Master manipulator and master-slave minimally invasive surgery system

Abstract

The invention provides a master manipulator and a master-slave minimally invasive surgery system, and relates to the technical field of medical equipment. The main manipulator comprises a position adjusting mechanism, a posture adjusting mechanism and paired finger clamps, the input end of the posture adjusting mechanism is connected with the output end of the position adjusting mechanism, the output end of the posture adjusting mechanism is connected with the finger clamps, and the position adjusting mechanism is used for adjusting the spatial positions of the finger clamps; the posture adjusting mechanism comprises a plurality of connecting rods which are rotationally connected in sequence, a plurality of driving motors are arranged on the position adjusting mechanism, the driving motors are in driving connection with the connecting rods correspondingly, and the driving motors adjust the space posture of the finger clip by adjusting the angles of the connecting rods correspondingly. According to the main manipulator, dynamic compensation of the main manipulator can be achieved, the adjusting capacity is high, and the adjusting range is large. In addition, according to the main manipulator, the driving motor is arranged on the position adjusting mechanism, so that the inertia of the posture adjusting mechanism is low, the posture adjusting mechanism is easier to control, and the comfort of a doctor during long-time surgical operation can be guaranteed.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a master operator and a master-slave minimally invasive surgery system. Background Art

[0002] The master-slave minimally invasive surgery system combines robotic technology and minimally invasive surgery, and is an important development direction of robotic technology in the field of medical surgery. The master-slave system has accurate positioning, high operating precision, low risk of postoperative infection, and short recovery time. It is suitable for a variety of surgical procedures including laparoscopic minimally invasive surgery, brain surgery, and digestive endoscopic surgery. The rich variety of surgical procedures and tens of thousands of successful cases have made the master-slave minimally invasive surgery system widely recognized by surgeons.

[0003] The master operator is an important part of the master-slave minimally invasive surgery system. Clinically, the master operator is required to be flexible and light to ensure that the doctor will not feel fatigued during long-term operation. Studies have shown that the continuous output force that is not easy to fatigue on the human hand is about 5N, and the torque is about 0.3Nm. However, due to the influence of dynamic factors such as self-gravity, joint friction, and motion inertia, hand fatigue will continue to increase over time.

[0004] In order to increase the comfort of the main operator, it is necessary to perform real-time dynamic compensation on it. There are generally three types of dynamic compensation schemes: counterweight compensation, elastic force compensation and motor compensation. Counterweight compensation reduces the force arm of the center of mass of the moving part relative to its rotation axis by designing the mass and installation position of the counterweight, and ultimately reduces the moment of inertia. Elastic force compensation is to add elastic components to the moving joints and use the force generated by elastic deformation to compensate for the gravity, friction and inertia of the joints themselves. Motor compensation is to achieve dynamic compensation of the main operator by adjusting the motor control parameters based on the pre-designed dynamic model and the additional forces such as friction and inertia generated by real-time movement. Compared with counterweight compensation and elastic force compensation, motor compensation has strong force compensation adjustment ability and a large adjustment range. However, the existing motor compensation scheme increases the weight of the main operator and increases the control difficulty, so that the main operator cannot meet the comfort requirements during long-term surgery. Summary of the invention

[0005] The purpose of the present application is to provide a master operator and a master-slave minimally invasive surgical system to address the deficiencies in the above-mentioned prior art, which can achieve dynamic compensation and ensure the comfort of doctors during long-term surgical operations.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] In one aspect of an embodiment of the present application, a main operator is provided, comprising: a position adjustment mechanism, a posture adjustment mechanism and a pair of finger clamps, wherein the input end of the posture adjustment mechanism is connected to the output end of the position adjustment mechanism, the output end of the posture adjustment mechanism is connected to the finger clamps, and the position adjustment mechanism is used to adjust the spatial position of the finger clamps; the posture adjustment mechanism comprises a plurality of connecting rods connected to each other in rotation in sequence, the position adjustment mechanism is provided with a plurality of drive motors, the plurality of drive motors are respectively driven and connected to the plurality of connecting rods, and the plurality of drive motors adjust the spatial posture of the finger clamps by respectively adjusting the angles of the plurality of connecting rods.

[0008] Optionally, the posture adjustment mechanism includes a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are rotatably connected in sequence, the first connecting rod is also rotatably connected to the output end of the position adjustment mechanism, the finger clamp is arranged on the fourth connecting rod, the first rotation axis of the first connecting rod, the second rotation axis of the second connecting rod, the third rotation axis of the third connecting rod and the fourth rotation axis of the fourth connecting rod intersect at one point; the driving motor includes a first motor, a second motor, a third motor and a fourth motor, the first motor is drivingly connected to the first connecting rod, the second motor is drivingly connected to the second connecting rod, the third motor is drivingly connected to the third connecting rod, and the fourth motor is drivingly connected to the fourth connecting rod.

[0009] Optionally, the first rotation axis is perpendicular to the second rotation axis, the second rotation axis is perpendicular to the third rotation axis, the third rotation axis is perpendicular to the fourth rotation axis, and the first rotation axis is coplanar with the third rotation axis.

[0010] Optionally, the main operator also includes a first joint module, a second joint module and a third joint module; the first joint module includes a first rotating shaft, and the second connecting rod and the third connecting rod are respectively rotatably set on the first rotating shaft; the second joint module includes a second rotating shaft and a third rotating shaft coaxially arranged with the second rotating shaft, the first connecting rod is rotatably set on the second rotating shaft, and the second connecting rod is rotatably set on the third rotating shaft; the third joint module includes a fourth rotating shaft, a fifth rotating shaft and a sixth rotating shaft coaxially arranged with the fourth rotating shaft, the output end of the position adjustment mechanism is rotatably set on the fourth rotating shaft, and the first connecting rod is rotatably set on the sixth rotating shaft; the main operator also includes a first traction rope, a second traction rope, a third traction rope, a fourth traction rope, a fifth traction rope, a sixth traction rope, a seventh The traction rope, the eighth traction rope, the ninth traction rope and the tenth traction rope; the first traction rope is drivingly connected to the first rotating shaft and the fourth connecting rod respectively, the second traction rope is drivingly connected to the third connecting rod and the third rotating shaft respectively, the third traction rope is drivingly connected to the first rotating shaft and the second rotating shaft respectively, the fourth traction rope is drivingly connected to the second connecting rod and the sixth rotating shaft respectively, the fifth traction rope is drivingly connected to the third rotating shaft and the fifth rotating shaft respectively, the sixth traction rope is drivingly connected to the second rotating shaft and the fourth rotating shaft respectively, the seventh traction rope is drivingly connected to the sixth rotating shaft and the second motor respectively, the eighth traction rope is drivingly connected to the first connecting rod and the first motor respectively, the ninth traction rope is drivingly connected to the fifth rotating shaft and the third motor respectively, and the tenth traction rope is drivingly connected to the fourth rotating shaft and the fourth motor respectively.

