Continuous robot for minimally invasive surgery

Abstract

The invention discloses a continuous robot for minimally invasive surgery, and relates to the technical field of surgical robots. The end effector is installed at the front end of the bent arm, the bent arm is formed by assembling two arm sections in an end-to-end connection mode, the rear end of the bent arm is installed at the front end of the fixed arm, the fixed arm is installed on the driving box, each arm section is formed by assembling four linkage joints in an end-to-end connection mode through universal joints and provided with a linkage cable, and the driving box is provided with eight winding cylinders. The opening and closing control cable and the pivoting control cable are respectively connected with the corresponding winding barrels and the tail end executor to control the opening and closing of the clamp and the pivoting action of the rotating piece; and the six bending control cables are respectively connected with the corresponding winding barrels and the bending arms to control the bending action of the two arm sections. The arm sections have the linkage effect, are high in rigidity and can be bent at equal curvature, the end effector only needs to be driven by two cables, one cable achieves opening and closing actions of the clamp at the same time, the other cable controls shaft rotation actions, the structure is simple, and operation is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and particularly to a continuous robot for minimally invasive surgery. Background Art

[0002] Minimally invasive surgery has the advantages of small trauma, less bleeding, and rapid postoperative recovery, so it is favored by the majority of patients and doctors and is widely used in clinical practice. Early minimally invasive surgical robots were generally applied in multi-port laparoscopic surgeries, but the large number of incisions would increase the risk of patient infection and shorten the patient's recovery time. For this reason, single-port minimally invasive surgical robots came into being. At present, most companies and research institutions have not yet matured in the design of the end effector mainly involved in operations of single-port surgical robots. For the entire wall part, there are generally problems such as poor stiffness of the arm segment, easy deformation, uneven change in curvature after force application, and low control accuracy; for a single clamp at the end, the two clamp arms on both sides generally move independently, lacking coordinated cooperation. Generally, two driving cables are required for each clamp arm on each side to control opening and closing respectively, that is, at least four driving cables are required for the opening and closing combination of the two clamp arms on both sides of the clamp, increasing the structural complexity of the end effector and the number of driving motors. Moreover, to reduce the overall size of the actuator, there is generally a lack of rotational degrees of freedom, resulting in limited operation of the surgical robot. Summary of the Invention

[0003] To solve the deficiencies in the background art, the present invention provides a continuous robot for minimally invasive surgery. Its arm segments are assembled end to end through linkage joints. The adjacent linkage joints are connected in a universal manner and achieve a linkage effect through three linkage cables, with high stiffness and capable of bending with equal curvature. The end effector only requires two cables for driving, one cable simultaneously realizes the opening and closing actions of the clamp, and the other cable controls the rotational action, with a simple structure and easy to operate.

[0004] To achieve the above object, the present invention adopts the following technical solution: A continuous robot for minimally invasive surgery, including an end effector, arm segments, a fixed arm, a drive box, and a drive cable group. The end effector is installed at the front end of the curved arm. The curved arm is assembled by connecting two of the arm segments end to end. The rear end of the curved arm is installed at the front end of the fixed arm. The fixed arm is installed on the drive box. The drive box controls the end effector and the curved arm through the drive cable group.

[0005] The end effector includes a base, an intermediate connector, a rotating member, a slider, and a clamp. Two wire winding posts are oppositely arranged on the top of the base. Two connecting arms are provided at the bottom of the intermediate connector and are fixedly connected to the top of the base. The rotating member is integrally formed by a cylindrical portion and a rotating shaft portion arranged coaxially up and down. The rotating shaft portion is rotatably connected to the base and the intermediate connector through bearings, and a forward spiral wire groove and a reverse spiral wire groove are processed with a dislocation on its side wall. Two support arms are provided at the port of the cylindrical portion. The slider is assembled in the inner cavity of the cylindrical portion of the rotating member and two wire threading channels are processed in the middle. The clamp is hinged and installed between the tops of the two support arms through a pin shaft provided with a wire pulley in the middle. The bottom ends of the two clamping arms on both sides of the clamp are respectively hinged to the top of the slider through transmission connecting rods;

[0006] The arm segment is assembled by connecting four linkage joints end to end. The main body of each linkage joint is an arm rod. A end panel is provided at the head end of the arm rod, a flange ring is provided at the middle position, a universal joint is installed at the tail end and a semi-circular cap flange is covered and fixed. The head end of the rear arm rod is connected to the universal joint at the tail end of its front arm rod, and the end panel is closely attached to the semi-circular cap flange. Three linkage cables are respectively provided for the three linkage joints at the tail end of each arm segment. One ends of the three linkage cables are uniformly fixed on the semi-circular cap flange of the rear linkage joint, and the other ends pass through the flange ring in the middle of the linkage joint and are spirally twisted by 180°, and then pass through the semi-circular cap flange and the flange ring of its front linkage joint and are fixed by a ball head.

