CN211674537U

CN211674537U - Single-hole multi-arm laparoscopic surgery robot system

Info

Publication number: CN211674537U
Application number: CN202020034139.9U
Authority: CN
Inventors: 曾智文; 曾林旺
Original assignee: Beijing Xianjin Robot Co ltd
Current assignee: Beijing Xianjin Robot Co ltd
Priority date: 2020-01-08
Filing date: 2020-01-08
Publication date: 2020-10-16
Anticipated expiration: 2030-01-08

Abstract

The utility model discloses a single-hole multi-arm laparoscopic surgery robot system, which comprises an execution part, an operation part and a controller; the device is characterized in that the execution part comprises an execution part fixing seat, a mechanical arm, a telescopic arm and a mechanical holding arm. The utility model has the advantages that: the utility model controls the action of the executing part according to the action of the operating part to complete the laparoscopic surgery, and the executing part can imitate the action of the operating part, so that the utility model is easier to learn and operate; the external force feedback device of the utility model can make the hand feel certain resistance when the operator operates, enhance the operation experience and effectively prevent the misoperation of the operator; the utility model controls the external force feedback device to provide corresponding force feedback for the hand of the operator according to the measured value of the external force detection device, thereby enhancing the experience feeling of the operation of the operator and the accuracy of the operation; the utility model discloses an execution is changed portion and execution arm of connecting can change, prevents cross infection to very big reduction the replacement cost of holding the arm.

Description

Single-hole multi-arm laparoscopic surgery robot system

Technical Field

The utility model relates to a surgical robot field especially relates to a haplopore multi-arm laparoscopic surgery robot system.

Background

The laparoscopic surgery has the advantages of small wound and quick recovery, and is widely applied to abdominal surgery, thoracic surgery, gynecology and urology surgery; in order to reduce the labor intensity of doctors, there is an urgent need to develop a laparoscopic surgical robot system; how to improve the loading capacity and rigidity of the laparoscopic surgery robot and how to realize the experience of the profiling control, remote control and control operation of the laparoscopic surgery robot is more important in the research and development of the laparoscopic surgery robot system.

Disclosure of Invention

In order to solve the problems in the background art, the utility model discloses a single-hole multi-arm laparoscopic surgery robot system, which comprises an execution part, an operation part and a controller; the executing part comprises an executing part fixing seat, a mechanical arm, a telescopic arm and a mechanical holding arm; the mechanical arm is fixed on the execution part fixing seat; at least two telescopic arms are fixed at the tail end of the mechanical arm; the fixed end of the telescopic arm is fixed at the tail end of the mechanical arm; the mechanical holding arm is fixed at the telescopic end of the telescopic arm; the tail end of the mechanical arm at least has four degrees of freedom of translation motion along a plane X axis, translation motion along a plane Y axis, rotation around the plane X axis and rotation around the plane Y axis; the telescopic end of the telescopic arm can move along the length direction of the telescopic arm; the actions of the mechanical arm and the telescopic arm are controlled by the controller; the mechanical arm comprises an execution arm and an execution arm driving end; each actuating arm can penetrate through the same sleeve; the execution arm comprises n execution joints, wherein n is an integer greater than or equal to 3; i is an integer from 1 to n-1, j is an integer from 1 to n-2, p is an integer from 1 to n; the tail end of the ith execution joint is hinged with the head end of the (i + 1) th execution joint through an ith connecting shaft; the tail end of the ith execution joint is matched with n-i +1 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +1 i-stage transition executing gears are sleeved on the ith connecting shaft, the first i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear is vertically meshed with the first i-stage active executing gear to the (n-i + 1) th i-stage active executing gear in a one-to-one correspondence mode respectively, and the first i-stage transition executing gear is fixedly connected with the head end of the (i + 1) th executing joint; the head end of the j +1 th execution joint is matched with n-j driven execution gears which are coaxially overlapped in sequence, and the first j-stage driven execution gear to the n-j-th j-stage driven execution gear and the second j-stage transition execution gear to the n-j +1 th j-stage transition execution gear are vertically meshed in a one-to-one corresponding mode respectively; the head end of the nth executing joint is matched with an n-1-stage driven executing gear, and the n-1-stage driven executing gear is vertically meshed with a second n-1-stage transition executing gear; the head end of the first executing joint is connected with a hollow executing rotating shaft; n-i +1 i-level hollow execution rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith execution joint; one end of the pth one-level hollow execution rotating shaft in the first execution joint is respectively connected with the pth one-level active execution gear; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the (n-j) th j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j + 1-stage driven execution gear at the head end of the j +1 th execution joint to the (n-j) th j-stage driven execution gear through a first j + 1-stage hollow execution rotating shaft to an n-j + 1-stage hollow execution rotating shaft in the j +1 th execution joint; an executing rotating rod which is coaxially connected with an n-1 stage driven executing gear at the head end of the nth executing joint is rotatably matched in the nth executing joint and is connected with a surgical instrument; the driving end of the execution arm is fixedly provided with n +1 execution motors; each actuating motor is connected with an external force detection device; the external force detection device comprises an external force detection planetary gear train, an external force detection flange shaft sleeve, an external force detection limiting block and an external force detection pressure sensor; the external force detection planetary gear train comprises a small external force detection sun gear, an external force detection planetary gear, a large external force detection sun gear and an external force detection planetary carrier; the flange end of the external force detection flange shaft sleeve is fixed on the end face of the external force detection large sun gear; two external force detection pressure transmission blocks which protrude outwards are oppositely arranged on the circumferential surface of the external force detection planet carrier; the external force detection limiting block is provided with an internal force detection pressure sensor fixing groove which is sunken inwards; the external force detection pressure sensor is fixed on both sides of the external force detection pressure sensor fixing groove; the external force detection pressure transmission block is clamped between the two external force detection pressure sensors; the output shaft of the first executing motor controls the rotation of the hollow executing rotating shaft through a connected external force detection device; the output shafts of the second to the (n + 1) th execution motors respectively control the rotation of the first to the nth first-stage hollow execution rotating shafts through the connected external force detection devices; each external force detection planet carrier is respectively and rotatably fixed on each corresponding execution motor; each external force detection limiting block is respectively and relatively fixed on each execution motor; the actions of the first executing motor to the (n + 1) th executing motor are controlled by the controller; the measured values of the external force detection pressure sensors of the external force detection devices are transmitted to the controller; the operating part comprises an operating arm, a display and an operating part fixing seat; the two operating arms are respectively hinged and fixed on two sides of the operating part fixing seat; the display is fixed on the operation part fixing seat; the operating arm comprises an operating arm fixing seat, a first mechanical arm operating joint, a second mechanical arm operating joint, a third mechanical arm operating joint, a mechanical arm holding operating arm and a handheld part; the operating arm fixing seat is hinged and fixed on the side surface of the operating part fixing seat; the first mechanical arm operation joint is rotatably fixed on the operation arm fixing seat, the second mechanical arm operation joint is rotatably fixed on the first mechanical arm operation joint, and the third mechanical arm operation joint is slidably fixed on the second mechanical arm operation joint; the mechanical arm operating arm is rotatably fixed on a third mechanical arm operating joint; the handheld part is rotatably fixed on the manipulator arm; the first mechanical arm operating joint is rotatably fixed on the operating arm fixing seat through a first rotating shaft; a first position sensor and a first return spring are fixed on the operating arm fixing seat; the second mechanical arm operation joint is rotationally fixed on the first mechanical arm operation joint through a second rotating shaft; a second position sensor and a second return spring are fixed on the first mechanical arm operation joint; a third position sensor and a third return spring are fixed on the third mechanical arm operation joint; the manipulator arm of the mechanical arm comprises n manipulator joints, wherein the tail end of the ith manipulator joint is hinged with the head end of the (i + 1) th manipulator joint through an ith hinge shaft, and n-i +1 i-stage active manipulator gears which are sequentially and coaxially stacked are matched with the tail end of the ith manipulator joint; n-i +1 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the (n-i + 1) th i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the (i + 1) th operation joint; the head end of the j +1 th operating joint is matched with n-j driven operating gears which are sequentially and coaxially stacked together, and the first j-stage driven operating gear to the n-j-th j-stage driven operating gear and the second j-stage transition operating gear to the n-j +1 th j-stage transition operating gear are respectively vertically meshed in a one-to-one corresponding mode; the head end of the nth operating joint is matched with an n-1 stage driven operating gear, and the n-1 stage driven operating gear is vertically meshed with a second n-1 stage transition operating gear; the head end of the first operating joint is connected with a hollow operating rotating shaft; n-i +1 i-level hollow operation rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith operation joint; one end of a pth primary hollow operation rotating shaft in the first operation joint is respectively connected with a pth primary driving operation gear; the first j + 1-stage driving operation gear from the tail end of the j +1 th operation joint to the (n-j) th j + 1-stage driving operation gear is in one-to-one corresponding coaxial connection with the first j + 1-stage driven operation gear from the head end of the j +1 th operation joint to the (n-j) th j-stage driven operation gear through a first j + 1-stage hollow operation rotating shaft to an n-j + 1-stage hollow operation rotating shaft in the j +1 th operation joint respectively; an operation rotating rod which is coaxially connected with an n-1 stage driven operation gear at the head end of the nth operation joint is rotatably matched in the nth operation joint; the operation rotating rod is connected with the handheld part; a fourth position sensor to an n +4 th position sensor are fixed in the third mechanical arm operation joint; the head end of the first operating joint is rotatably fixed on the third mechanical arm operating joint through a hollow operating rotating shaft; the hollow operation rotating shaft and the p-th primary hollow operation rotating shaft are both connected with an external force feedback device; the external force feedback device comprises an external force feedback turbine, an external force feedback worm, an external force feedback transmission shaft, an external force feedback shaft sleeve, an external force feedback spring, an external force feedback pressure transmission plate, an external force feedback pressure sensor, an external force feedback limiting plate, an external force feedback coupler and an external force feedback motor; the external force feedback worm is meshed with the external force feedback turbine; the external force feedback worm is slidably sleeved on the external force feedback transmission shaft and cannot rotate relative to the external force feedback transmission shaft; one end of the external force feedback transmission shaft sequentially passes through the external force feedback shaft sleeve, the external force feedback spring, the external force feedback pressure transmission plate and the external force feedback limiting plate and is connected with an output shaft of the external force feedback motor through the external force feedback coupler; the other end of the external force feedback transmission shaft sequentially penetrates through the external force feedback shaft sleeve, the external force feedback spring, the external force feedback pressure transmission plate and the external force feedback limiting plate; the external force feedback shaft sleeve and the external force feedback pressure transmission plate can slide along the axial direction of the external force feedback transmission shaft; an external force feedback pressure sensor is arranged between the external force feedback limiting plate and the external force feedback pressure transmission plate; the external force feedback spring presses the external force feedback shaft sleeve to the shaft end of the external force feedback worm, and presses the external force feedback pressure transmission plate to the external force feedback pressure sensor; the external force feedback turbines of the external force feedback devices are respectively sleeved on the hollow operation rotating shaft and the pth first-stage hollow operation rotating shaft; each external force feedback motor is fixed on the third mechanical arm operation joint; each external force feedback shaft sleeve can rotate and slide in the third mechanical arm operation joint; two external force feedback limiting plates at two ends of each external force feedback transmission shaft are fixed on the third mechanical arm operation joint; the measured values of the first position sensor to the n +4 th position sensor are transmitted to the controller; the measured values of the external force feedback pressure sensors are all transmitted to the controller; and each external force feedback motor is controlled by the controller.

