CN211460508U - Main control mechanism of surgical robot - Google Patents

Abstract

The utility model provides a main control mechanism of a surgical robot, belonging to the technical field of medical instruments. The surgical robot solves the problems that when a main control mechanism of the existing surgical robot is operated, the hands of doctors are in a suspended state, the surgical precision is affected due to easy fatigue, and the optimal man-machine effect cannot be realized. It includes the master arm, locate the position sleeve on the master arm, through location structure axial positioning motor that comprises motor body and motor shaft and locate the motor and be close to the encoder of master arm one end in the position sleeve, be equipped with the bearing between motor body and the position sleeve, the one end that the master arm was kept away from to the position sleeve is equipped with the forefinger part that links firmly with the motor shaft and the thumb part that links firmly with the motor body, the one end that the master arm was kept away from to the position sleeve still is equipped with the end cover, the fluting that supplies forefinger part and thumb part to wear out has between end cover and the position sleeve, be equipped with the palm that is used for supporting the. The utility model discloses an optimal man-machine efficiency has effectively improved the operation precision.

Description

Main control mechanism of surgical robot

Technical Field

The utility model belongs to the technical field of medical instrument, a surgical instruments, especially a main control mechanism of surgical robot is related to.

Background

Minimally invasive surgery refers to a surgery that a surgeon mechanically extends a surgical instrument into a human body through a small incision on the body of a patient, and diagnoses or treats a focus part by means of visual monitoring equipment and a smart surgical instrument. For example, chinese patent discloses a seven-degree-of-freedom manipulator master hand [ No. CN106667583B ] of a minimally invasive surgical robot, which includes a base, a turntable disposed on the base and rotating around a z-axis, a link connected to the turntable and capable of rotating around an x-axis, a first rotation link connected to the link and capable of rotating around the x-axis, a second rotation link connected to the first rotation link and capable of rotating around the x-axis, and a clamping mechanism connected to the second rotation link, wherein the clamping mechanism includes a thumb component and an index finger component which rotate relatively. During operation, the hands of the doctor are in a suspended state, the complex operation often needs a long time to be completed, the hands of the doctor are suspended for a long time and are easy to fatigue, the hands of the doctor are easy to feel uncomfortable, and the precision and the effect of the operation are influenced. Moreover, the existing master controller has no design of man-machine efficacy aiming at the natural angle of the wrist, the natural orientation of the index finger or the middle finger of the thumb, the difference of the action stroke of the index finger or the middle finger of the thumb, the difference of the finger force and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the above-mentioned problem to current technique, provided a main control mechanism of surgical robot that man-machine efficiency is better, effectively reduce hand fatigue, improve doctor's comfort level.

The purpose of the utility model can be realized by the following technical proposal:

the main control mechanism of the surgical robot comprises a master arm, a positioning sleeve arranged on the master arm, a motor which is formed by a motor body and a motor shaft and an encoder which is arranged at one end of the motor and is close to one end of the master arm, wherein the motor is positioned in the positioning sleeve in the axial direction through a positioning structure, a bearing is arranged between the motor body and the positioning sleeve, one end of the positioning sleeve, which is far away from the master arm, is provided with an index finger part which is fixedly connected with the motor shaft and a thumb part which is fixedly connected with the motor body, and the main control mechanism is characterized in that one end of the positioning sleeve, which is far away from the master arm, is also provided with an end cover, a notch for the index finger part and the thumb part to penetrate out is.

The encoder is connected with a control center of the surgical robot, reads data such as torque, force magnitude, rotating speed, stroke and the like of the motor body and the motor shaft, transmits the data to the control center through a connecting line arranged in the driving arm, and the control center controls the driven arm of the surgical robot to synchronously act. The wires of the encoder are flexible enough to eliminate the influence of the wires on the movement of the motor body.

