A small-cavity surgical robot flexible mechanical arm

Abstract

The application provides a small-cavity operation robot flexible mechanical arm, and relates to the technical field of surgical mechanical arms, which comprises a mounting head and a snake bone arm, the snake bone arm is fixedly installed at the side end of the mounting head, a mechanical arm structure facilitating small-cavity operation is arranged on the mounting head, a clamping mechanism facilitating operation clamping is arranged on the mounting head, the mechanical arm structure comprises a lens arm, an image lens, a surgical arm and a clamping arm, and the clamping mechanism comprises a cover plate, a first micro-resistance heating sheet, a second micro-resistance heating sheet, a fixed plate, a flexible clamping piece and a rigid clamping piece. The rigid clamping piece and the flexible clamping piece are matched, the flexible clamping piece is provided with a flexible sleeve, the material of the flexible sleeve is high-elasticity silica gel, different textures of different lesions in small-cavity operation, such as soft mucosa polyp or hard calculus, can be clamped and cut stably and flexibly by switching the flexible clamping piece and the rigid clamping piece.

Description

Technical Field

[0001] This invention belongs to the field of surgical robotic arm technology, and more specifically, relates to a flexible robotic arm for small cavity surgical robots. Background Technology

[0002] The flexible robotic arm of the small cavity surgical robot is a core instrument designed specifically for minimally invasive surgery in natural cavities such as the digestive tract, bladder, and bronchi. It enables complex operations within narrow spaces through flexible structures and high-precision control.

[0003] Chinese patent publication number CN120267409A discloses a medical flexible robotic arm and surgical robot, in which the winding directions of two adjacent layers of first spring tubes are opposite. This improves the torque transmission capability, bending flexibility, and service life of the medical flexible robotic arm.

[0004] Existing flexible robotic arms for small-cavity surgical procedures have the following drawbacks: Clamping adaptability issues: Existing surgical robot flexible robotic arms are typically equipped with only a single type of gripper, making it difficult to adapt to the different textures of lesions in small-cavity surgeries. They cannot flexibly switch between grippers to handle lesions of different natures, such as soft mucosal polyps and hard stones, resulting in insufficient adaptability to diverse surgical scenarios in actual surgery. This limits the smooth progress of the surgery and makes it difficult to meet the complex and ever-changing needs of small-cavity surgeries.

[0005] Tissue adhesions and bleeding problems: During intracavitary surgery, existing flexible robotic grippers lack effective heating measures, making it easy for tissue at the gripping site to adhere to the gripper surface. This not only makes postoperative separation of the gripper from the tissue difficult and increases the possibility of tissue traction injury, but may also lead to increased intraoperative bleeding, affect the clarity of the surgical field, and consequently interfere with the precision of the surgical procedure, prolonging the operation time.

[0006] In view of this, we will study and improve the existing structure and its shortcomings, and provide a flexible robotic arm for small cavity surgery, in order to achieve a more practical value. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a flexible robotic arm for small-cavity surgical robots.

[0008] A flexible robotic arm for small-cavity surgery includes a mounting head and a snake-like arm. The snake-like arm is fixedly mounted on the side end of the mounting head. The mounting head has a robotic arm structure to facilitate small-cavity surgery and a clamping mechanism for surgical gripping. The robotic arm structure includes a lens arm, an imaging lens, a surgical arm, and a clamping arm. The clamping mechanism includes a cover plate, a first micro-resistive heating element, a second micro-resistive heating element, a fixing plate, a flexible clamping element, and a rigid clamping element. The lens arm, imaging lens, and clamping arm are all fixedly mounted on the inner wall of the snake-like arm. The cover plate is located inside the clamping arm. The first and second micro-resistive heating elements are both located at the lower end of the cover plate. The fixing plate is slidably mounted inside the clamping arm. The flexible clamping element and the rigid clamping element are respectively fixedly mounted on the side ends of the two fixing plates. The imaging lens is fixedly mounted on the side end of the lens arm. A scalpel is fixedly mounted on the side end of the surgical arm, and a connector is fixedly mounted on the side end of the clamping arm. An inner chamber is formed on the side end of the connector, and an embedded groove is formed on the inner wall of the inner chamber. A cover plate is fixedly mounted on the inner wall of the embedded groove. Two circular grooves are formed on the upper end of the cover plate. The first and second micro-resistance heating elements are both fixedly mounted on the inner wall of the embedded groove. A first insertion groove and a second insertion groove are respectively fixedly mounted on the upper ends of the first and second micro-resistance heating elements. The first and second insertion grooves are respectively fixedly mounted on the inner walls of the two circular grooves. Adjustment posts are provided on both fixed plates. A cylindrical groove is formed through the lower end of both fixed plates. Heat-conducting plates are provided on the side ends of both fixed plates. Both heat-conducting plates are fixedly mounted on the adjustment posts. Conductive blocks are provided on the lower ends of both heat-conducting plates.

