CN116077176A

CN116077176A - Joint linkage operation arm for single-hole minimally invasive surgical robot

Info

Publication number: CN116077176A
Application number: CN202210686664.2A
Authority: CN
Inventors: 胡三元; 白儒; 张光永; 冯红光; 田兆辉; 孙鹏伟; 孙元超
Original assignee: First Affiliated Hospital of Shandong First Medical University
Current assignee: First Affiliated Hospital of Shandong First Medical University
Priority date: 2022-06-17
Filing date: 2022-06-17
Publication date: 2023-05-09

Abstract

The invention discloses a joint linkage operation arm for a single-hole minimally invasive surgical robot, which comprises a connection driving box, a plurality of operation arm sections and an end surgical instrument which are sequentially connected in series, wherein the adjacent arm sections are connected through rotary joints, drivers corresponding to the driving joints are arranged in the connection driving box, the drivers and the corresponding joints are transmitted through steel wires, and when in operation, the connection driving box is arranged on an external support rail and can linearly stretch and slide along the external support rail. The gesture control of the tail end surgical instrument can be realized by adjusting the rotation angles of the rear three rotary joints on the operation arm; the position control of the tail end surgical instrument can be realized without changing the gesture by adjusting the rotation angles of the two pairs of linkage joints on the operation arm and the sliding distance of the connecting driving box along the external support track; finally, the 'position (position) pose (gesture) separation' control of the tail end surgical instrument is realized, so that the pose movement of the tail end surgical instrument is more flexible, and the control difficulty is reduced.

Description

Joint linkage operation arm for single-hole minimally invasive surgical robot

Technical Field

The invention relates to the technical field of minimally invasive surgical robots, in particular to a joint linkage operation arm for a single-hole minimally invasive surgical robot.

Background

The single-hole minimally invasive surgical operation refers to the operation performed by a doctor penetrating a plurality of slender surgical instruments and an endoscope into a body through a single incision on the surface of a human body; compared with the traditional open surgery and porous surgery, the surgical incision surgical instrument has the advantages of less surgical incision, less bleeding amount, small postoperative scar, quick recovery time and the like, and the pain suffered by patients is greatly reduced. The single-hole minimally invasive surgery can bring benefits to patients, and the surgical robot system can further assist doctors in carrying out surgery and expanding the operating capacity of the doctors, so that the surgery operation has flexibility, safety and reliability, and the surgical risk is reduced.

The utility model provides a single hole minimally invasive surgery robot, belongs to high-end accurate medical equipment that high new technology is intensive, and the operation is performed with the operation of a plurality of arms of robot at first with "I" configuration entering abdominal cavity, then with "Y" configuration expansion, to operation instrument operation arm, the structural design scheme who adopts at present makes the position and the gesture of operation arm terminal operation instrument easily receive the influence of the motion coupling effect of each joint of operation arm, has restricted the working space and the flexibility of terminal operation instrument, and the general control degree of difficulty is great.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, provides the joint linkage operation arm for the single-hole minimally invasive surgical robot, realizes the separation control of the position and the posture of the tail end surgical instrument, ensures that the position and the posture of the tail end surgical instrument are adjusted to have higher flexibility and easy operability, and reduces the control difficulty.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

