A continuum robot for minimally invasive surgery

Abstract

A continuous robot for minimally invasive surgery relates to the technical field of surgical robot. The end effector is installed at the front end of the curved arm, the curved arm is assembled by connecting two 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 driving box, the arm segment is assembled by connecting four linkage joints end to end through the universal joint and is provided with linkage cable, the driving box is provided with eight winding drums, the opening and closing control cable and the shaft rotation control cable are connected with the corresponding winding drums and the end effector control clamp respectively to control the opening and closing and shaft rotation action of the rotating part, and six curved control cables are connected with the corresponding winding drums and the curved arm to control the bending action of the two arm segments. The arm segment has linkage effect, high rigidity and can bend with equal curvature, the end effector only needs two cable drives, one cable simultaneously realizes the opening and closing action of the clamp, and the other cable controls the shaft rotation action, and the structure is simple and easy to operate.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, specifically a continuous robot for minimally invasive surgery. Background Technology

[0002] Minimally invasive surgery, with its advantages of less trauma, less bleeding, and faster postoperative recovery, has gained popularity among patients and doctors and is widely used in clinical practice. Early minimally invasive surgical robots were primarily used in multi-port laparoscopic surgeries, but the increased number of incisions increased the risk of infection and shortened recovery time. Therefore, single-port minimally invasive surgical robots were developed. However, most companies and research institutions still lack mature design for the actuators at the end effector of single-port surgical robots. For the end effector, the arm stiffness is generally poor, making it prone to deformation, and the curvature changes unevenly under stress, resulting in low control precision. For the individual clamps at the end effector, the two clamp arms typically move independently, lacking coordination. Generally, each clamp arm requires two drive ropes for opening and closing control, meaning that the opening and closing of the clamp arms requires at least four drive ropes, increasing the structural complexity of the end effector and the number of drive motors. Furthermore, to reduce the overall size of the actuator, there is a general lack of rotational freedom, limiting the operation of the surgical robot. Summary of the Invention

[0003] To address the shortcomings of the prior art, this invention provides a continuous robot for minimally invasive surgery. Its arm segments are assembled by connecting the ends of the linkage joints. Adjacent linkage joints are universally connected and achieve a linkage effect through three linkage cables. It has high rigidity and can bend with equal curvature. The end effector only requires two cables to drive it. One cable simultaneously realizes the clamping action, and the other cable controls the shaft rotation action. The structure is simple and easy to operate.

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

[0005] The end effector includes a base, an intermediate connector, a rotating component, a slider, and a clamp. Two winding posts are arranged opposite each other on the top of the base. Two connecting arms are provided at the bottom of the intermediate connector and are fixed to the top of the base. The rotating component is made of a cylindrical part and a rotating shaft part arranged coaxially. The rotating shaft part is rotatably connected to the base and the intermediate connector through bearings, and its side walls are machined with forward and reverse spiral wire grooves. Two support arms are provided at the port of the cylindrical part. The slider is assembled in the inner cavity of the cylindrical part of the rotating component and has two rope-passing channels machined in the middle. The clamp is hinged between the tops of the two support arms through a pin with a wire wheel in the middle. The bottom ends of the clamp arms on both sides are hinged to the top of the slider through transmission connecting rods.

[0006] The boom segment is assembled from four interconnected joints connected end to end. The main body of each interconnected joint is a boom rod. The boom rod has an end panel at the front end, a flange ring in the middle, and a universal joint at the rear end covered with a fixed semi-circular cap flange. The rear boom rod is connected to the universal joint at the front boom rod, and the end panel and semi-circular cap flange fit tightly together. Each of the three interconnected joints at the rear end of each boom segment is equipped with three interconnected cables. One end of each of the three interconnected cables is evenly fixed to the semi-circular cap flange of the rear interconnected joint, and the other end passes through the flange ring in the middle of the interconnected joint, is spirally twisted 180°, passes through the semi-circular cap flange and flange ring of the front interconnected joint, and is locked by a ball joint.

[0007] Furthermore, the drive box is mounted on the moving platform of the linear module.

[0008] Furthermore, the drive box is equipped with eight winding drums, which are arranged in a U-shape and driven by drive motors respectively. The drive cable group includes an opening and closing control cable, a shaft rotation control cable, and six bending control cables, totaling eight cables. The opening and closing control cable and the shaft rotation control cable are respectively connected to the corresponding winding drum and the end effector to control the opening and closing of the clamp and the shaft rotation of the rotating part. The six bending control cables are respectively connected to the corresponding winding drum and the bending arm to control the bending action of the two arm segments.