[0009] Preferably, a thermally conductive telescopic rod is fixedly installed between each of the two conductive blocks and the heat-conducting plate, and a spring is also fixedly installed between the two heat-conducting plates and the conductive blocks, with both springs located at the circumferential ends of the thermally conductive telescopic rod.

[0010] Preferably, both the flexible clamping member and the rigid clamping member are fixedly installed on the side end of the heat-conducting plate, and the outer side wall of the flexible clamping member is fitted with a flexible sleeve.

[0011] Compared with the prior art, the present invention has the following beneficial effects: In this invention, a rigid clamping component and a flexible clamping component are provided in combination. The flexible clamping component is equipped with a flexible sleeve made of highly elastic silicone. The flexible sleeve can adapt to different operational requirements according to the texture of different lesions in small cavity surgery, such as soft mucosal polyps or hard stones. By switching between the flexible clamping component and the rigid clamping component, the instrument can be flexibly switched between gentle clamping and stable cutting, which helps to improve the adaptability of the instrument to different surgical scenarios and provides support for diverse small cavity surgical operations.

[0012] In this invention, by providing an inner cavity, the temporarily unused clamping head can be stored in the inner cavity during the clamping head replacement process. On the one hand, it can provide physical protection for the stored clamping head, reduce its contact with tissues and body fluids in the cavity, and reduce the risk of contamination or structural damage. On the other hand, the storage design can prevent the temporarily unused clamping head from being exposed to the operating space, and will not interfere with the movement of the currently used clamping head and the surgical operation, ensuring the smooth progress of the surgical procedure.

[0013] In this invention, by employing a thermally conductive telescopic rod, a conductive block, and a spring in combination, when the clamping head slides out to the working position, the spring pushes the conductive block to engage with the first or second insertion slot, thus automatically connecting the flexible or rigid clamping component. When the clamping head is retracted into the cavity, the heating circuit is simultaneously and automatically disconnected. This automated heating on / off method requires no manual intervention, simplifies surgical procedures, reduces the workload of medical staff, and lowers the risk of heating abnormalities caused by improper manual control, thereby improving the convenience and safety of heating control.

[0014] In this invention, by employing a first micro-resistance heating element, a second micro-resistance heating element, a flexible clamping element, and a rigid clamping element in combination, the flexible clamping element and the rigid clamping element can be heated during cavity surgery. This helps reduce the adhesion between the tissue at the clamping site and the surface of the clamping head, facilitates the separation of the clamping head from the tissue after surgery, reduces the possibility of tissue traction injury, and moderate heating can create a certain thermal coagulation effect on the microvessels in the clamping area, helping to reduce intraoperative bleeding and improve the clarity of the surgical field. For some scenarios that require assisted cutting, the heated clamping head can improve the cutting efficiency of lesion tissue to a certain extent.

[0015] In this invention, by providing independent first and second micro-resistance heating pads, heating support at different temperatures can be provided according to the characteristics of flexible and rigid clamping components and corresponding surgical requirements. When the rigid clamping head is adapted to hard lesions, the first micro-resistance heating pad can provide a suitable temperature to ensure clamping stability. When the flexible clamping head is adapted to soft tissues, the second micro-resistance heating pad can provide a lower temperature to avoid overheating and damaging fragile tissues, further enhancing the flexibility of heating control and improving the adaptability of the instrument to different surgical conditions. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the robotic arm of the present invention; Figure 2 This is a schematic diagram of the lens arm structure of the present invention; Figure 3 This is a schematic diagram of the clamping arm of the present invention; Figure 4 This is an exploded view of the clamping arm structure of the present invention; Figure 5 This is a schematic diagram of the structure of the flexible clamping component of the present invention; Figure 6 This is a schematic diagram of the rigid clamping component of the present invention; Figure 7 This is a schematic diagram of the structure of the connector of the present invention; Figure 8 This is a schematic diagram of the structure of the fixing plate of the present invention.

