Two-stage self-adaptive power surgical mechanical arm device and control method

The invention discloses a two-stage self-adaptive power operation mechanical arm device and a control method, and the two-stage self-adaptive power operation mechanical arm device comprises a mechanical arm base (3) which provides an installation environment for each mechanical arm and leads out an independent signal line (6) of each mechanical arm to be connected to a main control work station (7); the at least two mechanical arms are arranged on the mechanical arm base (3), the output end of each mechanical arm is provided with a corresponding executor, the executors are used for being connected into an interventional instrument, each mechanical arm is integrated with a plurality of cascaded degree-of-freedom joints, any degree-of-freedom joint is provided with an independent power mechanism, and the power mechanism is connected with the mechanical arm base (3). Each power mechanism is connected to the master control work station (7) through a signal line (6) so as to control the adjustment of the correspon