The invention discloses a flexible mechanical arm driving
system for minimally invasive interventional
surgery, a flexible mechanical arm comprises a hollow first sleeve
assembly which is coaxially configured, the first sleeve
assembly comprises an inner tube and an outer tube, the inner tube and the outer tube are thin-walled tubes, the inner tube is arranged in the outer tube in a penetrating manner, and the inner tube and the outer tube are fixedly connected at the far end part; the inner tube and the outer tube are each provided with a
straight tube section at the near end and a deformation section at the far end, and the deformation sections can be bent and deformed when the inner tube is pushed / pulled. The driving
system comprises an instrument
assembly and a driving module assembly; a driving driven module is arranged in the instrument assembly, and the flexible mechanical arm is connected with the driving driven module; a driving driving module and a PCB control board are arranged in the driving module assembly, the driving driving module is in transmission connection with the driving driven module, and the driving module assembly is used for driving the flexible mechanical arm to do linear, rotating and bending movement. The driving device is used for driving the coaxial
antagonism tubular flexible mechanical arm to achieve bending, rotating and
linear motion, full-
automatic control can be achieved, and the control accuracy and safety are high.