A detachable electric multi-freedom flexible instrument with a flexible transmission rod

Abstract

The present invention relates to a detachable electric multi-degree-of-freedom flexible instrument with a flexible transmission rod, comprising a reusable handheld part and a disposable front end actuator. The handheld part comprises an operating handle and a handle. The handle comprises a potentiometer for measuring the spatial orientation of the user's hand by measuring the orientation of the palm surface relative to the base. The driving part comprises a motor, a control circuit and is coupled to the front end part, and is used to convert the movement of the user's wrist and fingers into the pulling of several wires, which in turn actuate the multi-degree-of-freedom swing of the front end flexible joint and the opening and closing of the jaws.

Description

Technical Field

[0001] The invention relates to the technical field of surgical instruments, and in particular to a detachable electric multi-freedom flexible instrument with a flexible transmission rod. Background Art

[0002] During minimally invasive surgery, surgeons make 2 to 4 small incisions of 5 to 10 mm on the patient's body surface, insert the required surgical instruments through the tiny incisions on the patient's body surface into the abdominal cavity, and perform surgical operations such as cutting and clamping the diseased tissues and organs. This operation method allows the surgical instruments to move only in a narrow inverted cone-shaped workspace with the incision as the apex. Currently, minimally invasive surgical instruments are mainly hand-controlled straight-rod instruments. The end effector of the instrument only has the degree of freedom of opening and closing, and has no joint swing function. The instrument operation flexibility is low, which increases the difficulty of surgical operation.

[0003] Prior art such as CN114469201A Fig.14 The invention shows a technical solution for controlling the serpentine joint of a multi-degree-of-freedom flexible instrument to deflect up and down, left and right relative to the shaft tube by means of wrist movement and four strands of silk thread in coordination with the winding disk movement. In this solution, the tool flap of the front-end actuator is controlled to rotate relative to the tool support seat by driving the flexible transmission rod to extend and retract, thereby achieving clamping and cutting actions. The specific structure of the distal end of the flexible transmission rod and the tool flap with clamping function is described in CN215534654U. Figure 6 to Figure 10 The tool flap, if combined with electrocoagulation technology, can also perform cutting and hemostasis functions.

[0004] Due to the need to prevent the spread of the virus, the front-end actuator and shaft tube that need to be inserted into the body during surgery cannot be reused on other patients. Therefore, potential customers of multi-degree-of-freedom flexible instruments require that such instruments have detachable structures that are inserted into the body, and reusable non-insertion structures that are not inserted into the body. However, the multi-degree-of-freedom flexible instruments that have been published so far all use a solution in which the wrist drives the serpentine joint deflection through a mechanical structure. Since the mechanical structure of the traction wire and the pulling wire is large in size and integrated with the entire multi-degree-of-freedom flexible instrument, the mechanical structure of the traction wire and the pulling wire cannot be separated and disassembled from the entire multi-degree-of-freedom flexible instrument. Therefore, the various multi-degree-of-freedom flexible instruments that have been published previously can only be used for one operation and can only be treated as medical waste after the operation, which results in high surgical costs and waste of resources. Summary of the invention

[0005] In order to solve the technical problem that the current multi-degree-of-freedom flexible instruments cannot be disassembled and recycled, the present invention creatively improves the structure of the multi-degree-of-freedom flexible instruments, and divides the instruments into detachable internal structural parts and recyclable non-interventional structural parts. The internal structural parts include the front-end actuator, serpentine joints, shaft tubes, wires, flexible transmission rods, winding disc mechanisms and other transmission structures, while the non-interventional structural parts include control components and sensors. The problems of the prior art are effectively solved.