When the surgical robot is in a working state, the positioning sleeve is approximately in a vertical state, and the palm support is positioned at the top end of the positioning sleeve. The palm support is matched with the palm center and is approximately hemispherical, the force of the palm acting on the palm support acts on the end cover, the end cover acts on the supporting sleeve, and the supporting sleeve acts on the driving arm. Due to the support of the palm support, a doctor is not easy to fatigue when operating the surgical robot for a long time, and the surgical precision is effectively improved.

The motor shaft is arranged in the motor body in a penetrating mode, the motor shaft can rotate in the motor body along the central axis of the motor body, and the motor body is only axially positioned and can rotate around the central axis of the motor shaft in the circumferential direction. The slotted is arranged along the end cover in the circumferential direction, the forefinger part can drive the motor shaft to rotate along the central axis when moving in the slotted, and the thumb part can drive the motor body to rotate along the central axis when moving in the slotted. The thumb force is large, the stroke is small, and the thumb force is used for dialing the motor body to rotate; the food is little to indicate power, and the stroke is big, and is more nimble for stirring the motor shaft rotation.

In foretell surgical robot's main control mechanism, location structure keep away from the interior annular step of the one end of driving arm including locating the position sleeve, the motor body one end of keeping away from the encoder link firmly and be annular connecting seat, the connecting seat on have the outer annular step that sets up relatively with interior annular step, the outer lane lower extreme of above-mentioned bearing supports including on annular step, its inner ring upper end supports and leans on outer annular step, the position sleeve on be fixed with and be annular spacing seat that is used for compressing tightly bearing outer lane upper end, foretell end cover is located on this spacing seat, connecting seat and motor body between be equipped with the spacing collar, the inner circle lower extreme of bearing supports and leans on the spacing collar.

A first limiting groove for limiting the axial movement of the bearing outer ring is formed by the limiting seat and the inner annular step, and a second limiting groove for limiting the axial movement of the bearing inner ring is formed by the limiting ring and the outer annular step. During the equipment, penetrate the position sleeve with the motor in from position sleeve's lower extreme, put into spacing collar, bearing and connecting seat to assigned position in proper order, fix the motor body with the connecting seat through the screw on, pass through the fix with screw on position sleeve with spacing seat afterwards, fixed good back bearing axial fixity, the bearing is used for supporting the weight of motor and encoder, and the connecting seat is stretched out to the upper end of motor shaft.

In foretell surgical robot's main control mechanism, the outer end of thumb part ring one has, and thumb part fixes on the connecting seat, the outer end of forefinger part ring two has, thumb part and forefinger part between be equipped with the linkage subassembly.

The thumb component and the forefinger component are respectively connecting rods, the central axis of the first finger ring has a certain inclination angle relative to the positioning sleeve, and the direction pointed by the thumb is the direction of the central axis of the first finger ring when the palm acts on the palm support; the central axis of the second finger ring has a certain inclination angle relative to the positioning sleeve, and when the palm acts on the palm support, the direction pointed by the index finger is the direction of the central axis of the second finger ring, namely the first finger ring and the second finger ring are natural angles of fingers, so that the hand is not easy to fatigue. The orientation of the first ring and the second ring meets the ergonomics of the thumb and the index finger (middle finger) of a human body, namely the first ring is parallel to the first section of the thumb, and the second ring is parallel to the first section of the index finger (middle finger), so that fingers are not easy to fatigue after being used for a long time. Because the thumb is shorter than the index finger (middle finger), the length of the first hinge part is shorter than that of the second hinge part, and the length ratio of the first hinge part to the second hinge part corresponds to the movement stroke ratio of the thumb to the index finger (middle finger), so that the natural action process of the thumb and the index finger (middle finger) is adapted, and the comfort level of a doctor during operation is improved.