the invention discloses a joint linkage operation arm for a single-hole minimally invasive surgical robot, which comprises a connection driving box, an operation arm section I, an operation arm section II, an operation arm section III, an operation arm section IV, an operation arm section V, an operation arm section VI, an operation arm section VII, an operation arm section VIII and a tail end surgical instrument which are sequentially connected; the connecting driving box is arranged on the external supporting rail and can linearly stretch and slide along the external supporting rail; the operating arm section I is a hollow straight pipe and is fixedly connected with the connecting driving box; the operating arm section II consists of two connecting rods with equal length and parallel to each other, two ends of each connecting rod are respectively connected with the operating arm section I and the operating arm section III through rotary joints, and axes of the rotary joints of the two connecting rods are parallel to each other; the operating arm section III is a hollow straight pipe and is connected with the operating arm section II and the operating arm section IV through rotary joints at two ends; the operating arm section IV consists of two connecting rods with equal and parallel lengths, two ends of each connecting rod are respectively connected with the operating arm section III and the operating arm section V through rotary joints, and axes of the rotary joints of the two connecting rods are parallel to each other; the axis of the rotary joint of the connecting rod on the operating arm section II is perpendicular to the axis of the rotary joint of the connecting rod on the operating arm section IV; the operating arm section V is a hollow straight pipe, the operating arm section IV and the operating arm section VI are connected through rotary joints at two ends, and the axes of the rotary joints at two ends are mutually perpendicular; the operating arm section VI is a hollow straight pipe, the operating arm section V and the operating arm section VII are connected through rotary joints at two ends, and the axes of the rotary joints at two ends are mutually perpendicular; the operating arm section VII is a hollow straight pipe, the operating arm section VI and the operating arm section VIII are connected through rotary joints at two ends, and the axis of the rotary joint connected with the operating arm section VIII is along the axis of the hollow straight pipe; the operating arm section VIII is a hollow straight pipe, and the operating arm section VII and the tail end surgical instrument are connected through rotary joints at two ends.

As a further technical scheme, the whole operation arm is connected with the external support rail through the connection driving box, and the telescopic movement of the whole operation arm is realized through the sliding of the connection driving box along the rail.

As a further technical scheme, the operating arm section I is a hollow straight pipe, one end of the operating arm section I is fixedly connected with the connecting driving box, and the other end of the operating arm section I is connected with the operating arm section II through two rotary joints with mutually parallel rotary axes; the plane of the rotation axes of the two rotation joints is perpendicular to the axis of the hollow arm pipe of the operation arm section I.

As a further technical scheme, the operating arm section II consists of two connecting rods with equal length and parallel to each other; one end of each connecting rod is connected to the two rotary joints of the operating arm section I, and the other end of each connecting rod is connected to the two rotary joints of the operating arm section III.

As a further technical scheme, the operating arm section III is a hollow straight pipe, one end of the operating arm section III is connected with the operating arm section II through two rotary joints with the rotary axes parallel to each other, and the other end of the operating arm section III is connected with the operating arm section IV through two rotary joints with the rotary axes parallel to each other.

As a further technical scheme, the distance between the rotation axes of the two rotation joints connected with the operation arm section II on the operation arm section III is equal to the distance between the rotation axes of the two rotation joints connected with the operation arm section II on the operation arm section I; the plane of the rotation axes of the two rotation joints connected with the operation arm section II on the operation arm III is perpendicular to the axis of the hollow arm pipe of the operation arm section III.

As a further technical scheme, two connecting rods of the operating arm section II are connected with the parallel rotary joints on the operating arm section I and the operating arm section III to form a double rocker structure similar to a parallelogram, and when the two connecting rods of the operating arm section II rotate, the operating arm section III always keeps parallel with the operating arm section I and moves in a plane perpendicular to the rotation axis of the connecting rod of the operating arm section II.

As a further technical scheme, the two connecting rods of the operating arm section II are respectively used for driving the operating arm section II to rotate in the forward direction and the reverse direction.

As a further technical scheme, the planes of the rotation axes of the two rotary joints connected with the operating arm section IV on the operating arm III are perpendicular to the axis of the hollow arm pipe of the operating arm section III; the rotation axes of the two rotation joints connected with the operation arm section II on the operation arm section III are perpendicular to the rotation axes of the two rotation joints connected with the operation arm section IV on the operation arm section III.

As a further technical scheme, the operating arm section IV consists of two connecting rods with equal length and parallel to each other; one end of each connecting rod is connected to the two rotary joints of the operating arm section III, and the other end of each connecting rod is connected to the two rotary joints of the operating arm section V.

