A minimally invasive surgical robotic master with a multi-stage reduction wire drive system

Abstract

The application discloses a minimally invasive surgical robot master manipulator with a multi-stage speed reduction wire transmission system, and relates to the technical field of medical robots.The master manipulator driving motor and the multi-stage speed reduction wire transmission system are reasonably arranged, and a pre-tightening method is combined, so that the multi-stage speed reduction wire transmission system of the master manipulator is effectively pre-tightened, and the multi-stage speed reduction wire transmission system has the advantages of stable transmission, low friction, easy installation, flexible wire movement, high transmission efficiency, no backlash, good reverse driving capacity, easy maintenance, long service life and the like under the premise of meeting the requirements of compact structure, small mass, pose decoupling and low processing cost.In addition, the control system of the application reads the relationship between the torque of the multi-stage speed reduction wire transmission system driving motor and the encoder count by setting a reasonable threshold, and monitors whether a relaxation failure occurs in the transmission system in real time.

Description

Technical Field

[0001] This invention relates to the field of medical robot technology, and in particular to a master operator of a minimally invasive surgical robot with a multi-stage reduction wire transmission system. Background Technology

[0002] Robot-assisted minimally invasive surgery has become a practical solution for surgical procedures. This surgical method offers advantages such as precise positioning, hand-eye coordination, flexible operation, fewer surgical complications, shorter patient recovery time, and smaller scars. It is widely used in general surgery and various other procedures, such as tumor resection and cosmetic surgery.

[0003] Robot-assisted minimally invasive surgery refers to a master-slave surgical method. During the operation, the master arm is the main carrier of human-computer interaction. Its main function is to map the surgeon's operation instructions to the slave robotic arm according to a certain ratio, and further control the surgical instruments to perform various complex surgeries through small incisions inside the patient's body.

[0004] To enhance the surgeon's sense of presence during surgery, the master operator typically features force feedback. Most current minimally invasive surgical robots use wire drive for their master operators. However, wire drive systems also have significant drawbacks. The inherent flexibility of the drive wire affects the rigidity of the transmission system, and different pretensioning methods can produce different effects. In a wire drive system with inadequate pretensioning, when the drive motor rotates in the reverse direction, the slack in the transmission system causes the drive motor to suddenly accelerate, leading to rapid stretching of the drive wire and severely impacting the stability and safety of the master operator's operation. A wire drive system with a proper pretensioning method offers advantages such as compact structure, smooth transmission, low friction, low inertia, easy installation, flexible wire feeding, high transmission efficiency, low manufacturing cost, and zero backlash.

[0005] Furthermore, if the operator of the minimally invasive surgical robot cannot detect and monitor the loosening faults in its transmission system in a timely manner before or during the operation, it will greatly affect the accuracy of the surgery.

[0006] A search of existing wire drive system technologies reveals Chinese patent number CN114934987A, which discloses a wire drive system suitable for minimally invasive surgical robot-assisted surgery and a pre-tensioning method for the wire drive system. This method achieves pre-tensioning of the transmission wire system through a rotating shaft unit, multiple pre-tensioning units, and multiple sets of transmission units, and provides real-time feedback of tension to the operator via a pre-tensioning fixture. Single-point pre-tensioning can only achieve local pre-tensioning within a short distance between the tangents of adjacent rotating shaft units. Due to the winch effect, the transmission wire needs to be wound two to three more times on the outer surface of the wire wheel than within the normal operating range. However, pre-tensioning is a highly iterative process, and the pre-tensioning force from single-point local pre-tensioning cannot be transmitted to the remaining part of the wire drive system in a timely manner. This pre-tensioning method may suffer from insufficient pre-tensioning, further affecting the transmission efficiency of the wire drive system.

[0007] The wire drive system exhibits a nonlinear winch effect, as shown in the following model:

[0008] T H =T L ×e μβ

[0009] Where T H T L Let μ and β represent the preload at both ends of the drive wire, μ represent the friction between the drive wire and the lead wheel, and β represent the number of turns of the drive wire wound on the outer surface of the lead wheel. Therefore, the number of turns wound on the outer surface of the lead wheel is the main factor affecting the preload at both ends of the drive wire. Typically, winding the drive wire two to three more turns on the outer surface of the lead wheel than within the normal operating range can significantly reduce the adverse effects of the nonlinear winch effect. Summary of the Invention

[0010] This invention provides a master hand for a minimally invasive surgical robot with a multi-stage reduction wire drive system, in order to solve the problem that existing wire drive systems applied to master hands may have insufficient pretension or slack failures that affect their operational stability and safety.

[0011] To achieve the above objectives, the present invention provides the following solution:

[0012] This invention provides a master hand for a minimally invasive surgical robot with a multi-stage reduction wire drive system, including an arm mechanism, a wrist mechanism, and a clamping mechanism; the arm mechanism drives the wrist mechanism, the wrist mechanism drives the clamping mechanism, and the clamping mechanism outputs the operator's clamping action;

[0013] The arm mechanism includes a motor frame, a first drive module, a second drive module, and a third drive module;

[0014] The wrist mechanism includes a fourth drive module, a fifth drive module, a sixth drive module, and a seventh drive module;

[0015] The clamping mechanism includes an eighth drive module;

[0016] The first drive module, the second drive module, the third drive module, and the fourth drive module are all mounted on the motor frame;

[0017] The first drive module is used to drive the motor frame to rotate;

[0018] The second drive module is provided with a large arm, and the third drive module is provided with a small arm. One end of the large arm is connected to one end of the small arm, and the other end of the small arm is provided with a first L-shaped connecting rod, a second L-shaped connecting rod and a third L-shaped connecting rod in sequence.

[0019] The second drive module is used to drive the upper arm to rotate, and the third drive module is used to drive the lower arm to rotate.

[0020] The fourth drive module is used to drive the first L-shaped connecting rod to rotate;

[0021] The fifth drive module is used to drive the second L-shaped connecting rod to rotate;

[0022] The sixth drive module is connected to one end of the third L-shaped connecting rod, and the sixth drive module is used to drive the third L-shaped connecting rod to rotate;

[0023] The seventh drive module is used to drive the eighth drive module to rotate.

[0024] Optionally, the first drive module includes a base, a first drive motor, a first motor fixing component, a first motor primary input screw wheel, a first motor primary first output screw wheel, a first motor primary second output screw wheel, a first motor secondary second input screw wheel, a first motor secondary first input screw wheel, a first motor secondary second output screw wheel, a shaft, a first motor screw wheel sleeve, a first motor output shaft, a first motor fixing element, a first motor locking element, a first deep groove ball bearing, and a first absolute encoder;

[0025] A through hole is provided in the middle of the base, and the first motor secondary output screw is coaxially arranged with the through hole. The first motor secondary output screw is connected to the motor frame through the shaft. A first U-shaped groove and a second U-shaped groove are provided on the outer side wall of the first motor secondary output screw.

[0026] The first drive motor is mounted on the base away from the motor frame via the first motor fixing member, and a first deep groove ball bearing is provided between the first motor output shaft and the first motor fixing member; the first motor primary input lead wheel is provided on the first motor output shaft;

[0027] The first motor secondary second input screw wheel and the first motor secondary first input screw wheel are disposed between the first drive motor and the first motor secondary output screw wheel;

[0028] The first output lead wheel of the first stage motor is coaxially and fixedly connected to the first input lead wheel of the second stage motor.

[0029] The first-stage second output lead wheel of the first motor is coaxially and fixedly connected to the second-stage second input lead wheel of the first motor.

[0030] The first motor primary input lead wheel and the first motor primary output lead wheel are connected by the first motor primary transmission lead.

[0031] The first-stage input lead wheel of the first motor and the first-stage second output lead wheel of the first motor are connected by the first-stage second transmission wire of the first motor.

[0032] The first input lead wheel of the second stage of the first motor and the first U-shaped groove are connected by the first transmission lead of the second stage of the first motor.

[0033] The first motor secondary second input lead wheel and the second U-shaped groove are connected by the first motor secondary second transmission lead.

[0034] The diameters of the first output screw wheel and the second output screw wheel of the first motor stage are equal, the diameters of the first input screw wheel and the second input screw wheel of the first motor stage are equal, and the diameter of the first input screw wheel of the first motor stage is smaller than the diameters of the first output screw wheel and the second output screw wheel of the first motor stage, and the diameters of the first input screw wheel and the second input screw wheel of the first motor stage are smaller than the diameter of the output screw wheel of the first motor stage.

[0035] The first absolute encoder is disposed at one end of the first drive motor and is used to detect the angle information of the rotation of the motor frame;

[0036] The first motor output shaft has a first motor lead wheel sleeve at its end via a first motor fixing element, and a first motor locking element is provided between the first motor lead wheel sleeve and the first motor output shaft.

[0037] Optionally, the second drive module includes the boom, the second drive motor, the second motor fixing component, the first output wheel of the second motor stage, the second input wheel of the second motor stage, the first input wheel of the second motor stage, the second output wheel of the second motor stage, the first transmission wire of the second motor stage, the second transmission wire of the second motor stage, the first transmission wire of the second motor stage, the second transmission wire of the second motor stage, the second transmission wire of the second motor stage, the wheel sleeve of the second motor stage, the first input wheel of the second motor stage, the second output wheel of the second motor stage, the output shaft of the second motor, the fixing element of the second motor, the locking element of the second motor, the second deep groove ball bearing, and the second absolute encoder;

[0038] The second drive motor is mounted on the inner wall of one side of the motor frame via the second motor fixing component;

[0039] A second deep groove ball bearing is provided between the output shaft of the second motor and the fixing component of the second motor; a first-stage input screw of the second motor is provided on the output shaft of the second motor, and the first-stage input screw of the second motor is located on one side of the outer wall of the motor frame;

[0040] The second motor secondary second input screw wheel and the second motor secondary first input screw wheel are provided on one inner wall of the motor frame below the second motor fixing component;

[0041] The second output wheel of the second motor is fixedly connected to the second input wheel of the second motor on one side outer wall of the motor frame.

[0042] The first output wheel of the second motor is fixedly connected to the first input wheel of the second motor on one side outer wall of the motor frame.

[0043] The second motor secondary output wheel is provided on one inner wall of the motor frame, below the second input wheel of the second motor secondary stage and the first input wheel of the second motor secondary stage;

[0044] The second motor's secondary output lead wheel is connected to the other end of the boom;

[0045] The first-stage input lead wheel of the second motor and the second-stage output lead wheel of the second motor are connected by the second-stage transmission lead of the second motor.

[0046] The first-stage input lead wheel of the second motor and the first-stage output lead wheel of the second motor are connected by the first-stage transmission lead of the second motor.

[0047] The second motor secondary first input lead wheel and the second motor secondary output lead wheel are connected by the second motor secondary first transmission lead.

[0048] The second input lead wheel of the second motor and the second output lead wheel of the second motor are connected by the second transmission lead of the second motor.

[0049] The diameters of the first output screw wheel and the second output screw wheel of the first stage of the second motor are equal, the diameters of the first input screw wheel and the second input screw wheel of the second stage of the second motor are equal, and the diameter of the input screw wheel of the first stage of the second motor is smaller than the diameters of the first output screw wheel and the second output screw wheel of the first stage of the second motor, and the diameters of the first input screw wheel and the second input screw wheel of the second stage of the second motor are smaller than the diameter of the output screw wheel of the second stage of the second motor.

