A master operator and a master-slave minimally invasive surgical system

Abstract

The present application provides a master manipulator and a master-slave minimally invasive surgical system, relating to the field of medical device technology. The master manipulator includes: a position adjustment mechanism, a posture adjustment mechanism, and a pair of finger clamps. The input end of the posture adjustment mechanism is connected to the output end of the position adjustment mechanism, and the output end of the posture adjustment mechanism is connected to the finger clamps. The position adjustment mechanism is used to adjust the spatial position of the finger clamps. The posture adjustment mechanism includes multiple connecting rods that are connected to each other in a sequential manner. The position adjustment mechanism is provided with multiple drive motors, and the multiple drive motors are respectively connected to the multiple connecting rods. The multiple drive motors adjust the spatial posture of the finger clamps by adjusting the angles of the multiple connecting rods. The master manipulator can achieve dynamic compensation of the master manipulator, with strong adjustment capabilities and a large adjustment range. In addition, the master manipulator arranges the drive motor on the position adjustment mechanism, which reduces the inertia of the posture adjustment mechanism, making it easier to control and ensuring the doctor's comfort during long-term surgical operations.

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 surgical system. Background Art

[0002] The master-slave minimally invasive surgical system, integrating robotics and minimally invasive surgery, represents a key development in robotics for medical surgery. The system offers precise positioning, high operational precision, a low risk of postoperative infection, and a short recovery time. It is suitable for a variety of procedures, including laparoscopic minimally invasive surgery, neurosurgery, and gastrointestinal endoscopic surgery. Its diverse range of surgical procedures and tens of thousands of successful cases have earned it widespread recognition among surgeons.

[0003] The master operator is a crucial component of a master-slave minimally invasive surgical system. Clinically, it is required to be flexible and lightweight to prevent fatigue during prolonged operation. Studies have shown that the maximum continuous force exerted on the human hand without fatigue is approximately 5N, and the torque is approximately 0.3Nm. However, due to dynamic factors such as gravity, joint friction, and inertia, hand fatigue can increase over time.

[0004] To increase the comfort of the master operator, real-time dynamic compensation is required. There are generally three types of dynamic compensation solutions: counterweight compensation, elastic force compensation, and motor compensation. Counterweight compensation reduces the moment of inertia of the moving component's center of mass relative to its axis of rotation by designing the mass and installation position of the counterweight. Elastic force compensation involves adding elastic components to the moving joints, using the forces generated by elastic deformation to compensate for the joint's own gravity, friction, and inertia. Motor compensation achieves dynamic compensation of the master operator by adjusting motor control parameters based on a pre-designed dynamic model and additional forces such as friction and inertia generated by real-time motion. Compared to counterweight compensation and elastic force compensation, motor compensation offers stronger force compensation adjustment capabilities and a wider adjustment range. However, existing motor compensation solutions increase the weight of the master operator and increase the difficulty of control, making the master operator unable to meet the comfort requirements for prolonged surgeries. Summary of the Invention

[0005] The purpose of this application is to address the deficiencies in the above-mentioned prior art and provide a master manipulator and a master-slave minimally invasive surgical system that can achieve dynamic compensation and ensure the doctor's comfort during long-term surgical operations.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of the present application are 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, 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 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 link, a second link, a third link and a fourth link that are rotatably connected in sequence, the first link is also rotatably connected to the output end of the position adjustment mechanism, the finger clamp is arranged on the fourth link, the first rotation axis of the first link, the second rotation axis of the second link, the third rotation axis of the third link and the fourth rotation axis of the fourth link 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 link, the second motor is drivingly connected to the second link, the third motor is drivingly connected to the third link, and the fourth motor is drivingly connected to the fourth link.

[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 and the third rotation axis are coplanar.