As a further technical scheme, the operating arm section V is a hollow straight pipe, one end of the operating arm section V is connected with the operating arm section IV through two rotary joints with the rotary axes parallel to each other, and the other end of the operating arm section V is connected with the operating arm section VI through a single rotary joint.

As a further technical scheme, the distance between the rotation axes of the two rotation joints connected with the operation arm section iv on the operation arm section v is equal to the distance between the rotation axes of the two rotation joints connected with the operation arm section iv on the operation arm section iii; the plane of the rotation axes of the two rotation joints connected with the operation arm section IV on the operation arm section V is perpendicular to the axis of the hollow arm pipe of the operation arm section V.

As a further technical scheme, the two connecting rods of the operating arm section IV are connected with the operating arm section III and the parallel rotary joints on the operating arm section V to form a double rocker structure similar to a parallelogram, and when the two connecting rods of the operating arm section IV rotate, the operating arm section V always keeps parallel with the operating arm section III and moves in a plane perpendicular to the rotation axis of the connecting rods of the operating arm section IV.

As a further technical scheme, the two connecting rods of the operating arm section IV are respectively used for driving the operating arm section IV to rotate in the forward direction and the reverse direction.

As a further technical scheme, the plane of the rotation axes of the two rotary joints connected with the operating arm section IV on the operating arm section V is perpendicular to the axis of the hollow arm pipe of the operating arm section V; the rotation axes of the two rotation joints connected with the operation arm section IV on the operation arm section V are perpendicular to the rotation axis of the single rotation joint connected with the operation arm section VI on the operation arm section V.

As a further technical scheme, the operating arm section vi is a hollow straight pipe, one end of the hollow straight pipe is connected with the operating arm section v through a single rotary joint, and the other end of the hollow straight pipe is connected with the operating arm section vii through a single rotary joint; the rotation joint axes at the two ends of the operation arm section VI are perpendicular to the hollow arm tube axes of the operation arm section VI in pairs.

As a further technical scheme, the operating arm section VII is a hollow straight pipe, one end of the operating arm section VII is connected with the operating arm section VI through a single rotary joint, and the other end of the operating arm section VII is connected with the operating arm section VIII through a single rotary joint; the axis of the rotary joint connected with the operating arm section VII and the operating arm section VIII is coaxial with the axis of the hollow arm tube of the operating arm section VII and is perpendicular to the axis of the rotary joint connected with the operating arm section VI.

As a further technical scheme, the operating arm section VIII is a hollow straight pipe, one end of the operating arm section VIII is connected with the operating arm section VII through a single rotary joint, and the other end of the operating arm section VIII is connected with the tail end surgical instrument through a single rotary joint; the axis of the rotary joint of the operation arm section VIII connected with the tail end surgical instrument is perpendicular to the axis of the rotary joint of the operation arm section VIII connected with the operation arm section VII.

The invention has the beneficial effects that:

according to the joint linkage operation arm layout structure for the single-hole minimally invasive surgical robot, the gesture control of the terminal surgical instrument can be realized by adjusting the rotation of the operation arm sections VI, VII and VIII; on the basis, the movement of the connecting driving box along the external track and the rotation of the operating arm section II and the operating arm section IV are regulated, so that the position control of the terminal surgical instrument can be realized, and meanwhile, the gesture of the terminal surgical instrument is not influenced. Thus, the control of 'position (position) pose (posture) separation' of the tail end surgical instrument is realized; the invention provides the mechanical arm layout structure of the minimally invasive surgical robot with high applicability and high flexibility, and the layout structure is used for realizing flexible control of the position and the posture of the terminal surgical instrument, so that the control difficulty is reduced.

Drawings

The following drawings are illustrative of the present application and their description, and are not to be construed as limiting the application, for the purpose of more clearly describing embodiments of the invention or prior art solutions.

