Joint linkage operating arm for single-hole minimally invasive surgical robot

Abstract

The application discloses a joint linkage operating arm of a single-hole minimally invasive surgical robot, which comprises a connecting driving box, a plurality of operating arm sections connected in series and a terminal surgical instrument, adjacent arm sections are connected through rotary joints, the connecting driving box is internally provided with drivers corresponding to the driving joints, the drivers and the corresponding joints are connected through steel wire ropes, during operation, the connecting driving box is installed on an external supporting track and can slide linearly along the external supporting track. The posture control of the terminal surgical instrument can be realized by adjusting the rotation angles of the last three rotary joints on the operating arm; the position control of the terminal surgical instrument can be realized without changing the posture by adjusting the rotation angles of the two pairs of linkage joints on the operating arm and the sliding distance of the connecting driving box along the external supporting track; and finally, the "position-posture separation" control of the terminal surgical instrument is realized, so that the position-posture movement is more flexible, and the control difficulty is reduced.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive surgical robot technology, and more specifically to a joint-linked manipulator for a single-port minimally invasive surgical robot. Background Technology

[0002] Single-port minimally invasive surgery refers to procedures performed by surgeons inserting multiple thin surgical instruments and endoscopes into the body through a single incision on the surface of the body. Compared to traditional open surgery and multi-port surgery, it offers advantages such as fewer incisions, less bleeding, smaller postoperative scars, and faster recovery time, significantly reducing patient suffering. Single-port minimally invasive surgery offers numerous benefits to patients, and surgical robot systems can further assist surgeons in performing procedures and expand their operational capabilities, making surgical procedures more flexible, safe, and reliable, and helping to reduce surgical risks.

[0003] Single-port minimally invasive surgical robots are high-tech, high-precision medical devices. During surgery, the robot's multiple manipulators first enter the abdominal cavity in an "I" configuration, and then unfold in a "Y" configuration to perform the surgery. The current structural design of the surgical instrument manipulators makes the position and posture of the surgical instruments at the end of the manipulators susceptible to the influence of the motion coupling of the joints of the manipulators, which limits the working space and flexibility of the surgical instruments at the end, making it difficult to control them all. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a joint linkage manipulator for a single-port minimally invasive surgical robot, which realizes the "position and posture separation" control of the end-effector, making the position and posture adjustment of the end-effector highly flexible and easy to operate, while also reducing its control difficulty.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] This invention discloses a jointed manipulator for a single-port minimally invasive surgical robot, comprising a connecting drive box, manipulator segment I, manipulator segment II, manipulator segment III, manipulator segment IV, manipulator segment V, manipulator segment VI, manipulator segment VII, manipulator segment VIII, and an end-effector surgical instrument connected in sequence. The connecting drive box is mounted on an external support rail and can slide linearly along the external support rail. Manipulator segment I is a hollow straight tube, fixedly connected to the connecting drive box. Manipulator segment II consists of two parallel connecting rods of equal length, each connecting rod having its ends connected to manipulator segment I and manipulator segment III via rotary joints, with the rotary joint axes of the two connecting rods being parallel. Manipulator segment III is a hollow straight tube, connecting manipulator segment II and manipulator segment IV via rotary joints at both ends. Manipulator segment IV consists of two parallel connecting rods of equal length. The system comprises the following components: Each link is connected at both ends to operating arm segment III and operating arm segment V via rotary joints, with the rotary joint axes of the two links parallel to each other; the rotary joint axis of the link on operating arm segment II is perpendicular to the rotary joint axis of the link on operating arm segment IV; operating arm segment V is a hollow straight tube that connects operating arm segment IV and operating arm segment VI via rotary joints at both ends, with the rotary joint axes at both ends perpendicular to each other; operating arm segment VI is a hollow straight tube that connects operating arm segment V and operating arm segment VII via rotary joints at both ends, with the rotary joint axes at both ends perpendicular to each other; operating arm segment VII is a hollow straight tube that connects operating arm segment VI and operating arm segment VIII via rotary joints at both ends, with the rotary joint axis connecting operating arm segment VIII along the axis of the hollow straight tube; operating arm segment VIII is a hollow straight tube that connects operating arm segment VII and the distal surgical instrument via rotary joints at both ends.

