hole is located between the adjacent fourth terminal surgical manipulator hole and the fifth phase change tube hole.

[0021] Further, in the surgical robot arm, the second chuck of the elbow is provided with: a fifth central support hole, a fifth terminal surgical manipulator hole, a fifth wrist control line hole and a sixth phase change tube hole;

[0022] The fifth center support hole is arranged concentrically with the second chuck of the elbow, and the fifth terminal surgical manipulator hole, the sixth phase change tube hole and the fifth wrist control line hole are symmetrically distributed on the outside of the sixth center support hole, and the fifth wrist control line hole is located between the adjacent fifth terminal surgical manipulator hole and the sixth phase change tube hole.

[0023] Further, in the surgical robot arm, the wrist chuck is provided with: a sixth central support hole, a sixth terminal surgical manipulator hole, a sixth wrist control line hole and a seventh phase change tube hole;

[0024] The sixth center support hole is arranged concentrically with the wrist chuck, and the sixth terminal surgical manipulator hole, the seventh phase change tube hole and the sixth wrist control line hole are symmetrically distributed on the outside of the sixth center support hole, and the sixth wrist control line hole is located between the adjacent sixth terminal surgical manipulator hole and the seventh phase change tube hole.

[0025] Furthermore, in the surgical robot arm, the outer coating layer includes: an outer coating layer outer wall, an outer coating layer inner wall and a phase change microcapsule layer; the inner wall of the outer coating layer is coated on the outer cylindrical surface of the front end chuck, the shoulder chuck, the first elbow chuck, the second elbow chuck, the wrist chuck and the rear end chuck, the phase change microcapsule layer is covered on the outer side surface of the inner wall of the outer coating layer, and the outer wall of the outer coating layer is covered on the outer side surface of the phase change microcapsule layer.

[0026] Furthermore, in the surgical robot arm, the first phase change tube and the second phase change tube are made of thermoplastic plastic.

[0027] A method for controlling stiffness of a surgical robot arm, wherein the method is applied to the above-mentioned surgical robot arm, comprising:

[0028] Injecting water with a temperature higher than the glass transition temperature of the thermoplastic plastics used to make the first phase change tube and the second phase change tube and lower than its melting point into the first water conduit and the second water conduit, so that the thermoplastic plastics used to make the first phase change tube and the second phase change tube are transformed from a glass state to a highly elastic state, and the first phase change tube and the second phase change tube become soft, so that the first phase change tube and the second phase change tube have a smaller axial stiffness;

[0029] Water with a temperature lower than the glass transition temperature of the thermoplastic plastics used to make the first phase change tube and the second phase change tube is injected into the first water conduit and the second water conduit, so that the thermoplastic plastics used to make the first phase change tube and the second phase change tube are transformed from a highly elastic state to a glassy state. At this time, the texture of the first phase change tube and the second phase change tube becomes hard, so that the first phase change tube and the second phase change tube have greater axial stiffness.

[0030] The technical solution adopted by the present invention has the following beneficial effects:

[0031] The surgical robot arm provided by the present invention comprises: a first phase change tube, a second phase change tube, a first water conduit, a second water conduit, a front end chuck, a shoulder chuck, a first elbow chuck, a second elbow chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer covering layer; one end of the first phase change tube and one end of the second phase change tube are both arranged in the front end chuck, the end faces of one end of the first phase change tube and one end of the second phase change tube are arranged flush with the end face of the front end chuck, and the other end of the first phase change tube and the second phase change tube are arranged flush with the end face of the front end chuck. The other end of the phase change tube passes through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and is arranged in the rear end chuck; the first end of the first water conduit and the first end of the second water conduit extend out of the front end chuck respectively; the outer cylindrical surface of the first water conduit fits with the inner cylindrical surface of the first phase change tube, and the outer cylindrical surface of the second water conduit fits with the inner cylindrical surface of the second phase change tube. The first water conduit and the second water conduit are used to inject hot water and conduct heat to the first phase change tube and the second phase change tube, so that the first phase change tube and the second phase change tube are The temperature of the phase change tube increases and the first water conduit and the second water conduit are also used to inject cold water and absorb the heat in the first phase change tube and the second phase change tube, so that the temperature of the first phase change tube and the second phase change tube is reduced; a liquid reflux channel is opened in the rear end chuck, and the liquid reflux channel is connected to the second end of the first water conduit and the second end of the second water conduit; the central pillar is located between the first phase change tube and the second phase change tube, and the end face of one end of the central pillar is flush with the end face of the front end chuck, and the other end passes through the shoulder chuck, the elbow chuck and the second end of the central pillar in sequence. The first chuck, the second chuck of the elbow and the wrist chuck are connected to the rear end chuck; the outer coating layer is coated on the outer cylindrical surface of the front end chuck, the shoulder chuck, the first chuck of the elbow, the second chuck of the elbow, the wrist chuck and the rear end chuck; one end of the shoulder control line extends out of the front end chuck, and the other end passes through the shoulder chuck and is connected to the first chuck of the elbow; one end of the wrist control line extends out of the front end chuck, and the other end passes through the shoulder chuck, the first chuck of the elbow, the second chuck of the elbow and the wrist chuck in sequence and is connected to the rear end chuck. The surgical robot arm in the embodiment of the present invention can adjust the axial stiffness and can adapt well to the natural cavity of the human body, thereby ensuring the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of the external structure of a surgical robot arm provided by the present invention;

[0033] Figure 2 A schematic diagram of the internal structure of a surgical robot arm provided by the present invention;

[0034] Figure 3 A front view of the rear end chuck provided by the present invention;

[0035] Figure 4 A schematic diagram of the structure of the rear end chuck provided by the present invention;

[0036] Figure 5 A cross-sectional view of the rear end chuck provided by the present invention;

[0037] Figure 6 for Figure 2 Axial section view at point A in the middle;

[0038] Figure 7 A schematic diagram of the structure of the front end chuck provided by the present invention;

[0039] Figure 8 for Figure 2 Axial section view at C in the middle;

[0040] Fig. 9 A schematic diagram of the structure of the shoulder chuck provided by the present invention;

[0041] Fig.10 A schematic diagram of the structure of the first chuck of the elbow provided by the present invention;

[0042] Fig.11 A schematic diagram of the structure of the second chuck of the elbow provided by the present invention;

[0043] Fig.12 A schematic diagram of the structure of the wrist chuck provided by the present invention;

[0044] Fig.13 for Figure 2 A partial enlarged view of point B in the middle;

[0045] Fig.14 A schematic diagram of the wrist posture control principle of the surgical robot arm provided by the present invention;

[0046] Fig.15 A schematic diagram of the structure of the outer coating layer provided by the present invention;

[0047] Fig.16 A cross-sectional view of the outer coating provided by the present invention;

[0048] Fig.17 A schematic diagram of the structure of the phase change microcapsule layer provided by the present invention;

[0049] Fig.18 A schematic diagram of the structure of the phase change microcapsule particles provided by the present invention;

[0050] Fig.19 A first working principle diagram of a surgical robot arm provided by the present invention;

[0051] Fig. 20 A second working principle diagram of a surgical robot arm provided by the present invention;

[0052] Fig.21 A flow chart of a preferred embodiment of a stiffness control method for a surgical robot arm provided by the present invention.

