Multi-fingered dexterous hand for endoscopic surgery

Abstract

The embodiment of the invention provides a multi-fingered dexterous hand for endoscopic surgery, and belongs to the technical field of medical instruments, the multi-fingered dexterous hand comprises a universal instrument tube, a positioning seat, at least two dexterous fingers and a driving rope, the universal instrument tube is a polyformaldehyde hollow cylinder, and a boss is arranged at the right end of the universal instrument tube; the positioning seat is of a polyformaldehyde combined hollow cylinder structure, a main hollow cylinder is matched with a boss of the universal instrument tube, and a secondary hollow cylinder is annularly distributed; the dexterous finger is correspondingly connected with the secondary hollow cylinder, comprises knuckles which are hinged in sequence, and forms a rotating joint through a lug plate and a bolt; the driving rope is an ultra-high molecular weight polyethylene fiber rope and is arranged in inner cavities of all the components in a penetrating mode. According to the invention, the fineness and flexibility of endoscopic surgery operation are improved, complex operation can be completed, and tool replacement is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a multi-finger dexterous hand for endoscopic surgery. Background Art

[0002] Traditional endoscopic surgical instruments mostly utilize a straight-rod structure with 2-3 degrees of freedom. This inherently limits their freedom of movement, limiting them to basic movements like opening, closing, and rotation. Given the complex human anatomy, these instruments struggle to achieve complex and delicate manipulations like finger-to-fingers, such as pinching and gripping. This makes them difficult to achieve, hindering the dexterity required during surgery and often necessitating frequent tool changes, which not only impacts surgical efficiency but also potentially increases risks.

[0003] While curved instruments offer a degree of flexibility, their tubular design limits their ability to achieve multi-angle coordinated manipulation. In deep-seated surgeries, their lack of maneuverability makes it difficult to precisely reach the target location and perform complex maneuvers, increasing the complexity of the procedure.

[0004] Furthermore, during endoscopic surgery, the endoscope occupies a limited operating space, further compressing the instrument's operating range. When the surgical target is located in a blind spot, straight instruments cannot reach it, forcing the surgeon to repeatedly adjust the endoscope's position. This not only prolongs the surgery, increases the patient's anesthesia risk and infection risk, but can also cause unnecessary damage to surrounding tissues due to frequent adjustments.

[0005] Therefore, developing an instrument that can improve the precision and flexibility of endoscopic surgical operations has become an urgent problem to be solved. Summary of the Invention

[0006] In view of this, an embodiment of the present invention provides a multi-finger dexterous hand for endoscopic surgery, which at least partially solves the problems existing in the prior art.

[0007] An embodiment of the present invention provides a multi-finger dexterous hand for endoscopic surgery, comprising a universal instrument tube (1), a positioning seat (2), at least two dexterous fingers (3), and a driving rope (4);

[0008] The universal instrument tube (1) is a hollow cylindrical structure made of polyoxymethylene material, with a boss-shaped structure (12) provided at the right end, and the hollow cavity is used to pass the drive rope (4);

[0009] The positioning seat (2) is a combined hollow cylindrical structure made of polyformaldehyde material, including an outer main hollow cylinder (21) and at least two secondary hollow cylinders (22) coaxially distributed in its inner cavity, the main hollow cylinder (21) is adaptively connected to the boss-shaped structure (12) of the universal instrument tube, and the secondary hollow cylinders (22) are "convex"-shaped cylindrical structures and are evenly distributed in an annular shape;

[0010] The dexterous fingers (3) are connected to the secondary hollow cylinders (22) in a one-to-one correspondence, and each dexterous finger (3) comprises a finger base (31), a first finger joint (32), a second finger joint (33) and a third finger joint (34) which are hinged in sequence, and each adjacent component forms a rotation joint through an ear plate and a latch (35);

[0011] The driving rope (4) is an ultra-high molecular weight polyethylene fiber rope, which is passed through the inner cavity of the universal instrument tube (1), the positioning seat (2) and the dexterous finger (3), and includes a first driving rope (41), a second driving rope (42) and a third driving rope (43) for driving each joint, and the rotation of each joint is achieved by rope traction.

