CN208808649U - A mechanically decoupled single-hole surgical robot quick-change mechanism with moving joints - Google Patents

Abstract

Translated fromChinese

本实用新型公开了一种具有移动关节的机械解耦的单孔手术机器人快换机构，由第一关节驱动机构、第二关节驱动机构、第三关节驱动机构、第四关节驱动机构、第五关节驱动机构、第六关节驱动机构、第七关节驱动机构、第八关节驱动机构和底座壳体、底座外罩、连接件和锁紧机构等组成。手术器械快换机构采用机械解耦机构，完全解决了手术器械执行机构各关节摆转时产生的相互运动耦合问题；将机械解耦机构安装在底座上，可以简化手术器械执行机构的结构设计，有利于手术器械执行机构的量产。本实用新型的用于单孔手术机器人的具有移动关节的机械解耦的快换机构具有方便拆装、易于调整、定位准确、刚度较大、布局合理、小型化、轻量化的优点。

The utility model discloses a mechanically decoupled single-hole surgical robot quick-change mechanism with moving joints, comprising a first joint driving mechanism, a second joint driving mechanism, a third joint driving mechanism, a fourth joint driving mechanism, a fifth joint driving mechanism, The joint driving mechanism, the sixth joint driving mechanism, the seventh joint driving mechanism, the eighth joint driving mechanism and the base shell, the base cover, the connecting piece and the locking mechanism are composed. The quick-change mechanism for surgical instruments adopts a mechanical decoupling mechanism, which completely solves the problem of mutual motion coupling generated when each joint of the surgical instrument implementing mechanism swings; installing the mechanical decoupling mechanism on the base can simplify the structural design of the surgical instrument implementing mechanism. It is beneficial to the mass production of surgical instrument actuators. The quick-change mechanism with mechanical decoupling of moving joints for a single-hole surgical robot of the utility model has the advantages of convenient disassembly and assembly, easy adjustment, accurate positioning, high rigidity, reasonable layout, miniaturization and light weight.

Description

A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint

Technical field

The utility model relates to the Medical Devices in a kind of micro-wound surgical operation field, more particularly to one kind to have mobile closeThe mechanically decoupled single hole surgical robot quick replacement mechanism of section.

Background technique

20th century medical science is known as to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative,Minimally Invasive Surgery operation refers to that doctor is insinuated by elongated surgical instrument by the miniature incision of human body surface and carries out hand in vivoArt operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fastThe advantages that, reach curative effect identical with traditional open surgery.Manually operated Minimally Invasive Surgery instrument is passive operation form, generallyEnd only has a freedom of motion.Doctor, which applies to drive by finger, in surgical procedure realizes end apparatus movement, and according toThe various complex operations including suturing, knotting are smoothly completed by the kinematic dexterity of doctor's arm and wrist.But forFor assisting minimally-invasive surgery robot system, since the operation of surgical instrument is completed by robot, and system, robotSystem itself does not have the flexibility of people's operation.Therefore, the design of micro-wound operation robot Special surgical instrument is proposed higherRequirement.For adapt to Minimally Invasive Surgery requirement, the design of surgical instrument should meet small in size, flexible operation, it is various informative, be convenient forIt is installed with robot arm, has enough stiffness and strength, is suitable for medical environment requirement (such as repeatedly disinfection).Especially perform the operationInstrument should have more freedom degree to meet requirement on flexibility, just adapt to the complicated operations operation such as suture knotting.

In micro-wound operation robot surgical procedure, operation tool is the portion being uniquely in contact with human lesion tissuePoint, and the robot part of surgical procedure is directly executed, therefore, the performance of operation tool is that minimally-invasive surgery robot system is comprehensiveClose the key point of performance.For the requirement for adapting to modernization Minimally Invasive Surgery, the design of operation tool should meet delicate structure, operationFlexibly, various informative, be easily changed, medical environment etc. be suitble to require, especially operation tool should have more freedom degree with fullSufficient requirement on flexibility, and to be easily changed and just be able to achieve complicated surgical procedure.Therefore, the surgical device to match with operation toolThe performance of tool is also the important component of minimally-invasive surgery robot system comprehensive performance, and performance indicator not only affects operationThe use of tool also directly determines the design objective and layout type of main body system.In short, operation tool and fast replacing devicePerformance is to embody the key factor of surgical robot system overall performance level.

In the world, the existing more set model machines of minimally-invasive surgery robot system research field have reached commercial clinical application waterIt is flat, including da Vinci, Zeus, LAPROTEK system etc..Development by studying surgical robot system finds operation toolSystem is mainly made of tool portion and fast replacing device.The development trend of tool portion is by bar transmission, low degree-of-freedom Xiang SichuanDynamic, multiple degrees of freedom development, though structure increasingly simplifies, function becomes stronger and stronger；Fast replacing device is then gradually to tightGather type, integrated-type development, performance also become more and more efficiently, stablize.Two sets of existing commercialization micro-wound operation robots are allThe four-degree-of-freedom operation tool system being driven using silk, but there are still topology layout dispersion, shape rulers for these operation tool systemsThe disadvantages of very little larger, so operation tool system still has very big development potentiality.

Research and development in China, minimally invasive surgery single hole operating robot are still in infancy, especially to operation tool systemResearch compared with foreign technology there are also biggish gap, therefore, exploitation silk transmission, surgical instrument with degrees of freedom and matchThe more stable efficient fast replacing device of performance promotes related-art technology progress to be of great significance to filling the domestic gaps.It grindsStudy carefully exploitation and possesses the surgical instrument with degrees of freedom system of different silk driving forms and quick change mode for being promoted from existing systemChina has far reaching significance in the science of the scientific research field, technology status.

Utility model content

The purpose of the utility model is to overcome the deficiencies in the prior art, a kind of easy disassembly is provided, is easy to adjust, positioningAccurately, larger, the rationally distributed miniaturization of rigidity, light-weighted closing with mobile for minimally invasive surgery single hole operating robotThe mechanically decoupled single hole robot quick-changing mechanism of section, it can clamp operation tool auxiliary doctor and implement minimally invasive single hole operation behaviourMake.

The utility model provides that a kind of easy disassembly, to be easy to adjustment, accurate positioning, rigidity larger, rationally distributed smallType, the light-weighted mechanically decoupled single hole robot with linear joint for minimally invasive surgery single hole operating robot are fastIt changes planes structure, concrete scheme is as follows:

A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint, including a fixing seat,First, second, third, fourth, the five, the six, the 7th and the 8th joint driving mechanism is installed in the fixing seat；

First joint driving mechanism is mounted in a fixing seat, described second, third, the 4th close, the 5th,Six, the 7th and the 8th joint driving mechanism is mounted on the same pedestal, first joint driving mechanism also with it is describedPedestal is connected；The pedestal can be axial along one axis direction of arm section of surgical instrument executing agency relative to the fixing seatIt is mobile；And then realize the joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th and surgical instrumentExecuting agency is relative to the fixing seat being connected with first joint driving mechanism along the arm section one of surgical instrument executing agencyAxis direction axial movement；

The joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th is each by an interfaceClutch discs are connected with the surgical instrument executing agency；The second, third, fourth, fifth, the six, the 7th and the 8thJoint driving mechanism by driving member respectively correspond driving surgical instrument executing agency second, third, fourth, fifth, the 6th,The rotation of 7th and the 8th joint executing agency.

Further, the second joint driving mechanism includes a motor, and motor-driven gear axis rotation is describedGear shaft be connected with interface clutch discs corresponding thereto；

It is the third, the four, the 5th identical with the structure of the 6th joint driving mechanism, it respectively include a motor, it shouldThe rotation of motor driven sun wheel shaft, is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and smallSun gear is engaged with three planetary gears being mounted on planet carrier gear axis, three planetary gears and small sun gear external toothing, and threePlanetary gear and big sun gear internal messing, three planetary gears are evenly distributed with around sun wheel shaft axis, the planet carrier gear axis and withIts corresponding interface clutch discs is connected；

Described the 7th is identical with the structure of the 8th joint driving mechanism, includes respectively a motor, the motor driven is tooThe rotation of positive wheel shaft, is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and small sun gear and peaceThree planetary gears engagement on planet carrier, three planetary gears and small sun gear external toothing, three planetary gears and big sun gearInternal messing, three planetary gears are uniformly distributed around sun wheel shaft axis, the planet carrier and interface clutch discs phase corresponding theretoEven；

A transition gear is mounted between the second, third, fourth, fifth and the 6th joint driving mechanismAxis；A transition is separately installed between 6th and the 7th joint driving mechanism and the 8th joint driving mechanismGear shaft；Transition gear axle is fitted without between 7th and the 8th joint driving mechanism；

Transition between the gear shaft of the second joint driving mechanism and second, third described joint driving mechanismGear shaft external toothing, transition gear axle and the third joint drive between second, third described joint driving mechanismThe big sun gear external toothing of mechanism；

Between the planet carrier gear axis and the third, the 4th joint driving mechanism of the third joint driving mechanismTransition gear axle external toothing, transition gear axle between the third, the 4th joint driving mechanism and the described the 4th closesSave the big sun gear external toothing of driving mechanism；

Between the planet carrier gear axis and the four, the 5th joint driving mechanisms of 4th joint driving mechanismTransition gear axle external toothing, transition gear axle and the described the 5th between the four, the 5th joint driving mechanisms are closedSave the big sun gear external toothing of driving mechanism；

Between the planet carrier gear axis and the five, the 6th joint driving mechanisms of 5th joint driving mechanismTransition gear axle external toothing, transition gear axle and the described the 6th between the five, the 6th joint driving mechanisms are closedSave the big sun gear external toothing of driving mechanism；

Between the planet carrier gear axis and the six, the 7th joint driving mechanisms of 6th joint driving mechanismTransition gear axle external toothing, the transition gear axle between the six, the 7th joint driving mechanisms and describedThe big sun gear external toothing of 7th joint driving mechanism；

Between the planet carrier gear axis and the six, the 8th joint driving mechanisms of 6th joint driving mechanismThe transition gear axle external toothing, the transition gear axle between the six, the 8th joint driving mechanisms withThe big sun gear external toothing of 8th joint driving mechanism.