[0053] In the figure: 110, first phase change tube; 120, second phase change tube; 210, first water conduit; 220, second water conduit; 300, front end chuck; 301, second center support hole; 302, second end surgical manipulator hole; 303, first shoulder control line hole; 304, third phase change tube hole; 305, second wrist control line hole; 410, shoulder chuck; 411, third center support hole; 412, third end surgical manipulator hole; 413, second shoulder control line hole; 414, fourth phase change tube hole; 415 , third wrist control line hole; 420, first elbow chuck; 421, fourth center support hole; 422, fourth terminal surgical manipulator hole; 423, third shoulder control line hole; 424, fifth phase change tube hole; 425, fourth wrist control line hole; 430, second elbow chuck; 431, fifth center support hole; 432, fifth terminal surgical manipulator hole; 433, fifth wrist control line hole; 434, sixth phase change tube hole; 440, wrist chuck; 441, sixth center support hole; 442, sixth terminal surgical manipulator hole 443, the sixth wrist control line hole; 444, the seventh phase change tube hole; 500, the rear end chuck; 501, the first center pillar hole; 502, the first end surgical manipulator hole; 503, the first wrist control line hole; 504, the first phase change tube hole; 505, the second phase change tube hole; 510, the liquid reflux channel; 511, the liquid reflux channel inlet; 512, the liquid reflux channel outlet; 600, the center pillar; 700, the shoulder control line; 710, the shoulder control line sleeve; 800, the wrist control line; 80 1. The first control line of the wrist; 802. The second control line of the wrist; 803. The third control line of the wrist; 804. The fourth control line of the wrist; 810. The wrist control line sleeve; 900. The outer coating layer; 910. The outer wall of the outer coating layer; 920. The inner wall of the outer coating layer; 930. The phase change microcapsule layer; 931. The phase change microcapsule particles; 932. The microcapsule shell; 933. The microcapsule core; 940. The front end cap; 950. The end cap; 50. The hot water bath; 60. The peristaltic pump; 70. The water storage tank; 80. The refrigerator. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and effect of the present invention clearer and more specific, the present invention is further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0055] In the embodiments and patent claims, unless otherwise specified, "a", "an" and "the" may refer to a single or a plurality of items.

[0056] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] The existing methods for axial variable stiffness of natural orifice endoscopic surgery robotic arms are as follows:

[0058] (1) Shape-locking method: A high-redundancy tendon sheath mechanism (i.e., wire drive method) is used, and the surgical robot arm is a continuum configuration. The driving wire runs longitudinally through the entire endoscopic surgical robot arm. By increasing the tension of the driving wire, the friction between adjacent continuum units becomes larger to prevent the mutual rotation between the continuum units, thereby changing the axial stiffness of the endoscopic surgical robot arm. The disadvantage of this method is that in order to achieve the required stiffness, a large driving wire tension is required, resulting in a large mutual squeezing force between the continuum units, which requires a larger driving wire and a larger continuum unit. Therefore, the outer diameter of the surgical robot arm of the stiffness-controllable endoscope using the shape-locking method is generally large and cannot adapt well to the natural cavity of the human body. In addition, the driving wire needs to maintain a large tension throughout the entire surgical process, which places high demands on the fatigue strength of the material.

[0059] (2) Particle blocking principle: Fill a confined space with fine particles and extract the excess air in the confined space, so that the particles squeeze each other. The friction generated by the squeezing will hinder the relative movement between the particles, thereby increasing the overall rigidity of the robot arm. This method is often used for larger robots because more particles are required to provide greater rigidity, which will make the robot arm bulky and less compact.

[0060] (3) Using electrorheological fluid and magnetorheological fluid: Electrorheological fluid and magnetorheological fluid will change from liquid to gel and then to solid under high electric field or high magnetic field. However, the stiffness that electrorheological fluid and magnetorheological fluid can provide when they change to solid state is limited. And if electrorheological fluid and magnetorheological fluid are to be changed to solid state, high voltage of more than 5000V is generally required, and the safety of surgery is difficult to guarantee.

[0061] (4) Using temperature phase change materials: When the temperature of low melting point metals (such as gallium, indium, tin, etc.) or thermoplastics (ABS, PET, PLA plastics, etc.) reaches its glass transition temperature, its texture becomes soft; when the temperature is lower than its glass transition temperature, its texture becomes hard. Therefore, this principle is often used in the method of changing the stiffness of surgical robotic arms. First, the commonly used low melting point metals are toxic substances, and the safety of surgery is difficult to ensure. In addition, the prior art often places a resistance wire in the inner cavity of the surgical robotic arm, and uses the resistance heat generated by the resistance wire to change the temperature of the phase change material; and due to the existence of the resistance wire current, the cooling method often uses room temperature cooling or air cooling. The disadvantages of this method are: the existence of the resistance wire current will lead to surgical safety hazards; and the resistance heat generated by the resistance wire is uncontrollable, and the accumulation of heat will make the temperature of the inner cavity of the surgical robotic arm much higher than the glass transition temperature of the phase change material and then reach the melting point of the phase change material, causing the phase change material to melt; furthermore, the room temperature cooling or air cooling method has a slow cooling speed, which affects the surgical process. A more obvious disadvantage is that the resistance heat inside the surgical robot arm will be conducted to the outer surface of the surgical robot arm, causing the temperature of the outer surface of the surgical robot arm to rise. When the surgical robot arm is working, its outer surface is in contact with the inner wall of the human body's natural cavity. Therefore, excessively high surface temperature will cause burns to the inner wall of the human body's natural cavity.

[0062] The present invention discloses a surgical robot arm. Figure 1 and Figure 2 , Figure 1 A schematic diagram of the external structure of a surgical robot arm provided by the present invention; Figure 2 The schematic diagram of the internal structure of a surgical robot arm provided by the present invention includes: a first phase change tube 110, a second phase change tube 120, a first water conduit 210, a second water conduit 220, a front chuck 300, a shoulder chuck 410, a first elbow chuck 420, a second elbow chuck 430, a wrist chuck 440, a rear chuck 500, a central support 600, a shoulder control line 700, a wrist control line 800 and an outer covering layer 900.

[0063] One end of the first phase change tube 110 and one end of the second phase change tube 120 are both arranged in the front end chuck 300, and the end surfaces of one end of the first phase change tube 110 and one end of the second phase change tube 120 are arranged flush with the end surface of the front end chuck 300, and the other end of the first phase change tube 110 and the other end of the second phase change tube 120 pass through the shoulder chuck 410, the first elbow chuck 420, the second elbow chuck 430 and the wrist chuck 440 in sequence and are arranged in the rear end chuck 500;

[0064] The first end of the first water conduit 210 and the first end of the second water conduit 220 extend outward from the front end chuck 300 respectively; the outer cylindrical surface of the first water conduit 210 fits with the inner cylindrical surface of the first phase change tube 110, and the outer cylindrical surface of the second water conduit 220 fits with the inner cylindrical surface of the second phase change tube 120. The first water conduit 210 and the second water conduit 220 are used to inject hot water and conduct heat to the first phase change tube 110 and the second phase change tube 120, so that the temperature of the first phase change tube 110 and the second phase change tube 120 increases; and the first water conduit 210 and the second water conduit 220 are also used to inject cold water and absorb the heat in the first phase change tube 110 and the second phase change tube 120, so that the temperature of the first phase change tube 110 and the second phase change tube 120 decreases;

[0065] A liquid reflux channel 510 is provided in the rear end chuck 500, and the liquid reflux channel 510 is connected to the second end of the first water conduit 210 and the second end of the second water conduit 220;

[0066] The central pillar 600 is located between the first phase change tube 110 and the second phase change tube 120, and the end surface of one end of the central pillar 600 is flush with the end surface of the front chuck 300, and the other end passes through the shoulder chuck 410, the first elbow chuck 420, the second elbow chuck 430 and the wrist chuck 440 in sequence and is connected to the rear chuck 500; the outer coating layer 900 is coated on the outer cylindrical surfaces of the front chuck 300, the shoulder chuck 410, the first elbow chuck 420, the second elbow chuck 430, the wrist chuck 440 and the rear chuck 500;

[0067] One end of the shoulder control line 700 extends out of the front chuck 300, and the other end passes through the shoulder chuck 410 and is connected to the first elbow chuck 420. One end of the wrist control line 800 extends out of the front chuck 300, and the other end passes through the shoulder chuck 410, the first elbow chuck 420, the second elbow chuck 430 and the wrist chuck 440 in sequence and is connected to the rear chuck 500.

