Rotary mechanism and minimally invasive surgical robot

Abstract

The application provides a rotating mechanism and a minimally invasive surgical robot thereof, and relates to a rotating mechanism and a minimally invasive surgical robot thereof. The rotating mechanism comprises a shell and a rotating assembly. The rotating assembly comprises a rotating shaft and at least one set of brake members arranged on the rotating shaft. The brake members comprise a stator and a metal member. The rotating shaft is rotatably connected to the shell. The stator is connected to the shell. The metal member is connected to the rotating shaft and corresponds to the position of the stator in the axial direction of the rotating shaft. The stator is magnetically adsorbed with the metal member in the power-off state to brake the rotating shaft. At this time, the stator and the metal member are both in the shell. The internal space of the shell is fully utilized. The metal member corresponds to the position of the stator in the axial direction of the rotating shaft, so that the metal member and the stator are stacked in the longitudinal space. The overall volume of the stator and the metal member is smaller than the overall volume of the speed reducer and the brake, thereby improving the space utilization of the rotating mechanism and avoiding the large overall occupied space of the rotating mechanism.

Description

Technical Field

[0001] This application relates to the technical field of rotating mechanisms, and more particularly to a rotating mechanism and its application in a minimally invasive surgical robot. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient surgical platform, and a display device. The surgeon operates the input device from the surgeon's console and transmits the input to the patient surgical platform, which is connected to remotely operated surgical instruments. The patient surgical platform includes a robotic arm and surgical instruments connected to its end effector. The robotic arm includes a rotating component and a telecentric mechanism connected to the rotating component.

[0004] The rotating assembly is required to facilitate the rotation and adjustment of the telecentric mechanism, and during surgical procedures, the rotating assembly should be locked to prevent the telecentric mechanism from rotating. Existing rotating mechanisms employ a reducer combined with a brake to improve the locking braking force. However, this structure has the following drawbacks: 1. Due to inherent characteristics and installation limitations, there are gaps in the connection between the reducer and the brake, affecting braking performance. In actual use, during surgery after braking, the rotating mechanism may wobble due to insufficient locking force; 2. This connection method results in a large overall diameter of the rotating mechanism, making the entire machine bulky and increasing the difficulty of rotating the mechanism. Summary of the Invention

[0005] The purpose of this invention is to provide a rotating mechanism and a minimally invasive surgical robot thereof to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A rotating mechanism and its minimally invasive surgical robot, comprising:

[0008] case;

[0009] A rotating assembly includes a rotating shaft and at least one set of braking elements disposed on the rotating shaft, the braking elements including a stator and a metal component;

[0010] The rotating shaft is rotatably connected to the shell, the stator is connected to the shell, and the metal piece is connected to the rotating shaft and corresponds to the position of the stator in the axial direction of the rotating shaft.

[0011] The stator is magnetically adsorbed with the metal piece in the power-off state to brake the rotating shaft.

[0012] Optionally, the brake piece has multiple groups, and the multiple groups of brake pieces are arranged along the axial direction of the rotating shaft.

[0013] Optionally, the rotating shaft is arranged in the shell, and the stator and the metal piece of one group of brake pieces are located in the shell.

[0014] The stator is a ring-shaped stator, and the metal piece is a ring-shaped metal piece and is located on one side of the stator in the axial direction of the rotating shaft.

[0015] Optionally, the metal piece is connected to the rotating shaft through a connecting plate; the connecting plate is integrally connected to the rotating shaft, or the connecting plate is separately connected to the rotating shaft.

[0016] Optionally, the outer side wall of the stator is flushly arranged with the outer side wall of the metal piece, and the thickness of the stator is greater than the thickness of the metal piece.

[0017] Optionally, one end of the shell is provided with a support bearing, the inner ring of the support bearing is fixedly connected with the rotating shaft, and the outer ring is fixedly connected with the shell.