[0006] The technical solution of the present invention is: a detachable electric multi-freedom flexible instrument with a flexible transmission rod, comprising: a shaft tube, a retractable and movable flexible transmission rod is accommodated in the shaft tube, four retractable wires are located at the upper left / upper right / lower left / lower right of the flexible transmission rod, the distal end of the shaft tube is connected to the front-end actuator through a serpentine joint, and the proximal end of the shaft tube is rotatably connected to the distal end of the driving part; the proximal end of the driving part is connected to the handle through a universal steering mechanism, the front-end actuator includes at least one tool flap and a tool support seat, the tool flap is rotatably connected to the tool support seat, the proximal end of the flexible transmission rod passes through the shaft tube, and the central channel formed in the center of the serpentine joint and the tool support seat drives the tool flap to rotate relative to the tool support seat. The proximal end of the flexible transmission rod extends into the driving part, and the distal ends of the four strands of silk thread pass through the through holes formed around the central channel of the serpentine joint to connect the four sides of the tool support seat. Two groups of two strands of silk thread that are diagonally related to each other among the four strands of silk thread respectively constitute combination one and combination two. The silk threads of combination one and combination two are respectively wound and fixed on two rotatable shafts perpendicular to the shaft tube in the driving part. The two strands of silk thread of the same combination are wound on the same shaft in opposite winding directions. When the two strands of silk thread are in different combinations, if they are in an up-and-down position relationship, the two strands of silk thread are wound on different shafts in opposite winding directions. If they are in a left-and-right position relationship, the two strands of silk thread are wound on different shafts in the same winding direction.

[0007] The driving part is detachably connected to the universal steering mechanism, and the driving part is also provided with four groups of motors and transmission mechanisms: two groups are used to drive the two rotating shafts to rotate, and the other two groups are used to drive the flexible transmission rod to extend and rotate, the four groups of motors are electrically connected to the circuit board and the power supply in the driving part, and the signal input end of the circuit board is connected to the signal input terminal of the driving part;

[0008] Two variable resistors are installed in the universal steering mechanism, and the signals of the two variable resistors are connected to the signal output terminal. The signal output terminal is detachably connected to the signal input terminal, and the two variable resistors are used to convert the angles of rotation of the driving part relative to the center of the universal steering mechanism around the vertical axis and the horizontal axis perpendicular to the shaft tube into electrical signals. The two electrical signals are transmitted to the two groups of motors through the circuit board to drive the two rotating shafts wound around the silk threads to rotate forward or reverse. The vertical axis is parallel to the center line of the left and right silk threads separating the four silk threads, and the horizontal axis is parallel to the center line of the upper and lower silk threads separating the four silk threads. The universal steering mechanism is a resettable universal steering mechanism, so that the central axis of the driving part remains non-deflected relative to the vertical axis and the horizontal axis.

[0009] The handle is provided with two analog signal generators, both of which are connected to the signal output terminals and are respectively used to transmit the clamping signal and the rotation signal through the circuit board to the other two groups of motors to drive the flexible transmission rod to extend and rotate. The handle is also provided with a rotating part and a clamping part. The two analog signal generators convert the mechanical movements of the rotating part and the clamping part into rotation signals and clamping signals respectively.

[0010] Advantageously, the above structural design of the present invention allows the multi-freedom flexible instrument to be split into a driving part that transmits the flexible transmission rod and the serpentine joint, and a handle that controls the motor in the driving part, which is equivalent to a sensing part. Two variable resistors are creatively used to detect the motion state of a universal steering mechanism with two degrees of freedom. The universal steering mechanism can make the driving part or the handle move around a vertical axis or a horizontal axis relative to the center of the universal steering mechanism, which is equivalent to making two strands of the four retractable silk threads located on any of the four sides at the upper left / upper right / lower left / lower right extend or retract at the same time, and making the two strands of silk threads on the opposite sides retract or extend at the same time, so that the movement direction of the serpentine joint corresponds to the movement direction of the driving part or the handle relative to the center of the universal steering mechanism, which is conducive to directly controlling the driving part by directly operating the handle with the wrist. The detachable driving part solves the problem of replaceable components in medical devices that intervene in the body to avoid repeated use and spread of diseases, and also saves the use cost of the instrument, using the driving part as a consumable and the handle for recycling.

[0011] Furthermore, the driving part is coaxially fixedly connected to the shaft tube and is axially limited to each other, and the proximal end of the tool support seat is coaxially rotationally connected to the distal end of the serpentine joint.

