A control method for the master hand and slave hand of a minimally invasive surgical robot

Abstract

The present invention discloses a control method for the master hand and slave hand of a minimally invasive surgical robot. The master hand includes a first master hand module, a second master hand module, and a third master hand module that are perpendicular to each other. The output end of the third master hand module is connected to the input end of the second master hand module. The output end of the second master hand module is connected to the input end of the first master hand module. The first master hand module can be connected to the main controller. The master hand structure of the minimally invasive surgical robot of the present invention is simple and compact, and can achieve higher-precision surgical operations. Moreover, the master hand modules are all located above the third master arm in the horizontal direction, reducing the size of the master hand in the vertical direction and effectively avoiding interference between the master hand and other components in the vertical direction.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical robots and relates to a master manipulator for a minimally invasive surgical robot. Background Art

[0002] Minimally invasive surgery is widely used because of its small trauma and fast healing. In the prior art, a master controller is usually arranged at the end of the master manipulator of a minimally invasive surgical robot. When the master controller is operated, each axis of the master manipulator generates motion, thereby sending a signal to the control center. After being processed, the signal is sent to the slave manipulator to control the movement of the instrument and complete the surgery. When the control center processes the signal, since each axis of the master manipulator is moving, the amount of data processed by the control center is very large, resulting in a long data processing time and a delay from the human hand movement to the surgical movement.

[0003] On the other hand, the structure of the master manipulator in the prior art, such as the master manipulator disclosed in CN106667583A, is complex and large in volume in order to achieve multiple degrees of freedom. To achieve precise surgical operations, more precise machining is required, which directly increases the manufacturing cost.

[0004] At the same time, the operating size of the surgical robot should be as small as possible. Especially to avoid interference between the master manipulator and other components in the vertical direction, it is necessary to minimize the size of the master manipulator in the vertical direction.

[0005] Therefore, those skilled in the art are committed to developing a master manipulator for a minimally invasive surgical robot with a simple and compact structure that can effectively avoid interference. Summary of the Invention

[0006] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a master manipulator for a minimally invasive surgical robot with a simple and compact structure.

[0007] To achieve the above object, the present invention provides a master manipulator for a minimally invasive surgical robot, including a first master manipulator module, a second master manipulator module, and a third master manipulator module that are perpendicular to each other; the output end of the third master manipulator module is connected to the input end of the second master manipulator module; the output end of the second master manipulator module is connected to the input end of the first master manipulator module; the first master manipulator module can be connected to a master controller.

[0008] Preferably, the first master manipulator module and the second master manipulator module are connected by a first master arm; a second master arm is provided on the second master manipulator module; a transverse third master arm is provided on the third master manipulator module; one end of the third master arm far from the third master manipulator module is connected to one end of the second master arm far from the second master manipulator module.

[0009] Preferably, the center lines of the first master manipulator module and the second master manipulator module are located in the same plane.

[0010] Preferably, a rotatable driving member is provided at one end of the third main arm away from the third main hand module; a second connecting rod is provided at one end of the second main arm away from the second main hand module; and the second connecting rod is power-connected to the driving member.

[0011] Preferably, the driving member is power-connected to the third main hand module through a belt transmission mechanism.

[0012] To simplify the calculation of the control center, the first main hand module, the second main hand module, and the center of the driving member intersect at the same point.

[0013] Preferably, the third main arm includes a horizontal third connecting rod; a third joint module is provided at one end of the third connecting rod; a third fixing seat for fixedly connecting to the fourth main hand module of the main hand is provided on the outer shell of the third joint module; and the driving member is provided at the other end of the third connecting rod.

[0014] Preferably, the second main arm is L-shaped; the second main arm includes a second fixing seat; a second joint module is provided on the second fixing seat; one end of the second fixing seat is fixedly connected to a second cover plate A and the second connecting rod in sequence; the other end of the second fixing seat is fixedly connected to a second cover plate B; and the second cover plate B is fixedly connected to the second connecting rod.

[0015] Preferably, the first main arm is L-shaped; one end of the first main arm is fixedly connected to the first main hand module, and the other end of the first main arm is fixedly connected to the output end of the second main hand module.