[0018] Optionally, the minimally invasive surgical robot comprises a telecentric mechanism and the rotating mechanism according to any one of claims 1 to 6, the telecentric mechanism is connected to the rotating mechanism and rotates under the rotation of the rotating mechanism.

[0019] The telecentric mechanism is provided with a first joint and a second joint, the first joint is connected to the rotating mechanism, and the second joint is swingably connected to the first joint; the minimally invasive surgical robot further comprises a lifting arm, the rotating mechanism is connected to the lifting arm and moves along the up-down direction under the lifting of the lifting arm, and drives the telecentric mechanism to move; the minimally invasive surgical robot further comprises a base and an adjusting mechanism, the adjusting mechanism is connected to the base, and the lifting arm is connected to the adjusting mechanism and moves along the length direction of the adjusting mechanism under the driving of the adjusting mechanism.

[0020] Optionally, the rotating mechanism further comprises a power piece, the power piece drives the rotating shaft to rotate relative to the shell in an electric manner, and drives the telecentric mechanism to rotate through the rotating shaft.

[0021] Or, the telecentric mechanism is taken as the holding piece, and the holding piece is pushed to drive the rotation shaft to rotate relative to the shell.

[0022] Optionally, the shell is mounted on the lifting arm and is clamped in the lifting arm cylinder from top to bottom.

[0023] Optionally, the outer side wall of the shell is provided with a mounting arm, the bottom of the mounting arm is provided with a first clamping part, and the lifting arm cylinder is provided with a second clamping part, and the second clamping part is clamped with the first clamping part.

[0024] Compared with the prior art, the beneficial effects of the present application are:

[0025] The present application provides a kind of rotation mechanism and its minimally invasive surgical robot for application, rotation component includes rotation shaft and at least one set of brake piece arranged on rotation shaft, and multiple brake pieces increase the braking force of rotation component, brake piece includes stator and metal piece;Rotation shaft is rotatably connected to shell, stator is connected to shell, metal piece is connected to rotation shaft, and with the axial direction position of stator and rotation shaft corresponds;Wherein, stator is magnetically adsorbed with metal piece when it is in the state of power failure to brake rotation shaft, at this time, stator and metal piece are all in the internal space of shell, and metal piece and stator correspond to the axial direction position of rotation shaft, so that metal piece and stator are stacked in longitudinal space, and the overall volume of stator and metal piece is less than the overall volume of speed reducer and brake, to improve the space utilization of rotation mechanism, avoid that the overall occupied space of rotation mechanism is large, so that brake piece increases the braking force of rotation component while not affecting the overall diameter of rotation component, structure is small. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0027] In order to more completely understand the present application and its beneficial effects, the following will be described with reference to the drawings. In the following description, the same reference numerals represent the same parts.

[0028] Fig. 1 The present application provides a schematic diagram of rotation mechanism.

[0029] Fig. 2 The present application provides an exploded view of rotation mechanism.

[0030] Fig. 3 The present application provides a cross-sectional view of rotation mechanism.

[0031] Fig. 4 A schematic view of a brake of a rotating mechanism is provided for an embodiment of the present application.

[0032] Fig. 5 A schematic view of a rotating shaft of a rotating mechanism is provided for an embodiment of the present application.

[0033] Fig. 6 A schematic view of a sleeve of a rotating mechanism is provided for an embodiment of the present application.

[0034] Fig. 7 A schematic view of a minimally invasive surgical robot is provided for another embodiment. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person skilled in the art without any creative work fall within the protection scope of the present application.

[0036] Please refer to the drawings in the embodiments of the present application. Figs. 1-7 The embodiments of the present application provide a rotating mechanism 100, which comprises a shell 10 and a rotating assembly 20, and the rotating assembly 20 is accommodated in the shell 10.

[0037] The shell 10 is a supporting component of the rotating mechanism 100, and is used for supporting the rotating assembly 20. The shell 10 comprises a sleeve 11 and a bottom plate 12. The sleeve 11 is connected to the bottom plate 12. The bottom plate 12 and the sleeve 11 enclose a containing space, and part of the rotating assembly 20 is accommodated in the containing space. Optionally, the shell 10 and part of the rotating assembly 20 are annular.