[0017] In the figure, the correspondence between the component names and the attached drawing numbers is as follows: 1. Mounting head; 11. Snake-bone arm; 2. Lens arm; 21. Imaging lens; 22. Surgical arm; 23. Scalpel; 3. Clamping arm; 31. Connector; 32. Inner chamber; 33. Embedded groove; 4. Cover plate; 41. Circular groove; 5. First miniature resistance heating element; 51. First insertion groove; 6. Second miniature resistance heating element; 61. Second insertion groove; 7. Fixing plate; 71. Adjusting column; 72. Cylindrical groove; 73. Heat-conducting plate; 74. Heat-conducting telescopic rod; 75. Conductive block; 76. Spring; 8. Flexible clamping element; 81. Flexible sleeve; 9. Rigid clamping element. Detailed Implementation

[0018] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0019] Please see Figure 1 - Figure 8 This invention provides a flexible robotic arm for small-cavity surgical procedures, comprising a mounting head 1 and a snake-bone arm 11. The snake-bone arm 11 is fixedly mounted on the side end of the mounting head 1. The mounting head 1 is equipped with a robotic arm structure that facilitates small-cavity surgery. The mounting head 1 is also equipped with a clamping mechanism that facilitates surgical gripping. The robotic arm structure includes a lens arm 2, an imaging lens 21, a surgical arm 22, and a clamping arm 3. The clamping mechanism includes a cover plate 4, a first micro-resistive heating element 5, a second micro-resistive heating element 6, a fixing plate 7, a flexible clamping element 8, and a rigid clamping element 9. In minimally invasive surgeries of some natural cavities, such as the digestive tract, bladder, and bronchi, a flexible robotic arm is required. To assist in surgical procedures using the mounting head 1, in the limited space of narrow and curved cavities in the human body, such as the urethra, digestive tract, and blood vessels, it is possible to precisely reach the target surgical area. The scalpel 23 on the surgical arm 22 enables delicate operations such as tissue separation and cutting. At the same time, the imaging lens 21 on the lens arm 2 monitors the lesion and reduces damage to the cavity wall through image navigation and other technologies. Meanwhile, the flexible clamping component 8 or rigid clamping component 9 on the clamping arm 3 enables the clamping of excised material or tissue positioning, which greatly improves the accuracy and safety of small cavity surgery, reduces intraoperative bleeding, postoperative complications, and patient recovery time. The lens arm 2, the imaging lens 21, and the clamping arm 3 are all fixedly installed on the inner wall of the snake-bone arm 11. The cover plate 4 is located inside the clamping arm 3. The first micro-resistance heating element 5 and the second micro-resistance heating element 6 are both located at the lower end of the cover plate 4. The fixing plate 7 is slidably installed inside the clamping arm 3. The flexible clamping element 8 and the rigid clamping element 9 are respectively fixedly installed on the side ends of the two fixing plates 7. The imaging lens 21 is fixedly installed on the side end of the lens arm 2. The scalpel 23 is fixedly installed on the side end of the surgical arm 22. The connector 31 is fixedly installed on the side end of the clamping arm 3. An inner cavity 32 is opened on the side end of the connector 31. An embedded groove 33 is opened on the inner wall of the inner cavity 32. The cover plate 4 is fixed. Installed on the inner wall of the embedded groove 33, the upper end of the cover plate 4 has two circular grooves 41. The first micro resistance heating element 5 and the second micro resistance heating element 6 are both fixedly installed on the inner wall of the embedded groove 33. The upper ends of the first micro resistance heating element 5 and the second micro resistance heating element 6 are respectively fixedly installed with a first insertion groove 51 and a