The execution rotating rod is connected with the surgical forceps; the opening and closing of the surgical forceps are controlled by a pull rope; the driving end of the execution arm is also provided with a pull rope winding motor; the output shaft of the stay cord winding motor is coaxially connected with the winding disc through an external force detection device; the action of the pull rope winding motor is controlled by the controller, and the measured value of the external force detection pressure sensor is transmitted to the controller; one end of the pull rope is connected with the surgical forceps, and the other end of the pull rope is fixed on the winding disc; the handheld part is provided with an opening and closing control button; the opening and closing control button is used for controlling the action of the pull rope winding motor.

The external force feedback device also comprises an external force feedback limiting plate adjusting plate; the external force feedback limiting plates far away from the external force feedback motor are fixed on the third mechanical arm operation joint through external force feedback limiting plate adjusting plates; the axial position of the external force feedback limiting plate far away from the external force feedback motor along each external force feedback transmission shaft can be adjusted by adjusting the external force feedback limiting plate adjusting plate.

The section of the external force feedback transmission shaft can be machined into a polygon, and the inside of the external force feedback worm shaft is also machined into a matched polygon.

The actuating arm driving end can be divided into an actuating replacement part and an actuating fixing part; each executing motor is fixed on the executing fixing part; the execution arm is connected with the execution replacement part; the execution replacing part and the execution fixing part are detachably connected.

The operating part also comprises an electric lifting platform, an elbow supporting platform and a foot switch, and the electric lifting platform is fixed on the operating part fixing seat; the elbow supporting table is fixed on the electric lifting table; the foot switch is used for controlling the lifting of the electric lifting platform.

The lower end of the execution part fixing seat and the lower end of the operation part fixing seat are both provided with movable trundles.

The device also comprises a power supply cabinet; the power supply cabinet provides power for the execution part, the operation part and the controller; the movable trundles are arranged at the lower end of the power cabinet; an auxiliary display is placed on the power cabinet.

