A decoupling mechanism and a wire transmission device for minimally invasive medical equipment

Abstract

The present invention discloses a decoupling mechanism and a wire transmission device for minimally invasive medical devices, comprising a decoupling mechanism bracket, a decoupling mechanism fixed axis guide wheel, a decoupling mechanism fixed pin, a decoupling mechanism moving axis guide wheel, a decoupling mechanism moving pin, a decoupling mechanism guide bar, a decoupling mechanism rack, a decoupling mechanism gear, and a decoupling mechanism gear shaft, wherein the decoupling mechanism fixed axis guide wheel and the decoupling mechanism guide bar are connected to the decoupling mechanism bracket through the decoupling mechanism fixed pin, the decoupling mechanism moving axis guide wheel and the decoupling mechanism rack are connected to the decoupling mechanism bracket through the decoupling mechanism moving pin, the decoupling mechanism guide bar is slidably connected to the decoupling mechanism rack, the decoupling mechanism gear is connected to the decoupling mechanism bracket through the decoupling mechanism gear shaft, and the decoupling mechanism gear is meshedly connected to the decoupling mechanism rack. The present invention has simple structure, convenient operation, and easy maintenance.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a decoupling mechanism and a steel wire transmission device for a minimally invasive medical device. Background Art

[0002] In December 2018, the paper "Research on Key Technologies of Minimally Invasive Surgical Robot End Effectors" written by Jin Xingze was published in the journal "Jilin University Doctoral Dissertations". In the paper, Section 2.2.4 of Chapter 2 discloses a decoupling mechanism. The decoupling mechanism consists of twelve gears and three pulleys, with a complex structure, inconvenient operation, and difficult maintenance. At the same time, the transmission mechanism in the prior art uses an independent guide wire shaft. When multiple steel wires are fixed to the guide wire shaft, it is difficult to adjust the tightness of each steel wire independently, which brings great hidden dangers to minimally invasive surgery. Summary of the invention

[0003] The first technical problem to be solved by the present invention is to provide a decoupling mechanism, which has a simple structure, is easy to operate and maintain.

[0004] The second technical problem to be solved by the present invention is to provide a wire transmission device for a minimally invasive medical device, wherein the decoupling mechanism of the wire transmission device for a minimally invasive medical device has a simple structure, is easy to operate, and is easy to maintain.

[0005] In order to solve the first technical problem mentioned above, the present invention provides a decoupling mechanism, including a decoupling mechanism bracket, a decoupling mechanism fixed axis guide wheel, a decoupling mechanism fixed pin, a decoupling mechanism moving axis guide wheel, a decoupling mechanism movable pin, a decoupling mechanism guide bar, a decoupling mechanism rack, a decoupling mechanism gear, and a decoupling mechanism gear shaft. The decoupling mechanism fixed axis guide wheel and the decoupling mechanism guide bar are connected to the decoupling mechanism bracket through the decoupling mechanism fixed pin, the decoupling mechanism moving axis guide wheel and the decoupling mechanism rack are connected to the decoupling mechanism bracket through the decoupling mechanism movable pin, the decoupling mechanism guide bar is slidably connected to the decoupling mechanism rack, the decoupling mechanism gear is connected to the decoupling mechanism bracket through the decoupling mechanism gear shaft, and the decoupling mechanism gear is meshingly connected to the decoupling mechanism rack.

[0006] Compared with the prior art, the decoupling mechanism of the present invention has the following beneficial effects.

[0007] 1. The technical solution adopts a decoupling mechanism bracket, a decoupling mechanism fixed axis guide wheel, a decoupling mechanism fixed pin, a decoupling mechanism moving axis guide wheel, a decoupling mechanism moving pin, a decoupling mechanism guide bar, a decoupling mechanism rack, a decoupling mechanism gear, and a decoupling mechanism gear shaft. The decoupling mechanism fixed axis guide wheel and the decoupling mechanism guide bar are connected to the decoupling mechanism bracket through the decoupling mechanism fixed pin, the decoupling mechanism moving axis guide wheel and the decoupling mechanism rack are connected to the decoupling mechanism bracket through the decoupling mechanism moving pin, the decoupling mechanism guide bar is slidably connected to the decoupling mechanism rack, the decoupling mechanism gear is connected to the decoupling mechanism bracket through the decoupling mechanism gear shaft, and the decoupling mechanism gear is meshedly connected to the decoupling mechanism rack. Therefore, the decoupling mechanism has a simple structure, convenient operation, and easy maintenance.

[0008] In order to solve the second technical problem mentioned above, the wire transmission device for minimally invasive medical devices of the present invention includes a decoupling mechanism, and the decoupling mechanism is the decoupling mechanism described above.

[0009] Compared with the prior art, the wire transmission device for minimally invasive medical equipment of the present invention has the following beneficial effects.

[0010] Since the decoupling mechanism adopted in the technical solution is the technical means of the decoupling mechanism described above, the decoupling mechanism of the wire transmission device for the minimally invasive medical device has a simple structure, is easy to operate and maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The decoupling mechanism and the wire transmission device for minimally invasive medical devices of the present invention are further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0012] Figure 1 The figure is a schematic diagram of the overall structure of the wire transmission device used in the minimally invasive medical device of the present invention.

[0013] Figure 1a The figure is a schematic diagram of the direction of the steel wire in the steel wire transmission device used in the minimally invasive medical device of the present invention.

[0014] Figure 2 It is a structural schematic diagram of the transmission mechanism of the present invention.

[0015] Figure 3 It is a schematic structural diagram of the wire fixing shaft of the present invention.

[0016] Figure 4 It is a structural schematic diagram of the wire fixing sleeve of the present invention.

[0017] Figure 5 It is a schematic structural diagram of the locking member of the present invention.

[0018] Figure 6It is a structural schematic diagram of the tensioning mechanism of the present invention.

[0019] Figure 7 It is a schematic structural diagram of the fixing part of the tensioning mechanism of the present invention.

[0020] Figure 8 It is a structural schematic diagram of the tensioning unit of the present invention.

[0021] Fig. 9 It is a schematic diagram of the structure of the tensioning unit bracket of the present invention from the right front top view.

[0022] Fig.10 It is a schematic diagram of the structure of the tensioning unit bracket viewed from the left front and top.

[0023] Fig.11 It is a schematic diagram of the structure of the tensioning unit rack of the present invention.

[0024] Fig.12 It is a schematic structural diagram of the guide strip of the tensioning unit of the present invention.

[0025] Fig.13 It is a schematic diagram of the structure of the gear shaft of the tensioning unit of the present invention.

[0026] Fig.14 It is a structural schematic diagram of the tensioning knob component of the present invention.

[0027] Fig.15 It is a schematic cross-sectional structural diagram of the tensioning knob component of the present invention.

[0028] Fig.16 It is a schematic structural diagram of the tensioning knob of the present invention.

[0029] Fig.17 It is a structural schematic diagram of the tensioning knob seat of the present invention.

[0030] Fig.18 It is a structural schematic diagram of the tensioning knob cap of the present invention.

[0031] Fig.19 It is a structural schematic diagram of the wire guide mechanism of the present invention.

[0032] Fig. 20 It is a structural schematic diagram of the wire guide mechanism pin of the present invention.

[0033] Fig.21 It is a structural schematic diagram of the rotating mechanism of the present invention.

[0034] Fig. 22 It is a schematic diagram of the structure of the first tube of the rotating mechanism of the present invention.

[0035] Fig.23 It is a schematic diagram of the structure of the second tube of the rotating mechanism of the present invention.

[0036] Fig.24 It is a schematic diagram of the structure of the third tube of the rotating mechanism of the present invention.

[0037] Fig.25 It is a structural schematic diagram of the moving body of the rotating mechanism of the present invention.

[0038] Fig.26 It is a structural schematic diagram of the first fixed body of the rotating mechanism of the present invention.

[0039] Fig. 27 It is a schematic cross-sectional structural diagram of the first fixed body of the rotating mechanism of the present invention.

[0040] Fig.28 It is a schematic structural diagram of the second fixed body of the rotating mechanism of the present invention.

[0041] Fig.29 It is a schematic cross-sectional view of the instrument box of the present invention.

[0042] Fig.30 It is a structural schematic diagram of the bottom plate of the instrument box of the present invention.

[0043] Fig.31 It is a structural schematic diagram of the instrument box enclosure of the present invention.

[0044] Fig.32 It is a structural schematic diagram of one side of the cover plate of the instrument box of the present invention.

[0045] Fig.33 It is a structural schematic diagram of the other side of the cover plate of the instrument box of the present invention.

[0046] Fig.34 It is a structural schematic diagram of one side of the support plate of the instrument box of the present invention.

[0047] Fig.35 It is a structural schematic diagram of the other side of the support plate of the instrument box of the present invention.

[0048] Fig.36 It is a structural schematic diagram of the peephole cover plate of the instrument box enclosure of the present invention.

[0049] Fig.37 It is a structural schematic diagram of the decoupling mechanism of the present invention.

[0050] Fig.38 It is a schematic structural diagram of the decoupling mechanism bracket of the present invention.

[0051] Fig.39 It is a schematic structural diagram of the guide strip of the decoupling mechanism of the present invention.

[0052] Fig.40 It is a schematic diagram of the structure of the rack of the decoupling mechanism of the present invention.

[0053] The description of the reference numerals is as follows.

[0054] 0~steel wire;

[0055] 0-1~working wire;

[0056] 0-2~decoupling wire;

[0057] 1~Transmission mechanism;

[0058] 1-1~Fixed wire shaft;

[0059] 1-1-1~first shaft portion;

[0060] 1-1-2~Second shaft portion;

[0061] 1-1-3~third shaft portion;

[0062] 1-1-4~the fourth shaft;

[0063] 1-1-5 ~ fifth shaft;

[0064] 1-1-6~sixth shaft;

[0065] 1-1-7 ~ Weight reduction hole;

[0066] 1-1-8~First steel wire fixing hole;

[0067] 1-1-9~Limiting slot;

[0068] 1-1-10 ~ driving keyway;

[0069] 1-2~Fixed wire sleeve;

[0070] 1-2-1~Locking part;

[0071] 1-2-2~First sleeve part;

[0072] 1-2-3~Second sleeve part;

[0073] 1-2-4~Threaded fixing hole of locking part;

[0074] 1-2-5~Second steel wire fixing hole;

[0075] 1-2-6~Third steel wire fixing hole;

[0076] 1-3 ~ Transmission bearing;

[0077] 1-4~Locking piece;

[0078] 1-4-1~Locking piece semicircular ring;

[0079] 1-4-2 ~ Locking piece fixing ear;

[0080] 1-4-3~Fixing hole for locking piece;

[0081] 1-4-4~ Locking piece avoidance notch;

[0082] 1-5~Locking screw;

[0083] 2~Tensioning mechanism;

[0084] 2-1~Tensioning mechanism fixing parts;

[0085] 2-1-1~Fixed part;

[0086] 2-1-2 ~ Main short side board;

[0087] 2-1-3~Long side board;

[0088] 2-1-4~Secondary short side board;

[0089] 2-1-5~Long partition;

[0090] 2-1-6~Short partition;

[0091] 2-1-7~Threaded fixing hole of fixing piece;

[0092] 2-1-8~fixing part shaft hole;

[0093] 2-1-9~Fixing hole for fixing parts;

[0094] 2-2~Tensioning unit;

[0095] 2-2-1~Tension unit bracket;

[0096] 2-2-1-1~Tension unit bracket base plate;

[0097] 2-2-1-2~Tension unit bracket side plate;

[0098] 2-2-1-3~Tension unit bracket pin hole;

[0099] 2-2-1-4~Tensioning unit bracket guide groove;

[0100] 2-2-1-5~Tensioning unit bracket shaft hole;

[0101] 2-2-1-6~Thickened boss at the lower limit of the tensioning unit bracket;

[0102] 2-2-1-7~Upper limit boss of tensioning unit bracket;

[0103] 2-2-1-8~Threaded fixing hole of tensioning unit bracket;

[0104] 2-2-2~Fixed axis guide wheel of tensioning unit;

[0105] 2-2-3~Fix pin of tensioning unit;

[0106] 2-2-4~Tensioning unit driving shaft guide wheel;

[0107] 2-2-5~Tensioning unit moving pin;

[0108] 2-2-6~Tension unit rack;

[0109] 2-2-6-1~Tensioning unit rack head;

[0110] 2-2-6-2~Tensioning unit rack pin hole;

[0111] 2-2-6-3~Tensioning unit rack rod;

[0112] 2-2-6-4~Tensioning unit rack teeth;

[0113] 2-2-7~Tensioning unit guide strip;

[0114] 2-2-7-1~Tensioning unit guide strip head;

[0115] 2-2-7-2~Tensioning unit guide bar pin hole;

[0116] 2-2-7-3~Tensioning unit guide bar;

[0117] 2-2-7-4~Tensioning unit guide bar groove;

[0118] 2-2-8~Tensioning unit gear;

[0119] 2-2-9~Tensioning unit gear shaft;

[0120] 2-2-9-1~Tensioning unit gear shaft single notch;

[0121] 2-2-9-2 ~ Double notch on the tensioning unit gear shaft;

[0122] 2-2-9-3~Tensioning unit gear shaft slot;

[0123] 2-2-10~Fixed axis sleeve of tensioning unit;

[0124] 2-2-11~Tensioning unit moving shaft sleeve;

[0125] 2-3~Tension knob parts;

[0126] 2-3-1~Tension knob;

[0127] 2-3-1-1~Tension knob head;

[0128] 2-3-1-2~Tension knob plate;

[0129] 2-3-1-3~Tension knob body;

[0130] 2-3-1-4 ~ First notch of the tension knob;

[0131] 2-3-1-5 ~ Second notch of the tensioning knob;

[0132] 2-3-2~Tension knob seat;

[0133] 2-3-2-1~Tension knob seat;

[0134] 2-3-2-2~Tension knob seat plate;

[0135] 2-3-2-3~Tension knob seat;

[0136] 2-3-2-4~Tension knob seat hole;

[0137] 2-3-2-5~Tension knob seat notch;

[0138] 2-3-3~Tension knob cap;

[0139] 2-3-3-1~Tension knob cap first chamber;

[0140] 2-3-3-2~Tension knob cap second chamber;

[0141] 2-3-3-3~Notch of the tension knob cap;

[0142] 2-4~Tensioning unit positioning snap ring;

[0143] 3~ Guide wire mechanism;

[0144] 3-1~First rod of the guide wire mechanism;

[0145] 3-2~Second rod of the wire guide mechanism;

[0146] 3-3~The third rod of the guide wire mechanism;

[0147] 3-4~Wire guide mechanism wheel;

[0148] 3-5 ~ Guide wire mechanism pin;

[0149] 3-5-1 ~ Pin groove of wire guide mechanism;

[0150] 3-6~Guide wire mechanism clamp ring;

[0151] 3-7 ~ Wire guide mechanism groove;

[0152] 3-8 ~ Threaded fixing hole of guide wire mechanism;

[0153] 4~Rotation mechanism;

[0154] 4-1~The first tube of the rotating mechanism;

[0155] 4-1-1~The first pipe clamp of the rotating mechanism;

[0156] 4-1-2~The first fixing hole of the first tube of the rotating mechanism;

[0157] 4-1-3~Second fixing hole of the first tube of the rotating mechanism;

[0158] 4-2~The second tube of the rotating mechanism;

[0159] 4-2-1~The second pipe clamp of the rotating mechanism;

[0160] 4-2-2~Second pipe fixing hole of the rotating mechanism;

[0161] 4-3~The third tube of the rotating mechanism;

