CN114587600B - Robot for minimally invasive surgery - Google Patents

Abstract

The invention provides a robot for minimally invasive surgery, which comprises a linear drive carrier plate module, a linear drive module, a robot flexible arm module, an end execution module and a robot bracket module, wherein the linear drive carrier plate module is arranged on the linear drive module; the linear driving support plate module and the linear driving module are respectively installed on the robot support module, and the robot support module and the linear driving support plate module are in linear front-back guide fit; the line-driven carrier plate module is respectively connected with the robot flexible arm module and the tail end executing device. The invention has the advantages that the flexible arm of the robot has smaller volume and high flexibility, avoids the limitation of constant single-end curvature of the traditional concentric tube robot, and overcomes the defect of larger volume of the traditional line driving robot; the end effector can be quickly assembled and disassembled, the application range of the surgical robot is enlarged, and the defect that the end effector of the traditional surgical robot is difficult to replace is overcome.

Description

Robot for minimally invasive surgery

Technical Field

The invention relates to medical equipment, in particular to a robot for minimally invasive surgery.

Background

With the rapid development of technologies in the related medical fields, surgical minimally invasive surgery becomes an important development stage in clinical surgery, and surgical robots are increasingly applied to minimally invasive surgery of human body cavities and organs.

The traditional surgical robots are mostly of rigid structures, have large body sizes, cannot track nonlinear focus positions, and are easy to damage when in contact with organs, blood vessels and sensitive tissues of the body cavity. Compared with the traditional rigid surgical instruments and surgical robots, the flexible surgical robots are increasingly applied to minimally invasive surgery due to the characteristics of compact size, flexibility, active control and the like. Concentric tube robots and wire driven robots are typical representatives in flexible surgical robots. Concentric tube robots are typically formed by a set of pre-curved, highly elastic concentric tubes nested within each other, each having two degrees of freedom, translation and rotation. Concentric tubes nested together can form different constant curvature curve segments due to different translation and rotation amounts; the line-driven robot is generally formed by sequentially connecting a plurality of tiny hollow joints, holes are drilled and threaded around each joint, the tail end of the previous joint can regularly move through the tension of a rope, and the movement of the joints is combined to form a fixed curve shape. Therefore, the concentric tube robot and the wire drive can complete the task of tracking the three-dimensional curve in the luminal organ, and have active control and certain deformability. Concentric tube robots and wire driven robots have been proposed to be applicable to neurosurgery, urology and endocardial procedures.

However, the concentric tube robot needs to be formed by nesting a plurality of pre-bent concentric tubes, and the pre-bending curvature of the concentric tubes can change due to time and use; the linear driving robot has the defect of single shape change; and the end effector is fixed with the mechanical arm, so that the end effector cannot be replaced or is low in replacement speed, and the application range of the surgical robot is greatly limited.

Therefore, how to develop a flexible minimally invasive surgical robot which is stable and reliable, has various shapes, small size and can be quickly replaced by an end effector is a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a robot for minimally invasive surgery.

The invention provides a robot for minimally invasive surgery, which comprises a linear drive carrier plate module, a linear drive module, a robot flexible arm module, an end execution module and a robot bracket module, wherein the linear drive carrier plate module is arranged on the linear drive module; the linear driving support plate module and the linear driving module are respectively installed on the robot support module, and the robot support module and the linear driving support plate module are in linear front-back guide fit; the wire drive carrier plate module is respectively connected with the robot flexible arm module and the end execution device, drives the robot flexible arm module to perform bending motion, and drives the end execution device to perform clamping work; the linear driving module is connected with the linear driving carrier plate module and drives the linear driving carrier plate module to perform linear back-and-forth movement, and the robot flexible arm module performs back-and-forth movement along with the linear driving carrier plate module; the end effector module is mounted on the robotic flexible arm module.