[0009] Furthermore, the drive box is rotatably mounted with two wire rollers at the middle position of the opening side of the eight U-shaped winding drums for centralized constraint of the cable. The two wire rollers are fixed with a wire-threading positioning plate in front of them for cable lead-out positioning and installation of the rear end of the fixing arm.

[0010] Furthermore, the two ends of the opening and closing control cable are fixed on a winding drum at the bottom of the U-shape. After passing through all the end panels and semi-circular cap flanges of the two arm sections, the opening and closing control cable extends into the end effector. Inside the end effector, it passes through the wire hole in the middle of the base and the rotating part, as well as the two rope channels of the slider, and goes around the guide wheel. Finally, it is positioned with the slider by locking screws.

[0011] Furthermore, the midpoint of the shaft rotation control cable is fixed on a winding drum at the bottom of the U-shape. After passing through all the end panels and semi-circular cap flanges of the two arm sections, the two ends of the shaft rotation control cable extend into the end effector. Inside the end effector, the cable passes through the wire holes on both sides of the base and runs along the corresponding winding post to its top. Then, it winds along the corresponding forward spiral wire groove and reverse spiral wire groove of the rotating part and connects and fixes it to its end.

[0012] Furthermore, the rear ends of the six bending control cables are respectively fixed to six winding drums on both sides of the U-shape. The six bending control cables are divided into two groups and cooperate with the two arm sections respectively. 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 section and are connected and fixed to the end panel of the first arm. 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 both arm sections and are connected and fixed to the end panel of the first arm of the front arm section. The three bending control cables in each group are evenly distributed in the circumference, and the two groups of bending control cables are arranged alternately and adjacently.

[0013] Furthermore, the spiral twisting section of the linkage cable is constrained by a guide steel pipe. One end of the guide steel pipe is inserted into the flange ring for positioning, and the other end is engaged with three bayonets machined on the edge of the end panel for positioning.

[0014] Furthermore, the drive box is made of 7075 aluminum alloy and undergoes hard anodizing treatment, while 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 consists of two arm segments connected end to end, and each arm segment is assembled by four linkage joints connected end to end. Adjacent linkage joints are connected by universal joints. The arm segments have high rigidity and are not easily deformed under force. The linkage joints are coordinated with three linkage cables that rotate in a spiral to achieve a linkage effect, which can bend with equal curvature, and has high control accuracy and stability. The end effector only needs to be driven by two cables. The bottom ends of the clamp arms on both sides of the clamp are hinged to the slider through the transmission linkage. By using one cable with the guide wheel to control the axial movement of the slider, the opening and closing action of the clamp can be realized simultaneously. The rotating shaft of the rotating part is provided with two spiral guide grooves in both directions, which are guided by two winding columns of the base. By using two winding methods in both directions at both ends of the other cable, the rotating part can be controlled to rotate in both directions along the axis, which increases the rotational freedom of the end effector. The structure is simple and easy to operate. Attached Figure Description

[0016] Figure 1This is an isometric view of the overall structure of the continuous robot of this invention;

[0017] Figure 2 yes Figure 1 Enlarged view of part A;

[0018] Figure 3 This is an isometric view of the end effector in this invention;

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

[0020] Figure 5 This is an isometric view of the assembly structure of the linkage joint in this invention;

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

[0022] Figure 7 This is an isometric view of the drive box structure in this invention. For ease of viewing, the top plate is not shown.

[0023] In the diagram: 1. End effector; 11. Base; 11-1. First winding post; 11-2. Second winding post; 12. Intermediate connector; 13. Rotating component; 13-1. Support arm; 14. Slider; 15. Transmission link; 16. Left clamp arm; 17. Right clamp arm; 18. Pin; 19. Guide wheel; 2. Arm section; 21. Linkage joint; 211. Arm; 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 drum; 43. Drive motor; 44. Guide roller; 45. Threading positioning plate; 51. Bending control cable; 52. Opening and closing control cable; 53. Shaft rotation control cable; 6. Linear module. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0025] like Figures 1 to 7 As 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 assembly.