[0011] Optionally, the first joint module also includes a first capstan and a second capstan respectively fixed on the first rotating shaft, and a third capstan fixed on the third connecting rod; the second joint module also includes a fourth capstan and a fifth capstan respectively fixed on the second rotating shaft, a sixth capstan and a seventh capstan respectively fixed on the third rotating shaft, and an eighth capstan fixed on the second connecting rod; the third joint module also includes a ninth capstan and a tenth capstan respectively fixed on the fourth rotating shaft, an eleventh capstan and a twelfth capstan respectively fixed on the fifth rotating shaft, a thirteenth capstan and a fourteenth capstan respectively fixed on the sixth rotating shaft, and a fifteenth capstan fixed on the first connecting rod; the first The traction rope is wound around the first capstan and the fourth connecting rod respectively, the second traction rope is wound around the third capstan and the sixth capstan respectively, the third traction rope is wound around the second capstan and the fourth capstan respectively, the fourth traction rope is wound around the eighth capstan and the thirteenth capstan respectively, the fifth traction rope is wound around the seventh capstan and the eleventh capstan respectively, the sixth traction rope is wound around the fifth capstan and the ninth capstan respectively, the seventh traction rope is wound around the fourteenth capstan and the second motor respectively, the eighth traction rope is wound around the fifteenth capstan and the first motor respectively, the ninth traction rope is wound around the twelfth capstan and the third motor respectively, and the tenth traction rope is wound around the tenth capstan and the fourth motor respectively.

[0012] Optionally, the first connecting rod, the second connecting rod and the third connecting rod are all right-angled, and the first pulley group, the second pulley group and the third pulley group are respectively provided at the right-angle corners of the first connecting rod, the second connecting rod and the third connecting rod; the middle part of the first traction rope passes around the third pulley group, the middle part of the second traction rope and the third traction rope respectively passes around the second pulley group, and the middle part of the fourth traction rope, the fifth traction rope and the sixth traction rope respectively passes around the first pulley group.

[0013] Optionally, the first joint module also includes a first bearing seat fixed on the third connecting rod and a second bearing seat fixed on the second connecting rod, the first bearing seat is provided with a first bearing, the second bearing seat is provided with a second bearing, and the inner rings of the first bearing and the second bearing respectively cooperate with the first rotating shaft; the second joint module also includes a third bearing seat fixed on the second connecting rod and a fourth bearing seat fixed on the first connecting rod, the third bearing seat is provided with a third bearing and a fourth bearing, the fourth bearing seat is provided with a fifth bearing and a sixth bearing, the inner rings of the third bearing and the fifth bearing respectively cooperate with the second rotating shaft, and the inner rings of the fourth bearing and the sixth bearing respectively cooperate with the third rotating shaft; the third joint module also includes a fifth bearing seat fixed on the first connecting rod and a sixth bearing seat fixed at the output end of the position adjustment mechanism, the fifth bearing seat is provided with a seventh bearing, an eighth bearing and a ninth bearing, the sixth bearing seat is provided with a tenth bearing, an eleventh bearing and a twelfth bearing, the inner rings of the seventh bearing and the tenth bearing respectively cooperate with the fourth rotating shaft, the inner rings of the eighth bearing and the eleventh bearing respectively cooperate with the fifth rotating shaft, and the inner rings of the ninth bearing and the twelfth bearing respectively cooperate with the sixth rotating shaft.

[0014] Optionally, the third rotating shaft is sleeved outside the second rotating shaft, and both ends of the second rotating shaft are respectively exposed from the third rotating shaft, the fifth rotating shaft is sleeved outside the fourth rotating shaft, the sixth rotating shaft is sleeved outside the fifth rotating shaft, and both ends of the fifth rotating shaft are respectively exposed from the sixth rotating shaft, and both ends of the fourth rotating shaft are respectively exposed from the fifth rotating shaft.

[0015] Optionally, the position adjustment mechanism includes a fifth link, a sixth link, a seventh link, an eighth link and a ninth link, one end of the sixth link is rotationally connected to the fifth link, and the other end is rotationally connected to the ninth link, one end of the seventh link is rotationally connected to the fifth link, and the other end is rotationally connected to the eighth link, and the other end of the eighth link is also rotationally connected to the ninth link, and the posture adjustment mechanism is rotatably set on the ninth link, and the sixth rotation axis of the sixth link and the seventh rotation axis of the seventh link are parallel and respectively perpendicular to the fifth rotation axis of the fifth link.

[0016] According to another aspect of an embodiment of the present application, a master-slave minimally invasive surgical system is provided, comprising a master operator as described in any of the above items.

[0017] The beneficial effects of this application include:

[0018] The present application provides a master operator, comprising: a position adjustment mechanism, a posture adjustment mechanism and a pair of finger clamps, wherein the input end of the posture adjustment mechanism is connected to the output end of the position adjustment mechanism, the output end of the posture adjustment mechanism is connected to the finger clamp, and the position adjustment mechanism is used to adjust the spatial position of the finger clamp; the posture adjustment mechanism comprises a plurality of connecting rods that are sequentially connected and rotated, and a plurality of drive motors are provided on the position adjustment mechanism, and the plurality of drive motors are respectively connected to the plurality of connecting rods for driving, and the plurality of drive motors adjust the spatial posture of the finger clamp by adjusting the angles of the plurality of connecting rods respectively. The master operator adopts a plurality of drive motors to respectively control the plurality of connecting rods in the posture adjustment mechanism, and by adjusting the control parameters of the drive motors, the dynamic compensation of the master operator can be realized, and the adjustment ability is strong and the adjustment range is large. In addition, the master operator sets a plurality of drive motors on the position adjustment mechanism, which reduces the weight of the posture adjustment mechanism, reduces the moment of inertia of the posture adjustment mechanism, makes the posture adjustment mechanism easier to control, and can also ensure the comfort of the doctor during long-term surgical operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the external structure of the main operator provided in an embodiment of the present application;