As a further improvement of the invention, the flexible arm module of the robot is formed by mutually nesting at least two wire drive pipes, the front parts of the wire drive pipes are formed by front-back hinged coiled pipe joints, the rear parts of the wire drive pipes are spring pipes, the coiled pipe joints at least comprise four flexible arm wire rope through holes, the flexible arm wire rope through holes are distributed at intervals around the circumference of the coiled pipe joints, flexible arm wire ropes are contained in the flexible arm wire rope through holes, one ends of the flexible arm wire ropes are connected with the front ends of the wire drive pipes, the other ends of the flexible arm wire ropes are connected with the wire drive carrier plate modules, the spring pipes are fixed on the wire drive carrier plate modules, the wire drive pipes are in one-to-one correspondence with the wire drive carrier plate modules, different wire drive pipes are correspondingly arranged on different wire drive carrier plate modules, each wire drive carrier plate module is connected with a linear drive module, and the different wire drive pipes are driven by different linear drive modules and the wire drive carrier plate modules.

As a further improvement of the invention, the length of each wire driving tube is sequentially increased from the outermost tube to the innermost tube, the spring tube of the wire driving tube is always arranged in the wire driving tube of the outer layer, and a gap is arranged between the front and rear serpentine tube joints.

As a further improvement of the invention, the front end face of the coiled pipe joint is provided with two circular arc-shaped protruding structures protruding along the axial direction, the circular arc-shaped protruding structures are distributed around the circumference of the coiled pipe joint at intervals of 180 degrees, the rear end face of the coiled pipe joint is provided with circular arc-shaped groove structures, the circular arc-shaped groove structures are distributed around the circumference of the coiled pipe joint at intervals of 180 degrees, the circular arc-shaped protruding structures on the same coiled pipe joint are distributed with the circular arc-shaped groove structures at intervals of 90 degrees, the circular arc-shaped protruding structures of the coiled pipe joint at the back are hinged with the circular arc-shaped groove structures of the coiled pipe joint at the front in front, and the circular arc-shaped protruding structures and the circular arc-shaped groove structures are provided with the flexible arm rope through holes.

As a further improvement of the invention, the flexible arm cord is made of nickel-titanium alloy, when the length of the flexible arm cord is shortened in a certain direction, the wire drive tube is deformed, and the flexible arm cord is bent in a corresponding direction of the shortened flexible arm cord, and the length is shortened to different degrees, and the elastic deformation is different; after the flexible arm rope returns to the original length, the wire drive pipe is restored to the original state, and the outer layer of the wire drive pipe is sleeved with a food-grade transparent heat shrink pipe.

As a further improvement of the present invention, the robot bracket module includes a support end plate, a fixed end plate, a flexible arm support, an optical axis, a flange plate coupler, a fixed end bearing seat and a support end bearing seat, wherein the flexible arm support is mounted on the support end plate, the robot flexible arm module passes through the flexible arm support, the optical axis is fixed between the support end plate and the fixed end plate through the flange coupler, the fixed end bearing seat is fixed on the fixed end plate, the support end bearing seat is fixed on the support end plate, the line drive carrier module is in sliding fit with the optical axis, and the optical axis is used for restricting the rotation of the line drive carrier module and guiding the linear motion of the line drive carrier module.

As a further improvement of the present invention, the linear driving module comprises a screw, a screw nut seat, a speed reducing motor, a motor bracket and a plum blossom shaft coupling, wherein the screw is fixed between the support end plate and the fixed end plate through the support end bearing seat and the fixed end bearing seat, the screw nut is installed on the screw, the screw nut seat is fixed with the screw nut, the screw nut seat is connected with the linear driving carrier plate module, the motor bracket is fixed on the fixed end plate, the speed reducing motor is fixed on the motor bracket, and the speed reducing motor is connected with the screw through the plum blossom shaft coupling to drive the screw to rotate, so as to drive the linear driving carrier plate module to perform linear back and forth movement.