[0068] In the embodiment of the present invention, the first phase change tube 110 and the second phase change tube 120 are hollow pipes with an outer diameter of 4.6 mm, an inner diameter of 3.0 mm, and a wall thickness of 0.8 mm. The material used for the first phase change tube 110 and the second phase change tube 120 is a biocompatible thermoplastic plastic, and the material can be PET plastic (glass transition temperature: 67°C, melting point: 80°C), nylon 6 (glass transition temperature: 60°C, melting point: 220°C), nylon 66 (glass transition temperature: 65°C, melting point: 260°C), and some new thermoplastic plastics, such as the starch-based bioplastic named "FORMcard" designed by British designer Peter Marigold in 2016 (glass transition temperature: 65°C, melting point: 80°C). The first water conduit 210 and the second water conduit 220 are made of polytetrafluoroethylene, which is a hollow circular pipe; the outer diameter is 3.0 mm, the inner diameter is 2.6 mm, and the wall thickness is 0.2 mm. The outer cylindrical surfaces of the first water conduit 210 and the second water conduit 220 are respectively fitted with the inner cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120. At room temperature, the thermoplastic plastics used to make the first phase change tube 110 and the second phase change tube 120 are in a glass state, and the thermoplastic plastics in the glass state have a relatively large hardness; when liquid is injected into the first water conduit 210 and the second water conduit 220, when the temperature of the injected liquid is higher than the glass transition temperature of the thermoplastic plastics used to make the first phase change tube 110 and the second phase change tube 120 and lower than the melting point of the thermoplastic plastics, the heat of the liquid will be conducted to the first phase change tube 110 and the second phase change tube 120 through the first water conduit 210 and the second water conduit 220, so that the thermoplastic plastics used to make the first phase change tube 110 and the second phase change tube 120 are transformed from a glass state to a highly elastic state, and the thermoplastic plastics in the highly elastic state have a relatively small hardness, so that the first phase change tube 110 and the second phase change tube 120 are in a glass state. The first phase change tube 10 and the second phase change tube 120 become soft, so that the surgical robot arm has a smaller axial stiffness; when the temperature of the liquid injected into the first water conduit 210 and the second water conduit 220 is lower than the glass transition temperature of the thermoplastic plastics used to make the first phase change tube 110 and the second phase change tube 120, the liquid will absorb the heat in the first water conduit 210, the second water conduit 220, the first phase change tube 110 and the second phase change tube 120, so that the temperature of the thermoplastic plastics used to make the first phase change tube 110 and the second phase change tube 120 is lower than its glass transition temperature, so that the thermoplastic plastics are transformed from a highly elastic state to a glass state, and the first phase change tube 110 and the second phase change tube 120 become hard, so that the surgical robot arm has a larger axial stiffness. The surgical robot arm of the present invention can adjust the axial stiffness of the surgical robot arm by changing the temperature of the liquid injected into the first water conduit 210 and the second water conduit 220.

[0069] The central pillar 600 is a nickel-titanium alloy wire with an outer diameter of 1.0 mm, which runs through the entire surgical robot arm in the longitudinal direction. The central pillar 600 is used to connect the front chuck 300, multiple shoulder chucks 410, the first elbow chuck 420, the second elbow chuck 430, the multiple wrist chucks 440 and the rear chuck 500. The front chuck 300, multiple shoulder chucks 410, the first elbow chuck 420, the second elbow chuck 430, the multiple wrist chucks 440 and the rear chuck 500 are arranged in sequence, and the distance between adjacent end faces is 10 mm. The tensile strength of nickel-titanium alloy wire is very large, so the central pillar 600 can be used to limit the axial position between the front end chuck 300, multiple shoulder chucks 410, the first elbow chuck 420, the second elbow chuck 430, multiple wrist chucks 440 and the rear end chuck 500; the bending strength of nickel-titanium alloy wire is relatively small, which can adapt to the different forms of bending of the surgical robot arm; the nickel-titanium alloy wire also has a certain elasticity, which can help the deformed surgical robot arm to return to a vertical state after surgery.

[0070] Specifically, the outer coating layer 900 covers the outer cylindrical surface of the front chuck 300, the plurality of shoulder chucks 410, the first elbow chuck 420, the second elbow chuck 430, the plurality of wrist chucks 440 and the rear chuck 500, and the inner cylindrical surface thereof is fixed to the outer cylindrical surface of the front chuck 300, the plurality of shoulder chucks 410, the first elbow chuck 420, the second elbow chuck 430, the plurality of wrist chucks 440 and the rear chuck 500 by an adhesive. When a high-temperature liquid is injected into the first water conduit 210 and the second water conduit 220, the heat will be transferred to the outer surface of the surgical robot arm, and during the operation, the outer surface of the surgical robot arm is in direct contact with the tissue in the human body, and the excessively high outer surface temperature will burn the human tissue. The outer coating layer 900 is used to isolate the temperature generated by the high-temperature liquid to ensure the safety of the operation.

[0071] Please also read Figures 3 to 6 , Figure 3 A front view of the rear end chuck 500 provided by the present invention; Figure 4 A schematic structural diagram of a rear end chuck 500 provided by the present invention; Figure 5 A cross-sectional view of the rear end chuck 500 provided by the present invention; Figure 6 for Figure 2 Axial cross-sectional view at A in the middle. The rear end chuck 500 is cylindrical, and is provided with: a first central pillar hole 501, a first end surgical manipulator hole 502, a first wrist control line hole 503, a first phase change tube hole 504, a second phase change tube hole 505, a liquid reflux channel 510, a liquid reflux channel inlet 511 and a liquid reflux channel outlet 512;

[0072] The first central pillar hole 501 is arranged concentrically with the rear end chuck 500, the first end surgical manipulator hole 502 is symmetrically distributed on both sides of the first central pillar hole 501, the first phase change tube hole 504 and the second phase change tube hole 505 are symmetrically distributed relative to the first central pillar hole 501 and are located on the side of the first end surgical manipulator hole 502, the first wrist control line hole 503 is symmetrically distributed relative to the first central pillar hole 501, and is located between the adjacent first end surgical manipulator hole 502 and the first phase change tube hole 504 and between the adjacent first end surgical manipulator hole 502 and the second phase change tube hole 505; the liquid reflux channel inlet 511 and the liquid reflux channel outlet 512 are located inside the rear end chuck 500 and are connected to the liquid reflux channel 510, the liquid reflux channel inlet 511 is connected to the first phase change tube hole 504, and the liquid reflux channel outlet 512 is connected to the second phase change tube hole 505.

[0073] In the embodiment of the present invention, the first central pillar hole 501 is a blind hole with a diameter of 1 mm, which is arranged concentrically with the rear end chuck 500, and one end of the central pillar 600 cooperates with it and is fixed to it by interference fit. The first phase change tube hole 504 and the second phase change tube hole 505 are countersunk holes with a diameter of 4.6 mm, and the distance between their centers and the center of the cross section of the rear end chuck 500 is 3.5 mm; the inner cylindrical surfaces of the first phase change tube hole 504 and the second phase change tube hole 505 respectively cooperate with the outer cylindrical surfaces of one end of the first phase change tube 110 and the second phase change tube 120; one end of the first phase change tube 110 and the second phase change tube 120 are fixed to the first phase change tube hole 504 and the second phase change tube hole 505 by an adhesive, and the first One end of the water pipe 210 and one end of the second water pipe 220 are connected to the liquid reflux channel inlet 511 and the liquid reflux channel outlet 512 respectively. After the liquid is injected into the first water pipe 210, it flows along the first water pipe 210 to the liquid reflux channel inlet 511 and enters the liquid reflux channel 510 in the rear end chuck 500, and then flows into the second water pipe 220 through the liquid reflux channel outlet 512 and finally flows out of the surgical robot arm. The height of the liquid reflux channel 510 is 2 mm.

[0074] Furthermore, the four circumferentially evenly distributed first wrist control line holes 503 are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross-section of the rear end chuck 500 is 5.6 mm; the wrist control line 800 is a 7x7 strand stainless steel wire with a diameter of 0.27 mm; the ends of the four wrist control lines 800 pass through the first wrist control line hole 503 and are knotted, and after the ends of the wrist control lines 800 are knotted, the wrist control line sleeve 810 is used to fit them. The wrist control line sleeve 810 is a heat shrink tube, and its diameter becomes smaller after heating, and can be fixed to the knotted part of the end of the wrist control line 800. By knotting the end of the wrist control line 800 and fitting it with the heat shrink tube, the end diameter of the wrist control line 800 can be made larger than the diameter of the first wrist control line hole 503, thereby preventing the wrist control line 800 from falling off during the stretching process. The two first end surgical manipulator holes 502 are through holes with a diameter of 3.6 mm, and the distance between the center of the circle and the center of the cross section of the rear chuck 500 is 4 mm. After the end of the surgical robot arm reaches the lesion of the human body, the surgical end manipulator can probe the rear chuck 500 through the first end surgical manipulator hole 502 and perform related surgical operations. The rear chuck 500 has a height of 6.0 mm, an outer diameter of 12.2 mm, a minimum wall thickness of 0.3 mm, and is made of 316 stainless steel, which can be processed using precision metal 3D printing or laser cutting technology.