[0012] In this way, when the serpentine joint is bent, driving the flexible transmission rod to rotate will not cause the four strands of silk to twist into one strand after the serpentine joint rotates around the central axis. Therefore, the four strands of silk can drive the serpentine joint to bend and drive the flexible transmission rod to rotate at the same time.

[0013] Furthermore, the flexible transmission rod is rotatably connected to one end of the rack in the driving part, and the rack and the proximal end of the flexible transmission rod are also axially limited to each other. A gear is fixed to a section of the flexible transmission rod in the driving part away from the rack, and the rack is driven by a third rotatable shaft perpendicular to the shaft tube in the driving part. The driving part is also provided with four rotatable transmission shafts parallel to the shaft tube, which are used to drive two shafts for winding the silk thread, one shaft for driving the rack, and the gear through a transmission mechanism.

[0014] Advantageously, the distal end of the flexible transmission rod is connected to the tool flap, the tool flap is connected to the tool support seat, the tool support seat is connected to the serpentine joint, the serpentine joint is connected to the shaft tube, and when the flexible transmission rod rotates, the tool flap, the tool support seat, the serpentine joint, and the shaft tube rotate accordingly.

[0015] Furthermore, the driving part is composed of a motor bin and a transmission bin that are detachably connected. The transmission bin is close to the shaft tube, and four transmission shafts, four sets of transmission mechanisms and rotating shafts driven by them are installed in the transmission bin. Four sets of motors and circuit boards are installed in the motor bin. The end of the motor bin facing away from the transmission bin is connected to the handle through a universal steering mechanism. A turntable is concentrically fixed to the end of each of the four transmission shafts facing away from the shaft tube. An eccentric protrusion is provided on the side of each turntable facing away from the shaft tube. The output shaft of each motor is provided with a sleeve that rotates with the output shaft, and the side of the sleeve facing away from the output shaft is provided with a concave hole that cooperates with the protrusion of the turntable.

[0016] Advantageously, the above design of the present invention further divides the driving part into a motor compartment and a transmission compartment, thereby reducing the material usage of the disposable components that need to be replaced and further reducing the cost of use.

[0017] Furthermore, a sleeve is provided between the sleeve and the output shaft, and the sleeve and the output shaft have an interference fit. The sleeve is sleeved outside the sleeve and is slidably connected to the sleeve. A spring three is also provided between the sleeve and the sleeve. A waist-shaped hole is provided on the sleeve, and pin holes that can be aligned with each other are also provided on the sleeve and the output shaft. The pin is inserted into the waist-shaped hole of the sleeve, the sleeve and the pin hole of the output shaft, so that when the spring three pushes the sleeve away from the sleeve, the sleeve and the sleeve are prevented from separating, and the sleeve can rotate synchronously with the sleeve.

[0018] Advantageously, the above design of the present invention makes it easier to tightly dock the transmission components of the motor compartment and the transmission compartment, thereby facilitating installation.

[0019] Furthermore, a strip-shaped rod is provided on one side of the shaft sleeve close to the motor, and a photoelectric sensor for monitoring the strip-shaped rod is provided in the motor compartment.

[0020] Advantageously, the above design allows the motor to find its home position, so that the motor can drive the tool flap, the tool support seat, the serpentine joint, and the shaft tube to rotate to the initial position.