In foretell surgical robot's main control mechanism, the linkage subassembly include articulated elements one, articulated elements two and articulated shaft one, the one end of articulated elements one passes through articulated shaft two and articulates on the thumb part, the one end of articulated elements two passes through articulated shaft three articulations on forefinger part, the other end of articulated elements one and the other end of articulated elements two pass through articulated shaft one and articulate, articulated shaft one, articulated shaft two and articulated shaft three-phase be parallel to each other, spacing seat on be equipped with and be used for carrying out the guide structure who leads to articulated shaft one.

In foretell surgical robot's main control mechanism, guide structure including link firmly guide block one and the guide block two on spacing seat, guide block one and guide block two between form the guide way, the cover is equipped with the rolling element on foretell articulated shaft one, the rolling of rolling element locate in the guide way. In order to prevent the rolling bodies and the first hinge shaft from axially moving, limiting blocking edges are respectively arranged at the upper end and the lower end of the first hinge shaft. The thumb component can rotate around the first hinge axis, and the forefinger component can rotate around the first hinge axis.

When the thumb part moves, the first hinge part is driven to move, the first hinge part drives the second hinge part to move under the action of the guide structure, and finally the linkage of the index finger part is realized. The guide groove extends in the radial direction of the positioning sleeve. The length of the first hinge part is shorter than that of the second hinge part, and the length of the first hinge part is longer than the corresponding motion stroke ratio of the thumb to the index finger, so that the condition that the thumb force is large and the index finger force is small is met. After the positioning sleeve is fixed, the length ratio of the first hinge part to the second hinge part determines the orientation of the first finger ring and the second finger ring.

In foretell surgical robot's main control mechanism, the lateral part of end cover has shrinkage pool one, the palm hold in the palm and have the through-hole that sets up with shrinkage pool one relatively, shrinkage pool one in be equipped with the spring and stretch into spacing post one to the through-hole in, the end cover in be equipped with and be used for restricting the anti-disengaging structure that spacing post one drops.

In foretell surgical robot's main control mechanism, anti-disengaging structure including locate the end cover tip with the crossing shrinkage pool two that sets up of shrinkage pool one with wear to locate the spacing post two in the shrinkage pool two, spacing post one on have spacing groove or spacing hole, spacing post two stretch into to spacing groove or spacing downthehole.

The palm support is only provided with one through hole, so that the integrity of the appearance of the palm support is ensured, and the palm is not uncomfortable. The second limit post is inserted into the limit groove or the limit hole to limit the outward falling of the limit post. In order to facilitate processing and guarantee the strength of the first limiting column, a first limiting groove is formed in the first limiting column.

In the above main control mechanism of the surgical robot, the lower end of the positioning sleeve is in threaded connection with the driving arm, and the driving arm is provided with a limit screw for limiting the rotation of the positioning sleeve after the positioning sleeve is connected in place.

In the above main control mechanism of the surgical robot, the lower end of the positioning sleeve is provided with a plurality of positioning holes distributed in an annular array, and the limit screw extends into the positioning hole arranged opposite to the limit screw. After the positioning sleeve and the driving arm are in threaded connection in place, the limiting screw is arranged for preventing looseness in the using process, the positioning hole is arranged, and the positioning screw can be extended into the positioning hole to effectively limit circumferential rotation of the positioning sleeve, so that the positioning sleeve is prevented from falling off. Compared with the prior art, the utility model adapts to the orientations of the wrist and the thumb and the forefinger of a person by setting the orientation of the central line of the ring which meets the standard, and increases the basic data quantity by the technical method that the thumb dials the motor body and the forefinger dials the motor shaft, so as to improve the operation precision; the transmission ratio of the thumb and the index finger (middle finger) which accords with the human engineering is set to adapt to different natural action strokes of the thumb and the index finger and adapt to the characteristics of large thumb force and small index finger force of a human hand; comfort level of doctors during operation is further improved through setting up the palm and holding in the palm, the operation precision has effectively been improved. The transmission ratio between the fingers and the motor is small, and necessary conditions are provided for accurately realizing force feedback.

Drawings

Fig. 1 is a schematic structural diagram of the main control mechanism provided by the present invention.

