MODE-RECONFIGURABLE MINIMALLY INVASIVE SURGERY ROBOT SLAVE MANIPULATOR SYSTEM

摘要

Disclosed is a mode-reconfigurable minimally invasive surgery robot slave manipulator system, the slave manipulator system comprising: a manipulator arm module (200) used for executing a surgical operation and comprising: a manipulator arm guide rail driving motor (210); a manipulator arm driving motor (220); a manipulator arm guide rail (230) driven by the manipulator arm guide rail driving motor (210), with the manipulator arm driving motor (220) being connected to the manipulator arm guide rail (230); a manipulator arm (240) comprising a manipulator arm driving mechanism (241) and a manipulator arm executing rod (242) connected to the manipulator arm driving mechanism, with the manipulator arm driving mechanism (241) being connected to the manipulator arm driving motor (220) via a port, a clamp at an end of the manipulator arm executing rod (242) being used for executing the surgical operation, the manipulator arm driving motor (220) providing power for the manipulator arm (240) and driving the manipulator arm (240) to complete the surgical operation, and the manipulator arm guide rail driving motor (210) driving the manipulator arm (240) to move along the manipulator arm guide rail (230); and an endoscope module (100) used for providing stereoscopic vision for the surgical operation. The mode-reconfigurable minimally invasive surgery robot slave manipulator system can be switched between multi-port minimally invasive surgery and single-port minimally invasive surgery.