[0038] The rotating assembly 20 comprises a rotating shaft 21 and at least one set of brake 22 arranged on the rotating shaft 21. The brake 22 comprises a stator 221 and a metal piece 222. The rotating shaft 21 is rotatably connected to the shell 10, and the stator 221 is connected to the shell 10. The metal piece 222 is connected to the rotating shaft 21 and corresponds to the position of the stator 221 along the axial direction of the rotating shaft 21. The stator 221 is magnetically adsorbed to the metal piece 222 when the stator 221 is in a power-off state, so as to brake the rotating shaft 21. The metal piece 222 and the stator 221 are stacked in the up-down direction, and there can be a gap between the metal piece 222 and the stator 221. When the rotating shaft 21 is in a rotating state, the gap exists between the metal piece 222 and the stator 221, and does not affect the rotation of the rotating shaft 21.

[0039] At this time, the rotating shaft 21 is rotatably arranged in the shell 10, the stator 221 is connected to the shell 10, the metal piece 222 is arranged in the rotating shaft 21 and corresponds to the position of the stator 221 along the axis direction of the rotating shaft 21, and the stator 221 and the metal piece 222 are both arranged in the shell, so that the internal space of the shell 10 is fully utilized, and the metal piece 222 corresponds to the position of the stator 221 along the axis direction of the rotating shaft 21, so that the metal piece 222 and the stator 221 are stacked in the longitudinal space, and the overall volume of the stator 221 and the metal piece 222 is smaller than the overall volume of the speed reducer and the brake, thereby improving the space utilization of the rotating mechanism 100 and avoiding that the overall occupied space of the rotating mechanism 100 is large, so that the brake piece 22 increases the braking force of the rotating assembly 20 without affecting the overall diameter of the rotating assembly 20, and the structure is small. Optionally, the metal piece 222 is an armature.

[0040] The brake piece 22 has a plurality of groups, and the plurality of groups of brake pieces 22 are arranged at intervals along the axis direction of the rotating shaft 21. At this time, the braking effect of the rotating shaft 21 is increased by arranging the plurality of groups of brake pieces 22, so as to reduce the braking time of the brake piece 22 on the rotating shaft 21. Among them, the brake piece 22 has two groups, and the two groups of brake pieces 22 are arranged at two ends of the rotating shaft 21 respectively. One brake piece 22 is arranged at the upper end of the rotating shaft 21, and the other brake piece 22 is arranged at the lower end of the rotating shaft 21. At this time, the plurality of groups of brake pieces 22 increase the braking force of the rotating assembly.

[0041] The stator 221 is connected to an external power supply through a wire and is provided with a button. The button is arranged on the outer wall of the mechanical arm. When operating, the button is pressed by the thumb while holding the mechanical arm. At this time, the stator 221 is in an energized state. The stator 221 does not have magnetism in the energized state, and the stator 221 does not perform magnetic action with the metal piece 222. The metal piece 222 rotates with the rotating shaft 21, and the metal piece 222 is in a rotating state relative to the stator 221 and drives the rotating shaft 21 to rotate, so that the rotating shaft 21 rotates relative to the shell 10, thereby adjusting the position of the rotating shaft 21 relative to the shell 10.

[0042] After the button is released, the stator 221 is in a de-energized state. When the stator 221 is in the de-energized state, the stator 221 and the metal piece 222 are magnetically adsorbed. The magnetic force between the stator 221 and the metal piece 222 acts as a restraining force to brake the rotating shaft 21. At this time, the stator 221 and the metal piece 222 are mutually restrained under the magnetic force to limit the rotation of the rotating shaft 21, and the rotating shaft 21 is braked under the restraining action between the metal piece 222 and the stator 221, thereby being positionally limited. The rotating shaft 21 is arranged in the shell 10, and the stator 221 and the metal piece 222 of one group of brake pieces 22 are located in the shell 10; the stator 221 is an annular stator; the metal piece 222 is an annular metal piece, and the metal piece 222 is located on one side of the stator along the axis direction of the rotating shaft 21.

