CN210228310U

CN210228310U - Laparoscopic surgery robot

Info

Publication number: CN210228310U
Application number: CN201920622331.7U
Authority: CN
Inventors: Yiming Zhong; 钟一鸣
Original assignee: Shenzhen Acell Medical Robot Co ltd
Current assignee: Shenzhen Acell Medical Robot Co ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-04-03
Anticipated expiration: 2029-04-30

Abstract

The utility model discloses a laparoscopic surgery robot, include: the top of the lifting mechanism is provided with a transverse pushing mechanism, and the end part of the transverse pushing mechanism is provided with a rotating mechanism; the rotary mechanism is provided with a plurality of joint mechanical arms, the end parts of the joint mechanical arms are all provided with a mounting bracket, any mounting bracket is provided with a laparoscope mechanism, and the rest mounting brackets are all provided with a scalpel mechanism. The utility model provides a laparoscopic surgery robot, scalpel mechanism and laparoscopic surgery mechanism can go into the place of treating the operation from same incision, effectual reduction patient's wound also can go into the place of treating the operation through respective incision and carry out different operations, simultaneously, because there is not the hand to shake when the operation, operation in narrow cavity is more nimble, accurate, it is big to control the scope, improved the technique of sewing up under the chamber mirror, the operator is difficult tired, it is more light to accomplish the complicated operation of high difficulty.

Description

Laparoscopic surgery robot

Technical Field

The utility model relates to a minimally invasive surgery technical field especially relates to a laparoscopic surgery robot.

Background

Minimally invasive surgery is, as its name implies, minimally invasive surgery. It refers to an operation performed by using modern medical instruments such as laparoscope, thoracoscope and the like and related equipment. Minimally invasive surgery has the advantages of small trauma, light pain, quick recovery and the like. In 1987, the first example of LC was accidentally completed by Mouret, a French doctor, and no idea that it marked the emergence of a new medical milestone, and the minimally invasive concept was formed because the progress of the whole medical model was generated under the drive of the "whole" therapeutic observation. The minimally invasive surgery focuses on improvement and rehabilitation of psychology, society, physiology (pain), psychology and life quality of a patient, is attached to the patient to the greatest extent, and relieves pain of the patient. The minimally invasive surgery does not need to be operated, only 1-3 small holes with the size of 0.5-1 cm are needed to be opened on a patient, the patient does not leave scars and pain, and the whole process of examination, treatment and rehabilitation can be completed in 3-5 days. Reduces the harm of the traditional operation to the human body and greatly reduces the inconvenience and pain of the patient caused by the disease. In recent years, in order to solve the surgical execution obstacle caused by the traditional minimally invasive surgical instrument to a doctor, a master-slave teleoperation robot technology is introduced into a minimally invasive surgery, such as a da vinci surgical robot, and the master-slave teleoperation robot has the greatest advantages that a surgical operation arm with multiple degrees of freedom is introduced to increase the flexibility of the surgical instrument, and high-definition surgical scene image display technology, surgeon tremor eliminating technology and the like are introduced.

The laparoscopic surgery robot in the prior art comprises a plurality of mechanical arms, and instruments and endoscopes arranged on the mechanical arms, wherein the mechanical arms have small freedom degree, so that the instruments and the endoscopes can only enter a human body to be operated through various incisions when a small-range operation is performed, and the trauma is more.

Accordingly, the prior art is yet to be improved and developed.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in, to prior art's above-mentioned defect, provides a laparoscopic surgery robot for scalpel and peritoneoscope can get into the human place of treating the operation through same incision, reduce the wound to the human body.

The utility model provides a technical scheme that technical problem adopted as follows:

a laparoscopic surgical robot, comprising:

the top of the lifting mechanism is provided with a transverse pushing mechanism, and the end part of the transverse pushing mechanism is provided with a rotating mechanism;

the rotary mechanism is provided with a plurality of joint mechanical arms, the end parts of the joint mechanical arms are all provided with a mounting bracket, any mounting bracket is provided with a laparoscope mechanism, and the rest mounting brackets are all provided with a scalpel mechanism.

Preferably, the rotating mechanism comprises a rotating shaft, a hoisting plate is arranged at the lower end part of the rotating shaft, and a plurality of limiting bulges used for installing the joint mechanical arm are arranged on the side wall of the hoisting plate.