[0016] Preferably, the first main hand module includes a first fixing seat; a first joint module is provided on the first fixing seat; one end of the first fixing seat is fixedly connected to a first cover plate A, a first cover plate B, and a first connecting rod in sequence; the other end of the first fixing seat is fixedly connected to a first cover plate C and a first cover plate D in sequence; and the first cover plate D is fixedly connected to the first connecting rod.

[0017] Preferably, it further includes a fourth main hand module, a fifth main hand module, and a sixth main hand module arranged vertically from bottom to top in sequence; and the fourth main hand module is fixedly connected to the third main hand module.

[0018] Preferably, the fourth main hand module, the fifth main hand module, and the sixth main hand module all include joint modules;

[0019] The joint module includes a base; a housing is fixedly connected to the base; a motor is provided on the housing through rolling bearings; the output shaft of the motor is connected to a speed reducer through a connecting flange; the speed reducer is arranged on the base through crossed rolling bearings; and the speed reducer transmits power to the output flange.

[0020] To accurately control the position of the main arm, a position encoder is provided on the outer circumferential surface of the output flange.

[0021] Preferably, the output end of the speed reducer is fixed to the connecting flange; the output flange is fixedly connected to the connecting flange; a torque sensor is provided between the connecting flange and the output flange.

[0022] Preferably, a wire sleeve fixing seat is fixed to one end of the base away from the output flange; a wire sleeve is fixed inside the wire sleeve fixing seat; the wire sleeve sequentially passes through the motor and the speed reducer; the wire sleeve is supported by a rolling bearing on the connecting flange.

[0023] To measure the motion parameters of the motor, a speed encoder is provided at one end of the wire sleeve away from the output flange.

[0024] Preferably, the first main hand module, the third main hand module and the second main hand module have the same structure, and each includes a housing and a joint module disposed inside the housing;

[0025] The joint module includes a base fixedly connected to the housing; a motor is provided on the base through a first bearing; the output shaft of the motor is connected to the speed reducer; the speed reducer is provided on the base through a bearing; the speed reducer transmits power to the output flange;

[0026] One end of the first main arm is fixed to the housing of the first main hand module, and the other end is fixed to the output flange of the second main hand module;

[0027] One end of the second main arm is fixed to the housing of the second main hand module, and the other end is fixed to the output flange of the third main hand module;

[0028] One end of the third main arm is fixed to the output flange of the third main hand module.

[0029] Preferably, a position encoder is provided on the outer circumferential surface of the output flange.

[0030] Preferably, the output end of the speed reducer is fixed to the intermediate piece; the output flange is fixedly connected to the intermediate piece.

[0031] Preferably, a torque sensor is provided between the intermediate piece and the output flange.

[0032] Preferably, a wire sleeve fixing seat is fixed to one end of the base away from the output flange; a wire sleeve is fixed inside the wire sleeve fixing seat; the wire sleeve sequentially passes through the motor and the speed reducer; the wire sleeve is supported by bearings arranged at intervals.

[0033] Preferably, a speed encoder is provided at one end of the wire sleeve away from the output flange.

[0034] Preferably, the output flange of the second master hand module is fixedly bolted to the first disc-shaped member; the first disc-shaped member is fixedly bolted to the second disc-shaped member; the edge of the second disc-shaped member is fixedly bolted to the end of the first master arm.

[0035] The output flange of the third master hand module is fixedly bolted to the third disc-shaped member; the third disc-shaped member is fixedly bolted to the fourth disc-shaped member; the edge of the fourth disc-shaped member is fixed to the end of the second master arm.

[0036] Preferably, the first master hand module and the second master hand module are connected by the first master arm; the third master hand module and the second master hand module are connected by the second master arm; the third master hand module can be fixedly connected to the fourth master hand module of the robot through the third master arm.

[0037] Preferably, the center lines of the first master hand module and the third master hand module are located in the same plane; or

[0038] the center lines of the third master hand module and the second master hand module are located in the same plane; or

[0039] the center lines of the first master hand module and the second master hand module are located in the same plane.

[0040] Preferably, the centers of the first master hand module, the third master hand module and the second master hand module intersect at the same point.