[0012] According to a specific implementation of an embodiment of the present invention, the finger base (31) is a columnar split structure, the left part is a hollow cylindrical base (311), and the right part is an open cavity (312);

[0013] The cavity is provided with an arc-shaped bearing surface (3122) and a first through hole (3123), a second through hole (3124), and a third through hole (3125) for respectively passing the second driving rope (42), the first driving rope (41), and the third driving rope (43);

[0014] First ear plates (3120) with first circular holes (3121) are provided on both sides of the finger base (31).

[0015] According to a specific implementation of an embodiment of the present invention, the first finger joint (32) is a fork-shaped solid structure, and a second ear plate (3210) with a first annular groove (3211) and a second circular hole (3212) is extended at the left end, and the second circular hole (3212) is connected to the first circular hole (3121) of the finger base through a latch (35);

[0016] A third ear plate (3221) with a third circular hole (3222) is provided at the right end of the first finger joint (32);

[0017] A fourth through hole (3223) and a fifth through hole (3224) for the second drive rope (42) and the third drive rope (43) to pass through are provided in the middle of the first finger joint (32);

[0018] The right end of the second ear plate (3210) is provided with a first pin hole (3213) for fixing the tungsten wire.

[0019] According to a specific implementation of an embodiment of the present invention, the second finger joint (33) is a fork-shaped solid structure, and a fourth ear plate (3310) with a second annular groove (3311) and a fourth circular hole (3312) extends from the left end, and the fourth circular hole (3312) is connected to the third circular hole (3222) of the first finger joint through a pin (35);

[0020] A fifth ear plate (3321) with a fifth circular hole (3322) is provided at the right end of the second phalanx;

[0021] A seventh through hole (3324) is provided in the middle of the second finger joint for the third driving rope (43) to pass through;

[0022] A second pin hole (3313) for fixing the tungsten wire is provided at the right end of the fourth ear plate (3310).

[0023] According to a specific implementation of an embodiment of the present invention, the third finger joint (34) is a block-shaped structure, and a sixth ear plate (3410) with a third annular groove (3411) and a sixth circular hole (3412) is extended from the left end, and the sixth circular hole (3412) is connected to the fifth circular hole (3322) of the second finger joint by a latch (35);

[0024] The right end of the sixth ear plate (3410) is provided with a third pin hole (3413) for fixing the tungsten wire.

[0025] According to a specific implementation of an embodiment of the present invention, each dexterous finger (3) has three degrees of freedom:

[0026] The connecting joint between the finger base (31) and the first finger joint (32) forms a first degree of freedom, which rotates parallel to the X axis with an angle range of -45° to +45°;

[0027] The connecting joint between the first knuckle (32) and the second knuckle (33) forms a second degree of freedom, which rotates parallel to the Y axis within an angle range of -45° to +45°;

[0028] The connecting joint between the second knuckle (33) and the third knuckle (34) forms a third degree of freedom, which rotates parallel to the Y axis with an angle range of -45° to +45°.

[0029] According to a specific implementation of an embodiment of the present invention, the first drive rope (41) passes through the first annular groove (3211) of the first finger joint (32) and the second through hole (3124) of the finger base (31), and extends to the external drive device through the positioning seat (2) and the hollow cavity of the universal instrument tube (1).

[0030] According to a specific implementation of an embodiment of the present invention, the second drive rope (42) passes through the second annular groove (3311) of the second finger joint (33), the fourth through hole (3223) of the first finger joint (32), and the first through hole (3123) of the finger base (31), and extends to the external drive device through the hollow cavity of the positioning seat (2) and the universal instrument tube (1).