[0075] Please also read Figure 7 and Figure 8 , Figure 7 A schematic structural diagram of the front end chuck 300 provided by the present invention; Figure 8 for Figure 2 Axial cross-sectional view at C in the middle. The front end chuck 300 is cylindrical, and is provided with: a second central support hole 301, a second end surgical manipulator hole 302, a first shoulder control line hole 303, a third phase change tube hole 304, and a second wrist control line hole 305;

[0076] The second center pillar hole 301 is arranged concentrically with the front end chuck 300, and the second end surgical manipulator hole 302, the first shoulder control line hole 303, the third phase change tube hole 304 and the second wrist control line hole 305 are symmetrically distributed on the outside of the second center pillar hole 301, the second wrist control line hole 305 is located between the second center pillar hole 301 and the third phase change tube hole 304, and the first shoulder control line hole 303 is located between the adjacent second end surgical manipulator hole 302 and the third phase change tube hole 304.

[0077] In the embodiment of the present invention, the second central pillar hole 301 is a through hole with a diameter of 1 mm, which is arranged concentrically with the front chuck 300. The central pillar 600 is connected to the second central pillar hole 301 by interference fit, and one end of the central pillar 600 is flush with the outer end surface of the front chuck 300. The four circumferentially uniformly distributed first shoulder control line holes 303 are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross section of the front chuck 300 is 5.6 mm; the shoulder control line 700 is a 7x7 strand stainless steel wire with a diameter of 0.27 mm, and the four shoulder control lines 700 pass through the first shoulder control line holes 303.

[0078] Furthermore, the four circumferentially evenly distributed second wrist control line holes 305 are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross section of the front chuck 300 is 1 mm, and the four wrist control lines 800 pass through the second wrist control line holes 305. The two third phase change tube holes 304 are through holes with a diameter of 4.6 mm, and the distance between the center of the circle and the center of the cross section of the front chuck 300 is 3.5 mm, and the inner cylindrical surfaces thereof are respectively matched with the outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120, and are fixed by adhesive, and one end of the first phase change tube 110 and the second phase change tube 120 is arranged flush with the outer end surface of the front chuck 300, and the first water conduit 210 and the second water conduit 220 extend out of the surgical robot arm through the third phase change tube holes 304, respectively. The second end surgical manipulator hole 302 is a through hole with a diameter of 3.6 mm, and the distance between its center and the center of the cross section of the front chuck 300 is 4 mm. After the end of the surgical robot arm reaches the lesion in the human body, the end surgical manipulator enters the inner cavity of the surgical robot arm through the second end surgical manipulator hole 302. The front chuck 300 has a height of 4.0 mm, an outer diameter of 12.2 mm, a minimum wall thickness of 0.3 mm, and is made of 316 stainless steel, which can be processed using precision metal 3D printing or laser cutting technology.

[0079] Please also read Figures 9 to 12 , Fig. 9 A schematic diagram of the structure of the shoulder chuck 410 provided by the present invention; Fig.10 A schematic diagram of the structure of the first elbow chuck 420 provided by the present invention; Fig.11 A schematic diagram of the structure of the second elbow chuck 430 provided by the present invention; Fig.12 A schematic diagram of the structure of the wrist chuck 440 provided by the present invention; Fig.13 for Figure 2 The shoulder chuck 410 is cylindrical, and is provided with: a third central support hole 411, a third end surgical manipulator hole 412, a second shoulder control line hole 413, a fourth phase change tube hole 414, and a third wrist control line hole 415;

[0080] The third center pillar hole 411 is arranged concentrically with the shoulder chuck 410, and the third end surgical manipulator hole 412, the second shoulder control line hole 413, the fourth phase change tube hole 414 and the third wrist control line hole 415 are symmetrically distributed on the outside of the third center pillar hole 411, the third wrist control line hole 415 is located between the third center pillar hole 411 and the fourth phase change tube hole 414, and the second shoulder control line hole 413 is located between the adjacent third end surgical manipulator hole 412 and fourth phase change tube hole 414.

[0081] In the surgical robot arm provided by the present invention, the number of shoulder chucks 410 is not limited. The third center support hole 411 is a through hole with a diameter of 1 mm, which is arranged concentrically with the shoulder chuck 410; the center support 600 passes through the third center support hole 411, and the outer cylindrical surface of the center support 600 matches the inner cylindrical surface of the third center support hole 411, and the matching method is an interference fit. The two third end surgical manipulator holes 412 are through holes with a diameter of 3.6 mm, and the distance between their centers and the center of the cross section of the shoulder chuck 410 is 4 mm; the end surgical manipulator passes through the third end surgical manipulator hole 412 to reach the end of the surgical robot arm to perform related surgical operations.

[0082] Furthermore, the four circumferentially evenly distributed second shoulder control line holes 413 are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross section of the shoulder chuck 410 is 5.6 mm; the four shoulder control lines 700 pass through the four second shoulder control line holes 413 respectively. The two fourth phase change tube holes 414 are through holes with a diameter of 4.6 mm, and the distance between the center of the circle and the center of the cross section of the shoulder chuck 410 is 3.5 mm; the first phase change tube 110 and the second phase change tube 120 pass through the two fourth phase change tube holes 414 respectively, and the outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively fitted with the inner cylindrical surfaces of the two fourth phase change tube holes 414, and fixed with adhesive. The four circumferentially evenly distributed third wrist control line holes 415 are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross section of the shoulder chuck 410 is 1 mm; the four wrist control lines 800 respectively pass through the four third wrist control line holes 415. The shoulder chuck 410 has a height of 2.0 mm, an outer diameter of 12.2 mm, a minimum wall thickness of 0.3 mm, and is made of 316 stainless steel, which can be processed using precision metal 3D printing or laser cutting technology.

[0083] The first elbow chuck 420 is cylindrical, and is provided with: a fourth central support hole 421, a fourth end surgical manipulator hole 422, a third shoulder control line hole 423, a fifth phase change tube hole 424 and a fourth wrist control line hole 425;

[0084] The fourth center support hole 421 is arranged concentrically with the first elbow chuck 420, and the fourth terminal surgical manipulator hole 422, the third shoulder control line hole 423, the fifth phase change tube hole 424 and the fourth wrist control line hole 425 are symmetrically distributed on the outside of the fourth center support hole 421, the fourth wrist control line hole 425 is located between the fourth center support hole 421 and the fifth phase change tube hole 424, and the third shoulder control line hole 423 is located between the adjacent fourth terminal surgical manipulator hole 422 and fifth phase change tube hole 424.

[0085] In the embodiment of the present invention, the fourth central pillar hole 421 is a through hole with a diameter of 1 mm, and the fourth central pillar hole 421 is arranged concentrically with the first elbow chuck 420; the central pillar 600 passes through the fourth central pillar hole 421, and the outer cylindrical surface of the central pillar 600 matches the inner cylindrical surface of the fourth central pillar hole 421, and the matching method is interference fit. The two fourth end surgical manipulator holes 422 are through holes with a diameter of 3.6 mm, and the distance between their centers and the center of the cross section of the first elbow chuck 420 is 4 mm; the end surgical manipulator passes through the fourth end surgical manipulator hole 422 to reach the end of the surgical robot arm to perform related surgical operations.

[0086] Furthermore, the four circumferentially evenly distributed third shoulder control line holes 423 are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross section of the first elbow chuck 420 is 5.6 mm; the four shoulder control lines 700 pass through the four third shoulder control line holes 423 and are knotted at the ends, and the shoulder control line sleeve 710 is used to fit the knotted part at the ends. The shoulder control line sleeve 710 is a heat shrink tube, and its diameter becomes smaller after heating, so that the shoulder control line sleeve 710 is fixed to the shoulder control line 700. By tying the ends of the four shoulder control lines 700 and fitting them with the shoulder control line sleeve 710, the diameter of the end of the shoulder control line 700 can be made larger than the diameter of the third shoulder control line hole 423, so that the shoulder control line 700 will not fall off during the stretching process. The two fifth phase change tube holes 424 are through holes with a diameter of 4.6 mm, and the distance between their centers and the center of the cross section of the first elbow chuck 420 is 3.5 mm; the first phase change tube 110 and the second phase change tube 120 pass through the two fifth phase change tube holes 424 respectively, and the outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively fitted with the inner cylindrical surfaces of the two fifth phase change tube holes 424, and fixed with adhesive. The four circumferentially evenly distributed fourth wrist control line holes 425 are through holes with a diameter of 0.4 mm, and the distance between their centers and the center of the cross section of the first elbow chuck 420 is 1 mm; the four wrist control lines 800 pass through the four fourth wrist control line holes 425 respectively. The first elbow chuck 420 has a height of 2.0 mm, an outer diameter of 12.2 mm, and a minimum wall thickness of 0.3 mm. It is made of 316 stainless steel and can be processed using precision metal 3D printing or laser cutting technology.