[0041] The present invention also provides a method for controlling a slave hand of a surgical robot, including the following steps:

[0042] 1) Provide a plurality of master hand modules; connect the upstream master hand modules rotatably to the downstream master hand modules;

[0043] 2) Connect the master hand module at the head end or the tail end to the master controller; when the master controller moves, its moving direction or the decomposed direction of the moving direction according to the preset coordinate system can always pass through the center lines of one or more master hand modules;

[0044] 3) During the movement of the master controller, each master hand module sends signals of its respective movement parameters to the control center; the movement parameters include movement speed, angle, displacement, etc.;

[0045] 4) The control center receives the signals of each master hand module, calculates to obtain the slave hand movement parameters, and then controls the actions of the slave hand according to the slave hand movement parameters; the slave hand movement parameters include movement speed, angle, displacement, etc.

[0046] Preferably, the master hand module connected to the master controller, and the two master hand modules adjacent to and connected to this master hand module are perpendicular to each other.

[0047] Preferably, the center lines of the main controller and two adjacent main hand modules connected thereto intersect at a point.

[0048] Preferably, the center lines of the main hand module connected to the main controller, and two adjacent main hand modules connected to this main hand module intersect at a point.

[0049] The beneficial effects of the present invention are as follows: The main hand of the minimally invasive surgical robot of the present invention has a simple and compact structure, and can achieve higher-precision surgical operations; and the main hand modules are all located above the third main arm in the horizontal direction, reducing the size of the main hand in the vertical direction and effectively avoiding interference between the main hand and other components in the vertical direction. Description of the Drawings

[0050] Figure 1 is a schematic structural diagram of the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention.

[0051] Figure 2 is a schematic structural diagram of the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention.

[0052] Figure 3 is a schematic structural diagram of the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention installed on the surgical robot.

[0053] Figure 4 is a schematic structural diagram of the first main hand module in the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention.

[0054] Figure 5 is a schematic structural diagram of the second main arm in the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention.

[0055] Figure 6 is a schematic structural diagram of the third main arm in the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention.

[0056] Figure 7 is a schematic structural diagram of the joint module in the first main hand module of the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention.

[0057] Figure 8 is a schematic structural diagram of the joint module in the fourth main hand module of the main hand of the minimally invasive surgical robot according to Embodiment 1 of the present invention.

[0058] Figure 9 is a schematic structural diagram of the main hand of the minimally invasive surgical robot according to Embodiment 2 of the present invention.

[0059] Figure 10 is a schematic structural diagram of the main hand of the minimally invasive surgical robot according to Embodiment 2 of the present invention.

[0060] Figure 11It is a schematic structural diagram of the first master hand module in the master hand of the minimally invasive surgical robot according to Embodiment 2 of the present invention.

[0061] Figure 12 is Figure 11 The partial enlarged structural diagram at position I in Detailed implementation manners

[0062] The present invention will be further described below in conjunction with the drawings and embodiments:

[0063] A slave hand control method for a surgical robot includes the following steps:

[0064] 1) Provide a plurality of master hand modules; rotatably connect the upstream master hand module to the downstream master hand module;

[0065] 2) Connect the master hand module at the head or tail to the master controller; when the master controller moves, its movement direction or the decomposed direction of the movement direction according to the preset coordinate system can always pass through the center line of one or more master hand modules;

[0066] 3) During the movement of the master controller, each master hand module sends signals of its respective movement parameters to the control center; the movement parameters include movement speed, angle, displacement, etc.;

[0067] 4) The control center receives the signals of each master hand module, calculates to obtain the slave hand movement parameters, and then controls the actions of the slave hand according to the slave hand movement parameters; the slave hand movement parameters include movement speed, angle, displacement, etc.

[0068] The master hand module connected to the master controller, and the two master hand modules adjacent to and connected to this master hand module are perpendicular to each other.

[0069] Wherein, the center lines of the master controller and the two adjacent master hand modules intersect at a point. Or the center lines of the three master hand modules intersect at a point.

[0070] Embodiment 1

[0071] A master hand of a minimally invasive surgical robot includes a first master hand module 100, a second master hand module 200, and a third master hand module 300 that are perpendicular to each other; the output end of the third master hand module 300 is connected to the input end of the second master hand module 200; the output end of the second master hand module 200 is connected to the input end of the first master hand module 100; the first master hand module 10 can be connected to the master controller 1010.