second insertion groove 61. The first insertion groove 51 and the second insertion groove 61 are respectively fixedly installed on the inner wall of the two circular grooves 41. Each of the two fixing plates 7 is provided with an adjusting column 71. The lower end of each of the two fixing plates 7 is provided with a cylindrical groove 72. The side ends of each of the two fixing plates 7 are provided with a heat-conducting plate 73. The two heat-conducting plates 73 are fixedly installed on the adjusting column 71. On column 71, conductive blocks 75 are provided at the lower ends of the two heat-conducting plates 73. A heat-conducting telescopic rod 74 is fixedly installed between the two conductive blocks 75 and the heat-conducting plates 73. Springs 76 are also fixedly installed between the two heat-conducting plates 73 and the conductive blocks 75. Both springs 76 are located at the circumferential ends of the heat-conducting telescopic rods 74. When switching the cutting head, taking the rigid clamping member 9 as an example, when the rigid clamping member 9 extends outward from the inner cavity 32, the fixing plate 7 drives the rigid clamping member 9 to move. When the fixing plate 7 moves to a position overlapping with the cover plate 4, the rigid clamping member 9 is fully extended out of the inner cavity 32. At this time, the position of the conductive block 75 will coincide with the circular groove 41. At this time, the springs 76... No longer subject to the limit rebound, the conductive block 75 moves downward. The conductive block 75 moves downward and enters the circular groove 41 and is engaged in the first insertion groove 51. At this time, after the first micro resistance heating element 5 is turned on, heat is generated due to the current heating effect. With the help of the heat-conducting telescopic rod 74 and the heat-conducting plate 73, the heat is transferred to the rigid clamping member 9 by heat conduction, thereby heating the rigid clamping member 9 and assisting in the clamping of tissue during cavity surgery. The first micro resistance heating element 5 and the second micro resistance heating element 6 are arranged below the rigid clamping member 9 and the flexible clamping member 8. When the flexible clamping member 8 moves to the outside, the second micro resistance heating element 6 will be turned on for heating. Both the flexible clamping member 8 and the rigid clamping member 9 are fixedly installed on the side end of the heat-conducting plate 73. The outer wall of the flexible clamping member 8 is fitted with a flexible sleeve 81. During small cavity surgery, it is necessary to stably grasp the target tissue such as polyps, tumors, and biopsy samples to prevent them from shifting or slipping. When the lesion requires auxiliary cutting or suturing, it is necessary to gently clamp fragile tissues to prevent damage, remove tissue fragments or foreign bodies generated during the operation, and fix surgical instruments to ensure operational accuracy. Both the flexible clamping member 8 and the rigid clamping member 9 are required in these situations. Different clamping heads are required for different surgical procedures. For example, when dealing with pia mater polyps, etc. For holding tissues, a flexible clamping element 8 may be used. The flexible clamping element 8 has a flexible sleeve 81, which is made of highly elastic silicone. For tissues such as bone and stones, a rigid clamping element 9 is required. The user can replace the flexible clamping element 8 and the rigid clamping element 9 according to the actual needs of the surgery. When the flexible clamping element 8 and the rigid clamping element 9 are needed, they can be driven by the micro cylinder in the clamping arm 3 to extend from the inner cavity 32 to the outside of the inner cavity 32. When the flexible clamping element 8 and the rigid clamping element 9 are not in use, they can be stored in the inner cavity 32.