[0050] The second absolute encoder is located at one end of the second drive motor and is used to detect the angle information of the boom rotation.

[0051] The end of the output shaft of the second motor is provided with a second motor lead wheel sleeve through the second motor fixing element, and a second motor locking element is provided between the second motor lead wheel sleeve and the output shaft of the second motor.

[0052] Optionally, the third drive module includes the forearm, the third drive motor, the third motor fixing component, the second input lead wheel of the second stage of the third motor, the first transmission lead of the first stage of the third motor, the second transmission lead of the first stage of the third motor, the first transmission lead of the second stage of the third motor, the second transmission lead of the second stage of the third motor, the first input lead wheel of the second stage of the third motor, the first output lead wheel of the first stage of the third motor, the second output lead wheel of the second stage of the third motor, the turntable, the auxiliary connecting rod, the first input lead wheel of the third motor, the second output lead wheel of the first stage of the third motor, the lead wheel sleeve of the third motor, the output shaft of the third motor, the fixing element of the third motor, the locking element of the third motor, the third deep groove ball bearing, and the third absolute encoder;

[0053] The third drive motor is mounted on the inner wall of the motor frame on the other side via the third motor fixing component;

[0054] A third deep groove ball bearing is provided between the output shaft of the third motor and the fixing component of the third motor; the first-stage input screw of the third motor is provided on the output shaft of the third motor, and the first-stage input screw of the third motor is located on one side of the outer wall of the motor frame;

[0055] The second input screw wheel of the second stage of the third motor and the first input screw wheel of the second stage of the third motor are provided on one inner wall of the motor frame below the fixing component of the third motor;

[0056] The third motor's first-stage second output wheel is fixedly connected to the second input wheel of the second stage of the third motor on one side of the outer wall of the motor frame.

[0057] The first output wheel of the third motor is fixedly connected to the first input wheel of the second stage of the third motor on one side outer wall of the motor frame.

[0058] The third motor secondary output wheel is provided on one inner wall of the motor frame, below the second input wheel of the third motor secondary stage and the first input wheel of the third motor secondary stage;

[0059] The third motor's secondary output lead wheel has a turntable with a cam at one end away from the motor frame. The cam portion of the turntable is connected to one end of an auxiliary connecting rod, and the other end of the auxiliary connecting rod is connected to the forearm.

[0060] The first-stage input lead wheel of the third motor and the second-stage output lead wheel of the third motor are connected by the second transmission lead of the third motor.

[0061] The first-stage input lead wheel of the third motor and the first-stage output lead wheel of the third motor are connected by the first-stage transmission wire of the third motor.

[0062] The third motor's second-stage first input lead wheel and the third motor's second-stage output lead wheel are connected by the third motor's second-stage first transmission lead.

[0063] The second input lead wheel of the second stage of the third motor and the second output lead wheel of the second stage of the third motor are connected by the second transmission lead of the second stage of the third motor.

[0064] The diameters of the first output lead wheel and the second output lead wheel of the first stage of the third motor are equal, the diameters of the first input lead wheel and the second input lead wheel of the second stage of the third motor are equal, and the diameter of the first input lead wheel of the first stage of the third motor is smaller than the diameters of the first output lead wheel and the second output lead wheel of the first stage of the third motor, and the diameters of the first input lead wheel and the second input lead wheel of the second stage of the third motor are smaller than the diameter of the second output lead wheel of the third motor.

[0065] The third absolute encoder is located at one end of the third drive motor and is used to detect the angle information of the forearm rotation.

[0066] The end of the output shaft of the third motor is provided with the lead wheel sleeve of the third motor through the fixing element of the third motor, and the locking element of the third motor is provided between the lead wheel sleeve of the third motor and the output shaft of the third motor.

[0067] Optionally, the fourth drive module includes a fourth drive motor, a first L-shaped connecting rod, a first-stage input lead wheel of the fourth motor, a first preload element, a second preload element, a third preload element, a fourth preload element, a first-stage output lead wheel of the fourth motor, a second-stage first input lead wheel of the fourth motor, a second-stage second input lead wheel of the fourth motor, a pulley assembly, a first-stage first transmission lead wheel of the fourth motor, a first-stage second transmission lead wheel of the fourth motor, a second-stage first transmission lead wheel of the fourth motor, a second-stage second transmission lead wheel of the fourth motor, a second-stage first output lead wheel of the fourth motor, a second-stage second output lead wheel of the fourth motor, a fourth motor fixing component, a fourth deep groove ball bearing, and a fourth absolute encoder;

[0068] The fourth drive motor is mounted in the second motor secondary output wheel of the second drive module through the fourth motor fixing component, and the fourth motor fixing component is coaxially and fixedly connected to the second motor secondary output wheel;

[0069] The first-stage input screw wheel of the fourth motor and the output shaft of the fourth motor are integrated into one piece. A fourth deep groove ball bearing is provided between the first-stage input screw wheel of the fourth motor and the fourth motor fixing part, and the first-stage input screw wheel of the fourth motor is located at one end inside the arm.

[0070] The first-stage output lead wheel of the fourth motor is located at the other end inside the boom, and the first input lead wheel of the second stage of the fourth motor and the second input lead wheel of the second stage of the fourth motor are both coaxially connected to the first-stage output lead wheel of the fourth motor.

[0071] The input lead wheel of the fourth motor and the output lead wheel of the fourth motor are connected by the first transmission wire of the fourth motor and the second transmission wire of the fourth motor. The first transmission wire of the fourth motor is provided with the first pre-tightening element and the second pre-tightening element in the middle, and the first pre-tightening element and the second pre-tightening element are connected by threads.

[0072] The first input lead wheel of the second stage of the fourth motor and the first output lead wheel of the second stage of the fourth motor are connected by the first transmission wire of the second stage of the fourth motor. The third pre-tightening element and the fourth pre-tightening element are provided in the middle of the first transmission wire of the second stage of the fourth motor. The third pre-tightening element and the fourth pre-tightening element are connected by threads.

[0073] The second input lead wheel of the second stage of the fourth motor and the second output lead wheel of the second stage of the fourth motor are connected by the second transmission wire of the second stage of the fourth motor, and the pulley assembly is provided in the middle of the second transmission wire of the second stage of the fourth motor.

[0074] The first output lead wheel of the second stage of the fourth motor is connected to one end of the first L-shaped connecting rod;

[0075] The fourth absolute encoder is located at one end of the fourth drive motor and is used to detect the rotation angle information of the first L-shaped connecting rod.

[0076] Optionally, the fifth drive module includes the second L-shaped connecting rod, the fifth drive motor, the fifth motor bevel gear assembly, the fifth motor locking element, and the fifth absolute encoder;

[0077] The fifth drive motor is located at the other end of the first L-shaped connecting rod;

[0078] The fifth motor bevel gear assembly is mounted on the output shaft of the fifth drive motor via the fifth motor locking element. The fifth motor bevel gear assembly includes a fifth motor first bevel gear and a fifth motor second bevel gear. The fifth motor second bevel gear is disposed on the output shaft of the fifth drive motor. The fifth motor second bevel gear meshes with the fifth motor first bevel gear, and one end of the central shaft of the fifth motor first bevel gear is connected to one end of the second L-shaped connecting rod.

[0079] The fifth absolute encoder is located at one end of the fifth drive motor and is used to detect the rotation angle information of the second L-shaped connecting rod.

[0080] Optionally, the sixth drive module includes the third L-shaped connecting rod, the sixth drive motor, the sixth absolute encoder, the sixth motor bevel gear assembly, and the sixth motor locking element;

[0081] The sixth drive motor is located at the other end of the second L-shaped connecting rod;

[0082] The sixth motor bevel gear assembly is mounted on the output shaft of the sixth drive motor via the sixth motor locking element. The sixth motor bevel gear assembly includes a sixth motor first bevel gear and a sixth motor second bevel gear. The sixth motor first bevel gear is disposed on the output shaft of the sixth drive motor. The sixth motor second bevel gear meshes with the sixth motor first bevel gear, and one end of the central shaft of the sixth motor second bevel gear is connected to one end of the third L-shaped connecting rod.

[0083] The sixth absolute encoder is located at one end of the sixth drive motor and is used to detect the rotation angle information of the third L-shaped connecting rod.

[0084] Optionally, the seventh drive module includes a seventh drive motor, a seventh absolute encoder, a seventh motor locking element, a seventh motor bevel gear assembly, and a clamping base;

[0085] The seventh motor is located at the other end of the third L-shaped connecting rod;

[0086] The seventh motor bevel gear assembly is mounted on the output shaft of the seventh drive motor via the seventh motor locking element. The seventh motor bevel gear assembly includes a seventh motor first bevel gear and a seventh motor second bevel gear. The seventh motor first bevel gear is disposed on the output shaft of the seventh drive motor. The seventh motor second bevel gear meshes with the seventh motor first bevel gear, and one end of the central shaft of the seventh motor second bevel gear is connected to one end of the clamping base.

[0087] The seventh absolute encoder is disposed at one end of the seventh drive motor and is used to detect the angle information of the rotation of the clamping base.

[0088] The eighth drive module is connected to the clamping base.

[0089] Optionally, the eighth drive module includes a first finger support, a second finger support, a first guide link, a second guide link, a linear potentiometer, a first sliding link, and a second sliding link;

[0090] One end of both the first finger support and the second finger support is rotatably connected to the clamping base in the seventh drive module;

[0091] The first sliding link is fixedly connected to the second sliding link and slidably guided to the clamping base; one end of the first guide link is rotatably connected to one end of the first sliding link, and one end of the second guide link is rotatably connected to one end of the second sliding link.

[0092] The middle part of the first finger support is connected to the other end of the first guide rod;

[0093] The middle part of the second finger support is connected to the other end of the second guide rod;

[0094] The linear potentiometer is provided on the inner wall of the clamping base in the seventh drive module. The linear potentiometer is used to detect the displacement information of the first sliding link and the second sliding link.

[0095] Optionally, the clamping base in the seventh drive module is connected to one end of the central shaft of the second bevel gear of the seventh motor in the seventh drive module by a fastening screw.

[0096] The present invention achieves the following technical effects compared to the prior art:

[0097] 1. The structure of the present invention features a reasonable layout of the main operator's drive motor and the wire transmission system. The wire transmission system of the main operator has the advantages of smooth transmission, low friction, easy installation, flexible wire feeding, high transmission efficiency, no backlash, good reverse drive capability, easy maintenance, and long service life. The main operator has a compact structure, small weight, decoupled position and posture, and low processing cost.

[0098] 2. In the wire drive system of the present invention, the outer surface of the smaller diameter wire wheel is designed with a wire feeding spiral groove, while the outer surface of the larger diameter wire wheel is as smooth as possible. This design can improve the ability of the drive wire to horizontally cross the tangent and improve the effectiveness of the preload method of the wire drive system. Because the smaller diameter wire wheel drives the larger diameter wire wheel to rotate, the drive wire will deform on the outer surface of the smaller diameter wire wheel, and the drive wire cannot horizontally cross the tangent direction to wind around the outer surface of the larger diameter wire wheel. The existence of the winch effect will lead to poor preload effect of the wire drive system.