[0031] According to a specific implementation of an embodiment of the present invention, the third driving rope (43) passes through the third annular groove (3411) of the third finger joint (34), the seventh through hole (3324) of the second finger joint (33), the fifth through hole (3224) of the first finger joint (32), and the third through hole (3125) of the finger base (31), and extends to the external driving device through the hollow cavity of the positioning seat (2) and the universal instrument tube (1).

[0032] According to a specific implementation of an embodiment of the present invention, the number of the dexterous fingers (3) is three, and the functions of grasping objects of different sizes and adjusting the tool posture are achieved through the coordinated action of the three fingers with 9 degrees of freedom.

[0033] The present invention has the following beneficial effects:

[0034] The robot boasts high dexterity and can perform 90% of the functions of a human hand. Each finger has three degrees of freedom, and 2-4 fingers can be configured. It can perform complex and precise operations such as grasping objects of varying sizes and adjusting tool postures, eliminating the need for frequent tool changes and improving surgical efficiency.

[0035] The structure is compact, with the overall outer diameter of the hand being only 10mm and each finger having a diameter of 4mm. While meeting multiple degrees of freedom (9 degrees of freedom in total for three fingers, and up to 10-12 degrees of freedom with the help of instruments), it can adapt to the limited operating space of endoscopic surgery and facilitate flexible movement in the complex anatomical structure of the human body.

[0036] It is lightweight, adopts a strong transmission structure and a gearless design, which effectively reduces the overall weight, reduces the operating burden, and also reduces the potential risk of damage to surrounding tissues.

[0037] The three fingers can be used in combination to simulate the action of three fingers of a human hand grasping an object, further improving the coordination and accuracy of surgical operations, better responding to various complex operational requirements during surgery, and reducing surgical risks and operational difficulty. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 This is a schematic diagram of the overall structure and finger composition of the multi-fingered dexterous hand;

[0040] Figure 2 It is a schematic diagram of the structure of a universal instrument tube;

[0041] Figure 3 1. It is a schematic diagram of the positioning seat structure;

[0042] Figure 4 It’s a picture of a dexterous finger explosion;

[0043] Figure 5 This is a detailed diagram of the structure of the first knuckle;

[0044] Figure 6 This is a detailed diagram of the structure of the second knuckle;

[0045] Figure 7 This is a detailed diagram of the structure of the third knuckle;

[0046] Figure 8 This is another diagram of the structure of the third knuckle;

[0047] Figure 9 This is a schematic diagram of the degrees of freedom of the dexterous finger joints and the distribution of the drive ropes;

[0048] Figure 10 It is a schematic diagram of the coordinate system and rotation direction of the dexterous finger's degrees of freedom. DETAILED DESCRIPTION

[0049] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0050] See also Figures 1-10 The multi-finger dexterous hand robot consists of three fingers, each with three degrees of freedom and three joints, which can mimic the movement of the human hand and achieve flexible grasping and manipulation. The specific structure includes the following parts: Figure 1 In the figure, from left to right, there are respectively a universal mechanical tube (1), a positioning seat (2), a dexterous finger (3), and a driving rope (4), wherein the right side of the dexterous finger (3) includes a finger base (31), a first finger joint (32), a second finger joint (33), and a third finger joint (34).

[0051] The universal instrument tube (1) is made of polyoxymethylene (POM). The instrument tube body (11) is a hollow cylindrical structure with an outer diameter of 12 mm, an inner diameter of 7.4 mm, and a body size of 150 mm. The right end (12) of the universal instrument tube is a boss-like structure that matches the groove of the positioning seat and has a length of 8 mm. The universal instrument tube realizes the passage of the drive rope (4) through the hollow cavity. The step at the right end (12) of the universal instrument tube is used for accurate and reliable connection with the positioning seat.