[0072] The first master hand module 100 and the second master hand module 200 are connected by a first master arm 400; a second master arm 500 is provided on the second master hand module 200; a transverse third master arm 600 is provided on the third master hand module 300; one end of the third master arm 600 away from the third master hand module 300 is connected to one end of the second master arm 500 away from the second master hand module 200.

[0073] The center lines of the first master hand module 100 and the second master hand module 200 are located in the same plane.

[0074] A rotatable driving member 601 is provided at one end of the third master arm 600 away from the third master hand module 300; a second connecting rod 501 is provided at one end of the second master arm 500 away from the second master hand module 200; the second connecting rod 501 is power-connected to the driving member 601.

[0075] The driving member 601 is power-connected to the third master hand module 300 through a belt transmission mechanism 605.

[0076] The first master hand module 100, the second master hand module 200 and the driving member 60 are centrally intersected at the same point O.

[0077] The third master arm 600 includes a transverse third connecting rod 602; a third joint module 603 is provided at one end of the third connecting rod 602; a third fixing seat 604 for fixedly connecting with a fourth master hand module of the master hand is provided on the outer shell of the third joint module 603; the driving member 601 is provided at the other end of the third connecting rod 602.

[0078] The second master arm 500 is L-shaped; the second master arm 500 includes a second fixing seat 502; a second joint module 503 is provided on the second fixing seat 502; one end of the second fixing seat 502 is fixedly connected with a second cover plate A504 and a second connecting rod 501 in sequence; the other end of the second fixing seat 502 is fixedly connected with a second cover plate B505; the second cover plate B505 is fixedly connected with the second connecting rod 501.

[0079] The first master arm 400 is L-shaped; one end of the first master arm 400 is fixedly connected with the first master hand module 100, and the other end of the first master arm 400 is fixedly connected with the output end of the second master hand module 200.

[0080] The first master hand module 100 includes a first fixing seat 101; a first joint module 102 is provided on the first fixing seat 101; one end of the first fixing seat 101 is fixedly connected with a first cover plate A103, a first cover plate B104 and a first connecting rod 105 in sequence; the other end of the first fixing seat 101 is fixedly connected with a first cover plate C106 and a first cover plate D107 in sequence; the first cover plate D107 is fixedly connected with the first connecting rod 105.

[0081] It further includes a fourth main hand module 700, a fifth main hand module 800, and a sixth main hand module 900 arranged vertically from bottom to top; the fourth main hand module 700 is fixedly connected to the third main hand module 300.

[0082] The fourth main hand module 700, the fifth main hand module 800, and the sixth main hand module 900 all include a joint module 1000;

[0083] The joint module 1000 includes a base 8; a housing 4 is fixedly connected to the base 8; a motor 3 is arranged on the housing 4 through rolling bearings 15 and 16; the output shaft 5 of the motor is connected to a speed reducer 7 through a connecting flange 6; the speed reducer 7 is arranged on the base 8 through a crossed roller bearing 13; the speed reducer 7 transmits power to an output flange 12.

[0084] A position encoder 11 is arranged on the outer circumferential surface of the output flange 12. It is used to control the angle that the motor rotates, and further control the actual positions of the first link, the second link, and the third link.

[0085] The output end of the speed reducer 7 is fixed to a connecting flange 9; the output flange 12 is fixedly connected to the connecting flange 9; a torque sensor 10 is arranged between the connecting flange 9 and the output flange 12. When the motor 3 is powered off, the torque of the output flange 12 is measured through the torque sensor 10, so as to control the motor 3 to reverse appropriately and achieve the force balance of the output flange.

[0086] A wire sleeve fixing seat 17 is fixed to one end of the base 8 away from the output flange 12; a wire sleeve 1 is fixed inside the wire sleeve fixing seat 17; the wire sleeve 1 passes through the motor 3 and the speed reducer 7 in sequence; the wire sleeve 1 is supported on the connecting flange 6 through a rolling bearing 14.

[0087] A speed encoder 2 is arranged at one end of the wire sleeve 1 away from the output flange 12, which is used to control the rotation speed of the motor.