[0026] Combination Figure 1As shown, the end effector 1 is installed at the front end of the curved arm. The curved arm is assembled by connecting two arm segments 2 end to end. The rear end of the curved 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 controls the end effector 1 and the curved arm through 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] Combination Figures 2-4 As shown, the end effector 1 includes a base 11, an intermediate connector 12, a rotating component 13, a slider 14, and a clamp. A first winding post 11-1 and a second winding post 11-2 are positioned opposite each other at the top edge of the base 11. A threading hole is machined in the middle of the base 11, and threading holes are machined at the outer bottom ends of the first winding post 11-1 and the second winding post 11-2, respectively. The intermediate connector 12 has an annular structure with two connecting arms at its bottom, which are respectively bolted to the top of the base 11. A hollow area between the two connecting arms is used to accommodate the first winding post 11-1 and the second winding post 11-2. The rotating component 13 is formed by integrating a cylindrical part and a rotating shaft part arranged coaxially. The sidewalls of the rotating shaft part are machined with forward and reverse spiral wire grooves at offsets. Two support arms 13-1 are provided at the port of the cylindrical part. The rotating shaft part is rotatably connected to the base 11 and the intermediate connector 12 via bearings. A threading hole is machined on 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 part 13 to form an axial sliding pair. Two rope-threading channels are machined in the middle of the slider 14, and one of the rope-threading channels is machined with a locking screw hole. The clamp includes a left clamp arm 16 and a right clamp arm 17 arranged in an X-shape. The intersection of the left clamp arm 16 and the right clamp arm 17 is hinged between the top ends of the two support arms 13-1 by a pin 8. A guide wheel 19 is set in the middle of the pin 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 by a transmission connecting rod 15. A jaw is formed between the tops of the left clamp arm 16 and the right clamp arm 17, and friction texture is provided on the inner side of both.

[0028] Combination Figure 2 , Figures 5-6As shown, each arm segment 2 is assembled from four interconnected joints 21 connected end to end. The main body of each interconnected joint 21 is a boom 211. The boom 211 has an end panel 212 integrally and coaxially mounted at its head end. The end panel 212 has three evenly machined slots on its edge. A flange ring 213 integrally and coaxially mounted at the middle position of the boom 211. A universal joint is installed at the tail end of the boom 211, and a fixed semi-circular cap flange 214 is installed on its exterior. The head end of the boom 211 of the rear interconnected joint 21 is connected to the universal joint at the tail end of the boom 211 of the adjacent interconnected joint 21 in front of it, and the corresponding end panel 212 and semi-circular cap flange 214 are tightly fitted together. Each arm segment 2, except for the foremost linkage joint 21, has three linkage joints 21 each equipped with three guide steel pipes 215 and three linkage cables 216. One end of each linkage cable 216 is evenly fixed to the semi-circular cap flange 214 at the rear end of the linkage joint 21. The other end of each linkage cable 216 passes through the flange ring 213 in the middle of the linkage joint 21, then spirals 180°, passes through the semi-circular cap flange 214 at the rear end of the adjacent linkage joint 21 and the flange ring 213 in the middle, and is secured by a ball joint. The three guide steel pipes 215 are fitted onto the spiral section of the three linkage cables 216. One end of each guide steel pipe 215 is inserted and positioned with the flange ring 213, and the other end is engaged and positioned with three bayonet points on the edge of the end panel 212. The bottom of the base 11 of the end effector 1 is coaxially fixed to the end panel 212 at the front end of the arm segment 2 by screws.