[0020] Working principle: The first step involves using the mounting head 1 for assisted surgical operations in minimally invasive surgeries of natural cavities such as the digestive tract, bladder, and bronchi. This allows for precise access to the target surgical area within narrow or tortuous cavities such as the urethra, digestive tract, and blood vessels. The surgical blade 23 on the surgical arm 22 enables delicate operations such as tissue separation and cutting. Simultaneously, the imaging lens 21 on the lens arm 2 monitors the lesion, and image navigation and other technologies reduce damage to the cavity walls. The flexible clamping element 8 or rigid clamping element 9 on the clamping arm 3 allows for the retrieval of excised tissue or tissue positioning, significantly improving the accuracy and safety of small cavity surgeries and reducing intraoperative bleeding, postoperative complications, and patient recovery time. The second step involves stable gripping of target tissues such as polyps, tumors, and biopsy samples during small-cavity surgeries to prevent displacement or slippage. When lesions require assisted cutting or suturing, delicate tissues need to be gently held to prevent damage, tissue fragments or foreign bodies generated during surgery need to be removed, and surgical instruments need to be fixed to ensure operational precision. Both flexible clamps 8 and rigid clamps 9 are required in these situations. Different clamping heads are needed for different surgical procedures. For example, flexible clamps 8 may be necessary when gripping tissues such as pia mater polyps. The 8 is equipped with a flexible sleeve 81, which is made of highly elastic silicone. When dealing with tissues such as bone and stones, a rigid clamping member 9 is required for clamping. Users can replace the flexible clamping member 8 and the rigid clamping member 9 according to the actual needs of the surgery. When the flexible clamping member 8 and the rigid clamping member 9 are needed, they can be driven by the micro cylinder in the clamping arm 3 to extend from the inner cavity 32 to the outside of the inner cavity 32. When the flexible clamping member 8 and the rigid clamping member 9 are not in use, they can be stored in the inner cavity 32. This device is equipped with a rigid clamping component 9 and a flexible clamping component 8 working together. The flexible clamping component 8 is equipped with a flexible sleeve 81, which is made of highly elastic silicone. It can adapt to different operational requirements according to the texture of different lesions in small cavity surgery, such as soft mucosal polyps or hard stones. By switching between the flexible clamping component 8 and the rigid clamping component 9, it can flexibly switch between gentle clamping and stable cutting, which helps to improve the adaptability of the instrument to different surgical scenarios and provides support for diverse small cavity surgical operations. This device features an inner chamber 32. During the replacement of the gripper head, the temporarily unused gripper head can be stored inside the inner chamber 32. On the one hand, this provides physical protection for the stored gripper head, reducing its contact with tissues and body fluids within the cavity and lowering the risk of contamination or structural damage. On the other hand, the storage design prevents the temporarily unused gripper head from being exposed in the operating space, thus avoiding interference with the movement of the currently used gripper head and the surgical procedure, ensuring the smooth progress of the surgical process. Thirdly, during the switching of the cutting head, taking the rigid clamping member 9 as an example, when the rigid clamping member 9 extends outward from the inner cavity 32, the fixing plate 7 drives the rigid clamping member 9 to move. When the fixing plate 7 moves to the position that coincides with the cover plate 4, the rigid clamping member 9 is fully extended out of the inner cavity 32. At this time, the position of the conductive block 75 will coincide with the circular groove 41. At this time, the spring 76 is no longer limited and rebounds, causing the conductive block 75 to move downward. The conductive block 75 moves downward and enters the circular groove 41 and engages with the first insertion groove 51. Inside, when the first micro-resistance heating element 5 is turned on, it generates heat due to the current heating effect. With the help of the heat-conducting telescopic rod 74 and the heat-conducting plate 73, the heat is transferred to the rigid clamping member 9 by heat conduction, thereby heating the rigid clamping member 9 and assisting in the clamping of tissues during cavity surgery. The first micro-resistance heating element 5 and the second micro-resistance heating element 6 are arranged below the rigid clamping member 9 and the flexible clamping member 8. When the flexible clamping member 8 moves to the outside, the second micro-resistance heating element 6 will be turned on for heating. This device uses a combination of a thermally conductive telescopic rod 74, a conductive block 75, and a spring 76. When the clamping head slides out to the working position, the spring 76 pushes the conductive block 75 to engage with the first insertion slot 51 or the second insertion slot 61, thus automatically connecting the flexible clamping member 8 or the rigid clamping member 9. When the clamping head is retracted into the cavity, the heating circuit is automatically disconnected simultaneously. The automated heating on / off method requires no manual intervention, simplifies the surgical procedure, reduces the workload of medical staff, and reduces the risk of abnormal heating caused by improper manual control, thereby improving the convenience and safety of heating control. This device, through the combination of a first micro-resistance heating element 5, a second micro-resistance heating element 6, a flexible clamping element 8, and a rigid clamping element 9, can heat the flexible clamping element 8 and the rigid clamping element 9 during cavity surgery. This helps to reduce the adhesion between the tissue at the clamping site and the surface of the clamping head, facilitates the separation of the clamping head from the tissue after surgery, reduces the possibility of tissue traction injury, and moderate heating can form a certain thermal coagulation effect on the microvessels in the clamping area, which helps to reduce intraoperative bleeding and improve the clarity of the surgical field. For some scenarios that require assisted cutting, the heated clamping head can improve the cutting efficiency of lesion tissue to a certain extent. This device, by setting up independent first micro-resistive heating pad 5 and second micro-resistive heating pad 6, can provide heating support at different temperatures according to the characteristics of the flexible clamping member 8 and the rigid clamping member 9 and the corresponding surgical requirements. When the rigid clamping head is adapted to hard lesions, the first micro-resistive heating pad 5 can provide a suitable temperature to ensure clamping stability. When the flexible clamping head is adapted to soft tissues, the second micro-resistive heating pad 6 can provide a lower temperature to avoid overheating and damaging fragile tissues, further enhancing the flexibility of heating control and improving the adaptability of the instrument to different surgical conditions.