Fig. 2 is a schematic view of a partial structure of the main control mechanism provided by the present invention.

Fig. 3 is a schematic structural diagram of another part of the main control mechanism provided by the present invention.

Fig. 4 is a cross-sectional view of the main control mechanism provided by the present invention.

Fig. 5 is a cross-sectional view taken along line a-a of fig. 4 according to the present invention.

Fig. 6 is another cross-sectional view of the main control mechanism provided by the present invention.

Fig. 7 is a schematic structural diagram of a positioning sleeve according to the present invention.

In the figure, 1, an active arm; 2. a positioning sleeve; 3. an electric machine body; 4. a motor shaft; 5. an encoder; 6. a bearing; 7. an index finger component; 8. a thumb component; 9. an end cap; 10. a palm support; 11. an inner annular step; 12. a connecting seat; 13. an outer annular step; 14. a limiting seat; 15. a limiting ring; 16. a first ring; 17. a second finger ring; 18. a first hinge part; 19. a second hinge part; 20. a first hinge shaft; 21. a second hinge shaft; 22. a third hinge shaft; 23. a first guide block; 24. a second guide block; 25. a rolling body; 26. a spring; 27. a first limiting column; 28. a second limiting column; 29. a limiting groove; 30. a limit screw; 31. and (7) positioning the holes.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

Fig. 1 is a partial structure of a main control mechanism of a surgical robot, including a main arm 1, a positioning sleeve 2 arranged on the main arm 1, a motor composed of a motor body 3 and a motor shaft 4 and an encoder 5 arranged at one end of the motor close to the main arm 1, which are axially positioned in the positioning sleeve 2 by the positioning structure, a bearing 6 is arranged between the motor body 3 and the positioning sleeve 2, one end of the positioning sleeve 2 far away from the main arm 1 is provided with a forefinger part 7 fixedly connected with the motor shaft 4 and a thumb part 8 fixedly connected with the motor body 3, as shown in fig. 2 and fig. 3, the outer end of the thumb part 8 is provided with a first finger ring 16, and the outer end of the forefinger part 7 is provided with a.

The thumb component 8 and the forefinger component 7 are respectively connecting rods, the central axis of the first finger ring 16 has a certain inclination angle relative to the positioning sleeve 2, and the direction pointed by the thumb is the direction of the central axis of the first finger ring 16 when the palm acts on the palm rest 10; the central axis of the second finger ring 17 has a certain inclination angle relative to the positioning sleeve 2, when the palm acts on the palm support 10, the direction pointed by the index finger is the direction of the central axis of the second finger ring 17, that is, the first finger ring 16 and the second finger ring 17 are natural angles of the fingers, so that the hand is not easy to fatigue.

The encoder 5 is connected with a control center of the surgical robot, after the encoder 5 reads data such as torque, force magnitude, rotating speed, stroke and the like of the motor body 3 and the motor shaft 4, the data are transmitted to the control center through a connecting line arranged in the driving arm 1, and the control center controls a driven arm of the surgical robot to synchronously act. When the surgical robot is in a working state, the positioning sleeve 2 is approximately in a vertical state, and the palm rest 10 is positioned at the top end of the positioning sleeve 2. The palm rest 10 is shaped to fit the palm of the hand and is substantially hemispherical, the force of the palm acting on the palm rest 10 acts on the end cap 9, the end cap 9 acts on the support sleeve, and the support sleeve acts on the active arm 1. Due to the support of the palm rest 10, a doctor is not easy to fatigue when operating the surgical robot for a long time, and the surgical precision is effectively improved. The motor shaft 4 is arranged in the motor body 3 in a penetrating mode, the motor shaft 4 can rotate in the motor body 3 along the central axis of the motor shaft 4, and the motor body 3 is only axially positioned and can rotate around the central axis of the motor shaft 4 in the circumferential direction. The slot is arranged along the end cover 9 in a circumferential direction, the forefinger part 7 can drive the motor shaft 4 to rotate along the central axis when moving in the slot, and the thumb part 8 can drive the motor body 3 to rotate along the central axis when moving in the slot. The thumb force is large, the stroke is small, and the thumb force is used for dialing the motor body 3 to rotate; the food is small in finger force, large in stroke and more flexible, and is used for stirring the motor shaft 4 to rotate.