[0162] 4-3-1~The first fixing hole of the third tube of the rotating mechanism;

[0163] 4-3-2~The second fixing hole of the third tube of the rotating mechanism;

[0164] 4-4~Rotating mechanism moving body;

[0165] 4-4-1~Rotating mechanism moving body head;

[0166] 4-4-2~Rotating mechanism moving body rod;

[0167] 4-4-3 ~ Hole in the moving body of the rotating mechanism;

[0168] 4-4-4~Side hole of the moving body of the rotating mechanism;

[0169] 4-4-5~Threaded fixing hole of the moving body of the rotating mechanism;

[0170] 4-4-6~Spiral groove of the moving body of the rotating mechanism;

[0171] 4-4-7~Steel wire fixing hole for the moving body of the rotating mechanism;

[0172] 4-4-8~Slot for the moving body of the rotating mechanism;

[0173] 4-5~The first fixed body of the rotating mechanism;

[0174] 4-5-1~The first cavity of the first fixed body of the rotating mechanism;

[0175] 4-5-2~The second cavity of the first fixed body of the rotating mechanism;

[0176] 4-5-3~The first fixed body guide groove of the rotating mechanism;

[0177] 4-5-4~Threaded fixing hole of the first fixed body of the rotating mechanism;

[0178] 4-6~The second fixed body of the rotating mechanism;

[0179] 4-6-1~The first cavity of the second fixed body of the rotating mechanism;

[0180] 4-6-2~The second cavity of the second fixed body of the rotating mechanism;

[0181] 4-6-3~Side hole of the second fixed body of the rotating mechanism;

[0182] 4-6-4~Threaded fixing hole of the second fixed body of the rotating mechanism;

[0183] 4-7~Rotation mechanism snap ring;

[0184] 4-8 ~ Rotating mechanism bearings;

[0185] 5. Instrument box;

[0186] 5-1~ Instrument box bottom plate;

[0187] 5-1-1~Bend pipe on the bottom plate of the instrument box;

[0188] 5-1-2~The first fixing hole of the bottom plate of the instrument box;

[0189] 5-1-3~The second fixing hole of the bottom plate of the instrument box;

[0190] 5-1-4~Fixing hole for elbow pipe on the bottom plate of the instrument box;

[0191] 5-2~Instrument box enclosure;

[0192] 5-2-1 ~ Fixing ears of instrument box enclosure;

[0193] 5-2-2~The first fixing hole of the instrument box enclosure;

[0194] 5-2-3~First fixed bracket of the instrument box enclosure;

[0195] 5-2-4~First threaded fixing hole of the instrument box enclosure;

[0196] 5-2-5~Peephole of the instrument box enclosure;

[0197] 5-2-6~Second fixed bracket of instrument box enclosure;

[0198] 5-2-7~The second threaded fixing hole of the instrument box enclosure;

[0199] 5-2-8~The second fixing hole of the instrument box enclosure;

[0200] 5-2-9 ~ Instrument box enclosure mounting seat;

[0201] 5-2-10 ~ Installation hole of instrument box enclosure;

[0202] 5-3~Instrument box cover;

[0203] 5-3-1~Notch on the instrument box cover;

[0204] 5-3-2~Threaded fixing hole of instrument box cover;

[0205] 5-3-3~Instrument box cover card slot;

[0206] 5-3-4 ~ Installation hole for the instrument box cover;

[0207] 5-3-5~First threaded fixing hole of the instrument box cover;

[0208] 5-3-6~First positioning hole of the instrument box cover;

[0209] 5-3-7~Second threaded fixing hole of the instrument box cover;

[0210] 5-3-8~The second positioning hole of the instrument box cover;

[0211] 5-3-9~The third threaded fixing hole of the instrument box cover;

[0212] 5-4~Instrument box support plate;

[0213] 5-4-1 ~ Installation hole of the instrument box support plate;

[0214] 5-4-2~Fixing hole of the instrument box support plate;

[0215] 5-4-3~Threaded fixing hole of the instrument box support plate;

[0216] 5-4-4 ~ Instrument box support plate mounting hole boss;

[0217] 5-4-5 ~ Fixing hole boss of instrument box support plate;

[0218] 5-5~ Instrument box enclosure peephole cover;

[0219] 5-5-1~Fixing hole of the cover plate of the instrument box enclosure;

[0220] 6~Decoupling mechanism;

[0221] 6-1~Decoupling mechanism bracket;

[0222] 6-1-1~Decoupling mechanism bracket bottom plate;

[0223] 6-1-2~Decoupling mechanism bracket side plate;

[0224] 6-1-3~Decoupling mechanism bracket pin hole;

[0225] 6-1-4~Decoupling mechanism bracket guide groove;

[0226] 6-1-5~Decoupling mechanism bracket shaft hole;

[0227] 6-1-6~Decoupling mechanism support rod;

[0228] 6-1-7~Decoupling mechanism bracket neck;

[0229] 6-1-8~Decoupling mechanism bracket head;

[0230] 6-2~Decoupling mechanism fixed axis guide wheel;

[0231] 6-3~Decoupling mechanism fixing pin;

[0232] 6-4~Decoupling mechanism moving shaft guide wheel;

[0233] 6-5~Decoupling mechanism moves the pin;

[0234] 6-6~Decoupling mechanism guide strip;

[0235] 6-6-1~Decoupling mechanism guide strip head;

[0236] 6-6-2~Decoupling mechanism guide bar pin hole;

[0237] 6-6-3~Decoupling mechanism guide bar;

[0238] 6-6-4~Decoupling mechanism guide bar groove;

[0239] 6-7~Decoupling mechanism rack;

[0240] 6-7-1~Decoupling mechanism rack head;

[0241] 6-7-2~Decoupling mechanism rack pin hole;

[0242] 6-7-3~Decoupling mechanism rack rod;

[0243] 6-7-4~Decoupling mechanism rack teeth;

[0244] 6-8~Decoupling mechanism gear;

[0245] 6-9~Decoupling mechanism gear shaft;

[0246] 6-10~Decoupling mechanism fixed axis sleeve;

[0247] 6-11~Decoupling mechanism moving shaft sleeve. DETAILED DESCRIPTION

[0248] like Fig.37As shown, this embodiment provides a decoupling mechanism, including a decoupling mechanism bracket 6-1, a decoupling mechanism fixed axis guide wheel 6-2, a decoupling mechanism fixed pin shaft 6-3, a decoupling mechanism moving axis guide wheel 6-4, a decoupling mechanism moving pin shaft 6-5, a decoupling mechanism guide bar 6-6, a decoupling mechanism rack 6-7, a decoupling mechanism gear 6-8, and a decoupling mechanism gear shaft 6-9. The decoupling mechanism fixed axis guide wheel 6-2 and the decoupling mechanism guide bar 6-6 are connected to the decoupling mechanism fixed axis guide wheel 6-3 through the decoupling mechanism fixed pin shaft 6-3. The decoupling mechanism bracket 6-1 is connected, the decoupling mechanism driven shaft guide wheel 6-4 and the decoupling mechanism rack 6-7 are connected to the decoupling mechanism bracket 6-1 through the decoupling mechanism movable pin 6-5, the decoupling mechanism guide bar 6-6 is slidably connected to the decoupling mechanism rack 6-7, the decoupling mechanism gear 6-8 is connected to the decoupling mechanism bracket 6-1 through the decoupling mechanism gear shaft 6-9, and the decoupling mechanism gear 6-8 is meshingly connected to the decoupling mechanism rack 6-7.

[0249] Various modifications of this embodiment are described in detail below.

[0250] like Fig.38 As shown, the decoupling mechanism bracket 6-1 includes a decoupling mechanism bracket bottom plate 6-1-1 and two decoupling mechanism bracket side plates 6-1-2.

[0251] The decoupling mechanism bracket bottom plate 6-1-1 is in a rectangular shape.

[0252] The two decoupling mechanism bracket side plates 6 - 1 - 2 are rectangular in shape.

[0253] The two decoupling mechanism bracket side plates 6-1-2 are in the shape of a rounded rectangle.

[0254] The plate surfaces of the two decoupling mechanism bracket side plates 6-1-2 are respectively provided with a decoupling mechanism bracket pin hole 6-1-3, a decoupling mechanism bracket shaft hole 6-1-5, and a decoupling mechanism bracket guide groove 6-1-4.

[0255] The decoupling mechanism bracket guide groove 6-1-4 is an oblique groove.

[0256] One end of the decoupling mechanism bracket guide groove 6-1-4 is close to the long side and the short side of the decoupling mechanism bracket side plate 6-1-2.

[0257] The other end of the decoupling mechanism bracket guide groove 6-1-4 is away from the long side and the short side of the decoupling mechanism bracket side plate 6-1-2.

[0258] The decoupling mechanism bracket shaft hole 6-1-5 is close to the middle of the long side of the other side of the decoupling mechanism bracket side plate 6-1-2.

[0259] The decoupling mechanism bracket pin hole 6-1-3 is close to the other end of the long side of the other side of the decoupling mechanism bracket side plate 6-1-2.

[0260] The two ends of the decoupling mechanism bracket pin hole 6-1-3 and the decoupling mechanism bracket guide groove 6-1-4 are located on the same straight line.

[0261] A decoupling mechanism bracket rod 6-1-6 is provided on the outer side plate surface of one of the decoupling mechanism bracket side plates 6-1-2.

[0262] There are two decoupling mechanism support rods 6-1-6.

[0263] The two decoupling mechanism support rods 6-1-6 are respectively perpendicular to the outer plate surface of one decoupling mechanism support side plate 6-1-2.

[0264] One of the decoupling mechanism support rods 6-1-6 is close to the short side on one side and the long side on the other side of one of the decoupling mechanism support side plates 6-1-2.

[0265] Another decoupling mechanism support rod 6-1-6 is close to the short side of the other side and the long side of one side of one decoupling mechanism support side plate 6-1-2.

[0266] The two decoupling mechanism support rods 6-1-6 are located on the diagonal line of one decoupling mechanism support side plate 6-1-2.

[0267] The two decoupling mechanism support rods 6-1-6 and one decoupling mechanism support side plate 6-1-2 form an integral part. Or,

[0268] The two decoupling mechanism support rods 6-1-6 and one decoupling mechanism support side plate 6-1-2 are connected by welding. Or,

[0269] The two decoupling mechanism support rods 6 - 1 - 6 and one decoupling mechanism support side plate 6 - 1 - 2 are connected by riveting.

[0270] The outer ends of the two decoupling mechanism support rods 6-1-6 are respectively provided with a decoupling mechanism support neck 6-1-7 and a decoupling mechanism support head 6-1-8.

[0271] The diameter of the decoupling mechanism support neck 6-1-7 is smaller than the diameter of the decoupling mechanism support rod 6-1-6.

[0272] The decoupling mechanism bracket head 6-1-8 is provided with threads.

[0273] The decoupling mechanism bracket head 6-1-8 is provided with a nut.

[0274] The length of the two decoupling mechanism bracket side plates 6 - 1 - 2 is greater than the length of the decoupling mechanism bracket bottom plate 6 - 1 - 1 .

[0275] The width of the two decoupling mechanism bracket side plates 6 - 1 - 2 is greater than the width of the decoupling mechanism bracket bottom plate 6 - 1 - 1 .

[0276] The two decoupling mechanism support side plates 6 - 1 - 2 are respectively perpendicular to the decoupling mechanism support bottom plate 6 - 1 - 1 .

[0277] The middle parts of the long sides of the two decoupling mechanism bracket side plates 6-1-2 overlap with the long sides of the two sides of the decoupling mechanism bracket bottom plate 6-1-1.

[0278] The two decoupling mechanism bracket side plates 6 - 1 - 2 are directly opposite to each other.

[0279] Such a decoupling mechanism bracket has a simple structure and is easy to manufacture.

[0280] like Fig.37 As shown, the decoupling mechanism fixed axis guide wheel 6-2 is rotationally connected to the decoupling mechanism fixed pin shaft 6-3.

[0281] The decoupling mechanism fixing pin shaft 6-3 is sleeved with two decoupling mechanism fixed axis sleeves 6-10.

[0282] The two decoupling mechanism fixed axis sleeves 6 - 10 are located on both sides of the decoupling mechanism fixed axis guide wheel 6 - 2 .

[0283] The decoupling mechanism fixing pin 6 - 3 is fixedly connected to the decoupling mechanism bracket 6 - 1 .

[0284] The decoupling mechanism guide strip 6 - 6 is sleeved on the decoupling mechanism fixing pin 6 - 3 .

[0285] Such a decoupling mechanism is beneficial to the rotation of the fixed-axis guide wheel of the decoupling mechanism.

[0286] like Fig.39 As shown, the decoupling mechanism guide bar 6-6 includes a decoupling mechanism guide bar head 6-6-1 and a decoupling mechanism guide bar rod 6-6-3.

[0287] The decoupling mechanism guide strip head 6-6-1 is in the shape of a cylinder.

[0288] A decoupling mechanism guide strip pin hole 6-6-2 is provided in the center of the end surface of the decoupling mechanism guide strip head 6-6-1.

[0289] The decoupling mechanism guide bar 6-6-3 is provided with a decoupling mechanism guide bar groove 6-6-4 along the length direction.

[0290] The cross-sectional shape of the decoupling mechanism guide bar groove 6-6-4 is in a "convex" shape.

[0291] The notch of the decoupling mechanism guide bar groove 6-6-4 is located on one side of the decoupling mechanism guide bar 6-6-3.

[0292] The decoupling mechanism guide strip head 6-6-1 and the decoupling mechanism guide strip rod 6-6-3 form an integral part.

[0293] The straight line where the decoupling mechanism guide strip head 6-6-1 is located is perpendicular to the straight line where the decoupling mechanism guide bar 6-6-3 is located.

[0294] The decoupling mechanism guide bar head 6-6-1 is offset to the side where the decoupling mechanism guide bar 6-6-3 has the notch of the decoupling mechanism guide bar groove 6-6-4.

[0295] Such a decoupling mechanism guide strip can prevent the decoupling mechanism rack from sliding out, and at the same time, is conducive to the sliding between the decoupling mechanism rack and the decoupling mechanism guide strip.

[0296] like Fig.37 As shown, the decoupling mechanism moving shaft guide wheel 6-4 is rotationally connected to the decoupling mechanism moving pin shaft 6-5.

[0297] The decoupling mechanism moving pin shaft 6-5 is sleeved with two decoupling mechanism moving shaft sleeves 6-11.

[0298] The two decoupling mechanism moving shaft sleeves 6-11 are located on both sides of the decoupling mechanism moving shaft guide wheel 6-4.

[0299] The decoupling mechanism moving pin 6-5 is slidably connected to the decoupling mechanism bracket 6-1.

[0300] The left side is a preferred embodiment, the decoupling mechanism moving pin 6-5 is designed to be thin at both ends and thick in the middle, or snap rings are arranged at both ends of the decoupling mechanism moving pin, so as to prevent the decoupling mechanism moving pin from slipping.

[0301] The decoupling mechanism rack 6-7 is sleeved on the decoupling mechanism moving pin 6-5.

[0302] Such a decoupling mechanism is beneficial to the rotation of the guide wheel of the driving shaft of the decoupling mechanism.

[0303] like Fig.40 As shown, the decoupling mechanism rack 6-7 includes a decoupling mechanism rack head 6-7-1 and a decoupling mechanism rack rod 6-7-3.

[0304] The decoupling mechanism rack head 6 - 7 - 1 is in the shape of a cylinder.