[0052] Positioning seat (2): Made of polyoxymethylene (POM), with a body length of 20 mm, a combined hollow cylindrical structure, including an outer main hollow cylinder (21), and three secondary hollow cylinders (22) arranged in the inner cavity of the main hollow cylinder and coaxially distributed with the main hollow cylinder. The outer wall of the secondary hollow cylinder (22) is adapted to the inner wall (21) of the main hollow cylinder, and each secondary hollow cylinder (22) is evenly distributed in an annular shape in the inner cavity space (23) of the main hollow cylinder (22). The annular end faces at both ends of the main hollow cylinder (21) and the annular end faces at both ends of the secondary hollow cylinder (22) together constitute the end faces of the cavity structure, and each hollow cylinder is enclosed by the curved surface of the body of revolution and the annular end faces to form a hollow cavity.

[0053] The main hollow cylinder (21) matches the boss-shaped structure of the right end (12) of the universal instrument tube, and has an inner diameter of 9 mm, thereby achieving a reliable connection between the two. The positioning end for positioning the three sets of dexterous fingers is three secondary hollow cylinders (22). The three secondary hollow cylinders (22) are cylindrical with a convex structure and a length of 8.5 mm. The outer ring (221) is 5.5 mm long and has an inner diameter of 4.2 mm. The inner ring (222) is 3 mm long and has an inner diameter of 2.5 mm. The inner and outer rings are concentric and coaxial. The three secondary hollow cylinders (22) are evenly distributed at the positioning end of the positioning seat.

[0054] The structure realizes the insertion of a drive rope through the hollow inner cavities of the primary hollow cylinder (21) and the secondary hollow cylinder (22), and the secondary hollow cylinder (22) is used for accurate and reliable connection of the finger base.

[0055] Dexterous fingers (3): There are three fingers with identical structural design, including a finger base (31), a first knuckle (32), a second knuckle (33), a third knuckle (34), a latch (35), and a pin (36).

[0056] The explosion of a single dexterous finger Figure 4 As shown, including:

[0057] Finger base (31): a columnar split connecting member comprising a coaxially arranged left cylindrical base (311) and a right open cavity structure (312), wherein the left portion is a hollow cylindrical base (311) with a size of 5 mm, supporting an axially extending carrier adapted for connection with the positioning seat (2). The right part is an open cavity (312) with a size of 4.5 mm. The cavity is provided with an arc-shaped bearing surface (3122) and a first through hole (3123), a second through hole (3124) and a third through hole (3125) for passing the second drive rope (42), the first drive rope (41) and the third drive rope (43). A first ear plate structure (3120) with a first circular hole (3121) is provided on one side wall of the cavity, and a first ear plate structure (3120) with a first circular hole (3121) is also provided on the opposite side wall. The connection function with the first finger joint (32) is achieved through the first circular hole (3121) of the first ear plate structure (3120) and the latch (35).

[0058] The first finger joint: a fork-shaped connector with a solid structure. A second ear plate (3210) extends from the left end (321) of the first finger joint. The second ear plate (3210) is cylindrical. A first annular groove (3211) is provided on the surface of the cylinder for passing the first drive rope (41). The cylinder is provided with a central second circular hole (3212). The second circular hole (3212) cooperates with the first circular holes (3122) of the first ear plates (3121) on the upper and lower sides of the finger base and is connected by a pin (35). The second ear plate (3210) has a first pin hole (3213) protruding on the upper and lower surfaces near the right end. A pin (36) is inserted to press the tungsten wire through interference fit. A third ear plate (3221) with a third circular hole (3222) is provided on both the front and rear sides of the right end (322) of the first phalanx, and is connected to the second phalanx (33) through the third circular hole (3222) of the third ear plate (3221) and the latch (35). Grooves (3220) are provided above and below the third ear plate (3221) of the right end (322) of the first phalanx, and the groove (3220) is provided with a fourth through hole (3223) and a fifth through hole (3224) that pass through the left end (321) and the right end (322) of the first phalanx, respectively, for passing the second drive rope (42) and the third drive rope (43).