Further, the gear shaft both ends of the second joint driving mechanism are fixed by bearing axial restraint, bearingOn pedestal.

Further, the planet carrier gear axis one of the joint driving mechanism of the third, the four, the 5th and the 6thThree pin shafts are stretched out at end, and three pin shafts of planet carrier gear axis are inserted into respectively in the centre bore of three planetary gears, planet carrier gearAxis one end is by bearing axial restraint, and the planet carrier gear axis other end is by three planetary gear axial restraints, sun wheel shaft and bigSun gear both ends pass through bearing axial restraint respectively, and one of bearing is fixed in sun wheel shaft and big sun gear, and in addition twoA bearing is fixed on the base, and one end of planet carrier gear axis and interface clutch discs are formed and are interference fitted.

Further, three pin shafts are stretched out in described planet carrier one end of the 7th and the 8th joint driving mechanism,Three pin shafts of planet carrier are inserted into respectively in the centre bore of three planetary gears, and planet carrier one end passes through bearing axial restraint, planetThe frame other end passes through bearing axial restraint by three planetary gear axial restraints, sun wheel shaft and big sun gear both ends respectively,In a bearing be fixed in sun wheel shaft and big sun gear, other two bearing is fixed on the base, one end of planet carrier withInterface clutch discs form interference fit.

Further, between the second, third, fourth, fifth and the 6th joint driving mechanism and the described the 6thThe transition tooth installed between joint driving mechanism and the 7th joint driving mechanism and the 8th joint driving mechanismWheel shaft both ends are fixed on the base by bearing axial restraint, bearing.

Further, the joint driving mechanism of the third, the four, the five, the six, the 7th and the 8th is described small tooSun wheel is in " D " font with sun wheel shaft section, and " D " the shaped sections formation of small sun gear and sun wheel shaft is interference fitted, small tooSun wheel is circumferentially fixed by " D " shaped sections with sun wheel shaft.

Further, the second, third, fourth, fifth, the 6th joint driving mechanism are single-row on the pedestalIt is sequentially connected in series arrangement；7th joint driving mechanism and the 8th joint driving mechanism and the 6th joint driving mechanism are in the pedestalUpper parallel arrangement.

Further, the pedestal includes base housing and base outer cover, and the base housing is fixed equipped with twicePosition boss, base housing two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.

Further, there are two the base outer covers, it is mounted and fixed to the two sides of base housing respectively；Base outer coverGuide chute is designed above, and guide chute top is in " horn mouth " shape, to facilitate the installation of surgical instrument executing agency, pedestalGuide chute end and intermediate channel bottom are in " circular arc " shape sliding slot slot bottom of " circular arc " shape, guide chute end and middle part above outer coverOpening direction is vertical with guide chute axis direction, and the guide chute end of " circular arc " shape and intermediate channel bottom and surgical deviceThe fixed pin shaft of tool executing agency forms " interference " cooperation, to prevent the fixed pin shaft of surgical instrument executing agency from base outer coverIt " is skidded off " in guide chute end and intermediate channel bottom above, surgical instrument executing agency is caused " to separate " with quick-changing mechanism；

Further, surgical instrument executing agency can be installed to quick-changing mechanism along the guide chute above base outer coverOn；Length two stay bolt holes and base housing above of the design there are two stay bolt hole, above base outer cover on base outer coverThe long axially bored line of bolt hole is vertical, and base outer cover and base housing are adjusted when base outer cover being facilitated to be mounted and fixed on base housingRelative mounting positions.

Further, further include a retaining mechanism for being fixed to surgical instrument executing agency on pedestal；It is describedRetaining mechanism include two groups, every group includes locking hook, and one end that two lockings are linked up with are rotatably mounted on the same bottomOn seat outer cover, the locking hook other end is equipped with groove, and corresponding position is equipped with boss on surgical instrument executing agency shell, and locking is hungThe boss cooperation of corresponding position executes machine for fixation surgical instrument on groove and surgical instrument executing agency shell above hookStructure.

Further, first joint driving mechanism is by a ball screw framework or a telescopic rod or liquidThe elevating lever that pressure, cylinder drive drives its linear movement；As long as it is able to achieve the second joint driving mechanism, third jointDriving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6th joint driving mechanism, the 7th joint driving mechanismWith the 8th joint driving mechanism and surgical instrument executing agency relative to the fixation being connected with first joint driving mechanismSeat is moved axially along one axis direction of arm section.

The utility model has the beneficial effects that

A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility model, and it is existingTechnology is compared and is had the advantages that

1. a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility model is convenientIt dismounts, be easy to adjust, accurate positioning, rigidity is larger, rationally distributed, miniaturization, lightweight.

2. surgical instrument quick-changing mechanism using mechanically decoupled, completely solves each joint rotation of surgical instrument executing agencyThe mutual movement coupled problem generated.

3. by adjusting relative mounting location between base outer cover and base housing, leading above adjustable base outer coverTo relative mounting location between the interface clutch discs above sliding slot and base housing, so that surgical instrument executing agency M be made to installWhen on to quick-changing mechanism N, the interface clutch discs above surgical instrument executing agency M can be with the interface clutch above base housingDisk can cooperate just to be driven in place, and the interface clutch above surgical instrument executing agency M will not be caused because of interferenceDisk can not cooperate with the interface clutch discs above base housing.

4. being made into horn mouth at the top of the guide chute above tool apron outer cover, it is fit into surgical instrument executing agency M fastlyChange planes structure N when more convenient and quicker；Guide chute curve can guarantee that cutter driving disk slides naturally and be docked without interfering；Guide chute end and intermediate channel bottom use interference fit that can be accurately positioned surgical instrument executing agency M's and quick-changing mechanism NRelative mounting location.Surgical instrument executing agency M is fit into and removes from the front upper place quick-changing mechanism N, meets habit operation sideTo reducing installation and remove difficulty.

5. surgical instrument executing agency M can be accurately and reliably fixed to above quick-changing mechanism N by locked by hooks mechanism；?The locking that can be convenient and release surgical instrument executing agency M.

6. the interface clutch discs above quick-changing mechanism N use single-row arrangement, make surgical instrument executing agency M in submountsFixed point between the arm of force it is longer, be more advantageous in guarantee surgical instrument executing agency M submounts fixation.

7. interface clutch discs above quick-changing mechanism N use single-row arrangement, motor and interface clutch discs " coaxially arranged ", canWith by second joint driving mechanism, third joint driving mechanism, the 4th joint driving mechanism, the 5th joint driving mechanism, the 6thThe single-row arrangement of motor of joint driving mechanism, the 7th joint driving mechanism and the 8th joint driving mechanism reduces multiple quick changesA possibility that interfering when mechanism co-operating, space layout is reasonable.

8. not designing on surgical instrument executing agency M, in this way may be used the design of mechanically decoupled mechanism on quick-changing mechanism NTo simplify the structure design of surgical instrument executing agency M, be conducive to surgical instrument executing agency M mass production.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodimentOr attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is differentDetermine proportionally, is only to be illustratively described the utility model, drawings discussed below is only some in the utility modelEmbodiment is not limitation the utility model, for those of ordinary skill in the art, before not making the creative labor propertyIt puts, is also possible to obtain other drawings based on these drawings.

Fig. 1 is a kind of the double of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelHead class instrument decoupling-structure right side view.

Fig. 2 is a kind of the double of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelHead class instrument decoupling-structure schematic front view.

Fig. 3 is a kind of the double of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelHead class instrument decoupling-structure schematic top plan view.

Fig. 4 is a kind of list of the mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelHead class instrument decoupling-structure right side view.

Fig. 5 is a kind of list of the mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelHead class instrument decoupling-structure schematic front view.

Fig. 6 is a kind of mechanically decoupled single hole surgical robot quick replacement mechanism and device with linear joint of the utility modelThe assembly right side view of tool executing agency.

Fig. 7 is a kind of mechanically decoupled single hole surgical robot quick replacement mechanism and device with linear joint of the utility modelThe assembly schematic front view of tool executing agency.

Fig. 8 is a kind of mechanically decoupled single hole surgical robot quick replacement mechanism and device with linear joint of the utility modelThe assembly schematic top plan view of tool executing agency.