[0305] A decoupling mechanism rack pin hole 6-7-2 is provided in the center of the end surface of the decoupling mechanism rack head 6-7-1.

[0306] One side of the decoupling mechanism rack rod 6-7-3 is provided with decoupling mechanism rack teeth 6-7-4 along the length direction.

[0307] The cross-sectional shape of the rack rod 6-7-3 of the decoupling mechanism is a "convex" shape.

[0308] The decoupling mechanism rack head 6-7-1 and the decoupling mechanism rack rod 6-7-3 form an integral part.

[0309] The straight line where the rack head 6-7-1 of the decoupling mechanism is located is perpendicular to the straight line where the rack rod 6-7-3 of the decoupling mechanism is located.

[0310] The decoupling mechanism rack head 6-7-1 is placed at one end of the decoupling mechanism rack rod 6-7-3.

[0311] Such a decoupling mechanism rack is advantageous for meshing with the decoupling mechanism gear.

[0312] like Fig.37 As shown, the decoupling mechanism gear 6-8 is fixedly connected to the decoupling mechanism gear shaft 6-9.

[0313] The decoupling mechanism gear shaft 6 - 9 is rotatably connected to the decoupling mechanism bracket 6 - 1 .

[0314] The end of the decoupling mechanism gear shaft 6-9 is exposed from the decoupling mechanism bracket 6-1.

[0315] Such a decoupling mechanism gear shaft is conducive to the connection with the decoupling wire.

[0316] like Figure 1 As shown, this embodiment provides a wire transmission device for a minimally invasive medical device, including a decoupling mechanism 6, characterized in that: the decoupling mechanism 6 is the decoupling mechanism as described above.

[0317] Various modifications of this embodiment are described in detail below.

[0318] like Figure 1 As shown, the wire transmission device for the minimally invasive medical device further includes a transmission mechanism 1, a tensioning mechanism 2, a guide wire mechanism 3, a rotating mechanism 4, and an instrument box 5.

[0319] The transmission mechanism 1 , the tensioning mechanism 2 , the wire guide mechanism 3 , and the decoupling mechanism 6 are located in the instrument box 5 .

[0320] The transmission mechanism 1 , the tensioning mechanism 2 , the wire guiding mechanism 3 , and the decoupling mechanism 6 are connected to the instrument box 5 .

[0321] The rotating mechanism 4 is located outside the instrument box 5 .

[0322] The rotating mechanism 4 is connected to the instrument box 5 .

[0323] like Figure 2 As shown, the transmission mechanism 1 includes a thread fixing shaft 1-1, a thread fixing sleeve 1-2, a transmission bearing 1-3, a locking member 1-4, and a locking screw 1-5.

[0324] The wire fixing sleeve 1-2 is sleeved on the wire fixing shaft 1-1.

[0325] The thread fixing sleeve 1-2 is fixedly connected to the thread fixing shaft 1-1 through the locking piece 1-4 and the locking screw 1-5.

[0326] Both ends of the fixed wire shaft 1 - 1 are connected to the instrument box 5 through the transmission bearings 1 - 3 respectively.

[0327] like Figure 3 As shown, the wire shaft 1-1 includes a first shaft portion 1-1-1, a second shaft portion 1-1-2, a third shaft portion 1-1-3, a fourth shaft portion 1-1-4, a fifth shaft portion 1-1-5 and a sixth shaft portion 1-1-6.

[0328] The diameter of the first shaft portion 1 - 1 - 1 is greater than the diameter of the second shaft portion 1 - 1 - 2.

[0329] The diameter of the second shaft portion 1-1-2 is greater than the diameter of the third shaft portion 1-1-3.

[0330] The diameter of the third shaft portion 1-1-3 is greater than the diameter of the fourth shaft portion 1-1-4.

[0331] The diameter of the fourth shaft portion 1 - 1 - 4 is equal to the diameter of the fifth shaft portion 1 - 1 - 5.

[0332] The diameter of the fifth shaft portion 1-1-5 is greater than the diameter of the sixth shaft portion 1-1-6.

[0333] The first shaft portion 1-1-1, the second shaft portion 1-1-2, the third shaft portion 1-1-3, the fourth shaft portion 1-1-4, the fifth shaft portion 1-1-5 and the sixth shaft portion 1-1-6 are coaxially formed into an integral part.

[0334] A driving keyway 1-1-10 is provided in the center of one end surface of the first shaft portion 1-1-1.

[0335] The driving keyway 1-1-10 is in the shape of a cross.

[0336] The other end surface edge of the first shaft portion 1 - 1 - 1 is rounded.

[0337] The end surface edge of the third shaft portion 1-1-3 is rounded.

[0338] A limiting groove 1-1-9 is provided between the fourth shaft portion 1-1-4 and the fifth shaft portion 1-1-5.

[0339] A guide wire thread is provided on the side surface of the fifth shaft portion 1-1-5.

[0340] A first steel wire fixing hole 1-1-8 is provided on the side surface of the fifth shaft portion 1-1-5.

[0341] The axis of the first steel wire fixing hole 1-1-8 is perpendicularly intersected with the axis of the fifth shaft portion 1-1-5.

[0342] The first steel wire fixing hole 1-1-8 is close to the end surface of the fifth shaft portion 1-1-5.

[0343] The end surface edge of the sixth shaft portion 1-1-6 is chamfered.

[0344] A weight-reducing hole 1-1-7 is provided in the center of the end surface of the sixth shaft portion 1-1-6.

[0345] The weight-reducing hole 1-1-7 passes through the third shaft portion 1-1-3.

[0346] like Figure 4 As shown, the wire sleeve 1-2 includes a locking portion 1-2-1, a first sleeve portion 1-2-2 and a second sleeve portion 1-2-3 in sequence.

[0347] The locking portion 1-2-1, the first sleeve portion 1-2-2 and the second sleeve portion 1-2-3 form an integral part.

[0348] The locking portion 1-2-1 is provided with two locking portion threaded fixing holes 1-2-4.

[0349] The outer side surface of the second sleeve portion 1-2-3 is provided with a guide wire thread.

[0350] The wall of the second sleeve portion 1-2-3 is provided with a second steel wire fixing hole 1-2-5 and a third steel wire fixing hole 1-2-6.

[0351] The axis of the second steel wire fixing hole 1-2-5 is perpendicularly intersected with the axis of the second sleeve portion 1-2-3.

[0352] The second steel wire fixing hole 1-2-5 is separated from the inner side surface of the second sleeve portion 1-2-3.

[0353] The second steel wire fixing hole 1-2-5 is close to the outer end of the second sleeve portion 1-2-3.

[0354] The axis of the third steel wire fixing hole 1-2-6 is perpendicular to the axis of the second sleeve portion 1-2-3.

[0355] The third steel wire fixing hole 1-2-6 is separated from the inner side surface of the second sleeve portion 1-2-3.

[0356] The second steel wire fixing hole 1-2-5 is located in the middle of the second sleeve portion 1-2-3.

[0357] like Figure 5 As shown, the locking member 1-4 includes a locking member semicircular ring 1-4-1 and a locking member fixing ear 1-4-2.

[0358] The locking piece has two fixing ears 1-4-2.

[0359] The two locking piece fixing ears 1-4-2 are respectively provided with locking piece fixing holes 1-4-3.

[0360] The two locking member fixing ears 1-4-2 are respectively arranged on both sides of the locking member semicircular ring 1-4-1.

[0361] The two locking piece fixing ears 1-4-2 and the locking piece semicircular ring 1-4-1 form an integral part.

[0362] Locking piece avoidance recesses 1-4-4 are respectively arranged on both sides of the locking piece semicircular ring 1-4-1.

[0363] The locking screws 1-5 are hexagon socket screws.

[0364] The transmission mechanisms 1 are in an even number.

[0365] The transmission mechanisms 1 may have four, six, eight or ten.

[0366] With such a transmission mechanism, when a plurality of steel wires are fixed to the guide wire shaft, the tightness of each steel wire can be adjusted independently, thereby greatly improving the control accuracy and avoiding hidden dangers in minimally invasive surgery.

[0367] like Figure 6 As shown, the tensioning mechanism 2 includes a tensioning mechanism fixing member 2-1, a tensioning unit 2-2, a tensioning knob component 2-3, and a tensioning unit positioning clamp 2-4.

[0368] There are an even number of the tensioning units 2 - 2 .

[0369] The number of the tensioning units 2 - 2 is four, six, eight or ten.

[0370] An even number of the tensioning units 2-2 are connected to the tensioning mechanism fixing member 2-1 respectively through the tensioning unit positioning clamp ring 2-4 and the tensioning unit fixing screw.

[0371] Each of the tensioning units 2 - 2 is equipped with the tensioning knob component 2 - 3 .

[0372] like Figure 7 As shown, the tensioning mechanism fixing member 2-1 includes a fixing portion 2-1-1, a main short side plate 2-1-2, two long side plates 2-1-3, a secondary short side plate 2-1-4, a long partition plate 2-1-5 and a plurality of short partition plates 2-1-6.

[0373] The main short side plate 2-1-2, the two long side plates 2-1-3, the secondary short side plate 2-1-4, the long partition plate 2-1-5 and the plurality of short partition plates 2-1-6 form a grid cavity with two rows and multiple columns.

[0374] The number of rows of the square cavities is two, three, four or five.

[0375] The two long side plates 2-1-3 and the long partition plate 2-1-5 are respectively coaxially provided with fixing member shaft holes 2-1-8.

[0376] The number of the fixing shaft holes 2-1-8 of the same plate is equal to the number of columns of the square cavities.

[0377] The two long side plates 2-1-3 are coaxially provided with fixing holes 2-1-9 for fixing members.

[0378] The number of the fixing holes 2-1-9 of the fixing member of the same plate is equal to the number of columns of the square cavities.

[0379] The fixing holes 2-1-9 and the fixing shaft holes 2-1-8 of the same plate are spaced or symmetrically spaced along the length direction.

[0380] The fixing portion 2-1-1 is in the shape of a cylinder.

[0381] The end surface of the fixing portion 2-1-1 is provided with three fixing member threaded fixing holes 2-1-7.

[0382] The three fixing threaded fixing holes 2-1-7 are distributed in an equilateral triangle.

[0383] The fixing portion 2-1-1, the main short side plate 2-1-2, the two long side plates 2-1-3, the secondary short side plate 2-1-4, the long partition plate 2-1-5 and the plurality of short partition plates 2-1-6 form an integral part.

[0384] like Figure 8As shown, the tensioning unit 2-2 includes a tensioning unit bracket 2-2-1, a tensioning unit fixed axis guide wheel 2-2-2, a tensioning unit fixed pin 2-2-3, a tensioning unit movable axis guide wheel 2-2-4, a tensioning unit movable pin 2-2-5, a tensioning unit rack 2-2-6, a tensioning unit guide bar 2-2-7, a tensioning unit gear 2-2-8, and a tensioning unit gear shaft 2-2-9.

[0385] The tensioning unit fixed axis guide wheel 2-2-2 and the tensioning unit guide strip 2-2-7 are connected to the tensioning unit bracket 2-2-1 through the tensioning unit fixing pin 2-2-3.

[0386] The tensioning unit moving shaft guide wheel 2-2-4 and the tensioning unit rack 2-2-6 are connected to the tensioning unit bracket 2-2-1 through the tensioning unit moving pin 2-2-5.

[0387] The tensioning unit guide bar 2-2-7 is slidably connected to the tensioning unit rack 2-2-6.

[0388] The tensioning unit gear 2-2-8 is connected to the tensioning unit bracket 2-2-1 through the tensioning unit gear shaft 2-2-9.

[0389] The tensioning unit gear 2-2-8 is meshingly connected with the tensioning unit rack 2-2-6.

[0390] like Fig. 9 and Fig.10 As shown, the tensioning unit bracket 2-2-1 includes a tensioning unit bracket bottom plate 2-2-1-1 and two tensioning unit bracket side plates 2-2-1-2.

[0391] The tensioning unit bracket bottom plate 2-2-1-1 is in a rectangular shape.

[0392] The two tensioning unit bracket side plates 2-2-1-2 are rectangular in shape.

[0393] The two tensioning unit bracket side plates 2-2-1-2 are in the shape of a rounded rectangle.

[0394] The plate surfaces of the two tensioning unit bracket side plates 2-2-1-2 are respectively provided with tensioning unit bracket pin holes 2-2-1-3 and tensioning unit bracket guide grooves 2-2-1-4.

[0395] The tensioning unit bracket guide groove 2-2-1-4 is parallel to the long side of the tensioning unit bracket side plate 2-2-1-2.

[0396] The tensioning unit bracket guide groove 2-2-1-4 is offset at the middle of the short side of one side of the tensioning unit bracket side plate 2-2-1-2.

[0397] The tensioning unit bracket pin hole 2-2-1-3 is offset to the middle of the short side of the other side of the tensioning unit bracket side plate 2-2-1-2.

[0398] The two ends of the tensioning unit bracket pin hole 2-2-1-3 and the tensioning unit bracket guide groove 2-2-1-4 are located on the same straight line.

[0399] A tensioning unit bracket shaft hole 2-2-1-5 is provided on the plate surface of one of the tensioning unit bracket side plates 2-2-1-2.

[0400] The tensioning unit bracket side plate 2-2-1-2 is close to the middle of the long side of the other side of the tensioning unit bracket side plate 2-2-1-2.

[0401] The inner plate surface of one of the tensioning unit bracket side plates 2-2-1-2 is provided with a tensioning unit bracket lower limit thickening boss 2-2-1-6 and a tensioning unit bracket upper limit boss 2-2-1-7.

[0402] The lower limit thickening boss 2-2-1-6 of the tensioning unit bracket is in the shape of a quadrangular prism.

[0403] The lower limit thickening boss 2-2-1-6 of the tensioning unit bracket is located on one side of the tensioning unit bracket guide groove 2-2-1-4 and close to the middle of the long side of one side of the tensioning unit bracket side plate 2-2-1-2.

[0404] The upper limit boss 2-2-1-7 on the tensioning unit bracket is in the shape of a cylinder.

[0405] The upper limit boss 2-2-1-7 of the tensioning unit bracket is located on the other side of the tensioning unit bracket guide groove 2-2-1-4 and is close to the long side of the other side of one of the tensioning unit bracket side plates 2-2-1-2 and is offset from the tensioning unit bracket pin hole 2-2-1-3.

[0406] A tensioning unit bracket threaded fixing hole 2-2-1-8 is provided on the outer plate surface of one of the tensioning unit bracket side plates 2-2-1-2.

[0407] The threaded fixing hole 2-2-1-8 of the tensioning unit bracket is a blind hole.

[0408] The length of the two tensioning unit bracket side plates 2-2-1-2 is greater than the length of the tensioning unit bracket bottom plate 2-2-1-1.

[0409] The width of the two tensioning unit bracket side plates 2-2-1-2 is greater than the width of the tensioning unit bracket bottom plate 2-2-1-1.

[0410] The two tensioning unit bracket side plates 2-2-1-2 are respectively perpendicular to the tensioning unit bracket bottom plate 2-2-1-1.

[0411] The middle parts of the long sides of one side of the two tensioning unit bracket side plates 2-2-1-2 overlap with the long sides of both sides of the tensioning unit bracket bottom plate 2-2-1-1.

[0412] The two tensioning unit bracket side plates 2-2-1-2 are opposite to each other.

[0413] like Figure 8 As shown, the tensioning unit fixed axis guide wheel 2-2-2 is rotationally connected to the tensioning unit fixed pin 2-2-3.

[0414] The tensioning unit fixing pin 2-2-3 is sleeved with two tensioning unit fixed axis sleeves 2-2-10.