[0087] The second elbow chuck 430 is cylindrical and is provided with: a fifth central support hole 431 , a fifth terminal surgical manipulator hole 432 , a fifth wrist control line hole 433 and a sixth phase change tube hole 434 .

[0088] The fifth center support hole 431 is arranged concentrically with the second chuck 430 of the elbow, and the fifth terminal surgical manipulator hole 432, the sixth phase change tube hole 434 and the fifth wrist control line hole 433 are symmetrically distributed on the outside of the sixth center support hole 431, and the fifth wrist control line hole 433 is located between the adjacent fifth terminal surgical manipulator hole 432 and the sixth phase change tube hole 434.

[0089] In the embodiment of the present invention, the fifth central pillar hole 431 is a through hole with a diameter of 1 mm, and is arranged concentrically with the second chuck 430 of the elbow; the central pillar 600 passes through the fifth central pillar hole 431, and the outer cylindrical surface of the central pillar 600 matches the inner cylindrical surface of the fifth central pillar hole 431, and the matching method is interference fit. The two fifth end surgical manipulator holes 432 are through holes with a diameter of 3.6 mm, and the distance between their centers and the center of the cross-section of the second chuck 430 of the elbow is 4 mm; the end surgical manipulator passes through the fifth end surgical manipulator hole 432 to reach the end of the surgical robot arm to perform related surgical operations.

[0090] Furthermore, the four fifth wrist control line holes 433 uniformly distributed in the circumference are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross section of the second chuck 430 of the elbow is 5.6 mm; the four wrist control lines 800 pass through the four fifth wrist control line holes 433 respectively. The two sixth phase change tube holes 434 are through holes with a diameter of 4.6 mm, and the distance between the center of the circle and the center of the cross section of the second chuck 430 of the elbow is 3.5 mm; the first phase change tube 110 and the second phase change tube 120 pass through the two sixth phase change tube holes 434 respectively, and the outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively fitted with the inner cylindrical surfaces of the two sixth phase change tube holes 434, and fixed with adhesive. The second chuck 430 of the elbow has a height of 2.0 mm, an outer diameter of 12.2 mm, and a minimum wall thickness of 0.3 mm. It is made of 316 stainless steel and can be processed using precision metal 3D printing or laser cutting technology.

[0091] The wrist chuck 440 is cylindrical, and is provided with: a sixth central support hole 441, a sixth end surgical manipulator hole 442, a sixth wrist control line hole 443 and a seventh phase change tube hole 444;

[0092] The sixth center support hole 441 is arranged concentrically with the wrist chuck 440, and the sixth terminal surgical manipulator hole 442, the seventh phase change tube hole 444 and the sixth wrist control line hole 443 are symmetrically distributed on the outside of the sixth center support hole 441, and the sixth wrist control line hole 443 is located between the adjacent sixth terminal surgical manipulator hole 442 and the seventh phase change tube hole 444.

[0093] In the surgical robot arm provided by the present invention, the number of wrist chucks 440 is not limited. The sixth center support hole 441 is a through hole with a diameter of 1 mm, which is arranged concentrically with the wrist chuck 440. The center support 600 passes through the sixth center support hole 441. The outer cylindrical surface of the center support 600 matches the inner cylindrical surface of the sixth center support hole 441, and the matching method is interference fit. The two sixth end surgical manipulator holes 442 are through holes with a diameter of 3.6 mm, and the distance between their centers and the center of the cross section of the wrist chuck 440 is 4 mm; the end surgical manipulator passes through the sixth end surgical manipulator hole 442 to reach the end of the surgical robot arm to perform related surgical operations.

[0094] Furthermore, the four circumferentially uniformly distributed sixth wrist control line holes 443 are through holes with a diameter of 0.4 mm, and the distance between the center of the circle and the center of the cross section of the wrist chuck 440 is 5.6 mm; the four shoulder control lines 700 pass through the four sixth wrist control line holes 443 respectively. The two seventh phase change tube holes 444 are through holes with a diameter of 4.6 mm, and the distance between the center of the circle and the center of the cross section of the wrist chuck 440 is 3.5 mm; the first phase change tube 110 and the second phase change tube 120 pass through the two seventh phase change tube holes 444 respectively, and the outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively fitted with the inner cylindrical surfaces of the two seventh phase change tube holes 444, and fixed with adhesive. The wrist chuck 440 has a height of 2.0 mm, an outer diameter of 12.2 mm, and a minimum wall thickness of 0.3 mm. It is made of 316 stainless steel and can be processed using precision metal 3D printing or laser cutting technology.

[0095] In the embodiment of the present invention, after the end of the surgical robot arm (rear end chuck 500) reaches the approximate position of the lesion inside the human body, the position of the end needs to be further adjusted to deliver the end surgical manipulator carried by the end to the lesion more accurately. The adjustment of the position of the end of the surgical robot arm in the present invention adopts a control line drive method, and the control line is driven by a motor placed outside the human body.

[0096] Specific, combined Fig.13 and Fig.14The control principle of the wrist posture of the surgical robot arm of the present invention is described. In the surgical robot arm, the area between the front chuck 300 and the first elbow chuck 420 is the shoulder of the surgical robot arm, the area between the first elbow chuck 420 and the second elbow chuck 430 is the elbow of the surgical robot arm, and the area between the second elbow chuck 430 and the rear chuck 500 is the wrist of the surgical robot arm. The surgical robot arm of the present invention uses a wire drive method to adjust the wrist posture to adjust the end position of the surgical robot arm. The wrist posture can be adjusted by stretching or releasing the shoulder control line 700 and the wrist control line 800. The shoulder control line 700 passes through the shoulder of the surgical robot arm, is evenly distributed in the circumferential direction and is dispersed around the shoulder of the surgical robot arm; the shoulder control line 700 passes through the first shoulder control line hole 303 in the front end chuck 300, the second shoulder control line hole 413 in the shoulder chuck 410 and the third shoulder control line hole 423 in the first elbow chuck 420 in sequence, and its end is fixed to one end face of the first elbow chuck 420. The wrist control line 800 runs through the entire surgical robot arm, is evenly distributed in the circumferential direction and concentrated in the center of the shoulder of the surgical robot arm, passes through the transition of the elbow of the surgical robot arm and enters the wrist of the surgical robot arm. It is evenly distributed in the circumferential direction and dispersed around the wrist of the surgical robot arm; the wrist control line 800 passes through the second wrist control line hole 305 in the front end chuck 300, the third wrist control line hole 415 in the shoulder chuck 410, the fourth wrist control line hole 425 in the first elbow chuck 420, the fifth wrist control line hole 433 in the second elbow chuck 430, the sixth wrist control line hole 443 in the wrist chuck 440 and the first wrist control line hole 503 in the rear end chuck 500 in sequence, and its end is fixed to one end surface of the rear end chuck 500.

[0097] The wrist control line 800 can be used to control the posture of the wrist of the surgical robot arm to adjust the position of the rear chuck 500, such as Fig.14 As shown, the first wrist control line 801 is stretched in direction 1, and the third wrist control line 803 is released in direction 3, and the wrist of the surgical robot arm will bend in direction 5; on the contrary, the first wrist control line 801 is released in a direction opposite to direction 1, and the third wrist control line 803 is stretched in a direction opposite to direction 3, and the wrist of the surgical robot arm will bend in direction 7; the fourth wrist control line 804 is stretched in direction 4, and the second wrist control line 802 is released in direction 2, and the wrist of the surgical robot arm will bend in direction 8;

[0098] On the contrary, by releasing the fourth wrist control line 804 in the direction opposite to direction 4 and stretching the second wrist control line 802 in the direction opposite to direction 2, the wrist of the surgical robot arm will bend in direction 6; therefore, by coupling and controlling the first wrist control line 801, the second wrist control line 802, the third wrist control line 803 and the fourth wrist control line 804 through the external motor of the human body, the posture of the wrist of the surgical robot arm can be adjusted to achieve the purpose of adjusting the position of the rear end chuck 500 of the surgical robot arm.

