Port-variable surgical robot suitable for complex narrow cavity

Abstract

The invention discloses a port-variable surgical robot suitable for a complex narrow cavity, and relates to the technical field of surgical robots. A variable port surgical robot suitable for complex narrow cavities comprises a frame mechanism, the frame mechanism comprises a bottom plate, a surgical assembly is arranged on the side of the upper surface of the bottom plate, and a lying bed assembly is arranged in the middle of the upper surface of the bottom plate; the surgical assembly includes a base; an electric rail is embedded in the lower surface of the base; a mechanical arm assembly is installed on the electric rail in a sliding mode and provided with a second snake bone structure and a first snake bone structure. The first snake bone structure comprises a main arm mechanism and an adjusting mechanism; the second snake bone structure comprises a needle inserting mechanism and an operation mechanism; the main arm mechanism comprises a main arm, and a first ball seat is fixedly embedded in the bottom of the main arm; a controller is fixedly connected to the inner side of the upper portion of the main arm, a second ball seat is fixedly embedded in the controller, and a control rod assembly is installed on the second ball seat. The minimally invasive characteristic of a single-hole surgery is reserved, the operation flexibility of a multi-hole surgery is achieved, and the surgery comprehensiveness is improved.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, specifically a variable-port surgical robot suitable for complex and narrow cavities. Background Technology

[0002] Minimally invasive surgery is a core direction of modern surgical development. Its typical representative, endoscopic surgery, is widely used in large body cavities such as the thoracic and abdominal cavities, significantly reducing surgical trauma and accelerating patient recovery. However, in fields such as otolaryngology, maxillofacial surgery, joint surgery, spine surgery, and skull base neurosurgery, the surgical environment is essentially a complex and narrow bony or soft tissue cavity. These cavities not only have extremely limited space but also present unique anatomical challenges: the access path is tortuous and non-linear; the shape and diameter of the cavity cross-section may change drastically with anatomical layers (e.g., from circular to irregular slit-like); and, depending on the specific lesion location, the number of access points required (single, double, or multiple entrances) must be flexibly adjusted according to the surgical strategy. These multiple constraints in space, form, and quantity place extremely high demands on the size, flexibility, rigidity, and controllability of surgical instruments, as well as the versatility of system configurations, far exceeding those of conventional laparoscopic surgery.

[0003] Currently, surgical robot systems on the market are mainly divided into two major technical routes: multi-port and single-port. However, both are difficult to adapt to the challenges of complex and narrow cavities. Traditional multi-port robots, with their independent robotic arms, can provide a good operating triangle, but their large size, wide range of motion, and reliance on rigid trocars to establish channels make them unable to be deployed around narrow cavities or adapt to the morphological changes of the cavities themselves. Single-port robots (such as the da Vinci SP), developed to pursue less trauma, integrate all instruments into a single arm, but their design philosophy is fixed to a purely single-port procedure. Instruments are prone to interference due to the "chopstick effect" within the body, and the system is incompatible with multi-port modes. This means that hospitals wanting to cover surgeries of varying complexity must invest heavily in two independent systems, resulting in extremely poor economic efficiency. Essentially, existing technologies are trapped in a binary opposition of "multi-port" and "single-port," lacking a universal platform that can intelligently adapt to the specific anatomical conditions of narrow cavities.

[0004] Therefore, the core technological bottleneck in this field is that existing robotic systems lack the ability to respond to the core characteristics of complex and narrow cavities: "variable morphology, variable diameter, and variable number of access routes." Their rigid structures and fixed configurations cannot achieve safe and smooth access establishment and precise and stable surgical operations within the limited space surrounded by bone or soft tissue. The goal is to develop a universal surgical robot system that can dynamically adapt to cavity morphology and flexibly switch between single-port and multi-port modes.

