Single-port surgical robot system

Abstract

The present invention discloses a single-port surgical robot system, which includes a support robotic arm disposed on a surgical operation table. At the bottom of the front end of the support robotic arm, there is a rotatable driving body, and an inclination axis manipulation assembly is disposed on the lower side of the driving body; the inclination axis manipulation assembly has at least two arc-shaped substrates, and slide rails are disposed on each substrate. The relative movement between the slide rails is controlled by a slide rail driving device, and a manipulator platform is disposed at the driving end of the inclination axis manipulation assembly; a linear manipulator and a surgical instrument are disposed at the bottom of the manipulator platform, an access catheter support body leading to the surgical instrument is disposed on the manipulator platform, and an access catheter for inserting the surgical instrument is disposed on the access catheter support body. The present invention aims to provide a single-port surgical robot system that can meet space requirements, can achieve a large movement range and high movement accuracy, and can prevent cross-infection of surgical instruments.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a single-port surgical robot system. Background Art

[0002] In a robotic-assisted surgical procedure, the surgeon and the patient to be operated on are in different activity areas. In a single-port surgical robot, four or more surgical instruments need to be integrally installed on a main control robotic arm platform, and each surgical instrument can achieve independent 6-degree-of-freedom Cartesian space motion and corresponding actions such as the opening and closing of the clamping head at the end of the instrument execution on the main control robotic arm. All instruments need to simultaneously achieve motion around a remote fixed point through the main control robotic arm, including yaw, tilt, and rotation motions. The depth of movement of the surgical instrument from the main control robotic arm platform to the patient's lesion site requires a relatively large length, which will then occupy a relatively large space volume at this time. Moreover, during the surgical operation, it is necessary to ensure the aseptic safety of the surgical instrument to avoid cross-infection of the surgical instrument by the outside. However, the surgical robotic arm device is composed of complex and precise mechanical components, motors, cables, sensors and other components, making it difficult to perform sterilization treatment that meets the surgical requirements. Therefore, there is an urgent need for a single-port surgical robot system that can meet the space requirements, achieve a large movement range and high movement accuracy, and prevent cross-infection of surgical instruments. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above deficiencies in the prior art, and aims to provide a single-port surgical robot system that can meet the space requirements, achieve a large movement range and high movement accuracy, and prevent cross-infection of surgical instruments.

[0004] To achieve the above object, the present invention is realized by the following technical solutions:

[0005] Single-port surgical robot system, including a support robotic arm arranged on a surgical operation table. At the bottom of the front end of the support robotic arm, there is a rotatable driving body, and an inclination axis manipulation assembly is arranged on the lower side of the driving body; the inclination axis manipulation assembly has at least two arc-shaped substrates, and slide rails are arranged on each substrate. The relative movement between the slide rails is controlled by a slide rail driving device. The driving end of the inclination axis manipulation assembly is provided with a manipulator platform; a linear manipulator and a surgical instrument are arranged at the bottom of the manipulator platform. An access catheter support body leading to the surgical instrument is arranged on the manipulator platform, and an access catheter for inserting the surgical instrument is arranged on the access catheter support body; the linear manipulator is a linear motion mechanism, and its extending end is connected to a driving assembly. The bottom of the driving assembly is detachably connected to the surgical instrument through a sterile adapter plate; a clamping assembly is arranged at the top of the surgical instrument. The clamping assembly includes a housing, a second buckle, a push rod, a release button, and a guiding assembly. A second clamping groove is opened on the top surface of the housing. The top of the second buckle extends out of the four corners of the housing. The bottom of the sterile adapter plate is provided with an adapter card plate that can be clamped in the second clamping groove, and a first clamping groove that can be clamped with the top of the second buckle. The bottom ends of the second buckles are symmetrically rotatably connected to the bottom of the housing. The push rod is horizontally arranged in the hole of the housing and abuts against the second buckle. A compression spring that abuts against the end of the push rod is also arranged in the hole. On the same side, the bottom of the second buckle is provided with a transfer member extending towards the release button, and the end of the transfer member on the same side is provided with a release force receiving surface facing the outer wall of the clamping assembly. The release force receiving surface is spherical. The release button is located on the side of the housing and is arranged corresponding to the release force receiving surface. A hole that coincides with the plane of the release button is opened on the outer wall of the housing. The release button is provided with a release push groove facing the release force receiving surface. The top inner wall of the release push groove has an inclined propulsion slope. A triangular propulsion top block is arranged at the bottom of the release push groove of the release button. The guiding assembly includes a limit track, a guiding wheel, and a guiding pin shaft. The limit tracks are symmetrically arranged between the side of each propulsion top block and the adapter card plate. A release push rod is fixedly arranged on the side of the limit track facing the adapter card plate. A vertically rotating roller is rotatably connected to the side of the limit track facing the propulsion top block. Each roller abuts against the propulsion top block. At least two guiding pin shafts are arranged in each limit track. The guiding wheel is sleeved on the guiding pin shaft and abuts against the limit track. A limit nut is arranged on the side of each guiding wheel facing the outside of the limit track. The end of the guiding pin shaft is fixed to the inner wall of the housing. A guiding cylinder is arranged at the top of the release button, and a guiding column that cooperates with the guiding cylinder is arranged in the housing.

[0006] Furthermore, the substrate includes a main substrate and a sub-substrate. The slide rails are arranged on one side where the main substrate and the sub-substrate face each other. Sliders are arranged on each slide rail. A main rack is arranged on the top surface of the main substrate, and a sub-rack is arranged on the top surface of the sub-substrate. The slide rail driving device includes a mounting frame connected between the sliders and a driving motor. The mounting frame has two mounting holes. The driving motor is installed in one of the mounting holes. A driving gear and a first driven gear are arranged on the output shaft of the driving motor. A second driven gear and a third driven gear are arranged in the other mounting hole through a gear shaft. The driving gear meshes with the main rack, the first driven gear meshes with the second driven gear, and the third driven gear meshes with the sub-rack. One side of the mounting frame is connected to the slider on the main substrate, and the other side of the mounting frame is connected to the slider on the sub-substrate through a connecting block. A mounting block connected to the driving body is arranged on the main substrate. An installation interface for connecting to the manipulator platform is arranged at the end of the sub-substrate.