[0415] The two tensioning unit fixed axis sleeves 2-2-10 are located on both sides of the tensioning unit fixed axis guide wheel 2-2-2.

[0416] The tensioning unit fixing pin 2-2-3 is fixedly connected to the tensioning unit bracket 2-2-1.

[0417] The tensioning unit guide strip 2-2-7 is sleeved on the tensioning unit fixing pin 2-2-3.

[0418] like Fig.12 As shown, the tensioning unit guide strip 2-2-7 includes a tensioning unit guide strip head 2-2-7-1 and a tensioning unit guide strip rod 2-2-7-3.

[0419] The tensioning unit guide strip head 2-2-7-1 is in the shape of a cylinder.

[0420] A tensioning unit guide bar pin hole 2-2-7-2 is provided in the center of the end surface of the tensioning unit guide bar head 2-2-7-1.

[0421] The tensioning unit guide bar 2-2-7-3 is provided with a tensioning unit guide bar groove 2-2-7-4 along the length direction.

[0422] The cross-sectional shape of the tensioning unit guide bar groove 2-2-7-4 is in a "convex" shape.

[0423] The notch of the tensioning unit guide bar groove 2-2-7-4 is located on one side of the decoupling mechanism guide bar 6-6-3.

[0424] The tensioning unit guide strip head 2-2-7-1 and the tensioning unit guide strip rod 2-2-7-3 form an integral part.

[0425] The straight line where the tensioning unit guide strip head 2-2-7-1 is located is perpendicular to the straight line where the tensioning unit guide bar 2-2-7-3 is located.

[0426] The tensioning unit guide bar head 2-2-7-1 is offset to the side of the tensioning unit guide bar 2-2-7-3 having the notch of the tensioning unit guide bar groove 2-2-7-4.

[0427] like Figure 8 As shown, the tensioning unit dynamic shaft guide wheel 2-2-4 is rotationally connected to the tensioning unit movable pin 2-2-5.

[0428] The tensioning unit movable pin 2-2-5 is sleeved with two tensioning unit movable shaft sleeves 2-2-11.

[0429] The two tensioning unit dynamic shaft sleeves 2-2-11 are located on both sides of the tensioning unit dynamic shaft guide wheel 2-2-4.

[0430] The tensioning unit moving pin 2-2-5 is slidably connected to the tensioning unit bracket 2-2-1.

[0431] The tensioning unit rack 2-2-6 is sleeved on the tensioning unit moving pin 2-2-5.

[0432] like Fig.11 As shown, the tensioning unit rack 2-2-6 includes a tensioning unit rack head 2-2-6-1 and a tensioning unit rack rod 2-2-6-3.

[0433] The tensioning unit rack head 2-2-6-1 is in the shape of a cylinder.

[0434] A tensioning unit rack pin hole 2-2-6-2 is provided in the center of the end surface of the tensioning unit rack head 2-2-6-1.

[0435] Tensioning unit rack teeth 2-2-6-4 are distributed along the length direction on one side of the tensioning unit rack rod 2-2-6-3.

[0436] The cross-sectional shape of the tensioning unit rack rod 2-2-6-3 is a "convex" shape.

[0437] The tensioning unit rack head 2-2-6-1 and the tensioning unit rack rod 2-2-6-3 form an integral part.

[0438] The straight line where the tensioning unit rack head 2-2-6-1 is located is perpendicular to the straight line where the tensioning unit rack rod 2-2-6-3 is located.

[0439] The tensioning unit rack head 2-2-6-1 is placed at one end of the tensioning unit rack rod 2-2-6-3.

[0440] like Figure 8 As shown, the tensioning unit gear 2-2-8 is fixedly connected to the tensioning unit gear shaft 2-2-9.

[0441] The tensioning unit gear shaft 2-2-9 is rotationally connected to the tensioning unit bracket 2-2-1.

[0442] like Fig.13 As shown, a single notch 2-2-9-1 of the tensioning unit gear shaft is provided at one end of the tensioning unit gear shaft 2-2-9.

[0443] The other end of the tensioning unit gear shaft 2-2-9 is provided with a tensioning unit gear shaft double notch 2-2-9-2.

[0444] A tensioning unit gear shaft slot 2-2-9-3 is provided in the middle of the tensioning unit gear shaft 2-2-9.

[0445] like Fig.14 and Fig.15 As shown, the tensioning knob component 2-3 includes a tensioning knob 2-3-1, a tensioning knob seat 2-3-2 and a tensioning knob cap 2-3-3.

[0446] The tensioning knob 2-3-1 is clamped to the other end of the tensioning unit gear shaft 2-2-9.

[0447] The tensioning unit gear shaft 2-2-9 is connected to the instrument box 5 through the tensioning knob seat 2-3-2.

[0448] The tensioning knob 2-3-1 is locked and connected to the tensioning knob seat 2-3-2 through the tensioning knob cap 2-3-3.

[0449] like Fig.16 As shown, the tensioning knob 2-3-1 includes a tensioning knob head 2-3-1-1, a tensioning knob disk 2-3-1-2 and a tensioning knob body 2-3-1-3.

[0450] The tensioning knob head 2-3-1-1, the tensioning knob disk 2-3-1-2 and the tensioning knob body 2-3-1-3 are coaxially connected in sequence to form an integral part.

[0451] The diameter of the tensioning knob disk 2-3-1-2 is greater than the diameter of the tensioning knob head 2-3-1-1.

[0452] The diameter of the tensioning knob head 2-3-1-1 is greater than the diameter of the tensioning knob body 2-3-1-3.

[0453] The annular end surface of the tensioning knob disk 2-3-1-2 located on the side of the tensioning knob head 2-3-1-1 is set as a rough surface.

[0454] The end surface of the tensioning knob head 2-3-1-1 is provided with a tensioning knob first notch 2-3-1-4.

[0455] The end surface of the tensioning knob body 2-3-1-3 is provided with a tensioning knob second notch 2-3-1-5.

[0456] like Fig.17 As shown, the tensioning knob seat 2-3-2 includes a tensioning knob seat head 2-3-2-1, a tensioning knob seat plate 2-3-2-2 and a tensioning knob seat body 2-3-2-3.

[0457] The tensioning knob seat head 2-3-2-1, the tensioning knob seat plate 2-3-2-2 and the tensioning knob seat body 2-3-2-3 are coaxially connected in sequence to form an integral part.

[0458] The diameter of the tensioning knob seat disc 2-3-2-2 is greater than the diameter of the tensioning knob seat head 2-3-2-1.

[0459] The diameter of the tensioning knob seat head 2-3-2-1 is equal to the diameter of the tensioning knob seat body 2-3-2-3.

[0460] A tensioning knob seat hole 2-3-2-4 runs through the center of the end surface of the tensioning knob seat 2-3-2.

[0461] The tensioning knob seat recesses 2-3-2-5 are respectively formed on two opposite sides of the tensioning knob seat plate 2-3-2-2.

[0462] The side surface of the tensioning knob seat 2-3-2-1 is provided with a thread.

[0463] The side surface of the tensioning knob seat 2-3-2-3 is provided with a thread.

[0464] like Fig.18 As shown, the tensioning knob cap 2-3-3 is in the shape of a cylinder.

[0465] A tensioning knob cap first cavity 2-3-3-1 is provided in the center of one end surface of the tensioning knob cap 2-3-3.

[0466] A tensioning knob cap second cavity 2-3-3-2 is provided in the center of the other end surface of the tensioning knob cap 2-3-3.

[0467] The second cavity 2-3-3-2 of the tensioning knob cap and the first cavity 2-3-3-1 of the tensioning knob cap are coaxially connected.

[0468] The diameter of the tensioning knob disk 2-3-1-2 is larger than the diameter of the first cavity 2-3-3-1 of the tensioning knob cap and smaller than the diameter of the second cavity 2-3-3-2 of the tensioning knob cap.

[0469] The inner wall of the second cavity 2-3-3-2 of the tensioning knob cap is provided with threads.

[0470] The annular bottom surface in the second cavity 2-3-3-2 of the tensioning knob cap is set as a rough surface.

[0471] Tensioning knob cap notches 2-3-3-3 are respectively arranged on two opposite sides of one end surface of the tensioning knob cap 2-3-3.

[0472] Such a tensioning mechanism can effectively stabilize the tension of the working wire.

[0473] like Fig.19 As shown, the wire guide mechanism 3 includes a wire guide mechanism rod, a wire guide mechanism wheel 3-4, a wire guide mechanism pin 3-5, and a wire guide mechanism clamping ring 3-6.

[0474] There are multiple wire guide mechanism wheels 3-4.

[0475] A plurality of the wire guide mechanism wheels 3-4 are connected to one end of the wire guide mechanism rod through the wire guide mechanism pin 3-5 and the wire guide mechanism clamp ring 3-6.

[0476] The other end of the wire guide mechanism rod is provided with a wire guide mechanism threaded fixing hole 3-8.

[0477] The wire guide mechanism rod is one, two or three of the wire guide mechanism first rod 3-1, the wire guide mechanism second rod 3-2 and the wire guide mechanism third rod 3-3.

[0478] The first rod 3 - 1 of the guide wire mechanism is a short straight rod.

[0479] The second rod 3-2 of the guide wire mechanism is a long straight rod.

[0480] The third rod 3-3 of the wire guide mechanism is a bent rod.

[0481] One end of the first rod 3-1 of the wire guiding mechanism is provided with two wire guiding mechanism grooves 3-7.

[0482] One end of the second rod 3-2 of the wire guiding mechanism is provided with two wire guiding mechanism grooves 3-7.

[0483] One end of the third rod 3-3 of the wire guiding mechanism is provided with four wire guiding mechanism grooves 3-7.

[0484] The side wall of the wire guide mechanism groove 3-7 is coaxially penetrated by a wire guide mechanism pin hole.

[0485] like Fig. 20 As shown, both ends of the wire guide mechanism pin 3-5 are respectively provided with wire guide mechanism pin grooves 3-5-1.

[0486] Such a wire guiding mechanism is beneficial to the rational distribution of the working wires.

[0487] like Fig.21 As shown, the rotating mechanism 4 includes a first rotating mechanism tube 4-1, a second rotating mechanism tube 4-2, a third rotating mechanism tube 4-3, a rotating mechanism moving body 4-4, a first rotating mechanism fixed body 4-5, a second rotating mechanism fixed body 4-6 and a rotating mechanism retaining ring 4-7.

[0488] One end of the second fixed body 4 - 6 of the rotating mechanism is connected to the instrument box 5 .

[0489] The other end of the second fixed body 4-6 of the rotating mechanism is connected to one end of the third tube 4-3 of the rotating mechanism.

[0490] The other end of the third tube 4 - 3 of the rotating mechanism is connected to one end of the first fixed body 4 - 5 of the rotating mechanism.

[0491] The other end of the first fixed body 4-5 of the rotating mechanism is connected to one end of the second tube 4-2 of the rotating mechanism.

[0492] One end of the first tube 4 - 1 of the rotating mechanism is connected to the other end of the moving body 4 - 4 of the rotating mechanism.

[0493] One end of the rotating mechanism moving body 4-4 is inserted into the other end of the second fixed body 4-6 of the rotating mechanism.

[0494] The middle part of the rotating mechanism moving body 4 - 4 close to one end of the rotating mechanism moving body 4 - 4 is connected to the second rotating mechanism fixed body 4 - 6 through two rotating mechanism moving bearings 4 - 8 .

[0495] The two rotating mechanism dynamic bearings 4-8 are respectively fixed by the rotating mechanism retaining rings 4-7.

[0496] like Fig. 22 As shown, the first tube 4-1 of the rotating mechanism is a long tube.

[0497] A first tube clamp 4-1-1 of the rotating mechanism is arranged at one end edge of the first tube 4-1 of the rotating mechanism.

[0498] The central angle corresponding to the first pipe clamp 4-1-1 of the rotating mechanism is 30 degrees.

[0499] A first fixing hole 4-1-2 for the first rotating mechanism tube is provided on one end side surface of the first rotating mechanism tube 4-1.

[0500] A second fixing hole 4-1-3 for the first tube of the rotating mechanism is provided on the side surface of one end of the first tube 4-1 of the rotating mechanism.

[0501] The second fixing hole 4-1-3 of the first tube of the rotating mechanism and the first fixing hole 4-1-2 of the first tube of the rotating mechanism are located on the same busbar of the first tube 4-1 of the rotating mechanism.

[0502] like Fig.23 As shown, the second tube 4-2 of the rotating mechanism is a short tube.

[0503] A second tube fixing hole 4-2-2 for the rotating mechanism is provided on the side surface of one end of the second tube 4-2 of the rotating mechanism.

[0504] The other end edge of the second rotating mechanism tube 4-2 is provided with two second rotating mechanism tube clamps 4-2-1.

[0505] The central angle corresponding to each of the second pipe clamps 4-2-1 of the rotating mechanism is 25 degrees to 35 degrees.

[0506] The central angle corresponding to each second pipe clamp 4-2-1 of the rotating mechanism is 30 degrees.

[0507] The corresponding central angle between the two second pipe clamps 4-2-1 of the rotating mechanism is 110 degrees to 120 degrees.

[0508] The corresponding central angle between the two second pipe clamps 4-2-1 of the rotating mechanism is 115 degrees.

[0509] After installation, the first pipe clamp 4-1-1 of the rotating mechanism is located between the two second pipe clamps 4-2-1 of the rotating mechanism.

[0510] like Fig.24 As shown, the third tube 4 - 3 of the rotating mechanism is a short tube.

[0511] A first fixing hole 4-3-1 for the third tube of the rotating mechanism is provided at one end of the third tube 4-3 of the rotating mechanism.

[0512] The other end of the third tube 4-3 of the rotating mechanism is provided with a second fixing hole 4-3-2 of the third tube of the rotating mechanism.

[0513] The second fixing hole 4-3-2 of the third tube and the first fixing hole 4-3-1 of the third tube are located on the same busbar of the third tube 4-3 of the rotating mechanism.

[0514] like Fig.25 As shown, the rotating mechanism moving body 4-4 includes a rotating mechanism moving body head 4-4-1 and a rotating mechanism moving body rod 4-4-2.

[0515] The rotating mechanism moving body head 4-4-1 and the rotating mechanism moving body rod 4-4-2 are coaxially formed into an integral part.

[0516] A rotating mechanism moving body middle hole 4-4-3 passes through the center of the end surface of the rotating mechanism moving body head 4-4-1 and the rotating mechanism moving body rod 4-4-2.

[0517] A plurality of rotating mechanism moving body side holes 4-4-4 are distributed on the end surface edge of the rotating mechanism moving body head 4-4-1.

[0518] The plurality of rotating mechanism moving body side holes 4-4-4 are evenly divided into four groups.

[0519] The four groups of rotating mechanism moving body side holes 4-4-4 are distributed in a square shape on the end surface edge of the rotating mechanism moving body head 4-4-1.

[0520] Each group has five side holes 4-4-4 of the rotating mechanism moving body.

[0521] The two opposite sides of the rotating mechanism moving body head 4-4-1 are respectively provided with rotating mechanism moving body thread fixing holes 4-4-5.

[0522] The middle part and the end part of the rotating mechanism moving body rod 4-4-2 are respectively provided with a rotating mechanism moving body slot 4-4-8.

[0523] One end surface of the rotating mechanism moving body rod 4-4-2 is provided with a rotating mechanism moving body spiral groove 4-4-6.

[0524] The spiral groove 4-4-6 of the rotating mechanism moving body has one and a quarter turns.