Fig. 9 is a kind of bottom of the mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelSeat cover structure schematic diagram.

Figure 10 is a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelTwo structure right side view of double end class instrument decoupling-structure embodiment.

Figure 11 is a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelTwo structure of the main view of double end class instrument decoupling-structure embodiment.

Figure 12 is a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelTwo structure right side view of single head class instrument decoupling-structure embodiment.

Figure 13 is a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint of the utility modelTwo structure of the main view of single head class instrument decoupling-structure embodiment.

Figure 14-Figure 16 is the partial enlarged view in Fig. 7.

Figure 17-Figure 18 is the partial enlarged view in Fig. 8.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility modelClear, complete description, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than allEmbodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premiseUnder every other embodiment obtained, fall within the protection scope of the utility model.

Specifically omit the explanation of label in the label below: 2_4~8_10 is represented: 2_4,3_10,4_10,5_10, 6_10,7_10,8_10；3_3~6_3 is represented: 3_3,4_3,5_3,6_3；3_3~8_3 is represented: 3_3,4_3,5_3,6_3,7_3,8_3；3_4~8_4 is represented: 3_4,4_4,5_4,6_4,7_4,8_4；What 3_10~6_10 was representedIt is: 3_10,4_10,5_10,6_10；3_6~3_8 is represented: 3_6,3_7,3_8；4_6~4_8 is represented: 4_6,4_7,4_8；5_6~5_8 is represented: 5_6,5_7,5_8；6_6~6_8 is represented: 6_6,6_7,6_8；7_6~7_8 is represented: 7_6,7_7,7_8；8_6~8_8 is represented: 8_6,8_7,8_8；2_3_1~5_6_1 is represented: 2_3_1,3_4_1,4_5_1,5_6_1；2_3_1~6_8_1 is represented: 2_3_1,3_4_1,4_5_1,5_6_1,6_7_1,6_8_1；2_3_2~6_8_3 is represented: 2_3_2,2_3_3,3_4_2,3_4_3,4_5_2,4_5_3,5_6_2,5_6_3,6_7_2,6_7_3、6_8_2、6_8_3。

Embodiment one

In conjunction with FIG. 1 to FIG. 3, Fig. 6~Fig. 9, Figure 14~Figure 18 illustrate present embodiment, it is described a kind of with linear jointMechanically decoupled single hole surgical robot quick replacement mechanism, including a fixing seat 1_1, and installed on the fixing seat 1_1The first joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,The composition such as five joint driving mechanisms 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8.

First joint driving mechanism 1 is connected by a ball screw framework 1_2 and fixing seat 1_1, describedSecond joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism the 5, the 6thJoint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 are mounted on the same pedestal 1_3, describedThe first joint driving mechanism 1 pass through the nut 1_2_1 of a ball screw framework 1_2 and the second joint driving mechanism2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6,Seven joint driving mechanisms 7 are connected with the pedestal 1_3 of the 8th joint driving mechanism 8；The second joint driving mechanism 2, thirdJoint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th jointThe pedestal 1_3 of driving mechanism 7 and the 8th joint driving mechanism 8 can be connected relative to first joint driving mechanism 1Fixing seat 1_1 along surgical instrument executing agency M one 9_2 axis direction of arm section move axially；And then realize described secondJoint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th jointDriving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 and surgical instrument executing agency M relative to it is describedThe first joint driving mechanism 1 it is connected fixing seat 1_1 it is axial along the one 9_2 axis direction of arm section of surgical instrument executing agency MIt is mobile；

First joint driving mechanism 1 drives second joint driving mechanism 2, third by ball screw framework 1_2Joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th jointDriving mechanism 7 and the 8th joint driving mechanism 8 and surgical instrument executing agency M relative to first joint driving mechanism1 connected fixing seat 1_1 is moved axially along the one 9_2 axis direction of arm section of surgical instrument executing agency M；

First joint driving mechanism 1, second joint driving mechanism 2, third joint driving mechanism 3, the 4th jointDriving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driveMechanism 8 respectively corresponds the movement for driving the first joint executing agency 9 of surgical instrument executing agency M, the second pass by wireropeSave executing agency 10, third joint executing agency 11, the 4th joint executing agency 12, the 5th joint executing agency the 13, the 6th passSave the rotation of executing agency 14, the 7th joint executing agency 15 and the 8th joint executing agency 16；

The second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th jointDriving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 8 are each by oneInterface clutch discs 2_4~8_10 is connected with the surgical instrument executing agency M；

The second joint driving mechanism 2 includes a motor 2_1, and motor 2_1 passes through shaft joint 2_2 and gear shaft2_3 is connected, and the gear shaft 2_3 is connected with interface clutch discs 2_4 corresponding thereto；

The third joint driving mechanism 3 includes a motor 3_1, and motor 3_1 passes through shaft joint 3_2 and sun gearAxis 3_3 is connected, be equipped on the sun wheel shaft 3_3 big sun gear 3_5 and small sun gear 3_4, big sun gear 3_5 andSmall sun gear 3_4 is engaged with three planetary gear 3_6~3_8 being mounted on planet carrier gear axis 3_9, and three planetary gear 3_6~3_8 and small sun gear 3_4 external toothing, three planetary gear 3_6~3_8 and big sun gear 3_5 internal messing, three planetary gear 3_6~3_8 is uniformly distributed around sun wheel shaft 3_3 axis, the planet carrier gear axis 3_9 and interface clutch discs 3_10 corresponding theretoIt is connected；

4th joint driving mechanism 4 includes a motor 4_1, and motor 4_1 passes through shaft joint 4_2 and sun gearAxis 4_3 is connected, be equipped on the sun wheel shaft 4_3 big sun gear 4_5 and small sun gear 4_4, big sun gear 4_5 andSmall sun gear 4_4 is engaged with three planetary gear 4_6~4_8 being mounted on planet carrier gear axis 4_9, and three planetary gear 4_6~4_8 and small sun gear 4_4 external toothing, three planetary gear 4_6~4_8 and big sun gear 4_5 internal messing, three planetary gear 4_6~4_8 is uniformly distributed around sun wheel shaft 4_3 axis, the planet carrier gear axis 4_9 and interface clutch discs 4_10 corresponding theretoIt is connected；

5th joint driving mechanism 5 includes a motor 5_1, and motor 5_1 passes through shaft joint 5_2 and sun gearAxis 5_3 is connected, be equipped on the sun wheel shaft 5_3 big sun gear 5_5 and small sun gear 5_4, big sun gear 5_5 andSmall sun gear 5_4 is engaged with three planetary gear 5_6~5_8 being mounted on planet carrier gear axis 5_9, and three planetary gear 5_6~5_8 and small sun gear 5_4 external toothing, three planetary gear 5_6~5_8 and big sun gear 5_5 internal messing, three planetary gear 5_6~5_8 is uniformly distributed around sun wheel shaft 5_3 axis, the planet carrier gear axis 5_9 and interface clutch discs 5_10 corresponding theretoIt is connected；

6th joint driving mechanism 6 includes a motor 6_1, and motor 6_1 passes through shaft joint 6_2 and sun gearAxis 6_3 is connected, be equipped on the sun wheel shaft 6_3 big sun gear 6_5 and small sun gear 6_4, big sun gear 6_5 andSmall sun gear 6_4 is engaged with three planetary gear 6_6~6_8 being mounted on planet carrier gear axis 6_9, and three planetary gear 6_6~6_8 and small sun gear 6_4 external toothing, three planetary gear 6_6~6_8 and big sun gear 6_5 internal messing, three planetary gear 6_6~6_8 is uniformly distributed around sun wheel shaft 6_3 axis, the planet carrier gear axis 6_9 and interface clutch discs 6_10 corresponding theretoIt is connected；

7th joint driving mechanism 7 includes a motor 7_1, which passes through shaft joint 7_2 and sun wheel shaft7_3 is connected, and big sun gear 7_5 and small sun gear 7_4, big sun gear 7_5 and small are equipped on the sun wheel shaft 7_3Sun gear 7_4 is engaged with three planetary gear 7_6~7_8 being mounted on planet carrier 7_8, three planetary gear 7_6~7_8 and small tooSun wheel 7_4 external toothing, three planetary gear 7_6~7_8 and big sun gear 7_5 internal messing, three planetary gear 7_6~7_8 are around tooPositive wheel shaft 7_3 axis is uniformly distributed, and the planet carrier 7_9 is connected with interface clutch discs 7_10 corresponding thereto；

8th joint driving mechanism 8 includes a motor 8_1, which passes through shaft joint 8_2 and sun wheel shaft8_3 is connected, and big sun gear 8_5 and small sun gear 8_4, big sun gear 8_5 and small are equipped on the sun wheel shaft 8_3Sun gear 8_4 is engaged with three planetary gear 8_6~8_8 being mounted on planet carrier 8_8, three planetary gear 8_6~8_8 and small tooSun wheel 8_4 external toothing, three planetary gear 8_6~8_8 and big sun gear 8_5 internal messing, three planetary gear 8_6~8_8 are around tooPositive wheel shaft 8_3 axis is uniformly distributed, and the planet carrier 8_9 is connected with interface clutch discs 8_10 corresponding thereto；