[0005] The purpose of this invention is to overcome the barriers of existing technologies and provide a highly versatile and flexible single-port and multi-port compatible surgical robot system suitable for complex and narrow cavities. This system can quickly switch between single-port and multi-port modes according to surgical needs, achieving "one machine for multiple uses" through variable ports, significantly improving equipment utilization and medical cost-effectiveness. Summary of the Invention

[0006] The purpose of this invention is to provide a variable-port surgical robot suitable for complex and narrow cavities, so as to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a variable port surgical robot suitable for complex and narrow cavities, comprising a frame mechanism, the frame mechanism comprising a base plate, surgical components being disposed on the sides of the upper surface of the base plate, and a reclining bed component being disposed in the middle of the upper surface of the base plate; The surgical component includes a base; The lower surface of the base is fitted with an annular electric rail; A robotic arm assembly is slidably mounted on the electric rail. The robotic arm assembly has a second snake bone structure in the front operating part and a first snake bone structure in the rear driving part. The first snake-bone structure includes a main arm mechanism and an adjustment mechanism; the second snake-bone structure includes a needle insertion mechanism and a surgical mechanism. The main arm mechanism includes a main arm, a base is fixedly connected to the lower outer side of the main arm, the bottom of the main arm is bent inward and fixedly fitted with a first ball seat; a controller is fixedly connected to the upper inner side of the main arm, a second ball seat is fixedly fitted to the inner end of the lower surface of the controller, and a control rod assembly of an adjusting pin mechanism is installed on the second ball seat. The adjustment mechanism includes a slide with a sliding plug-in electric rail and a third lever arm with a shaft hinge seat; The needle insertion mechanism includes an adjusting block, a third ball of the ball joint first ball seat is fixedly connected to the side of the adjusting block, a ball groove for docking the control rod assembly is opened on the upper surface of the adjusting block, a connecting post is fixedly connected to the lower surface of the adjusting block, and a connecting rod for installing the surgical mechanism is fixedly connected to the lower end of the connecting post.

[0008] As a preferred embodiment of the present invention, a support frame is fixedly connected to the upper surface of the base, and a base with bottom wheels is fixedly connected to the lower end of the support frame, and the base is placed on the base plate. A spotlight located within the electric rail ring is mounted on the lower surface of the base; The reclining bed assembly includes a bed base with a fixed base plate, a telescopic column fixedly connected to the upper surface of the bed base, and a bed board fixedly connected to the upper end of the telescopic column.

[0009] As a preferred embodiment of the present invention, the control rod assembly includes a control rod, the upper end of which is fixedly connected to a first ball receiving seat of a ball joint second ball seat, and the lower end of which is fixedly connected to a second ball receiving seat adapted to insert a ball groove. Below the controller is a retainer for fixing the main arm, and the inner side of the retainer is provided with a slot for adapting the control rod.

[0010] As a preferred embodiment of the present invention, a main column is fixedly connected to the lower surface of the slide plate, a first rotating arm is hinged to the lower end of the main column, a second rotating arm is hinged to the lower end of the first rotating arm, a third rotating arm is hinged to the outer end of the second rotating arm, a first lever arm is hinged to the outer end of the third rotating arm, and a second lever arm is hinged between the first lever arm and the third lever arm.

[0011] As a preferred embodiment of the present invention, the arm of the surgical mechanism is composed of a first flexible segment and a second flexible segment connected in series.

[0012] As a preferred embodiment of the present invention, the bed board is provided with a card-compatible mechanism. The card-compatible mechanism includes a headrest fixed to the bed board, a side plate fixedly connected to the side of the headrest, a rocker arm hinged to the side of the side plate, a crossbar fixedly connected to the upper end of the rocker arm, a rod block fixedly connected to the end of the crossbar, a rotator fixedly connected to the rod block, and a housing fixedly connected to the output end of the rotator. The casing is fitted with a compatible tube for connecting the connecting rod; The lower end of the compatible tube is fitted with a puncture card that is inserted into the patient's incision, and the lower end of the puncture card is fitted with a protective bladder for attaching the first flexible segment. The upper ends of both the compatibility tube and the stamp card are extended outwards.