As a further improvement of the invention, the wire drive carrier plate module is divided into at least two wire drive carrier plate modules which are in mirror image relation, one wire drive tube corresponds to one wire drive carrier plate module, the wire drive carrier plate module comprises a support frame, a steering wheel for the wire drive tube, a winding arm and a linear bearing, wherein the wire drive carrier plate module connected with the innermost tube further comprises an actuator steering wheel and an actuator steering wheel support, the actuator steering wheel for the wire drive tube is arranged on the support frame, the actuator steering wheel support is fixed on the support frame, the actuator steering wheel for the actuator steering wheel is fixed with the actuator steering wheel support, the steering wheel for the wire drive tube and the actuator steering wheel are connected with the steering wheel, the winding arm is fixed with the steering wheel, the flexible arm rope of the robot flexible arm module is fixedly connected with the winding arm fixed on the steering wheel for the wire drive tube, the end effector rope of the end effector module is fixedly connected with the winding arm fixed on the actuator steering wheel, and the support frame is fixedly connected with the linear bearing through the linear bearing.

As a further improvement of the invention, the end execution module comprises a fixed part and a renewable part, wherein the fixed part comprises a fixed base, a connecting pull rod, a spring and a fixed end magnet, the rear end of the fixed base is connected with the front end of the robot flexible arm module, the front end of the fixed base is mutually nested with the connecting pull rod, the spring is clamped between the connecting pull rod and the fixed base, the fixed end magnet is arranged on the connecting pull rod, the connecting pull rod is connected with an end effector wire rope, and the end effector wire rope sequentially passes through the fixed base and the robot flexible arm module and is then connected with the wire drive carrier plate module; the renewable part comprises a pull rod, an outer layer support, a movable end magnet, an operation tool head and a hinge arm, wherein the pull rod is positioned in the outer layer support, the operation tool head is hinged with the outer layer support and the hinge arm respectively, the front end of the pull rod is hinged with the hinge arm, the rear end of the pull rod is connected with the movable end magnet, and the movable end magnet is matched with the fixed end magnet.

As a further improvement of the invention, the rear end of the outer layer bracket is provided with a radial bulge structure, the fixed base is provided with an L-shaped locking groove, and when the outer layer bracket is installed, the radial bulge structure of the outer layer bracket is screwed into the locking groove of the fixed base, so that the installation can be completed; the movable end magnet is arranged in the butt joint hole, when the fixed part is connected with the renewable part, the connecting pull rod is inserted into the butt joint hole, and the movable end magnet is adsorbed with the fixed end magnet.

The beneficial effects of the invention are as follows: the flexible arm of the robot has smaller volume and high flexibility, avoids the limitation of constant single-end curvature of the traditional concentric tube robot, and overcomes the defect of larger volume of the traditional line driving robot; the end effector can be quickly assembled and disassembled, the application range of the surgical robot is enlarged, and the defect that the end effector of the traditional surgical robot is difficult to replace is overcome.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other solutions may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a block diagram of a robot for minimally invasive surgery in one embodiment of the invention.

Fig. 2 is a three-dimensional block diagram of a robot holder module in one embodiment of the invention.

Fig. 3 is a three-dimensional structural view of a linear driving module in one embodiment of the present invention.

Fig. 4.1 is a three-dimensional view of a robotic flexible arm module wire drive tube serpentine joint in one embodiment of the invention.

Fig. 4.2 is a three-dimensional block diagram of an initial state of a robot flexible arm module in one embodiment of the invention.

Fig. 4.3 is a three-dimensional block diagram of a curved state of a robot flexible arm module in one embodiment of the invention.

Fig. 5.1 is a three-dimensional block diagram of a left fixed line drive carrier module in one embodiment of the invention.

Fig. 5.2 is a three-dimensional block diagram of a right fixed line drive carrier module in one embodiment of the invention.

Fig. 6.1 is a three-dimensional block diagram of the stationary portion of an end effector module in one embodiment of the present invention.

Fig. 6.2 is a partial cross-sectional view of an updatable portion of an end effector module in accordance with an embodiment of the invention.

Fig. 6.3 is a three-dimensional block diagram of the operating state of the end effector in one embodiment of the present invention.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.

In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.

In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.

The invention is further described with reference to the following description of the drawings and detailed description.

The invention provides a robot for minimally invasive surgery, and fig. 1 is a diagram of a robot structure for minimally invasive surgery according to an embodiment of the invention, and mainly comprises a robot bracket module 100, a linear driving module 200, a robot flexible arm module 300, a linear driving carrier plate module 400 and an end effector module 500.