[0099] 3. The wire drive system of the present invention achieves the effect of overall pre-tightening by repeatedly pre-tightening local positions at preset locations, thereby further improving the overall pre-tightening performance of the wire drive system.

[0100] 4. Each drive module of the main operator in this invention has an absolute encoder, which can detect the angle of rotation of each joint around its corresponding axis. Furthermore, it can be used to calibrate the relationship between the torque of the drive motor of the wire drive system and the encoder count. By setting a reasonable threshold in the control system, the relationship between the torque of the drive motor of the wire drive system and the encoder count is fed back to the control system in real time. This allows the control system to monitor the transmission system for slack faults in real time, greatly improving the operational safety of the main operator. Attached Figure Description

[0101] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0102] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0103] Figure 2-1 This is a schematic diagram of the first drive module and its second-stage reduction wire transmission system of the present invention.

[0104] Figure 2-2 The image shows a right view of the first drive module and its secondary reduction wire transmission system of the present invention.

[0105] Figure 2-3This is a top view of the first drive module and its secondary reduction wire transmission system of the present invention.

[0106] Figure 2-4 This is a schematic diagram showing the installation position of the first drive motor in the structure of the present invention.

[0107] Figure 3-1 This is a schematic diagram of the second drive module and its two-stage reduction wire transmission system of the present invention.

[0108] Figure 3-2 This is a front view of the second drive module and its two-stage reduction wire transmission system of the present invention.

[0109] Figure 3-3 The image shows the right view of the second drive module and its two-stage reduction wire transmission system of the present invention.

[0110] Figure 3-4 This is a schematic diagram showing the installation position of the second drive motor in the structure of the present invention.

[0111] Figure 4-1 This is a schematic diagram of the third drive module and its two-stage reduction wire transmission system of the present invention.

[0112] Figure 4-2 This is a front view of the third drive module and its two-stage reduction wire transmission system of the present invention.

[0113] Figure 4-3 The left view shows the third drive module and its two-stage reduction wire transmission system of the present invention.

[0114] Figure 4-4 This is a schematic diagram showing the installation position of the third drive motor in the structure of this invention.

[0115] Figure 5-1 This is a schematic diagram of the fourth drive module and its two-stage reduction wire transmission system of the present invention.

[0116] Figure 5-2 This is a schematic diagram showing the installation position of the fourth drive motor in the structure of the present invention.

[0117] Figure 6 This is a schematic diagram of the fifth and sixth driving modules of the present invention.

[0118] Figure 7 This is a schematic diagram of the seventh driving module of the present invention.

[0119] Figure 8-1 This is a schematic diagram of the eighth driving module of the present invention.

[0120] Figure 8-2 This is a schematic diagram of the installation of the eighth driving module of the present invention.

[0121] Explanation of reference numerals in the attached drawings: 1-1, base; 1-2, motor frame; 1-3, upper arm; 1-4, lower arm; 1-5, first L-shaped connecting rod; 1-6, second L-shaped connecting rod; 1-7, third L-shaped connecting rod;

[0122] M1, First drive motor; M2, Second drive motor; M3, Third drive motor; M4, Fourth drive motor; M5, Fifth drive motor; M6, Sixth drive motor; M7, Seventh drive joint;

[0123] J1, First Rotational Joint; J2, Second Rotational Joint; J3, Third Rotational Joint; J4, Fourth Rotational Joint; J5, Fifth Rotational Joint; J6, Sixth Rotational Joint; J7, Seventh Rotational Joint;

[0124] 2-1. First motor fixing component; 2-2. First motor primary input screw wheel; 2-3. First motor primary output screw wheel; 2-4. First motor primary second output screw wheel; 2-5. First motor secondary second input screw wheel; 2-6. First motor secondary first input screw wheel; 2-7. First motor secondary output screw wheel; 2-8-1. First U-groove; 2-8-2. Second U-groove; 2-9. Shaft; 2-10-1. First motor primary first transmission screw; 2-10-2. First motor primary second transmission screw; 2-10-3. First motor secondary first transmission screw; 2-10-4. First motor secondary second transmission screw; 2-11. First motor screw wheel sleeve; 2-12. First motor output shaft; 2-13. First motor fixing element; 2-14. First motor locking element; 2-15. First deep groove ball bearing; 2-16. First absolute encoder;

[0125] 3-1. Second motor fixing component; 3-2. First output lead wheel of the first stage of the second motor; 3-3. Second input lead wheel of the second stage of the second motor; 3-4. First input lead wheel of the second stage of the second motor; 3-5. Second output lead wheel of the second stage of the second motor; 3-6-1. First transmission lead of the first stage of the second motor; 3-6-2. Second transmission lead of the first stage of the second motor; 3-6-3. First transmission lead of the second stage of the second motor; 3-6-4. Second transmission lead of the second stage of the second motor; 3-7. Lead wheel sleeve of the second motor; 3-8. Input lead wheel of the first stage of the second motor; 3-9. Second output lead wheel of the first stage of the second motor; 3-10. Output shaft of the second motor; 3-11. Second motor fixing element; 3-12. Second motor locking element; 3-13. Second deep groove ball bearing; 3-14. Second absolute encoder;

[0126] 4-1. Third motor fixing component; 4-2. Third motor secondary second input screw wheel; 4-3-1. Third motor primary first transmission screw; 4-3-2. Third motor primary second transmission screw; 4-3-3. Third motor secondary first transmission screw; 4-3-4. Third motor secondary second transmission screw; 4-4. Third motor secondary first input screw wheel; 4-5. Third motor primary first output screw wheel; 4-6. Third motor secondary output screw wheel; 4-7. Turntable; 4-8. Auxiliary connecting rod; 4-9. Third motor primary input screw wheel; 4-10. Third motor primary second output screw wheel; 4-11. Third motor screw wheel sleeve; 4-12. Third motor output shaft; 4-13. Third motor fixing element; 4-14. Third motor locking element; 4-15. Third deep groove ball bearing; 4-16. Third absolute encoder;

[0127] 5-1. First-stage input wheel of the fourth motor; 5-2-1. First preload element; 5-2-2. Second preload element; 5-2-3. Third preload element; 5-2-4. Fourth preload element; 5-3. First-stage output wheel of the fourth motor; 5-4. First input wheel of the second stage of the fourth motor; 5-5. Second input wheel of the second stage of the fourth motor; 5-6. Pulley assembly; 5-7-1. First transmission wire of the first stage of the fourth motor; 5-7-2. Second transmission wire of the first stage of the fourth motor; 5-7-3. First transmission wire of the second stage of the fourth motor; 5-7-4. Second transmission wire of the second stage of the fourth motor; 5-8. First output wheel of the second stage of the fourth motor; 5-9. Second output wheel of the second stage of the fourth motor; 5-10. Fourth motor fixing component; 5-11. Fourth deep groove ball bearing; 5-12. Fourth absolute encoder;

[0128] 6-1. Fifth motor bevel gear assembly; 6-1-1. Fifth motor first bevel gear; 6-1-2. Fifth motor second bevel gear; 6-2. Fifth motor locking element; 6-3. Fifth absolute encoder; 6-4. Sixth absolute encoder; 6-5. Sixth motor bevel gear assembly; 6-5-1. Sixth motor first bevel gear; 6-5-2. Sixth motor second bevel gear; 6-6. Sixth motor locking element;

[0129] 7-1. Seventh absolute encoder; 7-2. Seventh motor locking element; 7-3-1. Seventh motor first bevel gear; 7-3-2. Seventh motor second bevel gear; 7-4. Clamping base;

[0130] 8-1-1, First finger support; 8-1-2, Second finger support; 8-2-1, First guide link; 8-2-2, Second guide link; 8-3, Linear potentiometer; 8-4-1, First sliding link; 8-4-2, Second sliding link; 8-5, Fastening screw. Detailed Implementation

[0131] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0132] In the description of this invention, the terms "first," "second," "third," "fourth," "fifth," "sixth," "seventh," and "eighth" are used for descriptive purposes only and do not indicate or imply the importance or quantity of the indicated components. They should not be construed as limiting the technical features of this invention.

[0133] Furthermore, the terms “clockwise,” “counterclockwise,” “installation,” “end,” “axial,” “left,” and “right” are based only on the relative orientation or positional relationship shown in the accompanying drawings, and do not indicate or imply the only orientation or positional relationship of the indicated components, unless explicitly specified.

[0134] like Figure 1 As shown, this invention provides a master manipulator for a minimally invasive surgical robot with a multi-stage reduction wire drive system, including an arm mechanism, a wrist mechanism, and a clamping mechanism. The arm mechanism drives the wrist mechanism, the wrist mechanism drives the clamping mechanism, and the clamping mechanism outputs the operator's clamping action. The arm mechanism includes a motor frame, a first drive module, a second drive module, and a third drive module. The wrist mechanism includes a fourth drive module, a fifth drive module, a sixth drive module, and a seventh drive module. The clamping mechanism includes an eighth drive module. The first drive module, the second drive module, the third drive module, and the fourth drive module are all mounted on the motor frame. The first drive module is used to drive the motor frame to rotate; the second drive module is provided with a large arm, and the third drive module is provided with a small arm. One end of the large arm is connected to one end of the small arm, and the other end of the small arm is provided with a first L-shaped connecting rod, a second L-shaped connecting rod, and a third L-shaped connecting rod in sequence; the second drive module is used to drive the large arm to rotate, and the third drive module is used to drive the small arm to rotate; the fourth drive module is used to drive the first L-shaped connecting rod to rotate; the fifth drive module is used to drive the second L-shaped connecting rod to rotate; the sixth drive module is used to drive the third L-shaped connecting rod to rotate; and the seventh drive module is used to drive the eighth drive module to rotate.

[0135] In a more specific embodiment, the drive output portion of the arm mechanism is rotatably connected to the drive input portion of the wrist mechanism, and the drive output portion of the wrist mechanism is rotatably connected to the drive input portion of the clamping mechanism.

[0136] In this embodiment, the control system adopts a centralized control mode of EtherCAT master station to control each EtherCAT slave station, realizing the data transmission of motion control information. The industrial control computer is the EtherCAT master station, and each drive module is an EtherCAT slave station.

[0137] like Figure 1 , Figure 2-1 , Figure 2-2 , Figure 2-3 and Figure 2-4 The main operator of the minimally invasive surgical robot in this embodiment, which has a multi-stage reduction wire transmission system, includes a first drive module comprising a first drive motor M1, a first motor output shaft 2-12, a base 1-1, a first motor fixing component 2-1, and a first absolute encoder 2-16.

[0138] The first motor two-stage reduction wire transmission system includes: a first motor two-stage reduction wire transmission circuit and a first motor preload unit. The first motor two-stage reduction wire transmission circuit includes: a first motor first-stage reduction stage and a first motor second-stage reduction stage. The first motor preload unit includes a first motor wire wheel sleeve 2-11, a first motor fixing element 2-13, and a first motor locking element 2-14; the first motor fixing element 2-13 can be a nut or other similar structure, and the first motor locking element 2-14 can be a one-way bearing or other similar structure.