[0013] Compared with the prior art, the beneficial effects of the present invention are: A variable-port surgical robot suitable for complex and narrow cavities has been developed. It retains the minimally invasive characteristics of single-port surgery, which reduces external trauma, bleeding, postoperative pain, and scar formation, and lowers the risk of port hernias. At the same time, it has the wide operating space and flexibility of multi-port surgery. It can adapt to the needs of all scenarios, from simple minimally invasive operations to complex and difficult surgeries, and covers clinical applications in multiple departments such as general surgery, urology, and gynecology. It achieves the unity of dual advantages and improves the comprehensiveness of surgery.

[0014] A variable-port surgical robot suitable for complex and narrow cavities has been developed. After multiple robotic arm components are inserted into the same compatible tube and trocar, they slide along the electric rails of the slide plate, allowing the multiple robotic arm components to quickly unfold in the body to form a stable operating triangle. Through the synergistic action of the first snake bone structure at the rear end and the first snake bone structure at the front end, the second flexible segment is controlled to treat the affected area. This fundamentally solves the problem of mutual interference caused by the "chopstick effect" of traditional single-port surgical instruments, improves the precision and efficiency of surgical operation, and reduces the risk of surgical complications.

[0015] A variable-port surgical robot suitable for complex and narrow cavities can meet the needs of two surgical procedures. It eliminates the need to purchase two separate and expensive surgical robot systems (single-port and multi-port), significantly reducing hospital equipment procurement costs, maintenance costs, and site occupancy costs. It breaks through the application limitations of single-port and multi-port robots, and can be flexibly deployed between different surgical procedures and departments to maximize the value of equipment, reduce investment costs, and improve equipment utilization and medical resource efficiency.

[0016] A variable-port surgical robot suitable for complex and narrow cavities can change the specific position of the robotic arm components by sliding along an electric rail with a slide plate. Then, the first serpentine structure at the rear end enables the second serpentine structure to move closer to each other. Finally, the second serpentine structure unifies multiple surgical mechanisms, allowing the robotic arm to adaptively deform from independent operation to a parallel integrated state according to the actual situation. This overcomes the incompatibility problem of traditional robotic arms and provides a new technical path for the multi-functional adaptation of surgical robots.

[0017] A variable-port surgical robot suitable for complex and narrow cavities, whether in single-port or multi-port mode, achieves coordinated control of the second snake-bone structure through the first snake-bone structure, and controls the movement range of the second snake-bone structure through a compatible tube and a trocar, enabling high-precision operation of the second flexible segment. Moreover, the motion trajectory is continuous and without deviation during the switching process, improving clinical reliability.

[0018] A variable-port surgical robot suitable for complex and narrow cavities is proposed. The single-port and multi-port modes adopt the same control logic, which is achieved through the overall position adjustment of the robotic arm assembly and the coordinated control of the first and second serpentine structures. The only difference is whether the parallel integration operation of the robotic arm is performed. It conforms to the traditional operating habits of doctors, eliminating the need to relearn two operating systems, shortening the doctor's adaptation period, reducing learning costs, and improving the proficiency and safety of surgical operations. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged view of point B; Figure 3This is a schematic diagram of the framework mechanism of the present invention; Figure 4 This is a schematic diagram of the base of the present invention; Figure 5 This is a schematic diagram of the parallel state of the robotic arm assembly of the present invention; Figure 6 This is a schematic diagram of the triangular state of the robotic arm assembly of the present invention; Figure 7 This is a schematic diagram of the robotic arm assembly of the present invention; Figure 8 For the present invention Figure 7 Enlarged view of point A; Figure 9 This is a schematic diagram of the adjustment mechanism of the present invention; Figure 10 This is a schematic diagram of the main arm mechanism of the present invention; Figure 11 This is a schematic diagram of the pin insertion mechanism of the present invention; Figure 12 This is a schematic diagram of the surgical mechanism of the present invention; Figure 13 This is a schematic diagram of the stamp card compatibility mechanism of the present invention; Figure 14 This is a schematic diagram of the compatibility tube connection of the present invention.

