Robot mechanical arm for minimally invasive surgery

Abstract

The invention belongs to the technical field of robot mechanical arms, and particularly relates to a robot mechanical arm for minimally invasive surgery, which comprises a mechanical arm, a cutter clamp is slidably connected to the inner wall of a silica gel hose, a driving assembly is arranged on the inner wall of the mechanical arm, a coating assembly is arranged on the inner wall of the mechanical arm, and a pushing assembly is arranged on the inner wall of the mechanical arm. Before working, the cutter clamp is located in the silica gel hose, the silica gel hose is pushed to slowly enter the body by starting the driving assembly, and in the process, the coating assembly smears a layer of medical lubricating liquid on the surface of the silica gel hose so as to reduce the contact friction force between the silica gel hose and the body of a patient; and air in the second cabin is injected into the through groove, so that the cutter clamp at one end of the silica gel soft rod is pushed out of the interior of the silica gel hose, and any position of the silica gel hose can be adjusted in any direction and angle through the guide mechanism.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotic manipulators, and specifically relates to a robotic manipulator for minimally invasive surgery. Background Art

[0002] Minimally invasive surgery has the advantages of small trauma, mild pain, rapid recovery, short hospital stay, and few postoperative complications. Minimally invasive surgery is a surgical operation in which a doctor uses a slender surgical tool to penetrate into the patient's body through a small incision on the patient's body surface, which can reduce the patient's pain. However, traditional minimally invasive surgery requires a high level of proficiency in the operation of minimally invasive surgical instruments by the doctor, and long-term surgery is likely to cause the doctor's hand to fatigue and tremble, thus affecting the safety of the surgery. With the wide application of robotic manipulator technology in minimally invasive surgery, the problems existing in traditional minimally invasive surgery have been well solved.

[0003] After retrieval, the patent with the publication number CN113069211B discloses an end-effector robotic manipulator for a minimally invasive surgery robot. By using a cross universal joint and reasonable structural cooperation, one joint with multiple degrees of freedom can be realized, greatly increasing the flexibility of the end robotic manipulator of the surgical robot. Moreover, multiple universal joints can be added according to requirements, enabling the minimally invasive surgery robot to meet different surgical types and making the application of the surgical robot more extensive.

[0004] However, when the end-effector robotic manipulator of this minimally invasive surgery robot performs minimally invasive surgery on parts such as the patient's oral cavity or respiratory tract, the exposed tool clamp is likely to touch the mucosa inside the organ and cause discomfort. At the same time, when adjusting the angle of the robotic manipulator, it is necessary to increase or decrease the number of universal joints according to needs, which will increase the workload of preoperative preparation and is still inconvenient to use. Summary of the Invention

[0005] The purpose of the present invention is to provide a robotic manipulator for minimally invasive surgery to solve the problems raised in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solution: A robotic arm for minimally invasive surgery, comprising a robotic arm and a through groove opened on the inner wall of the robotic arm. A sliding cover adapted to the through groove is provided on the outer wall of the robotic arm. A silica gel hose is slidably connected to the inner wall of the through groove. A tool clamp is slidably connected to the inner wall of the silica gel hose. A driving component for pushing the silica gel hose out of the inside of the through groove is provided on the inner wall of the robotic arm. A coating component is provided on the inner wall of the robotic arm. A pushing component is provided on the inner wall of the robotic arm. The pushing component includes a second chamber opened on the inner wall of the robotic arm and a servo motor installed on the inner wall of the through groove. A piston plate adapted to the through groove is provided on the outer wall of the top end of the servo motor. A silica gel soft rod is rotatably connected to the outer wall of the top end of the servo motor, and one end of the silica gel soft rod is connected to the tool clamp.

[0007] Further, the driving component includes a first chamber opened on the inner wall of the robotic arm and a slider installed on the outer wall of the robotic arm. A first electric cylinder is fixedly connected to the inner wall of the robotic arm. A first piston adapted to the first chamber is provided on the outer wall of one end of the first electric cylinder. A first chute adapted to the first chamber is provided on the inner wall of the robotic arm. A damping rod adapted to the first chute is provided on the outer wall of the bottom end of the slider. An air inlet channel is opened on the inner wall of the damping rod. An air inlet groove adapted to the air inlet channel is provided on the inner wall of the slider. A second chute adapted to the air inlet groove is provided on the inner wall of the slider. A connecting column is slidably connected to the inner wall of the second chute. A connecting block is fixedly connected to the outer wall of one end of the connecting column. A return spring adapted to the connecting column is provided on the inner wall of the second chute.