[0043] At this time, the rotating shaft 21 is arranged in the shell 10, and the stator 221 and the metal piece 222 of the set of brake members 22 are arranged in the shell 10. The stator 221 and the metal piece 222 are arranged in the same axis as the rotating shaft 21. When the metal piece 222 is arranged above the stator 221, the lower surface of the metal piece 222 faces the upper surface of the stator 221. Alternatively, when the metal piece 222 is arranged below the stator 221, the upper surface of the metal piece 222 faces the lower surface of the stator 221. The gap is arranged between the stator 221 and the metal piece 222, so that the lower surface of the stator 221 does not contact the upper surface of the metal piece 222, thereby avoiding affecting the rotation of the metal piece 222.

[0044] The stator 221 is a ring-shaped stator, and the metal piece 222 is a ring-shaped metal piece. The stator 221, the metal piece 222, and the rotating shaft 21 are arranged in the same axis. When the metal piece 222 is arranged above the stator 221, the lower surface of the metal piece 222 faces the upper surface of the stator 221. Alternatively, when the metal piece 222 is arranged below the stator 221, the upper surface of the metal piece 222 faces the lower surface of the stator 221. The gap is arranged between the stator 221 and the metal piece 222, so that the lower surface of the stator 221 does not contact the upper surface of the metal piece 222, thereby avoiding affecting the rotation of the metal piece 222.

[0045] The stator 221 and the metal piece 222 are connected to the rotating shaft 21 through the connecting plate 23. At this time, the stator 221 and the metal piece 222 are connected to the rotating shaft 21 through the connecting plate 23. The connecting plate 23 is connected to the bottom plate 12 of the shell 10. The internal space of the shell 10 is fully utilized, thereby reducing the longitudinal space of the rotating shaft 21 relative to the stator 221 and the metal piece 222. The overall space occupied by the rotating mechanism 100 is avoided to be large. The rotating shaft 21 has a hollow structure, so as to reduce the weight of the rotating shaft 21 and improve the rotation smoothness of the rotating shaft 21.

[0046] In addition, the connecting plate 23 is integrally connected to the rotating shaft 21, or the connecting plate 23 is separately connected to the rotating shaft 21. When the connecting plate 23 is integrally connected to the rotating shaft 21, the connecting plate 23 and the rotating shaft 21 are integrally formed. When the connecting plate 23 is separately connected to the rotating shaft 21, the connecting plate 23 is detachably connected to the rotating shaft 21 through screws.

[0047] The connecting plate 23 includes various forms. Here, an example is shown. Form 1: The connecting plate 23 is fixed at a position other than both ends of the rotating shaft 21. The rotating shaft 21 is provided with a corresponding protruding ring-shaped table 211. The connecting plate 23 is in the form of a circular ring. The inner diameter of the connecting plate 23 is adapted to the diameter of the rotating shaft 21. The inner edge of the connecting plate 23 is provided with a concave table 231 matched with the protruding ring-shaped table 211. The connecting plate 23 and the rotating shaft 21 are provided with corresponding screw holes. The connecting plate 23 and the rotating shaft 21 are in contact and screwed through the protruding ring-shaped table 211 and the concave table 231. The connecting plate 23 is provided with screw holes on the circular ring. The connecting plate 23 and the metal piece 222 are connected and fixed through corresponding screw holes.