[0525] One end surface of the rotating mechanism moving body rod 4-4-2 is located at both ends of the rotating mechanism moving body spiral groove 4-4-6, and a rotating mechanism moving body wire fixing hole 4-4-7 is respectively provided.

[0526] The rotating mechanism moving body wire fixing hole 4-4-7 deviates from the axis of the rotating mechanism moving body rod 4-4-2.

[0527] The two rotating mechanism moving body steel wire fixing holes 4-4-7 are parallel.

[0528] like Fig.26 and Fig. 27 As shown, the first fixed body 4-5 of the rotating mechanism is in the shape of a cylinder.

[0529] A first cavity 4-5-1 of the first stator of the rotating mechanism passes through the center of the end surface of the first stator 4-5 of the rotating mechanism.

[0530] The centers of the two end surfaces of the first stator 4-5 of the rotating mechanism are respectively provided with the first stator second cavity 4-5-2 of the rotating mechanism.

[0531] The inner diameter of the second cavity 4-5-2 of the first stator is larger than the inner diameter of the first cavity 4-5-1 of the first stator of the rotating mechanism.

[0532] A plurality of first stator guide grooves 4-5-3 of the rotating mechanism are distributed axially on the side surface of the first stator 4-5 of the rotating mechanism.

[0533] The plurality of guide grooves 4-5-3 of the first fixed body of the rotating mechanism are parallel to the axis of the first fixed body 4-5 of the rotating mechanism.

[0534] A plurality of the first fixed body guide grooves 4-5-3 of the rotating mechanism pass through both ends of the first fixed body 4-5 of the rotating mechanism.

[0535] The plurality of first fixed body guide grooves 4-5-3 of the rotating mechanism are evenly divided into four groups.

[0536] The four groups of first fixed body guide grooves 4-5-3 of the rotating mechanism are distributed in a square shape.

[0537] There are three first fixed body guide grooves 4-5-3 of the rotating mechanism in each group.

[0538] Two opposite side surfaces of the first fixed body 4-5 of the rotating mechanism are respectively provided with two first fixed body threaded fixing holes 4-5-4 of the rotating mechanism.

[0539] The two threaded fixing holes 4-5-4 of the first fixed body of the rotating mechanism are located on the same generatrix of the first fixed body 4-5 of the rotating mechanism.

[0540] like Fig.28 As shown, the second fixed body 4-6 of the rotating mechanism is in the shape of a cylinder.

[0541] A first cavity 4-6-1 of the second stator of the rotating mechanism passes through the center of the end surface of the second stator 4-6 of the rotating mechanism.

[0542] A second cavity 4-6-2 of the second stator of the rotating mechanism is formed on one end surface of the second stator 4-6 of the rotating mechanism.

[0543] The second cavity 4-6-2 of the second stator of the rotating mechanism is in the shape of a semi-cylinder.

[0544] A plurality of rotating mechanism second stator side holes 4-6-3 are distributed on the edge of the end surface of the rotating mechanism second stator 4-6.

[0545] The plurality of second fixed body side holes 4-6-3 of the rotating mechanism are evenly divided into four groups.

[0546] The four groups of side holes 4-6-3 of the second fixed body of the rotating mechanism are distributed in a square shape on the end surface edge of the second fixed body 4-6 of the rotating mechanism.

[0547] The four side holes 4-6-3 of the second fixed body of the rotating mechanism are distributed on the bottom surface of the second cavity 4-6-2 of the second fixed body of the rotating mechanism.

[0548] Two opposite side surfaces of the second fixed body 4-6 of the rotating mechanism are respectively provided with two second fixed body threaded fixing holes 4-6-4 of the rotating mechanism.

[0549] The two threaded fixing holes 4-6-4 of the second stator of the rotating mechanism are located on the same busbar of the second stator 4-6 of the rotating mechanism.

[0550] Such a rotating mechanism is conducive to realizing the rotation of the minimally invasive medical device within an angle range of about 90 degrees.

[0551] like Fig.29 As shown, the instrument box 5 includes an instrument box bottom plate 5-1, an instrument box enclosure plate 5-2, an instrument box cover plate 5-3, an instrument box support plate 5-4 and an instrument box enclosure peephole cover plate 5-5.

[0552] The instrument box bottom plate 5-1 is fixedly connected to the bottom of the instrument box enclosure plate 5-2.

[0553] The instrument box cover plate 5-3 is fixedly connected to the top of the instrument box enclosure plate 5-2.

[0554] The instrument box support plate 5-4 is connected to the inside of the instrument box enclosure 5-2.

[0555] The instrument box enclosure peep hole cover 5-5 is connected to the instrument box enclosure 5-2.

[0556] like Fig.30 As shown, the shape of the instrument box bottom plate 5-1 is a juxtaposed rectangle and an isosceles triangle.

[0557] The plate surface of the instrument box bottom plate 5-1 is located at the vertex area of ​​the isosceles triangle and is connected to the instrument box bottom plate bent pipe 5-1-1.

[0558] The bent pipe 5-1-1 on the bottom plate of the instrument box is inclined toward the vertex of the isosceles triangle.

[0559] The bent pipe 5-1-1 on the bottom plate of the instrument box protrudes toward the vertex of the isosceles triangle.

[0560] The head normal of the instrument box bottom plate bent pipe 5-1-1 is perpendicular to the plate surface of the instrument box bottom plate 5-1.

[0561] The inner diameter of the root of the instrument box bottom plate bent pipe 5-1-1 is larger than the inner diameter of the head.

[0562] The head side wall of the instrument box bottom plate bent pipe 5-1-1 is penetrated by an instrument box bottom plate bent pipe fixing hole 5-1-4.

[0563] The surface of the instrument box bottom plate 5-1 is located in a rectangular area and has four first fixing holes 5-1-2 distributed thereon.

[0564] The four first fixing holes 5-1-2 on the bottom plate of the instrument box are distributed in a rectangular shape.

[0565] The board surface of the instrument box bottom plate 5-1 is located in the middle of the bottom edge of the isosceles triangle and is provided with a second fixing hole 5-1-3 of the instrument box bottom plate.

[0566] like Fig.31 As shown, a plurality of instrument box enclosure fixing ears 5-2-1 are distributed circumferentially on the top of the instrument box enclosure 5-2.

[0567] The plurality of the instrument box enclosure fixing ears 5-2-1 are respectively provided with instrument box enclosure first fixing holes 5-2-2.

[0568] The instrument box enclosure has five fixing ears 5-2-1.

[0569] A plurality of first fixing brackets 5-2-3 of the instrument box enclosure are distributed along the circumferential direction at the bottom of the inner surface of the instrument box enclosure 5-2.

[0570] The plurality of first fixing brackets 5-2-3 of the instrument box enclosure are respectively provided with first threaded fixing holes 5-2-4 of the instrument box enclosure.

[0571] The first fixing brackets 5-2-3 of the instrument box enclosure are four.

[0572] The instrument box enclosure 5-2 is provided with two instrument box enclosure peek holes 5-2-5 facing each other.

[0573] The two instrument box enclosure peep holes 5-2-5 are rectangular in shape.

[0574] The inner surface of the instrument box enclosure 5-2 is located at the edge of the two instrument box enclosure peek holes 5-2-5 and is respectively provided with a plurality of instrument box enclosure second fixing brackets 5-2-6.

[0575] The plurality of second fixing brackets 5-2-6 of the instrument box enclosure are respectively provided with second threaded fixing holes 5-2-7 of the instrument box enclosure.

[0576] Three second fixing brackets 5-2-6 of the instrument box enclosure are distributed circumferentially on the edge of each instrument box enclosure peek hole 5-2-5.

[0577] The three second fixing brackets 5-2-6 of the instrument box enclosure are distributed in an inverted isosceles triangle.

[0578] A plurality of instrument box enclosure second fixing holes 5-2-8 are distributed circumferentially at the lower portion of the instrument box enclosure 5-2.

[0579] The plurality of second fixing holes 5-2-8 of the instrument box enclosure are located in the same plane.

[0580] A plurality of instrument box enclosure mounting seats 5-2-9 are respectively distributed on two inner surfaces facing each other of the instrument box enclosure 5-2.

[0581] The plurality of instrument box enclosure mounting seats 5-2-9 are distributed from top to bottom.

[0582] The two inner surfaces of the instrument box enclosure 5-2 correspond to a plurality of the instrument box enclosure mounting seats 5-2-9 which are penetrated by instrument box enclosure mounting holes 5-2-10.

[0583] The instrument box enclosure mounting hole 5-2-10 is a stepped hole that is larger on the outside and smaller on the inside.

[0584] like Fig.32 and Fig.33 As shown, a plurality of instrument box cover recesses 5-3-1 are distributed along the circumferential direction on the side surface of the instrument box cover 5-3.

[0585] The plurality of instrument box cover plate recesses 5-3-1 are respectively provided with instrument box cover plate threaded fixing holes 5-3-2.

[0586] The plurality of notches 5-3-1 on the instrument box cover correspond to the plurality of fixing ears 5-2-1 on the instrument box enclosure.

[0587] There are five recesses 5-3-1 on the instrument box cover.

[0588] The two opposite sides of the instrument box cover 5-3 are correspondingly provided with instrument box cover slots 5-3-3.

[0589] An even number of instrument box cover mounting holes 5-3-4 are distributed on the surface of the instrument box cover 5-3.

[0590] An even number of the instrument box cover mounting holes 5-3-4 are distributed in two rows and multiple columns.

[0591] The instrument box cover mounting hole 5-3-4 is a stepped hole that is larger on the outside and smaller on the inside.

[0592] The number of the instrument box cover mounting holes 5-3-4 is four, six, eight or ten.

[0593] The outer plate surface of the instrument box cover 5-3 is provided with two first threaded fixing holes 5-3-5 for the instrument box cover.

[0594] The two first threaded fixing holes 5-3-5 of the instrument box cover are countersunk holes.

[0595] The inner plate surface of the instrument box cover 5-3 is respectively provided with instrument box cover first positioning holes 5-3-6 corresponding to the two instrument box cover first threaded fixing holes 5-3-5.

[0596] The two first positioning holes 5-3-6 of the instrument box cover are rectangular holes.

[0597] The outer surface of the instrument box cover 5-3 is provided with three instrument box cover second threaded fixing holes 5-3-7.

[0598] The three second threaded fixing holes 5-3-7 of the instrument box cover are countersunk holes.

[0599] The inner plate surface of the instrument box cover 5-3 is provided with instrument box cover second positioning holes 5-3-8 corresponding to the three instrument box cover second threaded fixing holes 5-3-7.

[0600] The second positioning hole 5-3-8 of the instrument box cover is a circular hole.

[0601] The outer plate surface of the instrument box cover 5-3 is provided with four instrument box cover third threaded fixing holes 5-3-9.

[0602] The four third threaded fixing holes 5-3-9 of the instrument box cover are distributed in a rectangular shape.

[0603] like Fig.34 and Fig.35 As shown, the shape of the instrument box support plate 5-4 is a rounded rectangle.

[0604] An even number of instrument box support plate mounting holes 5 - 4 - 1 are distributed on the surface of the instrument box support plate 5 - 4 .

[0605] An even number of the instrument box support plate mounting holes 5 - 4 - 1 are distributed in two rows and multiple columns.

[0606] An even number of the instrument box support plate mounting holes 5-4-1 are stepped holes.

[0607] The edge of the small hole end of the instrument box support plate mounting hole 5-4-1 extends outward to form an instrument box support plate mounting hole boss 5-4-4.

[0608] The shape of the mounting hole boss 5-4-4 of the instrument box support plate is circular.

[0609] The number of the mounting holes 5-4-1 of the instrument box support plate is four, six, eight or ten.

[0610] An even number of instrument box support plate fixing holes 5 - 4 - 2 are distributed on the surface of the instrument box support plate 5 - 4 .

[0611] An even number of the instrument box support plate fixing holes 5 - 4 - 2 are distributed between two rows of the instrument box support plate mounting holes 5 - 4 - 1 .

[0612] An even number of the fixing holes 5-4-2 of the instrument box support plate are distributed in a reciprocating fold line.

[0613] The area where the instrument box support plate fixing hole 5-4-2 is located extends outward to form an instrument box support plate fixing hole boss 5-4-5.

[0614] The shape of the fixing hole boss 5-4-5 of the instrument box support plate is long strip.

[0615] The fixing hole boss 5-4-5 of the instrument box support plate is coplanar with the mounting hole boss 5-4-4 of the instrument box support plate.

[0616] The number of the fixing holes 5-4-2 of the instrument box support plate is four, six, eight or ten.

[0617] The side surface of the instrument box support plate 5-4 is provided with a plurality of instrument box support plate threaded fixing holes 5-4-3 distributed along the circumferential direction.

[0618] The plurality of threaded fixing holes 5-4-3 of the instrument box support plate correspond to the plurality of second fixing holes 5-2-8 of the instrument box enclosure plate.

[0619] like Fig.36 As shown, the shape of the instrument box enclosure peephole cover 5-5 is rectangular.

[0620] The instrument box enclosure peep hole cover plate 5-5 is provided with three instrument box enclosure peep hole cover plate fixing holes 5-5-1.

[0621] The three fixing holes 5-5-1 of the instrument box enclosure peephole cover are distributed in an isosceles triangle.

[0622] Such an instrument box is conducive to the operation of single-port minimally invasive surgery.

[0623] like Figure 1a As shown, the wire transmission device is transmitted through the wire 0.

[0624] The steel wire 0 includes a working steel wire 0-1 and a decoupling steel wire 0-2.

[0625] One end of the working steel wire 0-1 is fixed on the wire fixing shaft 1-1 or the wire fixing sleeve 1-2.

[0626] The working steel wire 0-1 is first spirally wound around the wire fixing shaft 1-1 or the wire fixing sleeve 1-2 and then sequentially wound around the decoupling mechanism 6, the tensioning mechanism 2, the wire guiding mechanism 3, and then passed through the rotating mechanism 4.

[0627] The other end of the working wire 0-1 is fixed on the minimally invasive medical device.

[0628] One end of the decoupling steel wire 0-2 is fixed on the wire sleeve 1-2.

[0629] The decoupling steel wire 0-2 is spirally wound on the wire sleeve 1-2.

[0630] The other end of the decoupling wire 0-2 is fixed on the decoupling mechanism gear shaft 6-9.

[0631] The decoupling steel wire 0 - 2 and the working steel wire 0 - 1 on the same decoupling mechanism 6 are from different transmission mechanisms 1 .

[0632] This connection method can effectively decouple.