[0021] Figure 2 A schematic diagram of the internal structure of the main operator provided in an embodiment of the present application;

[0022] Figure 3 A cross-sectional view of the first joint module in the master operator's hand provided in an embodiment of the present application;

[0023] Figure 4 A schematic diagram of the structure of the first joint module in the master operator's hand provided in an embodiment of the present application;

[0024] Figure 5 A cross-sectional view of the second joint module in the master operator's hand provided in an embodiment of the present application;

[0025] Figure 6 A schematic diagram of the structure of the second joint module in the master operator's hand provided in an embodiment of the present application;

[0026] Figure 7 A cross-sectional view of the third joint module in the master operator's hand provided in an embodiment of the present application;

[0027] Figure 8A schematic diagram of the structure of the third joint module in the master operator's hand provided in an embodiment of the present application;

[0028] Fig. 9 A flow chart of the dynamic compensation control of the master operator provided in an embodiment of the present application.

[0029] Icons: 10-main operator; 11-position adjustment mechanism; 111-fifth connecting rod; 112-sixth connecting rod; 113-seventh connecting rod; 114-eighth connecting rod; 115-ninth connecting rod; 12-posture adjustment mechanism; 121-first connecting rod; 122-second connecting rod; 123-third connecting rod; 124-fourth connecting rod; 13-finger clamp; 141-first motor; 142-second motor; 143-third motor; 144-fourth motor; 15-first pulley block; 16-second pulley block; 17-third pulley block; 171-third pulley shaft; A-first Joint module; A1-first shaft; A2-first capstan; A3-second capstan; A4-third capstan; A5-first bearing seat; A6-second bearing seat; A7-first bearing; A8-second bearing; B-second joint module; B1-second shaft; B2-third shaft; B3-fourth capstan; B4-fifth capstan; B5-sixth capstan; B6-seventh capstan; B7-eighth capstan; B8-third bearing seat; B81-first receiving groove; B9-fourth bearing seat; B91-second receiving groove; B10-third bearing; B11-fourth bearing; B12 -fifth bearing; B13-sixth bearing; C-third joint module; C1-fourth rotating shaft; C2-fifth rotating shaft; C3-sixth rotating shaft; C4-ninth capstan; C5-tenth capstan; C6-eleventh capstan; C7-twelfth capstan; C8-thirteenth capstan; C9-fourteenth capstan; C10-fifteenth capstan; C11-fifth bearing seat; C111-third receiving groove; C112-fourth receiving groove; C12-sixth bearing seat; C121-fifth receiving groove; C122-sixth receiving groove; C13-seventh bearing; C14-eighth bearing; C15 - the ninth bearing; C16 - the tenth bearing; C17 - the eleventh bearing; C18 - the twelfth bearing; D1 - the first traction rope; D2 - the second traction rope; D3 - the third traction rope; D4 - the fourth traction rope; D5 - the fifth traction rope; D6 - the sixth traction rope; D7 - the seventh traction rope; D8 - the eighth traction rope; D9 - the ninth traction rope; D10 - the tenth traction rope; J1 - the first rotation axis; J2 - the second rotation axis; J3 - the third rotation axis; J4 - the fourth rotation axis; J5 - the fifth rotation axis; J6 - the sixth rotation axis; J7 - the seventh rotation axis. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. It should be noted that, in the absence of conflict, the various features in the embodiments of the present application can be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0032] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0033] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0034] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0035] In one aspect of the embodiment of the present application, please refer to Figure 1 and Figure 2A main manipulator 10 is provided, comprising: a position adjustment mechanism 11, a posture adjustment mechanism 12 and a pair of finger clamps 13, wherein the pair of finger clamps 13 perform an opening and closing motion. The input end of the posture adjustment mechanism 12 is connected to the output end of the position adjustment mechanism 11, and the output end of the posture adjustment mechanism 12 is connected to the finger clamps 13. The position adjustment mechanism 11 is used to adjust the spatial position of the finger clamps 13, and the posture adjustment mechanism 12 is used to adjust the spatial posture of the finger clamps 13.

[0036] Specifically, the posture adjustment mechanism 12 includes a plurality of connecting rods that are rotatably connected in sequence, and a plurality of driving motors are provided on the position adjustment mechanism 11. The number of driving motors is equal to the number of connecting rods, and the number of connecting rods can be set according to the number of degrees of freedom required by the posture adjustment mechanism 12. The plurality of driving motors are respectively connected to the plurality of connecting rods for driving, and the plurality of driving motors adjust the spatial posture of the finger clamp 13 by respectively adjusting the angles of the plurality of connecting rods.

[0037] The master operator 10 uses a plurality of drive motors to control the plurality of connecting rods in the posture adjustment mechanism 12 respectively. By adjusting the control parameters of the drive motors, the dynamic compensation of the master operator 10 can be achieved, and the adjustment capability is strong and the adjustment range is large. In addition, the master operator 10 sets a plurality of drive motors on the position adjustment mechanism 11, which reduces the weight of the posture adjustment mechanism 12, that is, reduces the rotational inertia of the posture adjustment mechanism 12, makes the posture adjustment mechanism 12 easier to control, and can also ensure the comfort of the doctor during long-term surgical operations.

[0038] Optionally, the posture adjustment mechanism 12 includes a first connecting rod 121, a second connecting rod 122, a third connecting rod 123 and a fourth connecting rod 124 that are rotatably connected in sequence. That is to say, the first connecting rod 121 is rotatably connected to the second connecting rod 122, the second connecting rod 122 is rotatably connected to the third connecting rod 123, and the third connecting rod 123 is rotatably connected to the fourth connecting rod 124. Correspondingly, the driving motor includes a first motor 141, a second motor 142, a third motor 143 and a fourth motor 144, the first motor 141 is drivingly connected to the first connecting rod 121, the second motor 142 is drivingly connected to the second connecting rod 122, the third motor 143 is drivingly connected to the third connecting rod 123, and the fourth motor 144 is drivingly connected to the fourth connecting rod 124. The first connecting rod 121 is also rotatably connected to the output end of the position adjustment mechanism 11, and the finger clamp 13 is arranged on the fourth connecting rod 124. The first rotation axis J1 of the first connecting rod 121, the second rotation axis J2 of the second connecting rod 122, the third rotation axis J3 of the third connecting rod 123 and the fourth rotation axis J4 of the fourth connecting rod 124 intersect at one point. With such arrangement, the finger clamp 13 can realize any posture in three-dimensional space.