[0010] Optionally, the main operator further 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, 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 further 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 cable, the eighth traction cable, the ninth traction cable and the tenth traction cable; the first traction cable is respectively driven and connected to the first rotating shaft and the fourth connecting rod, the second traction cable is respectively driven and connected to the third connecting rod and the third rotating shaft, the third traction cable is respectively driven and connected to the first rotating shaft and the second rotating shaft, the fourth traction cable is respectively driven and connected to the second connecting rod and the sixth rotating shaft, the fifth traction cable is respectively driven and connected to the third rotating shaft and the fifth rotating shaft, the sixth traction cable is respectively driven and connected to the second rotating shaft and the fourth rotating shaft, the seventh traction cable is respectively driven and connected to the sixth rotating shaft and the second motor, the eighth traction cable is respectively driven and connected to the first connecting rod and the first motor, the ninth traction cable is respectively driven and connected to the fifth rotating shaft and the third motor, and the tenth traction cable is respectively driven and connected to the fourth rotating shaft and the fourth motor.

[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 ropes are respectively wound around the first capstan and the fourth connecting rod, the second traction rope is respectively wound around the third capstan and the sixth capstan, the third traction rope is respectively wound around the second capstan and the fourth capstan, the fourth traction rope is respectively wound around the eighth capstan and the thirteenth capstan, the fifth traction rope is respectively wound around the seventh capstan and the eleventh capstan, the sixth traction rope is respectively wound around the fifth capstan and the ninth capstan, the seventh traction rope is respectively wound around the fourteenth capstan and the second motor, the eighth traction rope is respectively wound around the fifteenth capstan and the first motor, the ninth traction rope is respectively wound around the twelfth capstan and the third motor, and the tenth traction rope is respectively wound around the tenth capstan and the fourth motor.

[0012] Optionally, the first link, the second link and the third link 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 link, the second link and the third link; the middle part of the first traction rope passes around the third pulley group, the middle parts of the second traction rope and the third traction rope respectively pass around the second pulley group, and the middle parts of the fourth traction rope, the fifth traction rope and the sixth traction rope respectively pass 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 on 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 on the sixth rotating shaft; and both ends of the fourth rotating shaft are respectively exposed on 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 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 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 perpendicular to the fifth rotation axis of the fifth link respectively.

[0016] Another aspect of an embodiment of the present application provides a master-slave minimally invasive surgical system, 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 manipulator, comprising: a position adjustment mechanism, a posture adjustment mechanism, and a pair of finger clamps. The input end of the posture adjustment mechanism is connected to the output end of the position adjustment mechanism, and the output end of the posture adjustment mechanism is connected to the finger clamps. The position adjustment mechanism is used to adjust the spatial position of the finger clamps. The posture adjustment mechanism includes multiple connecting rods that are connected in sequence. The position adjustment mechanism is provided with multiple drive motors, and the multiple drive motors are respectively connected to the multiple connecting rods. The multiple drive motors adjust the spatial posture of the finger clamps by adjusting the angles of the multiple connecting rods. The master manipulator uses multiple drive motors to control the multiple connecting rods in the posture adjustment mechanism. By adjusting the control parameters of the drive motors, dynamic compensation of the master manipulator can be achieved, with strong adjustment capability and a wide adjustment range. In addition, the master manipulator arranges multiple drive motors on the position adjustment mechanism, which reduces the weight of the posture adjustment mechanism and the rotational inertia of the posture adjustment mechanism, making the posture adjustment mechanism easier to control and ensuring 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 following is a brief introduction to the drawings required for use in the embodiments. 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 relevant drawings can be obtained based on these drawings without 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 structural diagram 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 structural diagram 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 structural diagram of the third joint module in the master operator's hand provided in an embodiment of the present application;