[0007] Further, the drive box is installed on the moving platform of the linear module.

[0008] Further, the drive box is provided with eight winding cylinders. The eight winding cylinders are arranged in a U shape and are respectively driven by drive motors. The drive cable group includes an opening and closing control cable, a shaft rotation control cable, and six bending control cables, a total of eight cables. The opening and closing control cable and the shaft rotation control cable are respectively connected to the corresponding winding cylinders and the end effector to control the opening and closing of the clamp and the shaft rotation action of the rotating member. The six bending control cables are respectively connected to the corresponding winding cylinders and the bending arms to control the bending actions of the two arm segments.

[0009] Further, two wire rollers are rotatably installed at the middle position of the opening side of the eight winding cylinders arranged in a U shape in the drive box for centralized restraint of the cables. A wire threading positioning plate is fixed at the position opposite to the two wire rollers for the lead-out positioning of the cables and the installation of the rear end of the fixed arm.

[0010] Further, both ends of the opening and closing control cable are fixed on a winding cylinder at the bottom of the U shape. The opening and closing control cable passes through all the end panels and semi-circular cap flanges of the two arm segments and then extends into the end effector. Inside the end effector, it respectively passes through the wire threading holes in the middle of the base and the rotating member and the two wire threading channels of the slider and bypasses the wire pulley, and finally is positioned with the slider through a locking screw.

[0011] Further, the midpoint of the shaft rotation control cable is fixed on a winding cylinder at the bottom of the U shape. Both ends of the shaft rotation control cable pass through all the end panels and semi-circular cap flanges of the two arm segments and then extend into the end effector. Inside the end effector, they respectively pass through the wire threading holes on both sides of the base, lean against the corresponding wire winding columns and run to their tops, and then respectively wind along the forward spiral wire grooves and reverse spiral wire grooves corresponding to the rotating parts and are fixedly connected to their ends.

[0012] Further, the rear ends of the six bending control cables are respectively fixed on six winding cylinders on both sides of the U shape. The six bending control cables are equally divided into two groups and respectively cooperate with the two arm segments. The front ends of the three bending control cables in one group pass through all the end panels and semi-circular cap flanges of the rear arm segment and are fixedly connected to the end panel of its foremost arm rod. The front ends of the three bending control cables in the other group pass through all the end panels and semi-circular cap flanges of the two arm segments and are fixedly connected to the end panel of the foremost arm rod of the front arm segment. The three bending control cables in each group are arranged circumferentially and evenly, and the two groups of bending control cables are arranged cross-adjacent to each other.

[0013] Further, the spiral twisting section of the linkage cable is sleeved with a guiding steel pipe for restraint. One end of the guiding steel pipe is inserted and positioned with the flange ring, and the other end is clamped and positioned with three bayonets machined on the edge of the end panel.

[0014] Further, the drive box is made of 7075 aluminum alloy material and is subjected to hard anodic oxidation treatment. The end effector and the two arm segments are made of 316L stainless steel.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention mainly optimizes and improves the end effector and the bending arm. The bending arm is formed by connecting two arm segments end to end, and each arm segment is assembled by connecting four linkage joints end to end. The adjacent linkage joints are connected by universal joints. The arm segment has high stiffness and is not easily deformed after being stressed. The three linkage cables that are spirally twisted and matched between the linkage joints achieve a linkage effect, can bend with equal curvature, and have high control accuracy and stability. The end effector only needs to be driven by two cables. The bottom ends of the two clamping arms on both sides of the clamp are hinged and matched with the slider through transmission connecting rods. By using one cable to cooperate with a wire guiding wheel to control the axial movement of the slider, the opening and closing actions of the clamp can be realized simultaneously. The rotating shaft part of the rotating part is provided with forward and reverse spiral wire grooves, which are guided by the two wire winding columns of the base. By using the other cable with both ends wound in forward and reverse ways, the rotating part can be controlled to rotate forward and backward along the axis by traction in different directions, increasing the rotational freedom degree of the end effector, and the structure is simple and easy to operate. Description of the Drawings