[0007] Furthermore, the substrate includes a main substrate and a sub-substrate. A mounting block connected to the driving body is arranged on the main substrate. The main slide rail on the main substrate and the sub-slide rail on the sub-substrate are both arranged on the side facing the surgical instrument. A main rack is arranged on the top surface of the main substrate, and a sub-rack is arranged on the top surface of the sub-substrate. A main slider is slidably arranged on the main slide rail, and a sub-slider is slidably arranged on the sub-slide rail. The slide rail driving device includes a main gear, a sub-gear, a main mounting frame, and a sub-mounting frame. The main mounting frame is connected to the main slider, and a main driving motor is arranged on the main mounting frame. The main gear is connected to the output shaft of the main driving motor and meshes with the main rack. The sub-mounting frame is connected to the sub-slider, and a sub-driving motor is arranged on the sub-mounting frame. The sub-gear is connected to the output shaft of the sub-driving motor and meshes with the sub-rack. An installation interface for connecting to the manipulator platform is also arranged on the sub-mounting frame. A connecting block is fixedly arranged at the head end of the sub-substrate, and the connecting block is connected to the main mounting frame.

[0008] Furthermore, the substrate includes a main substrate and a sub-substrate. The main slide rail on the main substrate is arranged on the side facing the supporting robotic arm, and the sub-slide rail on the sub-substrate is arranged on the side facing the surgical instrument. A main rack is arranged on the top surface of the main substrate, and a sub-rack is arranged on the top surface of the sub-substrate. A main slider is slidably arranged on the main slide rail, and a sub-slider is slidably arranged on the sub-slide rail. A mounting block for connecting to the driving body is arranged on the main slider. The slide rail driving device includes a main gear, a sub-gear, a main mounting frame, and a sub-mounting frame. The main mounting frame is connected to the mounting block, and a main driving motor is arranged on the main mounting frame. The main gear is connected to the output shaft of the main driving motor and meshes with the main rack. The sub-mounting frame is connected to the sub-slider, and a sub-driving motor is arranged on the sub-mounting frame. The sub-gear is connected to the output shaft of the sub-driving motor and meshes with the sub-rack. An installation interface for connecting to the manipulator platform is also arranged on the sub-mounting frame. Connecting blocks are fixedly arranged at the end of the main substrate and the head end of the sub-substrate, and the connecting blocks of the two are connected to each other.

[0009] Further, the substrate includes a main substrate and a sub-substrate. The main slide rail on the main substrate and the sub-slide rail on the sub-substrate are both arranged on the side facing the supporting robotic arm. A main rack is provided on the top surface of the main substrate, and a sub-rack is provided on the top surface of the sub-substrate. A main slider is slidably arranged on the main slide rail, and a sub-slider is slidably arranged on the sub-slide rail. An installation block for connecting with the driving body is provided on the main slider. The slide rail driving device includes a main gear, a sub-gear, a main mounting frame and a sub-mounting frame. The main mounting frame is connected to the installation block, and a main driving motor is provided on the main mounting frame. The main gear is connected to the output shaft of the main driving motor and meshes with the main rack. The sub-mounting frame is connected to the sub-slider, and a sub-driving motor is provided on the sub-mounting frame. The sub-gear is connected to the output shaft of the sub-driving motor and meshes with the sub-rack. An installation interface for connecting with the manipulator platform is provided at the end of the sub-substrate, and a connecting block connected to the sub-mounting frame is provided at the end of the main substrate.

[0010] Further, an installation table for connecting with the linear manipulator is provided on the driving assembly, and convex platforms are provided on the side parts of the driving assembly. Grooves corresponding to the side parts of the convex platforms are respectively opened on the sterile adapter plate. A first buckle for clamping with the convex platform is rotatably connected in the groove through a pin shaft. A torsion spring cooperating with the sterile adapter plate is sleeved on the pin shaft of each first buckle. A spring perpendicular to the pin shaft is provided in the groove, a limiting top pin is provided at the top end of the spring, and a circular protrusion offset and abutted against the limiting top pin is provided at one end of the first buckle connected to the sterile adapter plate.

[0011] Further, the linear manipulator includes a first base, a driving screw, a first slide rail, a second base and a second slide rail. The first base is fixedly arranged at the bottom end of the manipulator platform. The first slide rail is vertically arranged along the length direction of the first base. The driving screw is arranged parallel to the first slide rail, and the top end of the driving screw is connected to the motor in the manipulator platform. A first slider is slidably arranged on the first slide rail. The second base is connected to the nut on the driving screw, and the top of the second base is connected to the first slider. The second slide rail is vertically arranged along the length direction of the second base. A second slider is slidably arranged on the second slide rail. A slide rail connecting piece for connecting with the driving assembly is connected to the second slider. Upper fixed pulleys and lower fixed pulleys are respectively provided at the top and bottom of the first base. Upper movable pulleys and lower movable pulleys are respectively provided at the top and bottom of the second base. A lower slide driving cable passing through the upper fixed pulley and the lower movable pulley and connected to the bottom end of the slide rail connecting piece is provided at the top of the first base. An upper slide driving cable passing through the lower fixed pulley and the upper movable pulley and connected to the top end of the slide rail connecting piece is provided at the bottom of the first base.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] (1) The tilting axis control assembly in the present invention is composed of a combination of double arc-shaped slide rails, which can realize the tilting rotation of the surgical robot and the access catheter around the remote fixed point in the zero space. At the same time, while reducing the space occupied by the robotic arm, it increases the tilting rotation angle range, improves the moving space volume of the surgical robot in the surgical operation procedure, expands the reachable surgical range of the surgical robot, and uses the arc-shaped guide rail to perform the tilting swing of the surgical instrument. By means of the mechanical structure, the accuracy of the movement center position and the swing radius is ensured, making the surgical operation have higher operating accuracy.

[0014] (2) The snap connection structure between the sterile adapter plate and the drive assembly realizes the reliable connection between the two, and the installation and disassembly are fast and convenient. Among them, the adapter card plate on the sterile adapter plate has a clamping lock position and a release lock position, and the switching operation between the functional positions is convenient. Moreover, the length of the adapter card plate can be designed to be relatively large, increasing the clamping contact area, so that the connection between the sterile adapter plate and the drive assembly has a high load-bearing capacity.