[0099] Since the wrist control line 800 passes through the shoulder of the surgical robot arm (through the front chuck 300 and multiple shoulder chucks 410), the stretching or release of the wrist control line 800 by the motor also generates a driving force on the shoulder of the surgical robot arm. After the end of the surgical robot arm reaches the approximate lesion in the human body, it only needs to adjust the wrist posture. The shoulder is located in the natural cavity of the human body and its posture does not need to be adjusted. Therefore, the shoulder control line 700 is also driven by a motor placed outside the human body to generate a driving force to offset the driving force generated by the wrist control line 800 on the shoulder of the surgical robot arm, so that when the wrist control line 800 controls the posture of the wrist of the surgical robot arm, the posture of the shoulder of the surgical robot arm will not change.

[0100] In the present invention, all the shoulder control lines 700 and wrist control lines 800 have one end extending out of the front chuck 300 connected to a motor placed outside the human body to transmit a driving force. Fig.13 and Fig.14 As shown, the end of the wrist control line 800 connected to the rear end chuck 500 is knotted, and the wrist control line sleeve 810 (heat shrink tube) is used to cover and heat the wrist control line sleeve 810 to fix it at the knot at the end of the wrist control line 800, so that the diameter of the end of the wrist control line 800 connected to the rear end chuck 500 can be larger than the diameter of the first wrist control line hole 503 on the rear end chuck 500; then the end of the wrist control line 800 connected to the rear end chuck 500 is fixed to the wrist control line 800 by using an adhesive. The corresponding position of the rear end chuck 500 ensures that the wrist control line 800 will not fall off when being stretched or released by the motor; similarly, the shoulder control line 700 is knotted at one end connected to the first elbow chuck 420, and the shoulder control line sleeve 710 (heat shrink tube) is sleeved and heated to fix the shoulder control line sleeve 710 at the end of the shoulder control line 700, and the end of the shoulder control line 700 connected to the first elbow chuck 420 is fixed to the corresponding position of the first elbow chuck 420 with an adhesive.

[0101] Among them, the various end surgical manipulator holes opened on the same axis on the front end chuck 300, multiple shoulder chucks 410, elbow first chuck 420, elbow second chuck 430, multiple wrist chucks 440 and rear end chuck 500 can constitute an end surgical manipulator channel. After the end of the surgical robot arm reaches the lesion in the human body, the end surgical manipulator can reach the end of the surgical robot arm along the end surgical manipulator channel, and the end surgical manipulator channel plays a guiding role in the end surgical manipulator entering the surgical robot arm. Optionally, the end surgical manipulator (not shown in the figure) includes surgical separation forceps, claw forceps, needle holders, scissors, and endoscope lenses, etc. The end surgical manipulator is generally driven by a wire, and the endoscope lens includes a communication cable. The end surgical manipulator channel composed of multiple end surgical manipulator holes arranged in sequence plays a circumferential and radial positioning role for the wire drive required by the end surgical manipulator and the communication cable included in the endoscope lens.

[0102] It is worth mentioning that when hot water is injected into the surgical robot arm, the excess heat emitted by the hot water will cause the outer surface temperature of the surgical robot arm to rise. When the surgical robot arm is working, its outer surface is in contact with the inner wall of the natural cavity of the human body, and the excessively high surface temperature will burn the inner wall of the natural cavity of the human body. Therefore, the outer coating layer 900 of the surgical robot arm is made of phase change microcapsule material, which has a high energy storage density and can absorb a large amount of heat; and the phase change microcapsule material has a hysteresis thermal conductivity, which can dissipate the absorbed heat when its surface temperature is low.

[0103] Specifically, the outer coating layer 900 includes an outer coating layer outer wall 910, an outer coating layer inner wall 920 and a phase change microcapsule layer 930; the outer coating layer inner wall 920 is coated on the outer cylindrical surface of the front end chuck 300, the shoulder chuck 410, the elbow first chuck 420, the elbow second chuck 430, the wrist chuck 440 and the rear end chuck 500, the phase change microcapsule layer 930 is covered on the outer side surface of the outer coating layer inner wall 920, and the outer coating layer outer wall 910 is covered on the outer side surface of the phase change microcapsule layer 930.

[0104] In the embodiments of the present invention, please refer to Figures 15 to 18The outer coating layer 900 is divided into three layers: an outer coating layer outer wall 910 , an outer coating layer inner wall 920 and a phase change microcapsule layer 930 . The outer wall 910 of the outer coating layer is a hollow tube with an outer diameter of 15.0 mm, an inner diameter of 14.6 mm, a wall thickness of 0.2 mm, and is made of rubber; the inner wall 920 of the outer coating layer is a hollow tube with an outer diameter of 12.6 mm, an inner diameter of 12.2 mm, a wall thickness of 0.2 mm, and is made of rubber; the outer wall 910 of the outer coating layer is concentrically arranged with the inner wall 920 of the outer coating layer, and the interval area between the inner cylindrical surface of the outer wall 910 of the outer coating layer and the outer cylindrical surface of the inner wall 920 of the outer coating layer is filled with a phase change microcapsule layer 930, which is in a solid powder state in a macroscopic sense and is composed of phase change microcapsule particles 931 with a diameter of 40 microns. The phase change microcapsule particles 931 are composed of a microcapsule shell 932 and a microcapsule core 933. The material of the microcapsule core 933 is paraffin wax, and the material of the microcapsule shell 932 is generally made of a material with strong thermal stability (such as TiO 2 , SiO 2 , CaCO 3 or some other lipid materials), the volume of the microcapsule core 933 accounts for 60% of the volume of the phase change microcapsule particle 931. The microcapsule core 933 of the phase change microcapsule particle 931 is a normal alkane paraffin material. The paraffin material has a reversible solid-liquid phase change characteristic and is mainly a mixture of straight-chain alkanes. The melting point of the paraffin can be changed by changing the length of the alkane molecular chain. In the present invention, normal docosane (C 22 H 46) Paraffin material, whose melting point is 43°C; the material of the microcapsule shell 932 can be epoxy resin, whose melting point is 140±2°C. When the ambient temperature rises, the solid-liquid phase change material will be in a solid-liquid mixed state when it reaches its melting point. In this process, it will absorb a large amount of heat and the material in the solid-liquid mixed state will remain at its melting point temperature for a long time (i.e., the high energy storage characteristics of the phase change microcapsule material). When the ambient temperature drops, the phase change microcapsule will dissipate the stored heat while maintaining the temperature not exceeding its melting point (i.e., the hysteresis thermal conductivity of the phase change microcapsule). Therefore, when hot water (temperature: 65°C-75°C) is injected into the surgical robot arm, the heat dissipated will be absorbed by the phase change microcapsule layer 930 in the outer coating layer 900 of the surgical robot arm, and the microcapsule core 933 of the phase change microcapsule particle 931 will reach the melting point and become a solid-liquid mixed state. At this time, the microcapsule particle will absorb a large amount of heat and can keep the temperature of the surface of the surgical robot arm at 43°C for a long time. In the process of inserting the surgical robot arm into the human body along the natural cavity of the human body, it is necessary to continuously inject hot water into the first water conduit 210 and the second water conduit 220 in the inner cavity of the surgical robot arm to keep the surgical robot arm with a small rigidity. The temperature emitted by the hot water will be absorbed by the phase change microcapsule layer 930 in the outer coating layer 900, and the outer surface of the surgical robot arm will maintain a suitable temperature (43°C) for a long time, which is close to the human body temperature and will not burn the surface of the natural cavity of the human body. After the end of the surgical robot arm reaches the lesion in the human body, it is necessary to inject cold water into the first water conduit 210 and the second water conduit 220 in the inner cavity of the surgical robot arm to make the surgical robot arm have a large rigidity. At this time, the injected cold water will absorb the heat stored in the phase change microcapsules, so that the temperature of the outer surface of the surgical robot arm is reduced.