[0059] Second knuckle: fork-shaped connector, solid structure, the main body is a cuboid, the left end (331) of the second knuckle extends out a fourth ear plate (3310)

[0060] The fourth ear plate (3310) is cylindrical and has a second annular groove (3311) on the surface of the cylinder for passing the second drive rope (42). The cylinder has a central fourth circular hole (3312). The fourth circular hole (3312) cooperates with the third circular holes (3222) of the third ear plates (3221) on the upper and lower sides of the first knuckle and is connected by a latch (35). The fourth ear plate (3310) has a second pin hole (3313) protruding from the upper and lower surfaces near the right end, into which a pin (36) is inserted for interference fit to secure the tungsten wire.

[0061] A fifth ear plate (3321) with a fifth circular hole (3322) is provided on both the front and rear sides of the right end (332) of the second knuckle, and is connected to the third knuckle (34) through the fifth circular hole (3322) of the fifth ear plate (3321) and the latch (35). A groove (3320) is provided above and below the fifth ear plate (3321) of the right end (332) of the second knuckle, and the groove (3320) is provided with a sixth through hole (3323) and a seventh through hole (3324) that pass through the left end (331) and the right end (332) of the second knuckle, wherein the seventh through hole (3324) is used for passing the third driving rope (43).

[0062] The third phalanx: The whole is a block-shaped structure. The left end (341) of the third phalanx extends out a sixth ear plate (3410). The sixth ear plate (3410) is cylindrical. A third annular groove (3411) is provided on the surface of the cylinder for passing the third drive rope (43). The cylinder is provided with a central sixth circular hole (3412). The sixth circular hole (3412) cooperates with the fifth circular holes (3322) of the fifth ear plates (3321) on the upper and lower sides of the second phalanx and is connected by a pin (35). The sixth ear plate (3412) has a third pin hole (3413) protruding on the upper and lower surfaces near the right end. A pin (36) is inserted to press the tungsten wire for interference fit.

[0063] The multi-finger dexterous hand robot consists of three fingers, each with three degrees of freedom, for a total of nine degrees of freedom.

[0064] The connection between the finger base (31) and the first finger joint (32) is a first degree of freedom S01, the connection between the first finger joint (32) and the second finger joint (33) is a second degree of freedom S02, and the connection between the second finger joint (33) and the third finger joint (34) is a third degree of freedom S03.

[0065] The finger base (31), the first finger joint (32), the second finger joint (33), and the third finger joint (33) are connected in pairs through pins and round holes of the ear plate, and are driven by the first driving rope (41), the second driving rope (42), and the third driving rope (43) to realize the rotation and movement of each joint.

[0066] The first circular holes (3121) of the first ear plate structure (3120) on the upper and lower sides of the right end (312) of the finger base are matched with the second circular hole (3212) of the second ear plate (3210) on the left end (321) of the first knuckle and are connected by a pin (35) to form a connection joint, that is, the first degree of freedom S01.

[0067] The third circular hole (3222) of the third ear plate (3221) on the upper and lower sides of the right end (322) of the first phalanx is matched with the fourth circular hole (3312) of the fourth ear plate (3310) at the left end (331) of the second phalanx and connected by a pin (35) to form a connecting joint, that is, the second degree of freedom S02.

[0068] The fifth circular hole (3322) of the fifth ear plate (3321) on the upper and lower sides of the right end (332) of the second phalanx is matched with the sixth circular hole (3412) of the sixth ear plate (3410) at the left end (341) of the third phalanx and connected by a pin (35) to form a connecting joint, that is, the third degree of freedom S03.