[0029] Combination Figure 6 As shown, each linkage joint 21 is controlled by three linkage cables 216. Assuming the right semi-circular flange 214 is closed relative to the inertial frame, under the S-shaped winding action of the linkage cables 216, the counterclockwise rotation angle of the right arm 211 around the center of the semi-circular flange 214 is α1, and the counterclockwise rotation angle of the left arm 211 around the center of the semi-circular flange 214 is α2. Clearly, the length of the linkage cables 216 remains constant during the linkage process. Due to the tension of the cables, the tangent point between the linkage cables 216 and the spherical surface of the right semi-circular flange 214 changes from A1 to A2, and the tangent point between the linkage cables 216 and the spherical surface of the middle semi-circular flange 214 changes from B1 to B2. The changes are only the arc lengths corresponding to A1A2 and B1B2, therefore the two arc lengths are equal. Thus, we can obtain... Since the radii of each segment are the same, the rotation angles α1 and α2 corresponding to the right arm 211 and the left arm 211 are equal. Under this configuration, the stiffness of the arm segment 2 can be greatly improved. In addition, the rotation angles between each adjacent linkage joint 21 are strictly equal, which can realize the constant 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] Combination Figure 1 , Figure 7 As shown, the main body of the drive box 4 is configured as a support frame 41. The support frame 41 has four layers from top to bottom: a top plate, an upper middle plate, a lower middle plate, and a bottom plate. Adjacent layers are fixedly connected by support rods. The top plate has eight holes arranged in a U-shape and eight winding drums 42 are rotatably mounted on it via bearings. The upper middle plate has eight holes corresponding to these holes and eight shafts are rotatably mounted on it via bearings. The lower middle plate has eight drive motors 43 fixed at corresponding positions at its bottom, with their output shafts extending upwards through pre-drilled holes. The bottoms of the eight winding drums 42 are respectively connected and fixed to the tops of the eight shafts. The output shafts of the eight drive motors 43 are respectively connected and fixed to the bottoms of the eight shafts via couplings. In addition, two wire guide rollers 44 are rotatably mounted on the top plate at the middle position of the opening side of the eight U-shaped winding drums 42 for centralized cable restraint. A wire threading positioning plate 45 is fixed at the end of the top plate opposite to the two wire guide rollers 44 for cable lead-out positioning and installation of the rear end of the fixing arm 3. The boom 211 at the rear end of the arm segment 2 is connected to the front end of the fixed arm 3 via a universal joint, and the corresponding semi-circular cap flange 214 is coaxially fixed to the front end of the fixed arm 3 with screws.

[0031] Combination Figures 2-4 , Figure 7As shown, the drive cable assembly consists of eight cables in total: an opening / closing control cable 52, a shaft rotation control cable 53, and six bending control cables 51. The opening / closing control cable 52 is fixed at both ends to one of the winding drums 42 at the bottom of the U-shape. It passes through all end panels 212 and semi-circular flanges 214 of the two arm sections 2 and then extends into the end effector 1. Inside the end effector 1, it passes through the threading holes in the base 11 and the rotating component 13, as well as the two rope channels of the slider 14, and then around the guide wheel 19. Finally, it is positioned with the slider 14 by a locking screw. The shaft rotation control cable 53 is fixed at its midpoint to another winding drum 42 at the bottom of the U-shape. It passes through all end panels 212 and semi-circular flanges 214 of the two arm sections 2 and then extends into the end effector 1. Inside the end effector 1, it passes through the threading holes on both sides of the base 11, runs against the first winding post 11-1 and the second winding post 11-2 to its top, and then continues along the rotating shaft. The forward and reverse spiral wire grooves corresponding to the rotating part 13 are wound and connected to their ends for fixation; 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 divided into two groups and cooperate with the two arm sections 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 section 2 and are then connected and fixed to the end panel 212 of the first arm 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 both arm sections 2 and are then connected and fixed to the end panel 212 of the first arm 211 of the front arm section 2. The three bending control cables 51 in each group are evenly distributed in the circumferential direction, but the two groups of bending control cables 51 are arranged in an adjacent manner.