[0021] Preferably, a rotatable operating handle is installed on the handle, the neck of the upper end of the operating handle passes through the circular hole on the handle and is rotatably connected to the handle, a cylindrical guide groove extending along the axial direction is provided in the operating handle, and a lateral hole extending along the axial direction is symmetrically provided at the lower end of the operating handle, one end of a pair of symmetrical crank handles extends into the lateral hole and is rotatably connected to the lower end of the operating handle, a push cylinder is accommodated in the lower part of the guide groove and can slide along the guide groove, a cylindrical rod is accommodated in the upper part of the guide groove, and the lower end of the push cylinder is rotatably connected to the pair of crank handles respectively through a connecting rod, a cylindrical cavity is opened in the axial direction at the upper end of the push cylinder and can accommodate the cylindrical rod, spiral grooves that match each other are opened on the outer circumference of the cylindrical rod and the inner circumference of the cylindrical cavity, and a ball is placed in the spiral groove between the cylindrical rod and the cylindrical cavity, and two analog signal generators are potentiometer 1 and potentiometer 2, the upper end of the cylindrical rod passes through the neck of the upper end of the operating handle and is coaxially connected to the potentiometer fixed relative to the handle through coupling 1 in the handle;

[0022] The neck at the upper end of the operating handle is coaxially connected to the driving gear in the handle, and a driven gear meshing with the driving gear is installed in the handle. The driven gear is coaxially connected to potentiometer 2 through coupling 2. The diameter of the driving gear is larger than the circular hole, which limits the relative displacement of the cylindrical rod and the guide groove along the axial direction and allows the cylindrical rod to rotate in the guide groove.

[0023] Advantageously, the above design provides the handle with an operating handle that can simulate the rotation of the shaft tube, and a pair of crank handles that simulate the opening and closing of the tool flap and the tool support seat, and converts these two actions into analog signals through a sophisticated transmission mechanism, corresponding to the degree of rotation and opening and closing, and can accurately control the angle of rotation of the shaft tube and the angle of opening and closing of the tool flap and the tool support seat.

[0024] Preferably, a slider is also installed in the handle, and the slider can move away from or close to the button gear along a slide groove provided on the handle. A protruding petal is provided on the side of the slider facing the button gear. On the sliding path of the slider, a button gear meshing with the driving gear is installed between the slider and the driving gear. A semi-cylindrical boss is provided on the side of the button gear facing away from the operating handle. The side arc surface of the semi-cylindrical boss is also provided with a centrally located protruding fin pointing to the central axis of the driving gear. When the slider is pushed forward to approach the semi-cylindrical boss, the straight edge surface of the semi-cylindrical boss is restricted so that the semi-cylindrical boss does not rotate left or right within ±90°. When the slider is pushed backward to move away from the semi-cylindrical boss, the fin that restricts the semi-cylindrical boss restricts the semi-cylindrical boss from rotating left or right within ±180°.

[0025] Advantageously, the above design avoids rotating the shaft tube 360° when the operating handle is turned, and also accurately provides two modes of rotation of ±90° and 180°.

[0026] Preferably, a pin is provided on the side of the semi-cylindrical boss facing away from the operating handle, and the pin is eccentrically arranged on the line connecting the fin and the central axis of the semi-cylindrical boss. A reset rod is arranged between the side of the semi-cylindrical boss facing away from the operating handle and the handle housing, and the reset rod is provided with a pair of levers facing one side of the semi-cylindrical boss, and the pair of levers are respectively located on both sides of the pin, and both ends of the reset rod are connected to the inner side of the handle through a spring four, and the spring four is arranged parallel to the slide groove. If four springs four are provided, the four springs four will suspend the reset rod in parallel above the semi-cylindrical boss.

[0027] Preferably, only two springs four are provided, and a pair of auxiliary levers symmetrical to the above-mentioned lever are provided on the side of the reset rod facing away from the semicircular boss, and each of the pair of auxiliary levers is embedded in a limiting groove in the handle and can slide along the limiting groove. The two springs four are on the left or right side in the longitudinal direction of the reset rod, and one end of the reset rod and the handle housing are pulled respectively through the two ends of the spring four.

[0028] Advantageously, the above design provides a structure to assist in resetting the shaft tube, thereby avoiding the embarrassment of the operator being unable to distinguish the angle of the front end actuator when the operator cannot directly see the front end actuator in the body.