[0008] Further, the driving component further includes a sliding rod installed on the inner wall of the slider. A connecting groove adapted to the sliding rod is provided on the inner wall of the robotic arm. An air extraction channel is opened on the inner wall of the connecting groove. An air extraction groove adapted to the air extraction channel is provided on the inner wall of the slider. Air extraction holes adapted to the air extraction groove are provided on the inner walls of the connecting column and the connecting block. A pressure relief groove adapted to the connecting groove is provided on the outer wall of the robotic arm.

[0009] Further, the coating component includes a liquid storage chamber opened inside the robotic arm. A liquid inlet adapted to the liquid storage chamber is provided on the outer wall of the robotic arm. A sealing cover is installed on the outer wall of the liquid inlet. A liquid outlet is opened on one side of the robotic arm close to the silica gel hose. A liquid coating cotton adapted to the liquid outlet is provided on the inner wall of the robotic arm.

[0010] Further, the pushing component further includes a second electric cylinder installed on the inner wall of the robotic arm and a guiding mechanism arranged on the outer wall of the silica gel soft rod. A second piston adapted to the second chamber is provided on the outer wall of one end of the second electric cylinder. An air suction channel adapted to the second chamber is provided on the inner wall of the robotic arm. An annular air suction groove adapted to the air suction channel is provided on the inner wall of the through groove. An exhaust groove adapted to the second chamber is provided on the inner wall of the robotic arm, and one end of the exhaust groove is connected to the through groove. An auxiliary air suction channel adapted to the air suction channel is provided on the outer wall of the robotic arm. A baffle adapted to the exhaust groove is provided on the inner wall of one end of the auxiliary air suction channel. A first through hole adapted to the exhaust groove is provided on the outer wall of the baffle. A limiting spring is fixedly connected to the outer wall of the top end of the baffle.

[0011] Further, the guiding mechanism includes a connecting sleeve arranged on the outer wall of the top end of the silica gel hose and a guiding plate slidably connected to the outer wall of the silica gel soft rod. A limiting block is arranged on the outer peripheral edge of the connecting sleeve in the circumferential direction. A limiting groove adapted to the limiting block is provided on the inner wall of the through groove. A guiding block inclined in the X direction is provided on the outer wall of the top end of the guiding plate. A connecting plate is rotatably connected to the outer wall of the top end of the guiding block, and the connecting plate is perpendicular to the guiding plate. A damping sleeve adapted to the silica gel soft rod is provided on the inner wall of the connecting plate. An electric push cylinder adapted to the guiding plate is provided on the outer wall of the connecting plate. A clamping block is fixedly connected to the outer wall of the bottom end of the servo motor. A clamping groove adapted to the clamping block is provided on the inner wall of the connecting sleeve. A second through hole adapted to the exhaust groove is provided on the outer wall of the baffle.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0013] Before the present invention works, the tool clamp is located inside the silica gel hose. By starting the driving component, the silica gel hose is slowly pushed into the body. During this process, the coating component will apply a layer of medical lubricant to the surface of the silica gel hose to reduce the frictional force between the silica gel hose and the patient's body. Start the pushing component to inject the air inside the second chamber into the through groove, thereby pushing the tool clamp at one end of the silica gel soft rod out of the inside of the silica gel hose. The guiding mechanism can adjust any part of the silica gel hose at any direction and angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a schematic diagram of the internal structure of the robotic arm of the present invention;

[0016] Figure 3 It is a schematic diagram of the structure of the sliding rod and the connecting groove cooperating with each other of the present invention;

[0017] Figure 4 Schematic diagram of the structure of the connecting column and the connecting block of the present invention cooperating with each other;

[0018] Figure 5 Schematic diagram of the structure of the air extraction channel and the air extraction groove of the present invention cooperating with each other;

[0019] Figure 6 Schematic diagram of the structure of the servo motor and the silicone soft rod of the present invention cooperating with each other;

[0020] Figure 7 Schematic diagram of the structure of the liquid outlet and the liquid coating cotton of the present invention cooperating with each other;

[0021] Figure 8 For the present invention Figure 2 Enlarged schematic diagram of the structure at position A in;

[0022] Figure 9 For the present invention Figure 2 Enlarged schematic diagram of the structure at position B in.

