The invention aims to provide a
robot-assisted multifunctional instrument arm for minimally
invasive surgery. The
robot-assisted multifunctional instrument arm for minimally
invasive surgery is composed of a master control case, a
tail end position adjusting mechanism and a
tail end posture adjusting mechanism, wherein a case body, an industrial control computer, a host and other equipment are installed in the master control case and used for controlling a whole
movement system; the
tail end position adjusting mechanism is composed of an active lifting joint and three passive rotating joints and mainly used for adjusting the position of a tail end
control point; the tail end posture adjusting mechanism is composed of two active rotating joints and used for adjusting the posture of the point after the position of the tail end
control point is determined. The
robot-assisted multifunctional instrument arm for minimally
invasive surgery has the advantages of having active and passive freedom degree and being capable of positioning a tail end
surgical instrument and adjusting the posture of the tail end
surgical instrument, the mechanism is good in movement stability and flexibility, and accuracy of tail end movement is high; a mounting platform at the tail end of the mechanism can be provided with a laparoscope or other micro
surgery instruments such as
surgical manipulator, and therefore an
image acquisition system or a
surgery operation executing
system is formed.