[0015] (3) The double-group snap connection structure between the clamping assembly at the top of the surgical instrument and the sterile adapter plate realizes the reliable connection between the surgical instrument and the sterile adapter plate. Both groups of snap connection structures can quickly achieve connection, and the two groups of snaps can be simultaneously released and unlocked through two release buttons inside the surgical instrument. The connection method of the two groups of snap structures can improve the greater load capacity of the surgical instrument, and the unlocking and release are carried out through a unified release structure, ensuring the quick installation, disassembly and replacement of the instrument in the surgical operation procedure and improving the surgical efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present invention;

[0017] Figure 2 is a schematic diagram of the movement axis of the surgical instrument in the present invention;

[0018] Figure 3 is a diagram of the tilting angle change of the surgical instrument in the present invention;

[0019] Figure 4 is an exploded view of the support robotic arm, tilting axis control assembly, and manipulator platform in the present invention;

[0020] Figure 5 is a schematic structural diagram of the tilting axis control assembly in Embodiment 1;

[0021] Figure 6 is an exploded view of the tilting axis control assembly in Embodiment 1;

[0022] Figure 7 is a schematic structural diagram of the slide rail drive device in Embodiment 1;

[0023] Figure 8 Schematic diagram of the movement of the slide rail drive device in Embodiment 1;

[0024] Figure 9 Schematic diagram of the connection between the manipulator platform and the surgical instrument in the present invention;

[0025] Figure 10 Schematic diagram of the structure of the drive assembly and the sterile adapter plate in the present invention;

[0026] Figure 11 Schematic diagram of the structure of the sterile adapter plate in the present invention;

[0027] Figure 12 Schematic diagram of the locked state structure of the first buckle in the present invention;

[0028] Figure 13 Schematic diagram of the released state structure of the first buckle in the present invention;

[0029] Figure 14 Schematic diagram of the upper end surface of the clamping assembly in the present invention;

[0030] Figure 15 Schematic diagram of the bottom of the sterile adapter plate in the present invention;

[0031] Figure 16 Schematic diagram of the release position of the second buckle in the present invention;

[0032] Figure 17 Schematic diagram of the locking position of the second buckle in the present invention;

[0033] Figure 18 Schematic diagram of the cooperation between the second buckle and the push rod in the present invention;

[0034] Figure 19 Schematic diagram of the internal structure of the clamping assembly in the present invention;

[0035] Figure 20 Schematic diagram of the structure of the second buckle in the present invention;

[0036] Figure 21 Schematic diagram of the structure of the release button and the guide assembly in the present invention;

[0037] Figure 22 Exploded view of the guide assembly in the present invention;

[0038] Figure 23 Schematic diagram of the structure of the release button in the present invention;

[0039] Figure 24 Top view of the release button and the guide assembly in the present invention;

[0040] Figure 25 Schematic diagram of the cooperation between the release button and the release force-bearing surface in the present invention;

[0041] Figure 26 Schematic diagram of the release action position 1 of the release button;

[0042] Figure 27 Schematic diagram of the release action position 2 of the release button;

[0043] Figure 28 Schematic diagram of the release action position 3 of the release button;

[0044] Figure 29 Schematic diagram of the release action position 4 of the release button;

[0045] Figure 30 Schematic diagram of the release action position 5 of the release button;

[0046] Figure 31 Schematic diagram of the comparison between position 1 and position 5;

[0047] Figure 32 Schematic diagram of the connection between the linear actuator and the actuator platform in the present invention;

[0048] Figure 33 Schematic diagram of the structure of the linear actuator in the present invention;

[0049] Figure 34 Schematic diagram of the layout structure of the pulley in the present invention;

[0050] Figure 35 Schematic diagram of the layout structure of the pulley in the present invention;

[0051] Figure 36 Schematic diagram of the structure of the tilt axis control assembly in Embodiment 2;

[0052] Figure 37 Exploded view of the tilt axis control assembly in Embodiment 2;

[0053] Figure 38 Schematic diagram of the structure of the tilt axis control assembly in Embodiment 3;

[0054] Figure 39 Exploded view of the tilt axis control assembly in Embodiment 3;

[0055] Figure 40 Schematic diagram of the structure of the tilt axis control assembly in Embodiment 4;

[0056] Figure 41 Exploded view of the tilt axis control assembly in Embodiment 4.

[0057] Reference numerals:

[0058] 1 - Support robotic arm, 2 - Driving body, 3 - Manipulator platform, 4 - Inlet catheter support, 5 - Driving assembly, 6 - Sterile adapter plate, 7 - Linear manipulator, 8 - Surgical instrument, 9 - Tilt axis manipulation assembly, 10 - Clamping assembly, 51 - Mounting table, 52 - Boss, 61 - First buckle, 62 - Pin shaft, 63 - Torsion spring, 64 - Groove, 65 - Spring, 66 - Limit top pin, 67 - Circular protrusion, 68 - Adapter card plate, 69 - First card slot, 71 - First base, 72 - First slide rail, 73 - First slider, 74 - Second base, 75 - Second slide rail, 76 - Second slider, 77 - Slide rail connector, 78 - Driving screw, 79 - Upper fixed pulley, 80 - Lower fixed pulley, 81 - Upper movable pulley, 82 - Lower movable pulley, 83 - Upper sliding driving cable, 84 - Lower sliding driving cable, 91 - Mounting block, 92 - Mounting interface, 93 - Main slide rail, 94 - Sub slide rail, 95 - Main base plate, 96 - Sub base plate, 97 - Main rack, 98 - Sub rack, 99 - Slide rail driving device, 101 - Second buckle, 102 - Second card slot, 103 - Push rod, 104 - Compression spring, 105 - Release force receiving surface, 106 - Adapter, 107 - Release button, 108 - Release push rod, 109 - Guide assembly, 901 - Connecting block, 902 - Main slider, 903 - Sub slider, 1071 - Guide cylinder, 1072 - Release push slot, 1073 - Propelling inclined plane, 1074 - Propelling top block, 1091 - Limit track, 1092 - Pulley pin shaft, 1093 - Roller, 1094 - Guide wheel, 1095 - Guide pin shaft, 9901 - Driving gear, 9902 - First driven gear, 9903 - Second driven gear, 9904 - Driving motor, 9905 - Third driven gear, 9906 - Mounting frame, 9911 - Main gear, 9912 - Sub gear, 9913 - Main driving motor, 9914 - Sub driving motor, 9915 - Main mounting frame, 9916 - Sub mounting frame. Detailed implementation mode

[0059] The present invention will be described in detail below with reference to the drawings and in conjunction with embodiments.

[0060] Embodiment 1

[0061] As Figures 1 to 35As shown, the single-port surgical robot system includes a support robotic arm 1 disposed on a surgical operation table. At the bottom of the front end of the support robotic arm 1, there is a rotatable driving body 2. An inclination axis manipulation assembly 9 is disposed on the lower side of the driving body 2; the inclination axis manipulation assembly 9 has at least two arc-shaped substrates. Slide rails are disposed on each substrate, and the relative movement between the slide rails is controlled by a slide rail driving device 99. The driving end of the inclination axis manipulation assembly 9 is provided with a manipulator platform 3; a linear manipulator 7 and a surgical instrument 8 are disposed at the bottom of the manipulator platform 3. An entry catheter support 4 leading to the surgical instrument 8 is disposed on the manipulator platform 3. An entry catheter for inserting the surgical instrument 8 is disposed on the entry catheter support 4; the linear manipulator 7 is a linear motion mechanism, and its extended end is connected to a driving assembly 5. The bottom of the driving assembly 5 is detachably connected to the surgical instrument 8 through a sterile adapter plate 6.