[0023] In the figure: 1. Robot arm; 2. Through groove; 3. Slide cover; 4. Silicone hose; 5. Slide block; 6. First chamber; 7. First electric cylinder; 8. First piston; 9. First chute; 10. Damper rod; 11. Slide rod; 12. Connection groove; 13. Intake channel; 14. Intake groove; 15. Second chute; 16. Connecting column; 17. Connecting block; 18. Return spring; 19. Air extraction channel; 20. Air extraction groove; 21. Air extraction hole; 22. Pressure relief groove; 23. Connection sleeve; 24. Limiting block; 25. Limiting groove; 26. Servo motor; 27. Silicone soft rod; 28. Guide plate; 29. Guide block; 30. Connecting plate; 31. Damper sleeve; 32. Electric push cylinder; 33. Tool clamp; 34. Second chamber; 35. Second electric cylinder; 36. Second piston; 37. Suction channel; 38. Annular suction groove; 39. Exhaust groove; 40. Auxiliary suction channel; 41. Baffle; 42. First through hole; 43. Limiting spring; 44. Piston plate; 45. Block; 46. Card slot; 47. Liquid storage bin; 48. Liquid inlet; 49. Sealing cover; 50. Liquid outlet; 51. Liquid coating cotton; 52. Second through hole. 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 present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0025] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0026] Please refer to Figures 1-9 , the present invention provides a technical solution: a robotic manipulator for minimally invasive surgery, including a robotic arm 1, and a through groove 2 opened on the inner wall of the robotic arm 1. A sliding cover 3 adapted to the through groove 2 is provided on the outer wall of the robotic arm 1. A silicone hose 4 is slidably connected to the inner wall of the through groove 2. A tool clamp 33 is slidably connected to the inner wall of the silicone hose 4. A driving component for pushing the silicone hose 4 out of the inside of the through groove 2 is provided on the inner wall of the robotic arm 1. A coating component for applying a lubricating fluid to the surface of the silicone hose 4 is provided on the inner wall of the robotic arm 1. A pushing component for pushing the tool clamp 33 out of the inner wall of the silicone hose 4 is provided on the inner wall of the robotic arm 1. The pushing component includes a second chamber 34 opened on the inner wall of the robotic arm 1, and a servo motor 26 installed on the inner wall of the through groove 2. A piston plate 44 adapted to the through groove 2 is provided on the outer wall of the top end of the servo motor 26. A silicone soft rod 27 is rotatably connected to the outer wall of the top end of the servo motor 26, and one end of the silicone soft rod 27 is connected to the tool clamp 33.

[0027] During use, first open the sliding cover 3 to expose the port of the through groove 2, then insert the silicone hose 4 into the inside of the through groove 2, and then insert the silicone soft rod 27 into the inside of the silicone hose 4. It should be noted that after inserting the silicone soft rod 27, the tool clamp 33 at one end of the silicone soft rod 27 does not protrude from the surface of the silicone hose 4; after the preparation work is completed, the silicone hose 4 is moved to a predetermined position by the robotic arm 1. At this time, start the driving component to push the silicone hose 4 to slowly slide out of the inside of the through groove 2 and into the patient's body. During this process, the coating component will apply a layer of medical lubricating fluid to the surface of the silicone hose 4. At this time, the silicone soft rod 27 is in a static state; when the silicone hose 4 extends to the designated position, start the pushing component to squeeze the air inside the second chamber 34, so that the air inside the second chamber 34 enters the inside of the through groove 2, increasing the air pressure inside the through groove 2 and applying a thrust force to the surface of the piston plate 44, thereby pushing the piston plate 44 to slide downward inside the through groove 2. When the piston plate 44 slides downward, it will push the servo motor 26 and the silicone soft rod 27, thereby pushing the tool clamp 33 at one end of the silicone soft rod 27 out of the inside of the silicone hose 4.