[0105] More specifically, the inner wall 920 of the outer coating layer is fixed to the outer cylindrical surfaces of the front end chuck 300, multiple shoulder chucks 410, the first elbow chuck 420, the second elbow chuck 430, the multiple wrist chucks 440 and the rear end chuck 500 by an adhesive. After the phase change microcapsules are filled in, the front end cover 940 of the outer coating layer 900 and the end cover 950 of the outer coating layer 900 are used to seal to prevent the phase change microcapsule powder from leaking out. The front end cover 940 of the outer coating layer 900 and the end cover 950 of the outer coating layer 900 are circular in shape, with an outer diameter of 14.6 mm and an inner diameter of 12.6 mm, and are made of polyethylene plastic. The front end cover 940 and the end cover 950 of the outer coating layer 900 are fixed to the inner cylindrical surface of the outer wall 910 of the outer coating layer and the outer cylindrical surface of the inner wall 920 of the outer coating layer by an adhesive.

[0106] Combine the following Fig.19 and Fig. 20 The working principle of the surgical robot arm in this embodiment is introduced:

[0107] The hot water bath 50 heats water to a temperature between the glass transition temperature and the melting point of the thermoplastic plastics used to make the first phase change tube 110 and the second phase change tube 120. The peristaltic pump 60 pumps hot water into the surgical robot arm through the first water conduit 210. The hot water then flows through the first water conduit 210 to the liquid reflux channel 510 and flows out of the water storage tank 70 outside the surgical robot arm through the second water conduit 220. When the axial stiffness of the surgical robot arm decreases, the surgical robot arm is sent into the body along the natural cavity of the human body. During the process of sending the surgical robot arm into the body, the hot water is always in a circulating flow state inside the surgical robot arm to ensure the flexibility of the surgical robot arm during the process. When the end of the surgical robot arm reaches the approximate position of the lesion, the shoulder control line 700 and the wrist control line 800 are driven by the motor to control the posture of the wrist of the surgical robot arm, so as to adjust the position of the rear end chuck 500 of the surgical robot arm and accurately deliver the rear end chuck 500 to the lesion. The water is then cooled to 5°C using the refrigerator 80, and the peristaltic pump 60 pumps the cold water into the surgical robot arm. When the axial stiffness of the surgical robot arm becomes larger, the pumping of the cold water is stopped, and the end surgical manipulator is delivered to the end of the surgical robot arm along the surgical tool channel (a plurality of end surgical manipulator holes arranged in sequence) in the surgical robot arm and protrudes out of the rear end chuck 500, and then the relevant surgical operations are started.

[0108] The advantages of the present invention compared with the prior art are:

[0109] (1) The first phase change tube 110 and the second phase change tube 120 are made of biocompatible thermoplastic plastic to achieve the axial stiffness control of the surgical robot arm in the present invention. The selected materials are safe and non-toxic.

[0110] (2) The phase change excitation method of the first phase change tube 110 and the second phase change tube 120 made of thermoplastic plastic is cold or hot water, which is safer for surgery compared with the existing variable stiffness technology that uses current and voltage to excite the phase change.

[0111] (3) The outer diameter of the surgical robot arm in the present invention is 15 mm. Compared with the commonly used stiffness-controllable surgical robot arm designed based on the shape locking method and the particle blocking principle, it is smaller in size and can adapt well to the natural cavity of the human body; and it has an end surgical manipulator channel composed of multiple large end surgical manipulator holes inside, which can accommodate more types of end surgical manipulators.

[0112] (4) The outer coating layer 900 of the surgical robot arm of the present invention is made of phase change microcapsules, which have high energy storage density and delayed thermal conductivity, and can absorb the excess heat emitted by the hot water in the inner cavity of the surgical robot arm, and can discharge the absorbed heat while maintaining a relatively low temperature. Therefore, the outer surface temperature of the surgical robot arm is relatively suitable when it is working, and will not cause damage to the inner wall of the natural cavity of the human body that is in contact with it.

[0113] Embodiment 2:

[0114] See also Fig.21 Based on the above surgical robot arm, the present invention further discloses a stiffness control method of the surgical robot arm, comprising:

[0115] S100, water having a temperature higher than the glass transition temperature of the thermoplastic material used to make the first phase change tube 110 and the second phase change tube 120 and lower than its melting point is injected into the first water conduit 210 and the second water conduit 220, so that the thermoplastic material used to make the first phase change tube 110 and the second phase change tube 120 is transformed from a glass state to a highly elastic state, and the first phase change tube 110 and the second phase change tube 120 are softened, so that the first phase change tube 110 and the second phase change tube 120 have a smaller axial stiffness;

[0116] S200, water having a temperature lower than the glass transition temperature of the thermoplastic material making the first phase change tube 110 and the second phase change tube 120 is injected into the first water conduit 210 and the second water conduit 220, so that the thermoplastic material making the first phase change tube 110 and the second phase change tube 120 is transformed from a highly elastic state to a glass state. At this time, the texture of the first phase change tube 110 and the second phase change tube 120 becomes hard, so that the first phase change tube 110 and the second phase change tube 120 have greater axial stiffness.

[0117] In the embodiment of the present invention, the first phase change tube 110 and the second phase change tube 120 are made of thermoplastic plastics and vertically penetrate the entire surgical robot arm. The inner cylindrical surface of the first phase change tube 110 is bonded with the first water conduit 210, and the inner cylindrical surface of the second phase change tube 120 is bonded with the second water conduit 220. A liquid reflux channel 510 is provided at the end of the surgical robot arm. Water of a certain temperature is pumped into the first water conduit 210. After the water reaches the liquid reflux channel 510 at the end of the surgical robot arm, it flows into the second water conduit 220 and flows out at the front end of the robot arm. When hot water is pumped into the conduit, when the temperature of the hot water is higher than the glass transition temperature of the thermoplastic plastic and lower than its melting point, the thermoplastic plastic undergoes a phase change and is converted into a highly elastic state; the first phase change tube 110 and the second phase change tube 120 become soft in texture, which can reduce the axial stiffness of the surgical robot arm, and the flexible surgical robot arm can well adapt to the complex shape of the natural cavity in the human body. When cold water is pumped into the conduit, it can play a cooling role, so that the temperature of the first phase change tube 110 and the second phase change tube 120 is lower than the glass transition temperature of its material, so that its phase changes into a glass state. At this time, the first phase change tube 110 and the second phase change tube 120 become hard, thereby increasing the axial stiffness of the surgical robot arm. At this time, the rigid surgical robot arm can provide a stable operating platform for the end surgical manipulator to ensure surgical accuracy. Among them, the outer coating layer 900 of the surgical robot arm is made of phase change microcapsule material. The phase change microcapsule has high energy storage characteristics and delayed thermal conductivity. It can absorb a large amount of heat conducted by hot water pumped into the first water conduit 110 and the second water conduit 120, preventing the outer surface temperature of the surgical robot arm from rising and burning the inner surface of the natural cavity of the human body.

[0118] In summary, the present invention provides a stiffness control method for a surgical robot arm and a surgical robot arm, comprising: a first phase change tube, a second phase change tube, a first water conduit, a second water conduit, a front end chuck, a shoulder chuck, a first elbow chuck, a second elbow chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer covering layer; one end of the first phase change tube and one end of the second phase change tube are both arranged in the front end chuck, and the end faces of one end of the first phase change tube and one end of the second phase change tube are arranged flush with the end face of the front end chuck, and the The other end of the first phase change tube and the other end of the second phase change tube pass through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and are arranged in the rear end chuck; the first end of the first water conduit and the first end of the second water conduit extend out of the front end chuck respectively; the outer cylindrical surface of the first water conduit fits with the inner cylindrical surface of the first phase change tube, and the outer cylindrical surface of the second water conduit fits with the inner cylindrical surface of the second phase change tube. The first water conduit and the second water conduit are used to inject hot water and conduct heat to the first phase change tube and the second phase change tube, so that The temperature of the first phase change tube and the second phase change tube is increased, and the first water conduit and the second water conduit are also used to inject cold water and absorb the heat in the first phase change tube and the second phase change tube, so that the temperature of the first phase change tube and the second phase change tube is reduced; a liquid reflux channel is opened in the rear end chuck, and the liquid reflux channel is connected to the second end of the first water conduit and the second end of the second water conduit; the central pillar is located between the first phase change tube and the second phase change tube, and the end face of one end of the central pillar is flush with the end face of the front end chuck, and the other end passes through the shoulder chuck in sequence. The outer coating layer covers the outer cylindrical surface of the front chuck, the shoulder chuck, the first chuck of the elbow, the second chuck of the elbow, the wrist chuck and the rear chuck; one end of the shoulder control line extends out of the front chuck, and the other end passes through the shoulder chuck and is connected to the first chuck of the elbow; one end of the wrist control line extends out of the front chuck, and the other end passes through the shoulder chuck, the first chuck of the elbow, the second chuck of the elbow and the wrist chuck in sequence and is connected to the rear chuck. The surgical robot arm in the embodiment of the present invention can realize the adjustment of axial stiffness. The surgical robot arm in the flexible state can well adapt to the complex shape of the natural cavity of the human body to ensure the safety of the operation. The surgical robot arm in the rigid state can provide a stable operating platform for the end surgical manipulator to ensure the accuracy of the operation.