FIG. 1 is a schematic diagram of the installation layout of the components of the present invention in a certain operating state;

FIG. 2 is a schematic illustration of the joint linkage of the arm segment II according to the present invention;

FIG. 3 is a schematic diagram of the linkage of the upper joint of the operating arm section IV according to the present invention;

fig. 4 shows the movement space of the actuating arm segment v according to the invention in the direction of its arm tube axis.

FIG. 5 is a schematic illustration of the present invention in the form of an "I";

the device comprises a driving box, an operating arm section I, an operating arm section II, an operating arm section 3_1, an operating arm section II forward driving rod, an operating arm section 3_2, an operating arm section II reverse driving rod, an operating arm section III, an operating arm section 5, an operating arm section IV, an operating arm section 5_1, an operating arm section IV forward driving rod, an operating arm section 5_2, an operating arm section IV reverse driving rod, an operating arm section V, an operating arm section 7, an operating arm section VI, an operating arm section 8, an operating arm section VII, an operating arm section 9, an operating arm section VIII and an end surgical instrument.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it should be noted that the drawings and the description are illustrative, and the terms used are only for describing specific embodiments, and are not intended to limit the exemplary embodiments according to the present application.

For convenience of description, words such as "upper", "lower", "left", "right", "front", "rear", "forward", "reverse", "clockwise", "counterclockwise", and the like, if any, merely designate directions or angles consistent with the drawings themselves, and do not limit the structure, merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus do not understand the limitation of the present invention.

In practical use, the external track device connected to the connection driving box i 1 may be in a belt transmission, a gear transmission, a ball screw transmission, or the like, and the external track device may be fixed in a floor type, a hanging type, or the like according to different working scenarios, and only the connection driving box i 1 and its subsequent structure will be described in detail.

The embodiment discloses a schematic installation layout of a joint linkage operation arm for a minimally invasive surgical robot in a certain working state, as shown in fig. 1, wherein the operation arm comprises a connection driving box 1, an operation arm section i 2, an operation arm section ii 3, an operation arm section iii 4, an operation arm section iv 5, an operation arm section v 6, an operation arm section vi 7, an operation arm section vii 8, an operation arm section viii 9 and a terminal surgical instrument 10. Before starting to work, all the operation arm sections are in a coaxial state, the tail end surgical instrument is closed, the connection driving box 1 slides along an external track, and the whole operation arm is stretched into the body in an I shape; the steel wire ropes for driving the joints to move are connected to the driving motor in the connecting driving box through the inner cavity of the operating arm section I.

Further, the operating arm section ii 3 is formed by two connecting rods with equal length and parallel to each other, and is respectively a forward driving rod 3_1 and a reverse driving rod 3_2, as shown in fig. 1 and fig. 2, the forward driving rod 3_1 is connected with the operating arm section i 2 and the operating arm section iii 4 through a first rotary joint and a fourth rotary joint, the forward driving rod 3_2 is connected with the operating arm section i 2 and the operating arm section iii 4 through a second rotary joint and a third rotary joint, the forward driving rod 3_1 is driven to rotate through closed loop wire transmission, the reverse driving rod 3_2 is parallel to the forward driving rod 3_1 and is driven to rotate in a forward following way, and the forward driving rod 3_1 is parallel to the reverse driving rod 3_2 and rotates in a reverse following way, so that the operating arm section iii 4 is always kept in a parallel or coaxial state with the operating arm section i 2 and does not rotate along with the rotation of the operating arm section ii 3 in a movement plane to which the operating arm section iii 2 belongs.