[0007] As a further technical solution, the entire operating arm is connected to the external support rail via the aforementioned connecting drive box. The telescopic movement of the entire operating arm is achieved by the sliding of the connecting drive box along the rail.

[0008] As a further technical solution, the operating arm segment I is a hollow straight tube, one end of which is fixedly connected to the connecting drive box, and the other end is connected to the operating arm segment II through two rotating joints with parallel rotating axes; the plane containing the rotating axes of the two rotating joints is perpendicular to the axis of the hollow arm tube of the operating arm segment I.

[0009] As a further technical solution, the operating arm segment II is composed of two connecting rods of equal length and parallel to each other; one end of the two connecting rods is respectively connected to two rotary joints of the operating arm segment I, and the other end is respectively connected to two rotary joints of the operating arm segment III.

[0010] As a further technical solution, the operating arm segment III is a hollow straight tube, one end of which is connected to the operating arm segment II through two rotating joints with parallel rotating axes, and the other end of which is connected to the operating arm segment IV through two rotating joints with parallel rotating axes.

[0011] As a further technical solution, the distance between the rotation axes of the two rotary joints connected to the operating arm segment II on the operating arm segment III is equal to the distance between the rotation axes of the two rotary joints connected to the operating arm segment II on the operating arm segment I; the plane containing the rotation axes of the two rotary joints connected to the operating arm segment II on the operating arm III is perpendicular to the axis of the hollow arm tube of the operating arm segment III.

[0012] As a further technical solution, the two connecting rods of the operating arm segment II are connected to the parallel rotary joints on the operating arm segments I and III, forming a double rocker structure similar to a parallelogram. When the two connecting rods of the operating arm segment II rotate, the operating arm segment III always remains parallel to the operating arm segment I and moves in a plane perpendicular to the rotation axis of the connecting rods of the operating arm segment II.

[0013] As a further technical solution, the two connecting rods of the operating arm segment II are used to drive the operating arm segment II to rotate in the forward and reverse directions, respectively.

[0014] As a further technical solution, the plane containing the rotation axes of the two rotary joints on the operating arm III that are connected to the operating arm segment IV is perpendicular to the axis of the hollow arm tube of the operating arm segment III; the rotation axes of the two rotary joints on the operating arm segment III that are connected to the operating arm segment II are perpendicular to the rotation axes of the two rotary joints on the operating arm segment III that are connected to the operating arm segment IV.

[0015] As a further technical solution, the operating arm segment IV is composed of two connecting rods of equal length and parallel to each other; one end of the two connecting rods is respectively connected to two rotary joints of the operating arm segment III, and the other end is respectively connected to two rotary joints of the operating arm segment V.

[0016] As a further technical solution, the operating arm segment V is a hollow straight tube, one end of which is connected to the operating arm segment IV through two rotary joints with parallel rotation axes, and the other end is connected to the operating arm segment VI through a single rotary joint.

[0017] As a further technical solution, the distance between the rotation axes of the two rotary joints connected to the operating arm segment IV on the operating arm segment V is equal to the distance between the rotation axes of the two rotary joints connected to the operating arm segment IV on the operating arm segment III; the plane containing the rotation axes of the two rotary joints connected to the operating arm segment IV on the operating arm segment V is perpendicular to the axis of the hollow arm tube of the operating arm segment V.

[0018] As a further technical solution, the two connecting rods of the operating arm segment IV are connected to the parallel rotary joints on the operating arm segments III and V, forming a double rocker structure similar to a parallelogram. When the two connecting rods of the operating arm segment IV rotate, the operating arm segment V always remains parallel to the operating arm segment III and moves in a plane perpendicular to the rotation axis of the connecting rods of the operating arm segment IV.

[0019] As a further technical solution, the two connecting rods of the operating arm segment IV are used to drive the operating arm segment IV to rotate in the forward and reverse directions, respectively.

[0020] As a further technical solution, the plane containing the rotation axes of the two rotary joints on the operating arm segment V that are connected to the operating arm segment IV is perpendicular to the axis of the hollow arm tube of the operating arm segment V; the rotation axes of the two rotary joints on the operating arm segment V that are connected to the operating arm segment IV are perpendicular to the rotation axis of the single rotary joint on the operating arm segment V that is connected to the operating arm segment VI.