[0119] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the schemes disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in this disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the claims.

Claims

1. A surgical robot arm, characterized in that: include: A first phase change tube, a second phase change tube, a first water conduit, a second water conduit, a front end chuck, a shoulder chuck, a first elbow chuck, a second elbow chuck, a wrist chuck, a rear end chuck, a center support, a shoulder control line, a wrist control line, and an outer covering layer; One end of the first phase change tube and one end of the second phase change tube are both arranged in the front end chuck, and the end faces of one end of the first phase change tube and one end of the second phase change tube are arranged flush with the end face of the front end chuck, and the other end of the first phase change tube and the other end of the second phase change tube pass through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and are arranged in the rear end chuck; The first end of the first water conduit and the first end of the second water conduit extend outward from the front end chuck respectively; the outer cylindrical surface of the first water conduit fits with the inner cylindrical surface of the first phase change tube, and the outer cylindrical surface of the second water conduit fits with the inner cylindrical surface of the second phase change tube. The first water conduit and the second water conduit are used to inject hot water and conduct heat to the first phase change tube and the second phase change tube, so that the temperature of the first phase change tube and the second phase change tube increases; the first water conduit and the second water conduit are also used to inject cold water and absorb the heat in the first phase change tube and the second phase change tube, so that the temperature of the first phase change tube and the second phase change tube decreases; A liquid reflux channel is provided in the rear end chuck, and the liquid reflux channel is connected to the second end of the first water conduit and the second end of the second water conduit; The central pillar is located between the first phase change tube and the second phase change tube, and the end surface of one end of the central pillar is flush with the end surface of the front chuck, and the other end passes through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and is connected to the rear end chuck; the outer coating layer is coated on the outer cylindrical surfaces of the front end chuck, the shoulder chuck, the first elbow chuck, the second elbow chuck, the wrist chuck and the rear end chuck; One end of the shoulder control line extends out of the front chuck, and the other end passes through the shoulder chuck and is connected to the first elbow chuck; one end of the wrist control line extends out of the front chuck, and the other end passes through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck in sequence and is connected to the rear end chuck; The rear end chuck is provided with: a first central support hole, a first terminal surgical manipulator hole, a first wrist control line hole, a first phase change tube hole, a second phase change tube hole, a liquid reflux channel inlet and a liquid reflux channel outlet; The first central pillar hole is arranged concentrically with the rear end chuck, the first terminal surgical manipulator hole is symmetrically distributed on both sides of the first central pillar hole, the first phase change tube hole and the second phase change tube hole are symmetrically distributed relative to the first central pillar hole and are located on the side of the first terminal surgical manipulator hole, the first wrist control line hole is symmetrically distributed relative to the first central pillar hole and is located between adjacent first terminal surgical manipulator holes and first phase change tube holes and between adjacent first terminal surgical manipulator holes and second phase change tube holes; the liquid reflux channel inlet and the liquid reflux channel outlet are located inside the rear end chuck and are connected to the liquid reflux channel, the liquid reflux channel inlet is connected to the first phase change tube hole, and the liquid reflux channel outlet is connected to the second phase change tube hole; The front end chuck is provided with: a second central support hole, a second terminal surgical manipulator hole, a first shoulder control line hole, a third phase change tube hole and a second wrist control line hole; The second central pillar hole is arranged concentrically with the front chuck, the second end surgical manipulator hole, the first shoulder control line hole, the third phase change tube hole and the second wrist control line hole are symmetrically distributed outside the second central pillar hole, the second wrist control line hole is located between the second central pillar hole and the third phase change tube hole, and the first shoulder control line hole is located between the adjacent second end surgical manipulator hole and the third phase change tube hole; The shoulder chuck is provided with: a third central support hole, a third terminal surgical manipulator hole, a second shoulder control line hole, a fourth phase change tube hole and a third wrist control line hole; The third central pillar hole is arranged concentrically with the shoulder chuck, the third terminal surgical manipulator hole, the second shoulder control line hole, the fourth phase change tube hole and the third wrist control line hole are symmetrically distributed outside the third central pillar hole, the third wrist control line hole is located between the third central pillar hole and the fourth phase change tube hole, and the second shoulder control line hole is located between the adjacent third terminal surgical manipulator hole and the fourth phase change tube hole; The first chuck of the elbow is provided with: a fourth central support hole, a fourth terminal surgical manipulator hole, a third shoulder control line hole, a fifth phase change tube hole and a fourth wrist control line hole; The fourth central pillar hole is arranged concentrically with the first chuck of the elbow, the fourth terminal surgical manipulator hole, the third shoulder control line hole, the fifth phase change tube hole and the fourth wrist control line hole are symmetrically distributed on the outside of the fourth central pillar hole, the fourth wrist control line hole is located between the fourth central pillar hole and the fifth phase change tube hole, and the third shoulder control line hole is located between the adjacent fourth terminal surgical manipulator hole and the fifth phase change tube hole; The second chuck of the elbow is provided with: a fifth central support hole, a fifth terminal surgical manipulator hole, a fifth wrist control line hole and a sixth phase change tube hole; The fifth central pillar hole is arranged concentrically with the second chuck of the elbow, the fifth terminal surgical manipulator hole, the sixth phase change tube hole and the fifth wrist control line hole are symmetrically distributed outside the fifth central pillar hole, and the fifth wrist control line hole is located between the adjacent fifth terminal surgical manipulator hole and the sixth phase change tube hole; The wrist chuck is provided with: a sixth central support hole, a sixth terminal surgical manipulator hole, a sixth wrist control line hole and a seventh phase change tube hole; The sixth central pillar hole is arranged concentrically with the wrist chuck, the sixth terminal surgical manipulator hole, the seventh phase change tube hole and the sixth wrist control line hole are symmetrically distributed outside the sixth central pillar hole, and the sixth wrist control line hole is located between the adjacent sixth terminal surgical manipulator hole and the seventh phase change tube hole; The first phase change tube and the second phase change tube are made of thermoplastic plastic.

2. The surgical robot arm according to claim 1, characterized in that: The outer coating layer includes: an outer coating layer outer wall, an outer coating layer inner wall and a phase change microcapsule layer; the inner coating layer inner wall is coated on the outer cylindrical surface of the front end chuck, the shoulder chuck, the first elbow chuck, the second elbow chuck, the wrist chuck and the rear end chuck, the phase change microcapsule layer is covered on the outer side surface of the inner coating layer wall, and the outer coating layer outer wall is covered on the outer side surface of the phase change microcapsule layer.

3. A method for controlling the stiffness of a surgical robot arm, characterized in that: The surgical robot arm according to any one of claims 1 to 2 comprises: Injecting water with a temperature higher than the glass transition temperature of the thermoplastic plastics used to make the first phase change tube and the second phase change tube and lower than its melting point into the first water conduit and the second water conduit, so that the thermoplastic plastics used to make the first phase change tube and the second phase change tube are transformed from a glass state to a highly elastic state, and the first phase change tube and the second phase change tube become soft, so that the first phase change tube and the second phase change tube have a smaller axial stiffness; Water with a temperature lower than the glass transition temperature of the thermoplastic plastics used to make the first phase change tube and the second phase change tube is injected into the first water conduit and the second water conduit, so that the thermoplastic plastics used to make the first phase change tube and the second phase change tube are transformed from a highly elastic state to a glassy state. At this time, the texture of the first phase change tube and the second phase change tube becomes hard, so that the first phase change tube and the second phase change tube have greater axial stiffness.

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