[0028] Please refer to Figures 2-5, the driving assembly includes a first chamber 6 opened on the inner wall of the robotic arm 1 and a slider 5 installed on the outer wall of the robotic arm 1. A first electric cylinder 7 is fixedly connected to the inner wall of the robotic arm 1. A first piston 8 adapted to the first chamber 6 is provided on the outer wall of one end of the first electric cylinder 7. A first sliding groove 9 adapted to the first chamber 6 is provided on the inner wall of the robotic arm 1. A damping rod 10 adapted to the first sliding groove 9 is provided on the outer wall of the bottom end of the slider 5. An air inlet channel 13 is opened on the inner wall of the damping rod 10. An air inlet groove 14 adapted to the air inlet channel 13 is provided on the inner wall of the slider 5. A second sliding groove 15 adapted to the air inlet groove 14 is provided on the inner wall of the slider 5. A connecting column 16 is slidably connected to the inner wall of the second sliding groove 15. A connecting block 17 is fixedly connected to the outer wall of one end of the connecting column 16. A return spring 18 adapted to the connecting column 16 is provided on the inner wall of the second sliding groove 15.

[0029] During use, the first electric cylinder 7 is used to push the first piston 8 to squeeze the air inside the first chamber 6, so as to squeeze the air inside the first chamber 6 into the inside of the first sliding groove 9. Due to the damping between the damping rod 10 and the first sliding groove 9, the air entering the inside of the first sliding groove 9 first enters the inside of the air inlet channel 13. The air inside the air inlet channel 13 will enter the second sliding groove 15 through the air inlet groove 14, increasing the air pressure inside the second sliding groove 15, thereby pushing the connecting column 16 to slide downward inside the second sliding groove 15 and squeezing the return spring 18. When the connecting column 16 slides downward, it will push the connecting block 17 to move downward synchronously, so that the surface of the connecting block 17 fits against the outer wall of the silicone hose 4. At this time, the air entering the inside of the first sliding groove 9 will push the damping rod 10 to slide outward, thereby pushing the slider 5 to slide and pushing the silicone hose 4 out of the inside of the through groove 2. When the first electric cylinder 7 pushes the first piston 8 to pump air out of the first chamber 6, due to the damping between the damping rod 10 and the first sliding groove 9, the air inside the second sliding groove 15 is first pumped out. At this time, the return spring 18 is pushed by the force to push the connecting block 17 to reset, and then the slider 5 is pulled back by the damping rod 10.

[0030] Please refer to Figure 3 and Figure 5 , the driving assembly further includes a sliding rod 11 installed on the inner wall of the slider 5. A connecting groove 12 adapted to the sliding rod 11 is provided on the inner wall of the robotic arm 1. An air extraction channel 19 is opened on the inner wall of the connecting groove 12. An air extraction groove 20 adapted to the air extraction channel 19 is provided on the inner wall of the slider 5. Air extraction holes 21 adapted to the air extraction groove 20 are provided on the inner walls of both the connecting column 16 and the connecting block 17. A pressure relief groove 22 adapted to the connecting groove 12 is provided on the outer wall of the robotic arm 1.

[0031] When in use, when the slider 5 pushes the silicone hose 4 out of the inside of the through groove 2, the sliding rod 11 will slide out of the inside of the connecting groove 12, so that the air pressure inside the connecting groove 12 decreases and generates a suction force. At this time, since the surface of the connecting block 17 is in close contact with the outer wall of the silicone hose 4, the air inside the air extraction hole 21 enters the inside of the air extraction channel 19 through the air extraction groove 20 and is discharged into the connecting groove 12, causing the air pressure inside the air extraction hole 21 to decrease and generating a suction force, thereby tightly adsorbing the outer wall of the silicone hose 4 on the surface of the connecting block 17. When one end of the sliding rod 11 slides to the surface of the pressure relief groove 22 inside the connecting groove 12, the external air will enter the connecting groove 12 through the pressure relief groove 22, making the air pressure inside the connecting groove 12 return to the normal state, thereby releasing the adsorption on the silicone hose 4.

[0032] Please refer to Figure 7 , the coating assembly includes a liquid storage chamber 47 opened inside the robotic arm 1 for storing medical lubricant. An inlet 48 adapted to the liquid storage chamber 47 is provided on the outer wall of the robotic arm 1. A sealing cover 49 is installed on the outer wall of the inlet 48. An outlet 50 is opened on one side of the robotic arm 1 close to the silicone hose 4. A coating cotton 51 adapted to the outlet 50 is provided on the inner wall of the robotic arm 1.