The second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th jointA transition gear axle 2_3_1~5_6_1 is mounted between driving mechanism 5 and the 6th joint driving mechanism 6；

6th joint driving mechanism 6 and the 7th joint driving mechanism 7 and the 8th joint driveTransition gear axle 6_7_1 and transition gear axle 6_8_1 is separately installed between mechanism 8；

Transition gear is fitted without between 7th joint driving mechanism 7 and the 8th joint driving mechanism 8Axis；

The gear shaft 2_3 of the second joint driving mechanism 2 and the second joint driving mechanism 2 and instituteThe transition gear axle 2_3_1 external toothing between the third joint driving mechanism 3 stated, the second joint driving mechanismThe transition gear axle 2_3_1 and the third joint driving mechanism between 2 and the third joint driving mechanism 33 big sun gear 3_5 external toothing；

The planet carrier gear axis 3_9 of the third joint driving mechanism 3 and the third joint drive machineThe transition gear axle 3_4_1 external toothing between structure 3 and the 4th joint driving mechanism 4, the third jointThe transition gear axle 3_4_1 and the 4th joint between driving mechanism 3 and the 4th joint driving mechanism 4The big sun gear 4_5 external toothing of driving mechanism 4；

The planet carrier gear axis 4_9 of 4th joint driving mechanism 4 and the 4th joint drive machineThe transition gear axle 4_5_1 external toothing between structure 4 and the 5th joint driving mechanism 5, the 4th jointThe transition gear axle 4_5_1 and the 5th joint between driving mechanism 4 and the 5th joint driving mechanism 5The big sun gear 5_5 external toothing of driving mechanism 5；

The planet carrier gear axis 5_9 of 5th joint driving mechanism 5 and the 5th joint drive machineThe transition gear axle 5_6_1 external toothing between structure 5 and the 6th joint driving mechanism 6, the 5th jointThe transition gear axle 5_6_1 and the 6th joint between driving mechanism 5 and the 6th joint driving mechanism 6The big sun gear 6_5 external toothing of driving mechanism 6；

The planet carrier gear axis 6_9 of 6th joint driving mechanism 6 and the 6th joint drive machineThe transition gear axle 6_7_1 external toothing between structure 6 and the 7th joint driving mechanism 7, the 6th jointThe transition gear axle 6_7_1 and the 7th joint between driving mechanism 6 and the 7th joint driving mechanism 7The big sun gear 7_5 external toothing of driving mechanism 7；

The planet carrier gear axis 6_9 of 6th joint driving mechanism 6 and the 6th joint drive machineThe transition gear axle 6_8_1 external toothing between structure 6 and the 8th joint driving mechanism 8, the 6th jointThe transition gear axle 6_8_1 and the 8th joint between driving mechanism 6 and the 8th joint driving mechanism 8The big sun gear 8_5 external toothing of driving mechanism 8；

Further, the both ends gear shaft 2_3 of the second joint driving mechanism 2 pass through bearing 2_5 and bearing 2_6 axisTo fixation, bearing 2_5 and bearing 2_6 are fixed on pedestal 1_3.

Further, three pins are stretched out in described planet carrier gear one end axis 3_9 of the third joint driving mechanism 3Three pin shafts of axis, planet carrier gear axis 3_9 are inserted into respectively in the centre bore of three planetary gear 3_6~3_8, planet carrier gear axisBy bearing 3_11 axial restraint, the planet carrier gear axis 3_9 other end is axial by three planetary gear 3_6~3_8 for the one end 3_9Fixed, sun wheel shaft 3_3 and the both ends big sun gear 3_5 pass through bearing 3_12 and bearing 3_13 axial restraint, bearing 3_12 respectivelyIt is fixed on sun wheel shaft 3_3 and big sun gear 3_5, bearing 3_11 and bearing 3_13 are fixed on pedestal 1_3, planet carrier gearOne end of axis 3_9 and interface clutch discs 3_10, which are formed, to be interference fitted.

Further, three pins are stretched out in described planet carrier gear one end axis 4_9 of the 4th joint driving mechanism 4Three pin shafts of axis, planet carrier gear axis 4_9 are inserted into respectively in the centre bore of three planetary gear 4_6~4_8, planet carrier gear axisBy bearing 4_11 axial restraint, the planet carrier gear axis 4_9 other end is axial by three planetary gear 4_6~4_8 for the one end 4_9Fixed, sun wheel shaft 4_3 and the both ends big sun gear 4_5 pass through bearing 4_12 and bearing 4_13 axial restraint, bearing 4_12 respectivelyIt is fixed on sun wheel shaft 4_3 and big sun gear 4_5, bearing 4_11 and bearing 4_13 are fixed on pedestal 1_3, planet carrier gearOne end of axis 4_9 and interface clutch discs 4_10, which are formed, to be interference fitted.

Further, three pins are stretched out in described planet carrier gear one end axis 5_9 of the 5th joint driving mechanism 5Three pin shafts of axis, planet carrier gear axis 5_9 are inserted into respectively in the centre bore of three planetary gear 5_6~5_8, planet carrier gear axisBy bearing 5_11 axial restraint, the planet carrier gear axis 5_9 other end is axial by three planetary gear 5_6~5_8 for the one end 5_9Fixed, sun wheel shaft 5_3 and the both ends big sun gear 5_5 pass through bearing 5_12 and bearing 5_13 axial restraint, bearing 5_12 respectivelyIt is fixed on sun wheel shaft 5_3 and big sun gear 5_5, bearing 5_11 and bearing 5_13 are fixed on pedestal 1_3, planet carrier gearOne end of axis 5_9 and interface clutch discs 5_10, which are formed, to be interference fitted.

Further, three pins are stretched out in described planet carrier gear one end axis 6_9 of the 6th joint driving mechanism 6Three pin shafts of axis, planet carrier gear axis 6_9 are inserted into respectively in the centre bore of three planetary gear 6_6~6_8, planet carrier gear axisBy bearing 6_11 axial restraint, the planet carrier gear axis 6_9 other end is axial by three planetary gear 6_6~6_8 for the one end 6_9Fixed, sun wheel shaft 6_3 and the both ends big sun gear 6_5 pass through bearing 6_12 and bearing 6_13 axial restraint, bearing 6_12 respectivelyIt is fixed on sun wheel shaft 6_3 and big sun gear 6_5, bearing 6_11 and bearing 6_13 are fixed on pedestal 1_3, planet carrier gearOne end of axis 6_9 and interface clutch discs 6_10, which are formed, to be interference fitted.

Further, three pin shafts, row are stretched out in described one end planet carrier 7_9 of the 7th joint driving mechanism 7Three pin shafts of carrier 7_9 are inserted into respectively in the centre bore of three planetary gear 7_6~7_8, and the one end planet carrier 7_9 passes through bearing7_11 axial restraint, the planet carrier 7_9 other end is by three planetary gear 7_6~7_8 axial restraints, sun wheel shaft 7_3 and big tooThe sun wheel both ends 7_5 pass through bearing 7_12 and bearing 7_13 axial restraint respectively, and bearing 7_12 is fixed on sun wheel shaft 7_3 and bigOn sun gear 7_5, bearing 7_11 and bearing 7_13 are fixed on pedestal 1_3, one end of planet carrier gear axis 7_9 and interface clutchDisk 7_10 forms interference fit.

Further, three pin shafts, row are stretched out in described one end planet carrier 8_9 of the 8th joint driving mechanism 8Three pin shafts of carrier 8_9 are inserted into respectively in the centre bore of three planetary gear 8_6~8_8, and the one end planet carrier 8_9 passes through bearing 8_11 axial restraints, the planet carrier 8_9 other end pass through three planetary gear 8_6~8_8 axial restraints, sun wheel shaft 8_3 and the big sunThe wheel both ends 8_5 pass through bearing 8_12 and bearing 8_13 axial restraint respectively, and bearing 8_12 is fixed on sun wheel shaft 8_3 and big tooOn sun wheel 8_5, bearing 8_11 and bearing 8_13 are fixed on pedestal 1_3, one end of planet carrier gear axis 8_9 and interface clutch discs8_10 forms interference fit.

Further, the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,Between 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 and described 6th joint driving mechanism 6 and the described the 7thThe both ends transition gear axle 2_3_1~6_8_1 installed between joint driving mechanism 7 and the 8th joint driving mechanism 8 pointNot Tong Guo bearing 2_3_2~6_8_3 axial restraint, bearing 2_3_2~6_8_3 is fixed on pedestal 1_3.

Further, the third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5,Small sun gear 3_4~the 8_ of 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th joint driving mechanism 84 with the section sun wheel shaft 3_3~8_3 be in " D " font, " D " font of small sun gear 3_4~8_4 and sun wheel shaft 3_3~8_3Section forms interference fit, and small sun gear 3_4~8_4 and sun wheel shaft 3_3~8_3 is circumferentially fixed by " D " shaped sections.

Further, the second joint driving mechanism 2, third joint driving mechanism 3, the 4th joint driving mechanism 4,5th joint driving mechanism 5, the 6th joint driving mechanism 6 are single-row on the pedestal 1_3 to be sequentially connected in series arrangement；7th jointDriving mechanism 7 and the 8th joint driving mechanism 8 are arranged in parallel on the pedestal 1_3 with the 6th joint driving mechanism 6.