[0062] As Figures 5 to 8 shown, the substrate includes a main substrate 95 and a sub-substrate 96. The slide rails are disposed on the corresponding sides of the main substrate 95 and the sub-substrate 96. Sliders are disposed on each slide rail. A main rack 97 is disposed on the top surface of the main substrate 95, and a sub-rack 98 is disposed on the top surface of the sub-substrate 96. The slide rail driving device 99 includes a mounting bracket 9906 connected between the sliders and a driving motor 9904. The mounting bracket 9906 has two mounting holes. The driving motor 9904 is mounted in one of the mounting holes. A driving gear 9901 and a first driven gear 9902 are disposed on the output shaft of the driving motor 9904. A second driven gear 9903 and a third driven gear 9905 are disposed through a gear shaft in the other mounting hole. The driving gear 9901 meshes with the main rack 97, the first driven gear 9902 meshes with the second driven gear 9903, and the third driven gear 9905 meshes with the sub-rack 98. One side of the mounting bracket 9906 is connected to the slider on the main substrate 95, and the other side of the mounting bracket 9906 is connected to the slider on the sub-substrate 96 through a connecting block 901. A mounting block 91 connected to the driving body 2 is disposed on the main substrate 95. An installation interface 92 for connecting to the manipulator platform 3 is disposed at the end of the sub-substrate 96.

[0063] In the present invention, the tilting axis control assembly is composed of a combination of two arc-shaped slide rails. The circumferences of the slideways of the two slide rails are coaxially arranged. This composition method can expand the rotation angle range of the slide rails and simultaneously reduce the circumferential occupied space of the assembly. When it is necessary to adjust the surgical instrument to reduce the tilting angle, the control drive motor 9904 is started, driving the driving gear 9901 to rotate towards the tail of the main rack 97. The first driven gear 9902 coaxial with the driving gear 9901 rotates in the same direction as the driving gear 9901, thereby driving the second driven gear 9903 meshing with the first driven gear 9902 to rotate, causing the third driven gear 9905 coaxial with the second driven gear 9903 to rotate in the opposite direction relative to the driving gear 9901, driving the auxiliary rack 98 to move, and finally causing the main slide rail 93 and the auxiliary slide rail 94 to slide out of alignment relative to the connected main slider 902 and auxiliary slider 903, separating the auxiliary substrate 96 and the main substrate 95. When it is necessary to adjust the surgical instrument 8 to increase the tilting angle, the control drive motor 9904 is started in the reverse direction.

[0064] One side of the mounting bracket 9906 is connected to the slider on the main substrate 95, and the other side of the mounting bracket 9906 is connected to the slider on the auxiliary substrate 96 through the connecting block 901. Adding the connecting block 901 can reduce the number of screw holes on the mounting bracket 9906, facilitate reducing the area of the mounting bracket 9906, and reduce the occupied area of the tilting axis control assembly 9. An installation block 91 for connecting with the driving body 2 is provided on the main substrate 95, and an installation interface 92 for connecting with the manipulator platform 3 is provided on the auxiliary substrate 96. The installation block 91 is used to connect the tilting axis control assembly 9 with the driving body 2 to adjust the yaw axis of the surgical instrument 8.

[0065] As Figures 9 to 13 shown, an installation platform 51 for connecting with the linear manipulator 7 is provided on the driving assembly 5. Protrusions 52 are provided on the sides of the driving assembly 5. Corresponding grooves 64 are provided on the sides of the sterile adapter plate 6 corresponding to the protrusions 52. A first buckle 61 for clamping with the protrusion 52 is rotatably connected in the groove 64 through a pin shaft 62. A torsion spring 63 cooperating with the sterile adapter plate 6 is sleeved on the pin shaft 62 of each first buckle 61. A spring 65 perpendicular to the pin shaft 62 is provided in the groove 64. A limit top pin 66 is provided at the top of the spring 65. One end of the first buckle 61 connected to the sterile adapter plate 6 has a circular protrusion 67 that is offset and abutted against the limit top pin 66.

[0066] In the present invention, in order to achieve the multiple disassembly and installation of the surgical instrument to the main manipulator of the contaminated instrument, the sterile adapter plate 6 is used as an intermediate adapter. The sterile adapter plate 6 is installed on the driving assembly 5, and the surgical instrument 8 is then installed and connected to the sterile adapter plate 6 to achieve the driving purpose of the driving assembly 5 for the surgical instrument 8. As Figure 12As shown, at the position where the first buckle 61 is to be clamped, the limit top pin 66 applies a thrust F1 to the first buckle 61 through the spring 65, and the torsion spring 63 applies a torque M1 around the center line of the pin shaft to the first buckle 61. The torque generated by F1 on the first buckle 61 is in the same direction as M1. However, at this time, the rotation of the first buckle 61 is restricted by the circular protrusion 67 abutting against the structural plane of the sterile adapter plate 6, and the first buckle 61 stays at this position. As Figure 13 shown, when the doctor manually separates the first buckle 61 outward to the buckle release and locking position, the torsion spring 63 generates a torque M2 on the first buckle 61, and the limit top pin 66 applies a thrust F2 to the first buckle 61 under the action of the spring 65. At this time, the acting force of the torsion spring 63, the acting force of the spring 65 against the circular protrusion 67 through the limit top pin 66, and the contact resistance between the limit top pin 66 and the inner wall of the sterile adapter plate reach equilibrium, and the first buckle 61 stays at the release and locking position.