Claims

1. A decoupling mechanism, characterized in that: The invention comprises a decoupling mechanism bracket (6-1), a decoupling mechanism fixed axis guide wheel (6-2), a decoupling mechanism fixed pin shaft (6-3), a decoupling mechanism movable axis guide wheel (6-4), a decoupling mechanism movable pin shaft (6-5), a decoupling mechanism guide bar (6-6), a decoupling mechanism rack (6-7), a decoupling mechanism gear (6-8), and a decoupling mechanism gear shaft (6-9), wherein the decoupling mechanism fixed axis guide wheel (6-2) and the decoupling mechanism guide bar (6-6) are connected to the decoupling mechanism bracket (6-1) through the decoupling mechanism fixed axis guide wheel (6-3). 1), the decoupling mechanism moving shaft guide wheel (6-4) and the decoupling mechanism rack (6-7) are connected to the decoupling mechanism bracket (6-1) through the decoupling mechanism moving pin (6-5), the decoupling mechanism guide bar (6-6) is slidably connected to the decoupling mechanism rack (6-7), the decoupling mechanism gear (6-8) is connected to the decoupling mechanism bracket (6-1) through the decoupling mechanism gear shaft (6-9), and the decoupling mechanism gear (6-8) is meshingly connected to the decoupling mechanism rack (6-7); The decoupling mechanism bracket (6-1) comprises a decoupling mechanism bracket bottom plate (6-1-1) and two decoupling mechanism bracket side plates (6-1-2); The plate surfaces of the two decoupling mechanism bracket side plates (6-1-2) are respectively provided with decoupling mechanism bracket pin holes (6-1-3), decoupling mechanism bracket shaft holes (6-1-5), and decoupling mechanism bracket guide grooves (6-1-4); The decoupling mechanism bracket guide groove (6-1-4) is an oblique groove; One end of the decoupling mechanism bracket guide groove (6-1-4) is close to a long side and a short side of a side plate (6-1-2) of the decoupling mechanism bracket; The other end of the decoupling mechanism bracket guide groove (6-1-4) is away from the long side on one side and the short side on one side of the decoupling mechanism bracket side plate (6-1-2); The decoupling mechanism bracket shaft hole (6-1-5) is close to the middle of the long side of the other side of the decoupling mechanism bracket side plate (6-1-2); The decoupling mechanism bracket pin hole (6-1-3) is close to the other end of the long side of the other side of the decoupling mechanism bracket side plate (6-1-2); The two ends of the decoupling mechanism bracket pin hole (6-1-3) and the decoupling mechanism bracket guide groove (6-1-4) are located on the same straight line; A decoupling mechanism bracket rod (6-1-6) is provided on the outer side plate surface of a decoupling mechanism bracket side plate (6-1-2); There are two decoupling mechanism support rods (6-1-6); The two decoupling mechanism support rods (6-1-6) are respectively perpendicular to the outer side surface of one decoupling mechanism support side plate (6-1-2); A decoupling mechanism support rod (6-1-6) is close to a short side on one side and a long side on the other side of a decoupling mechanism support side plate (6-1-2); Another decoupling mechanism support rod (6-1-6) is close to the short side of the other side and the long side of one side of one decoupling mechanism support side plate (6-1-2); The two decoupling mechanism support rods (6-1-6) are located on a diagonal line of a decoupling mechanism support side plate (6-1-2); The two decoupling mechanism support rods (6-1-6) and one decoupling mechanism support side plate (6-1-2) form an integral part; or, The two decoupling mechanism support rods (6-1-6) and one decoupling mechanism support side plate (6-1-2) are connected by welding; or, The two decoupling mechanism support rods (6-1-6) and one decoupling mechanism support side plate (6-1-2) are connected by riveting; The outer ends of the two decoupling mechanism support rods (6-1-6) are respectively and sequentially provided with a decoupling mechanism support neck (6-1-7) and a decoupling mechanism support head (6-1-8); The diameter of the decoupling mechanism support neck (6-1-7) is smaller than the diameter of the decoupling mechanism support rod (6-1-6); The decoupling mechanism bracket head (6-1-8) is provided with threads; The decoupling mechanism bracket head (6-1-8) is provided with a nut; The lengths of the two decoupling mechanism bracket side plates (6-1-2) are greater than the length of the decoupling mechanism bracket bottom plate (6-1-1); The width of the two decoupling mechanism bracket side plates (6-1-2) is greater than the width of the decoupling mechanism bracket bottom plate (6-1-1); The two decoupling mechanism bracket side plates (6-1-2) are respectively perpendicular to the decoupling mechanism bracket bottom plate (6-1-1); The middle parts of the long sides of one side of the two decoupling mechanism bracket side plates (6-1-2) respectively overlap with the long sides of both sides of the decoupling mechanism bracket bottom plate (6-1-1); The two decoupling mechanism bracket side plates (6-1-2) are directly opposite to each other; The decoupling mechanism fixed-axis guide wheel (6-2) is rotatably connected to the decoupling mechanism fixed pin shaft (6-3); The decoupling mechanism fixed pin shaft (6-3) is sleeved with two decoupling mechanism fixed shaft sleeves (6-10); The two decoupling mechanism fixed-axis sleeves (6-10) are located on both sides of the decoupling mechanism fixed-axis guide wheel (6-2); The decoupling mechanism fixing pin shaft (6-3) is fixedly connected to the decoupling mechanism bracket (6-1); The decoupling mechanism guide strip (6-6) is sleeved on the decoupling mechanism fixing pin shaft (6-3); The decoupling mechanism guide bar (6-6) comprises a decoupling mechanism guide bar head (6-6-1) and a decoupling mechanism guide bar rod (6-6-3); The decoupling mechanism guide strip head (6-6-1) is in the shape of a cylinder; A decoupling mechanism guide strip pin hole (6-6-2) is provided in the center of the end surface of the decoupling mechanism guide strip head (6-6-1); The decoupling mechanism guide bar (6-6-3) is provided with a decoupling mechanism guide bar groove (6-6-4) along the length direction; The cross-sectional shape of the decoupling mechanism guide bar groove (6-6-4) is in the shape of a "convex" character; The notch of the decoupling mechanism guide bar groove (6-6-4) is located on one side of the decoupling mechanism guide bar (6-6-3); The decoupling mechanism guide strip head (6-6-1) and the decoupling mechanism guide strip rod (6-6-3) form an integral part; The straight line where the decoupling mechanism guide strip head (6-6-1) is located is perpendicular to the straight line where the decoupling mechanism guide bar (6-6-3) is located; The decoupling mechanism guide bar head (6-6-1) is offset to the side of the decoupling mechanism guide bar (6-6-3) having the notch of the decoupling mechanism guide bar groove (6-6-4); The decoupling mechanism moving shaft guide wheel (6-4) is rotatably connected to the decoupling mechanism moving pin shaft (6-5); The decoupling mechanism moving pin shaft (6-5) is sleeved with two decoupling mechanism moving shaft sleeves (6-11); The two decoupling mechanism moving shaft sleeves (6-11) are located on both sides of the decoupling mechanism moving shaft guide wheel (6-4); The decoupling mechanism moving pin shaft (6-5) is slidably connected to the decoupling mechanism bracket (6-1); The decoupling mechanism rack (6-7) is sleeved on the decoupling mechanism moving pin (6-5); The decoupling mechanism rack (6-7) comprises a decoupling mechanism rack head (6-7-1) and a decoupling mechanism rack rod (6-7-3); The decoupling mechanism rack head (6-7-1) is in the shape of a cylinder; A decoupling mechanism rack pin hole (6-7-2) is provided in the center of the end surface of the decoupling mechanism rack head (6-7-1); One side of the decoupling mechanism rack rod (6-7-3) is provided with decoupling mechanism rack teeth (6-7-4) along the length direction; The cross-section of the rack rod (6-7-3) of the decoupling mechanism is in the shape of a "convex" character; The decoupling mechanism rack head (6-7-1) and the decoupling mechanism rack rod (6-7-3) form an integral part; The straight line where the rack head (6-7-1) of the decoupling mechanism is located is perpendicular to the straight line where the rack rod (6-7-3) of the decoupling mechanism is located; The rack head (6-7-1) of the decoupling mechanism is placed at one end of the rack rod (6-7-3) of the decoupling mechanism; The decoupling mechanism gear (6-8) is fixedly connected to the decoupling mechanism gear shaft (6-9); The decoupling mechanism gear shaft (6-9) is rotatably connected to the decoupling mechanism bracket (6-1); The end of the decoupling mechanism gear shaft (6-9) is exposed from the decoupling mechanism bracket (6-1).

2. A wire transmission device for a minimally invasive medical device, comprising a decoupling mechanism (6), characterized in that: The decoupling mechanism (6) is the decoupling mechanism according to claim 1.

3. The wire transmission device for minimally invasive medical equipment according to claim 2, characterized in that: It also includes a transmission mechanism (1), a tensioning mechanism (2), a wire guide mechanism (3), a rotating mechanism (4), and an instrument box (5); The transmission mechanism (1), the tensioning mechanism (2), the guide wire mechanism (3), and the decoupling mechanism (6) are located in the instrument box (5); The transmission mechanism (1), the tensioning mechanism (2), the guide wire mechanism (3), and the decoupling mechanism (6) are connected to the instrument box (5); The rotating mechanism (4) is located outside the instrument box (5); The rotating mechanism (4) is connected to the instrument box (5).

4. The wire transmission device for minimally invasive medical equipment according to claim 3, characterized in that: The transmission mechanism (1) comprises a wire fixing shaft (1-1), a wire fixing sleeve (1-2), a transmission bearing (1-3), a locking member (1-4), and a locking screw (1-5); The wire fixing sleeve (1-2) is sleeved on the wire fixing shaft (1-1); The wire fixing sleeve (1-2) is fixedly connected to the wire fixing shaft (1-1) via the locking piece (1-4) and the locking screw (1-5); Both ends of the fixed wire shaft (1-1) are connected to the instrument box (5) via the transmission bearings (1-3) respectively; The fixed wire shaft (1-1) comprises a first shaft portion (1-1-1), a second shaft portion (1-1-2), a third shaft portion (1-1-3), a fourth shaft portion (1-1-4), a fifth shaft portion (1-1-5) and a sixth shaft portion (1-1-6); The diameter of the first shaft portion (1-1-1) is greater than the diameter of the second shaft portion (1-1-2); The diameter of the second shaft portion (1-1-2) is greater than the diameter of the third shaft portion (1-1-3); The diameter of the third shaft portion (1-1-3) is greater than the diameter of the fourth shaft portion (1-1-4); The diameter of the fourth shaft portion (1-1-4) is equal to the diameter of the fifth shaft portion (1-1-5); The diameter of the fifth shaft portion (1-1-5) is greater than the diameter of the sixth shaft portion (1-1-6); The first shaft portion (1-1-1), the second shaft portion (1-1-2), the third shaft portion (1-1-3), the fourth shaft portion (1-1-4), the fifth shaft portion (1-1-5) and the sixth shaft portion (1-1-6) are coaxially formed into an integral part; A driving key groove (1-1-10) is provided in the center of one end surface of the first shaft portion (1-1-1); The driving keyway (1-1-10) is in the shape of a cross; The other end surface edge of the first shaft portion (1-1-1) is rounded; The end surface edge of the third shaft portion (1-1-3) is rounded; A limiting groove (1-1-9) is provided between the fourth shaft rod portion (1-1-4) and the fifth shaft rod portion (1-1-5); A guide wire thread is arranged on the side surface of the fifth shaft portion (1-1-5); A first steel wire fixing hole (1-1-8) is provided on the side surface of the fifth shaft portion (1-1-5); The axis of the first steel wire fixing hole (1-1-8) is perpendicularly intersected with the axis of the fifth shaft portion (1-1-5); The first steel wire fixing hole (1-1-8) is close to the end surface of the fifth shaft portion (1-1-5); The end face edge of the sixth shaft portion (1-1-6) is chamfered; A weight-reducing hole (1-1-7) is provided in the center of the end surface of the sixth shaft portion (1-1-6); The weight-reducing hole (1-1-7) passes through the third shaft portion (1-1-3); The wire fixing sleeve (1-2) comprises a locking portion (1-2-1), a first sleeve portion (1-2-2) and a second sleeve portion (1-2-3) in sequence; The locking portion (1-2-1), the first sleeve portion (1-2-2) and the second sleeve portion (1-2-3) form an integral part; The locking portion (1-2-1) is provided with two locking portion threaded fixing holes (1-2-4); The outer side surface of the second sleeve portion (1-2-3) is provided with a guide wire thread; The wall of the second sleeve portion (1-2-3) is provided with a second steel wire fixing hole (1-2-5) and a third steel wire fixing hole (1-2-6); The axis of the second steel wire fixing hole (1-2-5) is perpendicularly intersected with the axis of the second sleeve portion (1-2-3); The second steel wire fixing hole (1-2-5) is separated from the inner side surface of the second sleeve portion (1-2-3); The second steel wire fixing hole (1-2-5) is close to the outer end of the second sleeve portion (1-2-3); The axis of the third steel wire fixing hole (1-2-6) is perpendicularly intersected with the axis of the second sleeve portion (1-2-3); The third steel wire fixing hole (1-2-6) is separated from the inner side surface of the second sleeve portion (1-2-3); The second steel wire fixing hole (1-2-5) is located in the middle of the second sleeve portion (1-2-3); The locking piece (1-4) comprises a locking piece semicircular ring (1-4-1) and a locking piece fixing ear (1-4-2); The locking piece has two fixing ears (1-4-2); The two locking piece fixing ears (1-4-2) are respectively provided with locking piece fixing holes (1-4-3); The two locking piece fixing ears (1-4-2) are respectively arranged on both sides of the locking piece semicircular ring (1-4-1); The two locking piece fixing ears (1-4-2) and the locking piece semicircular ring (1-4-1) form an integral part; Locking piece avoidance recesses (1-4-4) are respectively arranged on both sides of the locking piece semicircular ring (1-4-1); The locking screw (1-5) is a hexagon socket screw; The transmission mechanisms (1) are in an even number; The transmission mechanisms (1) have four, six, eight or ten members.