As shown in fig. 1, an end cover 9 is further disposed at one end of the positioning sleeve 2 away from the driving arm 1, a slot for the index finger part 7 and the thumb part 8 to penetrate out is disposed between the end cover 9 and the positioning sleeve 2, and a palm rest 10 for supporting the palm center is disposed on the end cover 9.

As shown in fig. 4, the positioning structure includes an inner annular step 11 disposed at one end of the positioning sleeve 2 far from the driving arm 1, one end of the motor body 3 far from the encoder 5 is fixedly connected with an annular connecting seat 12, the connecting seat 12 is provided with an outer annular step 13 arranged opposite to the inner annular step 11, the lower end of the outer ring of the bearing 6 abuts against the inner annular step 11, the upper end of the inner ring abuts against the outer annular step 13, the positioning sleeve 2 is fixed with an annular limiting seat 14 for compressing the upper end of the outer ring of the bearing 6, the end cover 9 is disposed on the limiting seat 14, a limiting ring 15 is disposed between the connecting seat 12 and the motor body 3, the lower end of the inner ring of the bearing 6 abuts against the limiting ring 15, the thumb component 8 is fixed,

a first limit groove 29 for limiting the axial movement of the outer ring of the bearing 6 is formed by the limit seat 14 and the inner annular step 11, and a second limit groove 29 for limiting the axial movement of the inner ring of the bearing 6 is formed by the limit ring 15 and the outer annular step 13. During the equipment, penetrate the locating sleeve 2 with the motor in from the lower extreme of locating sleeve 2, put into spacing collar 15, bearing 6 and connecting seat 12 in proper order to the assigned position, through the screw with connecting seat 12 fixed to motor body 3 on, with spacing seat 14 through the fix with screw on locating sleeve 2 afterwards, fixed back bearing 6 axial fixity, bearing 6 is used for supporting motor and encoder 5's weight, connecting seat 12 is stretched out to the upper end of motor shaft 4.

A linkage assembly is arranged between the thumb component 8 and the index finger component 7, as shown in fig. 2, the linkage assembly comprises a first hinge component 18, a second hinge component 19 and a first hinge shaft 20, one end of the first hinge component 18 is hinged on the thumb component 8 through a second hinge shaft 21, one end of the second hinge component 19 is hinged on the index finger component 7 through a third hinge shaft 22, the other end of the first hinge component 18 and the other end of the second hinge component 19 are hinged through the first hinge shaft 20, the second hinge shaft 21 and the third hinge shaft 22 are parallel to each other, and a guide structure for guiding the first hinge shaft 20 is arranged on the limiting seat 14.

All set up spacingly on articulated shaft one 20, articulated shaft two 21 and the articulated shaft three 22, when articulated elements one 18 and thumb part 8 rotated, articulated shaft two 21 can not produce axial motion, and when articulated elements two 19 and forefinger part 7 rotated, articulated shaft three 22 can not produce axial motion. When the first hinge part 18 and the second hinge part 19 rotate, the first hinge part 18 does not generate axial movement.

As shown in fig. 2, the guide structure includes a first guide block 23 and a second guide block 24 fixedly connected to the limit seat 14, a guide groove is formed between the first guide block 23 and the second guide block 24, a rolling element 25 is sleeved on the first hinge shaft 20, and the rolling element 25 is arranged in the guide groove in a rolling manner. The rolling elements in this embodiment are bearings. In order to prevent the rolling body 25 and the hinge shaft one 20 from moving axially, limit stop edges are respectively arranged at the upper end and the lower end of the hinge shaft one 20. The thumb part 8 is rotatable about the first hinge axis 20 and the index finger part 7 is rotatable about the first hinge axis 20. When the thumb part 8 moves, the first hinge part 18 is driven to move, the first hinge part 18 drives the second hinge part 19 to move under the action of the guide structure, and finally the linkage of the index finger part 7 is realized. The guide groove extends in the radial direction of the positioning sleeve 2.