[0033] When in use, first remove the sealing cover 49, inject the medical lubricant into the inside of the liquid storage chamber 47 through the inlet 48, and then reconnect the sealing cover 49 to the inlet 48. The medical lubricant inside the liquid storage chamber 47 will slowly flow out through the outlet 50 and soak the coating cotton 51. After the silicone hose 4 slides out from the surface of the through groove 2, the coating cotton 51 will coat the medical lubricant on the surface of the silicone hose 4 to reduce the frictional force between the silicone hose 4 and the patient's body, and reduce the damage to the mucosa caused by the silicone hose 4 when it extends into the patient's body.

[0034] Please refer to Figure 2 , Figure 8 and Figure 9 , the pushing assembly further includes a second electric cylinder 35 installed on the inner wall of the robotic arm 1 and a guiding mechanism provided on the outer wall of the silicone rod 27. A second piston 36 adapted to the second chamber 34 is provided on the outer wall of one end of the second electric cylinder 35. An air suction channel 37 adapted to the second chamber 34 is provided on the inner wall of the robotic arm 1. An annular air suction groove 38 adapted to the air suction channel 37 is provided on the inner wall of the through groove 2. An exhaust groove 39 adapted to the second chamber 34 is provided on the inner wall of the robotic arm 1, and one end of the exhaust groove 39 is connected to the through groove 2. An auxiliary air suction channel 40 adapted to the air suction channel 37 is provided on the outer wall of the robotic arm 1. A baffle 41 adapted to the exhaust groove 39 is provided on the inner wall of one end of the auxiliary air suction channel 40. A first through hole 42 adapted to the exhaust groove 39 is provided on the outer wall of the baffle 41. A limiting spring 43 is fixedly connected to the outer wall of the top end of the baffle 41.

[0035] During use, after one end of the silica gel hose 4 extends into the designated position, the second electric cylinder 35 is started to push the second piston 36 to squeeze the air inside the second chamber 34. At this time, due to the limit of the baffle 41 on the exhaust groove 39, the air inside the second chamber 34 cannot pass through the exhaust groove 39 and enter the inside of the through groove 2. When the second piston 36 rises, it will suck the air inside the suction channel 37 into the inside of the second chamber 34, thereby reducing the air pressure inside the annular suction groove 38 and generating a suction force on the surface of the silica gel hose 4, so as to limit the silica gel hose 4 and ensure the stability of the silica gel hose 4. During this process, the air inside the auxiliary suction channel 40 will also be sucked into the inside of the second chamber 34 through the suction channel 37, thereby pulling the baffle 41 to slide downward and squeezing the limit spring 43, so that the first through hole 42 moves to the surface of the exhaust groove 39. At this time, the air entering the exhaust groove 39 will pass through the first through hole 42 and enter the inside of the through groove 2, and push the piston plate 44 to slide downward inside the through groove 2. When the piston plate 44 slides downward, it will push the tool clamp 33 out of the silica gel hose 4 through the silica gel soft rod 27.

[0036] Please refer to Figure 6 and Figure 7 As shown in, the guiding mechanism includes a connecting sleeve 23 arranged on the outer wall of the top end of the silica gel hose 4, and a guiding plate 28 slidably connected to the outer wall of the silica gel soft rod 27. A limiting block 24 is arranged on the outer peripheral edge of the connecting sleeve 23 in the circumferential direction, and a limiting groove 25 adapted to the limiting block 24 is arranged on the inner wall of the through groove 2. A guiding block 29 inclined in the X direction is arranged on the outer wall of the top end of the guiding plate 28. A connecting plate 30 is rotatably connected to the outer wall of the top end of the guiding block 29, and the connecting plate 30 is perpendicular to the guiding plate 28. A damping sleeve 31 adapted to the silica gel soft rod 27 is arranged on the inner wall of the connecting plate 30. An electric push cylinder 32 adapted to the guiding plate 28 is arranged on the outer wall of the connecting plate 30. A clamping block 45 is fixedly connected to the outer wall of the bottom end of the servo motor 26, and a clamping groove 46 adapted to the clamping block 45 is arranged on the inner wall of the connecting sleeve 23. A second through hole 52 adapted to the exhaust groove 39 is arranged on the outer wall of the baffle 41.