5. The wire transmission device for minimally invasive medical equipment according to claim 4, characterized in that: The tensioning mechanism (2) comprises a tensioning mechanism fixing member (2-1), a tensioning unit (2-2), a tensioning knob component (2-3), and a tensioning unit positioning clamp (2-4); The tensioning units (2-2) are in an even number; The tensioning units (2-2) are four, six, eight or ten; An even number of the tensioning units (2-2) are respectively connected to the tensioning mechanism fixing member (2-1) via the tensioning unit positioning clamp ring (2-4) and the tensioning unit fixing screw; Each of the tensioning units (2-2) is equipped with the tensioning knob component (2-3); The tensioning mechanism fixing member (2-1) comprises a fixing portion (2-1-1), a main short side plate (2-1-2), two long side plates (2-1-3), a secondary short side plate (2-1-4), a long partition plate (2-1-5) and a plurality of short partition plates (2-1-6); The main short side plate (2-1-2), the two long side plates (2-1-3), the secondary short side plate (2-1-4), the long partition plate (2-1-5) and the plurality of short partition plates (2-1-6) form a square cavity with two rows and multiple columns; The number of rows of the square cavities is two, three, four or five; The two long side plates (2-1-3) and the long partition plate (2-1-5) are coaxially provided with fixing member shaft holes (2-1-8); The number of the fixing shaft holes (2-1-8) of the same plate is equal to the number of columns of the square cavities; The two long side plates (2-1-3) are respectively coaxially provided with fixing holes (2-1-9); The number of the fixing holes (2-1-9) of the fixing member of the same plate is equal to the number of columns of the square cavities; The fixing holes (2-1-9) of the fixing member and the shaft holes (2-1-8) of the same plate are distributed at intervals or symmetrically at intervals along the length direction; The fixing portion (2-1-1) is in the shape of a cylinder; The end surface of the fixing portion (2-1-1) is provided with three fixing member threaded fixing holes (2-1-7); The three threaded fixing holes (2-1-7) of the fixing member are distributed in an equilateral triangle; The fixing portion (2-1-1), the main short side plate (2-1-2), the two long side plates (2-1-3), the secondary short side plate (2-1-4), the long partition plate (2-1-5) and the plurality of short partition plates (2-1-6) form an integral part; The tensioning unit (2-2) comprises a tensioning unit bracket (2-2-1), a tensioning unit fixed axis guide wheel (2-2-2), a tensioning unit fixed pin shaft (2-2-3), a tensioning unit movable axis guide wheel (2-2-4), a tensioning unit movable pin shaft (2-2-5), a tensioning unit rack (2-2-6), a tensioning unit guide bar (2-2-7), a tensioning unit gear (2-2-8), and a tensioning unit gear shaft (2-2-9); The tensioning unit fixed axis guide wheel (2-2-2) and the tensioning unit guide strip (2-2-7) are connected to the tensioning unit bracket (2-2-1) via the tensioning unit fixing pin shaft (2-2-3); The tensioning unit movable shaft guide wheel (2-2-4) and the tensioning unit rack (2-2-6) are connected to the tensioning unit bracket (2-2-1) via the tensioning unit movable pin shaft (2-2-5); The tensioning unit guide bar (2-2-7) is slidably connected to the tensioning unit rack (2-2-6); The tensioning unit gear (2-2-8) is connected to the tensioning unit bracket (2-2-1) via the tensioning unit gear shaft (2-2-9). The tensioning unit gear (2-2-8) is meshingly connected with the tensioning unit rack (2-2-6); The tensioning unit bracket (2-2-1) comprises a tensioning unit bracket bottom plate (2-2-1-1) and two tensioning unit bracket side plates (2-2-1-2); The tensioning unit bracket bottom plate (2-2-1-1) is in a rectangular shape; The two tensioning unit bracket side plates (2-2-1-2) are rectangular in shape; The two tensioning unit bracket side plates (2-2-1-2) are in the shape of a rounded rectangle; The plate surfaces of the two tensioning unit bracket side plates (2-2-1-2) are respectively provided with tensioning unit bracket pin holes (2-2-1-3) and tensioning unit bracket guide grooves (2-2-1-4); The tensioning unit bracket guide groove (2-2-1-4) is parallel to the long side of the tensioning unit bracket side plate (2-2-1-2); The tensioning unit bracket guide groove (2-2-1-4) is offset to the middle of the short side of one side of the tensioning unit bracket side plate (2-2-1-2); The tension unit bracket pin hole (2-2-1-3) is offset to the middle of the short side of the other side of the tension unit bracket side plate (2-2-1-2); The two ends of the tensioning unit bracket pin hole (2-2-1-3) and the tensioning unit bracket guide groove (2-2-1-4) are located on the same straight line; A tensioning unit bracket shaft hole (2-2-1-5) is provided on a plate surface of a tensioning unit bracket side plate (2-2-1-2); The tensioning unit bracket side plate (2-2-1-2) is close to the middle of the long side of the other side of the tensioning unit bracket side plate (2-2-1-2); The inner side plate surface of one of the tensioning unit bracket side plates (2-2-1-2) is provided with a tensioning unit bracket lower limit thickening boss (2-2-1-6) and a tensioning unit bracket upper limit boss (2-2-1-7); The lower limit thickening boss (2-2-1-6) of the tensioning unit bracket is in the shape of a quadrangular prism; The lower limit thickening boss (2-2-1-6) of the tension unit bracket is located on one side of the tension unit bracket guide groove (2-2-1-4) and close to the middle of the long side of one side of the tension unit bracket side plate (2-2-1-2); The upper limit boss (2-2-1-7) of the tensioning unit bracket is in the shape of a cylinder; The upper limit boss (2-2-1-7) of the tensioning unit bracket is located on the other side of the tensioning unit bracket guide groove (2-2-1-4) and close to the long side of the other side of one of the tensioning unit bracket side plates (2-2-1-2) and offset from the tensioning unit bracket pin hole (2-2-1-3); A tensioning unit bracket threaded fixing hole (2-2-1-8) is provided on the outer side plate surface of one of the tensioning unit bracket side plates (2-2-1-2); The threaded fixing hole (2-2-1-8) of the tensioning unit bracket is a blind hole; The length of the two tensioning unit bracket side plates (2-2-1-2) is greater than the length of the tensioning unit bracket bottom plate (2-2-1-1); The width of the two tensioning unit bracket side plates (2-2-1-2) is greater than the width of the tensioning unit bracket bottom plate (2-2-1-1); The two tensioning unit bracket side plates (2-2-1-2) are respectively perpendicular to the tensioning unit bracket bottom plate (2-2-1-1); The middle parts of the long sides of one side of the two tensioning unit bracket side plates (2-2-1-2) respectively overlap with the long sides of both sides of the tensioning unit bracket bottom plate (2-2-1-1); The two tensioning unit bracket side plates (2-2-1-2) are directly opposite to each other; The tensioning unit fixed axis guide wheel (2-2-2) is rotatably connected to the tensioning unit fixed pin shaft (2-2-3); The tensioning unit fixed pin shaft (2-2-3) is sleeved with two tensioning unit fixed axis sleeves (2-2-10); The two tensioning unit fixed axis sleeves (2-2-10) are located on both sides of the tensioning unit fixed axis guide wheel (2-2-2); The tensioning unit fixing pin shaft (2-2-3) is fixedly connected to the tensioning unit bracket (2-2-1); The tensioning unit guide strip (2-2-7) is sleeved on the tensioning unit fixing pin shaft (2-2-3); The tensioning unit guide bar (2-2-7) comprises a tensioning unit guide bar head (2-2-7-1) and a tensioning unit guide bar rod (2-2-7-3); The guide strip head (2-2-7-1) of the tensioning unit is in the shape of a cylinder; A tensioning unit guide strip pin hole (2-2-7-2) is provided in the center of the end surface of the tensioning unit guide strip head (2-2-7-1); The tensioning unit guide bar (2-2-7-3) is provided with a tensioning unit guide bar groove (2-2-7-4) along the length direction; The cross-sectional shape of the tensioning unit guide bar groove (2-2-7-4) is in the shape of a "convex" character; The notch of the tensioning unit guide bar groove (2-2-7-4) is located on one side of the decoupling mechanism guide bar (6-6-3); The tensioning unit guide strip head (2-2-7-1) and the tensioning unit guide bar (2-2-7-3) form an integral part; The straight line where the tensioning unit guide strip head (2-2-7-1) is located is perpendicular to the straight line where the tensioning unit guide bar (2-2-7-3) is located; The tensioning unit guide bar head (2-2-7-1) is offset to the side of the tensioning unit guide bar (2-2-7-3) having the notch of the tensioning unit guide bar groove (2-2-7-4); The tensioning unit moving shaft guide wheel (2-2-4) is rotationally connected to the tensioning unit moving pin shaft (2-2-5); The tensioning unit movable pin shaft (2-2-5) is sleeved with two tensioning unit movable shaft sleeves (2-2-11); The two tensioning unit moving shaft sleeves (2-2-11) are located on both sides of the tensioning unit moving shaft guide wheel (2-2-4); The tensioning unit movable pin shaft (2-2-5) is slidably connected to the tensioning unit bracket (2-2-1); The tensioning unit rack (2-2-6) is sleeved on the tensioning unit movable pin (2-2-5); The tensioning unit rack (2-2-6) comprises a tensioning unit rack head (2-2-6-1) and a tensioning unit rack rod (2-2-6-3); The tensioning unit rack head (2-2-6-1) is in the shape of a cylinder; A tensioning unit rack pin hole (2-2-6-2) is provided in the center of the end surface of the tensioning unit rack head (2-2-6-1); Tension unit rack teeth (2-2-6-4) are distributed along the length direction on one side of the tension unit rack rod (2-2-6-3); The cross-section of the tensioning unit rack rod (2-2-6-3) is in the shape of a "convex" character; The tensioning unit rack head (2-2-6-1) and the tensioning unit rack rod (2-2-6-3) form an integral part; The straight line where the tensioning unit rack head (2-2-6-1) is located is perpendicular to the straight line where the tensioning unit rack rod (2-2-6-3) is located; The tensioning unit rack head (2-2-6-1) is placed at one end of the tensioning unit rack rod (2-2-6-3); The tensioning unit gear (2-2-8) is fixedly connected to the tensioning unit gear shaft (2-2-9); The tensioning unit gear shaft (2-2-9) is rotatably connected to the tensioning unit bracket (2-2-1); One end of the tensioning unit gear shaft (2-2-9) is provided with a tensioning unit gear shaft single notch (2-2-9-1); The other end of the tensioning unit gear shaft (2-2-9) is provided with a tensioning unit gear shaft double notch (2-2-9-2); A tensioning unit gear shaft clamping groove (2-2-9-3) is provided in the middle of the tensioning unit gear shaft (2-2-9); The tensioning knob component (2-3) comprises a tensioning knob (2-3-1), a tensioning knob seat (2-3-2) and a tensioning knob cap (2-3-3); The tensioning knob (2-3-1) is clamped to the other end of the tensioning unit gear shaft (2-2-9); The tensioning unit gear shaft (2-2-9) is connected to the instrument box (5) via the tensioning knob seat (2-3-2); The tensioning knob (2-3-1) is locked and connected to the tensioning knob seat (2-3-2) via the tensioning knob cap (2-3-3); The tensioning knob (2-3-1) comprises a tensioning knob head (2-3-1-1), a tensioning knob disk (2-3-1-2) and a tensioning knob body (2-3-1-3); The tensioning knob head (2-3-1-1), the tensioning knob disk (2-3-1-2) and the tensioning knob body (2-3-1-3) are coaxially connected in sequence to form an integral part; The diameter of the tensioning knob disk (2-3-1-2) is greater than the diameter of the tensioning knob head (2-3-1-1); The diameter of the tensioning knob head (2-3-1-1) is greater than the diameter of the tensioning knob body (2-3-1-3); The annular end surface of the tensioning knob disk (2-3-1-2) located on the side of the tensioning knob head (2-3-1-1) is set as a rough surface; The end surface of the tensioning knob head (2-3-1-1) is provided with a first tensioning knob notch (2-3-1-4); The end surface of the tensioning knob body (2-3-1-3) is provided with a second tensioning knob notch (2-3-1-5); The tensioning knob seat (2-3-2) comprises a tensioning knob seat head (2-3-2-1), a tensioning knob seat plate (2-3-2-2) and a tensioning knob seat body (2-3-2-3); The tensioning knob seat head (2-3-2-1), the tensioning knob seat plate (2-3-2-2) and the tensioning knob seat body (2-3-2-3) are coaxially connected in sequence to form an integral part; The diameter of the tensioning knob seat disc (2-3-2-2) is greater than the diameter of the tensioning knob seat head (2-3-2-1); The diameter of the tensioning knob seat head (2-3-2-1) is equal to the diameter of the tensioning knob seat body (2-3-2-3); A tensioning knob seat hole (2-3-2-4) runs through the center of the end surface of the tensioning knob seat (2-3-2); The tensioning knob seat disc (2-3-2-2) is provided with tensioning knob seat recesses (2-3-2-5) on two opposite sides thereof; The side surface of the tensioning knob seat (2-3-2-1) is provided with a thread; The side surface of the tensioning knob seat (2-3-2-3) is provided with a thread; The tensioning knob cap (2-3-3) is in the shape of a cylinder; A tensioning knob cap first cavity (2-3-3-1) is provided in the center of one end surface of the tensioning knob cap (2-3-3); A tensioning knob cap second cavity (2-3-3-2) is provided in the center of the other end surface of the tensioning knob cap (2-3-3); The second cavity (2-3-3-2) of the tensioning knob cap and the first cavity (2-3-3-1) of the tensioning knob cap are coaxially connected; The diameter of the tensioning knob disk (2-3-1-2) is larger than the diameter of the first cavity (2-3-3-1) of the tensioning knob cap and smaller than the diameter of the second cavity (2-3-3-2) of the tensioning knob cap; The inner wall of the second cavity (2-3-3-2) of the tensioning knob cap is provided with a thread; The annular bottom surface in the second cavity (2-3-3-2) of the tensioning knob cap is set as a rough surface; Tensioning knob cap notches (2-3-3-3) are respectively arranged on two opposite sides of an end face of the tensioning knob cap (2-3-3).

6. The wire transmission device for minimally invasive medical equipment according to claim 5, characterized in that: The wire guide mechanism (3) comprises a wire guide mechanism rod, a wire guide mechanism wheel (3-4), a wire guide mechanism pin (3-5), and a wire guide mechanism clamp ring (3-6); There are multiple wire guide mechanism wheels (3-4); A plurality of the wire guide mechanism wheels (3-4) are connected to one end of the wire guide mechanism rod via the wire guide mechanism pin (3-5) and the wire guide mechanism clamping ring (3-6); The other end of the wire guide mechanism rod is provided with a wire guide mechanism thread fixing hole (3-8); The wire guide mechanism rod is one, two or three of a wire guide mechanism first rod (3-1), a wire guide mechanism second rod (3-2) and a wire guide mechanism third rod (3-3); The first rod (3-1) of the guide wire mechanism is a short straight rod; The second rod (3-2) of the guide wire mechanism is a long straight rod; The third rod (3-3) of the wire guide mechanism is a bent rod; One end of the first rod (3-1) of the wire guide mechanism is provided with two wire guide mechanism grooves (3-7); One end of the second rod (3-2) of the wire guide mechanism is provided with two wire guide mechanism grooves (3-7); One end of the third rod (3-3) of the wire guiding mechanism is provided with four wire guiding mechanism grooves (3-7); A wire guide mechanism pin hole coaxially penetrates the side wall of the wire guide mechanism groove (3-7); Both ends of the wire guide mechanism pin (3-5) are respectively provided with wire guide mechanism pin grooves (3-5-1).