[0016] Figure 1It is an axonometric view of the overall structure of the continuous robot of the present invention;

[0017] Figure 2 It is Figure 1 an enlarged view of part A of

[0018] Figure 3 It is an axonometric view of the structure of the end effector in the present invention;

[0019] Figure 4 It is a schematic diagram of the cable routing of the end effector in the present invention;

[0020] Figure 5 It is an axonometric view of the assembly structure of the linkage joint in the present invention;

[0021] Figure 6 It is a schematic diagram of the assembly structure of the linkage joint in the present invention;

[0022] Figure 7 It is an axonometric view of the structure of the drive box in the present invention. For the convenience of viewing, the top plate is not shown.

[0023] In the figure: 1. End effector; 11. Base; 11-1. First wire-winding post; 11-2. Second wire-winding post; 12. Intermediate connecting piece; 13. Rotating piece; 13-1. Arm; 14. Slide block; 15. Transmission connecting rod; 16. Left clamping arm; 17. Right clamping arm; 18. Pin shaft; 19. Wire guide wheel; 2. Arm segment; 21. Linkage joint; 211. Arm rod; 212. End panel; 213. Flange ring; 214. Semi-circular cap flange; 215. Guide steel pipe; 216. Linkage cable; 3. Fixed arm; 4. Drive box; 41. Support frame; 42. Winding cylinder; 43. Drive motor; 44. Wire roller; 45. Threading positioning plate; 51. Bending control cable; 52. Opening and closing control cable; 53. Axis rotation control cable; 6. Linear module. Detailed implementation manners

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] As Figures 1 to 7 shown, a continuous robot for minimally invasive surgery includes an end effector 1, an arm segment 2, a fixed arm 3, a drive box 4, a linear module 6, and a drive cable group.

[0026] Combined with Figure 1As shown, the end effector 1 is installed at the front end of the bending arm. The bending arm is assembled by connecting two arm segments 2 end to end. The rear end of the bending arm is installed at the front end of the fixed arm 3. The fixed arm 3 is installed on the drive box 4. The drive box 4 is installed on the moving platform of the linear module 6, and the end effector 1 and the bending arm are controlled by the drive cable group. The linear module 6 adjusts the distance between the end effector 1 and the target by the forward and backward displacement of the moving platform.

[0027] Combined with Figures 2 to 4 As shown, the end effector 1 includes a base 11, an intermediate connector 12, a rotating member 13, a slider 14, and a clamp. Opposite first and second wire winding posts 11-1 and 11-2 are provided at the top edge of the base 11. A wire threading hole is machined at the middle position of the base 11. Wire threading holes are respectively machined at the outer bottom ends of the first wire winding post 11-1 and the second wire winding post 11-2. The intermediate connector 12 is of an annular structure, and two connecting arms are provided at its bottom and are respectively fixedly connected to the top of the base 11 by bolts. The hollow area between the two connecting arms is used to accommodate the first wire winding post 11-1 and the second wire winding post 11-2. The rotating member 13 is integrally formed by a cylindrical part and a rotating shaft part arranged coaxially up and down. A forward spiral wire groove and a reverse spiral wire groove are machined at the side wall of the rotating shaft part with a dislocation. Two support arms 13-1 are provided at the port of the cylindrical part. The rotating shaft part is rotationally connected to the base 11 and the intermediate connector 12 through bearings. A wire threading hole is machined at the bottom surface of the inner cavity of the cylindrical part. The slider 14 is assembled in the inner cavity of the cylindrical part of the rotating member 13 to form an axial sliding pair. Two wire threading channels are machined at the middle position of the slider 14, and a locking screw hole is machined in one of the wire threading channels. The clamp includes a left clamp arm 16 and a right clamp arm 17 arranged in an X-shaped cross. The intersection position of the left clamp arm 16 and the right clamp arm 17 is hinged and installed between the tops of the two support arms 13-1 through a pin shaft 18. A wire wheel 19 is provided in the middle of the pin shaft 8. The bottom ends of the left clamp arm 16 and the right clamp arm 17 are respectively hinged to the top of the slider 14 through transmission connecting rods 15. A clamping jaw is formed between the tops of the left clamp arm 16 and the right clamp arm 17, and friction patterns are provided on the inner sides.