[0029] Further, the universal steering mechanism includes an outer spherical shell and an inner spherical shell, both of which have an opening, the closed end of the inner spherical shell is connected to the proximal end of the driving part as a whole, one end of the handle is provided with a concave cavity facing the driving part, the closed end of the outer spherical shell is fixed in the concave cavity through a connecting piece, the opening of the outer spherical shell faces the proximal end of the driving part, the inner spherical shell is embedded in the outer spherical shell to form a spherical hinge structure, which can rotate freely, and a sleeve facing the opening is fixed in the outer spherical shell, and the two variable resistors are arranged in the signal generation module of the 3D rocker component. The 3D rocker component also includes a rocker. The signal generating module of the 3D rocker component is fixed in the cavity of the inner spherical shell through a fixing part, and the rocker extends out of the opening of the inner spherical shell and is inserted into the sleeve in the outer spherical shell, so that when the handle and the driving part rotate relative to each other, the rocker rotates synchronously relative to the signal generating module. The opening edge of the outer spherical shell is also connected to the proximal end of the driving part through at least three springs. The three springs are evenly arranged around the axis of the driving part, so that after the operator stops applying bias force to the handle, the handle and the driving part can achieve autonomous reset.

[0030] Preferably, the universal steering mechanism includes a base plate connected to the proximal end / upper end side plane of the drive unit, and two orthogonally arranged semicircular arc brackets, and the arched parts of the two semicircular arc brackets are centrally provided with a waist-shaped hole, and the two ends of the waist-shaped hole extend to the two ends of the semicircular arc bracket, and the two ends of the semicircular arc bracket are respectively connected to the shaft neck, and each shaft neck passes through the annular end cover of the horizontal bearing seat and is connected to the rotation reset mechanism in the horizontal bearing seat, and the rotation reset mechanism is also connected to the inner side of the annular end cover, and four horizontal bearing seats and centrally arranged 3D rocker components are fixed on the side of the base plate facing the semicircular arc bracket, and each two A group of horizontal bearing seats are concentrically arranged, the axes of the two groups of horizontal bearing seats are orthogonal to each other and parallel to the vertical axis and the horizontal axis respectively, and surround the 3D rocker component. The signal generating module of the 3D rocker component is connected and fixed to the substrate. The two variable resistors are arranged in the signal generating module of the 3D rocker component. The 3D rocker component also includes a rocker. The end of the rocker of the 3D rocker component away from the signal generating module passes through the waist-shaped holes of the two semicircular arc brackets and is connected to the upper side plane of the handle / the proximal end of the driving part, so that when the handle and the driving part rotate relative to each other, the rocker rotates synchronously relative to the signal generating module.

[0031] Advantageously, the structure of the universal steering mechanism meets the requirement of utilizing wrist movements to operate the driving unit to rotate relative to the handle to simulate the multi-degree-of-freedom rotation of the serpentine joint.

[0032] The present device increases the degrees of freedom of minimally invasive surgical instruments and enhances operational flexibility, while enabling natural finger and wrist movements to be converted into attached front-end execution parts (such as grasping forceps, needle holding forceps, electrocoagulation forceps, etc.), thereby enabling precise and detailed control of the position and function of multi-degree-of-freedom flexible instruments. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is the overall structure diagram of the electric multi-degree-of-freedom flexible medical device;

[0034] Figure 2 It is a schematic diagram of the explosion structure in the transmission compartment of the electric multi-degree-of-freedom flexible medical device;

[0035] Figure 3 It is a structural schematic diagram of a mechanism for driving a front-end actuator in an electric multi-degree-of-freedom flexible medical device;

[0036] Figure 4 It is a structural schematic diagram of a mechanism for driving a front-end actuator in an electric multi-degree-of-freedom flexible medical device;

[0037] Figure 5 It is a schematic diagram of the arrangement of 4 strands of wire and the winding coil;

[0038] Figure 6 It is a schematic diagram of the arrangement of 4 strands of wire and the winding coil;

[0039] Figure 7 It is a schematic diagram of a half-section structure of a motor compartment, a universal steering mechanism, a handle, and an operating handle of an electric multi-degree-of-freedom flexible medical device;

[0040] Figure 8 A schematic diagram of a half-section structure of a universal steering mechanism of an electric multi-degree-of-freedom flexible medical device;