[0039] Preferably, the ends of the first connecting rod 121 , the second connecting rod 122 , the third connecting rod 123 and the fourth connecting rod 124 are rotatably connected in sequence to save the occupied space of the posture adjustment mechanism 12 and reduce the weight.

[0040] Furthermore, the first rotation axis J1 is perpendicular to the second rotation axis J2, the second rotation axis J2 is perpendicular to the third rotation axis J3, the third rotation axis J3 is perpendicular to the fourth rotation axis J4, and the first rotation axis J1 is coplanar with the third rotation axis J3.

[0041] With this arrangement, the driving motor only needs to adjust the angle between the first rotation axis J1 and the third rotation axis J3, and the angle between the first rotation axis J1 and the fourth rotation axis J4 to adjust the posture of the finger clamp 13 in three-dimensional space, making it easier to control the finger clamp 13.

[0042] Optionally, the main operator 10 also includes a first joint module A, a second joint module B and a third joint module C. The second link 122 and the third link 123 are rotationally connected via the first joint module A, the first link 121 and the second link 122 are rotationally connected via the second joint module B, and the first link 121 and the output end of the position adjustment mechanism 11 are rotationally connected via the third joint module C.

[0043] For details, please refer to Figure 3 and Figure 4 The first joint module A includes a first rotation axis A1, and the second connecting rod 122 and the third connecting rod 123 are rotatably disposed on the first rotation axis A1. The axis of the first rotation axis A1 is the third rotation axis J3 of the third connecting rod 123.

[0044] Please refer to Figure 5 and Figure 6 The second joint module B includes a second rotating shaft B1 and a third rotating shaft B2 coaxially arranged with the second rotating shaft B1. The first connecting rod 121 is rotatably arranged on the second rotating shaft B1, and the second connecting rod 122 is rotatably arranged on the third rotating shaft B2. The axis of the second rotating shaft B1 and the third rotating shaft B2 is the second rotation axis J2 of the second connecting rod 122.

[0045] Please refer to Figure 7 and Figure 8 The third joint module C includes a fourth rotation axis C1, a fifth rotation axis C2 and a sixth rotation axis C3 which are respectively coaxially arranged with the fourth rotation axis C1, the output end of the position adjustment mechanism 11 is rotationally arranged on the fourth rotation axis C1, and the first connecting rod 121 is rotationally arranged on the sixth rotation axis C3. The axis of the fourth rotation axis C1, the fifth rotation axis C2 and the sixth rotation axis C3 is the first rotation axis J1 of the first connecting rod 121.

[0046] The main operator 10 further includes a first traction rope D1, a second traction rope D2, a third traction rope D3, a fourth traction rope D4, a fifth traction rope D5, a sixth traction rope D6, a seventh traction rope D7, an eighth traction rope D8, a ninth traction rope D9 and a tenth traction rope D10. Among them, the first traction rope D1 is drivingly connected to the first rotating shaft A1 and the fourth connecting rod 124 respectively, the second traction rope D2 is drivingly connected to the third connecting rod 123 and the third rotating shaft B2 respectively, the third traction rope D3 is drivingly connected to the first rotating shaft A1 and the second rotating shaft B1 respectively, the fourth traction rope D4 is drivingly connected to the second connecting rod 122 and the sixth rotating shaft C3 respectively, the fifth traction rope D5 is drivingly connected to the third rotating shaft B2 and the fifth rotating shaft C2 respectively, the sixth traction rope D6 is drivingly connected to the second rotating shaft B1 and the fourth rotating shaft C1 respectively, the seventh traction rope D7 is drivingly connected to the sixth rotating shaft C3 and the second motor 142 respectively, the eighth traction rope D8 is drivingly connected to the first connecting rod 121 and the first motor 141 respectively, the ninth traction rope D9 is drivingly connected to the fifth rotating shaft C2 and the third motor 143 respectively, and the tenth traction rope D10 is drivingly connected to the fourth rotating shaft C1 and the fourth motor 144 respectively.

[0047] It should be noted that, in this embodiment, there is no limitation on the driving connection method between the traction rope and the rotating shaft, connecting rod or driving motor, as long as one of them can drive the other to rotate.

[0048] At this time, the rotation driving path of the first connecting rod 121 is as follows: the first motor 141 drives the first connecting rod 121 to rotate around the first rotation axis J1 through the eighth traction cable D8.

[0049] The rotation driving path of the second connecting rod 122 is as follows: the second motor 142 drives the sixth rotating shaft C3 to rotate through the seventh traction cable D7, and the sixth rotating shaft C3 transmits the rotational motion to the second connecting rod 122 through the fourth traction cable D4, driving the second connecting rod 122 to rotate around the second rotation axis J2.

[0050] The rotation driving path of the third connecting rod 123 is as follows: the third motor 143 drives the fifth rotating shaft C2 to rotate through the ninth traction rope D9, the fifth rotating shaft C2 transmits the rotation motion to the third rotating shaft B2 through the fifth traction rope D5, and the third rotating shaft B2 transmits the rotation motion to the third connecting rod 123 through the second traction rope D2, driving the third connecting rod 123 to rotate around the third rotation axis J3.

[0051] The rotation driving path of the fourth connecting rod 124 is as follows: the fourth motor 144 drives the fourth rotating shaft C1 to rotate through the tenth traction cable D10, the fourth rotating shaft C1 transmits the rotational motion to the second rotating shaft B1 through the sixth traction cable D6, the second rotating shaft B1 transmits the rotational motion to the first rotating shaft A1 through the third traction cable D3, and the first rotating shaft A1 transmits the rotational motion to the fourth connecting rod 124 through the first traction cable D1, driving the fourth connecting rod 124 to rotate around the fourth rotation axis J4.

[0052] The above-mentioned multi-axis nested joint module cooperates with the segmented traction cable transmission method to realize the independent rotation movement of the first connecting rod 121, the second connecting rod 122, the third connecting rod 123 and the fourth connecting rod 124.