[0048] Form two: the connecting plate 23 is fixed at the top end of the rotating shaft 21, the rotating shaft 21 is provided with a limiting stepped platform 212 and an axial distribution of convex parts 213, the connecting plate 23 includes a sleeve 232 and a connecting ring 233 integrally arranged with the sleeve 232, the sleeve 232 is sleeved on the rotating shaft 21 and is limited by the limiting stepped platform 212, the inner wall of the sleeve 232 is provided with a groove 2321 corresponding to the convex part 213, when the sleeve 232 and the rotating shaft 21 are sleeved, the convex part 213 is arranged in the groove 2321, a plurality of screw holes are arranged on the connecting ring 233, the connecting ring 233 is fixedly connected with the metal piece 222 through the corresponding screw holes, when the rotating shaft 21 rotates, due to the arrangement of the limiting stepped platform 212, the convex part 213 and the groove 2321, force conduction is facilitated, so that the connecting plate 23 rotates synchronously with the rotating shaft 21.

[0049] The outer side wall of the stator 221 is flushly arranged with the outer side wall of the metal piece 222; the thickness of the stator 221 is greater than the thickness of the metal piece 222, at this time, the outer side wall of the stator 221 is flushly arranged with the outer side wall of the metal piece 222, the outer side wall of the metal piece 222 is smaller than the inner diameter of the sleeve 11 of the shell 10, which avoids the outer side wall of the metal piece 222 from contacting the inner side wall of the sleeve 11 of the shell 10, thereby avoiding affecting the rotation smoothness of the rotating shaft 21 connected with the metal piece 222, and the thickness of the stator 221 is greater than the thickness of the metal piece 222, so that the magnetism of the stator 221 in the de-energized state is greater than the magnetism of the metal piece 222, thereby the metal piece 222 is braked by the stator 221, and the rotating shaft 21 is braked.

[0050] One end of the shell 10 is provided with a support bearing 211, the inner ring of the support bearing 211 is fixedly connected with the rotating shaft 21, and the outer ring is fixedly connected with the shell 10.

[0051] At this time, the support bearing 211 is relative to the upper side of the shell 10, the inner ring of the support bearing 211 is fixedly connected with the rotating shaft 21, and the outer ring is fixedly connected with the shell 10, the rotation smoothness of the rotating shaft 21 is increased by the support bearing 211, the support bearing 211 is above the shell 10 and contacts the upper surface of the shell 10, the support bearing 211 is fixed with the shell 10 by bolts, or the support bearing 211 is fixed with the shell 10 by screws.

[0052] The rotating mechanism 100 further comprises a power member arranged on one side of the rotating shaft 21 and driving the rotating shaft 21 to rotate relative to the shell 10 in an electric manner, and driving the telecentric mechanism 210 to rotate through the rotating shaft 21. At this time, the power member is arranged on the upper side or the lower side of the rotating shaft 21. When the power member is arranged on the upper side of the rotating shaft 21, the fixed end of the power member is connected to the upper surface of the shell 10, the output end of the power member is connected to the upper surface of the rotating shaft 21, and the rotating shaft 21 is driven to rotate along the axis of the rotating shaft 21, and the rotating shaft 21 is driven to rotate in an electric manner. When the power member is arranged on the lower side of the rotating shaft 21, the fixed end of the power member is connected to the lower surface of the shell 10, the output end of the power member is connected to the lower surface of the rotating shaft 21, and the rotating shaft 21 is driven to rotate along the axis of the rotating shaft 21, and the rotating shaft 21 is driven to rotate in an electric manner. In order to drive the rotating shaft 21 to rotate through the power member, the power member can be an electric motor.

[0053] Alternatively, the telecentric mechanism 210 is taken as a holding member, and the holding member is pushed to drive the rotating shaft 21 to rotate relative to the shell 10 in a manual manner.