[0037] When it is necessary to adjust the advancing angle of the silicone hose 4, the air inside the second chamber 34 is squeezed to make the air enter the inside of the through groove 2, so as to push the servo motor 26 and the silicone soft rod 27 to move through the piston plate 44. Due to the damping between the damping sleeve 31 and the silicone soft rod 27, the silicone soft rod 27 will push the connecting plate 30 to move synchronously when moving. When the connecting plate 30 moves to the position of the silicone hose 4 to be adjusted in angle, first start the servo motor 26, drive the connecting plate 30 to rotate inside the silicone hose 4 through the silicone soft rod 27, and at the same time cooperate with the connection sleeve 23 to limit the silicone hose 4 through the engagement between the limit block 24 and the limit groove 25 to prevent the silicone hose 4 from rotating, adjust the direction of the angle distortion of the silicone hose 4, and then start the electric push cylinder 32 to pull one end of the guide plate 28 to rise. At the same time, cooperate with multiple groups of guide blocks 29 inclined in the X direction to make the guide plate 28 rotate in the X direction synchronously with the electric push cylinder 32 and multiple groups of guide blocks 29 when rising, so as to displace the guide plate 28, while the connecting plate 30 remains relatively stationary, and the adjustment of the advancing angle of the silicone hose 4 can be completed. When continuing to push the silicone hose 4 to slide outwards, the silicone hose 4 will move forward along the included angle between the guide plate 28 and the connecting plate 30. After the tool clamp 33 is pushed out of the inside of the silicone hose 4, the bent part of the silicone hose 4 will engage with the guide plate 28 and the connecting plate 30, so that the silicone soft rod 27 passes through the connecting plate 30 to push the tool clamp 33 out of the inside of the silicone hose 4. At the same time, the clamping block 45 at one end of the servo motor 26 will enter the inside of the clamping groove 46 and continue to slide down along the surface of the clamping groove 46. When recycling the tool clamp 33, the second electric cylinder 35 pulls the second piston 36 to pump air out of the second chamber 34 and inflate the air intake channel 37. At this time, the gas will push the baffle 41 to slide upwards and squeeze the limit spring 43, so that the second through hole 52 moves to the surface of the exhaust groove 39, thereby pumping the air inside the through groove 2 back into the inside of the second chamber 34. The servo motor 26 slides upwards through the piston plate 44 and drives the clamping block 45 to move upwards along the surface of the clamping groove 46. When the clamping block 45 moves to the top of the clamping groove 46, the tool clamp 33 is completely retracted into the inside of the silicone hose 4. After that, the servo motor 26 continues to rise, and the silicone hose 4 can be pulled to rise synchronously through the engagement between the clamping block 45 and the clamping groove 46.

[0038] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A robot arm for minimally invasive surgery, comprising a robot arm (1), and a through slot (2) provided on the inner wall of the robot arm (1), a sliding cover (3) adapted to the through slot (2) being provided on the outer wall of the robot arm (1), a silicone hose (4) being slidably connected to the inner wall of the through slot (2), and a tool clamp (33) being slidably connected to the inner wall of the silicone hose (4), characterized in that: The inner wall of the robot arm (1) is provided with a driving component for pushing the silicone hose (4) to slide out of the through groove (2); the inner wall of the robot arm (1) is provided with a coating component; the inner wall of the robot arm (1) is provided with a pushing component; the pushing component includes a second chamber (34) opened on the inner wall of the robot arm (1), and a servo motor (26) installed on the inner wall of the through groove (2); the top outer wall of the servo motor (26) is provided with a piston plate (44) adapted to the through groove (2); the top outer wall of the servo motor (26) is rotatably connected to a silicone soft rod (27), and the outer wall of one end of the silicone soft rod (27) is connected to a tool clamp (33).