[0020] In the diagram: 1. Frame mechanism; 101. Base plate; 102. Base; 103. Support frame; 104. Base; 105. Electric rail; 106. Spotlight; 107. Bed seat; 108. Telescopic column; 109. Bed board; 2. Main arm mechanism; 201. Main arm; 202. Connecting seat; 203. First ball seat; 204. Controller; 205. Second ball seat; 206. Control lever; 207. First ball seat; 208. Second ball seat; 209. Stop; 210. Frame slot; 3. Adjustment mechanism; 301. Main column; 302. Slide plate; 303. First rotating arm; 304. Second rotating arm; 305, Third rotating arm; 306, First lever arm; 307, Second lever arm; 308, Third lever arm; 4, Needle insertion mechanism; 401, Adjusting block; 402, Third ball receiving; 403, Ball groove; 404, Receiving column; 405, Receiving rod; 5, Surgical mechanism; 501, First flexible section; 502, Second flexible section; 6, Stamp card compatible mechanism; 601, Headrest; 602, Side plate; 603, Rocker arm; 604, Crossbar; 605, Rod block; 606, Rotator; 607, Shell; 608, Compatible tube; 609, Stamp card; 610, Protective sac. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] Example: Please refer to Figure 1 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 , Figure 11 A variable-port surgical robot suitable for complex and narrow cavities includes a frame mechanism 1, the frame mechanism 1 includes a base plate 101, surgical components are provided on the sides of the upper surface of the base plate 101, and a reclining bed component is provided in the middle of the upper surface of the base plate 101. The surgical components include a base 104; A ring-shaped electric rail 105 is embedded on the lower surface of the base 104; A robotic arm assembly is slidably mounted on the electric rail 105. The robotic arm assembly has a second snake bone structure in the front operating part and a first snake bone structure in the rear driving part. The first snake-bone structure includes a main arm mechanism 2 and an adjustment mechanism 3; the second snake-bone structure includes a needle insertion mechanism 4 and a surgical mechanism 5. The main boom mechanism 2 includes a main boom 201. A base 202 is fixedly connected to the lower outer side of the main boom 201. The bottom of the main boom 201 is bent inward and fixedly fitted with a first ball seat 203. A controller 204 is fixedly connected to the upper inner side of the main boom 201. A second ball seat 205 is fixedly fitted to the inner end of the lower surface of the controller 204. A control rod assembly of the adjusting pin mechanism 4 is installed on the second ball seat 205. The adjustment mechanism 3 includes a slide plate 302 with a sliding plug-in electric rail 105 and a third lever arm 308 with a shaft hinge seat 202; The needle insertion mechanism 4 includes an adjusting block 401. The side of the adjusting block 401 is fixedly connected to the third receiving ball 402 of the first ball seat 203 of the ball joint. The upper surface of the adjusting block 401 is provided with a ball groove 403 for docking the control rod assembly. The lower surface of the adjusting block 401 is fixedly connected to a connecting post 404. The lower end of the connecting post 404 is fixedly connected to the connecting rod 405 of the ball joint surgical mechanism 5. The connecting rod 405 has an annular joint, which can change the bending and straightening state to facilitate insertion into the affected area.

[0023] Please see Figure 3 , Figure 4A support frame 103 is fixedly connected to the upper surface of the base 104, and a base 102 with bottom wheels is fixedly connected to the lower end of the support frame 103. The base 102 is placed on the base plate 101. A spotlight 106 is mounted on the lower surface of the base 104 and is located within the ring of the electric rail 105; The reclining bed assembly includes a bed base 107 with a fixed base plate 101, a telescopic column 108 fixedly connected to the upper surface of the bed base 107, and a bed board 109 fixedly connected to the upper end of the telescopic column 108.

[0024] Please see Figure 8 , Figure 10 The control lever assembly includes a control lever 206, with a first ball receiving 207 fixedly connected to the upper end of the control lever 206 to the ball joint second ball seat 205, and a second ball receiving 208 fixedly connected to the lower end of the control lever 206 to the ball receiving 208 that is adapted to the ball groove 403. Below the controller 204 is a retainer 209 for fixing the main arm 201. The inner side of the retainer 209 is provided with a slot 210 for the control rod 206, which provides sufficient space for the control rod 206 to move.