Further, the operating arm section iii 4 is a hollow straight pipe, one end of the operating arm section iii 4 is connected to the operating arm section ii 3 through a third rotary joint and a fourth rotary joint, and the other end of the operating arm section iii is connected to the operating arm section iv 5 through a fifth rotary joint and a sixth rotary joint, and rotation axes of the fifth rotary joint and the sixth rotary joint are parallel to each other and perpendicular to rotation axes of the third rotary joint and the fourth rotary joint. The rotation axes of the first, second, third and fourth rotation joints are parallel to each other, and the projection points of the four rotation axes on the common vertical plane are sequentially connected, so that opposite sides of the quadrangle are parallel to each other and equal (namely, the quadrangle is a 'parallelogram' or a 'rectangle'), namely, the first and second rotation joints respectively form a linkage joint with the fourth and third rotation joints, and the operation arm section III and the operation arm section I are always kept in a parallel (or coaxial) state in the movement process of the operation arm section II.

Further, the operating arm section iv 5 is formed by two connecting rods with equal length and parallel to each other, and is respectively a forward driving rod 5_1 and a reverse driving rod 5_2, as shown in fig. 3, the forward driving rod 5_1 is connected with the operating arm section iii 4 and the operating arm section v 6 through a fifth rotating joint and an eighth rotating joint, the forward driving rod 5_2 is connected with the operating arm section iii 4 and the operating arm section v 6 through a sixth rotating joint and a seventh rotating joint, the forward driving rod 5_1 is driven to rotate through closed loop wire transmission, the reverse driving rod 5_2 is parallel to the forward driving rod 5_1 to forward follow rotation, and the reverse driving rod 5_2 is driven to rotate, and the forward driving rod 5_1 is parallel to the reverse driving rod 5_2 to reversely follow rotation, so that the operating arm section v 6 is always kept parallel or coaxial with the operating arm section iii 4 and does not rotate along with the rotation of the operating arm section iv 5 in a motion plane to which the operating arm section v 6 belongs.

The rotation axes of the fifth, sixth, seventh and eighth rotation joints are parallel to each other, and are sequentially connected with the projection points of the four rotation axes on the common vertical plane of the rotation axes, so that opposite sides of the quadrangle are parallel to each other and equal (namely, the quadrangle or the rectangle), namely, the fifth and sixth rotation joints respectively form a linkage joint with the eighth and seventh rotation joints, and the operation arm section III and the operation arm section V are always kept in a parallel (or coaxial) state in the movement process of the operation arm section IV.

Further, one end of the operating arm segment v 6 is connected to the reverse driving rod 5_2 and the forward driving rod 5_1 through a seventh rotating joint and an eighth rotating joint, and the other end is connected to the operating arm segment vi 7 through a ninth rotating joint, wherein the rotation axis of the ninth rotating joint is perpendicular to the rotation axes of the seventh rotating joint and the eighth rotating joint, and perpendicularly intersects with the axis of the operating arm segment v 6.

Further, the operating arm section vi 7 is a hollow straight pipe, one end of the operating arm section vi is connected with the operating arm section v 6 through a ninth rotary joint, the other end of the operating arm section vi is connected with the operating arm section vii 8 through a tenth rotary joint, the rotation axis of the tenth rotary joint is perpendicular to the rotation axis of the ninth rotary joint, and perpendicularly intersects the axis of the operating arm section vi 7, and the operating arm section vi 7 can rotate around the ninth rotary joint in the forward and reverse directions.

Further, one end of the operating arm section vii 8 is connected to the operating arm section vi 7 through a tenth rotating joint, and the other end is connected to the operating arm section viii 9 through an eleventh rotating joint, where the rotation axis of the eleventh rotating joint is perpendicular to the rotation axis of the tenth rotating joint and is coaxial with the axis of the operating arm section vii 8. The operating arm segment vii 8 is rotatable in the forward and reverse directions about a tenth rotary joint.

Further, one end of the operating arm section viii 9 is connected to the operating arm section vii 8 through an eleventh rotary joint, and the other end is connected to the end surgical instrument 10 through a twelfth rotary joint, and the rotation axis of the twelfth rotary joint is perpendicular to the axis intersecting the operating arm section viii 9.