[0139] The first-stage reduction phase of the first motor includes the first-stage input lead screw 2-2, the first-stage first output lead screw 2-3, the first-stage second output lead screw 2-4, the first-stage first transmission lead screw 2-10-1, and the first-stage second transmission lead screw 2-10-2. The second-stage reduction phase of the first motor includes the second-stage first input lead screw 2-6, the second-stage second input lead screw 2-5, the second-stage output lead screw 2-7, the second-stage first transmission lead screw 2-10-3, and the second-stage second transmission lead screw 2-10-4.

[0140] The first drive motor M1 is fixed to the base 1-1 and coaxially mounted inside the first motor fixing component 2-1. The first motor output shaft 2-12 is coaxially rotatably connected to the first motor fixing component 2-1 via the first deep groove ball bearing 2-15. The first motor output shaft 2-12 is coaxially fixed to the first motor primary input lead wheel 2-2. The first motor primary first output lead wheel 2-3 is coaxially fixed to the first motor secondary first input lead wheel 2-6. The first motor primary second output lead wheel 2-4 is coaxially fixed to the first motor secondary second input lead wheel 2-5. The first motor secondary output lead wheel 2-7 is fixed to the motor frame 1-2 via shaft 2-9. The base 1-1 and the motor frame 1-2 are rotatably connected around the axis of the first rotary joint J1. The first motor lead wheel sleeve 2-11 is rotatably connected to the first motor output shaft 2-12 via the first motor locking element 2-14, which can realize the unidirectional rotation direction locking of the first motor lead wheel sleeve 2-11.

[0141] The first drive motor M1 drives the first motor output shaft 2-12 to rotate. The first motor output shaft 2-12 drives the first motor primary input screw wheel 2-2 as the drive wheel to rotate. Through the first motor secondary reduction screw transmission system, the first motor secondary output screw wheel 2-7 rotates in the same direction as the driven wheel. The first motor secondary output screw wheel 2-7 drives the motor frame 1-2 to rotate around the axis of the first rotary joint J1. The first absolute encoder 2-16 is fixedly connected to the rear end of the first drive motor M1 and detects the angle information of the rotation of the motor frame 1-2 around the axis of the first rotary joint J1.

[0142] The outer surfaces of the first-stage input screw wheel 2-2, the first-stage input screw wheel 2-6, and the second-stage input screw wheel 2-5 of the first motor are designed with spiral grooves for wire feeding. The outer surfaces of the first-stage output screw wheel 2-3, the first-stage output screw wheel 2-4, and the second-stage output screw wheel 2-7 of the first motor are as smooth as possible.

[0143] The diameter of the first-stage input screw wheel 2-2 of the first motor is defined as d1. The diameters of the first-stage output screw wheels 2-3 and 2-4 of the first motor are equal and defined as d2. The diameters of the first-stage input screw wheels 2-6 and 2-5 of the first-stage motor are equal and defined as d3. The diameter of the second-stage output screw wheel 2-7 of the first motor is defined as d4. The diameters of the screw wheels in the first-stage two-stage reduction screw drive system satisfy the constraints: d1 < d2, d3 < d4, and the reduction ratio is:

[0144]

[0145] Its value is determined based on the desired input reduction ratio of the first drive motor M1 and the output reduction ratio of the motor frame 1-2.

[0146] Direction 1 and Direction 2 are in opposite directions of winding, and their forms can be clockwise right-handed spirals or counterclockwise right-handed spirals. Since the rotation directions of Direction 1 and Direction 2 are opposite, if Direction 1 is a clockwise right-handed spiral, then Direction 2 is a counterclockwise right-handed spiral, and vice versa.

[0147] One end of the first transmission wire 2-10-1 of the first stage of the first motor is fixed and wound along direction 1 on the outer surface of the input wire wheel 2-2 of the first stage of the first motor. Further, it horizontally crosses the tangent direction of the input wire wheel 2-2 of the first stage of the first motor. The other end is sequentially wound around the outer surface of the first output wire wheel 2-3 of the first stage of the first motor and fixed. One end of the first transmission wire 2-10-3 of the second stage of the first motor is fixed and wound along direction 1 on the outer surface of the first input wire wheel 2-6 of the second stage of the first motor. Further, it horizontally crosses the tangent direction of the first input wire wheel 2-6 of the second stage of the first motor. The other end is folded back through the first U-shaped groove 2-8-1 and wound along direction 1 on the outer surface of the output wire wheel 2-7 of the second stage of the first motor.

[0148] One end of the first-stage second transmission wire 2-10-2 of the first motor is fixed and wound along direction 2 onto the outer surface of the first-stage input wire wheel 2-2 of the first motor. Further, it horizontally crosses the tangent direction of the first-stage input wire wheel 2-2 of the first motor. The other end is sequentially wound around the outer surface of the first-stage second output wire wheel 2-4 of the first motor and fixed. One end of the second-stage second transmission wire 2-10-4 of the first motor is fixed and wound along direction 2 onto the outer surface of the first-stage second input wire wheel 2-5 of the first motor. Further, it horizontally crosses the tangent direction of the first-stage second input wire wheel 2-5 of the first motor. The other end is folded back through the second U-shaped groove 2-8-2 and wound along direction 2 onto the outer surface of the first-stage second output wire wheel 2-7 of the first motor.

[0149] The steps of the pre-tensioning method for the first motor two-stage reduction wire transmission system in this embodiment are as follows:

[0150] (1) The first motor and the two-stage reduction wire transmission system complete the wire feeding in the set direction;

[0151] (1) The control system sets N local preload positions according to the working range of the first motor two-stage reduction wire transmission system. The N local preload positions cover the entire working range of the first motor two-stage reduction wire transmission system.

[0152] (3) Fix the rotation direction of the second-stage output screw wheel 2-7 of the first motor, and control the first drive motor M1 to rotate along direction 2, the output shaft 2-12 of the first motor to rotate along direction 2, and further the first-stage input screw wheel 2-2 of the first motor to rotate along direction 2;

[0153] (4) The first transmission wire 2-10-1 of the first motor is wound around the outer surface of the input wire wheel 2-2 of the first motor. The first transmission wire 2-10-1 of the first motor drives the first output wire wheel 2-3 of the first motor to rotate along direction 2. Further, the first input wire wheel 2-6 of the second motor rotates along direction 2. The first transmission wire 2-10-3 of the second motor is wound around the outer surface of the first input wire wheel 2-6 of the second motor.

[0154] (5) The first stage first transmission wire 2-10-1 of the first motor completes the first local pre-tightening, and the second stage first transmission wire 2-10-3 of the first motor completes the first local pre-tightening.

[0155] (6) The control system controls the first drive motor M1 to rotate along direction 1, the first motor output shaft 2-12 to rotate along direction 1, and further the first motor primary input screw 2-2 to rotate along direction 1;

[0156] (7) The first-stage second transmission wire 2-10-2 of the first motor is wound around the outer surface of the first-stage input wire wheel 2-2 of the first motor. The first-stage second transmission wire 2-10-2 of the first motor drives the first-stage second output wire wheel 2-4 of the first motor to rotate along direction 1. Further, the second-stage second input wire wheel 2-5 of the first motor rotates along direction 1. The second-stage second transmission wire 2-10-4 of the first motor is wound around the outer surface of the second-stage second input wire wheel 2-5 of the first motor.

[0157] (8) The first motor first stage second transmission wire 2-10-2 completes the first local pre-tightening, and the first motor second stage second transmission wire 2-10-4 completes the first local pre-tightening;

[0158] (9) Repeat steps (3) to (8) N times to achieve overall pre-tensioning of the first motor secondary reduction wire transmission system;

[0159] (10) The first motor fixing element 2-13 fixes the first motor lead wheel sleeve 2-11 and the first motor output shaft 2-12.

[0160] like Figure 1 , Figure 3-1 , Figure 3-2 , Figure 3-3 and Figure 3-4 The main operator of the minimally invasive surgical robot in this embodiment, which has a multi-stage reduction wire transmission system, includes the following second drive module: a second drive motor M2, a second motor output shaft 3-10, an upper arm 1-3, a second motor fixing component 3-1, and a second absolute encoder 3-14.

[0161] The second motor two-stage reduction wire transmission system includes: a second motor two-stage reduction wire transmission circuit and a second motor preload unit. The second motor reduction wire transmission circuit includes: a first-stage reduction stage and a second-stage reduction stage. The second motor preload unit includes: a second motor wire wheel sleeve 3-7, a second motor fixing element 3-11, and a second motor locking element 3-12; the second motor fixing element 3-11 can be a nut or other similar structure, and the second motor locking element 3-12 can be a one-way bearing or other similar structure.

[0162] The first-stage reduction phase of the second motor includes: the first-stage input lead wheel 3-8, the first-stage output lead wheel 3-2, the second-stage output lead wheel 3-9, the first-stage transmission lead 3-6-1, and the second-stage transmission lead 3-6-2. The second-stage reduction phase of the second motor includes: the second-stage first input lead wheel 3-4, the second-stage second input lead wheel 3-3, the second-stage output lead wheel 3-5, the second-stage first transmission lead 3-6-3, and the second-stage second transmission lead 3-6-4.

[0163] The second drive motor M2 is fixed to the motor frame 1-2 and coaxially mounted inside the second motor fixing component 3-1. The output shaft 3-10 of the second motor is rotatably connected to the second motor fixing component 3-1 via the second deep groove ball bearing 3-13. The output shaft 3-10 of the second motor is coaxially fixed to the first-stage input screw wheel 3-8 of the second motor. The first-stage first output screw wheel 3-2 of the second motor is coaxially fixed to the first-stage second input screw wheel 3-4 of the second motor. The second-stage second output screw wheel 3-9 of the second motor is coaxially fixed to the second-stage second input screw wheel 3-3 of the second motor. The second-stage output screw wheel 3-5 of the second motor is fixed to the upper arm 1-3 and rotatably connected to the motor frame 1-2. The screw wheel sleeve 3-7 of the second motor is rotatably connected to the output shaft 3-10 of the second motor via the second motor locking element 3-12, which can realize the unidirectional rotation direction locking of the screw wheel sleeve 3-7.

[0164] The second drive motor M2 drives the second motor output shaft 3-10 to rotate. The second motor output shaft 3-10 drives the first-stage input wire wheel 3-8 as the drive wheel to rotate. Through the second-stage reduction wire transmission system of the second motor, the second-stage output wire wheel 3-5 rotates in the same direction as the driven wheel. The second-stage output wire wheel 3-5 drives the upper arm 1-3 to rotate around the axis of the second rotary joint J2. The second absolute encoder 3-14 is fixedly connected to the rear end of the second drive motor M2 and detects the angle information of the rotation of the upper arm 1-3 around the axis of the second rotary joint J2.

[0165] The outer surfaces of the first-stage input screw wheel 3-8, the second-stage input screw wheel 3-4, and the second-stage input screw wheel 3-3 of the second motor are designed with spiral grooves for wire feeding; the outer surfaces of the first-stage output screw wheel 3-2, the first-stage output screw wheel 3-9, and the second-stage output screw wheel 3-5 of the second motor are as smooth as possible.