[0067] As Figures 14 to 31As shown, a clamping assembly 10 is provided at the top of the surgical instrument 8. The clamping assembly 10 includes a housing, a second buckle 101, a push rod 103, a release button 107, and a guiding assembly 109. A second clamping groove 102 is formed on the top surface of the housing. The top of the second buckle 101 extends out of the four corners of the housing. A transfer card plate 68 that can be clamped in the second clamping groove 102 and a first clamping groove 69 that can be clamped with the top of the second buckle 101 are provided at the bottom of the sterile adapter plate 6. The bottom ends of the second buckles 101 are symmetrically and rotatably connected to the bottom of the housing. The push rod 103 is horizontally arranged in the hole of the housing and abuts against the second buckle 101. A compression spring 104 that abuts against the end of the push rod 103 is also arranged in the hole. A transfer member 106 that extends towards the middle of the side surface is provided at the bottom of the second buckle 101 on the same side. A release force-receiving surface 105 that faces the outer wall of the clamping assembly 10 is provided at the end of the transfer member 106 on the same side. The release force-receiving surface 105 is spherical. The release button 107 is located on the side of the housing and is arranged corresponding to the release force-receiving surface 105. A hole that coincides with the plane of the release button 107 is formed on the outer wall of the housing. A release push groove 1072 is formed on the release button 107 towards the release force-receiving surface 105. The top inner wall of the release push groove 1072 has an inclined pushing slope 1073. A triangular pushing top block 1074 is arranged at the bottom of the release push groove 1072 of the release button 107. The guiding assembly 109 includes a limiting track 1091, a guiding wheel 1094, and a guiding pin shaft 1095. The limiting tracks 1091 are symmetrically arranged between the side of each pushing top block 1074 and the transfer card plate 68. A release push rod 108 is fixedly arranged on the side of the limiting track 1091 facing the transfer card plate 68. A vertically rotating roller 1093 is rotatably connected to the side of the limiting track 1091 facing the pushing top block 1074. Each roller 1093 abuts against the pushing top block 1074. Two guiding pin shafts 1095 are arranged in each limiting track 1091. The guiding wheel 1094 is sleeved on the guiding pin shaft 1095 and abuts against the limiting track 1091. A limiting nut is arranged on the side of each guiding pin shaft 1095 facing the outside of the limiting track 1091. The end of the guiding pin shaft 1095 is fixed to the inner wall of the housing.

[0068] As Figure 16 and Figure 17 shown, when the clamping assembly 10 is installed on the sterile adapter plate 6, under the upward installation thrust, the sterile adapter plate 6 pushes the second buckle 101 open to the release position until the clamping assembly 10 is installed in place with the sterile adapter plate 6. The second buckle 101 returns to the locking position under the action of the push rod 103, completing the buckling connection.

[0069] As Figure 18As shown in the figure, under the action of the compression spring 104, the push rod 103 applies a thrust F to the second buckle 101, causing the second buckle 101 to generate a torque M1. Under the action of the torque M1, the second buckle 101 is in the locked position.

[0070] In the present invention, the release and detachment of the adapter card plate 68 on the sterile adapter plate 6 from the second card slot 102 are realized by four guiding components 109 with release push rods 108 and two release buttons 107. The release and detachment between the 4 second buckles 101 and the first card slot 69 are simultaneously realized by the two release buttons 107. As Figures 26 to 30 shown in the figure, the acting positions of the release button 107 can be divided into the following: (1) Position 1: The release button 107 is in the initial position, the second buckle 101 is in the locked position, and the two are not in contact; (2) Position 2: The release button 107 starts to move, and the pushing slope 1073 begins to contact the spherical release force-receiving surface 105's force-receiving cylindrical surface; (3) Position 3: The release button 107 continues to move forward, and applies a thrust to the second buckle 101 through the pushing slope 1073 and the release force-receiving surface 105 to push it away from the locked position; (4) Position 4: The release force-receiving surface 105 disengages from the pushing slope 1073, and the release force-receiving surface 105 begins to contact the inner wall of the release push groove 1072. At this time, the second buckle 101 is pushed to the release position; (5) Position 5: The release button 107 continues to move forward, the release force-receiving surface 105 continues to contact the release push groove 1072, the second buckle 101 remains in the release position, and the release button 107 will no longer generate a horizontal thrust on the second buckle 101 during this process.

[0071] As Figure 31 shown in the figure, during the movement of the release button 107 from position 1 to position 5, it will simultaneously apply a thrust to the limit track 1091, and starts to contact its roller 1093 at position 1. At this time, the release push rod 108 assembly is in the initial position. When the release button 107 moves to position 5, the release push rod 108 is also pushed to the release position at the bottom of the adapter card plate 68 to push the adapter card plate 68 away from the second card slot 102, realizing the detachment of the adapter card plate 68.

[0072] A guiding cylinder 1071 is provided at the top of the release button 107, and a guiding column matching with the guiding cylinder 1071 is provided inside the housing, ensuring that the pressing track of the release button 107 is maintained in a straight line.

[0073] As Figures 32 to 35As shown in the figure, the linear actuator 7 includes a first base 71, a driving screw 78, a first slide rail 72, a second base 74 and a second slide rail 75. The first base 71 is fixedly arranged at the bottom end of the actuator platform 3. The first slide rail 72 is vertically arranged along the length direction of the first base 71. The driving screw 78 is arranged parallel to the first slide rail 72. The top end of the driving screw 78 is connected to the motor in the actuator platform 3. A first slider 73 is slidably arranged on the first slide rail 72. The second base 74 is connected to the nut on the driving screw 78. The top of the second base 74 is connected to the first slider 73. The second slide rail 75 is vertically arranged along the length direction of the second base 74. A second slider 76 is slidably arranged on the second slide rail 75. A slide rail connecting member 77 for connecting with the driving assembly 5 is connected to the second slider 76. An upper fixed pulley 79 and a lower fixed pulley 80 are respectively arranged at the top and bottom of the first base 71. An upper movable pulley 81 and a lower movable pulley 82 are respectively arranged at the top and bottom of the second base 74. A lower slide driving cable 84 passing through the upper fixed pulley 79 and the lower movable pulley 82 and connected to the bottom end of the slide rail connecting member 77 is arranged at the top of the first base 71. An upper slide driving cable 83 passing through the lower fixed pulley 80 and the upper movable pulley 81 and connected to the top end of the slide rail connecting member 77 is arranged at the bottom of the first base 71.

[0074] In the linear actuator 7 of the present invention, the linear motion of the slide rail is driven by a driving screw 78. In order to achieve the effect of a single driving power source, a mechanism scheme of double cable equal-length closed-loop reverse drive is adopted. When the driving screw 78 rotates to raise the second base 74, the first slider 73 rises with the second base 74. When the second base 74 rises, it will lift the upper slide driving cable 83, and at the same time, the lower slide driving cable 84 will change accordingly, causing the slide rail connecting member 77 to move upward. When the driving screw 78 rotates to lower the second base 74, the first slider 73 descends with the second base 74. When the second base 74 descends, it will push the lower slide driving cable 84 to extend downward, and at the same time, the upper slide driving cable 83 will change accordingly, causing the slide rail connecting member 77 to move downward, so that the linear actuator 7 can drive the surgical instrument 8 to perform telescopic motion.

[0075] The surgical procedure of the present invention is as follows:

[0076] (1) Make an incision on the human body epidermis, insert the instrument guiding tube into the human body through the incision and insert the guiding tube into the marked position on the human body epidermis, so that Figure 2 the zero-space remote center fixed point in it coincides with the epidermis, and then introduce carbon dioxide gas to expand the human abdomen.