[0032] In the materials used in the robot of this invention, the drive box 4 is made of 7075 aluminum alloy and is treated with hard anodizing, which has high strength and light weight, 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] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of the equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0034] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider 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 device includes an end effector (1), an arm segment (2), a fixed arm (3), a drive box (4), and a drive cable assembly. The end effector (1) is installed at the front end of the curved arm. The curved arm is assembled by connecting two arm segments (2) end to end. The rear end of the curved 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) controls the end effector (1) and the curved arm through the drive cable assembly. The end effector (1) includes a base (11), an intermediate connector (12), a rotating component (13), a slider (14), and a clamp. Two winding posts are arranged opposite each other on the top of the base (11). Two connecting arms are provided at the bottom of the intermediate connector (12) and are connected and fixed to the top of the base (11). The rotating component (13) is made of a cylindrical part and a rotating shaft arranged coaxially. The rotating shaft is rotatably connected to the base (11) and the intermediate connector (12) via bearings. Furthermore, the sidewalls are offset to process forward spiral wire grooves and reverse spiral wire grooves. The cylindrical part port is provided with two support arms (13-1). The slider (14) is assembled in the inner cavity of the cylindrical part of the rotating part (13) and two rope passages are processed in the middle. The clamp is hinged between the top ends of the two support arms (13-1) through the pin (18) with the wire wheel (19) in the middle. The bottom ends of the clamp arms on both sides are respectively hinged to the top of the slider (14) through the transmission connecting rod (15). The arm segment (2) is assembled from four interconnected joints (21) connected end to end. The main body of each interconnected joint (21) is a boom (211). The boom (211) has an end panel (212) at the front end, a flange ring (213) in the middle, and a universal joint installed at the rear end, covered with a fixed semi-circular cap flange (214). The front end of the rear boom (211) is connected to the universal joint at the rear end of the front boom (211), and the end panel (212) and the semi-circular cap flange (214) are tightly fitted together. The three linkage joints (21) at the tail end of each arm segment (2) are equipped with three linkage cables (216). One end of each of the three linkage cables (216) is evenly fixed on the semi-circular 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 twisted 180°, then passes through the semi-circular cap flange (214) and flange ring (213) of the front linkage joint (21) and is locked by a ball head.

2. The continuous robot for minimally invasive surgery according to claim 1, characterized in that: The drive box (4) is mounted 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 equipped with eight winding drums (42), which are arranged in a U-shape and driven by drive motors (43). The drive cable group includes an opening and closing control cable (52), a shaft rotation control cable (53), and six bending control cables (51), totaling eight cables. The opening and closing control cable (52) and the shaft rotation control cable (53) are respectively connected to the corresponding winding drums (42) and the end effector (1) to control the opening and closing of the clamp and the shaft rotation of the rotating part (13). The six bending control cables (51) are respectively connected to the corresponding winding drums (42) and the bending arm to control the bending action of the two arm segments (2).

4. The 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 has two wire rollers (44) installed for the centralized constraint of the cable. The two wire rollers (44) are fixed with the wire positioning plate (45) in the opposite position for the cable lead-out positioning and the installation of the rear end of the fixing arm (3).

5. A continuous robot for minimally invasive surgery according to claim 3, characterized in that: The opening and closing control cable (52) is fixed at both ends to 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 semi-circular cap flange (214) of the two arm sections (2) and then extends into the end effector (1). Inside the end effector (1), it passes through the wire hole in the middle of the base (11) and the rotating part (13) and the two rope channels of the slider (14) and goes around the guide wheel (19). Finally, it is positioned with the slider (14) by the locking screw.

6. A continuous robot for minimally invasive surgery according to claim 3, characterized in that: The midpoint of the shaft rotation control cable (53) is fixed on a winding drum (42) at the bottom of the U-shape. The two ends of the shaft rotation control cable (53) pass through all the end panels (212) and the semi-circular cap flange (214) of the two arm sections (2) and then extend into the end actuator (1). Inside the end actuator (1), the cable passes through the wire holes on both sides of the base (11) and runs along the corresponding winding post to its top. Then, it winds along the corresponding forward spiral wire groove and reverse spiral wire groove of the rotating part (13) and connects and fixes it to its end.

7. A continuous robot for minimally invasive surgery according to claim 3, characterized in that: The six bending control cables (51) are fixed at their rear ends to six winding drums (42) on both sides of the U-shape. The six bending control cables (51) are divided into two groups and cooperate with the two arm sections (2) respectively. The front ends of the three bending control cables (51) of one group pass through all the end panels (212) and semi-circular cap flanges (214) of the rear arm section (2) and are then connected and fixed to the end panel (212) of the first arm (211) of the other group. The front ends of the three bending control cables (51) of the other group pass through all the end panels (212) and semi-circular cap flanges (214) of both arm sections (2) and are then connected and fixed to the end panel (212) of the first arm (211) of the front arm section (2). The three bending control cables (51) of each group are evenly distributed along the circumference and the two groups of bending control cables (51) are arranged in a cross-adjacent manner.

8. A continuous robot for minimally invasive surgery according to claim 1, characterized in that: The spiral section of the linkage cable (216) is constrained by a guide steel pipe (215). One end of the guide steel pipe (215) is inserted into the flange ring (213) for positioning, and the other end is engaged with three bayonets processed on the edge of the end panel (212) for positioning.

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

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