[0021] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A flexible robotic arm for small-cavity surgical robots, comprising a mounting head (1) and a snake-bone arm (11), wherein the snake-bone arm (11) is fixedly mounted on the side end of the mounting head (1), characterized in that: The mounting head (1) is provided with a robotic arm structure that facilitates small cavity surgery, and the mounting head (1) is provided with a clamping mechanism that facilitates surgical clamping. The robotic arm structure includes a lens arm (2), an imaging lens (21), a surgical arm (22), and a clamping arm (3). The clamping mechanism includes a cover plate (4), a first micro-resistance heating element (5), a second micro-resistance heating element (6), a fixing plate (7), a flexible clamping element (8), and a rigid clamping element (9). The lens arm (2), the imaging lens (21), and the clamping arm (3) are all fixedly installed on the inner wall of the snake-bone arm (11). The cover plate (4) is located inside the clamping arm (3). The first micro-resistance heating element (5) and the second micro-resistance heating element (6) are both located at the lower end of the cover plate (4). The fixing plate (7) is slidably installed inside the clamping arm (3). The flexible clamping element (8) and the rigid clamping element (9) are respectively fixedly installed on the side ends of the two fixing plates (7). A connector (31) is fixedly installed on the side end of the clamping arm (3). An inner cavity (32) is opened on the side end of the connector (31). An embedded groove (33) is opened on the inner side wall of the inner cavity (32). A cover plate (4) is fixedly installed on the inner side wall of the embedded groove (33). Two circular grooves (41) are opened on the upper end of the cover plate (4). The first micro resistance heating element (5) and the second micro resistance heating element (6) are both fixedly installed on the inner side wall of the embedded groove (33). The upper ends of the first micro resistance heating element (5) and the second micro resistance heating element (6) are respectively fixedly installed with a first insertion groove (51) and a second insertion groove (61). The first insertion groove (51) and the second insertion groove (61) are respectively... The two fixed plates (7) are fixedly installed on the inner sidewalls of the two circular grooves (41). Each of the two fixed plates (7) is provided with an adjusting column (71). The lower end of each of the two fixed plates (7) is provided with a cylindrical groove (72). The side end of each of the two fixed plates (7) is provided with a heat-conducting plate (73). The two heat-conducting plates (73) are fixedly installed on the adjusting column (71). The lower end of each of the two heat-conducting plates (73) is provided with a conductive block (75). A heat-conducting telescopic rod (74) is fixedly installed between the two conductive blocks (75) and the heat-conducting plates (73). A spring (76) is also fixedly installed between the two heat-conducting plates (73) and the conductive blocks (75). The two springs (76) are located at the circumferential end of the heat-conducting telescopic rod (74). When heating the flexible clamping member (8) and the rigid clamping member (9), their working process is the same. When the fixed plate (7) moves to the position that coincides with the cover plate (4), the flexible clamping member (8) or the rigid clamping member (9) is fully extended into the inner cavity (32). At this time, the position of the conductive block (75) will coincide with the circular groove (41). At this time, the spring (76) is no longer limited and rebounds, causing the conductive block (75) to move downward. The conductive block (75) moves downward and enters the circular groove (41) and is locked into the first insertion groove (51). At this time, after the first micro resistance heating element (5) is turned on, it generates heat due to the current heating effect. With the help of the heat-conducting telescopic rod (74) and the heat-conducting plate (73), the heat is transferred to the flexible clamping member (8) or the rigid clamping member (9) by heat conduction, thereby realizing the heating of the flexible clamping member (8) or the rigid clamping member (9).

2. The flexible robotic arm for small-cavity surgical robots as described in claim 1, characterized in that, An image lens (21) is fixedly installed at the side end of the lens arm (2), and a scalpel (23) is fixedly installed at the side end of the surgical arm (22).

3. The flexible robotic arm for small-cavity surgical robots as described in claim 2, characterized in that, Both the flexible clamping member (8) and the rigid clamping member (9) are fixedly installed on the side end of the heat-conducting plate (73), and the outer side wall of the flexible clamping member (8) is fitted with a flexible sleeve (81).

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