Preferably, the plurality of joint mechanical arms comprise first guide rails sleeved on the limiting protrusions, the first guide rails are adapted to be provided with first sliding blocks, a nacelle is fixedly arranged on the first sliding blocks, a rotatable first mechanical arm monomer is arranged on the nacelle, a rotatable second mechanical arm monomer is arranged at the end part of the first mechanical arm monomer, a rotatable third mechanical arm monomer is arranged at the end part of the second mechanical arm monomer, a rotatable fourth mechanical arm monomer is arranged at the end part of the third mechanical arm monomer, a rotatable fifth mechanical arm monomer is arranged at the end part of the fourth mechanical arm monomer, and a rotatable sixth mechanical arm monomer is arranged at the end part of the fifth mechanical arm monomer;

the first mechanical arm single body, the second mechanical arm single body, the third mechanical arm single body, the fourth mechanical arm single body, the fifth mechanical arm single body and the sixth mechanical arm single body are rotationally connected through joints;

and the sixth mechanical arm monomer is rotationally connected with the mounting bracket through a joint.

Preferably, at least three rotation axes of the first mechanical arm unit, the second mechanical arm unit, the third mechanical arm unit, the fourth mechanical arm unit, the fifth mechanical arm unit and the sixth mechanical arm unit are not parallel to each other.

Preferably, the laparoscope mechanism comprises a second guide rail arranged on the mounting bracket, the second guide rail is adapted with a second slide block, and the second slide block is fixedly connected with a laparoscope component;

the front end of the laparoscopic assembly may be bent.

Preferably, the scalpel mechanism comprises a third rail disposed on the mounting bracket, the third rail being adapted with a third slider, the third slider fixedly connected with a scalpel assembly.

Preferably, the scalpel assembly comprises a force transmission module and a clamping jaw module arranged on the force transmission module;

the force transmission module comprises a shell, a circuit board is arranged at the bottom in the shell, a plurality of first driving motors are arranged above the circuit board, first fixing pieces used for fixing first steel wire ropes are arranged on output shafts of the first driving motors, and the first fixing pieces are connected through a first connecting plate;

a plurality of second driving motors are arranged on one side of the first driving motor, second fixing pieces used for fixing second steel wire ropes are arranged on output shafts of the second driving motors, and the second fixing pieces are connected through a second connecting plate;

a third driving motor is arranged on one side of the second driving motor, an output shaft of the third driving motor drives a driven wheel through a synchronous belt, a plurality of guide wheels are arranged on one side of the driven wheel, and the first steel wire rope and the second steel wire rope transmit power through the guide wheels;

the clamping jaw module comprises a flexible outer sleeve, one end of the flexible outer sleeve is arranged above the driven wheel, and the other end of the flexible outer sleeve is provided with a pair of surgical instruments;

the position of the front end of the flexible outer sleeve is adjusted through the first driving motor and the first steel wire rope, the loosening and closing of the surgical instrument are controlled through the second driving motor and the second steel wire rope, and the rotation direction of the surgical instrument is controlled through the third driving motor and the synchronous belt.

Preferably, the number of the first driving motors is greater than the number of the second driving motors.

Preferably, the lifting mechanism comprises a support, a plurality of guide posts are arranged on the support, a support cylinder is sleeved on the guide posts, a limiting plate is fixedly arranged on the support cylinder, a screw rod is arranged in the guide posts, a screw hole matched with the screw rod is formed in the middle of the limiting plate, and a fourth driving motor for driving the screw rod to rotate is arranged on one side of the screw rod;

the height of the supporting cylinder is adjusted by the fourth driving motor.

Preferably, the transverse pushing mechanism comprises a supporting plate arranged at the top of the supporting cylinder, a third guide rail is arranged on the supporting plate, the third guide rail is matched with a third sliding block, and the third sliding block is fixedly connected with a pushing plate;

the end part of the push plate is provided with a disc body used for installing a rotating shaft, and the disc body is provided with a fifth driving motor used for driving the rotating shaft to rotate.

Compared with the prior art, the embodiment of the application mainly has the following beneficial effects:

(1) the laparoscopic surgery robot is provided with the laparoscopic mechanism and the scalpel mechanism on the joint mechanical arms, and the scalpel mechanism and the laparoscopic mechanism on each joint mechanical arm can enter a place to be operated from the same incision, so that the wound of a patient is effectively reduced; the place to be operated can be entered through the respective incisions, so that different operations can be performed.