[0028] Figure 9 This is 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 link; 112-sixth link; 113-seventh link; 114-eighth link; 115-ninth link; 12-posture adjustment mechanism; 121-first link; 122-second link; 123-third link; 124-fourth link; 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 rotating 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 rotating shaft; B2-third rotating 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 -9th bearing; C16-10th bearing; C17-11th bearing; C18-12th bearing; D1-first traction rope; D2-second traction rope; D3-3rd traction rope; D4-4th traction rope; D5-5th traction rope; D6-6th traction rope; D7-7th traction rope; D8-8th traction rope; D9-9th traction rope; D10-10th traction rope; J1-first rotation axis; J2-second rotation axis; J3-3rd rotation axis; J4-4th rotation axis; J5-5th rotation axis; J6-6th rotation axis; J7-7th rotation axis. DETAILED DESCRIPTION

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Generally, the components of the embodiments of the present application described and shown in the drawings herein 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 as claimed, but merely represents selected embodiments of the present application. It should be noted that, unless there is a conflict, the various features of the embodiments of the present application may 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, it does not need to be further defined or explained in subsequent drawings.

[0033] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the product of this application is typically placed when in use. These terms are intended only to facilitate the description of this application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0034] It should also be noted that, in the description of this application, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0035] In one aspect of the embodiment of this application, please refer to Figure 1 and Figure 2A master manipulator 10 is provided, comprising a position adjustment mechanism 11, a posture adjustment mechanism 12, and a pair of finger grippers 13. The pair of finger grippers 13 are capable of opening and closing. 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 grippers 13. The position adjustment mechanism 11 is used to adjust the spatial position of the finger grippers 13, and the posture adjustment mechanism 12 is used to adjust the spatial posture of the finger grippers 13.

[0036] Specifically, the posture adjustment mechanism 12 includes multiple connecting rods that are rotatably connected in sequence. The position adjustment mechanism 11 is equipped with multiple drive motors. The number of drive motors is equal to the number of connecting rods. The number of connecting rods can be set according to the number of degrees of freedom required by the posture adjustment mechanism 12. The multiple drive motors are respectively connected to the multiple connecting rods. The multiple drive motors adjust the angles of the multiple connecting rods to adjust the spatial posture of the finger gripper 13.

[0037] The master manipulator 10 employs multiple drive motors to control the multiple connecting rods in the position adjustment mechanism 12. By adjusting the control parameters of the drive motors, dynamic compensation can be achieved for the master manipulator 10, providing strong adjustment capabilities and a wide adjustment range. Furthermore, the placement of multiple drive motors on the position adjustment mechanism 11 reduces the weight of the position adjustment mechanism 12, thereby reducing its moment of inertia. This makes the position adjustment mechanism 12 easier to control and ensures the surgeon's comfort during prolonged surgical procedures.

[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, which are rotatably connected in sequence. That is, 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. Accordingly, the drive motor includes a first motor 141, a second motor 142, a third motor 143, and a fourth motor 144. The first motor 141 is rotatably connected to the first connecting rod 121, the second motor 142 is rotatably connected to the second connecting rod 122, the third motor 143 is rotatably connected to the third connecting rod 123, and the fourth motor 144 is rotatably connected to the fourth connecting rod 124. The first connecting rod 121 is also rotationally connected to the output end of the position adjustment mechanism 11. The finger clamp 13 is mounted 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 a point. This arrangement enables the finger clamp 13 to achieve any desired 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 space occupied by the posture adjustment mechanism 12 and reduce 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 and the third rotation axis J3 are coplanar.

[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 through the first joint module A, the first link 121 and the second link 122 are rotationally connected through the second joint module B, and the first link 121 and the output end of the position adjustment mechanism 11 are rotationally connected through the third joint module C.

[0043] Specifically, please refer to Figure 3 and Figure 4 The first joint module A includes a first rotation axis A1 , on which the second link 122 and the third link 123 are respectively rotatably mounted. The axis of the first rotation axis A1 is the third rotation axis J3 of the third link 123 .

