Three-axis intersection-type endoscope-holding arm for active-passive hybrid surgery

The invention discloses a three-axis intersection-type endoscope-holding arm for an active-passive hybrid surgery. In the traditional laparoscopic surgery, an endoscope is often supported by medical personnel, when the human body is fatigued or shakes, an endoscope image is easily blurred and unclear, and thereby the doctor's surgical operation is directly affected. The endoscope-holding arm comprises a machine frame, a first kinematic chain, a second kinematic chain and an end effector, wherein the first kinematic chain comprises an active moving joint and three passive rotating joints, and thereby the preoperative localization of the end effector can be realized; and the second kinematic chain comprises a three-axis intersection-type telecentric mechanism, and thereby the four-degree-of-freedom motion with three rotations and one movement of the end effector can be realized. The endoscope-holding arm has simple structure and convenient installation, can replace the manual support forthe endoscope, can reduc