2. A robotic arm for minimally invasive surgery according to claim 1, characterized in that: The driving assembly comprises a first chamber (6) provided on the inner wall of the mechanical arm (1), and a slider (5) installed on the outer wall of the mechanical arm (1); a first electric cylinder (7) is fixedly connected to the inner wall of the mechanical arm (1); a first piston (8) adapted to the first chamber (6) is provided on the outer wall of one end of the first electric cylinder (7); a first slide groove (9) adapted to the first chamber (6) is provided on the inner wall of the mechanical arm (1); a damping rod (10) adapted to the first slide groove (9) is provided on the outer wall of the bottom end of the slider (5); An air intake channel (13) is provided on the inner wall of the damping rod (10); an air intake groove (14) adapted to the air intake channel (13) is provided on the inner wall of the slider (5); a second slide groove (15) adapted to the air intake groove (14) is provided on the inner wall of the slider (5); a connecting column (16) is slidably connected to the inner wall of the second slide groove (15); a connecting block (17) is fixedly connected to the outer wall of one end of the connecting column (16); and a return spring (18) adapted to the connecting column (16) is provided on the inner wall of the second slide groove (15).

3. A robotic arm for minimally invasive surgery according to claim 2, characterized in that: The driving assembly also includes a sliding rod (11) mounted on the inner wall of the slider (5); a connecting groove (12) adapted to the sliding rod (11) is provided on the inner wall of the mechanical arm (1); an air extraction channel (19) is opened on the inner wall of the connecting groove (12); an air extraction groove (20) adapted to the air extraction channel (19) is provided on the inner wall of the slider (5); an air extraction hole (21) adapted to the air extraction groove (20) is provided on the inner walls of the connecting column (16) and the connecting block (17); and a pressure relief groove (22) adapted to the connecting groove (12) is provided on the outer wall of the mechanical arm (1).

4. A robotic arm for minimally invasive surgery according to claim 1, characterized in that: The coating component comprises a liquid storage tank (47) opened inside the robot arm (1), a liquid inlet (48) adapted for the liquid storage tank (47) is arranged on the outer wall of the robot arm (1), a sealing cover (49) is installed on the outer wall of the liquid inlet (48), a liquid outlet (50) is opened on one side of the robot arm (1) close to the silicone hose (4), and a coating cotton (51) adapted for the liquid outlet (50) is arranged on the inner wall of the robot arm (1).

5. The robotic arm for minimally invasive surgery according to claim 1, characterized in that: The pushing assembly further comprises a second electric cylinder (35) mounted on the inner wall of the mechanical arm (1), and a guide mechanism arranged on the outer wall of the silicone soft rod (27); a second piston (36) adapted to the second chamber (34) is arranged on the outer wall of one end of the second electric cylinder (35); an air suction channel (37) adapted to the second chamber (34) is arranged on the inner wall of the mechanical arm (1); an annular air suction groove (38) adapted to the air suction channel (37) is arranged on the inner wall of the through groove (2); An exhaust groove (39) adapted to the second chamber (34) is provided, and one end of the exhaust groove (39) is connected to the through groove (2); an auxiliary air suction channel (40) adapted to the air suction channel (37) is provided on the outer wall of the mechanical arm (1); a baffle (41) adapted to the exhaust groove (39) is provided on the inner wall of one end of the auxiliary air suction channel (40); a first through hole (42) adapted to the exhaust groove (39) is provided on the outer wall of the baffle (41); and a limit spring (43) is fixedly connected to the outer wall at the top end of the baffle (41).

6. A robotic arm for minimally invasive surgery according to claim 5, characterized in that: The guide mechanism comprises a connecting sleeve (23) arranged on the outer wall of the top end of the silicone hose (4), and a guide plate (28) slidably connected to the outer wall of the silicone soft rod (27); a limit block (24) is arranged on the outer periphery of the connecting sleeve (23) along the circumferential direction; a limit groove (25) adapted to the limit block (24) is arranged on the inner wall of the through groove (2); a guide block (29) inclined along the X direction is arranged on the top outer wall of the outer wall of the guide plate (28); a connecting plate (30) is rotatably connected to the top outer wall of the guide block (29) ), and the connecting plate (30) is perpendicular to the guide plate (28), a damping sleeve (31) adapted to the silicone soft rod (27) is arranged on the inner wall of the connecting plate (30), an electric push cylinder (32) adapted to the guide plate (28) is arranged on the outer wall of the connecting plate (30), a clamping block (45) is fixedly connected to the outer wall of the bottom end of the servo motor (26), a clamping groove (46) adapted to the clamping block (45) is arranged on the inner wall of the connecting sleeve (23), and a second through hole (52) adapted to the exhaust groove (39) is arranged on the outer wall of the baffle (41).

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