[0054] Another embodiment, a minimally invasive surgery robot 200, the minimally invasive surgery robot 200 comprises a telecentric mechanism 210 and a rotating mechanism 100, the telecentric mechanism 210 is connected to the rotating mechanism 100 and rotates under the rotation of the rotating mechanism 100. At this time, the telecentric mechanism 210 is connected to the rotating shaft 21 of the rotating mechanism 100, and the telecentric mechanism 210 is driven to rotate through rotation, and the telecentric mechanism 210 rotates along the axial direction of the rotating shaft 21 of the rotating mechanism 100 under the driving of the rotating mechanism 100, so as to adjust the position of the telecentric mechanism 210 relative to the rotating mechanism 100, thereby facilitating the multi-directional use of the telecentric mechanism 210.

[0055] Among them, the telecentric mechanism 210 is provided with a first joint and a second joint, the first joint is connected to the rotating mechanism 100, and the second joint is swingably connected to the first joint. The second joint is connected to the first joint through a hinge, and the second joint swings along the axial direction of the connection between the second joint and the first joint, so as to adjust the position of the second joint relative to the first joint, so as to facilitate the surgical treatment of the patient in multiple directions. Herein, no limitation is made.

[0056] The minimally invasive surgery robot 200 further comprises a lifting arm 220, the rotating mechanism 100 is connected to the lifting arm 220 and moves along the up-down direction under the lifting action of the lifting arm 220, and drives the telecentric mechanism 210 to move. Optionally, the lifting arm 220 is provided with a lifting seat, and the lifting arm 220 can be a lead screw type moving module and is arranged along the Z-axis direction. The lifting seat lifts along the Z-axis direction, and herein, no limitation is made.

[0057] The shell 10 is mounted on the lifting arm 220 and is clamped in the lifting arm cylinder 222 from top to bottom, the outer side wall of the shell 10 is provided with a mounting arm 111, the bottom of the mounting arm 111 is provided with a first clamping part 1111, the lifting arm cylinder 222 is provided with a second clamping part 221, the second clamping part 221 is clamped with the first clamping part 1111, and optionally, the mounting arm 111 can also be mounted on the lifting arm 220 by screws, which is not limited here.

[0058] The rotating mechanism 100 is connected to the lifting seat and is lifted along with the lifting of the lifting seat, so that the telecentric mechanism 210 connected to the rotating mechanism 100 moves along the Z-axis direction under the driving of the lifting seat, so as to adjust the height direction of the telecentric mechanism 210, which is not limited here.

[0059] The minimally invasive surgical robot 200 further comprises a base 230 and an adjusting mechanism 240, the adjusting mechanism 240 is connected to the base 230, the lifting arm 220 is connected to the adjusting mechanism 240 and moves along the length direction of the adjusting mechanism 240 under the driving of the adjusting mechanism 240, which is not limited here.

[0060] Compared with the prior art, the beneficial effects of the present application are:

[0061] The present application provides a rotating mechanism 100 and a minimally invasive surgical robot 200 applied thereto, the rotating assembly 20 comprises a rotating shaft 21 and at least one set of brake members 22 arranged on the rotating shaft 21, the plurality of brake members 22 increases the braking force of the rotating assembly, the brake member 22 comprises a stator 221 and a metal piece 222, the rotating shaft 21 is rotatably connected to the shell 10, the stator 221 is connected to the shell 10, the metal piece 222 is connected to the rotating shaft 21 and corresponds to the position of the stator 221 along the axis direction of the rotating shaft 21, wherein the stator 221 is magnetically adsorbed with the metal piece 222 when it is in a power-off state, the metal piece 222 and the stator 221 brake the rotating shaft 21, at this time, the stator 221 and the metal piece 222 are both in the shell, the internal space of the shell 10 is fully utilized, and the metal piece 222 and the stator 221 are spaced apart along the axis direction of the rotating shaft 21, so as to stack the metal piece 222 and the stator 221 in the longitudinal space, and the overall volume of the stator 221 and the metal piece 222 is smaller than the overall volume of the speed reducer and the brake, thereby improving the space utilization of the rotating mechanism 100, avoiding that the overall occupied space of the rotating mechanism 100 is large, so as to increase the braking force of the rotating assembly 20 without affecting the overall diameter of the rotating assembly 20, and the structure is small and compact.