[0025] Please see Figure 9 A main column 301 is fixedly connected to the lower surface of the slide plate 302. A first rotating arm 303 is hinged to the lower end of the main column 301. A second rotating arm 304 is hinged to the lower end of the first rotating arm 303. A third rotating arm 305 is hinged to the outer end of the second rotating arm 304. A first lever arm 306 is hinged to the outer end of the third rotating arm 305. A second lever arm 307 is hinged between the first lever arm 306 and the third lever arm 308.

[0026] Please see Figure 12 The arm of the surgical mechanism 5 is composed of a first flexible segment 501 and a second flexible segment 502 connected in series. Each flexible segment uses three ropes symmetrically arranged around the central circumference. Each segment consists of three drive ropes and guide / anchoring components, forming a total of six drive ropes. This segmented independent rope drive allows for separate control commands to be issued to the two segments, enabling coordinated adjustment of segmented bending, overall arm compliance, and end-effector posture. It avoids mechanical interference throughout the entire working stroke and supports the posture maintenance of complex configurations such as "C / S" shapes and different internal shapes of the tamper. The outer surface of the arm is entirely covered with a medical-grade self-lubricating PTFE (Teflon) sheath. This sheath forms a stable, low-friction interface between the arm and adjacent arms or human tissue, significantly reducing frictional resistance and wear during multi-arm collaborative operation and entry / exit of the channel. It also isolates and protects the internal ropes and guide holes, extending the service life of the transmission system and hose body, and improving the overall machine's reusability for sterilization and ease of maintenance.

[0027] Please see Figure 2 , Figure 13 , Figure 14The bed board 109 is provided with a card-compatible mechanism 6. The card-compatible mechanism 6 includes a headrest 601 fixed to the bed board 109, a side plate 602 fixedly connected to the side of the headrest 601, a rocker arm 603 hinged to the side of the side plate 602, a crossbar 604 fixedly connected to the upper end of the rocker arm 603, a rod block 605 fixedly connected to the end of the crossbar 604, a rotator 606 fixedly connected to the rod block 605, and a housing 607 fixedly connected to the output end of the rotator 606. The housing 607 is snapped with a compatible tube 608 for connecting the connecting rod 405; The lower end of the compatible tube 608 is fitted with a puncture card 609 that is inserted into the patient's incision, and the lower end of the puncture card 609 is fitted with a protective bladder 610 for attaching the first flexible segment 501. Both the upper ends of the compatibility tube 608 and the stamp card 609 are extended outwards.

[0028] The working principle of this invention is as follows: The patient's head is supported by a pillow 601, and multiple independent incisions are made around the affected area. Each incision is fitted with a puncture card 609. Each robotic arm component can be used independently. The first and second snake bone structures are adjusted so that the connecting rod 405 is inserted into the compatible tube 608, while the surgical mechanism 5 is carried out from the protective sac 610 and enters the patient's body cavity, providing a wide operating space and flexibility.

[0029] The patient's head is supported by a pillow 601, and an independent incision is made at the affected area. A trocar 609 is inserted into the incision. First, the robotic arm assembly slides along the electric rail 105 via the slide plate 302. The first serpentine structure at the rear of the robotic arm assembly can adjust the angle and position of the main arm mechanism 2 via the adjustment mechanism 3. Multiple robotic arm assemblies can move adaptively outside the body. The adjustment control rod assembly is adjusted via the second ball seat 205, which adjusts the angle of the adjustment block 401 based on the connection between the third ball seat 402 and the first ball seat 203. This allows the lower ends of multiple connecting rods 405 to move closer to each other, making it easier to insert them into the same compatible tube 608. Then, the second serpentine structure causes the surgical mechanism 5 to bend and deform based on the first flexible segment 501 and the second flexible segment 502, allowing the surgical mechanism 5, which was originally at a certain angle, to be reoriented and arranged in parallel. At this time, the robotic arm assemblies are parallel, thus compactly integrating and passing through the same trocar 609. After entering the body cavity, the robotic arm assembly first slides along the electric rail 105 via the slide plate 302, forming a triangular state of the robotic arm assembly. The robotic arm assembly can be quickly deployed and a stable operating triangle can be formed. Then, through the synergistic action of the first and second snake bone structures, and under the limitation of the puncture card compatible mechanism 6, the second flexible segment 502 is controlled to perform surgery at the affected area, effectively overcoming the "chopstick effect" of traditional single-port instruments.