Further, the distal surgical instrument 10 is formed of two parts, and is rotatable about the rotation axis of the twelfth rotary joint to open and close the instrument. Further, through inverse kinematics analysis, a target angle corresponding to the ninth, tenth, and eleventh rotation joints when the distal surgical instrument 10 reaches the target posture may be calculated first; it is further possible to calculate the target angles corresponding to the first (or second), fifth (or sixth), and the rotary joints and the displacement of the connection driving box 1 on the external track when the distal surgical instrument 10 reaches the target posture.

Further, each joint is driven to move to a target angle by a motor in the connection driving box 1, and the connection driving box 1 is driven to move to a target position along an external track even if the end surgical instrument reaches a desired target position and posture.

The above examples are merely exemplary embodiments of the present invention, and are used to help explain technical features and advantages of the present invention, and the present invention is not limited thereto.

While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims

1. The joint linkage operation arm for the single-hole minimally invasive surgical robot is characterized by comprising a connection driving box, an operation arm section I, an operation arm section II, an operation arm section III, an operation arm section IV, an operation arm section V, an operation arm section VI, an operation arm section VII, an operation arm section VIII and a tail end surgical instrument which are sequentially connected;

the connecting driving box is arranged on the external supporting rail and can linearly stretch and slide along the external supporting rail; the operating arm section I is a hollow straight pipe and is fixedly connected with the connecting driving box; the operating arm section II consists of two connecting rods with equal length and parallel to each other, two ends of each connecting rod are respectively connected with the operating arm section I and the operating arm section III through rotary joints, and axes of the rotary joints of the two connecting rods are parallel to each other; the operating arm section III is a hollow straight pipe and is connected with the operating arm section II and the operating arm section IV through rotary joints at two ends; the operating arm section IV consists of two connecting rods with equal and parallel lengths, two ends of each connecting rod are respectively connected with the operating arm section III and the operating arm section V through rotary joints, and axes of the rotary joints of the two connecting rods are parallel to each other; the axis of the rotary joint of the connecting rod on the operating arm section II is perpendicular to the axis of the rotary joint of the connecting rod on the operating arm section IV; the operating arm section V is a hollow straight pipe, the operating arm section IV and the operating arm section VI are connected through rotary joints at two ends, and the axes of the rotary joints at two ends are mutually perpendicular; the operating arm section VI is a hollow straight pipe, the operating arm section V and the operating arm section VII are connected through rotary joints at two ends, and the axes of the rotary joints at two ends are mutually perpendicular; the operating arm section VII is a hollow straight pipe, the operating arm section VI and the operating arm section VIII are connected through rotary joints at two ends, and the axis of the rotary joint connected with the operating arm section VIII is along the axis of the hollow straight pipe; the operating arm section VIII is a hollow straight pipe, and the operating arm section VII and the tail end surgical instrument are connected through rotary joints at two ends.

2. An articulating manipulator for a single port minimally invasive surgical robot as claimed in claim 1, wherein the entire manipulator is coupled to the external support track via the coupling drive cassette, and wherein telescoping movement of the entire manipulator is achieved by sliding of the coupling drive cassette along the track.

3. The articulated manipulator for a single-hole minimally invasive surgical robot of claim 1, wherein the manipulator segment i is fixedly connected at one end to the connection drive box and at one end to the manipulator segment ii by means of two rotary joints with mutually parallel axes of rotation; the plane of the rotation axes of the two rotation joints is perpendicular to the axis of the hollow arm pipe of the operation arm section I.

4. An articulated manipulator for a single-hole minimally invasive surgical robot according to claim 1, wherein the manipulator section iii is connected at one end to the manipulator section ii by means of two rotary joints with mutually parallel axes of rotation and at the other end to the manipulator section iv by means of two rotary joints with mutually parallel axes of rotation.