[0053] For further information, please refer to Figure 3 , Figure 5 and Figure 7 The third rotating shaft B2 is sleeved outside the second rotating shaft B1, the length of the second rotating shaft B1 is greater than the length of the third rotating shaft B2, and both ends of the second rotating shaft B1 are exposed from the third rotating shaft B2. Such a configuration can save space and facilitate the installation of the second rotating shaft B1, and the second rotating shaft B1 is drivingly connected with the third traction rope D3 and the sixth traction rope D6.

[0054] The fifth rotating shaft C2 is sleeved outside the fourth rotating shaft C1, and the sixth rotating shaft C3 is sleeved outside the fifth rotating shaft C2. The length of the fourth rotating shaft C1 is greater than that of the fifth rotating shaft C2, and the length of the fifth rotating shaft C2 is greater than that of the sixth rotating shaft C3. Both ends of the fifth rotating shaft C2 are respectively exposed from the sixth rotating shaft C3, and both ends of the fourth rotating shaft C1 are respectively exposed from the fifth rotating shaft C2. Such a configuration can save space and facilitate the installation of the fourth rotating shaft C1 and the fifth rotating shaft C2, and the fourth rotating shaft C1 is drivingly connected to the sixth traction cable D6 and the tenth traction cable D10, and the fifth rotating shaft C2 is drivingly connected to the fifth traction cable D5 and the ninth traction cable D9.

[0055] Optionally, see Figure 3 and Figure 4 The first joint module A also includes a first capstan A2 and a second capstan A3 respectively fixed on the first rotating shaft A1, and a third capstan A4 fixed on the third connecting rod 123. Figure 5 and Figure 6 The second joint module B also includes a fourth capstan B3 and a fifth capstan B4 respectively fixed on the second rotating shaft B1, a sixth capstan B5 and a seventh capstan B6 respectively fixed on the third rotating shaft B2, and an eighth capstan B7 fixed on the second connecting rod 122. Please refer to Figure 7 and Figure 8The third joint module C also includes a ninth capstan C4 and a tenth capstan C5 respectively fixed on the fourth rotating shaft C1, an eleventh capstan C6 and a twelfth capstan C7 respectively fixed on the fifth rotating shaft C2, a thirteenth capstan C8 and a fourteenth capstan C9 respectively fixed on the sixth rotating shaft C3, and a fifteenth capstan C10 fixed on the first connecting rod 121.

[0056] Please refer to Figure 2 The first traction rope D1 to the tenth traction rope D10 are all ring-shaped. The first traction rope D1 is respectively mounted on the first capstan A2 and the fourth connecting rod 124, the second traction rope D2 is respectively mounted on the third capstan A4 and the sixth capstan B5, the third traction rope D3 is respectively mounted on the second capstan A3 and the fourth capstan B3, the fourth traction rope D4 is respectively mounted on the eighth capstan B7 and the thirteenth capstan C8, the fifth traction rope D5 is respectively mounted on the seventh capstan B6 and the eleventh capstan C6, the sixth traction rope D6 is respectively mounted on the fifth capstan B4 and the ninth capstan C4, the seventh traction rope D7 is respectively mounted on the fourteenth capstan C9 and the second motor 142, the eighth traction rope D8 is respectively mounted on the fifteenth capstan C10 and the first motor 141, the ninth traction rope D9 is respectively mounted on the twelfth capstan C7 and the third motor 143, and the tenth traction rope D10 is respectively mounted on the tenth capstan C5 and the fourth motor 144.

[0057] At this time, after the rotational movement of the first connecting rod 121 is wound around the fifteenth winch C10 through the eighth traction rope D8 , the other end is connected to the first motor 141 and is driven by the first motor 141 .

[0058] The rotational movement of the second connecting rod 122 is connected to the thirteenth winch C8 of the third joint module C after being wrapped around the eighth winch B7 through the fourth traction rope D4, and then connected to the seventh traction rope D7 through the sixth rotating shaft C3 and the fourteenth winch C9. The other end of the seventh traction rope D7 is connected to the second motor 142.

[0059] The rotational movement of the third connecting rod 123 is connected to the sixth capstan B5 of the second joint module B after being wrapped around the third capstan A4 by the second traction rope D2, and then connected to the fifth traction rope D5 through the third rotating shaft B2 and the seventh capstan B6; the fifth traction rope D5 is connected to the eleventh capstan C6 of the third joint module C, and then connected to the ninth traction rope D9 through the fifth rotating shaft C2 and the twelfth capstan C7; the other end of the ninth traction rope D9 is connected to the third motor 143.

[0060] The rotational movement of the fourth connecting rod 124 is connected to the first winch A2 of the first joint module A through the first traction cable D1, and then connected to the third traction cable D3 through the first rotating shaft A1 and the second winch A3; the third traction cable D3 is connected to the fourth winch B3 of the second joint module B, and then connected to the sixth traction cable D6 through the second rotating shaft B1 and the fifth winch B4; the sixth traction cable D6 is connected to the ninth winch C4 of the third joint module C, and then connected to the tenth traction cable D10 through the fourth rotating shaft C1 and the tenth winch C5; the other end of the tenth traction cable D10 is connected to the fourth motor 144.

[0061] Optionally, see Figure 1 and Figure 2 The first link 121, the second link 122 and the third link 123 are all right-angled, and the first pulley block 15, the second pulley block 16 and the third pulley block 17 are respectively provided at the right-angle corners of the first link 121, the second link 122 and the third link 123; the middle part of the first traction rope D1 passes around the third pulley block 17, the middle part of the second traction rope D2 and the third traction rope D3 passes around the second pulley block 16 respectively, and the middle part of the fourth traction rope D4, the fifth traction rope D5 and the sixth traction rope D6 passes around the first pulley block 15 respectively.

[0062] The first connecting rod 121, the second connecting rod 122 and the third connecting rod 123 each have two sub-connecting rods with their ends connected vertically, so as to be in a right angle shape. The middle of the first traction rope D1 passes around the third pulley block 17, so that the first traction lock can be extended along the third connecting rod 123; the middle of the second traction rope D2 and the third traction rope D3 pass around the second pulley block 16, so that the second traction rope D2 and the third traction rope D3 can be extended along the second connecting rod 122; the middle of the fourth traction rope D4, the fifth traction rope D5 and the sixth traction rope D6 pass around the first pulley block 15, so that the fourth traction rope D4, the fifth traction rope D5 and the sixth traction rope D6 can be extended along the first connecting rod 121. In this way, space can be saved and interference between multiple traction ropes can be prevented.