The length of the first hinge part 18 is shorter than that of the second hinge part 19, and the length of the first hinge part is longer than the corresponding motion stroke ratio of the thumb to the index finger, so that the conditions of large thumb force and small index finger force are met. When the positioning sleeve 2 is fixed, the length ratio of the first hinge 18 to the second hinge 19 determines the orientation of the first finger ring 16 to the second finger ring 17.

As shown in fig. 4 and 5, the side portion of the end cover 9 has a first concave hole, the palm rest 10 has a through hole opposite to the first concave hole, a spring 26 and a first limit post 27 extending into the through hole are arranged in the first concave hole, and an anti-falling structure for limiting the first limit post 27 to fall off is arranged in the end cover 9. As shown in fig. 5, the anti-releasing structure includes a second concave hole intersecting with the first concave hole and disposed at the end of the end cap 9, and a second limit post 28 penetrating into the second concave hole, the second limit post 28 is perpendicular to the first limit post 27, a limit groove 29 is disposed on the side of the first limit post 27, and the second limit post 28 extends into the limit groove 29 or the limit hole. As only one through hole is arranged on the palm support 10, the integrity of the appearance of the palm support 10 is ensured, and discomfort can not be caused to the palm. The second limit post 28 is inserted into the limit groove 29, and under the elastic force of the spring 26, one end of the limit groove 29 on the first limit post 27 abuts against the second limit post 28, so that the first limit post 27 can be limited from falling off outwards.

As shown in fig. 6, the lower end of the positioning sleeve 2 is in threaded connection with the driving arm 1, and the driving arm 1 is provided with a limit screw 30 for limiting the rotation of the positioning sleeve 2 after the positioning sleeve 2 is connected in place.

As shown in fig. 7, the lower end of the positioning sleeve 2 has a plurality of positioning holes 31 distributed in an annular array, and the limit screw 30 extends into the positioning hole 31 disposed opposite to the limiting screw. After the positioning sleeve 2 and the driving arm 1 are in threaded connection in place, the limiting screw 30 is arranged for preventing looseness in the use process, the positioning hole 31 is arranged, and the positioning screw can effectively limit circumferential rotation of the positioning sleeve 2 after extending into the positioning hole 31, so that the positioning sleeve 2 is prevented from falling off. As another embodiment, the limit screw 30 may also be directly abutted against an end surface of the positioning sleeve 2 near one end of the driving arm 1, and the limit screw 30 is parallel to the axis of the positioning sleeve 2, so that the circumferential rotation of the positioning sleeve 2 can be effectively limited.

The main description in this embodiment is for a right-handed operation of the master control mechanism, whereas the index finger part, thumb part and linkage assembly of a left-handed adapted master control mechanism are arranged symmetrically to the index finger part 7, thumb part 8 and linkage assembly of a right-handed adapted master control mechanism.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (10)

1. A main control mechanism of a surgical robot comprises a driving arm (1), a positioning sleeve (2) arranged on the driving arm (1), a motor which is axially positioned in the positioning sleeve (2) through a positioning structure and consists of a motor body (3) and a motor shaft (4), and an encoder (5) which is arranged at one end of the motor close to the driving arm (1), wherein a bearing (6) is arranged between the motor body (3) and the positioning sleeve (2), one end of the positioning sleeve (2) far away from the driving arm (1) is provided with a forefinger part (7) fixedly connected with the motor shaft (4) and a thumb part (8) fixedly connected with the motor body (3), the main control mechanism is characterized in that one end of the positioning sleeve (2) far away from the driving arm (1) is also provided with an end cover (9), and a notch for the forefinger part (7) and the thumb part (8) to penetrate out is arranged between the end cover (9) and the positioning sleeve (2), the end cover (9) is provided with a palm support (10) for supporting the palm center.