Fig. 2 is a three-dimensional structure diagram of a robot support module according to an embodiment of the present invention, where the robot support module 100 includes a support end plate 101, a fixed end plate 102, a flexible arm support 103, an optical axis 104, a flange coupling 105, a fixed end bearing housing 106, and a support end bearing housing 107, the flexible arm support 103 is mounted on the support end plate 101, the robot flexible arm module 300 passes through the flexible arm support 103, the optical axis 104 is fixed between the support end plate 101 and the fixed end plate 102 through the flange coupling 105, the fixed end bearing housing 106 is fixed on the fixed end plate 102, and the support end bearing housing 107 is fixed on the support end plate 101. The optical axis 103 serves to constrain the rotation of the wire-driven carrier module 400 and guide the linear motion of the wire-driven carrier module 400.

Fig. 3 is a three-dimensional structure diagram of a linear driving module in an embodiment of the present invention, the linear driving module 200 includes a screw 201, a screw nut 202, a screw nut seat 203, a gear motor 204, a motor bracket 205, a plum blossom shaft coupling, the screw 201 is connected between the support end plate 101 and the fixed end plate 102 through the support end bearing seat 107 and the fixed end bearing seat 106, the screw nut 202 is mounted on the screw 201, the function of the screw nut 202 is to be mounted in cooperation with the screw 201, the linear motion of the linear driving carrier module 400 is completed under the driving of the gear motor 204, the screw nut seat 203 is fixed with the screw nut 202, the function of the screw nut seat 203 is to fix the linear driving module 200 with the linear driving carrier module 400, the motor bracket 205 is fixed on the fixed end plate 102, the gear motor 204 is fixed on the motor bracket 205, the gear motor 204 is connected with the screw 201 through the plum blossom shaft coupling, and the screw 201 is driven to rotate.

The following is an explanation of the movement process of the flexible arm module 300 of the robot by taking fig. 4.1, fig. 4.2 and fig. 4.3 as an embodiment of the present invention, and as shown in fig. 4.2 and fig. 4.3, the flexible arm module 300 of the robot is formed by mutually nesting an inner wire driving tube 302 and an outer wire driving tube 301, the front part of the wire driving tube is a coiled tube joint structure 3001, as shown in fig. 4.1, the coiled tube joint 3001 at least comprises four through holes 30011, the through holes 30011 can penetrate through a thread 3002, the coiled tube joint 3001 comprises a protruding structure 30012 and a groove structure 30013, when the flexible arm module is installed, the protruding structure 30012 and the groove structure 30013 of the two coiled tube joints 3001 are aligned to be matched, and a gap exists between the two coiled tube joints 3001 after the matching. The rear parts of the two wire driving pipes are spring pipes. The length of each wire drive tube sequentially lengthens from the outermost tube to the innermost tube, and the spring tube part of the wire drive tube is always arranged inside the wire drive tube on the outer layer. As shown in fig. 4.2, the initial states of the inner wire driving tube 302 and the outer wire driving tube 301 are straight tubes, when the wire driving carrier module 400 pulls the wires 3002 in a certain direction, different angles are generated between the serpentine joints 3001 of the wire driving tube according to different length changes of the wires 3002 in the direction, and after the angles are overlapped, the wire driving tube can be bent by different angles, so that the bending state shown in fig. 4.3 can be finally realized. The rear ends of the inner wire driving pipe 302 and the outer wire driving pipe 301 are fixed on the corresponding wire driving carrier plate module 400, the speed reducing motor 204 drives the screw rod 201 to rotate, the screw rod nut 202 converts the rotation motion of the screw rod 201 into translation, the front-back motion is transmitted to the wire driving carrier plate module 400 through the screw rod nut seat 203 fixed with the wire driving carrier plate module 400, and the rear end of the wire driving pipe is fixed on the wire driving carrier plate module 400, so that the front-back motion can be transmitted to the robot flexible arm module 300, and the front-back motion of the inner wire driving pipe 302 and the outer wire driving pipe 301 is realized.