(2) Because the joint arm is less than people's hand, has 7 degrees of freedom and the scalpel mechanism of rotatable wrist, the hand vibration when can filtering direct operation, the operation in narrow cavity is more nimble, accurate, and the control scope is big, has improved the suture technique under the chamber mirror.

(3) The user can sit and operate this robot and accomplish whole operation for indefatigability, the complex operation of completion time length, height difficulty is lighter, can save traditional laparoscopic surgery or open abdomen operation because of exposing 2 ~ 3 assistants that the field of vision needs.

Drawings

In order to illustrate the solution of the present application more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.

Fig. 1 is a schematic structural view of a preferred embodiment of a laparoscopic surgical robot according to the present invention.

Fig. 2 is a schematic view of a rotary mechanism and four joint mechanical arms in a preferred embodiment of the laparoscopic surgical robot of the present invention.

Fig. 3 is a schematic structural diagram of a joint robot arm in a preferred embodiment of the laparoscopic surgical robot of the present invention.

Fig. 4 is a schematic structural view of a scalpel assembly in a preferred embodiment of the laparoscopic surgical robot of the present invention.

Fig. 5 is a schematic structural diagram of a force transmission module in a preferred embodiment of the laparoscopic surgical robot of the present invention.

Fig. 6 is a partial structural view of a force transmission module in a preferred embodiment of the laparoscopic surgical robot of the present invention.

Fig. 7 is a schematic structural diagram of a jaw module in a preferred embodiment of the laparoscopic surgical robot of the present invention.

Fig. 8 is a schematic structural view of a lifting mechanism and a pushing mechanism in a preferred embodiment of the laparoscopic surgical robot of the present invention.

Reference numerals:

100-lifting mechanism, 200-transverse pushing mechanism, 300-rotating mechanism, 400-joint mechanical arm, 500-mounting bracket, 600-laparoscope mechanism, 700-scalpel mechanism, 301-rotating shaft, 302-hoisting plate, 303-limit boss, 401-first guide rail, 402-first slider, 403-pod, 404-first mechanical arm monomer, 405-second mechanical arm monomer, 406-third mechanical arm monomer, 407-fourth mechanical arm monomer, 408-fifth mechanical arm monomer, 409-sixth mechanical arm monomer, 410-joint, 601-second guide rail, 602-laparoscope assembly, 701-third guide rail, 702-scalpel assembly, 7021-force transfer module, 7022-clamping jaw module, 70211-shell, 70212-circuit board, 70213-first driving motor, 10-first steel wire rope, 70214-first fixing piece, 70115-first connecting plate, 70216-second driving motor, 10-second steel wire rope, 70217-second fixing piece, 70218-second connecting plate, 70219-third driving motor, 30-synchronous belt, 70220-driven wheel, 70221-guide wheel, 70222-flexible jacket, 70223-surgical instrument, 101-bracket, 102-guide column, 103-supporting cylinder, 104-limiting plate, 105-lead screw, 201-supporting plate, 202-third guide rail, 203-push plate, 204-disc body and 205-fifth driving motor.

Detailed Description

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

As shown in fig. 1, a laparoscopic surgery robot according to a preferred embodiment of the present invention includes a lifting mechanism 100, a lateral pushing mechanism 200 disposed at the top of the lifting mechanism 100, and a rotating mechanism 300 disposed at the end of the lateral pushing mechanism 200; the rotating mechanism 300 is provided with four joint mechanical arms 400, the end parts of the four joint mechanical arms 400 are provided with a mounting bracket 500, any one of the mounting brackets 500 is provided with a laparoscope mechanism 600, and the rest three mounting brackets 500 are provided with a scalpel mechanism 700.

The laparoscopic surgery robot is a robotic surgery platform, and a surgeon controls a joint robot arm 400 to remotely control surgical instruments such as a laparoscopic mechanism and a scalpel mechanism, thereby achieving the purpose of performing a complicated surgical operation by using a minimally invasive method. The joint robot arm 400 is an operation part of the laparoscopic surgical robot, and its main function is to provide support for the laparoscopic mechanism and the scalpel mechanism. The assistant doctor works at the side of the laparoscopic surgery robot in the sterile area, is responsible for replacing instruments and the laparoscope and assists the main doctor in completing the surgery. The laparoscopic surgical robot has a surgical site as a pivot, and does not rely on the body cavity wall of the patient for support, thus minimizing damage to tissues and nerves. The surgeon's assistants, who have installed the appropriate surgical instruments, prepared the appropriate incisions in the patient, and supervised the joint robot arm 400 and the tools being used, have higher priority control over the movements of the laparoscopic surgical robot than the master surgeon in order to ensure patient safety.