[0166] The diameter of the first-stage input screw wheel 3-8 of the second motor is defined as d5. The diameters of the first-stage output screw wheels 3-2 and 3-9 of the second motor are equal and defined as d6. The diameters of the first-stage input screw wheels 3-4 and 3-3 of the second-stage motor are equal and defined as d7. The diameter of the second-stage output screw wheel 3-5 of the second motor is defined as d8. The diameters of the screw wheels in the second-stage reduction screw drive system of the second motor satisfy the constraints: d5 < d6, d7 < d8. The reduction ratio is:

[0167]

[0168] Its value is determined based on the desired input of the second drive motor M2 and the output reduction ratio of the boom 1-3.

[0169] One end of the first transmission wire 3-6-1 of the second motor stage is fixed and wound along direction 1 around the outer surface of the input wire wheel 3-8 of the second motor stage. Further, it horizontally crosses the tangential direction of the input wire wheel 3-8 of the second motor stage. The other end is sequentially wound around the outer surface of the first output wire wheel 3-2 of the second motor stage and fixed. One end of the first transmission wire 3-6-3 of the second motor stage is fixed and wound along direction 1 around the outer surface of the first input wire wheel 3-4 of the second motor stage. Further, it horizontally crosses the tangential direction of the first input wire wheel 3-4 of the second motor stage. The other end is sequentially wound around the outer surface of the second output wire wheel 3-5 of the second motor stage and fixed.

[0170] One end of the second transmission wire 3-6-2 of the second motor stage is fixed and wound along direction 2 onto the outer surface of the input wire wheel 3-8 of the second motor stage. Further, it horizontally crosses the tangential direction of the input wire wheel 3-8 of the second motor stage. The other end is sequentially wound onto the outer surface of the second output wire wheel 3-9 of the second motor stage and fixed. One end of the second transmission wire 3-6-4 of the second motor stage is fixed and wound along direction 2 onto the outer surface of the second input wire wheel 3-3 of the second motor stage. Further, it horizontally crosses the tangential direction of the second input wire wheel 3-3 of the second motor stage. The other end is sequentially wound onto the outer surface of the second output wire wheel 3-5 of the second motor stage and fixed.

[0171] The steps of the pre-tensioning method for the second motor two-stage reduction wire transmission system in this embodiment are as follows:

[0172] (1) The second motor and the two-stage reduction wire transmission system complete the wire feeding in the set direction;

[0173] (2) The control system sets N local preload positions according to the working range of the second motor two-stage reduction wire transmission system. The N local preload positions cover the entire working range of the second motor two-stage reduction wire transmission system.

[0174] (3) Fix the rotation direction of the second motor secondary output screw wheel 3-5, control the second drive motor M2 to rotate along direction 2, the second motor output shaft 3-10 to rotate along direction 2, and further the second motor primary input screw wheel 3-8 to rotate along direction 2;

[0175] (4) The first transmission wire 3-6-1 of the first stage of the second motor is wound around the outer surface of the input wire wheel 3-8 of the first stage of the second motor. The first transmission wire 3-6-1 of the first stage of the second motor drives the first output wire wheel 3-2 of the first stage of the second motor to rotate along direction 2. Further, the first input wire wheel 3-4 of the second stage of the second motor rotates along direction 2. The first transmission wire 3-6-3 of the second stage of the second motor is wound around the outer surface of the first input wire wheel 3-4 of the second stage of the second motor.

[0176] (5) The first transmission wire 3-6-1 of the first stage of the second motor completes the first local pre-tightening, and the first transmission wire 3-6-3 of the second stage of the second motor completes the first local pre-tightening.

[0177] (6) The control system controls the second drive motor M2 to rotate along direction 1, the output shaft 3-10 of the second motor to rotate along direction 1, and the first-stage input screw wheel 3-8 of the second motor to rotate along direction 1.

[0178] (7) The second motor first stage second transmission wire 3-6-2 is wound around the outer surface of the second motor first stage input wire wheel 3-8. The second motor first stage second transmission wire 3-6-2 drives the second motor first stage second output wire wheel 3-9 to rotate along direction 1. Further, the second motor second stage second input wire wheel 3-3 rotates along direction 1. The second motor second stage second transmission wire 3-6-4 is wound around the outer surface of the second motor second stage second input wire wheel 3-3.

[0179] (8) The first stage second transmission wire 3-6-2 of the second motor completes the first local pre-tightening, and the second stage second transmission wire 3-6-4 of the second motor completes the first local pre-tightening.

[0180] (9) Repeat steps (3) to (8) N times to achieve overall pre-tensioning of the second motor secondary reduction wire transmission system;

[0181] (10) The second motor fixing element 3-11 fixes the second motor lead wheel sleeve 3-7 to the second motor output shaft 3-10.

[0182] like Figure 1 , Figure 4-1 , Figure 4-2 , Figure 4-3 and Figure 4-4 In this embodiment, the main manipulator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system includes the following third drive module: a third drive motor M3, a third motor output shaft 4-12, a parallelogram mechanism, a forearm 1-4, a third motor fixing component 4-1, and a third absolute encoder 4-16. The parallelogram mechanism includes: a turntable 4-7, an auxiliary link 4-8, an upper arm 1-3, and a forearm 1-4.

[0183] The third motor two-stage reduction wire transmission system includes: a third motor two-stage reduction wire transmission circuit and a third motor preload unit. The third motor reduction wire transmission circuit includes: a third motor first-stage reduction stage and a third motor second-stage reduction stage. The third motor preload unit includes: a third motor wire wheel sleeve 4-11, a third motor fixing element 4-13, and a third motor locking element 4-14; the third motor fixing element 4-13 can be a nut or other similar structure, and the third motor locking element 4-14 can be a one-way bearing or other similar structure.

[0184] The first-stage reduction phase of the third motor includes: the first-stage input lead wheel 4-9, the first-stage output lead wheel 4-5, the second-stage output lead wheel 4-10, the first-stage transmission lead 4-3-1, and the second-stage transmission lead 4-3-2. The second-stage reduction phase of the third motor includes: the second-stage input lead wheel 4-4, the second-stage input lead wheel 4-2, the second-stage output lead wheel 4-6, the first-stage transmission lead 4-3-3, and the second-stage transmission lead 4-3-4.

[0185] The output shaft 4-12 of the third motor is coaxially and fixedly connected to the first-stage input lead wheel 4-9 of the third motor. The third drive motor M3 is fixed to the motor frame 1-2 and coaxially installed inside the third motor fixing component 4-1. The output shaft 4-12 of the third motor and the third motor fixing component 4-1 are rotatably connected by the third deep groove ball bearing 4-15. The first-stage first output lead wheel 4-5 of the third motor is coaxially and fixedly connected to the first-stage second input lead wheel 4-4 of the third motor. The second-stage second output lead wheel 4-10 of the third motor is coaxially and fixedly connected to the second-stage second input lead wheel 4-2 of the third motor. The second-stage output lead wheel 4-6 of the third motor is fixedly connected to one end of the turntable 4-7 and rotatably connected to the motor frame 1-2. The other end of the turntable 4-7 is rotatably connected to the auxiliary connecting rod 4-8, and the other end of the auxiliary connecting rod 4-8 is rotatably connected to one end of the forearm 1-4. The parallelogram mechanism transmits power from the secondary output lead wheel 4-6 of the third motor to the forearm 1-4, and positions the third drive motor M3 forward on the motor frame 1-2, further reducing the weight of the arm. The lead wheel sleeve 4-11 of the third motor is rotatably connected to the output shaft 4-12 of the third motor through the locking element 4-14 of the third motor, which can lock the unidirectional rotation direction of the lead wheel sleeve 4-11.

[0186] The third drive motor M3 drives the third motor output shaft 4-12 to rotate. The third motor output shaft 4-12 drives the third motor primary input lead wheel 4-9 as the drive wheel to rotate. Through the third motor secondary reduction wire transmission system, the third motor secondary output lead wheel 4-6 rotates in the same direction as the driven wheel. The third motor secondary output lead wheel 4-6 drives the forearm 1-4 to rotate around the axis of the third rotary joint J3 through a parallelogram mechanism. The third absolute encoder 4-16 is fixedly connected to the rear end of the third drive motor M3 and detects the angle information of the rotation of the forearm 1-4 around the axis of the third rotary joint J3.

[0187] The outer surfaces of the first-stage input screw wheel 4-9 of the third motor, the first input screw wheel 4-4 of the second stage of the third motor, and the second input screw wheel 4-2 of the second stage of the third motor are designed with spiral grooves for wire feeding. The first output screw wheel 4-5 of the first stage of the third motor, the second output screw wheel 4-10 of the first stage of the third motor, and the second output screw wheel 4-6 of the second stage of the third motor are all designed with spiral grooves for wire feeding.

[0188] The diameter of the input lead wheel 4-9 of the first stage of the third motor is defined as d9. The diameters of the first output lead wheel 4-5 and the second output lead wheel 4-10 of the first stage of the third motor are equal and defined as d9. 10 The diameters of the first input lead wheel 4-4 and the second input lead wheel 4-2 of the third motor are equal, defined as d. 11 The diameter of the secondary output lead wheel 4-6 of the third motor is defined as d. 12 In the third motor's two-stage reduction wire drive system, the diameter of the lead wheel satisfies the constraint: d9 < d 10 d 11<d 12 Its reduction ratio is:

[0189]

[0190] Its value is determined based on the input of the desired third drive motor M3 and the output reduction ratio of the forearms 1-4.

[0191] One end of the first transmission wire 4-3-1 of the third motor stage is fixed and wound along direction 1 onto the outer surface of the input wire wheel 4-9 of the third motor stage. Further, it horizontally crosses the tangential direction of the input wire wheel 4-9 of the third motor stage. The other end is sequentially wound onto the outer surface of the first output wire wheel 4-5 of the third motor stage and fixed. One end of the first transmission wire 4-3-3 of the third motor stage is fixed and wound along direction 1 onto the outer surface of the first input wire wheel 4-4 of the third motor stage. Further, it horizontally crosses the tangential direction of the first input wire wheel 4-4 of the third motor stage. The other end is sequentially wound onto the outer surface of the second output wire wheel 4-6 of the third motor stage and fixed.

[0192] One end of the second transmission wire 4-3-2 of the first stage of the third motor is fixed and wound along direction 2 on the outer surface of the input wire wheel 4-9 of the first stage of the third motor. Further, it horizontally crosses the tangential direction of the input wire wheel 4-9 of the first stage of the third motor. The other end is sequentially wound around the outer surface of the second output wire wheel 4-10 of the first stage of the third motor and fixed. One end of the second transmission wire 4-3-4 of the second stage of the third motor is fixed and wound along direction 2 on the outer surface of the second input wire wheel 4-2 of the second stage of the third motor. Further, it horizontally crosses the tangential direction of the second input wire wheel 4-2 of the second stage of the third motor. The other end is sequentially wound around the outer surface of the second output wire wheel 4-6 of the second stage of the third motor and fixed.

[0193] The steps of the pre-tensioning method for the third motor two-stage reduction wire transmission system in this embodiment are as follows:

[0194] (1) The third motor two-stage reduction wire transmission system completes wire feeding in the set direction;

[0195] (2) The control system sets N local preload positions according to the working range of the third motor secondary reduction wire transmission system. The N local preload positions cover the entire working range of the third motor secondary reduction wire transmission system.