[0044] Please refer to Figure 5 and Figure 6 The second joint module B includes a second rotation axis B1 and a third rotation axis B2 coaxially disposed with the second rotation axis B1. The first connecting rod 121 is rotatably disposed on the second rotation axis B1, and the second connecting rod 122 is rotatably disposed on the third rotation axis B2. The axis between the second rotation axis B1 and the third rotation axis 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 coaxially arranged with the fourth rotation axis C1. The output end of the position adjustment mechanism 11 is rotatably mounted on the fourth rotation axis C1, and the first connecting rod 121 is rotatably mounted 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 constitutes the first rotation axis J1 of the first connecting rod 121.

[0046] The master 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 cable D1 is drivingly connected to the first rotating shaft A1 and the fourth connecting rod 124 respectively, the second traction cable D2 is drivingly connected to the third connecting rod 123 and the third rotating shaft B2 respectively, the third traction cable D3 is drivingly connected to the first rotating shaft A1 and the second rotating shaft B1 respectively, the fourth traction cable D4 is drivingly connected to the second connecting rod 122 and the sixth rotating shaft C3 respectively, the fifth traction cable D5 is drivingly connected to the third rotating shaft B2 and the fifth rotating shaft C2 respectively, the sixth traction cable D6 is drivingly connected to the second rotating shaft B1 and the fourth rotating shaft C1 respectively, the seventh traction cable D7 is drivingly connected to the sixth rotating shaft C3 and the second motor 142 respectively, the eighth traction cable D8 is drivingly connected to the first connecting rod 121 and the first motor 141 respectively, the ninth traction cable D9 is drivingly connected to the fifth rotating shaft C2 and the third motor 143 respectively, and the tenth traction cable 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 rotation 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 drive 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 cable D9, and the fifth rotating shaft C2 transmits the rotational motion to the third rotating shaft B2 through the fifth traction cable D5. The third rotating shaft B2 then transmits the rotational motion to the third connecting rod 123 through the second traction cable D2, driving the third connecting rod 123 to rotate around the third rotation axis J3.

[0051] The rotation drive path of the fourth connecting rod 124 is as follows: the fourth motor 144 drives the fourth rotating shaft C1 to rotate via the tenth traction cable D10, the fourth rotating shaft C1 transmits the rotational motion to the second rotating shaft B1 via the sixth traction cable D6, the second rotating shaft B1 transmits the rotational motion to the first rotating shaft A1 via the third traction cable D3, and the first rotating shaft A1 transmits the rotational motion to the fourth connecting rod 124 via 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 second rotating shaft B1 is longer than the third rotating shaft B2, and both ends of the second rotating shaft B1 are exposed outside the third rotating shaft B2. This arrangement saves space and facilitates the installation of the second rotating shaft B1 and the driving connection between the second rotating shaft B1, the third traction cable D3, and the sixth traction cable 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 fourth rotating shaft C1 is longer than the fifth rotating shaft C2, and the fifth rotating shaft C2 is longer than the sixth rotating shaft C3. Both ends of the fifth rotating shaft C2 are exposed outside the sixth rotating shaft C3, and both ends of the fourth rotating shaft C1 are exposed outside the fifth rotating shaft C2. This arrangement saves space and facilitates the installation of the fourth rotating shaft C1 and the fifth rotating shaft C2. It also provides driving connection between the fourth rotating shaft C1 and the sixth and tenth traction cables D6 and D10, and the fifth rotating shaft C2 and the fifth and ninth traction cables D5 and D9.