The line driving carrier module 400 is divided into a left fixed line driving carrier module 410 and a right fixed line driving carrier module 420, in this embodiment, the left fixed line driving carrier module 410 is connected to the inner line driving pipe 302, the right fixed line driving carrier module 410 is connected to the outer line driving pipe 301, and fig. 5.1 is a three-dimensional structure diagram of the left fixed line driving carrier module in an embodiment of the present invention. Fig. 5.2 is a three-dimensional block diagram of a right fixed line drive carrier module in one embodiment of the invention. The left fixed line driving carrier module 410 comprises a supporting frame 411, a steering gear 412 for line driving, a steering wheel 413, a winding arm 414, a linear bearing 415, a flange coupler 416, a steering gear 417 for an actuator, a steering gear bracket 418 for the actuator, the right fixed line driving carrier module 420 comprises a supporting frame 421, a steering gear 422 for line driving, a steering wheel 423, a winding arm 424, a linear bearing 425 and a flange coupler 426. The tail end of the inner wire driving tube 302 is fixed on the left fixed wire driving carrier module 410 through a flange coupler 416, two wires 3002 which are 180 degrees apart on the inner wire driving tube 302 are respectively wound on two ends of a winding arm 414 fixed with a steering engine 412 for the wire driving tube, and the steering engine 412 for the wire driving tube rotates to drive the winding arm 414 to rotate to pull wires in a certain direction and loosen wires at the other end, so that the bending of the inner wire driving tube 301 can be realized. The tail end of the outer wire driving tube 301 is fixed on the right fixed wire driving carrier plate module 420 through a flange coupler 426, two wires which are 180 degrees apart on the outer wire driving tube 301 are respectively wound on two ends of a winding arm 424 which is fixed with a steering engine 422 for the wire driving tube, the steering engine 422 for the wire driving tube rotates to drive the winding arm 424 to rotationally pull wires in a certain direction and loosen wires at the other end, and therefore bending of the outer wire driving tube 302 can be achieved. The wire of the end effector module 500 is wound around a wire arm 414 that is attached to the actuator with a steering gear 417. The linear bearings 415 and 425 are used for being matched with the optical axis 104, and the supporting frames 411 and 421 are fixed with the screw nut seat 203.

The installation and operation of end effector module 500 is explained below with reference to fig. 6.1, 6.2, and 6.3 as an embodiment of the present invention. The end effector module 500 is divided into a fixed portion 510 and a renewable portion 520, fig. 6.1 is a three-dimensional structure diagram of the fixed portion 510, the fixed portion 510 includes a fixed base 511, a connection rod 512, a spring 513, a fixed end magnet 514, fig. 6.2 is a partial cross-sectional view of the renewable portion 520, the renewable portion 520 includes a rod 521, an outer bracket 522, a movable end magnet 523, an operating tool head 524, a hinge arm 525, and a pin 526. The fixing base 511 includes a circular groove structure 5112, which can be matched with the convex structure 30012 of the serpentine joint 3001 of the inner wire drive tube 302, and no gap exists between the fixing base 511 and the serpentine joint 3001 after the matching. The spring 513 is fixed on the fixed base 511 at one end, and is fixed at the bottom of the connecting pull rod 512, the bottom of the connecting pull rod 512 is also fixed with the wire rope 5001, and the wire rope 5001 passes through the fixed base 511 to be connected with the hollow part of the robot flexible arm module 300 and the winding arm 414 fixed by the actuator 417. The outer layer bracket 522, the pull rod 521 and the operation tool head 524 are arranged, the hinge arm 525 forms a hinge structure through the pin 526, and the pull rod 521 can drive the operation tool head 524 to open and close by moving up and down. The outer support 522 includes a protrusion 5221, the fixed base 511 includes a groove 5111, during installation, the movable end magnet 523 fixed on the pull rod 521 and the fixed end magnet 514 fixed on the connecting pull rod 512 are attracted to each other, the protrusion 5221 on the outer support 522 is aligned and matched with the groove 5111 on the fixed base 511, when the outer support 522 contacts with the fixed base 511, the outer support 522 is rotated to fix the outer support 522 with the fixed base 511, and finally, the installation can be completed, as shown in fig. 4.3. When the actuator rotates to drive the winding arm 414 fixed with the actuator to rotate by using the steering engine 417, the wire rope 5001 is tensioned to drive the connecting pull rod 512 to move downwards, the spring 513 is pressed, the connecting pull rod 512 can be driven to move downwards by the attraction between the magnets to enable the two operation tool heads 524 to be closed, when the actuator rotates reversely to drive the winding arm 414 fixed with the actuator to rotate reversely by using the steering engine 417, the wire rope 5001 is loosened, the spring 513 is restored to an initial state to push the connecting pull rod 512 to move upwards, and the connecting pull rod 512 can be driven to move upwards by the attraction between the magnets to enable the two operation tool heads 524 to be opened. When the renewing portion 520 is detached, the outer support 522 is rotated to separate the protruding structure 5221 from the recess 5111, and then the magnet is separated to complete the detachment.