5. The articulated manipulator for a single-hole minimally invasive surgical robot of claim 4, wherein the distance between the axes of rotation of the two rotary joints on manipulator segment iii and manipulator segment ii is a first distance, and the distance between the axes of rotation of the two rotary joints on manipulator segment i and manipulator segment ii is a second distance, the first distance being equal to the second distance; the plane of the rotation axes of the two rotation joints connected with the operation arm section II on the operation arm III is perpendicular to the axis of the hollow arm pipe of the operation arm section III.

6. An articulated manipulator for a single-hole minimally invasive surgical robot according to claim 1, wherein the two links of manipulator section ii are connected to parallel rotary joints of manipulator section i and manipulator section iii, forming a parallelogram-like double rocker structure, and wherein the two links of manipulator section ii are always parallel to manipulator section i and move in a plane perpendicular to the axis of rotation of the links of manipulator section ii when the two links of manipulator section ii are rotated.

7. The articulated manipulator for a single-hole minimally invasive surgical robot of claim 1, wherein the two links of manipulator segment ii are respectively used to drive the manipulator segment ii to rotate in both forward and reverse directions; the two connecting rods of the operating arm section IV are respectively used for driving the operating arm section IV to rotate in the forward direction and the reverse direction.

8. The articulated manipulator for a single-hole minimally invasive surgical robot of claim 1, wherein the plane of the axes of rotation of the two rotary joints on manipulator section iii, connected to manipulator section iv, is perpendicular to the hollow-arm-tube axis of manipulator section iii; the rotation axes of the two rotation joints connected with the operation arm section II on the operation arm section III are perpendicular to the rotation axes of the two rotation joints connected with the operation arm section IV on the operation arm section III.

9. The articulated manipulator for a single-hole minimally invasive surgical robot of claim 11, wherein the distance between the axes of rotation of the two rotary joints on manipulator segment v and manipulator segment iv is a first distance, the distance between the axes of rotation of the two rotary joints on manipulator segment iii and manipulator segment iv is a second distance, and the first distance is equal to the second distance; the plane of the rotation axes of the two rotation joints connected with the operation arm section IV on the operation arm section V is perpendicular to the axis of the hollow arm pipe of the operation arm section V.

10. The articulated manipulator for a single-hole minimally invasive surgical robot according to claim 1, wherein the two links of the manipulator section iv are connected to parallel rotary joints on the manipulator section iii and the manipulator section v, forming a double rocker structure resembling a parallelogram, and wherein the two links of the manipulator section iv are always kept parallel to the manipulator section iii and move in a plane perpendicular to the rotational axis of the links of the manipulator section iv when the two links of the manipulator section iv are rotated.

11. The articulated manipulator for a single-hole minimally invasive surgical robot of claim 11, wherein the axes of rotation of the two rotary joints on the manipulator segment v connected to the manipulator segment iv lie in a plane perpendicular to the hollow-arm-tube axis of the manipulator segment v; the rotation axes of the two rotation joints connected with the operation arm section IV on the operation arm section V are perpendicular to the rotation axis of the single rotation joint connected with the operation arm section VI on the operation arm section V.

12. The articulated manipulator for a single-hole minimally invasive surgical robot of claim 1, wherein the manipulator segment vi is a hollow straight tube, one end of which is connected to the manipulator segment v by a single rotary joint, and the other end of which is connected to the manipulator segment vii by a single rotary joint.

13. An articulating manipulator for a single port minimally invasive surgical robot according to claim 1, wherein the rotational joint axis of the manipulator segment vii to which the manipulator segment viii is attached is coaxial with the hollow-arm tube axis of the manipulator segment vii and perpendicular to the rotational joint axis of the manipulator segment vii to which the manipulator segment vi is attached.

14. A joint-linked manipulator for a single-port minimally invasive surgical robot according to claim 1, wherein the rotational joint axis of the manipulator segment viii to which the end surgical instrument is attached is perpendicular to the rotational joint axis of the manipulator segment viii to which the manipulator segment vii is attached;

the rotation joint axes at the two ends of the operation arm section VI are perpendicular to the hollow arm tube axes of the operation arm section VI in pairs.