[0069] like Figure 10 As shown, a coordinate system is established with the base (31), with the vertical direction from bottom to top being the Z-axis direction, the direction pointing outward being the X-axis direction, and the direction pointing to the right being the Y-axis direction. The first degree of freedom (S1) is axially parallel to the X-axis, and rotates left or right at ZOY, with a rotation angle of -45° to +45°. The second degree of freedom (S2) is axially parallel to the Y-axis, and rotates outward or inward at ZOX, with a rotation angle of -45° to +45°. The third degree of freedom (S3) is axially parallel to the Y-axis, and rotates outward or inward at ZOX, with a rotation angle of -45° to +45°.

[0070] The gripping function is achieved through the ±45° rotation of the first degree of freedom (S1), the second degree of freedom (S2) and the third degree of freedom (S3) of the three fingers.

[0071] The drive rope is the core transmission component, which transmits the driving force through the flexible rope to achieve the precise movement of the dexterous fingers. Each dexterous finger has three drive ropes, namely the first drive rope (41), the second drive rope (42) and the third drive rope (43). Driven by the motor, the drive rope converts the rotational motion of the motor into the bending or grasping motion of the joint, thereby achieving the movement of the joint.

[0072] On the other hand, considering the lightweight of the dexterous hand, the driving rope is made of ultra-high molecular weight polyethylene fiber rope.

[0073] The first driving rope (41) is passed through the first annular groove (3211) of the second ear plate (3210), and then passed through the second through hole (3124) of the finger base (31) into the inner cavity of the positioning seat (2), and finally passed through the inner cavity of the universal instrument tube (1).

[0074] The second drive rope (42) is passed through the second annular groove (3311) of the fourth ear plate (3310), and then passed through the fourth through hole (3223) of the first finger joint (32) into the first through hole (3123) of the finger base (31), and then passed through the inner cavity of the positioning seat (2), and finally passed through the inner cavity of the universal instrument tube (1).

[0075] The third drive rope (43) is passed through the third annular groove (3411) of the sixth ear plate (3410), and then passed through the seventh through hole (3324) of the second finger joint (33), and then passed through the fifth through hole (3224) of the first finger joint (32) into the third through hole (3125) of the finger base (31), and then passed through the inner cavity of the positioning seat (2), and finally passed through the inner cavity of the universal instrument tube (1).

[0076] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A multi-finger dexterous hand for endoscopic surgery, characterized in that: It comprises a universal instrument tube (1), a positioning seat (2), at least two dexterous fingers (3) and a driving rope (4); The universal instrument tube (1) is a hollow cylindrical structure made of polyoxymethylene material, with a boss-shaped structure (12) provided at the right end, and the hollow cavity is used to pass the drive rope (4); The positioning seat (2) is a combined hollow cylindrical structure made of polyformaldehyde material, including an outer main hollow cylinder (21) and at least two secondary hollow cylinders (22) coaxially distributed in its inner cavity, the main hollow cylinder (21) is adaptively connected to the boss-shaped structure (12) of the universal instrument tube, and the secondary hollow cylinders (22) are "convex"-shaped cylindrical structures and are evenly distributed in an annular shape; The dexterous fingers (3) are connected to the secondary hollow cylinders (22) in a one-to-one correspondence, and each dexterous finger (3) comprises a finger base (31), a first finger joint (32), a second finger joint (33) and a third finger joint (34) which are hinged in sequence, and each adjacent component forms a rotation joint through an ear plate and a latch (35); The driving rope (4) is an ultra-high molecular weight polyethylene fiber rope, which is passed through the inner cavity of the universal instrument tube (1), the positioning seat (2) and the dexterous finger (3), and includes a first driving rope (41), a second driving rope (42) and a third driving rope (43) for driving each joint, and the rotation of each joint is achieved by rope traction.

2. The multi-finger dexterous hand according to claim 1, characterized in that: The finger base (31) is a columnar split structure, with the left portion being a hollow cylindrical base (311) and the right portion being an open cavity (312); The cavity is provided with an arc-shaped bearing surface (3122) and a first through hole (3123), a second through hole (3124), and a third through hole (3125) for respectively passing the second driving rope (42), the first driving rope (41), and the third driving rope (43); First ear plates (3120) with first circular holes (3121) are provided on both sides of the finger base (31).