[0063] For example, the first pulley block 15 includes a first pulley shaft rotatably arranged on the first connecting rod 121, and two first pulleys fixedly arranged on the first pulley shaft, two opposite sections of the fourth traction lock are respectively wound on the two first pulleys, two opposite sections of the fifth traction lock are respectively wound on the two first pulleys, and two opposite sections of the sixth traction lock are respectively wound on the two first pulleys. It can be understood that the fourth traction lock, the fifth traction lock and the sixth traction lock are respectively wound on different positions of the first pulley to avoid mutual interference.

[0064] The second pulley assembly 16 includes a second pulley shaft rotatably disposed on the second connecting rod 122, and two second pulleys fixedly disposed on the second pulley shaft, two opposite sections of the second traction lock are respectively wound around the two second pulleys, and two opposite sections of the third traction lock are respectively wound around the two second pulleys. It can be understood that the second traction lock and the third traction lock are respectively wound around different positions of the second pulley to avoid mutual interference.

[0065] The third pulley assembly 17 includes a third pulley shaft 171 rotatably disposed on the third connecting rod 123, and two third pulleys fixedly disposed on the third pulley shaft 171, and two opposite sections of the first traction lock are respectively wound around the two third pulleys.

[0066] Optionally, see Figure 3 , Figure 5 and Figure 7 The first joint module A also includes a first bearing seat A5 fixed on the third connecting rod 123 and a second bearing seat A6 fixed on the second connecting rod 122. The first bearing seat A5 is provided with a first bearing A7, and the second bearing seat A6 is provided with a second bearing A8. The inner rings of the first bearing A7 and the second bearing A8 are respectively matched with the first rotating shaft A1, thereby realizing the installation of the first rotating shaft A1.

[0067] The second joint module B also includes a third bearing seat B8 fixed on the second connecting rod 122 and a fourth bearing seat B9 fixed on the first connecting rod 121. The third bearing seat B8 is provided with a third bearing B10 and a fourth bearing B11, and the fourth bearing seat B9 is provided with a fifth bearing B12 and a sixth bearing B13. The inner rings of the third bearing B10 and the fifth bearing B12 are respectively matched with the second rotating shaft B1, and the inner rings of the fourth bearing B11 and the sixth bearing B13 are respectively matched with the third rotating shaft B2, thereby realizing the installation of the second rotating shaft B1 and the third rotating shaft B2.

[0068] The third joint module C also includes a fifth bearing seat C11 fixed on the first connecting rod 121 and a sixth bearing seat C12 fixed at the output end of the position adjustment mechanism 11. The fifth bearing seat C11 is provided with a seventh bearing C13, an eighth bearing C14 and a ninth bearing C15, and the sixth bearing seat C12 is provided with a tenth bearing C16, an eleventh bearing C17 and a twelfth bearing C18. The inner rings of the seventh bearing C13 and the tenth bearing C16 are respectively matched with the fourth rotating shaft C1, the inner rings of the eighth bearing C14 and the eleventh bearing C17 are respectively matched with the fifth rotating shaft C2, and the inner rings of the ninth bearing C15 and the twelfth bearing C18 are respectively matched with the sixth rotating shaft C3, thereby realizing the installation of the fourth rotating shaft C1, the fifth rotating shaft C2 and the sixth rotating shaft C3.

[0069] The two opposite ends of each rotating shaft are installed by two bearings, which can make the rotation of the rotating shaft more stable.

[0070] For example, a first accommodating groove B81 is provided in the third bearing seat B8, and the first accommodating groove B81 is located between the third bearing B10 and the fourth bearing B11, and the first accommodating groove B81 is used to accommodate the end of the third rotating shaft B2 and the sixth capstan B5 mounted on the end of the third rotating shaft B2.

[0071] A second accommodating groove B91 is provided in the fourth bearing seat B9. The second accommodating groove B91 is located between the fifth bearing B12 and the sixth bearing B13. The second accommodating groove B91 is used to accommodate the other end of the third rotating shaft B2 and the seventh capstan B6 mounted on the other end of the third rotating shaft B2.

[0072] A third accommodating groove C111 and a fourth accommodating groove C112 are provided in the fifth bearing seat C11. The third accommodating groove C111 is located between the seventh bearing C13 and the eighth bearing C14. The fourth accommodating groove C112 is located between the eighth bearing C14 and the ninth bearing C15. The third accommodating groove C111 is used to accommodate the end of the fifth rotating shaft C2 and the eleventh capstan C6 mounted on the end of the fifth rotating shaft C2. The fourth accommodating groove C112 is used to accommodate the end of the sixth rotating shaft C3 and the thirteenth capstan C8 mounted on the end of the sixth rotating shaft C3.

[0073] A fifth accommodating groove C121 and a sixth accommodating groove C122 are provided in the sixth bearing seat C12. The fifth accommodating groove C121 is located between the tenth bearing C16 and the eleventh bearing C17, and the sixth accommodating groove C122 is located between the eleventh bearing C17 and the twelfth bearing C18. The fifth accommodating groove C121 is used to accommodate the end of the fourth rotating shaft C1, the other end of the fifth rotating shaft C2, and the tenth capstan C5 mounted on the end of the fourth rotating shaft C1 and the twelfth capstan C7 mounted on the other end of the fifth rotating shaft C2. The sixth accommodating groove C122 is used to accommodate the other end of the sixth rotating shaft C3 and the fourteenth capstan C9 mounted on the other end of the sixth rotating shaft C3.

[0074] Optionally, see Figure 1 The position adjustment mechanism 11 includes a fifth link 111, a sixth link 112, a seventh link 113, an eighth link 114 and a ninth link 115. One end of the sixth link 112 is rotatably connected to the fifth link 111 and the other end is rotatably connected to the ninth link 115. One end of the seventh link 113 is rotatably connected to the fifth link 111 and the other end is rotatably connected to the eighth link 114. The other end of the eighth link 114 is also rotatably connected to the ninth link 115. The posture adjustment mechanism 12 is rotatably arranged on the ninth link 115. The sixth rotation axis J6 of the sixth link 112 and the seventh rotation axis J7 of the seventh link 113 are parallel and respectively perpendicular to the fifth rotation axis J5 of the fifth link 111. The arrangement of the first link 121 to the ninth link 115 enables the main operator 10 to have a total of eight degrees of freedom of movement.