Further, the pedestal 1_3 includes base housing 1_3_1 and base outer cover 1_3_2, the base housing1_3_1 is equipped with twice positioning convex platform, and the two sides base housing 1_3_1 are respectively equipped with two stay bolt holes, the stay boltHole is connected with base outer cover 1_3_2.

Further, there are two the base outer cover 1_3_2, it is mounted and fixed to the two of base housing 1_3_1 respectivelySide；Guide chute is designed above base outer cover 1_3_2, guide chute top is in " horn mouth " shape, to facilitate surgical instrument to holdThe installation of row mechanism M, guide chute end and intermediate channel bottom are in " circular arc " shape, guide chute end above base outer cover 1_3_2And " circular arc " shape sliding slot slot bottom opening direction at middle part is vertical with guide chute axis direction, and the guiding for being somebody's turn to do " circular arc " shape is slidingThe fixed pin shaft 1_3_4 of slot end and intermediate channel bottom and surgical instrument executing agency M form " interference " cooperation, to prevent surgical deviceThe fixed pin shaft 1_3_4 of tool executing agency M is " sliding from the guide chute end and intermediate channel bottom above base outer cover 1_3_2Out ", surgical instrument executing agency M is caused " to separate " with quick-changing mechanism N；

Further, surgical instrument executing agency M can be installed to quick change along the guide chute above base outer cover 1_3_2On mechanism N；Design is there are two stay bolt hole on base outer cover 1_3_2, two stay bolt holes above base outer cover 1_3_2 withThe long axially bored line in stay bolt hole above base housing 1_3_1 is vertical, and base outer cover 1_3_2 is facilitated to be mounted and fixed to base housingThe relative mounting positions of base outer cover 1_3_2 and base housing 1_3_1 are adjusted when on 1_3_1.

Further, the quick-changing mechanism N pedestal 1_3 for minimally invasive surgery single hole operating robot, further includes oneA retaining mechanism 1_3_3 for surgical instrument executing agency M to be fixed on pedestal 1_3；The retaining mechanism 1_3_3 packetTwo groups are included, every group includes a locking hook, respectively locking hook 1_3_3_1 and locking hook 1_3_3_2, locking hookOne end of 1_3_3_1 and locking hook 1_3_3_2 are rotatably mounted on the same base outer cover 1_3_2, locking hook 1_3_3_1It is equipped with groove with the locking hook 1_3_3_2 other end, corresponding position is equipped with boss, locking on surgical instrument executing agency M shellThe boss cooperation of groove and corresponding position on surgical instrument executing agency M shell above hook 1_3_3_1,1_3_3_2 is used forFixation surgical instrument executing agency M.

A ball screw framework 1_2 can be used in first joint driving mechanism 1, is also possible to one and stretchesBar, is also possible to the elevating lever of the drivings such as hydraulic, cylinder, as long as being able to achieve the second joint driving mechanism 2, third is closedSave driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the drive of the 7th jointMotivation structure 7 and the 8th joint driving mechanism 8 and surgical instrument executing agency M relative to first joint driving mechanism 1Connected fixing seat 1_1 is moved axially along the one 9_2 axis direction of arm section of surgical instrument executing agency M.

Working principle of the utility model is:

First joint driving mechanism 1 realizes that axial advancement is moved along the axis of one 9_2 of arm section of surgical instrument executing agency MDynamic: the motor 1_4 on the first joint driving mechanism 1 of starting rotates clockwise its output shaft, drives the first joint driving mechanismShaft coupling 1_5, lead screw 1_2_2 on 1 are rotated clockwise, and drive the nut 1_2_1 on the first joint driving mechanism 1 to realize axialAdvance and move, the nut 1_2_1 on the first joint driving mechanism 1 drives second joint driving mechanism 2, third joint driving mechanism3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6,7 and of the 7th joint driving mechanismThe pedestal 1_3 of 8th joint driving mechanism 8 is relative to the fixing seat 1_1 being connected with first joint driving mechanism 1 along armThe axis direction of one 9_2 of section, which advances, to be moved；And then it realizes and drives second joint driving mechanism 2, third joint driving mechanism 3, theFour joint driving mechanisms 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th closeSave arm section of the driving mechanism 8 relative to the fixing seat 1_1 being connected with the first joint driving mechanism 1 along surgical instrument executing agency MThe axis of one 9_2 realizes that axial advancement is mobile.

First joint driving mechanism 1 is retired after the axis realization axial direction of one 9_2 of arm section of surgical instrument executing agency MDynamic: the motor 1_4 on the first joint driving mechanism 1 of starting rotates counterclockwise its output shaft, drives the first joint driving mechanismShaft coupling 1_5, lead screw 1_2_2 on 1 are rotated counterclockwise, and drive the nut 1_2_1 on the first joint driving mechanism 1 to realize axialMovement is retreated, the nut 1_2_1 on the first joint driving mechanism 1 drives second joint driving mechanism 2, third joint driving mechanism3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6,7 and of the 7th joint driving mechanismThe pedestal 1_3 of 8th joint driving mechanism 8 is relative to the fixing seat 1_1 being connected with first joint driving mechanism 1 along armThe axis direction of one 9_2 of section retreats movement；And then it realizes and drives second joint driving mechanism 2, third joint driving mechanism 3, theFour joint driving mechanisms 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6, the 7th joint driving mechanism 7 and the 8th closeSave arm section of the driving mechanism 8 relative to the fixing seat 1_1 being connected with the first joint driving mechanism 1 along surgical instrument executing agency MThe axis of one 9_2 realizes that axial retreat is moved.

The axis realization around gear shaft 2_3 of the interface clutch discs 2_4 of second joint driving mechanism 2 rotates clockwise: openingMotor 2_1 in dynamic second joint driving mechanism 2, rotates clockwise its output shaft, drives in second joint driving mechanism 2Shaft coupling 2_2, gear shaft 2_3 are rotated clockwise, and drive the interface clutch discs 2_4 in second joint driving mechanism 2 around gear shaftThe axis both clockwise of 2_3 rotates.Two 10_2 of arm section of surgical instrument executing agency M is actively put clockwise relative to one 9_2 of arm sectionThen two 10_2 of arm section is made to change with one 9_2 relative angle of arm section.

The gear shaft 2_3 of second joint driving mechanism 2 and second joint driving mechanism 2 and third joint driving mechanism 3 itBetween transition gear axle 2_3_1 external toothing, the transition gear between second joint driving mechanism 2 and third joint driving mechanism 3The big sun gear 3_5 external toothing of axis 2_3_1 and third joint driving mechanism 3；At this point, the gear shaft of second joint driving mechanism 22_3 drives the transition gear axle 2_3_1 between second joint driving mechanism 2 and third joint driving mechanism 3 to rotate counterclockwise；TheTransition gear axle 2_3_1 between two joint driving mechanisms 2 and third joint driving mechanism 3 drives third joint driving mechanism 3On the external gear of big sun gear 3_5 rotate clockwise；Three planetary gear 3_6~3_8 on third joint driving mechanism 3 withBig sun gear 3_5 internal messing, around sun wheel shaft 3_3 while each planetary gear 3_6~3_8 is rotated clockwise around own axesAxis both clockwise rotation, three planetary gear 3_6~3_8 drive planet carrier gear axis 3_9 around the axis up time of sun wheel shaft 3_3Needle rotation, planet carrier gear axis 3_9 are rotated with mobile interface clutch discs 3_10 around the axis both clockwise of sun wheel shaft 3_3, at this point, theSmall sun gear 3_4, sun wheel shaft 3_3 on three joint driving mechanisms 3 are not rotated.Second joint 10_1 is carrying out rotation clockwiseWhile third joint 11_1 also carrying out rotation clockwise, appropriate ratio is set, third joint 11_1 and the second pass can be made10_1 " steering is identical, and revolving speed is equal " is saved, two 10_2 of arm section of surgical instrument executing agency M is clockwise relative to one 9_2 of arm sectionActive rotation and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, three 11_2 of arm section is relative to two 10_ of arm section2 passive rotation does not occur and three 11_2 of arm section is made not change with two 10_2 relative angle of arm section, reaches and passes through mechanical structureRealize the purpose of " decoupling ".