3. The multi-finger dexterous hand according to claim 2, characterized in that: The first finger joint (32) is a fork-shaped solid structure, with a second ear plate (3210) extending from the left end and having a first annular groove (3211) and a second circular hole (3212), the second circular hole (3212) being connected to the first circular hole (3121) of the finger base via a latch (35); A third ear plate (3221) with a third circular hole (3222) is provided at the right end of the first finger joint (32); A fourth through hole (3223) and a fifth through hole (3224) for the second drive rope (42) and the third drive rope (43) to pass through are provided in the middle of the first finger joint (32); The right end of the second ear plate (3210) is provided with a first pin hole (3213) for fixing the tungsten wire.

4. The multi-finger dexterous hand according to claim 3, characterized in that: The second finger joint (33) is a fork-shaped solid structure, with a fourth ear plate (3310) extending from the left end and having a second annular groove (3311) and a fourth circular hole (3312), and the fourth circular hole (3312) is connected to the third circular hole (3222) of the first finger joint via a latch (35); A fifth ear plate (3321) with a fifth circular hole (3322) is provided at the right end of the second phalanx; A seventh through hole (3324) is provided in the middle of the second finger joint for the third driving rope (43) to pass through; A second pin hole (3313) for fixing the tungsten wire is provided at the right end of the fourth ear plate (3310).

5. The multi-finger dexterous hand according to claim 4, characterized in that: The third finger joint (34) is a block-shaped structure, and a sixth ear plate (3410) with a third annular groove (3411) and a sixth circular hole (3412) is extended from the left end. The sixth circular hole (3412) is connected to the fifth circular hole (3322) of the second finger joint through a latch (35); The right end of the sixth ear plate (3410) is provided with a third pin hole (3413) for fixing the tungsten wire.

6. The multi-finger dexterous hand according to claim 5, characterized in that: Each dexterous finger (3) has 3 degrees of freedom: The connecting joint between the finger base (31) and the first finger joint (32) forms a first degree of freedom, which rotates parallel to the X axis with an angle range of -45° to +45°; The connecting joint between the first knuckle (32) and the second knuckle (33) forms a second degree of freedom, which rotates parallel to the Y axis within an angle range of -45° to +45°; The connecting joint between the second knuckle (33) and the third knuckle (34) forms a third degree of freedom, which rotates parallel to the Y axis with an angle range of -45° to +45°.

7. The multi-finger dexterous hand according to claim 6, characterized in that: The first driving rope (41) passes through the first annular groove (3211) of the first finger joint (32) and the second through hole (3124) of the finger base (31), and extends through the positioning seat (2) and the hollow cavity of the universal instrument tube (1) to the external driving device.

8. The multi-finger dexterous hand according to claim 7, characterized in that: The second driving rope (42) passes through the second annular groove (3311) of the second finger joint (33), the fourth through hole (3223) of the first finger joint (32), and the first through hole (3123) of the finger base (31), and extends to the external driving device through the positioning seat (2) and the hollow cavity of the universal instrument tube (1).

9. The multi-finger dexterous hand according to claim 8, characterized in that: The third driving rope (43) is passed through the third annular groove (3411) of the third finger joint (34), the seventh through hole (3324) of the second finger joint (33), the fifth through hole (3224) of the first finger joint (32), and the third through hole (3125) of the finger base (31), and extends to the external driving device through the hollow cavity of the positioning seat (2) and the universal instrument tube (1).

10. The multi-finger dexterous hand according to claim 9, characterized in that: The number of the dexterous fingers (3) is three, and the functions of grasping objects of different sizes and adjusting the tool posture are achieved through the coordinated action of the three fingers with 9 degrees of freedom.

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