[0196] (3) Fix the rotation direction of the second-stage output screw wheel 4-6 of the third motor, and control the third drive motor M3 to rotate along direction 2. The output shaft 4-12 of the third motor rotates along direction 2, and the first-stage input screw wheel 4-9 of the third motor rotates along direction 2.

[0197] (4) The first transmission wire 4-3-1 of the first stage of the third motor is wound around the outer surface of the input wire wheel 4-9 of the first stage of the third motor. The first transmission wire 4-3-1 of the first stage of the third motor drives the first output wire wheel 4-5 of the first stage of the third motor to rotate along direction 2. Further, the first input wire wheel 4-4 of the second stage of the third motor rotates along direction 2. The first transmission wire 4-3-3 of the second stage of the third motor is wound around the outer surface of the first input wire wheel 4-4 of the second stage of the third motor.

[0198] (5) The first transmission wire 4-3-1 of the first stage of the third motor completes the first local pre-tightening, and the first transmission wire 4-3-3 of the second stage of the third motor completes the first local pre-tightening.

[0199] (6) The control system controls the third drive motor M3 to rotate along direction 1, the output shaft 4-12 of the third motor to rotate along direction 1, and the first-stage input screw wheel 4-9 of the third motor to rotate along direction 1.

[0200] (7) The first-stage second transmission wire 4-3-2 of the third motor is wound around the outer surface of the first-stage input wire wheel 4-9 of the third motor. The first-stage second transmission wire 4-3-2 of the third motor drives the first-stage second output wire wheel 4-10 of the third motor to rotate along direction 1. Further, the second-stage second input wire wheel 4-2 of the third motor rotates along direction 1. The second-stage second transmission wire 4-3-4 of the third motor is wound around the outer surface of the second-stage second input wire wheel 4-2 of the third motor.

[0201] (8) The first local pre-tightening is completed by the first stage second transmission wire 4-3-2 of the third motor, and the first local pre-tightening is completed by the second stage second transmission wire 4-3-4 of the third motor.

[0202] (9) Repeat steps (3) to (8) N times to achieve overall pre-tensioning of the second-stage reduction wire transmission system of the third motor;

[0203] (10) The third motor fixing element 4-13 fixes the third motor lead wheel sleeve 4-11 and the third motor output shaft 4-12.

[0204] like Figure 1 , Figure 5-1 and Figure 5-2 The main manipulator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system in this embodiment includes the following fourth drive module: fourth drive motor M4, fourth motor fixing component 5-10, first L-shaped connecting rod 1-5, pulley assembly 5-6, and fourth absolute encoder 5-12.

[0205] The fourth motor two-stage reduction wire transmission system includes: a fourth motor two-stage reduction wire transmission circuit and a fourth motor preload unit. The fourth motor two-stage reduction wire transmission circuit includes: a fourth motor first-stage reduction stage and a fourth motor second-stage reduction stage. The fourth motor preload unit includes: a first preload element 5-2-1, a second preload element 5-2-2, a third preload element 5-2-3, and a fourth preload element 5-2-4. The fourth motor preload unit can have a snap-fit ​​structure or other similar preload element structure. The first preload element 5-2-1 and the second preload element 5-2-2 are coaxially and rotatably mounted on the first transmission wire 5-7-1 of the fourth motor's first stage. The third preload element 5-2-3 and the fourth preload element 5-2-4 are coaxially and rotatably mounted on the first transmission wire 5-7-3 of the fourth motor's second stage.

[0206] The first-stage reduction stage of the fourth motor includes: the first-stage input lead wheel 5-1, the first-stage output lead wheel 5-3, the first-stage transmission lead wheel 5-7-1, and the first-stage second transmission lead wheel 5-7-2. The second-stage reduction stage of the fourth motor includes: the second-stage first input lead wheel 5-4, the second-stage second input lead wheel 5-5, the second-stage first output lead wheel 5-8, the second-stage second output lead wheel 5-9, the second-stage first transmission lead wheel 5-7-3, and the second-stage second transmission lead wheel 5-7-4.

[0207] The fourth drive motor M4 is fixed to the motor frame 1-2 and coaxially mounted on the fourth motor fixing part 5-10. The fourth motor fixing part 5-10 is installed inside the second motor secondary output lead wheel 3-5 and coaxially fixed. The fourth motor primary input lead wheel 5-1 is rotatably connected to the fourth motor fixing part 5-10 through the fourth deep groove ball bearing 5-11. The fourth motor primary output lead wheel 5-3, the fourth motor secondary first input lead wheel 5-4, and the fourth motor secondary second input lead wheel 5-5 are coaxially fixed. The fourth motor secondary first output lead wheel 5-8 and the fourth motor secondary second output lead wheel 5-9 are coaxially fixed. The fourth motor secondary first output lead wheel 5-8 is fixed to the first L-shaped connecting rod 1-5, and the first L-shaped connecting rod 1-5 is rotatably connected to the other end of the forearm 1-4.

[0208] The fourth drive motor M4 drives the first-stage input screw wheel 5-1 as the drive wheel to rotate. Through the second-stage reduction screw transmission system of the fourth motor, the first output screw wheel 5-8 and the second output screw wheel 5-9 of the second stage of the fourth motor rotate as driven wheels. The first output screw wheel 5-8 drives the first L-shaped connecting rod 1-5 to rotate around the axis of the fourth rotary joint J4. The fourth absolute encoder 5-12 is fixedly connected to the rear end of the fourth drive motor M4 and detects the angle information of the rotation of the first L-shaped connecting rod 1-5 around the axis of the fourth rotary joint J4.

[0209] The outer surface of the first-stage input screw wheel 5-1 of the fourth motor is designed with a spiral groove for wire feeding. The outer surfaces of the first-stage output screw wheel 5-3 of the fourth motor, the first input screw wheel 5-4 of the second stage of the fourth motor, the second input screw wheel 5-5 of the second stage of the fourth motor, the first output screw wheel 5-8 of the second stage of the fourth motor, and the second output screw wheel 5-9 of the second stage of the fourth motor are as smooth as possible.

[0210] The diameter of the first-stage input lead wheel 5-1 of the fourth motor is defined as d. 13 The diameters of the first-stage output lead wheels 5-3 of the fourth motor are equal, defined as d. 14 The diameters of the first input lead wheel 5-4 and the second input lead wheel 5-5 of the second stage of the fourth motor are equal, defined as d. 15 The diameters of the first output lead wheel 5-8 and the second output lead wheel 5-9 of the second stage of the fourth motor are defined as d. 16 In the fourth motor's two-stage reduction wire drive system, the diameter of the lead wheel satisfies the constraint: d 13 <d 14 d 15 <d 16 Its reduction ratio is:

[0211]

[0212] Its value is determined based on the input of the desired fourth drive motor M4 and the output reduction ratio of the first L-shaped link 1-5.

[0213] One end of the first transmission wire 5-7-1 of the fourth motor stage is fixed and wound along direction 1 around the outer surface of the input wire wheel 5-1 of the fourth motor stage. Further, it horizontally crosses the tangential direction of the input wire wheel 5-1 of the fourth motor stage. The other end is sequentially wound around the outer surface of the output wire wheel 5-3 of the fourth motor stage and fixed. One end of the first transmission wire 5-7-3 of the fourth motor stage is fixed and wound along direction 1 around the outer surface of the first input wire wheel 5-4 of the fourth motor stage. Further, it horizontally crosses the tangential direction of the first input wire wheel 5-4 of the fourth motor stage. The other end is sequentially wound around the outer surface of the first output wire wheel 5-8 of the fourth motor stage and fixed.

[0214] One end of the second transmission wire 5-7-2 of the first stage of the fourth motor is fixed and wound along direction 2 on the outer surface of the input wire wheel 5-1 of the first stage of the fourth motor. Further, it horizontally crosses the tangential direction of the input wire wheel 5-1 of the first stage of the fourth motor. The other end is sequentially wound around the outer surface of the output wire wheel 5-3 of the first stage of the fourth motor and fixed. One end of the second transmission wire 5-7-4 of the second stage of the fourth motor is fixed and wound along direction 2 on the outer surface of the second input wire wheel 5-5 of the second stage of the fourth motor. Further, it passes through the pulley assembly 5-6, horizontally crosses the tangential direction of the second input wire wheel 5-5 of the second stage of the fourth motor, and the other end is sequentially wound around the outer surface of the second output wire wheel 5-9 of the second stage of the fourth motor and fixed.

[0215] In this embodiment, the preload method for the second-stage reduction system of the fourth motor is as follows:

[0216] (1) The fourth motor two-stage reduction wire transmission system completes wire feeding in the set direction;

[0217] (2) The control system sets N local preload positions according to the working range of the fourth motor secondary reduction wire transmission system. The N local preload positions cover the entire working range of the fourth motor secondary reduction wire transmission system.

[0218] (3) Fix the rotation direction of the first output screw wheel 5-8 and the second output screw wheel 5-9 of the second stage of the fourth motor. The first pre-tightening element 5-2-1 and the second pre-tightening element 5-2-2 rotate in opposite directions. Their rotation direction is the direction of tension of the first transmission screw 5-7-1 of the first stage of the fourth motor. Further, the first transmission screw 5-7-1 of the first stage of the fourth motor is wound around the outer surface of the input screw wheel 5-1 of the first stage of the fourth motor. The first transmission screw 5-7-1 of the first stage of the fourth motor drives the output screw wheel 5-3 of the first stage of the fourth motor to rotate. Further, the first input screw wheel 5-4 and the second input screw wheel 5-5 of the second stage of the fourth motor rotate in the same direction. The second transmission screw 5-7-4 of the second stage of the fourth motor is wound around the outer surface of the second input screw wheel 5-5 of the second stage of the fourth motor.

[0219] (4) Tension the first transmission wire 5-7-1 of the first stage of the fourth motor, and tension the second transmission wire 5-7-4 of the second stage of the fourth motor;

[0220] (5) The third pre-tightening element 5-2-3 and the fourth pre-tightening element 5-2-4 rotate in opposite directions, and their rotation direction is the direction of tension of the first transmission wire 5-7-3 of the second stage of the fourth motor. Furthermore, the first transmission wire 5-7-3 of the second stage of the fourth motor is wound around the outer surface of the first input wire wheel 5-4 of the second stage of the fourth motor. Furthermore, the first output wire 5-3 of the first stage of the fourth motor and the second input wire wheel 5-5 of the second stage of the fourth motor rotate in the same direction. The second transmission wire 5-7-2 of the first stage of the fourth motor is wound around the outer surface of the first input wire wheel 5-1 of the first stage of the fourth motor.

[0221] (6) The first stage second transmission wire 5-7-2 of the fourth motor is tensioned, and the second stage first transmission wire 5-7-3 of the fourth motor is tensioned to complete the first local pre-tensioning;

[0222] (7) Repeat steps (3) to (6) N times to achieve overall pre-tensioning of the fourth motor secondary reduction wire transmission system.

[0223] like Figure 1 and Figure 6The main operator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system in this embodiment includes the following fifth drive module: fifth drive motor M5, fifth motor bevel gear assembly 6-1, fifth motor locking element 6-2, second L-shaped connecting rod 1-6, and fifth absolute encoder 6-3.