[0077] (2) Control the support robotic arm 1 through the control buttons to move the access catheter support body 4 on the surgical instrument 8 to the position of the guiding tube, and snap the guiding tube to the end of the access catheter support body 4, so as to realize the fixed connection between the guiding tube and the manipulator platform 3. Move the pointing of the instrument guiding tube to a pre-reasonable position by controlling the yaw and tilt motion axes.

[0078] (3) Install the sterile adapter plate 6 on the drive assembly 5 on the manipulator platform 3, then install the end of the surgical instrument 8 on the sterile adapter plate 6, and insert the surgical instrument 8 into the human body along the inside of the instrument guiding tube by controlling the linear manipulator 7. First, install the endoscope instrument in place and insert it into the human body. Control the rotation axis through the manipulator platform 3, control the yaw axis through the drive body 2, and control the tilt axis through the tilt axis manipulation assembly 9 to adjust the orientation of the endoscope instrument. Find a reasonable orientation by observing the endoscope image. Then install the remaining forceps surgical instruments in place to start the surgical operation. During the operation, the orientation of the surgical instrument 8 can still be adjusted as a whole by controlling the movement of the yaw axis, tilt axis and rotation axis. Among them, the manipulator platform 3 and the drive assembly 5 can adopt the instrument manipulator of the surgical instrument disclosed in the invention patent surgical system instrument manipulator with the application number 201180024036.8.

[0079] Embodiment 2

[0080] As Figure 36 and Figure 37 shown, the substrate includes a main substrate 95 and a secondary substrate 96. An installation block 91 connected to the drive body 2 is provided on the main substrate 95. The main slide rail 93 on the main substrate 95 and the secondary slide rail 94 on the secondary substrate 96 are both arranged on the side facing the surgical instrument 8. A main rack 97 is provided on the top surface of the main substrate 95, and a secondary rack 98 is provided on the top surface of the secondary substrate 96. A main slider 902 is slidably arranged on the main slide rail 93, and a secondary slider 903 is slidably arranged on the secondary slide rail 94. The slide rail drive device 99 includes a main gear 9911, a secondary gear 9912, a main mounting bracket 9915 and a secondary mounting bracket 9916. The main mounting bracket 9915 is connected to the main slider 902. A main drive motor 9913 is provided on the main mounting bracket 9915. The main gear 9911 is connected to the output shaft of the main drive motor 9913 and meshes with the main rack 97. The secondary mounting bracket 9916 is connected to the secondary slider 903. A secondary drive motor 9914 is provided on the secondary mounting bracket 9916. The secondary gear 9912 is connected to the output shaft of the secondary drive motor 9914 and meshes with the secondary rack 98. An installation interface 92 for connecting to the manipulator platform 3 is also provided on the secondary mounting bracket 9916. A connection block 901 is fixedly provided at the head end of the secondary substrate 96, and the connection block 901 is connected to the main mounting bracket 9915.

[0081] In this embodiment, both the main slide rail 93 and the secondary slide rail 94 are driven to slide by their respective independent drive assemblies. The main gear 9911 rotates under the drive of the main drive motor 9913. Through the meshing movement between the main gear 9911 and the main rack 97, the main slider 902 slides along the rotation direction of the main drive motor 9913, while driving the overall movement of the secondary substrate 96. The secondary gear 9912 rotates under the drive of the secondary drive motor 9914. Through the meshing movement between the secondary gear 9912 and the secondary rack 98, the secondary slider 902 slides on the secondary slide rail 94. Therefore, by controlling the co-rotation of the main slide rail drive motor and the secondary slide rail drive motor, the independent co-directional movement of the main and secondary slide rails can be achieved, and ultimately the combined movement of the end load can be realized.

[0082] Embodiment 3

[0083] As Figure 38 and Figure 39 shown, the substrate includes a main substrate 95 and a secondary substrate 96. The main slide rail 93 on the main substrate 95 is arranged on the side facing the support robotic arm 1, and the secondary slide rail 94 on the secondary substrate 96 is arranged on the side facing the surgical instrument 8. The top surface of the main substrate 95 is provided with a main rack 97, and the top surface of the secondary substrate 96 is provided with a secondary rack 98. A main slider 902 is slidably arranged on the main slide rail 93, and a secondary slider 903 is slidably arranged on the secondary slide rail 94. An installation block 91 for connecting to the drive body 2 is arranged on the main slider 902. The slide rail drive device 99 includes a main gear 9911, a secondary gear 9912, a main mounting bracket 9915, and a secondary mounting bracket 9916. The main mounting bracket 9915 is connected to the installation block 91. A main drive motor 9913 is arranged on the main mounting bracket 9915. The main gear 9911 is connected to the output shaft of the main drive motor 9913 and meshes with the main rack 97. The secondary mounting bracket 9916 is connected to the secondary slider 903. A secondary drive motor 9914 is arranged on the secondary mounting bracket 9916. The secondary gear 9912 is connected to the output shaft of the secondary drive motor 9914 and meshes with the secondary rack 98. An installation interface 92 for connecting to the manipulator platform 3 is also arranged on the secondary mounting bracket 9916. Connecting blocks 901 are fixedly arranged at the ends of the main substrate 95 and the heads of the secondary substrate 96, and the connecting blocks 901 of the two are connected to each other.

[0084] In this embodiment, both the main slide rail 93 and the secondary slide rail 94 are driven to slide by their respective independent drive assemblies. The main gear 9911 meshes with the main rack 97 and rotates driven by the main drive motor 9913. Since the main mounting bracket 9915 is fixedly connected to the mounting block 91, when the main gear 9911 meshes with the main rack 97, the main substrate 95 slides in the direction opposite to the rotation direction of the main drive motor 9913, and at the same time drives the overall movement of a part of the secondary substrate 96. The secondary gear 9912 meshes with the secondary rack 98 and rotates driven by the secondary drive motor 9914. When the secondary gear 9912 meshes with the secondary rack 98, the secondary slider 903 drives the mounting interface 92 to slide along the rotation direction of the secondary drive motor 9914. Therefore, by controlling the reverse rotation of the main drive motor 9913 and the secondary drive motor 9914, the independent and same-direction movement of the main and secondary slide rails can be achieved, and finally the combined movement of the end load can be realized.