The robot for minimally invasive surgery provided by the invention has the advantages that the flexible arm of the robot has small outline dimension and high flexibility, can be well suitable for a narrow and multi-curved natural cavity, and overcomes the defects of single shape change and instability of the traditional surgical robot; the end effector can be quickly replaced to adapt to different surgical scene requirements, so that the time cost is effectively reduced.

The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims (5)

1. A robot for minimally invasive surgery, characterized by: the device comprises a line drive carrier module, a linear drive module, a robot flexible arm module, an end execution module and a robot bracket module; the linear driving support plate module and the linear driving module are respectively installed on the robot support module, and the robot support module and the linear driving support plate module are in linear front-back guide fit; the line-driven carrier plate module is respectively connected with the robot flexible arm module and the tail end execution module, drives the robot flexible arm module to perform bending motion, and drives the tail end execution module to perform clamping work; the linear driving module is connected with the linear driving carrier plate module and drives the linear driving carrier plate module to perform linear back-and-forth movement, and the robot flexible arm module performs back-and-forth movement along with the linear driving carrier plate module; the end execution module is mounted on the robot flexible arm module; the flexible arm module of the robot is formed by mutually nesting at least two wire drive pipes, the front parts of the wire drive pipes are formed by front-back hinged coiled pipe joints, the rear parts of the wire drive pipes are spring pipes, the coiled pipe joints at least comprise four flexible arm wire rope through holes, the flexible arm wire rope through holes are distributed at intervals around the circumference of the coiled pipe joints, flexible arm wire ropes are contained in the flexible arm wire rope through holes, one ends of the flexible arm wire ropes are connected with the front ends of the wire drive pipes, the other ends of the flexible arm wire ropes are connected with the wire drive carrier plate modules, the spring pipes are fixed on the wire drive carrier plate modules, the wire drive pipes are in one-to-one correspondence with the wire drive carrier plate modules, different wire drive pipes are correspondingly installed on different wire drive carrier plate modules, each wire drive carrier plate module is connected with a linear drive module, and the different wire drive pipes are driven by different linear drive modules and wire drive carrier plate modules; the robot support module comprises a support end plate, a fixed end plate, a flexible arm support, an optical axis, a flange plate coupler, a fixed end bearing seat and a support end bearing seat, wherein the flexible arm support is installed on the support end plate; the linear driving module comprises a screw rod, a screw rod nut seat, a speed reducing motor, a motor bracket and a plum blossom shaft coupling, wherein the screw rod is fixed between the support end plate and the fixed end plate through the support end bearing seat and the fixed end bearing seat, the screw rod nut is installed on the screw rod, the screw rod nut seat is fixed with the screw rod nut, the screw rod nut seat is connected with the linear driving carrier plate module, the motor bracket is fixed on the fixed end plate, the speed reducing motor is fixed on the motor bracket, and the speed reducing motor is connected with the screw rod through the plum blossom shaft coupling and drives the screw rod to rotate, so that the linear driving carrier plate module is driven to perform linear back-and-forth movement; the wire drive carrier plate modules are divided into a left fixed wire drive carrier plate module and a right fixed wire drive carrier plate module which are in mirror image relation, one wire drive tube corresponds to one wire drive carrier plate module, each wire drive carrier plate module comprises a support frame, a steering wheel, a winding arm and a linear bearing, wherein the wire drive carrier plate module connected with the innermost tube further comprises an actuator steering wheel and an actuator steering wheel support frame, the actuator steering wheel support frame is fixed on the support frame, the actuator steering wheel is fixed with the actuator steering wheel support frame, the steering wheel for the wire drive steering wheel and the actuator steering wheel are connected with the steering wheel, the winding arm is fixed with the steering wheel, a flexible arm rope of the robot flexible arm module is fixedly connected with the winding arm fixed on the steering wheel for the wire drive steering wheel, a tail end actuator rope of the tail end actuator module is fixedly connected with the winding arm fixed on the actuator steering wheel, and the support frame is fixedly connected with the linear bearing through the nut seat, and the tail end actuator rope of the tail end actuator is fixedly connected with the linear bearing on the support frame through the linear bearing; the end execution module comprises a fixed part and an updatable part, the fixed part comprises a fixed base, a connecting pull rod, a spring and a fixed end magnet, the rear end of the fixed base is connected with the front end of the robot flexible arm module, the front end of the fixed base is mutually nested with the connecting pull rod, the spring is clamped between the connecting pull rod and the fixed base, the fixed end magnet is arranged on the connecting pull rod, the connecting pull rod is connected with an end effector wire rope, and the end effector wire rope sequentially penetrates through the fixed base and the robot flexible arm module and is connected with the wire drive carrier plate module; the renewable part comprises a pull rod, an outer layer support, a movable end magnet, an operation tool head and a hinge arm, wherein the pull rod is positioned in the outer layer support, the operation tool head is hinged with the outer layer support and the hinge arm respectively, the front end of the pull rod is hinged with the hinge arm, the rear end of the pull rod is connected with the movable end magnet, and the movable end magnet is matched with the fixed end magnet.