The utility model has the advantages that: the utility model can complete the laparoscopic surgery by obtaining the action of the operation part through the controller and controlling the action of the execution part according to the action of the operation part, and the execution part can completely imitate the action of the operation part, so that the utility model can be more easily learned and operated; the external force feedback device of the utility model can make the hand feel certain resistance when the operator operates, enhance the operation experience and effectively prevent the misoperation of the operator; the utility model controls the external force feedback device to provide corresponding force feedback for the hand of the operator according to the measured value of the external force detection device, thereby enhancing the experience feeling of the operation of the operator and the accuracy of the operation; the execution replacement part and the execution fixing part of the execution arm driving end of the utility model are separately connected; therefore, the execution replacement part and the execution arm connected with the execution replacement part can be replaced, cross infection is prevented, and the replacement cost of the mechanical arm is greatly reduced.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the operation part of the present invention.

Fig. 3 is a schematic view of the structure of the operation arm of the present invention.

Fig. 4 is a partial exploded view of fig. 3.

Fig. 5 is a partial exploded view of fig. 3.

Fig. 6 is the schematic view of the internal structure of the third mechanical arm operation joint of the present invention.

Fig. 7 is an exploded view of the manipulator arm of the present invention.

Fig. 8 is a cross-sectional view of the manipulator arm of the present invention.

Fig. 9 is a schematic view of the structure of the mechanical arm of the present invention.

Fig. 10 is a schematic view of the structure of the telescopic arm of the present invention.

Fig. 11 is a schematic view of the assembly structure of the arm of the present invention.

Fig. 12 is a schematic view of the separation structure of the arm of the present invention.

Fig. 13 is an exploded view of the actuator arm of the present invention.

Fig. 14 is a cross-sectional view of the actuator arm of the present invention.

Fig. 15 is an exploded view of the external force detecting device of the present invention.

Figure 16 is a cross-sectional view of the actuating arm drive end of the present invention.

Detailed Description

The embodiments of the present invention are described in detail below to make the advantages and features of the present invention easier to understand by those skilled in the art, thereby making more clear and definite definitions of the protection scope of the present invention.

Example 1

Referring to fig. 1 to 16, a single-port multi-arm laparoscopic surgical robot system includes an performing part 1, an operating part 2, and a controller; the execution part 1 comprises an execution part fixing seat 11, a mechanical arm 12, a telescopic arm 13 and a mechanical holding arm 14; the mechanical arm 12 is fixed on the execution part fixing seat 11; at least two telescopic arms 13 are fixed at the tail end of the mechanical arm 12; the fixed end 131 of the telescopic arm 13 is fixed at the tail end of the mechanical arm 12; the mechanical holding arm 14 is fixed at the telescopic end 132 of the telescopic arm 13, so that each telescopic arm 13 controls one mechanical holding arm 14, and the integral telescopic control of the mechanical holding arm 14 can be realized; the end of the arm 14 is used to attach a surgical instrument such as forceps 5, a camera or an energy meter. The end of the robotic arm 12 has at least four degrees of freedom of translational movement along the plane X axis, translational movement along the plane Y axis, rotational movement about the plane X axis, and rotational movement about the plane Y axis. The telescopic end 132 of the telescopic arm 13 is movable along the length direction of the telescopic arm 13, and a synchronous belt electric cylinder or a ball screw electric cylinder may be used. The motions of the robot arm 12 and the telescopic arm 13 are controlled by a controller. The hand-held arm 14 includes an actuator arm 141 and an actuator arm driving end 142; the actuator arms 141 may all pass through the same sleeve 15. The execution arm 141 is used for directly controlling the surgical instrument to perform multi-axis movement, wherein the execution arm 141 comprises n execution joints A, and n is an integer greater than or equal to 3; the following description will be given by taking n equal to 4 as an example.

Referring to fig. 9, 13 and 14, the actuating arm 141 includes a first actuating joint A1, a second actuating joint a2, a third actuating joint A3, a second actuating joint a4, a first connecting shaft C, a second connecting shaft D, a third connecting shaft E, a first-stage hollow actuating rotating shaft a13 (a first-stage hollow actuating rotating shaft a131, a second-stage hollow actuating rotating shaft a132, a third-stage hollow actuating rotating shaft a133 and a fourth-stage hollow actuating rotating shaft a 134), a first-stage active actuating gear a11 (a first-stage active actuating gear a111, a second-stage active actuating gear a112, a third-stage active actuating gear a113 and a fourth-stage active actuating gear a 114), a first-stage transition actuating gear C1 (a first-stage transition actuating gear C11, a second-stage transition actuating gear C12, a third-stage transition actuating gear C13 and a fourth-stage transition actuating gear C14), and a third actuating gear C2, A primary driven executing gear A22 (a first primary driven executing gear A221, a second primary driven executing gear A222 and a third primary driven executing gear A223), a secondary hollow executing rotating shaft A23 (a first secondary hollow executing rotating shaft A231, a second secondary hollow executing rotating shaft A232 and a third secondary hollow executing rotating shaft A233), a secondary driving executing gear A21 (a first secondary driving executing gear A211, a second secondary driving executing gear A212 and a third secondary driving executing gear A213), a secondary transition executing gear D1 (a first secondary transition executing gear D11, a second secondary transition executing gear D12 and a third secondary transition executing gear D13), a secondary driven executing gear A32 (a first secondary driven executing gear A321 and a second secondary driven executing gear A322), a tertiary hollow executing rotating shaft A33 (a third tertiary hollow executing rotating shaft A331 and a third hollow executing rotating shaft A332) Three-stage driving executing gear a31 (first three-stage driving executing gear a311 and second three-stage driving executing gear a 312), three-stage transition executing gear E1 (first three-stage transition executing gear E11 and second three-stage transition executing gear E12), three-stage driven executing gear a42 and executing rotating rod a 41; in the embodiment of the chinese patent application document entitled "single-aperture manual direct-drive surgical robot system", which is published as 10, 22 and 2019, and published as CN110353810A, and is entitled "single-aperture manual direct-drive surgical robot system", regarding n =4, the connection manner between the components of the actuator arm is the same, and please refer to the above application document for the connection manner between the components of the actuator arm 141; the head end of the first executing joint A1 is connected with a hollow executing rotating shaft A14; the actuation rotating lever a41 is used to couple a surgical instrument.

Referring to fig. 11-16, five actuating motors are fixed at the actuating arm driving end 142, namely a first actuating motor 801, a second actuating motor 802, a third actuating motor 803, a fourth actuating motor 804 and a fifth actuating motor 805; the first to fifth actuators 801 to 805 are each connected to an external force detection device R.

The external force detection device R comprises an external force detection planetary gear train R1, an external force detection flange shaft sleeve R2, an external force detection limiting block R3 and an external force detection pressure sensor R4; the external force detection planetary gear train R1 comprises a small external force detection sun gear R11, a small external force detection planetary gear R12, a large external force detection sun gear R13 and a planet carrier R14; the flange end of the external force detection flange shaft sleeve R2 is fixed on the end surface of the external force detection large sun gear R13; two external force detection pressure transmission blocks R141 protruding outwards are oppositely arranged on the circumferential surface of the external force detection planet carrier R14; the external force detection limiting block R3 is provided with an internal sunken external force detection pressure sensor fixing groove R31; an external force detection pressure sensor R4 is fixed on both sides of the external force detection pressure sensor fixing groove R31; the external force detection pressure transmission block R141 is interposed between the two external force detection pressure sensors R4.