[0021] As a further technical solution, the operating arm segment VI is a hollow straight tube, one end of which is connected to the operating arm segment V through a single rotary joint, and the other end of which is connected to the operating arm segment VII through a single rotary joint; the axes of the rotary joints at both ends of the operating arm segment VI are perpendicular to each other with the axis of the hollow arm tube of the operating arm segment VI.

[0022] As a further technical solution, the operating arm segment VII is a hollow straight tube, one end of which is connected to the operating arm segment VI via a single rotary joint, and the other end of which is connected to the operating arm segment VIII via a single rotary joint; the axis of the rotary joint connecting the operating arm segment VII and the operating arm segment VIII is coaxial with the axis of the hollow arm tube of the operating arm segment VII, and perpendicular to the axis of the rotary joint connecting the operating arm segment VII and the operating arm segment VI.

[0023] As a further technical solution, the operating arm segment VIII is a hollow straight tube, one end of which is connected to the operating arm segment VII via a single rotary joint, and the other end is connected to the end surgical instrument via a single rotary joint; the axis of the rotary joint connecting the operating arm segment VIII and the end surgical instrument is perpendicular to the axis of the rotary joint connecting the operating arm segment VIII and the operating arm segment VII.

[0024] The beneficial effects of this invention are:

[0025] This invention proposes a joint-linked manipulator layout structure for a single-port minimally invasive surgical robot. Adjusting the rotation of manipulator segments VI, VII, and VIII enables attitude control of the end-effector. Furthermore, adjusting the movement of the connecting drive box along the external track, as well as the rotation of manipulator segments II and IV, allows for position control of the end-effector without affecting its attitude. Thus, "position-attitude separation" control of the end-effector is achieved. This invention provides a highly applicable and flexible manipulator layout structure for minimally invasive surgical robots, facilitating flexible control of the position and attitude of the end-effector and reducing control complexity. Attached Figure Description

[0026] The following accompanying drawings are provided to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, and to enhance further understanding of the present application. The illustrative examples and descriptions of the present application do not constitute a limitation of the present application.

[0027] Figure 1 This is a schematic diagram of the installation layout of the components of the present invention in a certain working state;

[0028] Figure 2 This is a schematic diagram of the joint linkage of the operating arm segment II described in this invention;

[0029] Figure 3 This is a schematic diagram of the joint linkage of the operating arm segment IV described in this invention;

[0030] Figure 4 This is an attempt to visualize the movement space of the operating arm segment V as described in this invention along its arm tube axis.

[0031] Figure 5 This is a schematic diagram of the invention in the shape of an "I";

[0032] Among them, 1. Connecting drive box, 2. Operating arm segment I, 3. Operating arm segment II, 3_1. Forward drive rod of operating arm segment II, 3_2. Reverse drive rod of operating arm segment II, 4. Operating arm segment III, 5. Operating arm segment IV, 5_1. Forward drive rod of operating arm segment IV, 5_2. Reverse drive rod of operating arm segment IV, 6. Operating arm segment V, 7. Operating arm segment VI, 8. Operating arm segment VII, 9. Operating arm segment VIII, 10. End surgical instrument. Detailed Implementation

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It should be noted that the drawings and descriptions are illustrative, and the terminology used is only for describing specific implementation methods and is not intended to limit the exemplary implementation methods according to this application.

[0034] For ease of description, the use of terms such as "up," "down," "left," "right," "front," "back," "positive," "negative," "clockwise," and "counterclockwise" in this invention only indicates that the direction or angle is consistent with the drawing itself and does not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] It should be noted that in actual use, the external track device connected to the drive box I1 can move along the track by belt drive, gear drive, ball screw drive, etc. The external track can be fixed by floor-mounted or hanging type depending on the working scenario. Here, only the drive box I1 and its subsequent structure will be described in detail.