[0041] Fig. 9 It is a schematic diagram of the connection structure between the transmission compartment and the motor compartment of an electric multi-degree-of-freedom flexible medical device;

[0042] Fig.10 It is a schematic diagram of the structure of the operating handle of an electric multi-degree-of-freedom flexible medical device;

[0043] Fig.11 A top view cross-sectional view of a handle of an electric multi-degree-of-freedom flexible medical device;

[0044] Fig.12 Schematic diagram of the internal structure of the drive unit Figure 2 ;

[0045] Fig.13 A schematic diagram of the structure of a front-end execution device;

[0046] Fig.14 Another structural schematic diagram of the front-end execution device;

[0047] Among them, I-handle, I-1-concave cavity, II-driving part, V-operating handle, VI-snake joint, VII-front end actuator, VIII-universal steering mechanism, 3, 4-crank handle, 5-connecting rod, 6-push cylinder, 7-cylindrical rod, 8-spiral groove, 8e-ball, 8a, 8b, 8c, 8d-wire, 9-potentiometer 1, 10-driving gear, 11-driven gear, 12-coupling 2, 13-potentiometer 2, 14-coupling 1, 15-button gear, 15a-semi-cylindrical boss, 15b-fin, 15c-pin, 15d-straight edge Surface, 16-slider, 16a-protruding flap, 16b-slideway, 18-spring four, 19-reset rod, 19b-secondary lever, 20a-limiting groove, 21-inner upper hemisphere, 22-outer upper hemisphere, 23-outer lower hemisphere, 24-inner lower hemisphere, 25-sleeve, 26-connector, 27-spring one, 29-fixing part, 30-3d rocker component, 30a-rocker, 30b-signal generating module, 30c-first end, 30d-second end, 33-secondary circuit board, 34, 38-motor, 39-circuit board, 40-motor compartment, 40a-slot, 40b-notch, 40c-rib, 41-fixed plate, 42-sleeve, 42b-strip rod, 43-spring three, 44-sleeve, 44a-concave hole, 46-output shaft, 51-button, 51a-bump, 51b-right-angle trapezoidal rib, 52-spring two, 53-transmission bin, 53a-guide skirt, 53b-groove, 54-turntable, 54a-bump, 58-helical gear one, 60-tool support seat, 61, 62-tool flap, 72-shaft tube, 73-bearing, 75-gear four, 76-gear three, 77-flexible transmission rod, 78-gear Wheel 2, 79-gear 5, 81-bevel gear 2, 82-gear 1, 83-rack, 92a-first transmission shaft, 92b-second transmission shaft, 92c-third transmission shaft, 92d-fourth transmission shaft, 93a-rotating shaft 1, 93b-rotating shaft 2, 93c-rotating shaft 3, 93d-rotating shaft 4, 93e-rotating shaft 5, 94a-winding disk 1, 94b-winding disk 2, 94c-winding disk 3, 94d-winding disk 4, 100, 101-semicircular arc bracket, 102-base plate, 103-waist-shaped hole, 104-horizontal bearing seat, 105-annular end cover. DETAILED DESCRIPTION

[0048] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "one" and "two" are used for descriptive purposes and cannot be understood as indicating or implying relative importance. The terms "distal end" and "proximal end" are used to describe the distance from the operator, and cannot be understood as the distance relative to a certain component.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "mounted / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] The detachable electric multi-freedom flexible instrument with a flexible transmission rod is as follows Figure 1 The figure includes: a handle I, a driving part II, a hollow shaft tube 72, a serpentine joint VI, a front-end actuator VII, and a universal steering mechanism VIII. The distal end of the shaft tube IV is connected to the front-end actuator VII via the serpentine joint VI, the proximal end of the shaft tube 72 is rotationally connected to the distal end of the driving part II, the proximal end of the driving part II is connected to the handle I via the universal steering mechanism VIII, the front-end actuator VII includes at least one tool flap and a tool support seat (not shown in the figure), the tool flap is rotationally connected to the tool support seat, the proximal end of the flexible transmission rod 77 passes through the shaft tube 72 and the central channel formed in the center of the serpentine joint VI and the tool support seat to drive the tool flap to rotate relative to the tool support seat, and the proximal end of the flexible transmission rod 77 extends into the driving part II.