[0075] In summary, the embodiment of the present application realizes a low-inertia master manipulator 10 through a multi-axis nested joint module, a rear drive motor, and a segmented traction cable transmission method. By collecting the motion parameters of each joint module in real time and adjusting the output torque of the drive motor, the dynamic compensation of the master manipulator 10 can be achieved, ultimately ensuring the doctor's comfort during long-term surgical operations.

[0076] Please refer to Figure 1 , Figure 2 and Fig. 9 The purpose of the dynamic compensation of the master operator 10 provided in the embodiment of the present application is to reduce the force and torque acting on the hand during the master-slave operation and improve the comfort of the master operator 10. The overall scheme of compensation control is to adjust the output torque of the driving motor of the master operator 10 in real time to achieve that the force of the master operator 10 acting on the human hand in three directions of space is less than 5N, and the torque acting on the human hand in the directions of the first rotation axis J1, the second rotation axis J2 and the third rotation axis J3 is less than 0.5mN.

[0077] The specific steps of the compensation control algorithm are as follows:

[0078] The rotation angles α of the main manipulator 10 around the fifth rotation axis J5, the sixth rotation axis J6, the seventh rotation axis J7, the first rotation axis J1, the second rotation axis J2 and the third rotation axis J3 are respectively obtained by sensors (such as rotary encoders) J1 , α J2 , α J3 , α J4 , α J5 and α J6 .

[0079] The equivalent center of mass M and position of the main manipulator 10 and the equivalent center of mass m and position of the posture adjustment mechanism 12 are calculated through the values ​​of each angle and the mass of each connecting rod.

[0080] Constructing a dynamic model of the main manipulator 10. Next, the Newton method is used as an example to explain the dynamic modeling, but other dynamic modeling methods such as the Lagrange method may also be used.

[0081]

[0082] In formula (1) to formula (3), D J1 , D J2 and D J3 Respectively represent the force arms from the equivalent center of mass of the master manipulator 10 to the fifth rotation axis J5, the sixth rotation axis J6 and the seventh rotation axis J7; Indicates the force acting on the operator's hand; d FJ1 d FJ2 and dFJ3 T represents the force arms from the action point of the human hand on the main manipulator 10 to the fifth rotation axis J5, the sixth rotation axis J6 and the seventh rotation axis J7 respectively; J1 , T J2 and T J3 k represents the output torque of the driving motor at the fifth rotation axis J5, the sixth rotation axis J6 and the seventh rotation axis J7 respectively; ij (i,j=1,2,3) represent T J1 , T J2 and T J3 Components at the fifth rotation axis J5, the sixth rotation axis J6 and the seventh rotation axis J7; and are the rotational accelerations of the fifth rotation axis J5, the sixth rotation axis J6 and the seventh rotation axis J7, respectively, and the rotation angle α J1 , α J2 and α J3 Differentiation obtained.

[0083] In formula (4) to formula (6), d J4 d J5 and d J6 Respectively represent the force arms from the equivalent center of mass of the posture adjustment mechanism 12 to the first rotation axis J1, the second rotation axis J2 and the third rotation axis J3; Indicates the torque acting on the operator's hand; T J4 , T J5 and T J6 The output torques of the first motor 141, the second motor 142 and the third motor 143 corresponding to the first rotation axis J1, the second rotation axis J2 and the third rotation axis J3 are represented respectively. ij (i,j=1,2,3) represent T J4 , T J5 and T J6 Components on the first rotation axis J1, the second rotation axis J2 and the third rotation axis J3; and are the rotational accelerations of the first rotation axis J1, the second rotation axis J2 and the third rotation axis J3, respectively, and the angle α J4 , α J5 and α J6 Differentiation obtained.

[0084] Based on constraints and The output torque of each driving motor of the main manipulator 10 can be obtained by calculation to achieve dynamic compensation.

[0085] This embodiment also provides a master-slave minimally invasive surgery system, comprising a master manipulator 10 as described above.

[0086] The master-slave minimally invasive surgical system includes the same structure and beneficial effects as the master manipulator 10 in the aforementioned embodiment. The structure and beneficial effects of the master manipulator 10 have been described in detail in the aforementioned embodiment and will not be repeated here.

[0087] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A main operator, It is characterized in that include: A position adjustment mechanism, a posture adjustment mechanism and a pair of finger clamps, wherein the input end of the posture adjustment mechanism is connected to the output end of the position adjustment mechanism, the output end of the posture adjustment mechanism is connected to the finger clamps, and the position adjustment mechanism is used to adjust the spatial position of the finger clamps; the posture adjustment mechanism includes a plurality of connecting rods connected and rotatably connected in sequence, and a plurality of driving motors are provided on the position adjustment mechanism, and the plurality of driving motors are respectively connected and drivably connected to the plurality of connecting rods, and the plurality of driving motors adjust the spatial posture of the finger clamps by respectively adjusting the angles of the plurality of connecting rods.

2. The master operator according to claim 1, It is characterized in that The posture adjustment mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are rotatably connected in sequence, the first connecting rod is also rotatably connected to the output end of the position adjustment mechanism, the finger clamp is arranged on the fourth connecting rod, and the first rotation axis of the first connecting rod, the second rotation axis of the second connecting rod, the third rotation axis of the third connecting rod and the fourth rotation axis of the fourth connecting rod intersect at one point; The drive motor includes a first motor, a second motor, a third motor and a fourth motor. The first motor is drivingly connected to the first connecting rod, the second motor is drivingly connected to the second connecting rod, the third motor is drivingly connected to the third connecting rod, and the fourth motor is drivingly connected to the fourth connecting rod.

3. The master operator according to claim 2, It is characterized in that The first rotation axis is perpendicular to the second rotation axis, the second rotation axis is perpendicular to the third rotation axis, the third rotation axis is perpendicular to the fourth rotation axis, and the first rotation axis is coplanar with the third rotation axis.