7. The wire transmission device for minimally invasive medical equipment according to claim 6, characterized in that: The rotating mechanism (4) comprises a first rotating mechanism tube (4-1), a second rotating mechanism tube (4-2), a third rotating mechanism tube (4-3), a rotating mechanism moving body (4-4), a first rotating mechanism fixed body (4-5), a second rotating mechanism fixed body (4-6) and a rotating mechanism clamping ring (4-7); One end of the second fixed body (4-6) of the rotating mechanism is connected to the instrument box (5); The other end of the second fixed body (4-6) of the rotating mechanism is connected to one end of the third tube (4-3) of the rotating mechanism; The other end of the third tube (4-3) of the rotating mechanism is connected to one end of the first fixed body (4-5) of the rotating mechanism; The other end of the first fixed body (4-5) of the rotating mechanism is connected to one end of the second tube (4-2) of the rotating mechanism; One end of the first tube (4-1) of the rotating mechanism is connected to the other end of the moving body (4-4) of the rotating mechanism; One end of the rotating mechanism moving body (4-4) is inserted into the other end of the second fixed body (4-6) of the rotating mechanism; The middle part of the rotating mechanism moving body (4-4) close to one end of the rotating mechanism moving body (4-4) is connected to the second rotating mechanism fixed body (4-6) through two rotating mechanism moving bearings (4-8); The two rotating mechanism dynamic bearings (4-8) are respectively fixed by the rotating mechanism clamping rings (4-7); The first tube (4-1) of the rotating mechanism is a long tube; A first tube clamp (4-1-1) of the rotating mechanism is provided at one end edge of the first tube (4-1) of the rotating mechanism; The central angle corresponding to the first pipe clamp (4-1-1) of the rotating mechanism is 30 degrees; A first fixing hole (4-1-2) for the first tube of the rotating mechanism is provided on the side surface of one end of the first tube (4-1) of the rotating mechanism; A second fixing hole (4-1-3) for the first tube of the rotating mechanism is provided on the side surface of one end of the first tube (4-1) of the rotating mechanism; The second fixing hole (4-1-3) of the first tube of the rotating mechanism and the first fixing hole (4-1-2) of the first tube of the rotating mechanism are located on the same busbar of the first tube (4-1) of the rotating mechanism; The second tube (4-2) of the rotating mechanism is a short tube; A second tube fixing hole (4-2-2) for the rotating mechanism is provided on the side surface of one end of the second tube (4-2) for the rotating mechanism; The other end edge of the second tube (4-2) of the rotating mechanism is provided with two second tube clamps (4-2-1) of the rotating mechanism; The central angle corresponding to the second pipe clamp (4-2-1) of each rotating mechanism is 25 degrees to 35 degrees; The central angle corresponding to the second pipe clamp (4-2-1) of each rotating mechanism is 30 degrees; The corresponding central angle between the two second pipe clamps (4-2-1) of the rotating mechanism is 110 degrees to 120 degrees; The corresponding central angle between the two second pipe clamps (4-2-1) of the rotating mechanism is 115 degrees; After installation, the first pipe clamp (4-1-1) of the rotating mechanism is located between the two second pipe clamps (4-2-1) of the rotating mechanism; The third tube (4-3) of the rotating mechanism is a short tube; One end of the third tube (4-3) of the rotating mechanism is provided with a first fixing hole (4-3-1) of the third tube of the rotating mechanism; The other end of the third tube (4-3) of the rotating mechanism is provided with a second fixing hole (4-3-2) of the third tube of the rotating mechanism; The second fixing hole (4-3-2) of the third tube and the first fixing hole (4-3-1) of the third tube are located on the same busbar of the third tube (4-3) of the rotating mechanism; The rotating mechanism moving body (4-4) comprises a rotating mechanism moving body head (4-4-1) and a rotating mechanism moving body rod (4-4-2); The rotating mechanism moving body head (4-4-1) and the rotating mechanism moving body rod (4-4-2) are coaxially formed into an integral part; A rotating mechanism moving body middle hole (4-4-3) penetrates through the center of the end surface of the rotating mechanism moving body head (4-4-1) and the rotating mechanism moving body rod (4-4-2); A plurality of rotating mechanism moving body side holes (4-4-4) are distributed on the edge of the end surface of the rotating mechanism moving body head (4-4-1); The plurality of side holes (4-4-4) of the rotating mechanism moving body are evenly divided into four groups; Four groups of rotating mechanism moving body side holes (4-4-4) are distributed in a square shape on the end surface edge of the rotating mechanism moving body head (4-4-1); Each group has five side holes (4-4-4) of the rotating mechanism moving body; The two opposite sides of the rotating mechanism moving body head (4-4-1) are respectively provided with rotating mechanism moving body thread fixing holes (4-4-5); The middle part and the end part of the rotating mechanism moving body rod (4-4-2) are respectively provided with rotating mechanism moving body clamping grooves (4-4-8); One end surface of the rotating mechanism moving body rod (4-4-2) is provided with a rotating mechanism moving body spiral groove (4-4-6); The spiral groove (4-4-6) of the rotating mechanism moving body has one and a quarter turns; One end surface of the rotating mechanism moving body rod (4-4-2) is located at both ends of the rotating mechanism moving body spiral groove (4-4-6), and rotating mechanism moving body steel wire fixing holes (4-4-7) are respectively provided; The steel wire fixing hole (4-4-7) of the rotating mechanism moving body deviates from the axis of the rotating mechanism moving body rod (4-4-2); The two rotating mechanism moving body steel wire fixing holes (4-4-7) are parallel; The first fixed body (4-5) of the rotating mechanism is in the shape of a cylinder; A first cavity (4-5-1) of the first fixed body of the rotating mechanism passes through the center of the end surface of the first fixed body (4-5) of the rotating mechanism; The centers of the two end surfaces of the first fixed body (4-5) of the rotating mechanism are respectively provided with the second cavity (4-5-2) of the first fixed body of the rotating mechanism; The inner diameter of the second cavity (4-5-2) of the first stator is larger than the inner diameter of the first cavity (4-5-1) of the first stator of the rotating mechanism; A plurality of first stator guide grooves (4-5-3) of the rotating mechanism are distributed along the axial direction on the side surface of the first stator (4-5) of the rotating mechanism; A plurality of guide grooves (4-5-3) of the first fixed body of the rotating mechanism are parallel to the axis of the first fixed body (4-5) of the rotating mechanism; A plurality of guide grooves (4-5-3) of the first fixed body of the rotating mechanism penetrate through both ends of the first fixed body (4-5) of the rotating mechanism; The plurality of first fixed body guide grooves (4-5-3) of the rotating mechanism are evenly divided into four groups; The four groups of first fixed body guide grooves (4-5-3) of the rotating mechanism are distributed in a square shape; Each group has three first fixed body guide grooves (4-5-3) of the rotating mechanism; Two opposite side surfaces of the first fixed body (4-5) of the rotating mechanism are respectively provided with two first fixed body thread fixing holes (4-5-4) of the rotating mechanism; The two threaded fixing holes (4-5-4) of the first fixed body of the rotating mechanism are located on the same generatrix of the first fixed body (4-5) of the rotating mechanism; The second fixed body (4-6) of the rotating mechanism is in the shape of a cylinder; A first cavity (4-6-1) of the second fixed body of the rotating mechanism passes through the center of the end surface of the second fixed body (4-6) of the rotating mechanism; A second cavity (4-6-2) of the second stator of the rotating mechanism is formed on one end surface of the second stator (4-6) of the rotating mechanism; The second cavity (4-6-2) of the second stator of the rotating mechanism is in the shape of a semi-cylinder; A plurality of rotating mechanism second stator side holes (4-6-3) are distributed on the edge of the end surface of the rotating mechanism second stator (4-6); The plurality of second fixed body side holes (4-6-3) of the rotating mechanism are evenly divided into four groups; Four groups of side holes (4-6-3) of the second fixed body of the rotating mechanism are distributed in a square shape on the end surface edge of the second fixed body (4-6) of the rotating mechanism; The four side holes (4-6-3) of the second fixed body of the rotating mechanism are distributed on the bottom surface of the second cavity (4-6-2) of the second fixed body of the rotating mechanism; Two opposite side surfaces of the second fixed body (4-6) of the rotating mechanism are respectively provided with two second fixed body thread fixing holes (4-6-4) of the rotating mechanism; The two threaded fixing holes (4-6-4) of the second fixed body of the rotating mechanism are located on the same generatrix of the second fixed body (4-6) of the rotating mechanism.

8. The wire transmission device for minimally invasive medical equipment according to claim 7, characterized in that: The instrument box (5) comprises an instrument box bottom plate (5-1), an instrument box enclosure plate (5-2), an instrument box cover plate (5-3), an instrument box support plate (5-4) and an instrument box enclosure plate peephole cover plate (5-5); The instrument box bottom plate (5-1) is fixedly connected to the bottom of the instrument box enclosure plate (5-2); The instrument box cover plate (5-3) is fixedly connected to the top of the instrument box enclosure plate (5-2); The instrument box support plate (5-4) is connected to the inside of the instrument box enclosure plate (5-2); The instrument box enclosure peephole cover plate (5-5) is connected to the instrument box enclosure plate (5-2); The shape of the instrument box bottom plate (5-1) is a juxtaposed rectangle and an isosceles triangle; The plate surface of the instrument box bottom plate (5-1) is located at the vertex area of ​​the isosceles triangle and is connected to the instrument box bottom plate bent pipe (5-1-1); The bent pipe (5-1-1) on the bottom plate of the instrument box is inclined toward the vertex of the isosceles triangle; The bent pipe (5-1-1) on the bottom plate of the instrument box is convex toward the vertex of the isosceles triangle; The head normal of the instrument box bottom plate bent pipe (5-1-1) is perpendicular to the plate surface of the instrument box bottom plate (5-1); The inner diameter of the root of the instrument box bottom plate curved pipe (5-1-1) is larger than the inner diameter of the head; The head side wall of the instrument box bottom plate bent pipe (5-1-1) is penetrated by an instrument box bottom plate bent pipe fixing hole (5-1-4); The plate surface of the instrument box bottom plate (5-1) is located in a rectangular area and has four first fixing holes (5-1-2) distributed thereon; The four first fixing holes (5-1-2) of the bottom plate of the instrument box are distributed in a rectangular shape; The board surface of the instrument box bottom plate (5-1) is located in the middle of the bottom edge of the isosceles triangle and is provided with a second fixing hole (5-1-3) of the instrument box bottom plate; A plurality of instrument box enclosure fixing ears (5-2-1) are distributed along the circumferential direction on the top of the instrument box enclosure (5-2); The plurality of the instrument box enclosure fixing ears (5-2-1) are respectively provided with first instrument box enclosure fixing holes (5-2-2); The device box enclosure has five fixing ears (5-2-1); A plurality of first fixing brackets (5-2-3) of the instrument box enclosure are distributed along the circumferential direction on the inner bottom of the instrument box enclosure (5-2); A plurality of the first fixing brackets (5-2-3) of the instrument box enclosure are respectively provided with first threaded fixing holes (5-2-4) of the instrument box enclosure; The apparatus box enclosure has four first fixing brackets (5-2-3); The instrument box enclosure (5-2) is provided with two instrument box enclosure peek holes (5-2-5) facing each other; The two instrument box enclosure peep holes (5-2-5) are rectangular in shape; The inner surface of the instrument box enclosure (5-2) is provided with a plurality of instrument box enclosure second fixing brackets (5-2-6) respectively distributed in the circumferential direction of the edges of the two instrument box enclosure peek holes (5-2-5); A plurality of the second fixing brackets (5-2-6) of the instrument box enclosure are respectively provided with second threaded fixing holes (5-2-7) of the instrument box enclosure; Three second fixing brackets (5-2-6) of the instrument box enclosure are distributed circumferentially on the edge of each instrument box enclosure peephole (5-2-5); The three second fixing brackets (5-2-6) of the instrument box enclosure are distributed in an inverted isosceles triangle; A plurality of instrument box enclosure second fixing holes (5-2-8) are distributed along the circumferential direction at the lower portion of the instrument box enclosure (5-2); The plurality of second fixing holes (5-2-8) of the instrument box enclosure are located in the same plane; A plurality of instrument box enclosure mounting seats (5-2-9) are respectively distributed on two inner surfaces facing each other of the instrument box enclosure (5-2); A plurality of the instrument box enclosure mounting seats (5-2-9) are distributed from top to bottom; Two inner surfaces of the instrument box enclosure (5-2) correspond to a plurality of instrument box enclosure mounting seats (5-2-9) and are penetrated by instrument box enclosure mounting holes (5-2-10); The mounting hole (5-2-10) of the instrument box enclosure is a stepped hole that is larger on the outside and smaller on the inside; The side surface of the instrument box cover (5-3) is provided with a plurality of instrument box cover notches (5-3-1) distributed along the circumferential direction; The plurality of the instrument box cover plate recesses (5-3-1) are respectively provided with instrument box cover plate threaded fixing holes (5-3-2); The plurality of notches (5-3-1) on the instrument box cover plate correspond to the plurality of fixing ears (5-2-1) on the instrument box enclosure plate; The instrument box cover has five notches (5-3-1); The two opposite sides of the instrument box cover (5-3) are correspondingly provided with instrument box cover slots (5-3-3); An even number of instrument box cover plate mounting holes (5-3-4) are distributed on the plate surface of the instrument box cover plate (5-3); An even number of the instrument box cover mounting holes (5-3-4) are distributed in two rows and multiple columns; The instrument box cover mounting hole (5-3-4) is a stepped hole that is larger on the outside and smaller on the inside; The number of the instrument box cover mounting holes (5-3-4) is four, six, eight or ten; The outer plate surface of the instrument box cover (5-3) is provided with two first threaded fixing holes (5-3-5) for the instrument box cover; The two first threaded fixing holes (5-3-5) of the instrument box cover are countersunk holes; The inner plate surface of the instrument box cover (5-3) is provided with instrument box cover first positioning holes (5-3-6) corresponding to the two instrument box cover first threaded fixing holes (5-3-5); The two first positioning holes (5-3-6) of the instrument box cover are rectangular holes; The outer plate surface of the instrument box cover (5-3) is provided with three instrument box cover second threaded fixing holes (5-3-7); The three second threaded fixing holes (5-3-7) of the instrument box cover are countersunk holes; The inner plate surface of the instrument box cover (5-3) is provided with instrument box cover second positioning holes (5-3-8) corresponding to the three instrument box cover second threaded fixing holes (5-3-7); The second positioning hole (5-3-8) of the instrument box cover is a circular hole; The outer plate surface of the instrument box cover (5-3) is provided with four instrument box cover third threaded fixing holes (5-3-9); The four third threaded fixing holes (5-3-9) of the instrument box cover are distributed in a rectangular shape; The shape of the instrument box support plate (5-4) is a rounded rectangular shape; An even number of instrument box support plate mounting holes (5-4-1) are distributed on the surface of the instrument box support plate (5-4); An even number of the instrument box support plate mounting holes (5-4-1) are distributed in two rows and multiple columns; An even number of the mounting holes (5-4-1) of the instrument box support plate are stepped holes; The edge of the small hole end of the instrument box support plate mounting hole (5-4-1) extends outward to form an instrument box support plate mounting hole boss (5-4-4); The shape of the mounting hole boss (5-4-4) of the instrument box support plate is annular; The number of the mounting holes (5-4-1) of the instrument box support plate is four, six, eight or ten; An even number of instrument box support plate fixing holes (5-4-2) are distributed on the surface of the instrument box support plate (5-4); An even number of the instrument box support plate fixing holes (5-4-2) are distributed between two rows of the instrument box support plate mounting holes (5-4-1); An even number of the fixing holes (5-4-2) of the instrument box support plate are distributed in a reciprocating fold line; The area where the instrument box support plate fixing hole (5-4-2) is located extends outward to form an instrument box support plate fixing hole boss (5-4-5); The shape of the fixing hole boss (5-4-5) of the instrument box support plate is a long strip; The fixing hole boss (5-4-5) of the instrument box support plate and the mounting hole boss (5-4-4) of the instrument box support plate are coplanar and at the same height; The number of the fixing holes (5-4-2) of the instrument box support plate is four, six, eight or ten; The side surface of the instrument box support plate (5-4) is provided with a plurality of instrument box support plate threaded fixing holes (5-4-3) distributed along the circumferential direction; The plurality of threaded fixing holes (5-4-3) of the instrument box support plate correspond to the plurality of second fixing holes (5-2-8) of the instrument box enclosure plate; The shape of the instrument box enclosure peephole cover plate (5-5) is rectangular; The instrument box enclosure peep hole cover plate (5-5) is provided with three instrument box enclosure peep hole cover plate fixing holes (5-5-1); The three fixing holes (5-5-1) of the instrument box enclosure peephole cover plate are distributed in an isosceles triangle.

9. The wire transmission device for minimally invasive medical equipment according to claim 8, characterized in that: The steel wire transmission device is driven by a steel wire (0); The steel wire (0) comprises a working steel wire (0-1) and a decoupling steel wire (0-2); One end of the working steel wire (0-1) is fixed on the wire fixing shaft (1-1) or the wire fixing sleeve (1-2); The working steel wire (0-1) is first spirally wound around the wire fixing shaft (1-1) or the wire fixing sleeve (1-2), and then sequentially wound around the decoupling mechanism (6), the tensioning mechanism (2), the wire guiding mechanism (3), and then passed through the rotating mechanism (4); The other end of the working wire (0-1) is fixed on the minimally invasive medical device; One end of the decoupling steel wire (0-2) is fixed on the wire fixing sleeve (1-2); The decoupling steel wire (0-2) is spirally wound on the wire fixing sleeve (1-2); The other end of the decoupling steel wire (0-2) is fixed on the decoupling mechanism gear shaft (6-9); The decoupling steel wire (0-2) and the working steel wire (0-1) on the same decoupling mechanism (6) are from different transmission mechanisms (1).

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