[0030] It resolves the core contradiction between traditional single-port and multi-port surgical techniques, retaining the minimally invasive characteristics of single-port surgery (reducing external trauma, bleeding, postoperative pain, and scar formation, and lowering the risk of port hernia) with a single incision, while also possessing the broad operational space and flexibility of multi-port surgery. It can adapt to all scenarios from simple minimally invasive procedures to complex and difficult surgeries, covering clinical applications in multiple departments such as general surgery, urology, and gynecology, achieving a unified dual advantage and improving the comprehensiveness of surgery.

[0031] After multiple robotic arm components are inserted into the same compatible tube 608 and puncture card 609, the sliding rail 105 along the slide plate 302 allows the multiple robotic arm components to quickly unfold inside the body to form a stable operating triangle. Through the synergistic effect of the rear first serpentine structure and the front first serpentine structure, the second flexible segment 502 is controlled to treat the affected area. This fundamentally solves the problem of mutual interference caused by the "chopstick effect" of traditional single-port surgical instruments, improves the precision and efficiency of surgical operation, and reduces the risk of surgical complications.

[0032] It can meet the needs of two surgical procedures without the need to purchase two separate and expensive surgical robot systems, one for single-port and one for multi-port, significantly reducing hospital equipment procurement costs, maintenance costs, and site occupancy costs; it breaks the application limitations of single-port and multi-port robots, and can be flexibly deployed between different surgical procedures and different departments to maximize the value of equipment, reduce investment costs, and improve equipment utilization and medical resource efficiency.

[0033] By sliding the slide plate 302 along the electric rail 105, the specific position of the robotic arm components can be changed. Then, the first serpentine structure at the rear end enables the second serpentine structure to approach each other. Finally, the second serpentine structure unifies multiple surgical mechanisms 5, allowing the robotic arm to adapt and deform from independent operation to a parallel integrated state according to the actual situation. This breaks through the incompatibility problem of traditional robotic arms and provides a new technical path for the multi-functional adaptation of surgical robots.

[0034] Regardless of whether it is a single-hole or multi-hole mode, the second snake-bone structure is coordinated and controlled through the first snake-bone structure, and the movement range of the second snake-bone structure is controlled through the compatible tube 608 and the puncture card 609. This enables high-precision operation of the second flexible segment 502, and the movement trajectory is continuous and without deviation during the switching process, thus improving clinical reliability.

[0035] Both single-port and multi-port modes employ the same control logic, adjusting the overall position of the robotic arm assembly and coordinating the control of the first and second serpentine structures. The only difference lies in whether or not parallel integration of the robotic arms is performed. This aligns with doctors' traditional operating habits, eliminating the need to relearn two operating systems, shortening the doctor's adaptation period, reducing learning costs, and improving surgical proficiency and safety.