The joint robot arm 400 and the mounting bracket 500 cooperate to ensure that the positions of the laparoscopic mechanism 600 and the scalpel mechanism 700 are not changed in space when performing the laparoscopic surgery.

Each joint mechanical arm 400 has 7 degrees of freedom, so that the scalpel mechanism 700 and the laparoscope mechanism 600 on different joint mechanical arms 400 can enter a place needing surgery through a single incision, and instruments and a laparoscope can enter side by side, so that the incision of the surgery can be effectively reduced, and the wound to a human body is reduced. But the surgical area is limited due to the single hole, so that instruments and laparoscopes can be inserted through different surgical incisions. Thus, the operation of different parts can be simultaneously considered.

Of course, the number of the joint robot arms 400 may be other, for example, the number of the joint robot arms 400 may be between 2 and 8, and is preferably 3. If the number of the joint robot arms 400 is too small, it is equivalent to that of the scalpel mechanism 700, so that the laparoscopic surgical robot can perform only a simple operation and cannot perform a complicated operation. Not only does the number of the joint robot arms 400 increase the cost, the joint robot arms 400 interfere with each other.

In a further preferred embodiment of the present invention, the rotating mechanism 300 includes a rotating shaft 301, a hoisting plate 302 is provided at a lower end of the rotating shaft 301, and a plurality of limiting protrusions 303 for mounting the joint robot arm 400 are provided on a side wall of the hoisting plate 302.

The rotating mechanism 300 is mainly used for positioning the preoperative joint mechanical arm 400, the rotating mechanism 300 projects the central position of the joint mechanical arm 400, and an assistant doctor pulls the joint mechanical arm 400 to align the central position of the joint mechanical arm 400 with the position of a patient to be operated. Due to the small manipulation range of the joint robot 400, if the joint robot 400 is misaligned, the posture of the scalpel mechanism 700 at the end of the joint robot 400 is out of alignment, and the operation cannot be completed.

As shown in fig. 2 and fig. 3, in a further preferred embodiment of the present invention, a plurality of the joint mechanical arms 400 all include a first guide rail 401 sleeved on the limiting protrusion 303, the first guide rail 401 is adapted with a first slider 402, a pod 403 is fixedly disposed on the first slider 402, a rotatable first mechanical arm unit 404 is disposed on the pod 403, a rotatable second mechanical arm unit 405 is disposed at an end of the first mechanical arm unit 404, a rotatable third mechanical arm unit 406 is disposed at an end of the second mechanical arm unit 405, a rotatable fourth mechanical arm unit 407 is disposed at an end of the third mechanical arm unit 406, a rotatable fifth mechanical arm unit 408 is disposed at an end of the fourth mechanical arm unit 407, and a rotatable sixth mechanical arm unit 409 is disposed at an end of the fifth mechanical arm unit 408; the first mechanical arm single body 404, the second mechanical arm single body 405, the third mechanical arm single body 406, the fourth mechanical arm single body 407, the fifth mechanical arm single body 408 and the sixth mechanical arm single body 409 are rotatably connected through a joint 410; the sixth mechanical arm unit 409 is rotatably connected to the mounting bracket 500 through a joint 410.

In a further preferred embodiment of the present invention, the rotation axes of the first mechanical arm unit 404, the second mechanical arm unit 405, the third mechanical arm unit 406, the fourth mechanical arm unit 407, the fifth mechanical arm unit 408 and the sixth mechanical arm unit 409 are at least three non-parallel to each other.

The angle of the joint mechanical arm 400 is adjusted in an XY plane, the height of the joint mechanical arm is independently adjusted in a Z direction, and the 7-joint mechanical arm is adopted, so that the coordinate of a certain point on the scalpel mechanism 700 on an XYZ space position is unchanged when the end scalpel mechanism 700 is used for surgery.

In a further preferred embodiment of the present invention, as shown in fig. 1, the laparoscope mechanism 600 comprises a second guide 601 disposed on the mounting bracket 500, wherein the second guide 601 is adapted with a second slider (not shown), which is fixedly connected with a laparoscope assembly 602; the front end of the laparoscopic assembly 602 may be bent.