[0224] The fifth drive motor M5 is installed inside the first L-shaped connecting rod 1-5. The fifth motor bevel gear assembly 6-1 includes: a first bevel gear 6-1-1 and a second bevel gear 6-1-2. The rotation axis of the first bevel gear 6-1-1 and the rotation axis of the second bevel gear 6-1-2 are perpendicular to each other. The rotation axis of the second bevel gear 6-1-2 coincides with the rotation axis of the fifth drive motor M5. The output end of the second bevel gear 6-1-2 and the fifth drive motor M5 are fixed by the fifth motor locking element 6-2. The first bevel gear 6-1-1 is fixedly connected to the second L-shaped connecting rod 1-6.

[0225] The fifth drive motor M5 drives the second bevel gear 6-1-2 as the drive wheel to rotate, and the bevel gear 6-1-1 as the driven wheel to rotate. The second L-shaped connecting rod 1-6 rotates around the axis of the fifth rotary joint J5. The fifth absolute encoder 6-3 is fixedly connected to the rear end of the fifth drive motor M5 and detects the angle information of the rotation of the second L-shaped connecting rod 1-6 around the axis of the fifth joint J5.

[0226] like Figure 1 and Figure 6 The main operator of the minimally invasive surgical robot in this embodiment, which has a multi-stage reduction wire transmission system, includes the following sixth drive module: a sixth drive motor M6, a sixth motor bevel gear assembly 6-5, a sixth motor locking element 6-6, a third L-shaped connecting rod 1-7, and a sixth absolute encoder 6-4.

[0227] The sixth drive motor M6 is installed inside the second L-shaped connecting rod 1-6. The sixth motor bevel gear assembly 6-5 includes: a first bevel gear 6-5-1 and a second bevel gear 6-5-2. The rotation axes of the first bevel gear 6-5-1 and the second bevel gear 6-5-2 are perpendicular to each other. The rotation axis of the first bevel gear 6-5-1 coincides with the rotation axis of the sixth drive motor M6. The output end of the first bevel gear 6-5-1 and the sixth drive motor M6 are fixed by the sixth motor locking element 6-6. The second bevel gear 6-5-2 is fixedly connected to the third L-shaped connecting rod 1-7.

[0228] The sixth drive motor M6 drives the first bevel gear 6-5-1 as the drive wheel to rotate, and the second bevel gear 6-5-2 as the driven wheel to rotate. The third L-shaped connecting rod 1-7 rotates around the axis of the sixth rotary joint J6. The sixth absolute encoder 6-4 is fixedly connected to the rear end of the sixth drive motor M6 and detects the angle information of the rotation of the third L-shaped connecting rod 1-7 around the axis of the sixth rotary joint J6.

[0229] like Figure 1 , Figure 7 , Figure 8-1 and Figure 8-2 The main manipulator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system in this embodiment includes the following seventh drive module: seventh drive motor M7, seventh motor bevel gear assembly 7-3, seventh motor locking element 7-2, clamping base 7-4, and seventh absolute encoder 7-1.

[0230] The seventh drive motor M7 is installed inside the third L-shaped connecting rod 1-7. The seventh motor bevel gear assembly 7-3 includes: a first bevel gear 7-3-1 and a second bevel gear 7-3-2. The rotation axis of the first bevel gear 7-3-1 and the rotation axis of the second bevel gear 7-3-2 are perpendicular to each other, and the rotation axis of the first bevel gear 7-3-1 coincides with the rotation axis of the seventh drive motor M7. The first bevel gear 7-3-1 and the seventh drive motor M7 are fixed by the seventh motor locking element 7-2, and the second bevel gear 7-3-2 and the clamping base 7-4 are fixed together by fastening screws 8-5.

[0231] The seventh drive motor M7 drives the first bevel gear 7-3-1 of the seventh motor to rotate as the drive wheel, and the second bevel gear 7-3-2 of the seventh motor to rotate as the driven wheel, while the clamping base 7-4 rotates around the axis of the seventh rotary joint J7. The seventh absolute encoder 7-1 is fixedly connected to the rear end of the seventh drive motor M7 and detects the angle information of the rotation of the clamping base 7-4 around the axis of the seventh rotary joint J7.

[0232] like Figure 1 , Figure 8-1 , Figure 8-2 The main manipulator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system in this embodiment includes the following eighth drive module: first finger support 8-1-1, second finger support 8-1-2, first guide link 8-2-1, second guide link 8-2-2, linear potentiometer 8-3, and sliding link 8-4.

[0233] One end of the first finger support 8-1-1 and the second finger support 8-1-2 are rotatably connected to the clamping base 7-4. One end of the first guide rod 8-2-1 is rotatably connected to the middle of the first finger support 8-1-1, and the other end is rotatably connected to the first sliding rod 8-4-1. One end of the second guide rod 8-2-2 is rotatably connected to the middle of the second finger support 8-1-2, and the other end is rotatably connected to the second sliding rod 8-4-2. The sliding rod 8-4 includes: a first sliding rod 8-4-1 and a second sliding rod 8-4-2. The first sliding rod 8-4-1 and the second sliding rod 8-4-2 are fixedly connected and can move axially along the axis of the seventh rotary joint J7 on the linear potentiometer 8-3.

[0234] The clamping base 7-4 provides a mounting base for the clamping mechanism. The first finger support 8-1-1 and the second finger support 8-1-2 are used for interaction with the operator. The operator pinches the first finger support 8-1-1 and the second finger support 8-1-2 to output a clamping action. The first guide link 8-2-1 and the second guide link 8-2-2 further convert the operator's clamping action into displacement information of the sliding link 8-4 moving along the axial direction of the seventh rotary joint J7. The linear potentiometer 8-3 detects the displacement information of the sliding link 8-4 moving along the axial direction of the seventh rotary joint J7.

[0235] The conversion relationship between the operator's clamping information and the displacement information of the sliding link 8-4 moving along the seventh rotary joint J7 axis is pre-calibrated, and the calibrated conversion relationship is integrated into the control system.

[0236] It should be noted that, for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0237] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A master operator for a minimally invasive surgical robot with a multi-stage reduction wire drive system, characterized in that, It includes an arm mechanism, a wrist mechanism, and a clamping mechanism; the arm mechanism is used to drive the wrist mechanism, the wrist mechanism is used to drive the clamping mechanism, and the clamping mechanism is used to output the operator's clamping action; The arm mechanism includes a motor frame, a first drive module, a second drive module, and a third drive module; The wrist mechanism includes a fourth drive module, a fifth drive module, a sixth drive module, and a seventh drive module; The clamping mechanism includes an eighth drive module; The first drive module, the second drive module, the third drive module, and the fourth drive module are all mounted on the motor frame; The first drive module is used to drive the motor frame to rotate; The second drive module is provided with a large arm, and the third drive module is provided with a small arm. One end of the large arm is connected to one end of the small arm, and the other end of the small arm is provided with a first L-shaped connecting rod, a second L-shaped connecting rod and a third L-shaped connecting rod in sequence. The second drive module is used to drive the upper arm to rotate, and the third drive module is used to drive the lower arm to rotate. The fourth drive module is used to drive the first L-shaped connecting rod to rotate; The fifth drive module is used to drive the second L-shaped connecting rod to rotate; The sixth drive module is connected to one end of the third L-shaped connecting rod, and the sixth drive module is used to drive the third L-shaped connecting rod to rotate; The seventh drive module is used to drive the eighth drive module to rotate; The main operator has a multi-stage reduction wire drive system; The outer surface of the wire drive system with a small diameter wire wheel is designed with a wire feeding spiral groove, while the outer surface of the large diameter wire wheel is smooth. The eighth drive module includes a first finger support, a second finger support, a first guide link, a second guide link, a linear potentiometer, a first sliding link, and a second sliding link; One end of both the first finger support and the second finger support is rotatably connected to the clamping base in the seventh drive module; The first sliding link is fixedly connected to the second sliding link and slidably guided to the clamping base; one end of the first guide link is rotatably connected to one end of the first sliding link, and one end of the second guide link is rotatably connected to one end of the second sliding link. The middle part of the first finger support is connected to the other end of the first guide rod; The middle part of the second finger support is connected to the other end of the second guide rod; The linear potentiometer is provided on the inner wall of the clamping base in the seventh drive module. The linear potentiometer is used to detect the displacement information of the first sliding link and the second sliding link. All drive motors are electrically connected to the control system, and all absolute encoders are electrically connected to the control system. The fourth drive module includes a fourth drive motor, a first L-shaped connecting rod, a first-stage input lead wheel of the fourth motor, a first preload element, a second preload element, a third preload element, a fourth preload element, a first-stage output lead wheel of the fourth motor, a second-stage first input lead wheel of the fourth motor, a second-stage second input lead wheel of the fourth motor, a pulley assembly, a first-stage first transmission lead of the fourth motor, a first-stage second transmission lead of the fourth motor, a second-stage first transmission lead of the fourth motor, a second-stage second transmission lead of the fourth motor, a second-stage first output lead wheel of the fourth motor, a second-stage second output lead wheel of the fourth motor, a fourth motor fixing component, a fourth deep groove ball bearing, and a fourth absolute encoder; The fourth drive motor is mounted in the second motor secondary output wheel of the second drive module through the fourth motor fixing component, and the fourth motor fixing component is coaxially and fixedly connected to the second motor secondary output wheel; The first-stage input screw wheel of the fourth motor and the output shaft of the fourth motor are integrated into one piece. A fourth deep groove ball bearing is provided between the first-stage input screw wheel of the fourth motor and the fourth motor fixing part, and the first-stage input screw wheel of the fourth motor is located at one end inside the arm. The first-stage output lead wheel of the fourth motor is located at the other end inside the boom, and the first input lead wheel of the second stage of the fourth motor and the second input lead wheel of the second stage of the fourth motor are both coaxially connected to the first-stage output lead wheel of the fourth motor. The input lead wheel of the fourth motor and the output lead wheel of the fourth motor are connected by the first transmission wire of the fourth motor and the second transmission wire of the fourth motor. The first transmission wire of the fourth motor is provided with the first pre-tightening element and the second pre-tightening element in the middle, and the first pre-tightening element and the second pre-tightening element are connected by threads. The first input lead wheel of the second stage of the fourth motor and the first output lead wheel of the second stage of the fourth motor are connected by the first transmission wire of the second stage of the fourth motor. The third pre-tightening element and the fourth pre-tightening element are provided in the middle of the first transmission wire of the second stage of the fourth motor. The third pre-tightening element and the fourth pre-tightening element are connected by threads. The second input lead wheel of the second stage of the fourth motor and the second output lead wheel of the second stage of the fourth motor are connected by the second transmission wire of the second stage of the fourth motor, and the pulley assembly is provided in the middle of the second transmission wire of the second stage of the fourth motor. The first output lead wheel of the second stage of the fourth motor is connected to one end of the first L-shaped connecting rod; The fourth absolute encoder is disposed at one end of the fourth drive motor and is used to detect the rotation angle information of the first L-shaped connecting rod. The clamping base in the seventh drive module is connected to one end of the central shaft of the second bevel gear of the seventh motor in the seventh drive module by a fastening screw.