The planet carrier gear axis 3_9 and third joint driving mechanism 3 and the 4th joint drive machine of third joint driving mechanism 3Transition gear axle 3_4_1 external toothing between structure 4, the mistake between third joint driving mechanism 3 and the 4th joint driving mechanism 4Cross the big sun gear 4_5 external toothing of gear shaft 3_4_1 and the 4th joint driving mechanism 4；At this point, third joint driving mechanism 3Planet carrier gear axis 3_9 drives the transition gear axle 3_4_1 between third joint driving mechanism 3 and the 4th joint driving mechanism 4It rotates counterclockwise；Transition gear axle 3_4_1 between third joint driving mechanism 3 and the 4th joint driving mechanism 4 drives the 4thThe external gear of big sun gear 4_5 on joint driving mechanism 4 rotates clockwise；Three planets on 4th joint driving mechanism 4Take turns 4_6~4_8 with big sun gear 4_5 internal messing, while each planetary gear 4_6~4_8 is rotated clockwise around own axesAxis both clockwise around sun wheel shaft 4_3 rotates, and three planetary gear 4_6~4_8 drive planet carrier gear axis 4_9 around sun wheel shaftThe axis both clockwise of 4_3 rotates, and planet carrier gear axis 4_9 is with mobile interface clutch discs 4_10 around the axis up time of sun wheel shaft 4_3Needle rotation, at this point, the small sun gear 4_4, sun wheel shaft 4_3 on the 4th joint driving mechanism 4 are not rotated.Third joint 11_14th joint 12_1 is also carrying out rotation clockwise while carrying out rotation clockwise, and appropriate ratio is arranged, can make the 4thJoint 12_1 and second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M relative toOne 9_2 of arm section active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, four 12_ of arm section2 passive rotation does not occur relative to three 11_2 of arm section and four 12_2 of arm section is made not change with three 11_2 relative angle of arm section,Achieve the purpose that realize " decoupling " by mechanical structure.

The planet carrier gear axis 4_9 and the 4th joint driving mechanism 4 of 4th joint driving mechanism 4 and the 5th joint drive machineTransition gear axle 4_5_1 external toothing between structure 5, the mistake between the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5Cross the big sun gear 5_5 external toothing of gear shaft 4_5_1 and the 5th joint driving mechanism 5；At this point, the 4th joint driving mechanism 4Planet carrier gear axis 4_9 drives the transition gear axle 4_5_1 between the 4th joint driving mechanism 4 and the 5th joint driving mechanism 5It rotates counterclockwise；Transition gear axle 4_5_1 between 4th joint driving mechanism 4 and the 5th joint driving mechanism 5 drives the 5thThe external gear of big sun gear 5_5 on joint driving mechanism 5 rotates clockwise；Three planets on 5th joint driving mechanism 5Take turns 5_6~5_8 with big sun gear 5_5 internal messing, while each planetary gear 5_6~5_8 is rotated clockwise around own axesAxis both clockwise around sun wheel shaft 5_3 rotates, and three planetary gear 5_6~5_8 drive planet carrier gear axis 5_9 around sun wheel shaftThe axis both clockwise of 5_3 rotates, and planet carrier gear axis 5_9 is with mobile interface clutch discs 5_10 around the axis up time of sun wheel shaft 5_3Needle rotation, at this point, the small sun gear 5_4, sun wheel shaft 5_3 on the 5th joint driving mechanism 5 are not rotated.4th joint 12_15th joint 13_1 is also carrying out rotation clockwise while carrying out rotation clockwise, and appropriate ratio is arranged, can make the 5thJoint 13_1 and second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M relative toOne 9_2 of arm section active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, five 13_ of arm section2 passive rotation does not occur relative to four 12_2 of arm section and five 13_2 of arm section is made not change with four 12_2 relative angle of arm section,Achieve the purpose that realize " decoupling " by mechanical structure.

The planet carrier gear axis 5_9 and the 5th joint driving mechanism 5 of 5th joint driving mechanism 5 and the 6th joint drive machineTransition gear axle 5_6_1 external toothing between structure 6, the mistake between the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6Cross the big sun gear 6_5 external toothing of gear shaft 5_6_1 and the 6th joint driving mechanism 6；At this point, the 5th joint driving mechanism 5Planet carrier gear axis 5_9 drives the transition gear axle 5_6_1 between the 5th joint driving mechanism 5 and the 6th joint driving mechanism 6It rotates counterclockwise；Transition gear axle 5_6_1 between 5th joint driving mechanism 5 and the 6th joint driving mechanism 6 drives the 6thThe external gear of big sun gear 6_5 on joint driving mechanism 6 rotates clockwise；Three planets on 6th joint driving mechanism 6Take turns 6_6~6_8 with big sun gear 6_5 internal messing, while each planetary gear 6_6~6_8 is rotated clockwise around own axesAxis both clockwise around sun wheel shaft 6_3 rotates, and three planetary gear 6_6~6_8 drive planet carrier gear axis 6_9 around sun wheel shaftThe axis both clockwise of 6_3 rotates, and planet carrier gear axis 6_9 is with mobile interface clutch discs 6_10 around the axis up time of sun wheel shaft 6_3Needle rotation, at this point, 6 small sun gear 6_4, sun wheel shaft 6_3 are not rotated on the 6th joint driving mechanism.5th joint 13_16th joint 14_1 is also carrying out rotation clockwise while carrying out rotation clockwise, and appropriate ratio is arranged, can make the 6thJoint 14_1 and second joint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M relative toOne 9_2 of arm section active rotation clockwise and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, six 14_ of arm section2 passive rotation does not occur relative to five 13_2 of arm section and six 14_2 of arm section is made not change with five 13_2 relative angle of arm section,Achieve the purpose that realize " decoupling " by mechanical structure.

The planet carrier gear axis 6_9 and the 6th joint driving mechanism 6 of 6th joint driving mechanism 6 and the 7th joint drive machineTransition gear axle 6_7_1 external toothing between structure 7, the mistake between the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7Cross the big sun gear 7_5 external toothing of gear shaft 6_7_1 and the 7th joint driving mechanism 7；At this point, the 6th joint driving mechanism 6Planet carrier gear axis 6_9 drives the transition gear axle 6_7_1 between the 6th joint driving mechanism 6 and the 7th joint driving mechanism 7It rotates counterclockwise；Transition gear axle 6_7_1 between 6th joint driving mechanism 6 and the 7th joint driving mechanism 7 drives the 7thThe external gear of big sun gear 7_5 on joint driving mechanism 7 rotates clockwise；Three planets on 7th joint driving mechanism 7Take turns 7_6~7_8 with big sun gear 7_5 internal messing, while each planetary gear 7_6~7_8 is rotated clockwise around own axesAxis both clockwise around sun wheel shaft 7_3 rotates, and three planetary gear 7_6~7_8 drive planet carrier 7_9 around sun wheel shaft 7_3'sAxis both clockwise rotation, planet carrier 7_9 are rotated with mobile interface clutch discs 7_10 around the axis both clockwise of sun wheel shaft 7_3, at this point,Small sun gear 7_4, sun wheel shaft 7_3 on 7th joint driving mechanism 7 are not rotated.6th joint 14_1 is being put clockwiseThe 7th joint 15_1 is also carrying out rotation clockwise while turning, and appropriate ratio is arranged, can make the 7th joint 15_1 and secondJoint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to one 9_2 up time of arm sectionNeedle active rotation and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, seven 15_2 of arm section is relative to arm section sixPassive rotation does not occur and seven 15_2 of arm section is made not change with six 14_2 relative angle of arm section by 14_2, reaches and is tied by machineryStructure realizes the purpose of " decoupling ".

The planet carrier gear axis 6_9 and the 6th joint driving mechanism 6 of 6th joint driving mechanism 6 and the 8th joint drive machineTransition gear axle 6_8_1 external toothing between structure 8, the mistake between the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8Cross the big sun gear 8_5 external toothing of gear shaft 6_8_1 and the 8th joint driving mechanism 8；At this point, the 6th joint driving mechanism 6Planet carrier gear axis 6_9 drives the transition gear axle 6_8_1 between the 6th joint driving mechanism 6 and the 8th joint driving mechanism 8It rotates counterclockwise；Transition gear axle 6_8_1 between 6th joint driving mechanism 6 and the 8th joint driving mechanism 8 drives the 8thThe external gear of big sun gear 8_5 on joint driving mechanism 8 rotates clockwise；Three planets on 8th joint driving mechanism 8Take turns 8_6~8_8 with big sun gear 8_5 internal messing, while each planetary gear 8_6~8_8 is rotated clockwise around own axesAxis both clockwise around sun wheel shaft 8_3 rotates, and three planetary gear 8_6~8_8 drive planet carrier 8_9 around sun wheel shaft 8_3'sAxis both clockwise rotation, planet carrier 8_9 are rotated with mobile interface clutch discs 8_10 around the axis both clockwise of sun wheel shaft 8_3, at this point,Small sun gear 8_4, sun wheel shaft 8_3 on 8th joint driving mechanism 8 are not rotated.6th joint 14_1 is being put clockwiseThe 8th joint 16_1 is also carrying out rotation clockwise while turning, and appropriate ratio is arranged, can make the 8th joint 16_1 and secondJoint 10_1 " steering is identical, and revolving speed is equal ", two 10_2 of arm section of surgical instrument executing agency M is relative to one 9_2 up time of arm sectionNeedle active rotation and make two 10_2 of arm section and when one 9_2 relative angle of arm section changes, eight 16_2 of arm section is relative to arm section sixPassive rotation does not occur and eight 16_2 of arm section is made not change with six 14_2 relative angle of arm section by 14_2, reaches and is tied by machineryStructure realizes the purpose of " decoupling ".

The axis realization around gear shaft 2_3 of the interface clutch discs 2_4 of second joint driving mechanism 2 rotates counterclockwise: theThe axis realization around gear shaft 2_3 of the interface clutch discs 2_4 of two joint driving mechanisms 2 is rotated counterclockwise to be driven with second jointThe interface clutch discs 2_4 of mechanism 2 around gear shaft 2_3 axis realization rotate clockwise " drive path is identical, turn to phaseInstead ".