[0036] This embodiment discloses a schematic diagram of the installation layout of a joint-linked manipulator for a minimally invasive surgical robot in a certain working state, as shown below. Figure 1 As shown, the operating arm includes a connecting drive box 1, operating arm segments I 2, II 3, III 4, IV 5, V 6, VI 7, VII 8, VIII 9, and a distal surgical instrument 10. Before operation, all operating arm segments are coaxial, the distal surgical instrument is closed, and the connecting drive box 1 slides along the external track, extending the entire operating arm into the body in an "I" shape. The steel cables driving the movement of each joint are connected to the drive motor inside the connecting drive box via the inner cavity of operating arm segment I.

[0037] Furthermore, the operating arm segment II3 is composed of two parallel connecting rods of equal length, namely a forward drive rod 3_1 and a reverse drive rod 3_2, as shown below. Figure 1 , Figure 2As shown, the forward drive rod 3_1 is connected to the operating arm segment I2 and the operating arm segment III4 via the first rotary joint and the fourth rotary joint, respectively. The forward drive rod 3_2 is connected to the operating arm segment I2 and the operating arm segment III4 via the second rotary joint and the third rotary joint, respectively. Through closed-loop wire transmission, the forward drive rod 3_1 is driven to rotate. The reverse drive rod 3_2 rotates parallel to the forward drive rod 3_1 and follows its rotation in the forward direction, driving the reverse drive rod 3_2 to rotate. The forward drive rod 3_1 rotates parallel to the reverse drive rod 3_2 and follows its rotation in the reverse direction, so that the operating arm segment III4 always remains parallel or coaxial with the operating arm segment I2, and translates without rotating within its own motion plane as the operating arm segment II3 rotates.

[0038] Furthermore, the operating arm segment III4 is a hollow straight tube, with one end connected to the operating arm segment II3 via the third and fourth rotary joints, and the other end connected to the operating arm segment IV5 via the fifth and sixth rotary joints. The rotation axes of the fifth and sixth rotary joints are parallel to each other and perpendicular to the rotation axes of the third and fourth rotary joints. The rotation axes of the first, second, third, and fourth rotary joints are parallel to each other, and the projection points of the four rotation axes on their common perpendicular plane are connected in sequence. The opposite sides of the quadrilateral formed are parallel and equal (i.e., a "parallelogram" or "rectangle"). That is, the first and second rotary joints form linkage joints with the fourth and third rotary joints respectively, so that during the movement of the operating arm segment II, the operating arm segment III and the operating arm segment I are always kept in a parallel (or coaxial) state.

[0039] Furthermore, the operating arm segment IV5 is composed of two parallel connecting rods of equal length, namely a forward drive rod 5_1 and a reverse drive rod 5_2, as shown below. Figure 3 As shown, the forward drive rod 5_1 is connected to the operating arm segment III4 and operating arm segment V6 via the fifth and eighth rotary joints, respectively. The forward drive rod 5_2 is connected to the operating arm segment III4 and operating arm segment V6 via the sixth and seventh rotary joints, respectively. Through closed-loop wire transmission, the forward drive rod 5_1 is driven to rotate. The reverse drive rod 5_2 rotates parallel to the forward drive rod 5_1 and follows its rotation in the forward direction, driving the reverse drive rod 5_2 to rotate. The forward drive rod 5_1 rotates parallel to the reverse drive rod 5_2 and follows its rotation in the reverse direction, so that the operating arm segment V6 always remains parallel or coaxial with the operating arm segment III4, and translates without rotating within its own motion plane as the operating arm segment IV5 rotates.

[0040] The rotation axes of the fifth, sixth, seventh, and eighth rotary joints mentioned above are parallel to each other. The projection points of the four rotation axes on their common vertical plane are connected in sequence, and the opposite sides of the quadrilateral formed are parallel and equal (i.e., "parallelogram" or "rectangle"). That is, the fifth and sixth rotary joints form linkage joints with the eighth and seventh rotary joints respectively, so that during the movement of the operating arm segment IV, the operating arm segment III and the operating arm segment V are always kept in a parallel (or coaxial) state.

[0041] Furthermore, one end of the operating arm segment V6 is connected to the reverse drive rod 5_2 and the forward drive rod 5_1 via the seventh and eighth rotary joints, respectively, and the other end is connected to the operating arm segment VI7 via the ninth rotary joint. The rotation axis of the ninth rotary joint is perpendicular to the rotation axes of the seventh and eighth rotary joints and intersects perpendicularly with the axis of the operating arm segment V6.