2. The main control mechanism of the surgical robot according to claim 1, wherein the positioning structure comprises an inner annular step (11) disposed at one end of the positioning sleeve (2) far away from the driving arm (1), one end of the motor body (3) far away from the encoder (5) is fixedly connected with an annular connecting seat (12), the connecting seat (12) is provided with an outer annular step (13) arranged opposite to the inner annular step (11), the lower end of the outer ring of the bearing (6) abuts against the inner annular step (11), the upper end of the inner ring abuts against the outer annular step (13), the positioning sleeve (2) is fixed with an annular limiting seat (14) for compressing the upper end of the outer ring of the bearing (6), the end cap (9) is disposed on the limiting seat (14), and a limiting ring (15) is disposed between the connecting seat (12) and the motor body (3), the lower end of the inner ring of the bearing (6) is abutted against the limiting ring (15).

3. The main control mechanism of the surgical robot according to claim 2, wherein the outer end of the thumb component (8) is provided with a first finger ring (16), the thumb component (8) is fixed on the connecting seat (12), the outer end of the forefinger component (7) is provided with a second finger ring (17), and a linkage assembly is arranged between the thumb component (8) and the forefinger component (7).

4. The main control mechanism of the surgical robot according to claim 3, wherein the linkage assembly comprises a first hinge member (18), a second hinge member (19) and a first hinge shaft (20), one end of the first hinge member (18) is hinged to the thumb member (8) through a second hinge shaft (21), one end of the second hinge member (19) is hinged to the index finger member (7) through a third hinge shaft (22), the other end of the first hinge member (18) and the other end of the second hinge member (19) are hinged through the first hinge shaft (20), the second hinge shaft (21) and the third hinge shaft (22) are parallel to each other, and the limiting seat (14) is provided with a guide structure for guiding the first hinge shaft (20).

5. The main control mechanism of surgical robot as claimed in claim 4, wherein the guiding structure comprises a first guiding block (23) and a second guiding block (24) fixedly connected to the limiting seat (14), a guiding groove is formed between the first guiding block (23) and the second guiding block (24), the first hinge shaft (20) is sleeved with a rolling body (25), and the rolling body (25) is arranged in the guiding groove in a rolling manner.

6. The main control mechanism of the surgical robot according to claim 1, wherein the side of the end cap (9) has a first concave hole, the palm rest (10) has a through hole opposite to the first concave hole, the first concave hole is provided with a spring (26) and a first limit post (27) extending into the through hole, and the end cap (9) is provided with an anti-falling structure for limiting the first limit post (27) from falling off.

7. The main control mechanism of the surgical robot according to claim 6, wherein the anti-separation structure comprises a second concave hole and a second limit post (28), the second concave hole is arranged at the end of the end cover (9) and intersects with the first concave hole, the second limit post (27) penetrates through the second concave hole, a limit groove (29) or a limit hole is formed in the first limit post (27), and the second limit post (28) extends into the limit groove (29) or the limit hole.

8. The main control mechanism of the surgical robot according to claim 1, wherein the lower end of the positioning sleeve (2) is in threaded connection with the active arm (1), and the active arm (1) is provided with a limit screw (30) for limiting the rotation of the positioning sleeve (2) when the positioning sleeve (2) is connected in place.

9. The master control mechanism of a surgical robot according to claim 8, wherein the limit screw (30) abuts against the end surface of the positioning sleeve (2) near the end of the driving arm (1).

10. The master control mechanism of a surgical robot according to claim 8, wherein the lower end of the positioning sleeve (2) is provided with a plurality of positioning holes (31) distributed in an annular array, and the limit screw (30) extends into the positioning hole (31) arranged opposite to the limit screw.

Images