2. The master operator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system according to claim 1, characterized in that, The first drive module includes a base, a first drive motor, a first motor fixing component, a first motor primary input screw wheel, a first motor primary first output screw wheel, a first motor primary second output screw wheel, a first motor secondary second input screw wheel, a first motor secondary first input screw wheel, a first motor secondary second output screw wheel, a shaft, a first motor screw wheel sleeve, a first motor output shaft, a first motor fixing element, a first motor locking element, a first deep groove ball bearing, and a first absolute encoder; A through hole is provided in the middle of the base, and the first motor secondary output screw is coaxially arranged with the through hole. The first motor secondary output screw is connected to the motor frame through the shaft. A first U-shaped groove and a second U-shaped groove are provided on the outer side wall of the first motor secondary output screw. The first drive motor is mounted on the base away from the motor frame via the first motor fixing member, and a first deep groove ball bearing is provided between the first motor output shaft and the first motor fixing member; the first motor output shaft is provided with the first motor primary input lead wheel; The first motor secondary second input screw wheel and the first motor secondary first input screw wheel are disposed between the first drive motor and the first motor secondary output screw wheel; The first output lead wheel of the first stage motor is coaxially and fixedly connected to the first input lead wheel of the second stage motor. The first-stage second output lead wheel of the first motor is coaxially and fixedly connected to the second-stage second input lead wheel of the first motor. The first motor primary input lead wheel and the first motor primary output lead wheel are connected by the first motor primary transmission lead. The first-stage input lead wheel of the first motor and the first-stage second output lead wheel of the first motor are connected by the first-stage second transmission wire of the first motor. The first input lead wheel of the second stage of the first motor and the first U-shaped groove are connected by the first transmission lead of the second stage of the first motor. The first motor secondary second input lead wheel and the second U-shaped groove are connected by the first motor secondary second transmission lead. The diameters of the first output screw wheel and the second output screw wheel of the first motor stage are equal, the diameters of the first input screw wheel and the second input screw wheel of the first motor stage are equal, and the diameter of the first input screw wheel of the first motor stage is smaller than the diameters of the first output screw wheel and the second output screw wheel of the first motor stage, and the diameters of the first input screw wheel and the second input screw wheel of the first motor stage are smaller than the diameter of the output screw wheel of the first motor stage. The first absolute encoder is disposed at one end of the first drive motor and is used to detect the angle information of the rotation of the motor frame; The first motor output shaft has a first motor lead wheel sleeve at its end via a first motor fixing element, and a first motor locking element is provided between the first motor lead wheel sleeve and the first motor output shaft.

3. The master operator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system according to claim 1, characterized in that, The second drive module includes the boom, a second drive motor, a second motor fixing component, a first output lead wheel of the second motor stage, a second input lead wheel of the second motor stage, a first input lead wheel of the second motor stage, a second output lead wheel of the second motor stage, a first transmission lead of the second motor stage, a second transmission lead of the second motor stage, a first transmission lead of the second motor stage, a second transmission lead of the second motor stage, a lead wheel sleeve of the second motor stage, a first input lead wheel of the second motor stage, a second output lead wheel of the second motor stage, a second motor output shaft, a second motor fixing component, a second motor locking component, a second deep groove ball bearing, and a second absolute encoder; The second drive motor is mounted on the inner wall of one side of the motor frame via the second motor fixing component; A second deep groove ball bearing is provided between the output shaft of the second motor and the fixing component of the second motor; a first-stage input screw of the second motor is provided on the output shaft of the second motor, and the first-stage input screw of the second motor is located on one side of the outer wall of the motor frame; The second motor secondary second input screw wheel and the second motor secondary first input screw wheel are provided on one inner wall of the motor frame below the second motor fixing component; The second output wheel of the second motor is fixedly connected to the second input wheel of the second motor on one side outer wall of the motor frame. The first output wheel of the second motor is fixedly connected to the first input wheel of the second motor on one side outer wall of the motor frame. The second motor secondary output wheel is provided on one inner wall of the motor frame, below the second input wheel of the second motor secondary stage and the first input wheel of the second motor secondary stage; The second motor's secondary output lead wheel is connected to the other end of the boom; The second motor primary input lead wheel and the second motor primary second output lead wheel are connected by the second motor primary second transmission lead. The first-stage input lead wheel of the second motor and the first-stage output lead wheel of the second motor are connected by the first-stage transmission lead of the second motor. The second motor's second-stage first input lead wheel and the second motor's second-stage second output lead wheel are connected by the second motor's second-stage first transmission lead. The second input lead wheel of the second motor and the second output lead wheel of the second motor are connected by the second transmission lead of the second motor. The diameters of the first output screw wheel and the second output screw wheel of the first stage of the second motor are equal, the diameters of the first input screw wheel and the second input screw wheel of the second stage of the second motor are equal, and the diameter of the input screw wheel of the first stage of the second motor is smaller than the diameters of the first output screw wheel and the second output screw wheel of the first stage of the second motor, and the diameters of the first input screw wheel and the second input screw wheel of the second stage of the second motor are smaller than the diameter of the output screw wheel of the second stage of the second motor. The second absolute encoder is located at one end of the second drive motor and is used to detect the angle information of the boom rotation. The end of the output shaft of the second motor is provided with a second motor lead wheel sleeve through the second motor fixing element, and a second motor locking element is provided between the second motor lead wheel sleeve and the output shaft of the second motor.

4. The master operator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system according to claim 1, characterized in that, The third drive module includes the forearm, the third drive motor, the third motor fixing component, the second input lead wheel of the second stage of the third motor, the first transmission lead of the first stage of the third motor, the second transmission lead of the first stage of the third motor, the first transmission lead of the second stage of the third motor, the second transmission lead of the second stage of the third motor, the first input lead wheel of the second stage of the third motor, the first output lead wheel of the first stage of the third motor, the second output lead wheel of the second stage of the third motor, the turntable, the auxiliary connecting rod, the first input lead wheel of the third motor, the second output lead wheel of the first stage of the third motor, the lead wheel sleeve of the third motor, the output shaft of the third motor, the fixing element of the third motor, the locking element of the third motor, the third deep groove ball bearing, and the third absolute encoder; The third drive motor is mounted on the inner wall of the motor frame on the other side via the third motor fixing component; A third deep groove ball bearing is provided between the output shaft of the third motor and the fixing component of the third motor; the first-stage input screw of the third motor is provided on the output shaft of the third motor, and the first-stage input screw of the third motor is located on one side of the outer wall of the motor frame; The second input screw wheel of the second stage of the third motor and the first input screw wheel of the second stage of the third motor are provided on one inner wall of the motor frame below the fixing component of the third motor; The third motor's first-stage second output wheel is fixedly connected to the second input wheel of the second stage of the third motor on one side of the outer wall of the motor frame. The first output wheel of the third motor is fixedly connected to the first input wheel of the second stage of the third motor on one side outer wall of the motor frame. The third motor secondary output wheel is provided on one inner wall of the motor frame, below the second input wheel of the third motor secondary stage and the first input wheel of the third motor secondary stage; The third motor's secondary output lead wheel has a turntable with a cam at one end away from the motor frame. The cam portion of the turntable is connected to one end of an auxiliary connecting rod, and the other end of the auxiliary connecting rod is connected to the forearm. The first-stage input lead wheel of the third motor and the second-stage output lead wheel of the third motor are connected by the second transmission lead of the third motor. The first-stage input lead wheel of the third motor and the first-stage output lead wheel of the third motor are connected by the first-stage transmission wire of the third motor. The third motor's second-stage first input lead wheel and the third motor's second-stage output lead wheel are connected by the third motor's second-stage first transmission lead. The second input lead wheel of the second stage of the third motor and the second output lead wheel of the second stage of the third motor are connected by the second transmission lead of the second stage of the third motor. The diameters of the first output lead wheel and the second output lead wheel of the first stage of the third motor are equal, the diameters of the first input lead wheel and the second input lead wheel of the second stage of the third motor are equal, and the diameter of the first input lead wheel of the first stage of the third motor is smaller than the diameters of the first output lead wheel and the second output lead wheel of the first stage of the third motor, and the diameters of the first input lead wheel and the second input lead wheel of the second stage of the third motor are smaller than the diameter of the second output lead wheel of the third motor. The third absolute encoder is located at one end of the third drive motor and is used to detect the angle information of the forearm rotation. The end of the output shaft of the third motor is provided with the lead wheel sleeve of the third motor through the fixing element of the third motor, and the locking element of the third motor is provided between the lead wheel sleeve of the third motor and the output shaft of the third motor.

5. The master operator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system according to claim 1, characterized in that, The fifth drive module includes the second L-shaped connecting rod, the fifth drive motor, the fifth motor bevel gear assembly, the fifth motor locking element, and the fifth absolute encoder; The fifth drive motor is located at the other end of the first L-shaped connecting rod; The fifth motor bevel gear assembly is mounted on the output shaft of the fifth drive motor via the fifth motor locking element. The fifth motor bevel gear assembly includes a fifth motor first bevel gear and a fifth motor second bevel gear. The fifth motor second bevel gear is disposed on the output shaft of the fifth drive motor. The fifth motor second bevel gear meshes with the fifth motor first bevel gear, and one end of the central shaft of the fifth motor first bevel gear is connected to one end of the second L-shaped connecting rod. The fifth absolute encoder is located at one end of the fifth drive motor and is used to detect the rotation angle information of the second L-shaped connecting rod.

6. The master operator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system according to claim 1, characterized in that, The sixth drive module includes the third L-shaped connecting rod, the sixth drive motor, the sixth absolute encoder, the sixth motor bevel gear assembly, and the sixth motor locking element; The sixth drive motor is located at the other end of the second L-shaped connecting rod; The sixth motor bevel gear assembly is mounted on the output shaft of the sixth drive motor via the sixth motor locking element. The sixth motor bevel gear assembly includes a sixth motor first bevel gear and a sixth motor second bevel gear. The sixth motor first bevel gear is disposed on the output shaft of the sixth drive motor. The sixth motor second bevel gear meshes with the sixth motor first bevel gear, and one end of the central shaft of the sixth motor second bevel gear is connected to one end of the third L-shaped connecting rod. The sixth absolute encoder is located at one end of the sixth drive motor and is used to detect the rotation angle information of the third L-shaped connecting rod.

7. The master operator of the minimally invasive surgical robot with a multi-stage reduction wire transmission system according to claim 1, characterized in that, The seventh drive module includes a seventh drive motor, a seventh absolute encoder, a seventh motor locking element, a seventh motor bevel gear assembly, and a clamping base; The seventh motor is located at the other end of the third L-shaped connecting rod; The seventh motor bevel gear assembly is mounted on the output shaft of the seventh drive motor via the seventh motor locking element. The seventh motor bevel gear assembly includes a seventh motor first bevel gear and a seventh motor second bevel gear. The seventh motor first bevel gear is disposed on the output shaft of the seventh drive motor. The seventh motor second bevel gear meshes with the seventh motor first bevel gear, and one end of the central shaft of the seventh motor second bevel gear is connected to one end of the clamping base. The seventh absolute encoder is disposed at one end of the seventh drive motor and is used to detect the angle information of the rotation of the clamping base. The eighth drive module is connected to the clamping base.

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