[0088] The structures of the first main hand module 100, the third main hand module 300, and the second main hand module 200 are the same, and all include a housing and a joint module 1000' placed inside the housing;

[0089] The joint module 1000' includes a base 1' fixedly connected to the housing; a motor 2' is arranged on the base 1' through a first bearing 7'; the output shaft 3' of the motor is connected to a speed reducer 4'; the speed reducer 4' is arranged on the base 1' through a bearing 6'; the speed reducer 4' transmits power to an output flange 5';

[0090] One end of the first main arm 400' is fixed to the housing of the first main hand module 100, and the other end is fixed to the output flange of the second main hand module 200';

[0091] One end of the second main arm 500' is fixed to the housing of the second main hand module 200, and the other end is fixed to the output flange of the third main hand module 300;

[0092] One end of the third main arm 600' is fixed to the output flange of the third main hand module 300.

[0093] A position encoder 15' is provided on the outer circumferential surface of the output flange 5'.

[0094] The output end of the speed reducer 4' is fixed to the intermediate member 8'; the output flange 5' is fixedly connected to the intermediate member 8'.

[0095] A torque sensor 16' is provided between the intermediate member 8' and the output flange 5'.

[0096] A wire sleeve fixing seat 13' is fixed to one end of the base 1' away from the output flange 5'; a wire sleeve 14' is fixed inside the wire sleeve fixing seat 13'; the wire sleeve 14' passes through the motor 2' and the speed reducer 4' in sequence; the wire sleeve 14' is supported by bearing supports 18' arranged at intervals.

[0097] A speed encoder 17' is provided at one end of the wire sleeve 14' away from the output flange 5'.

[0098] The output flange of the second main hand module 200 is bolted to the first disc-shaped member 9'; the first disc-shaped member 9' is bolted to the second disc-shaped member 10'; the edge of the second disc-shaped member 10' is bolted to the end of the first main arm 400;

[0099] The output flange of the third main hand module 300 is bolted to the third disc-shaped member 11'; the third disc-shaped member 11' is bolted to the fourth disc-shaped member 12'; the edge of the fourth disc-shaped member 12' is fixed to the end of the second main arm 500'.

[0100] For the master hand of the minimally invasive surgical robot of the present invention with the above structure, the fourth master hand module 700 is fixedly connected to the third master hand module 300. The third joint module 603 in the third master hand module 300 drives the driving member 601 to rotate, thereby driving the second master hand module 200 to rotate. The second joint module in the second master hand module 200 drives the first main arm 400 to move, thereby driving the first master hand module 100 to move. At the same time, the angle of rotation of the motor is controlled by the position encoder 11 provided on the outer circumferential surface of the output flange 12, thereby controlling the actual positions of the first link, the second link, and the third link. And the master hand modules are all located above the horizontal third main arm, reducing the size of the master hand in the vertical direction and effectively avoiding interference between the master hand and other components in the vertical direction.

[0101] It should be noted that the joint module 1000' and the joint module 1000 can be used alternately. That is, the joint module 1000' can be set on the fourth master hand module 700, the fifth master hand module 800, and the sixth master hand module, and the joint module 1000 can be set on the first master hand module 100, the second master hand module 200, and the third master hand module 300.

[0102] Embodiment 2

[0103] Refer to Figures 9 - 12 , a master hand of a minimally invasive surgical robot. In this embodiment, the first master hand module 100 and the second master hand module 200 are connected by a first master arm 400'; the third master hand module 300 and the second master hand module 200 are connected by a second master arm 500'; the third master hand module 300 can be fixed to the fourth master hand module of the robot through a third master arm 600'.

[0104] The center lines of the first master hand module 100 and the third master hand module 300 are located in the same plane;

[0105] The centers of the first master hand module 100, the third master hand module 300, and the second master hand module 200 intersect at the same point O.

[0106] For the master hand of the minimally invasive surgical robot of the present invention with the above structure, its first master hand module 100 is connected to the main controller 1010. By controlling the joint modules of each master hand module, the output flanges in each joint module are rotated by different angles, so as to control the spatial positions of the main controller 1010 and the subsequent connected fourth master hand module, fifth master hand module, and sixth master hand module, and achieve precise positioning of the surgery. And due to the action of each sensor, the surgical accuracy is further improved.