[0055] Alternatively, 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. 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 to tenth traction ropes D1 to D10 are all ring-shaped. The first traction rope D1 is respectively sleeved on the first capstan A2 and the fourth connecting rod 124, the second traction rope D2 is respectively sleeved on the third capstan A4 and the sixth capstan B5, the third traction rope D3 is respectively sleeved on the second capstan A3 and the fourth capstan B3, the fourth traction rope D4 is respectively sleeved on the eighth capstan B7 and the thirteenth capstan C8, the fifth traction rope D5 is respectively sleeved on the seventh capstan B6 and the eleventh capstan C6, the sixth traction rope D6 is respectively sleeved on the fifth capstan B4 and the ninth capstan C4, the seventh traction rope D7 is respectively sleeved on the fourteenth capstan C9 and the second motor 142, the eighth traction rope D8 is respectively sleeved on the fifteenth capstan C10 and the first motor 141, the ninth traction rope D9 is respectively sleeved on the twelfth capstan C7 and the third motor 143, and the tenth traction rope D10 is respectively sleeved 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 link 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 winch B5 of the second joint module B after being wrapped around the third winch 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 winch B6; the fifth traction rope D5 is connected to the eleventh winch 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 winch C7; the other end of the ninth traction rope D9 is connected to the third motor 143.

[0060] The rotational movement of the fourth link 124 is connected to the first winch A2 of the first joint module A through the first traction cable D1, and then 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 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 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] Alternatively, 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 group 15, the second pulley group 16 and the third pulley group 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 cable D1 passes around the third pulley group 17, the middle parts of the second traction cable D2 and the third traction cable D3 pass around the second pulley group 16 respectively, and the middle parts of the fourth traction cable D4, the fifth traction cable D5 and the sixth traction cable D6 pass around the first pulley group 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 perpendicularly, forming a right-angled shape. The middle portion of the first traction cable D1 passes over the third pulley block 17, allowing the first traction lock to extend along the third connecting rod 123. The middle portions of the second and third traction cables D2 and D3 pass over the second pulley block 16, allowing them to extend along the second connecting rod 122. The middle portions of the fourth, fifth, and sixth traction cables D4, D5, and D6 pass over the first pulley block 15, allowing them to extend along the first connecting rod 121. This saves space and prevents interference between the multiple traction cables.

[0063] For example, the first pulley assembly 15 includes a first pulley shaft rotatably mounted on the first connecting rod 121, and two first pulleys fixedly mounted on the first pulley shaft. Two opposing sections of the fourth traction lock are respectively wound around the two first pulleys, two opposing sections of the fifth traction lock are respectively wound around the two first pulleys, and two opposing sections of the sixth traction lock are respectively wound around the two first pulleys. It will be appreciated that the fourth, fifth, and sixth traction locks are respectively wound around different positions on the first pulleys to avoid interference.

[0064] The second pulley assembly 16 includes a second pulley shaft rotatably mounted on the second connecting rod 122, and two second pulleys fixedly mounted on the second pulley shaft. Opposite ends of the second traction lock are respectively wound around the two second pulleys, and opposite ends of the third traction lock are respectively wound around the two second pulleys. It will be appreciated that the second and third traction locks are respectively wound around different positions on the second pulleys to avoid 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] Alternatively, 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] Each shaft is mounted at two opposite ends via two bearings, which allows for smoother rotation of the shaft.

[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. 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 sleeved 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 sleeved 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. 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 sleeved on the end of the fourth rotating shaft C1 and the twelfth capstan C7 sleeved 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 sleeved on the other end of the sixth rotating shaft C3.

[0074] Alternatively, 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 mounted 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 perpendicular to the fifth rotation axis J5 of the fifth link 111. The arrangement of the first through ninth links 121, 115, provides the master manipulator 10 with a total of eight degrees of freedom.

[0075] In summary, the present embodiment utilizes multi-axis nested joint modules, a rear-mounted drive motor, and a segmented traction cable transmission to achieve a low-inertia master manipulator 10. By collecting the motion parameters of each joint module in real time and adjusting the output torque of the drive motor, dynamic compensation of the master manipulator 10 can be achieved, ultimately ensuring the surgeon's comfort during prolonged surgical procedures.

[0076] Please refer to Figure 1 、 Figure 2 and Figure 9 The purpose of dynamic compensation for the master operator 10 provided in the embodiments of the present application is to reduce the forces and torques acting on the hand during master-slave operation and improve the comfort of the master operator 10. The overall scheme of compensation control is to achieve that the force exerted by the master operator 10 on the human hand in three spatial directions 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 by adjusting the output torque of the master operator 10's drive motor in real time.