Third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint drive machineThe axis realization around gear shaft 3_3~6_3 of interface clutch discs 3_10~6_10 of structure 6 rotates clockwise: driving with second jointThe axis realization around gear shaft 2_3 of the interface clutch discs 2_4 of motivation structure 2 rotates clockwise " kind of drive is similar ", is thisJoint driving mechanism actively rotates, while movement is passed to step by step close to the end surgical instrument executing agency M joint (joint sevenEight 16_1 of 15_1 and joint) side all joint driving mechanisms, appropriate ratio is set, the active cradle head can be madeInstitute behind driving mechanism (close to the side of the end surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint))There is joint driving mechanism with the active cradle head driving mechanism " steering is identical, and revolving speed is equal ", to make the active cradle headThe arm section of the surgical instrument executing agency M of driving mechanisms control is relative to previous alternate arm section (far from surgical instrument executing agency MThe side in end joint (eight 16_1 of seven 15_1 of joint and joint)) clockwise active rotation and make the active cradle head driving machineThe arm section and previous alternate arm section of the surgical instrument executing agency M of structure control is (far from the end surgical instrument executing agency M jointThe side of (eight 16_1 of seven 15_1 of joint and joint)) relative angle is when changing, behind the active cradle head driving mechanismAll joint drive machines of (close to the side of the end surgical instrument executing agency M joint (eight 16_1 of seven 15_1 of joint and joint))Surgical instrument of the arm section of the surgical instrument executing agency M of the corresponding control of structure relative to the active cradle head driving mechanisms controlPassive rotation does not occur and makes behind the active cradle head driving mechanism (to execute close to surgical instrument for the arm section of executing agency MThe side in the end mechanism M joint (eight 16_1 of seven 15_1 of joint and joint)) the corresponding control of all joint driving mechanisms operationThe arm section of instrument executing agency M is opposite with the arm section of surgical instrument executing agency M of the active cradle head driving mechanisms controlAngle does not change, and achievees the purpose that realize " decoupling " by mechanical structure.

Third joint driving mechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint drive machineThe axis realization around gear shaft 3_3~6_3 of interface clutch discs 3_10~6_10 of structure 6 rotates counterclockwise: third joint driveMechanism 3, the 4th joint driving mechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6 interface clutch discs 3_10The axis realization around gear shaft 3_3~6_3 of~6_10 rotates counterclockwise and third joint driving mechanism 3, the 4th joint driveMechanism 4, the 5th joint driving mechanism 5, the 6th joint driving mechanism 6 interface clutch discs 3_10~6_10 around gear shaft 3_3The axis realization of~6_3 rotates clockwise " drive path is identical, turns to opposite ".

The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_10 of 7th joint driving mechanism 7 rotates clockwise:Start the motor 7_1 on the 7th joint driving mechanism 7, rotate clockwise its output shaft, drives on the 7th joint driving mechanism 7Shaft coupling 7_2, sun wheel shaft 7_3, small sun gear 7_4 rotate clockwise, three planetary gear 7_6~7_8 are and small sun gear7_4 external toothing, around the axis up time of sun wheel shaft 7_3 while each planetary gear 7_6~7_8 is rotated counterclockwise around own axesNeedle rotation, three planetary gear 7_6~7_8 drive planet carrier 7_9 to rotate around the axis both clockwise of sun wheel shaft 7_3, planet carrier 7_9 rotate with mobile interface clutch discs 7_10 around the axis both clockwise of sun wheel shaft 7_3.The big sun on 7th joint driving mechanism 7The transition gear axle 6_7_1 external toothing of the external gear and the 7th joint driving mechanism 7 and the 6th joint driving mechanism 6 of 7_5 is taken turns, thisWhen, the big sun gear 7_5 on the 7th joint driving mechanism 7 is not rotated.Seven 15_2 of arm section of surgical instrument executing agency M relative toSix 14_2 of arm section active rotation clockwise and so that seven 15_2 of arm section is changed with six 14_2 relative angle of arm section.

The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_10 of 7th joint driving mechanism 7 rotates counterclockwise:The axis realization around sun wheel shaft 7_3 of the interface clutch discs 7_10 of 7th joint driving mechanism 7 is rotated counterclockwise closes with the 7thSave driving mechanism 7 interface clutch discs 7_10 around sun wheel shaft 7_3 axis realization rotate clockwise " drive path is identical,It turns to opposite ".

The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_10 of 8th joint driving mechanism 8 rotates clockwise:Start the motor 8_1 on the 8th joint driving mechanism 8, rotate clockwise its output shaft, drives on the 8th joint driving mechanism 8Shaft coupling 8_2, sun wheel shaft 8_3, small sun gear 8_4 rotate clockwise, three planetary gear 8_6~8_8 are and small sun gear8_4 external toothing, axis while each planetary gear 8_6~8_8 wheel is rotated counterclockwise around own axes around sun wheel shaft 8_3 are suitableHour hands rotation, three planetary gear 8_6~8_8 drive planet carrier 8_9 to rotate around the axis both clockwise of sun wheel shaft 8_3, planet carrier8_9 is rotated with mobile interface clutch discs 8_10 around the axis both clockwise of sun wheel shaft 8_3.It is big too on 8th joint driving mechanism 8The transition gear axle 6_8_1 external toothing of the external gear and the 8th joint driving mechanism 8 and the 6th joint driving mechanism 6 of sun wheel 8_5,At this point, the big sun gear 8_4 on the 8th joint driving mechanism 8 is not rotated.Eight 16_2 of arm section of surgical instrument executing agency M is oppositeEight 16_2 of arm section is set to change with six 14_2 relative angle of arm section in six 14_2 of arm section active rotation clockwise.

The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_10 of 8th joint driving mechanism 8 rotates counterclockwise:The axis realization around sun wheel shaft 8_3 of the interface clutch discs 8_10 of 8th joint driving mechanism 8 is rotated counterclockwise closes with the 8thSave driving mechanism 8 interface clutch discs 8_10 around sun wheel shaft 8_3 axis realization rotate clockwise " drive path is identical,It turns to opposite ".

The adjustment of relative mounting location between base outer cover 1_3_2 and base housing 1_3_1:

Design is there are two stay bolt hole on base outer cover 1_3_2, and the two sides base housing 1_3_1 separately design that there are two longBolt hole, the long axially bored line in stay bolt hole above two stay bolt holes and base housing 1_3_1 above base outer cover 1_3_2 hang downIt directly, can be by adjusting base outer cover 1_3_2 and pedestal when two base outer cover 1_3_2 are fixed on base housing 1_3_1The fixed position relative in the stay bolt hole of shell 1_3_1 is opposite with the installation of base housing 1_3_1 to adjust base outer cover 1_3_2Position.

Installation and removal between surgical instrument executing agency M and joint driving mechanism N:

When surgical instrument executing agency M is installed in joint driving mechanism N, surgical instrument executing agency M along pedestal outsideCover 1_3_2 above " horn mouth " shape guide chute top slide into base outer cover 1_3_2 above guide chute end and inPortion's slot bottom, the fixed pin shaft of guide chute end and intermediate channel bottom and surgical instrument executing agency M above base outer cover 1_3_2" interference " cooperation is formed, while 1_3_3_1,1_3_3_ are linked up in two lockings rotated above two base outer cover 1_3_2 respectively2, make the boss of corresponding position on the groove and surgical instrument executing agency M shell above locking hook 1_3_3_1,1_3_3_2Cooperation, to prevent the fixed pin shaft 1_3_4 of surgical instrument executing agency M " sliding from the guide chute above base outer cover 1_3_2Out ", surgical instrument executing agency M is caused " to separate " with joint driving mechanism N.Meanwhile the twice positioning on base housing 1_3_1Boss can be positioned and be fixed to surgical instrument executing agency M；

When surgical instrument executing agency M is separated from joint driving mechanism N, while two base outer cover 1_ are rotated respectively1_3_3_1,1_3_3_2 are linked up in two lockings above 3_2, make groove and hand above locking hook 1_3_3_1,1_3_3_2The boss separation of corresponding position on art instrument executing agency M shell, surgical instrument executing agency M is along on base outer cover 1_3_2The guide chute end and intermediate channel bottom in face skid off base outer cover 1_3_2 from the guide chute top of " horn mouth " shape, make handArt instrument executing agency M " is separated " with joint driving mechanism N.

Embodiment 2

Illustrate present embodiment in conjunction with Figure 10~Figure 13, it, can be by a kind of tool on the basis of the technical solution of embodiment oneThere is the layout of the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint to be changed to the structure in 10~Figure 13 of attached drawing.I.e.One of technical solution by embodiment one has the mechanically decoupled single hole surgical robot quick replacement mechanism of linear jointDistributing adjustment is the technical solution of embodiment two, while the layout of the gear box of surgical instrument executing agency M is also adjusted to realThe technical solution of example two is applied, equally can correctly be driven and mechanically decoupled.