The output shaft of the first actuating motor 801 controls the rotation of a hollow actuating rotating shaft A14 through a first external force detection device R, wherein an external force detection small sun gear R11 is coaxially connected with the output shaft of the first actuating motor 801; the rotation of the external force detection flange shaft sleeve R2 drives the hollow execution rotating shaft A14 to rotate; the external force detection planet carrier R14 is relatively rotatably fixed on the first actuating motor 801; the external force detection stopper R3 is fixed to the first actuator motor 801. The output shaft of the second actuating motor 802 controls the rotation of the first primary hollow actuating rotating shaft A131 through a second external force detection device R, wherein the external force detection small sun gear R11 is coaxially connected with the output shaft of the second actuating motor 802; the rotation of the external force detection flange shaft sleeve R2 drives the first primary hollow execution rotating shaft A131 to rotate; the external force detection planet carrier R14 is relatively rotatably fixed on the second actuating motor 802; the external force detection limiting block R3 is relatively fixed to the second actuator motor 802. An output shaft of the third executing motor 803 controls the rotation of the second primary hollow executing rotating shaft A132 through a third external force detecting device R, wherein an external force detecting small sun gear R11 is coaxially connected with the output shaft of the third executing motor 803; the rotation of the external force detection flange shaft sleeve R2 drives the second first-stage hollow execution rotating shaft A132 to rotate; the external force detection planet carrier R14 is relatively rotatably fixed to the third actuator 803; the external force detection stopper R3 is fixed to the third actuator 803. An output shaft of the fourth actuating motor 804 controls the rotation of a third primary hollow actuating rotating shaft A133 through a fourth external force detection device R, wherein an external force detection small sun gear R11 is coaxially connected with the output shaft of the fourth actuating motor 804; the rotation of the external force detection flange shaft sleeve R2 drives the third first-stage hollow execution rotating shaft A133 to rotate; the external force detection planet carrier R14 is relatively rotatably fixed on the fourth actuating motor 804; the external force detection limiting block R3 is relatively fixed to the fourth actuator motor 804. The output shaft of the fifth executing motor 805 controls the rotation of the fourth primary hollow executing rotating shaft A134 through a fifth external force detecting device R, wherein an external force detecting small sun gear R11 is coaxially connected with the output shaft of the fifth executing motor 805; the rotation of the external force detection flange shaft sleeve R2 drives the fourth first-stage hollow execution rotating shaft A134 to rotate; the external force detection planet carrier R14 is relatively rotatably fixed to the fifth actuator 805; the external force detection stopper R3 is fixed to the fifth actuator 805.

The actuating arm drive end 142 is also provided with a pull cord winding motor 806; the output shaft of the pull rope winding motor 806 is coaxially connected with the winding disc 811 through a sixth external force detection device R, wherein the external force detection small sun gear R11 is coaxially connected with the output shaft of the pull rope winding motor 806; the external force detection flange shaft sleeve R2 is coaxially connected with the winding disc 811; the external force detection planet carrier R14 is relatively rotatably fixed to the cord winding motor 806; the external force detection stopper R3 is fixed relatively to the cord winding motor 806.

The actions of the first execution motor 801 to the fifth execution motor 805 and the pull rope winding motor 806 are controlled by a controller; the measured values of the external force detection pressure sensors R4 of the first to sixth external force detection devices R are transmitted to the controller.

The actuating arm driving end 142 can be divided into an actuating replacement part 1421 and an actuating fixing part 1422; the first to fifth execution motors 801 to 805 and the cord winding motor 806 are fixed to the execution fixture 1422; the actuator arm 141 and the actuator replacement part 1421 are connected; the execution replacement part 1421 and the execution fixing part 1422 are detachably connected; in this way, the execution replacement part 1421 and the execution arm 141 connected thereto can be replaced, cross infection is prevented, and the replacement cost of the robot arm 14 is greatly reduced.

It can be seen that the controller controls the operations of the robot arm 12, the telescopic arm 13, and the robot arm 14 of the execution part 1.

When the surgical instrument connected to the end of the arm 14 is the forceps 5 controlled by the pull rope 7; one end of the pull cord 7 is connected to the forceps 5, and the other end is fixed to the winding plate 811.

Referring to fig. 1 to 8, the operating portion 2 includes an operating arm 21, a display 22, an operating portion fixing base 23; the two operating arms 21 are respectively hinged and fixed on two sides of the operating part fixing seat 23; the display 22 is fixed to the operation portion fixing base 23. The operation arm 21 includes an operation arm fixing base 211, a first robot arm operation joint 212, a second robot arm operation joint 213, a third robot arm operation joint 214, a robot arm holding operation arm 215, and a hand-held portion 216; the operating arm fixing base 211 is hinged and fixed on the side surface of the operating part fixing base 23; a first mechanical arm operating joint 212 is rotatably fixed on the operating arm fixing seat 211, a second mechanical arm operating joint 213 is rotatably fixed on the first mechanical arm operating joint 212, and a third mechanical arm operating joint 214 is slidably fixed on the second mechanical arm operating joint 213; the arm operation arm 215 is rotatably fixed to the third arm operation joint 214; the hand-held portion 216 is rotatably fixed to the arm operation arm 215.

The first mechanical arm operating joint 212 is rotatably fixed on the operating arm fixing seat 211 through a first rotating shaft J1; a first position sensor Q1 and a first return spring T1 are fixed on the operating arm fixing seat 211; the first position sensor Q1 is an encoder, and is configured to detect a rotation angle of the first rotating shaft J1 relative to the operating arm fixing base 211, so as to obtain a rotation angle of the first mechanical arm operating joint 212 relative to the operating arm fixing base 211; the first return spring T1 is a torque spring, and the innermost coil of the first return spring T1 is connected to the first rotating shaft J1; for restoring the initial position when the first robot arm operating joint 212 is not operated.

The second arm operating joint 213 is rotatably fixed to the first arm operating joint 212 via a second rotation shaft J2; a second position sensor Q2 and a second return spring T2 are fixed to the first mechanical arm operating joint 212; the second position sensor Q2 is an encoder for detecting the rotation angle of the second rotation shaft J2 with respect to the first arm operating joint 212, and thereby obtaining the rotation angle of the second arm operating joint 213 with respect to the first arm operating joint 212; the second return spring T2 is a torque spring, and the innermost coil of the second return spring T2 is connected to the second rotating shaft J2; for restoring the initial position when the second robot arm operating joint 213 is not operated.

A third position sensor Q3 and a third return spring T3 are fixed to the third robot arm operating joint 214; the third position sensor Q3 is a distance measuring sensor for detecting the sliding distance of the third arm operating joint 214 with respect to the second arm operating joint 213; the third return spring T3 is a compression spring for returning the third arm operating joint 214 to the initial position when not operated.