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

[0078] The rotation angles α of the master 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 obtained by sensors (such as rotary encoders) respectively. 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 master manipulator 10. Next, the dynamic modeling is described using the Newton method as an example, but other dynamic modeling methods such as the Lagrangian method may also be used.

[0081]

[0082] In formulas (1) to (3), D J1 、D J2 and D J3 Respectively represent the moment 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 moment arms from the point of action 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 The rotational accelerations of the fifth rotation axis J5, the sixth rotation axis J6 and the seventh rotation axis J7 are respectively given by the rotation angle α J1 , α J2 and α J3 Differentiation is obtained.

[0083] In formulas (4) to (6), d J4 d J5 and d J6 Respectively represent the moment 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 The rotational accelerations of the first rotation axis J1, the second rotation axis J2 and the third rotation axis J3 are respectively, and the angle α J4 , α J5 and α J6 Differentiation is obtained.

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

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

[0086] The master-slave minimally invasive surgical system includes the same structure and benefits as the master manipulator 10 in the aforementioned embodiment. The structure and benefits 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 merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A master operator, 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 first link, a second link, a third link, and a fourth link that are rotatably connected in sequence, the first link is also rotatably connected to the output end of the position adjustment mechanism, the finger clamp is arranged on the fourth link, and the first rotation axis of the first link, the second rotation axis of the second link, the third rotation axis of the third link, and the fourth rotation axis of the fourth link intersect at a point; The position adjustment mechanism 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; 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 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 respectively 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 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 respectively driven connected to the first rotating shaft and the fourth connecting rod, the second traction cable is respectively driven connected to the third connecting rod and the third rotating shaft, the third traction cable is respectively driven connected to the first rotating shaft and the second rotating shaft, the fourth traction cable is respectively driven connected to the second connecting rod and the sixth rotating shaft, the fifth traction cable is respectively driven connected to the third rotating shaft and the fifth rotating shaft, the sixth traction cable is respectively driven connected to the second rotating shaft and the fourth rotating shaft, the seventh traction cable is respectively driven connected to the sixth rotating shaft and the second motor, the eighth traction cable is respectively driven connected to the first connecting rod and the first motor, the ninth traction cable is respectively driven connected to the fifth rotating shaft and the third motor, and the tenth traction cable is respectively driven connected to the fourth rotating shaft and the fourth motor; The first joint module further 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 further 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 further 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.

2. The master operator according to claim 1, wherein: 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 and the third rotation axis are coplanar.

3. The master operator according to claim 1, wherein: 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-angled corners of the first connecting rod, the second connecting rod and the third connecting rod; The middle portion of the first traction rope passes around the third pulley group, the middle portions of the second traction rope and the third traction rope pass around the second pulley group respectively, and the middle portions of the fourth traction rope, the fifth traction rope and the sixth traction rope pass around the first pulley group respectively.

4. The master operator according to claim 1, wherein: The first joint module further includes a first bearing seat fixed on the third connecting rod and a second bearing seat fixed on the second connecting rod, a first bearing is provided in the first bearing seat, a second bearing is provided in the second bearing seat, and the inner rings of the first bearing and the second bearing are respectively engaged with the first rotating shaft; The second joint module further 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 provided in the third bearing seat, a fifth bearing and a sixth bearing are provided 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, and 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.

5. The master operator according to claim 1, wherein: 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.

6. The master operator according to claim 1, wherein: 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. The other end of the eighth link is also rotatably connected to the ninth link. The posture adjustment mechanism is rotatably arranged on the ninth link. The sixth rotation axis of the sixth link and the seventh rotation axis of the seventh link are parallel and perpendicular to the fifth rotation axis of the fifth link, respectively.

7. A master-slave minimally invasive surgical system, characterized in that: The method comprises the main operator according to any one of claims 1 to 6.

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