[0028] Combined with Figure 2 、 Figures 5 to 6As shown in the figure, each arm segment 2 is assembled by connecting four linked joints 21 end to end. The main body of each linked joint 21 is set as a rod 211. An end panel 212 is integrally and coaxially arranged at the head end of the rod 211. Three bayonets are evenly machined at the edge of the end panel 212. A flange ring 213 is integrally and coaxially arranged at the middle position of the rod 211. A universal joint is installed at the tail end of the rod 211, and a fixed semi-circular cap flange 214 is sleeved outside it. The head end of the rod 211 of the linked joint 21 located at the rear is connected to the universal joint at the tail end of the rod 211 of the adjacent linked joint 21 in front of it, and the corresponding end panel 212 and the semi-circular cap flange 214 are closely attached. Except for the frontmost linked joint 21 of each arm segment 2, the remaining three linked joints 21 are each provided with three guide steel pipes 215 and three linked cables 216. One ends of the three linked cables 216 are evenly fixed on the semi-circular cap flange 214 at the tail end of the linked joint 21 located at the rear. The other ends of the three linked cables 216 pass through the flange ring 213 in the middle of this linked joint 21 and then are spirally twisted 180°, and then pass through the semi-circular cap flange 214 at the tail end of the adjacent linked joint 21 in front of it and the flange ring 213 in the middle of it and are fixed by a ball head. The three guide steel pipes 215 are cooperatively sleeved on the spiral twisting section of the three linked cables 216. One ends of the three guide steel pipes 215 are inserted and positioned with the flange ring 213, and the other ends are clamped and positioned with the three bayonets at the edge of the end panel 212. The bottom of the base 11 of the end effector 1 is coaxially fixed with the end panel 212 at the head end of the arm segment 2 located in front by screws.

[0029] Combined with Figure 6 As shown in the figure, each linked joint 21 controls the linkage effect through three linked cables 216. Assuming that the right semi-circular cap flange 214 in the figure is stationary relative to the inertial system, under the S-shaped winding of the linked cable 216, the counterclockwise angle of the right rod 211 rotating around the spherical center of the semi-circular cap flange 214 is α 1 , and the counterclockwise angle of the left rod 211 rotating around the spherical center of the semi-circular cap flange 214 is α 2 . Obviously, during the linkage process, the length of the linked cable 216 remains unchanged. Under the action of the rope tension, the tangent point of the linked cable 216 with the spherical surface of the right semi-circular cap flange 214 changes from A 1 to A 2 , and the tangent point of the linked cable 216 with the spherical surface of the middle semi-circular cap flange 214 changes from B 1 to B 2 . The change amount is only the arc lengths corresponding to A 1 A 2 and B 1 B 2 . Therefore, the two arc lengths are equal, and it can be obtained that Also, because the radii of each segment are the same, the corresponding rotation angles α of the right rod 211 and the left rod 2111 is equal to α 2 Under this configuration, the stiffness of the arm segment 2 can be greatly improved. In addition, the rotation angles between adjacent linkage joints 21 are strictly equal, enabling the equal-curvature bending of the arm segment 2, so that each arm segment 2 has two degrees of freedom and the entire bending arm has four degrees of freedom of bending.

[0030] Combined with Figure 1 、 Figure 7 As shown, the main body of the drive box 4 is set as a support frame 41. The support frame 41 is provided with a total of four layers of plates, namely a top plate, an upper middle plate, a lower middle plate and a bottom plate, from top to bottom. Adjacent two layers of plates are fixedly connected by support rods. Among them, eight hole positions are processed on the surface of the top plate in a U-shaped arrangement and eight winding drums 42 are rotatably installed through bearings. Eight hole positions are processed at corresponding positions on the upper middle plate and eight shaft rods are rotatably installed through bearings. Eight drive motors 43 are fixed at corresponding positions at the bottom of the lower middle plate and their output shafts extend upward through reserved holes. The bottoms of the eight winding drums 42 are respectively connected and fixed to the tops of the eight shaft rods. The output shafts of the eight drive motors 43 are respectively connected and fixed to the bottoms of the eight shaft rods through couplings. In addition, two wire rollers 44 are rotatably installed at the middle position of the opening sides of the eight winding drums 42 arranged in a U-shaped arrangement on the surface of the top plate for centralized restraint of the cables. A wire threading positioning plate 45 is fixed at the position of the top plate end facing the two wire rollers 44 for the lead-out positioning of the cables and the installation of the rear end of the fixed arm 3. The arm rod 211 at the tail end of the arm segment 2 located at the rear is connected to the front end of the fixed arm 3 through a universal joint, and the corresponding semi-circular cap flange 214 and the front end of the fixed arm 3 are coaxially fixed by screws.