Referring to fig. 7 to 8, the arm-holding manipulator 215 includes manipulator joints B (a first manipulator joint B1, a second manipulator joint B2, a third manipulator joint B3 and a fourth manipulator joint B4), a first hinge shaft F, a second hinge shaft G, a third hinge shaft H, a primary driving manipulator gear B11 (a first primary driving manipulator gear B111, a second primary driving manipulator gear B112, a third primary driving manipulator gear B113 and a fourth primary driving manipulator gear B114), a primary transitional manipulator gear F1 (a first primary transitional manipulator gear F11, a second primary transitional manipulator gear F12, a third primary transitional manipulator gear F13 and a fourth primary transitional manipulator gear F14), a primary driven manipulator gear B22 (a first primary driven manipulator gear B221, a second primary driven manipulator gear B222 and a third primary driven manipulator gear B223), a secondary hollow manipulator shaft B23 (a first secondary hollow manipulator shaft B231, A second secondary hollow operation rotating shaft B232 and a third secondary hollow operation rotating shaft B233), a secondary driving operation gear B21 (a first secondary driving operation gear B211, a second secondary driving operation gear B212 and a third secondary driving operation gear B213), a secondary transition operation gear G1 (a first secondary transition operation gear G11, a second secondary transition operation gear G12 and a third secondary transition operation gear G13), a secondary driven operation gear B32 (a first secondary driven operation gear B321 and a second secondary driven operation gear B322), a tertiary hollow operation rotating shaft B33 (a first tertiary hollow operation rotating shaft B331 and a second tertiary hollow operation rotating shaft B332), a tertiary driving operation gear B31 (a first tertiary driving operation gear B311 and a second tertiary driving operation gear B312), a tertiary transition operation gear H1 (a first tertiary transition operation gear H11 and a second tertiary transition operation gear H12), A tertiary driven operating gear B42 and an operating rotating lever B41; in the embodiment of the chinese patent application document having publication No. CN110353810A and entitled "a single-aperture manual direct-drive surgical robot system", regarding n =4, the connection manner between the components of the manipulator arm 215 is the same as the connection manner between the components of the manipulator arm when the publication No. n = 4; wherein the operation rotating lever B41 and the hand-held portion 216 are connected so as to rotate the operation rotating lever B41.

Referring to fig. 4 to 6, a fourth position sensor Q4, a fifth position sensor Q5, a sixth position sensor Q6, a seventh position sensor Q7 and an eighth position sensor Q8 are sequentially fixed in the third robot arm operating joint 214 in a direction approaching the first operating joint B1; of these, the fourth position sensor Q4 through the eighth position sensor Q8 are encoders.

The external force feedback device W comprises an external force feedback turbine W1, an external force feedback worm W2, an external force feedback transmission shaft W3, an external force feedback shaft sleeve W4, an external force feedback spring W5, an external force feedback pressure transmission plate W6, an external force feedback pressure sensor W7, an external force feedback limiting plate W8, an external force feedback coupler W9 and an external force feedback motor W11; the external force feedback worm W2 is meshed with the external force feedback worm wheel W1; the external force feedback worm W2 is slidably sleeved on the external force feedback transmission shaft W3, and the external force feedback worm W2 cannot rotate relative to the external force feedback transmission shaft W3; one end of the external force feedback transmission shaft W3 sequentially passes through the external force feedback shaft sleeve W4, the external force feedback spring W5, the external force feedback pressure transmission plate W6 and the external force feedback limiting plate W8 and is connected with an output shaft of an external force feedback motor W11 through an external force feedback coupler W9; the other end of the external force feedback transmission shaft W3 sequentially penetrates through the external force feedback shaft sleeve W4, the external force feedback spring W5, the external force feedback pressure transmission plate W6 and the external force feedback limiting plate W8; the external force feedback shaft sleeve W4 and the external force feedback pressure transmission plate W6 can slide along the axial direction of the external force feedback transmission shaft W3; an external force feedback pressure sensor W7 is arranged between the external force feedback limiting plate W8 and the external force feedback pressure transmission plate W6; the external force feedback spring W5 presses the external force feedback bushing W4 against the axial end of the external force feedback worm W2, and presses the external force feedback pressure transmission plate W6 against the external force feedback pressure sensor W7.

The head end of the first operating joint B1 is connected with a hollow operating rotating shaft B14, and the hollow operating rotating shaft B14 is rotatably fixed on the third mechanical arm operating joint 214; the fourth position sensor Q4 is used to detect the rotation angle of the hollow operation rotation shaft B14 relative to the third robot arm operation joint 214; the hollow operation rotating shaft B14 is connected with a first external force feedback device W; wherein

The external force feedback turbine W1 is sleeved on the hollow operation rotating shaft B14; four primary hollow operation rotating shafts B13 which are sequentially sleeved from outside to inside are rotatably matched in the first operation joint B1; one end of a first primary hollow operating rotating shaft B131 is connected with a first primary driving operating gear B111; the fifth position sensor Q5 is used for detecting the rotation angle of the first primary hollow operating rotating shaft B131 relative to the third mechanical arm operating joint 214; the first primary hollow operation rotating shaft B131 is connected with a second external force feedback device W; wherein, the external force feedback turbine W1 is sleeved on the first one-stage hollow operation rotating shaft B131; one end of a second primary hollow operating rotating shaft B132 is connected with a second primary driving operating gear B112; the sixth position sensor Q6 is used for detecting the rotation angle of the second primary hollow operating rotary shaft B132 relative to the third mechanical arm operating joint 214; the second primary hollow operation rotating shaft B132 is connected with a third external force feedback device W; wherein the external force feedback turbine W1 is sleeved on the second first-stage hollow operating rotating shaft B132; one end of a third primary hollow operating rotating shaft B133 is connected with a third primary driving operating gear B113; the seventh position sensor Q7 is used for detecting the rotation angle of the third primary hollow operating rotary shaft B133 relative to the third mechanical arm operating joint 214; the third primary hollow operation rotating shaft B133 is connected with a fourth external force feedback device W; wherein, the external force feedback turbine W1 is sleeved on the third first-stage hollow operation rotating shaft B133; one end of a fourth primary hollow operating rotating shaft B134 is connected with a fourth primary driving operating gear B114; the eighth position sensor Q8 is used for detecting the rotation angle of the fourth primary hollow operating rotating shaft B134 relative to the third mechanical arm operating joint 214; the fourth primary hollow operation rotating shaft B134 is connected with a fifth external force feedback device W; wherein, the external force feedback turbine W1 is sleeved on the fourth stage hollow operation rotating shaft B134; each external force feedback motor W11 is fixed to the third robot arm operation joint 214; each external force feedback shaft sleeve W4 can rotate and slide in the third mechanical arm operation joint 214; two external force feedback limiting plates W8 at two ends of each external force feedback transmission shaft W3 are fixed on the third mechanical arm operation joint 214.