[0062] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0063] In the description of the present application, the terms "first", "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features.

[0064] The principles and implementation modes of the present application are described herein by applying specific examples, and the above example descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation modes and application ranges will have changes, and in summary, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A rotating mechanism characterized by comprising: The application relates to a rotating mechanism, which comprises a shell, a rotating assembly and a supporting bearing. The rotating assembly comprises a rotating shaft and at least one set of brake members arranged on the rotating shaft, wherein the brake members comprise a stator and a metal member. The rotating shaft is rotatably connected to the shell, the stator is connected to the shell, and the metal member is connected to the rotating shaft and corresponds to the position of the stator in the axial direction of the rotating shaft. When the stator is in a power-off state, the stator is magnetically adsorbed to the metal member to brake the rotating shaft. The metal member is connected to the rotating shaft through a connecting plate. The connecting plate is fixed at the top end of the rotating shaft, and a limiting stepped platform and axially distributed convex members are arranged on the rotating shaft.

2. A rotating mechanism according to claim 1, wherein The connecting plate comprises a sleeve and a connecting ring integrally arranged on the sleeve.

3. A rotating mechanism according to claim 1 or 2, wherein When the sleeve is sleeved on the rotating shaft and is limited by the limiting stepped platform, the inner wall of the sleeve is provided with grooves corresponding to the convex members. When the sleeve and the rotating shaft are sleeved, the convex members are arranged in the grooves.

4. A rotating mechanism according to claim 3, wherein A plurality of screw holes are arranged on the connecting ring, and the connecting ring is fixedly connected to the metal member through the corresponding screw holes.

5. A rotating mechanism according to claim 1, wherein The brake members are arranged in a plurality of sets and are arranged in the axial direction of the rotating shaft.

6. A minimally invasive surgical robot characterized by, The rotating shaft is arranged in the shell, and the stator and the metal member of one set of brake members are arranged in the shell. The stator is a ring-shaped stator, and the metal member is a ring-shaped metal member and is arranged on one side of the stator in the axial direction of the rotating shaft.

7. The minimally invasive surgical robot of claim 6, wherein, The outer side wall of the stator is flushly arranged with the outer side wall of the metal member, and the thickness of the stator is greater than the thickness of the metal member. One end of the shell is provided with a supporting bearing, the inner ring of the supporting bearing is fixedly connected to the rotating shaft, and the outer ring is fixedly connected to the shell.

8. The minimally invasive surgical robot of claim 6, wherein, The minimally invasive surgical robot comprises a telecentric mechanism and the rotating mechanism as claimed in any one of claims 1 to 5.

9. The minimally invasive surgical robot of claim 8, wherein, The telecentric mechanism is connected to the rotating mechanism and rotates under the rotation of the rotating mechanism. The telecentric mechanism is provided with a first joint and a second joint. The first joint is connected to the rotating mechanism, and the second joint is swingably connected to the first joint. The minimally invasive surgical robot further comprises a lifting arm. The rotating mechanism is connected to the lifting arm and moves along the up-down direction under the lifting of the lifting arm and drives the telecentric mechanism to move. The minimally invasive surgical robot further comprises a base and an adjusting mechanism. The adjusting mechanism is connected to the base, and the lifting arm is connected to the adjusting mechanism and moves along the length direction of the adjusting mechanism under the driving of the adjusting mechanism. The rotating mechanism further comprises a power member. The power member drives the rotating shaft to rotate relative to the shell in an electric mode. Alternatively, the telecentric mechanism is used as a holding member, and the holding member is pushed to drive the rotating shaft to rotate relative to the shell in a manual mode. The shell is mounted on the lifting arm and is clamped in the lifting arm cylinder from top to bottom. The outer side wall of the shell is provided with a mounting arm. The bottom of the mounting arm is provided with a first clamping part. The lifting arm cylinder is provided with a second clamping part. The second clamping part is clamped with the first clamping part.

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