4. The master operator according to claim 2, It is characterized in that The main manipulator also includes a first joint module, a second joint module and a third joint module; the first joint module includes a first rotating shaft, and the second connecting rod and the third connecting rod are respectively rotatably arranged on the first rotating shaft; the second joint module includes a second rotating shaft and a third rotating shaft coaxially arranged with the second rotating shaft, the first connecting rod is rotatably arranged on the second rotating shaft, and the second connecting rod is rotatably arranged on the third rotating shaft; the third joint module includes a fourth rotating shaft, a fifth rotating shaft and a sixth rotating shaft coaxially arranged with the fourth rotating shaft, respectively, the output end of the position adjustment mechanism is rotatably arranged on the fourth rotating shaft, and the first connecting rod is rotatably arranged on the sixth rotating shaft; The main operator also includes a first traction cable, a second traction cable, a third traction cable, a fourth traction cable, a fifth traction cable, a sixth traction cable, a seventh traction cable, an eighth traction cable, a ninth traction cable and a tenth traction cable; the first traction cable is drivingly connected to the first shaft and the fourth connecting rod respectively, the second traction cable is drivingly connected to the third connecting rod and the third rotating shaft respectively, the third traction cable is drivingly connected to the first rotating shaft and the second rotating shaft respectively, the fourth traction cable is drivingly connected to the second connecting rod and the sixth rotating shaft respectively, the fifth traction cable is drivingly connected to the third rotating shaft and the fifth rotating shaft respectively, the sixth traction cable is drivingly connected to the second rotating shaft and the fourth rotating shaft respectively, the seventh traction cable is drivingly connected to the sixth rotating shaft and the second motor respectively, the eighth traction cable is drivingly connected to the first connecting rod and the first motor respectively, the ninth traction cable is drivingly connected to the fifth rotating shaft and the third motor respectively, and the tenth traction cable is drivingly connected to the fourth rotating shaft and the fourth motor respectively.

5. The master operator according to claim 4, It is characterized in that The first joint module also includes a first capstan and a second capstan respectively fixed on the first rotating shaft, and a third capstan fixed on the third connecting rod; the second joint module also includes a fourth capstan and a fifth capstan respectively fixed on the second rotating shaft, a sixth capstan and a seventh capstan respectively fixed on the third rotating shaft, and an eighth capstan fixed on the second connecting rod; the third joint module also includes a ninth capstan and a tenth capstan respectively fixed on the fourth rotating shaft, an eleventh capstan and a twelfth capstan respectively fixed on the fifth rotating shaft, a thirteenth capstan and a fourteenth capstan respectively fixed on the sixth rotating shaft, and a fifteenth capstan fixed on the first connecting rod; The first traction rope is respectively wound around the first winch and the fourth connecting rod, the second traction rope is respectively wound around the third winch and the sixth winch, the third traction rope is respectively wound around the second winch and the fourth winch, the fourth traction rope is respectively wound around the eighth winch and the thirteenth winch, the fifth traction rope is respectively wound around the seventh winch and the eleventh winch, the sixth traction rope is respectively wound around the fifth winch and the ninth winch, the seventh traction rope is respectively wound around the fourteenth winch and the second motor, the eighth traction rope is respectively wound around the fifteenth winch and the first motor, the ninth traction rope is respectively wound around the twelfth winch and the third motor, and the tenth traction rope is respectively wound around the tenth winch and the fourth motor.

6. The master operator according to claim 4, It is characterized in that The first connecting rod, the second connecting rod and the third connecting rod are all right-angled, and the first connecting rod, the second connecting rod and the third connecting rod are respectively provided with a first pulley group, a second pulley group and a third pulley group at the right-angle corners; The middle part of the first traction rope passes around the third pulley block, the middle parts of the second traction rope and the third traction rope pass around the second pulley block respectively, and the middle parts of the fourth traction rope, the fifth traction rope and the sixth traction rope pass around the first pulley block respectively.

7. The master operator according to claim 4, It is characterized in that The first joint module also includes a first bearing seat fixed on the third connecting rod and a second bearing seat fixed on the second connecting rod, the first bearing seat is provided with a first bearing, the second bearing seat is provided with a second bearing, and the inner rings of the first bearing and the second bearing are respectively matched with the first rotating shaft; The second joint module also includes a third bearing seat fixed on the second connecting rod and a fourth bearing seat fixed on the first connecting rod, a third bearing and a fourth bearing are arranged in the third bearing seat, a fifth bearing and a sixth bearing are arranged in the fourth bearing seat, the inner rings of the third bearing and the fifth bearing are respectively matched with the second rotating shaft, and the inner rings of the fourth bearing and the sixth bearing are respectively matched with the third rotating shaft; The third joint module also includes a fifth bearing seat fixed on the first connecting rod and a sixth bearing seat fixed on the output end of the position adjustment mechanism, the fifth bearing seat is provided with a seventh bearing, an eighth bearing and a ninth bearing, the sixth bearing seat is provided with a tenth bearing, an eleventh bearing and a twelfth bearing, the inner rings of the seventh bearing and the tenth bearing are respectively matched with the fourth rotating shaft, the inner rings of the eighth bearing and the eleventh bearing are respectively matched with the fifth rotating shaft, and the inner rings of the ninth bearing and the twelfth bearing are respectively matched with the sixth rotating shaft.

8. The master operator according to claim 4, It is characterized in that The third rotating shaft is sleeved outside the second rotating shaft, and both ends of the second rotating shaft are respectively exposed from the third rotating shaft; the fifth rotating shaft is sleeved outside the fourth rotating shaft, and the sixth rotating shaft is sleeved outside the fifth rotating shaft, and both ends of the fifth rotating shaft are respectively exposed from the sixth rotating shaft, and both ends of the fourth rotating shaft are respectively exposed from the fifth rotating shaft.

9. The master operator according to claim 1, It is characterized in that The position adjustment mechanism includes a fifth link, a sixth link, a seventh link, an eighth link and a ninth link, one end of the sixth link is rotatably connected to the fifth link, and the other end is rotatably connected to the ninth link, one end of the seventh link is rotatably connected to the fifth link, and the other end is rotatably connected to the eighth link, and the other end of the eighth link is also rotatably connected to the ninth link, and the posture adjustment mechanism is rotatably arranged on the ninth link, and the sixth rotation axis of the sixth link is parallel to the seventh rotation axis of the seventh link, and are respectively perpendicular to the fifth rotation axis of the fifth link.

10. A master-slave minimally invasive surgical system, It is characterized in that Comprising a main operator as described in any one of claims 1 to 9.

Images