2. The robot for minimally invasive surgery of claim 1, wherein: the length of each wire driving pipe sequentially lengthens from the outermost pipe to the innermost pipe, the spring pipe of the wire driving pipe is always arranged in the wire driving pipe at the outer layer, and a gap is arranged between the front and the rear coiled pipe joints.

3. The robot for minimally invasive surgery of claim 1, wherein: the front end face of the coiled pipe joint is provided with two convex structures which are convex along the axial direction, the convex structures are distributed around the circumferential direction of the coiled pipe joint at intervals of 180 degrees, the rear end face of the coiled pipe joint is provided with convex groove structures, the convex groove structures are distributed around the circumferential direction of the coiled pipe joint at intervals of 180 degrees, the convex structures which are located on the same coiled pipe joint are distributed with the convex groove structures at intervals of 90 degrees, the convex structures which are located behind the convex structures are hinged with the concave groove structures which are located in front of the convex groove structures which are located in the coiled pipe joint, and the convex structures which are located in the arc are provided with flexible arm rope through holes.

4. The robot for minimally invasive surgery of claim 1, wherein: the flexible arm cord is made of nickel-titanium alloy, when the length of the flexible arm cord is shortened in a certain direction, the wire drive tube is deformed, the flexible arm cord is bent towards the corresponding direction of the shortened flexible arm cord, the length is shortened to different degrees, and the elastic deformation is different; after the flexible arm rope returns to the original length, the wire drive pipe is restored to the original state, and the outer layer of the wire drive pipe is sleeved with a food-grade transparent heat shrink pipe.

5. The robot for minimally invasive surgery of claim 1, wherein: the rear end of the outer layer support is provided with a radial bulge structure, the fixed base is provided with an L-shaped locking groove, and when the outer layer support is installed, the radial bulge structure of the outer layer support is screwed into the locking groove of the fixed base, so that the installation can be completed; the movable end magnet is arranged in the butt joint hole, when the fixed part is connected with the renewable part, the connecting pull rod is inserted into the butt joint hole, and the movable end magnet is adsorbed with the fixed end magnet.

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