In a further preferred embodiment of the present invention, as shown in fig. 1, the scalpel mechanism 700 comprises a third rail 701 disposed on the mounting bracket 500, the third rail 701 being adapted with a third slider (not shown), the third slider being fixedly connected with a scalpel assembly 702.

As shown in fig. 4-7, in a further preferred embodiment of the present invention, the scalpel assembly 702 comprises a force transfer module 7021 and a jaw module 7022 disposed on the force transfer module 7021; the force transmission module 7021 includes a housing 70211, a circuit board 70212 is disposed at the bottom of the housing 70211, three first driving motors 70213 are disposed above the circuit board 70212, first fixing members 70214 for fixing a first steel wire rope 10 are disposed on output shafts of the three first driving motors 70213, and the three first fixing members 70214 are connected by a first connecting plate 70115; two second driving motors 70216 are arranged on one side of the first driving motor 70213, second fixing pieces 70217 for fixing a second steel wire rope 10 are arranged on output shafts of the two second driving motors 70216, and the two second fixing pieces 70217 are connected through a second connecting plate 70218; a third driving motor 70219 is arranged on one side of the second driving motor 70216, an output shaft of the third driving motor 70219 drives a driven wheel 70220 through a synchronous belt 30, two guide wheels 70221 are arranged on one side of the driven wheel 70220, and the first steel wire rope 10 and the second steel wire rope 20 transmit power through the guide wheels 30; the jaw module 7022 includes a flexible outer sleeve 70222, one end of the flexible outer sleeve 70222 is disposed over the driven wheel 70220, and the other end of the flexible outer sleeve 70222 is disposed with a pair of surgical instruments 70223; the position of the front end of the flexible outer sleeve 70222 is adjusted by the first driving motor 70213 and the first wire rope 10, the opening and closing of the surgical instrument 70223 are controlled by the second driving motor 70216 and the second wire rope 20, and the rotation direction (i.e., the pitch) of the surgical instrument 70223 is controlled by the third driving motor 70219 and the synchronous belt 30.

The jaw module 7022 can display a serpentine motion, which can control the direction of the surgical instrument 70223 and the force during surgery.

The number of the first steel wire ropes 10 is 3, the number of the second steel wire ropes 20 is 2, and the number of the synchronous belts 30 is 1.

Compared with the traditional mechanical transmission technology, the steel wire rope transmission technology has the following advantages: the power source is suitable for transmitting motion and power in a long distance, and can be distributed at a position far away from a joint, so that the structural design is simplified; secondly, the direction is easy to change in the long-distance transmission process, the transmission structure is simple, small and compact, and the device is very suitable for multi-degree-of-freedom layout in a limited space; and thirdly, no return difference exists under proper pretightening force, so that the vibration can be absorbed, and the end effector can move more stably. The wire rope transmission is not only widely used in industry, such as lifting of elevators, cable traction satellites in aviation, etc., but also widely used in the design of dexterous hands, medical robots or surgical instruments, etc., for replacing rods to perform movement and power transmission.

In specific implementation, the scalpel assembly 702 needs to enter a human body to perform an operation, which is equivalent to a hand of an operator, so that the scalpel assembly needs to be bendable like the hand and can freely control the surgical instrument 70223.

When the laparoscopic surgical robot performs a surgical operation, it is first necessary to reach the distal end of the jaw module 7022 to a desired depth and then to adjust the angle and position of the surgical instrument 70223.

In a further preferred embodiment of the present invention, the number of the first driving motors 70213 is greater than the number of the second driving motors 70216.

As shown in fig. 8, in a further preferred embodiment of the present invention, the lifting mechanism 100 includes a support 101, a plurality of guide posts 102 are disposed on the support 101, a supporting cylinder 103 is sleeved on the plurality of guide posts 102, a limiting plate 104 is fixedly disposed on the supporting cylinder 103, a screw 105 is disposed in the plurality of guide posts 102, a screw hole adapted to the screw 105 is disposed in the middle of the limiting plate 104, and a fourth driving motor 106 for driving the screw 105 to rotate is disposed on one side of the screw 105; the height of the support cylinder 103 is adjusted by the fourth driving motor 106.