[0085] Embodiment 4

[0086] The substrate includes a main substrate 95 and a secondary substrate 96. The main slide rail 93 on the main substrate 95 and the secondary slide rail 94 on the secondary substrate 96 are both arranged on the side facing the support robotic arm 1. The top surface of the main substrate 95 is provided with a main rack 97, and the top surface of the secondary substrate 96 is provided with a secondary rack 98. A main slider 902 is slidably arranged on the main slide rail 93, and a secondary slider 903 is slidably arranged on the secondary slide rail 94. A mounting block 91 for connecting with the drive body 2 is arranged on the main slider 902. The slide rail drive device 99 includes a main gear 9911, a secondary gear 9912, a main mounting bracket 9915 and a secondary mounting bracket 9916. The main mounting bracket 9915 is connected to the mounting block 91, and a main drive motor 9913 is arranged on the main mounting bracket 9915. The main gear 9911 is connected to the output shaft of the main drive motor 9913 and meshes with the main rack 97. The secondary mounting bracket 9916 is connected to the secondary slider 903, and a secondary drive motor 9914 is arranged on the secondary mounting bracket 9916. The secondary gear 9912 is connected to the output shaft of the secondary drive motor 9914 and meshes with the secondary rack 98. The end of the secondary substrate 96 is provided with a mounting interface 92 for connecting with the manipulator platform 3, and the end of the main substrate 95 is provided with a connecting block 901 connected to the secondary mounting bracket 9916.

[0087] In this embodiment, both the main slide rail 93 and the secondary slide rail 94 are driven to slide through their respective independent drive components. The main gear 9911 meshes with the main rack 97. The main gear 9911 rotates driven by the main drive motor 9913. Since the main mounting bracket 9915 is fixedly connected to the mounting block 91, when the main gear 9911 meshes with the main rack 97, the main substrate 95 slides in the direction opposite to the rotation direction of the main drive motor 9913, and at the same time drives the overall movement of a part of the secondary substrate 96. The secondary mounting bracket 9916 is fixedly connected to the connecting block 901. Therefore, when the secondary gear 9912 meshes with the secondary rack 98, the secondary substrate 96 slides in the direction opposite to the rotation direction of the secondary drive motor 9914. Therefore, by controlling the main drive motor 9913 and the secondary drive motor 9914 to rotate in the same direction, the independent co-directional movement of the main slide rail 93 and the secondary slide rail 94 can be achieved, and finally the combined movement of the end load can be realized.

Claims

1. A single-port surgical robot system, comprising a support robotic arm (1) disposed on a surgical operating table, and a rotatable driving body (2) is provided at the bottom of the front end of the support robotic arm (1), characterized in that: A tilt axis manipulation assembly (9) is provided on the lower side of the driving body (2); the tilt axis manipulation assembly (9) has at least two arc-shaped substrates, slide rails are provided on each substrate, and the relative movement between the slide rails is controlled by a slide rail driving device (99). A manipulator platform (3) is provided at the driving end of the tilt axis manipulation assembly (9); a linear manipulator (7) and a surgical instrument (8) are provided at the bottom of the manipulator platform (3), an access catheter support (4) leading to the surgical instrument (8) is provided on the manipulator platform (3), and an access catheter for inserting the surgical instrument (8) is provided on the access catheter support (4); the linear manipulator (7) is a linear motion mechanism, its extended end is connected to the driving assembly (5), and the bottom of the driving assembly (5) is detachably connected to the surgical instrument (8) through a sterile adapter plate (6).A clamping assembly (10) is provided at the top of the surgical instrument (8). The clamping assembly (10) includes a housing, a second buckle (101), a push rod (103), a release button (107), and a guiding assembly (109). A second clamping groove (102) is formed on the top surface of the housing. The top of the second buckle (101) extends out of the four corners of the housing. A transfer card plate (68) capable of being clamped in the second clamping groove (102) and a first clamping groove (69) capable of being clamped with the top of the second buckle (101) are provided at the bottom of the sterile transfer plate (6). The bottom ends of the second buckles (101) are symmetrically and rotatably connected to the bottom of the housing. The push rod (103) is horizontally arranged in the hole of the housing and abuts against the second buckle (101). A compression spring (104) abutting against the end of the push rod (103) is further arranged in the hole. A transfer member (106) extending towards the release button (107) is provided at the bottom of the second buckle (101) on the same side. A release force receiving surface (105) facing the outer wall of the clamping assembly (10) is provided at the end of the transfer member (106) on the same side. The release force receiving surface (105) is spherical. The release button (107) is located at the side of the housing and is arranged corresponding to the release force receiving surface (105). A hole coinciding with the plane of the release button (107) is formed on the outer wall of the housing. A release push groove (1072) is formed on the release button (107) facing the release force receiving surface (105). The top inner wall of the release push groove (1072) has an inclined pushing slope (1073). A triangular pushing top block (1074) is arranged at the bottom of the release push groove (1072) of the release button (107). The guiding assembly (109) includes a limiting track (1091), a guiding wheel (1094), and a guiding pin shaft (1095). The limiting tracks (1091) are symmetrically arranged between the side of each pushing top block (1074) and the transfer card plate (68). A release push rod (108) is fixedly arranged on the side of the limiting track (1091) facing the transfer card plate (68). A vertically rotating roller (1093) is rotatably connected to the side of the limiting track (1091) facing the pushing top block (1074). Each roller (1093) abuts against the pushing top block (1074). At least two guiding pin shafts (1095) are arranged in each limiting track (1091). The guiding wheel (1094) is sleeved on the guiding pin shaft (1095) and abuts against the limiting track (1091). A limiting nut is arranged on the side of each guiding pin shaft (1095) facing the outside of the limiting track (1091). The end of the guiding pin shaft (1095) is fixed to the inner wall of the housing. A guiding cylinder (1071) is arranged at the top of the release button (107). A guiding column matched with the guiding cylinder (1071) is arranged in the housing.; 2. The single-port surgical robot system according to claim 1, characterized in that: The substrate includes a main substrate (95) and a secondary substrate (96). The slide rails are arranged on one side of the main substrate (95) and the secondary substrate (96) corresponding to each other. Sliders are arranged on each slide rail. A main rack (97) is arranged on the top surface of the main substrate (95), and a secondary rack (98) is arranged on the top surface of the secondary substrate (96). The slide rail driving device (99) includes a mounting frame (9906) connected between the sliders and a driving motor (9904). The mounting frame (9906) has two mounting holes. The driving motor (9904) is mounted in one of the mounting holes. A driving gear (9901) and a first driven gear (9902) are arranged on the output shaft of the driving motor (9904). A second driven gear (9903) and a third driven gear (9905) are arranged in the other mounting hole through a gear shaft. The driving gear (9901) meshes with the main rack (97), the first driven gear (9902) meshes with the second driven gear (9903), and the third driven gear (9905) meshes with the secondary rack (98). One side of the mounting frame (9906) is connected to the slider on the main substrate (95), and the other side of the mounting frame (9906) is connected to the slider on the secondary substrate (96) through a connecting block (901). A mounting block (91) connected to the driving body (2) is arranged on the main substrate (95). An installation interface (92) for connecting to the manipulator platform (3) is arranged at the end of the secondary substrate (96).