[0107] More importantly, during the movement of the main controller 1010, if the movement direction of the main controller 1010 passes through the center line of a certain master hand module, the main controller 1010 does not generate a torque on this master hand module. Therefore, this master hand module does not generate a rotational movement, thus greatly simplifying the amount of data processed by the control center. After data calculation by the control center, the slave hand 900' is controlled to move. During the surgical process of the slave hand 900', signals can also be transmitted to the main controller 1010 through force feedback, so as to remind the doctor to finely adjust the surgical operation.

[0108] Furthermore, since the centers of the first master hand module 100, the second master hand module 200, and the third master hand module 300 intersect at the same point O, when the control center processes the data of these three master hand modules, it does not need to separately calculate the displacement difference of the initial origin of each master hand module, thus further simplifying the calculation.

[0109] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative efforts. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field according to the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art shall fall within the protection scope determined by the claims.

Claims

1. A master hand of a minimally invasive surgical robot, characterized in that: It includes a first master hand module (100), a second master hand module (200) and a third master hand module (300) that are perpendicular to each other; the output end of the third master hand module (300) is connected to the input end of the second master hand module (200); the output end of the second master hand module (200) is connected to the input end of the first master hand module (100); the first master hand module (100) can be connected to the main controller (1010); the first master hand module (100) and the second master hand module (200) are connected by a first master arm (400); a second master arm (500) is provided on the second master hand module (200); a transverse third master arm (600) is provided on the third master hand module (300); one end of the third master arm (600) away from the third master hand module (300) is connected to one end of the second master arm (500) away from the second master hand module (200). It further includes a fourth master hand module (700), a fifth master hand module (800) and a sixth master hand module (900) that are arranged vertically from bottom to top in sequence; the fourth master hand module (700) is fixedly connected to the third master hand module (300). The first master hand module (100), the second master hand module (200), the third master hand module (300), the fourth master hand module (700), the fifth master hand module (800) and the sixth master hand module (900) are all located above the transverse third master arm (600). The first master hand module (100) includes a first joint module (102), the second master hand module (200) includes a second joint module (503), the third master hand module (300) includes a third joint module (603), and the first joint module (102), the second joint module (503) and the third joint module (603) all include a first motor (2'). The fourth master hand module (700), the fifth master hand module (800) and the sixth master hand module (900) all include a joint module (1000), and the joint module (1000) includes a second motor (3).

2. The master hand of the minimally invasive surgical robot according to claim 1, characterized in that: The center lines of the first master hand module (100) and the second master hand module (200) are in the same plane.

3. The master hand of the minimally invasive surgical robot according to claim 1, characterized in that: One end of the third master arm (600) away from the third master hand module (300) is provided with a rotatable driving member (601); one end of the second master arm (500) away from the second master hand module (200) is provided with a second connecting rod (501); the second connecting rod (501) is power-connected to the driving member (601).

4. The master hand of the minimally invasive surgical robot according to claim 3, characterized in that: The driving member (601) is power-connected to the third master hand module (300) through a belt transmission mechanism (605).

5. The master hand of the minimally invasive surgical robot according to claim 3, characterized in that: The centers of the first master hand module (100), the second master hand module (200) and the driving member (601) intersect at the same point (O).

6. The master hand of the minimally invasive surgical robot according to claim 3, characterized in that: The third main arm (600) includes a transverse third link (602); one end of the third link (602) is provided with a third joint module (603); a third fixing seat (604) for fixedly connecting with the fourth main hand module of the master hand is arranged on the housing of the third joint module (603); the driving member (601) is arranged at the other end of the third link (602).

7. The master hand of the minimally invasive surgical robot according to claim 3, characterized in that: The second main arm (500) is L-shaped; the second main arm (500) includes a second fixing seat (502); a second joint module (503) is arranged on the second fixing seat (502); one end of the second fixing seat (502) is fixedly connected with a second cover plate A (504) and the second link (501) in sequence; the other end of the second fixing seat (502) is fixedly connected with a second cover plate B (505); the second cover plate B (505) is fixedly connected with the second link (501).

8. The master hand of the minimally invasive surgical robot according to claim 1, characterized in that: The first main arm (400) is L-shaped; one end of the first main arm (400) is fixedly connected with the first main hand module (100), and the other end of the first main arm (400) is fixedly connected with the output end of the second main hand module (200).