[0042] Furthermore, the operating arm segment VI7 is a hollow straight tube, with one end connected to the operating arm segment V6 via a ninth rotary joint, and the other end connected to the operating arm segment VII8 via a tenth rotary joint. The rotation axis of the tenth rotary joint is perpendicular to the rotation axis of the ninth rotary joint and intersects perpendicularly with the axis of the operating arm segment VI7. The operating arm segment VI7 can rotate forward and backward around the ninth rotary joint.

[0043] Furthermore, one end of the operating arm segment VII8 is connected to the operating arm segment VI7 via a tenth rotary joint, and the other end is connected to the operating arm segment VIII9 via an eleventh rotary joint. The rotation axis of the eleventh rotary joint is perpendicular to the rotation axis of the tenth rotary joint and coaxial with the axis of the operating arm segment VII8. The operating arm segment VII8 can rotate forward and in reverse around the tenth rotary joint.

[0044] Furthermore, one end of the operating arm segment VIII 9 is connected to the operating arm segment VII 8 via the eleventh rotary joint, and the other end is connected to the end surgical instrument 10 via the twelfth rotary joint. The rotation axis of the twelfth rotary joint is perpendicular to the axis intersecting the operating arm segment VIII 9.

[0045] Furthermore, the distal surgical instrument 10 consists of two parts and can rotate around the rotation axis of the twelfth rotary joint to realize the opening and closing of the instrument. Further, through inverse kinematics analysis, the target angles corresponding to the ninth, tenth, and eleventh rotary joints when the distal surgical instrument 10 reaches the target posture can be calculated first; further, the target angles corresponding to the first (or second), fifth (or sixth), and sixth rotary joints when the distal surgical instrument 10 reaches the target posture, and the displacement of the connecting drive box 1 on the external track can be calculated.

[0046] Furthermore, the motor inside the connecting drive box 1 drives each joint to move to the target angle, driving the connecting drive box 1 to move along the external track to the target position, so that the end surgical instrument reaches the ideal target position and posture.

[0047] The above examples are merely typical embodiments of the present invention, used to help explain the technical features and beneficial effects of the present invention, and are not intended to limit the present invention.

[0048] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A jointed manipulator for a single-port minimally invasive surgical robot, characterized in that, It includes a connection drive box, operating arm segment I, operating arm segment II, operating arm segment III, operating arm segment IV, operating arm segment V, operating arm segment VI, operating arm segment VII, operating arm segment VIII and end surgical instruments connected in sequence; The connecting drive box is mounted on an external support rail and can slide linearly along the external support rail; The operating arm segment I is a hollow straight tube, fixedly connected to the drive box. Operating arm segment II consists of two parallel connecting rods of equal length. Each connecting rod's ends are connected to operating arm segment I and operating arm segment III via their respective rotary joints, with the rotary joint axes of the two connecting rods being parallel. Operating arm segment III is a hollow straight tube, connecting operating arm segment II and operating arm segment IV via rotary joints at both ends. Operating arm segment IV consists of two parallel connecting rods of equal length. Each connecting rod's ends are connected to operating arm segment III and operating arm segment V via their respective rotary joints, with the rotary joint axes of the two connecting rods being parallel. The rotary joint axes of the connecting rods on operating arm segment II are parallel to those on the operating arm segment II. The rotational joint axes of the upper connecting rod IV are perpendicular to each other; the operating arm segment V is a hollow straight tube, which connects the operating arm segments IV and VI through the rotational joints at both ends of the operating arm segment V, and the rotational joint axes at both ends are perpendicular to each other; the operating arm segment VI is a hollow straight tube, which connects the operating arm segments V and VII through the rotational joints at both ends of the operating arm segment VI, and the rotational joint axes at both ends are perpendicular to each other; the operating arm segment VII is a hollow straight tube, which connects the operating arm segments VI and VIII through the rotational joints at both ends of the operating arm segment VII, and the rotational joint axis connecting the operating arm segment VIII is along the axis of the hollow straight tube; the operating arm segment VIII is a hollow straight tube, which connects the operating arm segment VII and the distal surgical instrument through the rotational joints at both ends of the operating arm segment VIII.

2. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The entire manipulator is connected to the external support rail via the aforementioned connecting drive box. The extension and retraction of the entire manipulator is achieved by the sliding of the connecting drive box along the rail.

3. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, One end of the operating arm segment I is fixedly connected to the connecting drive box, and the other end is connected to the operating arm segment II through two rotating joints with parallel rotating axes; the plane containing the rotating axes of the two rotating joints is perpendicular to the axis of the hollow arm tube of the operating arm segment I.

4. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The operating arm segment III is connected to the operating arm segment II at one end via two rotary joints with parallel rotation axes, and to the operating arm segment IV at the other end via two rotary joints with parallel rotation axes.

5. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 4, characterized in that, The distance between the rotation axes of the two rotary joints connected to the operating arm segment II on the operating arm segment III is the first distance, and the distance between the rotation axes of the two rotary joints connected to the operating arm segment II on the operating arm segment I is the second distance. The first distance and the second distance are equal. The plane containing the rotation axes of the two rotary joints connected to the operating arm segment II on the operating arm segment III is perpendicular to the axis of the hollow arm tube of the operating arm segment III.

6. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The two connecting rods of the operating arm segment II are connected to the parallel rotary joints on the operating arm segments I and III, forming a parallelogram-shaped double rocker structure. When the two connecting rods of the operating arm segment II rotate, the operating arm segment III always remains parallel to the operating arm segment I and moves in a plane perpendicular to the rotation axis of the connecting rods of the operating arm segment II.

7. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The two connecting rods of the operating arm segment II are used to drive the operating arm segment II to rotate in the forward and reverse directions, respectively; the two connecting rods of the operating arm segment IV are used to drive the operating arm segment IV to rotate in the forward and reverse directions, respectively.

8. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The plane containing the rotation axes of the two rotary joints on the operating arm segment III that connect to the operating arm segment IV is perpendicular to the axis of the hollow arm tube of the operating arm segment III; the rotation axes of the two rotary joints on the operating arm segment III that connect to the operating arm segment II are perpendicular to the rotation axes of the two rotary joints on the operating arm segment III that connect to the operating arm segment IV.

9. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The distance between the rotation axes of the two rotary joints connected to the operating arm segment IV on the operating arm segment V is the first distance, and the distance between the rotation axes of the two rotary joints connected to the operating arm segment IV on the operating arm segment III is the second distance. The first distance and the second distance are equal. The plane containing the rotation axes of the two rotary joints connected to the operating arm segment IV on the operating arm segment V is perpendicular to the axis of the hollow arm tube of the operating arm segment V.

10. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The two connecting rods of the operating arm segment IV are connected to the parallel rotary joints on the operating arm segments III and V, forming a parallelogram-shaped double rocker structure. When the two connecting rods of the operating arm segment IV rotate, the operating arm segment V always remains parallel to the operating arm segment III and moves in a plane perpendicular to the rotation axis of the connecting rods of the operating arm segment IV.

11. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The plane containing the rotation axes of the two rotary joints on the operating arm segment V that are connected to the operating arm segment IV is perpendicular to the axis of the hollow arm tube of the operating arm segment V; the rotation axes of the two rotary joints on the operating arm segment V that are connected to the operating arm segment IV are perpendicular to the rotation axis of the single rotary joint on the operating arm segment V that is connected to the operating arm segment VI.

12. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The aforementioned operating arm segment VI is a hollow straight tube, with one end connected to the operating arm segment V via a single rotary joint, and the other end connected to the operating arm segment VII via a single rotary joint.

13. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The axis of the rotary joint connecting the operating arm segment VII and the operating arm segment VIII is coaxial with the axis of the hollow arm tube of the operating arm segment VII and perpendicular to the axis of the rotary joint connecting the operating arm segment VII and the operating arm segment VI.

14. The articulated manipulator arm for a single-port minimally invasive surgical robot as described in claim 1, characterized in that, The axis of the rotational joint connecting the operating arm segment VIII to the distal surgical instrument is perpendicular to the axis of the rotational joint connecting the operating arm segment VIII to the operating arm segment VII. The axes of the rotary joints at both ends of the operating arm segment VI are perpendicular to each other.

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