3. The single-port surgical robot system according to claim 1, wherein: The substrate includes a main substrate (95) and a secondary substrate (96). A mounting block (91) connected to the driving body (2) is arranged on the main substrate (95). The main slide rail (93) on the main substrate (95) and the secondary slide rail (94) on the secondary substrate (96) are both arranged on the side facing the surgical instrument (8). A main rack (97) is arranged on the top surface of the main substrate (95), and a secondary rack (98) is arranged on the top surface of the secondary substrate (96). A main slider (902) is slidably arranged on the main slide rail (93), and a secondary slider (903) is slidably arranged on the secondary slide rail (94). The slide rail driving device (99) includes a main gear (9911), a secondary gear (9912), a main mounting frame (9915) and a secondary mounting frame (9916). The main mounting frame (9915) is connected to the main slider (902). A main driving motor (9913) is arranged on the main mounting frame (9915). The main gear (9911) is connected to the output shaft of the main driving motor (9913) and meshes with the main rack (97). The secondary mounting frame (9916) is connected to the secondary slider (903). A secondary driving motor (9914) is arranged on the secondary mounting frame (9916). The secondary gear (9912) is connected to the output shaft of the secondary driving motor (9914) and meshes with the secondary rack (98). An installation interface (92) for connecting to the manipulator platform (3) is also arranged on the secondary mounting frame (9916). A connecting block (901) is fixedly arranged at the head end of the secondary substrate (96), and the connecting block (901) is connected to the main mounting frame (9915).

4. The single-port surgical robot system according to claim 1, wherein: The substrate includes a main substrate (95) and a secondary substrate (96). The main slide rail (93) on the main substrate (95) is arranged on the side facing the support robotic arm (1), and the secondary slide rail (94) on the secondary substrate (96) is arranged on the side facing the surgical instrument (8). A main rack (97) is provided on the top surface of the main substrate (95), and a secondary rack (98) is provided on the top surface of the secondary substrate (96). A main slider (902) is slidably arranged on the main slide rail (93), and a secondary slider (903) is slidably arranged on the secondary slide rail (94). An installation block (91) for connecting with the driving body (2) is provided on the main slider (902). The slide rail driving device (99) includes a main gear (9911), a secondary gear (9912), a main mounting frame (9915) and a secondary mounting frame (9916). The main mounting frame (9915) is connected to the installation block (91). A main driving motor (9913) is provided on the main mounting frame (9915). The main gear (9911) is connected to the output shaft of the main driving motor (9913) and meshes with the main rack (97). The secondary mounting frame (9916) is connected to the secondary slider (903). A secondary driving motor (9914) is provided on the secondary mounting frame (9916). The secondary gear (9912) is connected to the output shaft of the secondary driving motor (9914) and meshes with the secondary rack (98). An installation interface (92) for connecting with the manipulator platform (3) is further provided on the secondary mounting frame (9916). Connecting blocks (901) are fixedly provided at the end of the main substrate (95) and the head end of the secondary substrate (96), and the connecting blocks (901) of the two are connected to each other.

5. The single-port surgical robot system according to claim 1, wherein: The substrate includes a main substrate (95) and a secondary substrate (96). The main slide rail (93) on the main substrate (95) and the secondary slide rail (94) on the secondary substrate (96) are both arranged on the side facing the support robotic arm (1). The top surface of the main substrate (95) is provided with a main rack (97), and the top surface of the secondary substrate (96) is provided with a secondary rack (98). A main slider (902) is slidably arranged on the main slide rail (93), and a secondary slider (903) is slidably arranged on the secondary slide rail (94). An installation block (91) for connecting with the driving body (2) is arranged on the main slider (902). The slide rail driving device (99) includes a main gear (9911), a secondary gear (9912), a main mounting bracket (9915), and a secondary mounting bracket (9916). The main mounting bracket (9915) is connected to the installation block (91). A main driving motor (9913) is arranged on the main mounting bracket (9915). The main gear (9911) is connected to the output shaft of the main driving motor (9913) and meshes with the main rack (97). The secondary mounting bracket (9916) is connected to the secondary slider (903). A secondary driving motor (9914) is arranged on the secondary mounting bracket (9916). The secondary gear (9912) is connected to the output shaft of the secondary driving motor (9914) and meshes with the secondary rack (98). An installation interface (92) for connecting with the manipulator platform (3) is arranged at the end of the secondary substrate (96), and a connecting block (901) connected to the secondary mounting bracket (9916) is arranged at the end of the main substrate (95).

6. The single-port surgical robot system according to claim 1, wherein: An installation platform (51) for connecting with the linear manipulator (7) is arranged on the driving assembly (5). Protrusions (52) are arranged on the side parts of the driving assembly (5). Grooves (64) corresponding to the side parts of the protrusions (52) are respectively formed on the sterile adapter plate (6). A first buckle (61) for clamping with the protrusion (52) is rotatably connected in the groove (64) through a pin shaft (62). A torsion spring (63) matching with the sterile adapter plate (6) is sleeved on the pin shaft (62) of each first buckle (61). A spring (65) perpendicular to the pin shaft (62) is arranged in the groove (64). A limit top pin (66) is arranged at the top end of the spring (65). One end of the first buckle (61) connected to the sterile adapter plate (6) has a circular protrusion (67) which is offset and abutted against the limit top pin (66).

7. The single-port surgical robot system according to claim 1, characterized in that: The linear manipulator (7) includes a first base (71), a driving screw (78), a first slide rail (72), a second base (74) and a second slide rail (75). The first base (71) is fixedly arranged at the bottom end of the manipulator platform (3). The first slide rail (72) is vertically arranged along the length direction of the first base (71). The driving screw (78) is arranged parallel to the first slide rail (72). The top end of the driving screw (78) is connected to the motor in the manipulator platform (3). A first slider (73) is slidably arranged on the first slide rail (72). The second base (74) is connected to the nut on the driving screw (78). The top of the second base (74) is connected to the first slider (73). The second slide rail (75) is vertically arranged along the length direction of the second base (74). A second slider (76) is slidably arranged on the second slide rail (75). A slide rail connecting member (77) for connecting to the driving assembly (5) is connected to the second slider (76). An upper fixed pulley (79) and a lower fixed pulley (80) are respectively arranged at the top and bottom of the first base (71). An upper movable pulley (81) and a lower movable pulley (82) are respectively arranged at the top and bottom of the second base (74). A lower slide driving cable (84) passing through the upper fixed pulley (79) and the lower movable pulley (82) and connected to the bottom end of the slide rail connecting member (77) is arranged at the top of the first base (71). An upper slide driving cable (83) passing through the lower fixed pulley (80) and the upper movable pulley (81) and connected to the top end of the slide rail connecting member (77) is arranged at the bottom of the first base (71).

Images