As shown in fig. 8, in a further preferred embodiment of the present invention, the lateral pushing mechanism 200 includes a supporting plate 201 disposed on the top of the supporting cylinder 103, a third guiding rail 202 is disposed on the supporting plate 201, the third guiding rail 202 is adapted with a third sliding block (not shown in the figure), and the third sliding block is fixedly connected with a pushing plate 203; the end of the push plate 203 is provided with a disk body 204 for mounting the rotating shaft 301, and the disk body 204 is provided with a fifth driving motor 205 for driving the rotating shaft 301 to rotate.

The lifting mechanism 100 and the lateral pushing mechanism 200 are used for lifting and laterally pushing the rotating mechanism 300 integrally, and adjusting the spatial distance between the scalpel mechanism 700 and the position of the patient to be operated.

To sum up, the utility model provides a laparoscopic surgery robot, include: the top of the lifting mechanism is provided with a transverse pushing mechanism, and the end part of the transverse pushing mechanism is provided with a rotating mechanism; the rotary mechanism is provided with a plurality of joint mechanical arms, the end parts of the joint mechanical arms are provided with mounting brackets, any one mounting bracket is provided with a laparoscope mechanism, and the other mounting brackets are provided with scalpel mechanisms; meanwhile, a user can sit to operate the robot to complete the whole operation, so that the robot is not easy to fatigue, the complex operation with long completion time and high difficulty is easier, and 2-3 assistants required by the traditional laparoscopic operation or open surgery due to the exposed vision field can be saved.

It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent structures made by using the contents of the specification and the drawings of the present application are directly or indirectly applied to other related technical fields and are within the protection scope of the present application.

Claims

1. A laparoscopic surgical robot, comprising:

2. The laparoscopic surgical robot according to claim 1, wherein said rotating mechanism comprises a rotating shaft, a lifting plate is provided at a lower end of said rotating shaft, and a plurality of position-limiting protrusions for mounting joint robot arms are provided on a sidewall of said lifting plate.

3. The laparoscopic surgery robot according to claim 2, wherein the plurality of joint mechanical arms each include a first guide rail sleeved on a limiting protrusion, the first guide rail is adapted with a first slide block, a pod is fixedly arranged on the first slide block, a rotatable first mechanical arm unit is arranged on the pod, a rotatable second mechanical arm unit is arranged at an end of the first mechanical arm unit, a rotatable third mechanical arm unit is arranged at an end of the second mechanical arm unit, a rotatable fourth mechanical arm unit is arranged at an end of the third mechanical arm unit, a rotatable fifth mechanical arm unit is arranged at an end of the fourth mechanical arm unit, and a rotatable sixth mechanical arm unit is arranged at an end of the fifth mechanical arm unit;

4. The laparoscopic surgery robot according to claim 3, wherein at least three rotation axes of the first, second, third, fourth, fifth and sixth robot arm units are not parallel to each other.

5. A laparoscopic surgical robot according to claim 3, wherein said laparoscopic mechanism comprises a second rail disposed on said mounting bracket, said second rail being adapted with a second slide, said second slide having a laparoscopic assembly fixedly attached thereto;

the front end of the laparoscopic assembly may be bent.

6. A laparoscopic surgical robot as claimed in claim 3, wherein said scalpel mechanism includes a third rail disposed on said mounting bracket, said third rail being adapted with a third slide, said third slide having a scalpel assembly fixedly attached thereto.

7. The laparoscopic surgical robot of claim 6, wherein said scalpel assembly comprises a force transfer module and a jaw module disposed on the force transfer module;

8. The laparoscopic surgical robot of claim 7, wherein the number of said first drive motors is greater than the number of said second drive motors.

9. The laparoscopic surgery robot according to claim 2, wherein the lifting mechanism comprises a support, a plurality of guide posts are arranged on the support, a support cylinder is sleeved on the plurality of guide posts, a limit plate is fixedly arranged on the support cylinder, a screw rod is arranged in the plurality of guide posts, a screw hole matched with the screw rod is arranged in the middle of the limit plate, and a fourth driving motor for driving the screw rod to rotate is arranged on one side of the screw rod;

the height of the supporting cylinder is adjusted by the fourth driving motor.

10. The laparoscopic surgical robot according to claim 9, wherein said lateral pushing mechanism comprises a supporting plate disposed on the top of the supporting cylinder, said supporting plate is provided with a third guide rail, said third guide rail is adapted with a third slide block, said third slide block is fixedly connected with a pushing plate;