Each external force feedback motor W11 is controlled by a controller; the measured values of the external force feedback pressure sensors W7 are transmitted to the controller.

Each external force feedback device W also comprises an external force feedback limiting plate adjusting plate W12; each external force feedback limiting plate W8 far away from the external force feedback motor W11 is fixed to the third robot arm operation joint 214 through an external force feedback limiting plate adjusting plate W12; the axial positions of the external force feedback limiting plates W8 far away from the external force feedback motor W11 along the external force feedback transmission shafts W3 can be adjusted by adjusting the external force feedback limiting plate adjusting plates W12;

each external force feedback transmission shaft W3 can be machined in a polygonal cross section and the axially inner portion of the corresponding external force feedback worm W2 can also be machined in a matched polygonal shape.

The working principle of the manipulator arm 215 of the manipulator arm: when an operator actively operates the manipulator arm operating arm 215 through the hand-held part, the actions of each operating joint B and the operating rotating rod B41 are transmitted to the hollow operating rotating shaft B14 and the first-stage hollow operating rotating shaft B131 to the fourth-stage hollow operating rotating shaft B134, and when the worm gear is used for transmission, if the worm gear actively rotates, and the worm gear has a self-locking function, so that the hollow operating rotating shaft B14 and the first-stage hollow operating rotating shaft B131 to the fourth-stage hollow operating rotating shaft B134 generate corresponding rotating trends; the following description takes the hollow operation rotating shaft B14 and the first external force feedback device W connected thereto as an example, after the hollow operation rotating shaft B14 generates a corresponding rotation trend, the external force feedback worm W2 slides along the axial direction of the external force feedback transmission shaft W3, the measured values of the external force feedback pressure sensors W7 on both sides change and are transmitted to the controller, and the controller can calculate the operation force received by the hollow operation rotating shaft B14 and transmit the operation force to the controller by combining the change values of the measured values of the external force feedback pressure sensors W7 with the transmission relationship, the posture of the arm 215 and the self weight of each component of the arm 215; only when the operating force applied to the hollow operating rotating shaft B14 is greater than or equal to the set value of the minimum hollow operating rotating shaft operating force and less than or equal to the set value of the maximum hollow operating rotating shaft operating force, the hollow operating rotating shaft B14 is operated, otherwise, the hollow operating rotating shaft B14 is not operated. Similarly, for each of the first-stage hollow operating rotating shafts B13, only when the operating force applied to each of the first-stage hollow operating rotating shafts B13 is greater than or equal to the operating force set value of the corresponding smallest first-stage hollow operating rotating shaft and less than or equal to the operating force set value of the corresponding largest first-stage hollow operating rotating shaft, each of the first-stage hollow operating rotating shafts B13 operates, otherwise, each of the first-stage hollow operating rotating shafts B13 does not operate. Therefore, the hands of the operator can feel certain resistance when the operator operates the device, and the operation is increased; when the operating force borne by the hollow operating rotating shaft B14 or each primary hollow operating rotating shaft B13 is overlarge, the controller does not act, and simultaneously gives an alarm to prompt that the operating force is abnormal, so that misoperation of an operator can be effectively prevented.

In addition, when the arm operation arm 215 is not operated, the initial position of each external force feedback motor W11, that is, the output shaft of each external force feedback motor W11 is returned to the initial angle, so that the arm operation arm 215 is returned to the initial position.

Operation-implementation working principle: the measurements from the first through eighth position sensors Q1 through Q8 are all transmitted to the controller; the controller obtains a rotation angle S1 of the first manipulator operation joint 212 relative to the operation arm fixing seat 211 through a measurement value of the first position sensor Q1, and further controls an X-axis rotation angle S1 of the tail end of the manipulator 12 around a specified coordinate system; the controller obtains a rotation angle S2 of the second robot arm operating joint 213 with respect to the first robot arm operating joint 212 from the measurement value of the second position sensor Q2, and controls a rotation angle S2 of the tip end of the robot arm 12 about the Y axis of the designated coordinate system; the controller obtains the sliding distance S3 of the third robot arm operating joint 214 relative to the second robot arm operating joint 213 through the measurement value of the third position sensor Q3, and then controls the movement distance S3 of the telescopic end 132 of the corresponding telescopic arm 13; the controller respectively obtains the rotation angles S4, S5, S6, S7 and S8 of the hollow operation rotating shaft B14, the first-stage hollow operation rotating shaft B131 to the fourth first-stage hollow operation rotating shaft B134 relative to the third mechanical arm operation joint 214 through the measurement values of the fourth position sensor Q4 to the eighth position sensor Q8; further, the output shafts of the first executive motor 801 to the fifth executive motor 805 are controlled to rotate by angles S4, S5, S6, S7 and S8 respectively, so that the hollow executive rotating shaft a14, the first one-level hollow executive rotating shaft a131 to the fourth one-level hollow executive rotating shaft a134 rotate by angles S4, S5, S6, S7 and S8 respectively; the execution part 1 acts in a manner completely imitating the action of the operation part 2, and the copying operation is realized.

External force detection-external force feedback theory of operation: the controller acquires the measured values of the external force detection pressure sensors R4 of the first to fifth external force detection devices R, and calculates the external force applied to each executing joint A and the executing rotating rod A41 of the executing arm 141 by combining the transmission relationship, the posture of the executing arm 141 and the self weight of each part of the executing arm 141, the controller controls the external force feedback motors W11 of the first external force feedback device W to the fifth external force feedback device W according to the calculated external force applied to each executing joint A and the executing rotating rod A41 of the executing arm 141, the corresponding operating joint B and the operating rotating rod B41 generate force corresponding to the external force applied to the corresponding executing joint A and the executing rotating rod A41 on the hand of the operator through the first external force feedback device W to the fifth external force feedback device W so as to realize external force feedback, thus the accuracy of the hand and the operation of the operator can be enhanced.

Referring to fig. 3 and 8, the hand-held portion 216 is provided with an opening/closing control button 2161, the operation of the button 2161 can be transmitted to the controller, and the controller controls the operation of the cord winding motor 806 according to the operation control of the button 2161, and further controls the rotation of a winding plate 811 connected to the output shaft of the cord winding motor 806, so that the opening/closing of the forceps 5 is controlled by the cord 7 wound on the winding plate 811.

Referring to fig. 1-2, the operation portion 2 further includes an electric elevating platform 24, an elbow support platform 25 and a foot switch 26, the electric elevating platform 24 is fixed on the operation portion fixing base 23; the elbow support platform 25 is fixed on the electric lifting platform 24; the elbow supporting table 25 is controlled by adjusting the lifting of the electric lifting table 24 so as to adapt to different operators and reduce the fatigue of the operators; the foot switch 26 is used to control the raising and lowering of the motorized lift table 24.

The lower ends of the execution part fixing base 11 and the operation part fixing base 23 are provided with movable casters 4, preferably horsewheels, so that the robotic system for multihole laparoscopic surgery is movable.