[0031] Combined with Figures 2 to 4 、 Figure 7As shown in the figure, the drive cable group consists of a total of eight cables, including an opening and closing control cable 52, a shaft rotation control cable 53, and six bending control cables 51. Among them, both ends of the opening and closing control cable 52 are fixed on one of the winding drums 42 at the U-shaped bottom. The opening and closing control cable 52 passes through all the end panels 212 and semi-circular cap flanges 214 of the two arm segments 2 and then extends into the end effector 1. Inside the end effector 1, it passes through the wire passing holes between the base 11 and the rotating part 13 and the two rope passing channels of the slider 14 respectively, and bypasses the wire guiding wheel 19, and finally is positioned with the slider 14 through a locking screw; the midpoint of the shaft rotation control cable 53 is fixed on the other winding drum 42 at the U-shaped bottom. The shaft rotation control cable 53 passes through all the end panels 212 and semi-circular cap flanges 214 of the two arm segments 2 at both ends and then extends into the end effector 1. Inside the end effector 1, it passes through the wire passing holes on both sides of the base 11 respectively, abuts against the first winding post 11-1 and the second winding post 11-2 and then walks to the top, and then winds along the corresponding forward spiral wire groove and reverse spiral wire groove of the rotating part 13 respectively and is fixedly connected to its end; the rear ends of the six bending control cables 51 are respectively fixed on the six winding drums 42 on both sides of the U-shaped. The six bending control cables 51 are equally divided into two groups and cooperate with the two arm segments 2 respectively. The front ends of the three bending control cables 51 in one group pass through all the end panels 212 and semi-circular cap flanges 214 of the rear arm segment 2 and are fixedly connected to the end panel 212 of its foremost arm rod 211. The front ends of the three bending control cables 51 in the other group pass through all the end panels 212 and semi-circular cap flanges 214 of the two arm segments 2 and are fixedly connected to the end panel 212 of the foremost arm rod 211 of the front arm segment 2. The three bending control cables 51 in each group are arranged circumferentially in a uniform manner, but the two groups of bending control cables 51 are cross-adjacent to each other.

[0032] Among the materials used in the robot of the present invention, the drive box 4 is made of 7075 aluminum alloy and is subjected to hard anodizing treatment, which has a light weight while having high strength, ensuring the reliability of equipment operation; the end effector 1 and the two arm segments 2 are made of 316L stainless steel, which has good biocompatibility.

[0033] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes falling within the meaning and scope of the equivalent conditions of the claims in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed claims.

[0034] In addition, it should be understood that although this specification is described in terms of embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A continuous robot for minimally invasive surgery, characterized in that: The invention comprises an end effector (1), an arm segment (2), a fixed arm (3), a drive box (4) and a drive cable group, wherein the end effector (1) is mounted at the front end of the bending arm, the bending arm is assembled by connecting two arm segments (2) end to end, the rear end of the bending arm is mounted at the front end of the fixed arm (3), the fixed arm (3) is mounted on the drive box (4), and the drive box (4) controls the end effector (1) and the bending arm through the drive cable group; The end effector (1) comprises a base (11), an intermediate connecting member (12), a rotating member (13), a slider (14) and a clamp. Two winding poles are arranged opposite to each other at the top of the base (11). Two connecting arms are arranged at the bottom of the intermediate connecting member (12) and are connected and fixed to the top of the base (11). The rotating member (13) is made of a cylindrical portion and a rotating shaft portion which are coaxially arranged up and down. The rotating shaft portion is rotatably connected to the base (11) and the intermediate connecting member (12) through a bearing. The side wall is staggered with a forward spiral guide groove and a reverse spiral guide groove, the cylindrical port is provided with two support arms (13-1), the slider (14) is assembled in the inner cavity of the cylindrical portion of the rotating member (13) and two rope threading channels are processed in the middle, the clamp is hingedly installed between the top ends of the two support arms (13-1) through a pin shaft (18) with a guide wheel (19) in the middle, and the bottom ends of the clamp arms on both sides of the clamp are respectively hingedly connected to the top of the slider (14) through a transmission connecting rod (15); The arm section (2) is assembled by connecting four sections of linkage joints (21) end to end. The main body of each section of the linkage joint (21) is an arm (211). The head end of the arm (211) is provided with an end panel (212), the middle position is provided with a flange ring (213), the tail end is provided with a universal joint and is covered with a fixed semicircular cap flange (214). The head end of the rear arm (211) is connected to the universal joint of the tail end of the front arm (211), and the end panel (212) is tightly connected to the semicircular cap flange (214). The three linkage joints (21) at the rear end of each arm section (2) are respectively provided with three linkage cables (216), one end of the three linkage cables (216) is evenly fixed on the semicircular cap flange (214) of the rear linkage joint (21), and the other end passes through the flange ring (213) in the middle of the linkage joint (21) and is spirally twisted 180 degrees, and then passes through the semicircular cap flange (214) and the flange ring (213) of the front linkage joint (21) and is fixed by a ball head.