A kind of above-mentioned mechanically decoupled single hole surgical robot quick replacement mechanism N with linear joint can be applied to double endThe driving of class instrument and mechanically decoupled such as clamps class instrument, shears the driving of class instrument and mechanically decoupled；Above-mentioned one kind is had8th joint driving mechanism 8 of the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint removes, such as Fig. 4, Fig. 5,A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint can be applied to the drive of single head class instrumentIt is dynamic and mechanically decoupled, such as cut class instrument, the driving of 30 ° of hysteroscope class instruments and mechanically decoupled.It will be above-mentioned a kind of with mobile passThe 7th joint driving mechanism 7, the 8th joint driving mechanism 8 of the mechanically decoupled single hole surgical robot quick replacement mechanism of section are goneFall, a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint can be applied to 360 ° of hysteroscope class devicesThe driving of tool and mechanically decoupled.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at thisIn the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility modelIn protection scope.

It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to thisThe limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, abilityField technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility modelWithin enclosing.

Claims (10)

1. a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint, which is characterized in that including oneFixing seat is equipped with the first, second, third, fourth, the five, the six, the 7th and the 8th joint drive in the fixing seatMechanism；

First joint driving mechanism is mounted in a fixing seat, described second, third, the 4th close, the 5th, theSix, the 7th and the 8th joint driving mechanism is mounted on the same pedestal, first joint driving mechanism also with the bottomSeat is connected；The pedestal can axially be moved relative to the fixing seat along one axis direction of arm section of surgical instrument executing agencyIt is dynamic；And then realize that the joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th and surgical instrument are heldRow mechanism is relative to the fixing seat being connected with first joint driving mechanism along one axis of arm section of surgical instrument executing agencyThe axial movement of line direction；

The joint driving mechanism of second, third, fourth, fifth, the six, the 7th and the 8th is each by an interface clutchDisk is connected with the surgical instrument executing agency；The joint of second, third, fourth, fifth, the six, the 7th and the 8thDriving mechanism respectively corresponds the second, third, fourth, fifth of driving surgical instrument executing agency, the six, the 7th by driving memberWith the rotation of the 8th joint executing agency.

2. a kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint as described in claim 1,Be characterized in that, second joint driving mechanism include a motor, the motor-driven gear axis rotation, the gear shaft and and itsCorresponding interface clutch discs are connected；

It is the third, the four, the 5th identical with the structure of the 6th joint driving mechanism, it respectively include a motor, the motorSun wheel shaft rotation is driven, big sun gear and small sun gear, big sun gear and Sunny are installed in the sun wheel shaftIt takes turns and is engaged with three planetary gears being mounted on planet carrier gear axis, three planetary gears and small sun gear external toothing, three planetsWheel and big sun gear internal messing, three planetary gears are evenly distributed with around sun wheel shaft axis, the planet carrier gear axis and with its phaseCorresponding interface clutch discs are connected；

Described the 7th is identical with the structure of the 8th joint driving mechanism, respectively includes a motor, the motor driven sun gearAxis rotation, is equipped with big sun gear and small sun gear in the sun wheel shaft, big sun gear and small sun gear be mounted onThree planetary gears on planet carrier engage, three planetary gears and small sun gear external toothing, nibble in three planetary gears and big sun gearIt closes, three planetary gears are uniformly distributed around sun wheel shaft axis, and the planet carrier is connected with interface clutch discs corresponding thereto；

A transition gear axle is mounted between the second, third, fourth, fifth and the 6th joint driving mechanism；InstituteA transition gear is separately installed between the 6th and the 7th joint driving mechanism stated and the 8th joint driving mechanismAxis；Transition gear axle is fitted without between 7th and the 8th joint driving mechanism；

Transition gear between the gear shaft of the second joint driving mechanism and second, third described joint driving mechanismAxis external toothing, transition gear axle and the third joint driving mechanism between second, third described joint driving mechanismBig sun gear external toothing；The planet carrier gear axis of the third joint driving mechanism and the third, the 4th joint are drivenTransition gear axle external toothing between motivation structure, transition gear axle and institute between the third, the 4th joint driving mechanismThe big sun gear external toothing for the 4th joint driving mechanism stated；

Mistake between the planet carrier gear axis and the four, the 5th joint driving mechanisms of 4th joint driving mechanismGear shaft external toothing is crossed, the transition gear axle between the four, the 5th joint driving mechanisms and the 5th joint are drivenThe big sun gear external toothing of motivation structure；The planet carrier gear axis of 5th joint driving mechanism and described the five, the 6thTransition gear axle external toothing between joint driving mechanism, the transition gear between the five, the 6th joint driving mechanismsThe big sun gear external toothing of axis and the 6th joint driving mechanism；The planet carrier gear of 6th joint driving mechanismTransition gear axle external toothing between axis and the six, the 7th joint driving mechanisms, the six, the 7th joint drivesThe big sun gear external toothing of transition gear axle and the 7th joint driving mechanism between mechanism；It drives in 6th jointTransition gear axle external toothing between the planet carrier gear axis of motivation structure and the six, the 8th joint driving mechanisms, it is describedThe six, the 8th joint driving mechanisms between transition gear axle and the 8th joint driving mechanism big sun gear external toothing.

3. as claimed in claim 2 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, by bearing axial restraint, bearing is fixed on the base at the gear shaft both ends of the second joint driving mechanism；

Three pin shafts are stretched out in planet carrier gear axis one end of the joint driving mechanism of third, the four, the 5th and the 6th, describedThree pin shafts be inserted into the centre bore of three planetary gears respectively, planet carrier gear axis one end is by bearing axial restraint, planetThe frame gear shaft other end passes through three planetary gear axial restraints；The joint driving mechanism of the third, the four, the 5th and the 6th is tooPositive wheel shaft and big sun gear both ends pass through bearing axial restraint respectively, and one of bearing is fixed on the sun wheel shaft and the big sunOn wheel, other two bearing is fixed on the base, and one end of planet carrier gear axis and interface clutch discs are formed and are interference fitted；

Three pin shafts, three pin shafts difference of planet carrier are stretched out in planet carrier one end of seven, the 8th joint driving mechanismsIt is inserted into the centre bore of three planetary gears, planet carrier one end passes through three planets by bearing axial restraint, the planet carrier other endTake turns axial restraint；The sun wheel shaft of seven, the 8th joint driving mechanisms and big sun gear both ends pass through bearing axis respectivelyTo fixation, one of bearing is fixed in the sun wheel shaft and big sun gear, other two bearing is fixed on the base, planetOne end of frame and interface clutch discs, which are formed, to be interference fitted；

Between the second, third, fourth, fifth and the 6th joint driving mechanism and the 6th joint driving mechanism withThe transition gear axle both ends installed between 7th joint driving mechanism and the 8th joint driving mechanism pass through bearing axial restraint, axisIt holds and is fixed on the base.

4. as claimed in claim 2 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, the small sun gear and sun gear of the joint driving mechanism of the third, the four, the five, the six, the 7th and the 8thShaft section is in " D " font, and " D " the shaped sections formation of small sun gear and sun wheel shaft is interference fitted, small sun gear and sun gearAxis is circumferentially fixed by " D " shaped sections.

5. as described in claim 1 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, the second, third, fourth, fifth, the 6th are single-row on the pedestal to be sequentially connected in series arrangement；7th closes and theEight joint driving mechanisms are arranged in parallel on the pedestal with the 6th joint driving mechanism.

6. as described in claim 1 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, the pedestal includes base housing and base outer cover, and the base housing is equipped with twice positioning convex platform, pedestal shellBody two sides are respectively equipped with two stay bolt holes, and the stay bolt hole is connected with base outer cover.

7. as claimed in claim 6 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, there are two the base outer covers, is mounted and fixed to the two sides of base housing respectively；Guiding is designed above base outer coverSliding slot, guide chute top are in " horn mouth " shape；Guide chute end and intermediate channel bottom are in " circular arc " shape above base outer cover," circular arc " shape sliding slot slot bottom opening direction at guide chute end and middle part is vertical with guide chute axis direction, and should " circleThe guide chute end and intermediate channel bottom of arc " shape and the fixed pin shaft of surgical instrument executing agency form " interference " cooperation.

8. as claimed in claim 6 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, stay bolt hole there are two designs on the base outer cover, two stay bolt holes and base housing above base outer coverThe long axially bored line in stay bolt hole above is vertical, when base outer cover being facilitated to be mounted and fixed on base housing adjust base outer cover withThe relative mounting positions of base housing.

9. as claimed in claim 6 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, further includes a retaining mechanism for being fixed to surgical instrument executing agency on pedestal；The retaining mechanism packetTwo groups are included, every group includes a locking hook, and one end of two locking hooks is rotatably mounted on the same base outer cover, locksIt links up with the other end and is equipped with groove, corresponding position is equipped with boss, the groove of locking hook above on surgical instrument executing agency shellBoss cooperation with corresponding position on surgical instrument executing agency shell is used for fixation surgical instrument executing agency.

10. as described in claim 1 with the mechanically decoupled single hole surgical robot quick replacement mechanism of linear joint, featureIt is, first joint driving mechanism is a ball screw framework or a telescopic rod or hydraulic, cylinder drivingElevating lever.