Also comprises a power supply cabinet 3; the power supply cabinet 3 supplies power to the execution part 1, the operation part 2 and the controller; the lower end of the power supply cabinet 3 is also provided with a movable caster 4, preferably a horse wheel; the porous laparoscopic surgery robot system has mobility and stronger adaptability, and does not need to specially modify a power supply and distribution system of an operating room; an auxiliary display 31 is placed on the power cabinet 3 for observation by an auxiliary operator.

When the utility model is used, after the mechanical arm 12 and the telescopic arm 13 are controlled by the controller to drive the mechanical arm 14 to a specified position, the control of the mechanical arm 12, the telescopic arm 13 and the mechanical arm 14 is realized by controlling each joint of the operation arm 21; when the number of the mechanical arms 14 is more than or equal to 3, the controller needs to be switched to realize that one operating arm 21 controls the actions of two or more telescopic arms 13 and the mechanical arms 14; when the controller is wirelessly connected with one of the executing part 1 or the operating part 2, the utility model discloses can realize remote operation, remote control.

The above embodiments and drawings are not intended to limit the form and style of the present invention, and any suitable changes or modifications made by those skilled in the art should not be construed as departing from the scope of the present invention.

Claims

1. A single-port multi-arm laparoscopic surgical robotic system includes an executing portion, an operating portion, and a controller; the device is characterized in that the execution part comprises an execution part fixing seat, a mechanical arm, a telescopic arm and a mechanical holding arm; the mechanical arm is fixed on the execution part fixing seat; at least two telescopic arms are fixed at the tail end of the mechanical arm; the fixed end of the telescopic arm is fixed at the tail end of the mechanical arm; the mechanical holding arm is fixed at the telescopic end of the telescopic arm; the tail end of the mechanical arm at least has four degrees of freedom of translation motion along a plane X axis, translation motion along a plane Y axis, rotation around the plane X axis and rotation around the plane Y axis; the telescopic end of the telescopic arm can move along the length direction of the telescopic arm; the actions of the mechanical arm and the telescopic arm are controlled by the controller; the mechanical arm comprises an execution arm and an execution arm driving end; each actuating arm can penetrate through the same sleeve;

the execution arm comprises n execution joints, wherein n is an integer greater than or equal to 3; i is an integer from 1 to n-1, j is an integer from 1 to n-2, p is an integer from 1 to n; the tail end of the ith execution joint is hinged with the head end of the (i + 1) th execution joint through an ith connecting shaft; the tail end of the ith execution joint is matched with n-i +1 i-stage driving execution gears which are sequentially and coaxially stacked together; n-i +1 i-stage transition executing gears are sleeved on the ith connecting shaft, the first i-stage transition executing gear to the (n-i + 1) th i-stage transition executing gear is vertically meshed with the first i-stage active executing gear to the (n-i + 1) th i-stage active executing gear in a one-to-one correspondence mode respectively, and the first i-stage transition executing gear is fixedly connected with the head end of the (i + 1) th executing joint; the head end of the j +1 th execution joint is matched with n-j driven execution gears which are coaxially overlapped in sequence, and the first j-stage driven execution gear to the n-j-th j-stage driven execution gear and the second j-stage transition execution gear to the n-j +1 th j-stage transition execution gear are vertically meshed in a one-to-one corresponding mode respectively; the head end of the nth executing joint is matched with an n-1-stage driven executing gear, and the n-1-stage driven executing gear is vertically meshed with a second n-1-stage transition executing gear; the head end of the first executing joint is connected with a hollow executing rotating shaft; n-i +1 i-level hollow execution rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith execution joint; one end of the pth one-level hollow execution rotating shaft in the first execution joint is respectively connected with the pth one-level active execution gear; the first j + 1-stage driving execution gear at the tail end of the j +1 th execution joint to the (n-j) th j + 1-stage driving execution gear are respectively and correspondingly and coaxially connected with the first j + 1-stage driven execution gear at the head end of the j +1 th execution joint to the (n-j) th j-stage driven execution gear through a first j + 1-stage hollow execution rotating shaft to an n-j + 1-stage hollow execution rotating shaft in the j +1 th execution joint; an executing rotating rod which is coaxially connected with an n-1 stage driven executing gear at the head end of the nth executing joint is rotatably matched in the nth executing joint and is connected with a surgical instrument;

the driving end of the execution arm is fixedly provided with n +1 execution motors; each actuating motor is connected with an external force detection device; the external force detection device comprises an external force detection planetary gear train, an external force detection flange shaft sleeve, an external force detection limiting block and an external force detection pressure sensor; the external force detection planetary gear train comprises a small external force detection sun gear, an external force detection planetary gear, a large external force detection sun gear and an external force detection planetary carrier; the flange end of the external force detection flange shaft sleeve is fixed on the end face of the external force detection large sun gear; two external force detection pressure transmission blocks which protrude outwards are oppositely arranged on the circumferential surface of the external force detection planet carrier; the external force detection limiting block is provided with an internal force detection pressure sensor fixing groove which is sunken inwards; the external force detection pressure sensor is fixed on both sides of the external force detection pressure sensor fixing groove; the external force detection pressure transmission block is clamped between the two external force detection pressure sensors;

the output shaft of the first executing motor controls the rotation of the hollow executing rotating shaft through a connected external force detection device; the output shafts of the second to the (n + 1) th execution motors respectively control the rotation of the first to the nth first-stage hollow execution rotating shafts through the connected external force detection devices; each external force detection planet carrier is respectively and rotatably fixed on each corresponding execution motor; each external force detection limiting block is respectively and relatively fixed on each execution motor;

the actions of the first executing motor to the (n + 1) th executing motor are controlled by the controller; the measured values of the external force detection pressure sensors of the external force detection devices are transmitted to the controller;

the operating part comprises an operating arm, a display and an operating part fixing seat; the two operating arms are respectively hinged and fixed on two sides of the operating part fixing seat; the display is fixed on the operation part fixing seat; the operating arm comprises an operating arm fixing seat, a first mechanical arm operating joint, a second mechanical arm operating joint, a third mechanical arm operating joint, a mechanical arm holding operating arm and a handheld part; the operating arm fixing seat is hinged and fixed on the side surface of the operating part fixing seat; the first mechanical arm operation joint is rotatably fixed on the operation arm fixing seat, the second mechanical arm operation joint is rotatably fixed on the first mechanical arm operation joint, and the third mechanical arm operation joint is slidably fixed on the second mechanical arm operation joint; the mechanical arm operating arm is rotatably fixed on a third mechanical arm operating joint; the handheld part is rotatably fixed on the manipulator arm; the first mechanical arm operating joint is rotatably fixed on the operating arm fixing seat through a first rotating shaft; a first position sensor and a first return spring are fixed on the operating arm fixing seat; the second mechanical arm operation joint is rotationally fixed on the first mechanical arm operation joint through a second rotating shaft; a second position sensor and a second return spring are fixed on the first mechanical arm operation joint; a third position sensor and a third return spring are fixed on the third mechanical arm operation joint;