2. A continuous robot for minimally invasive surgery according to claim 1, characterized in that: The drive box (4) is installed on the moving platform of the linear module (6).

3. A continuous robot for minimally invasive surgery according to claim 1 or 2, characterized in that: The drive box (4) is provided with eight winding drums (42), the eight winding drums (42) are arranged in a U shape and are driven by a drive motor (43) respectively. The drive cable group comprises an opening and closing control cable (52), an axial rotation control cable (53) and six bending control cables (51), a total of eight cables. The opening and closing control cable (52) and the axial rotation control cable (53) are respectively connected to the corresponding winding drum (42) and the end effector (1) to control the opening and closing of the clamp and the axial rotation of the rotating member (13). The six bending control cables (51) are respectively connected to the corresponding winding drum (42) and the bending arm to control the bending movement of the two arm segments (2).

4. A continuous robot for minimally invasive surgery according to claim 3, characterized in that: The drive box (4) is located in the middle of the opening side of the eight winding drums (42) arranged in a U-shape and is rotatably mounted with two wire rollers (44) for centralized cable restraint. The two wire rollers (44) are directly opposite to a fixed threading positioning plate (45) for cable lead-out positioning and installation of the rear end of the fixed arm (3).

5. The continuous robot for minimally invasive surgery according to claim 3, characterized in that: The two ends of the opening and closing control cable (52) are fixed on a winding drum (42) at the bottom of the U-shape. The opening and closing control cable (52) passes through all the end panels (212) and the semicircular cap flange (214) of the two arm sections (2) and then extends into the end effector (1). In the end effector (1), the cable passes through the threading holes in the middle of the base (11) and the rotating part (13) and the two threading channels of the slider (14) and passes around the wire pulley (19). Finally, the cable is positioned with the slider (14) by a locking screw.

6. A continuous robot for minimally invasive surgery according to claim 3, characterized in that: The middle point of the axial control cable (53) is fixed on a winding drum (42) at the bottom of the U-shape. The two ends of the axial control cable (53) pass through all the end panels (212) and the semicircular cap flange (214) of the two arm sections (2) and then extend into the end effector (1). In the end effector (1), the cable passes through the threading holes on both sides of the base (11) and is routed to the top of the corresponding winding column. The cable is then wound along the corresponding forward spiral wire groove and reverse spiral wire groove of the rotating member (13) and connected and fixed to its end.

7. A continuous robot for minimally invasive surgery according to claim 3, characterized in that: The rear ends of the six bending control cables (51) are respectively fixed on the six winding drums (42) on both sides of the U-shape. The six bending control cables (51) are equally divided into two groups and respectively cooperate with the two arm sections (2). The front ends of the three bending control cables (51) in one group pass through all the end panels (212) and the semicircular cap flange (214) of the arm section (2) located at the rear, and are connected and fixed with the end panel (212) of the arm rod (211) at the front end thereof. The front ends of the three bending control cables (51) in another group pass through all the end panels (212) and the semicircular cap flange (214) of the two arm sections (2), and are connected and fixed with the end panel (212) of the arm rod (211) at the front end thereof. The three bending control cables (51) in each group are evenly distributed along the circumferential direction, and the two groups of bending control cables (51) are arranged crosswise and adjacently.

8. The continuous robot for minimally invasive surgery according to claim 1, characterized in that: The spirally twisted section of the linkage cable (216) is sleeved with a guide steel pipe (215) for restraint. One end of the guide steel pipe (215) is inserted and positioned with the flange ring (213), and the other end is clamped and positioned with three bayonet holes processed on the edge of the end panel (212).

9. The continuous robot for minimally invasive surgery according to claim 1, characterized in that: The drive box (4) is made of 7075 aluminum alloy material and is hard anodized, and the end effector (1) and the two arm segments (2) are made of 316L stainless steel.

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