9. The master hand of the minimally invasive surgical robot according to claim 1, characterized in that: The first main hand module (100) includes a first fixing seat (101); a first joint module (102) is arranged on the first fixing seat (101); one end of the first fixing seat (101) is fixedly connected with a first cover plate A (103), a first cover plate B (104) and a first link (105) in sequence; the other end of the first fixing seat (101) is fixedly connected with a first cover plate C (106) and a first cover plate D (107) in sequence; the first cover plate D (107) is fixedly connected with the first link (105).

10. The master hand of the minimally invasive surgical robot according to claim 1, characterized in that: The joint module (1000) includes a base (8); a housing (4) is fixedly connected to the base (8); a second motor (3) is arranged on the housing (4) through a first rolling bearing (15) and a second rolling bearing (16); an output shaft (5) of the second motor (3) is connected to a speed reducer (7) through a first connecting flange (6); the speed reducer (7) is arranged on the base (8) through a crossed roller bearing (13); the speed reducer (7) transmits power to an output flange (12).

11. The master hand of the minimally invasive surgical robot according to claim 10, characterized in that: A position encoder (11) is arranged on the outer circumferential surface of the output flange (12).

12. The master hand of the minimally invasive surgical robot according to claim 10, characterized in that: The output end of the speed reducer (7) is fixed to a second connecting flange (9); the output flange (12) is fixedly connected with the second connecting flange (9); a torque sensor (10) is arranged between the second connecting flange (9) and the output flange (12).

13. The master hand of the minimally invasive surgical robot according to claim 10, characterized in that: One end of the base (8) away from the output flange (12) is fixedly connected with a wire sleeve fixing seat (17); a wire sleeve (1) is fixed in the wire sleeve fixing seat (17); the wire sleeve (1) passes through the second motor (3) and the speed reducer (7) in sequence; the wire sleeve (1) is supported on the first connecting flange (6) through a third rolling bearing (14).

14. The master hand of the minimally invasive surgical robot according to claim 13, characterized in that: One end of the wire sleeve (1) away from the output flange (12) is provided with a speed encoder (2).

15. The master hand of the minimally invasive surgical robot according to claim 1, characterized in that: The first joint module (102), the second joint module (503) and the third joint module (603) all include a base (1'), a housing is fixedly connected to the base (1'); a first motor (2') is arranged on the base (1') through a first bearing (7'); an output shaft (3') of the first motor is connected to a speed reducer (4'); the speed reducer (4') is arranged on the base (1') through a second bearing (6'); the speed reducer (4') transmits power to the output flange (5').

16. The master hand of the minimally invasive surgical robot according to claim 15, characterized in that: A position encoder (15') is arranged on the outer circumferential surface of the output flange (5').

17. The master hand of the minimally invasive surgical robot according to claim 15, characterized in that:The output end of the speed reducer (4') is fixed to an intermediate member (8'); the output flange (5') is fixedly connected to the intermediate member (8').

18. The master manipulator of the minimally invasive surgical robot according to claim 17, wherein: A torque sensor (16') is arranged between the intermediate member (8') and the output flange (5').

19. The master manipulator of the minimally invasive surgical robot according to claim 15, wherein: One end of the base (1') away from the output flange (5') is fixedly provided with a wire sleeve fixing seat (13'); a wire sleeve (14') is fixed in the wire sleeve fixing seat (13'); the wire sleeve (14') sequentially passes through the first motor (2') and the speed reducer (4'); the wire sleeve (14') is supported by bearings (18') arranged at intervals.

20. The master manipulator of the minimally invasive surgical robot according to claim 19, wherein: One end of the wire sleeve (14') away from the output flange (5') is provided with a speed encoder (17').

21. The master manipulator of the minimally invasive surgical robot according to claim 15, wherein: The output flange of the second master hand module (200) is fixedly bolted to a first disc-shaped member (9'); the first disc-shaped member (9') is fixedly bolted to a second disc-shaped member (10'); the edge of the second disc-shaped member (10') is fixedly bolted to the end of the first main arm (400). The output flange of the third master hand module (300) is fixedly bolted to a third disc-shaped member (11'); the third disc-shaped member (11') is fixedly bolted to a fourth disc-shaped member (12').

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