the manipulator arm of the mechanical arm comprises n manipulator joints, wherein the tail end of the ith manipulator joint is hinged with the head end of the (i + 1) th manipulator joint through an ith hinge shaft, and n-i +1 i-stage active manipulator gears which are sequentially and coaxially stacked are matched with the tail end of the ith manipulator joint; n-i +1 i-stage transitional operation gears are sleeved on the ith articulated shaft, the first i-stage transitional operation gear to the (n-i + 1) th i-stage transitional operation gear is vertically meshed with the first i-stage driving operation gear to the (n-i + 1) th i-stage driving operation gear in a one-to-one corresponding mode respectively, and the first i-stage transitional operation gear is fixedly connected with the head end of the (i + 1) th operation joint; the head end of the j +1 th operating joint is matched with n-j driven operating gears which are sequentially and coaxially stacked together, and the first j-stage driven operating gear to the n-j-th j-stage driven operating gear and the second j-stage transition operating gear to the n-j +1 th j-stage transition operating gear are respectively vertically meshed in a one-to-one corresponding mode; the head end of the nth operating joint is matched with an n-1 stage driven operating gear, and the n-1 stage driven operating gear is vertically meshed with a second n-1 stage transition operating gear; the head end of the first operating joint is connected with a hollow operating rotating shaft; n-i +1 i-level hollow operation rotating shafts which are sequentially sleeved from outside to inside are rotatably matched in the ith operation joint; one end of a pth primary hollow operation rotating shaft in the first operation joint is respectively connected with a pth primary driving operation gear; the first j + 1-stage driving operation gear from the tail end of the j +1 th operation joint to the (n-j) th j + 1-stage driving operation gear is in one-to-one corresponding coaxial connection with the first j + 1-stage driven operation gear from the head end of the j +1 th operation joint to the (n-j) th j-stage driven operation gear through a first j + 1-stage hollow operation rotating shaft to an n-j + 1-stage hollow operation rotating shaft in the j +1 th operation joint respectively; an operation rotating rod which is coaxially connected with an n-1 stage driven operation gear at the head end of the nth operation joint is rotatably matched in the nth operation joint; the operation rotating rod is connected with the handheld part;

a fourth position sensor to an n +4 th position sensor are fixed in the third mechanical arm operation joint; the head end of the first operating joint is rotatably fixed on the third mechanical arm operating joint through a hollow operating rotating shaft;

the hollow operation rotating shaft and the p-th primary hollow operation rotating shaft are both connected with an external force feedback device; the external force feedback device comprises an external force feedback turbine, an external force feedback worm, an external force feedback transmission shaft, an external force feedback shaft sleeve, an external force feedback spring, an external force feedback pressure transmission plate, an external force feedback pressure sensor, an external force feedback limiting plate, an external force feedback coupler and an external force feedback motor; the external force feedback worm is meshed with the external force feedback turbine; the external force feedback worm is slidably sleeved on the external force feedback transmission shaft and cannot rotate relative to the external force feedback transmission shaft; one end of the external force feedback transmission shaft sequentially passes through the external force feedback shaft sleeve, the external force feedback spring, the external force feedback pressure transmission plate and the external force feedback limiting plate and is connected with an output shaft of the external force feedback motor through the external force feedback coupler; the other end of the external force feedback transmission shaft sequentially penetrates through the external force feedback shaft sleeve, the external force feedback spring, the external force feedback pressure transmission plate and the external force feedback limiting plate; the external force feedback shaft sleeve and the external force feedback pressure transmission plate can slide along the axial direction of the external force feedback transmission shaft; an external force feedback pressure sensor is arranged between the external force feedback limiting plate and the external force feedback pressure transmission plate; the external force feedback spring presses the external force feedback shaft sleeve to the shaft end of the external force feedback worm, and presses the external force feedback pressure transmission plate to the external force feedback pressure sensor;

the external force feedback turbines of the external force feedback devices are respectively sleeved on the hollow operation rotating shaft and the pth first-stage hollow operation rotating shaft; each external force feedback motor is fixed on the third mechanical arm operation joint; each external force feedback shaft sleeve can rotate and slide in the third mechanical arm operation joint; two external force feedback limiting plates at two ends of each external force feedback transmission shaft are fixed on the third mechanical arm operation joint;

the measured values of the first position sensor to the n +4 th position sensor are transmitted to the controller; the measured values of the external force feedback pressure sensors are all transmitted to the controller; and each external force feedback motor is controlled by the controller.

2. The single-port, multi-arm laparoscopic surgical robotic system of claim 1, wherein said actuation rotating shaft is connected to a surgical clamp; the opening and closing of the surgical forceps are controlled by a pull rope; the driving end of the execution arm is also provided with a pull rope winding motor; the output shaft of the stay cord winding motor is coaxially connected with the winding disc through an external force detection device; the action of the pull rope winding motor is controlled by the controller, and the measured value of the external force detection pressure sensor is transmitted to the controller; one end of the pull rope is connected with the surgical forceps, and the other end of the pull rope is fixed on the winding disc; the handheld part is provided with an opening and closing control button; the opening and closing control button is used for controlling the action of the pull rope winding motor.

3. The single-port multi-arm laparoscopic surgical robotic system of claim 1, wherein said external force feedback device further comprises an external force feedback limiting plate adjustment plate; the external force feedback limiting plates far away from the external force feedback motor are fixed on the third mechanical arm operation joint through external force feedback limiting plate adjusting plates; the axial position of the external force feedback limiting plate far away from the external force feedback motor along each external force feedback transmission shaft can be adjusted by adjusting the external force feedback limiting plate adjusting plate.

4. The single-hole multi-arm laparoscopic surgical robotic system according to claim 3, wherein said force feedback transmission shaft is polygonal in cross-section and force feedback worm shaft is also internally polygonal in shape.

5. The single-port multi-arm laparoscopic surgical robotic system of claim 1, wherein said actuating arm driving end is detachable into an actuating replacement part and an actuating fixing part; each executing motor is fixed on the executing fixing part; the execution arm is connected with the execution replacement part; the execution replacing part and the execution fixing part are detachably connected.

6. The single-port multi-arm laparoscopic surgical robotic system according to claim 1, wherein said operating portion further comprises an electric lift table, an elbow support table and a foot switch, said electric lift table being fixed to said operating portion fixing base; the elbow supporting table is fixed on the electric lifting table; the foot switch is used for controlling the lifting of the electric lifting platform.

7. The single-port multi-arm laparoscopic surgical robot system according to claim 6, wherein said lower end of said effector portion holder and said lower end of said operating portion holder are each provided with a movable caster.

8. The single-port, multi-arm laparoscopic surgical robotic system of claim 7, further comprising a power cabinet; the power supply cabinet provides power for the execution part, the operation part and the controller; the movable trundles are arranged at the lower end of the power cabinet; an auxiliary display is placed on the power cabinet.