The invention discloses a compact quick-change mechanism of a
robot for minimally
invasive surgery. The compact quick-change mechanism is composed a quick-change box and a quick-change base, and mainly comprises four groups of transmission mechanisms, a limiting and
locking mechanism, a driving
system and the like, wherein the connecting part of the quick-change box is connected with the
tail end of an instrument with a
wrist function through a rotating axis, and the quick-change box can quickly slide along a concave chute of the quick-change base, thereby realizing replacement of surgical instruments; the quick-change box sliding into the quick-change base is limited and fixed by the limiting and
locking mechanism installed at the
tail end of the quick-change base; the four groups of transmission mechanisms are in similar structures, and finally realize four
degrees of freedom of the
tail end of the instrument in a wire transmission mode respectively by a
servomotor; a transmission steel wire can be fixed and tensioned by a wire fixing wheel
assembly in each transmission mechanism; and the driving
system is composed of a
servomotor and a
harmonic speed
reducer, and is fixed on the base frame of the quick-change base through threaded connection. The compact quick-change mechanism disclosed by the invention has the advantages of compact structure, light weight,
reliable transmission, high quick-change efficiency and the like.