[0036] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A variable port surgical robot suitable for complex narrow cavities, comprising a frame mechanism (1), the frame mechanism (1) comprising a bottom plate (101), the upper surface of the bottom plate (101) is provided with a surgical assembly, the middle of the upper surface of the bottom plate (101) is provided with a lying bed assembly; The surgical assembly comprises a base (104); characterized in that The lower surface of the base (104) is embedded with an annular electric track (105); The mechanical arm assembly is slidably installed on the electric track (105), the mechanical arm assembly is provided with a second snake bone structure at the front end operation part, and the mechanical arm assembly is provided with a first snake bone structure at the rear end driving part; The first snake bone structure comprises a main arm mechanism (2) and an adjusting mechanism (3); the second snake bone structure comprises a pin mechanism (4) and a surgical mechanism (5); The main arm mechanism (2) comprises a main arm (201), the lower middle part of the main arm (201) is fixedly connected with a socket (202) on the outside, the bottom of the main arm (201) is inwardly bent and fixedly embedded with a first ball seat (203); the upper part of the main arm (201) is fixedly connected with a controller (204) on the inside, the lower surface of the controller (204) is fixedly embedded with a second ball seat (205) on the inner end, and the second ball seat (205) is installed with a control rod assembly of the adjusting pin mechanism (4); The adjusting mechanism (3) comprises a sliding disc (302) slidingly inserted into the electric track (105) and a third lever arm (308) shaft-hinged to the socket (202); The pin mechanism (4) comprises an adjusting block (401), the side of the adjusting block (401) is fixedly connected with a third ball (402) of the first ball seat (203), the upper surface of the adjusting block (401) is provided with a ball groove (403) for docking the control rod assembly, the lower surface of the adjusting block (401) is fixedly connected with a connecting column (404), and the lower end of the connecting column (404) is fixedly connected with a connecting rod (405) for installing the surgical mechanism (5).

2. The variable port surgical robot for complex and confined cavities of claim 1, wherein: The upper surface of the base (104) is fixedly connected with a support frame (103), the lower end of the support frame (103) is fixedly connected with a base (102) provided with bottom wheels, and the base (102) is arranged on the bottom plate (101); The lower surface of the base (104) is installed with a spotlight (106) in the ring of the electric track (105); The lying bed assembly comprises a bed seat (107) fixedly connected with the bottom plate (101), the upper surface of the bed seat (107) is fixedly connected with a telescopic column (108), and the upper end of the telescopic column (108) is fixedly connected with a bed plate (109).

3. The variable port surgical robot for complex and confined cavities of claim 1, wherein: The control rod assembly comprises a control rod (206), the upper end of the control rod (206) is fixedly connected with a first ball (207) of the second ball seat (205), and the lower end of the control rod (206) is fixedly connected with a second ball (208) matched with the ball groove (403). The controller (204) is provided below with a fender (209) fixedly connected with the main arm (201), and an inner side of the fender (209) is provided with a rack slot (210) through which the control rod (206) is adapted to pass.

4. The variable port surgical robot for complex, confined cavities of claim 1, wherein: The lower surface of the sliding disc (302) is fixedly connected with a main column (301), the lower end of the main column (301) is hingedly connected with a first rotating arm (303), the lower end of the first rotating arm (303) is hingedly connected with a second rotating arm (304), the outer end of the second rotating arm (304) is hingedly connected with a third rotating arm (305), the outer end of the third rotating arm (305) is hingedly connected with a first lever arm (306), and the first lever arm (306) and the third lever arm (308) are hingedly connected with a second lever arm (307).

5. The variable port surgical robot for complex, confined cavities of claim 1, wherein: The arm rod of the surgical mechanism (5) is composed of a first flexible section (501) and a second flexible section (502) in series.

6. The variable port surgical robot for complex, confined cavities of claim 2, wherein: The bed plate (109) is provided with a SD card compatible mechanism (6), which comprises a headrest (601) fixedly connected with the bed plate (109), a side plate (602) fixedly connected with the side of the headrest (601), a rocker arm (603) hingedly connected with the side of the side plate (602), a cross rod (604) fixedly connected with the upper end of the rocker arm (603), a rod block (605) fixedly connected with the end of the cross rod (604), a rotator (606) fixedly connected with the rod block (605), a sleeve shell (607) fixedly connected with the output end of the rotator (606). The sleeve shell (607) is clamped with a compatible tube (608) for sleeving a connecting rod (405). The lower end of the compatible tube (608) is sleeved with a SD card (609) for clamping into a patient incision, and the lower end of the SD card (609) is inserted with a protective capsule (610) for sleeving the first flexible section (501). The upper ends of the compatible tube (608) and the SD card (609) are both outwardly expanded.

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