[0052] like Figure 2 to Figure 6 As shown, four rotatable transmission shafts with parallel shaft tubes are arranged in the driving part II, and are evenly arranged with the axis of the shaft tube 72 as the center. Among them, the first transmission shaft 92a, the second transmission shaft 92b, and the third transmission shaft 92c respectively drive the rotating shaft 1 93a, the rotating shaft 2 93b, and the rotating shaft 3 93c perpendicular to the shaft tube 72 to rotate through the transmission mechanism, and the fourth transmission shaft 92d drives the shaft tube 72 to rotate through the transmission mechanism.

[0053] The rotating shaft 1 93a and the rotating shaft 2 93b driven by the first transmission shaft 92a and the second transmission shaft 92b are symmetrically arranged on both sides of the extension line of the shaft tube 72. Two winding discs are fixed on the two rotating shafts, wherein the rotating shaft 1 93a is fixed with the upper winding disc 1 94a and the lower winding disc 3 94c, and the rotating shaft 2 93b is fixed with the upper winding disc 2 94b and the lower winding disc 4 94d. The four winding discs are used to pull the four strands of silk thread evenly distributed in the through holes at the upper left / upper right / lower left / lower right corners of the central channel 91 of the serpentine joint VI, and the distal ends of the four strands of silk thread pass through the through holes around the serpentine joint VI respectively. The shaped joint VI is connected to the front end execution tool VIII on all sides, driving it to swing freely relative to the shaft tube 72. Among the four strands of silk threads, two strands of silk threads 8a, 8d and two strands of silk threads 8b, 8c that are diagonally related to each other respectively constitute combination one and combination two. The silk threads of combination one and combination two are respectively wound and fixed on two winding disks of rotating shaft one 93a and rotating shaft two 93b in the driving part II. The winding directions of the two strands of silk threads in the same combination are opposite. When the two strands of silk threads are in different combinations, if they are in an up-and-down position relationship, the winding directions of the two strands of silk threads are opposite. If they are in a left-and-right position relationship, the winding directions of the two strands of silk threads are the same.

[0054] Specifically, the two strands of silk thread 8a and 8d located at the upper left and lower right of the central channel 91 both belong to combination one, and the proximal ends of the two strands of silk thread 8a and 8d are respectively wound on the winding reel 1 94a and the winding reel 3 94c of the rotating shaft 93a in opposite directions, and the two strands of silk thread are pulled and retracted when the winding reels rotate. The two strands of silk thread 8b and 8c located at the upper right and lower left of the central channel 91 both belong to combination two, and the proximal ends of the two strands of silk thread 8b and 8c are respectively wound on the winding reel 2 94b and the winding reel 4 94d of the rotating shaft 93b in opposite directions, and the two strands of silk thread are pulled and retracted when the winding reels rotate. The silk threads 8a and 8b, or the silk threads 8c and 8d belong to combination one and combination two respectively and are in a left-right relationship, and the winding directions of the silk threads 8a and 8b, or the silk threads 8c and 8d are the same. The wires 8a and 8c, or the wires 8d and 8b belong to combination 1 and combination 2 respectively and are in an upper and lower relationship. The winding directions of the wires 8a and 8c, or the wires 8d and 8b are opposite.

[0055] Therefore, when the first transmission shaft 92a and the second transmission shaft 92b rotate in the same direction, the wires 8a and 8b are extended or retracted at the same time, and the wires 8d and 8c move in the opposite direction to the wires 8a and 8b, and retract or extend at the same time, so that the serpentine joint VI can swing up and down; when the first transmission shaft 92a and the second transmission shaft 92b rotate in the opposite directions, one of the wires 8a and 8b extends and the other retracts, and the wires 8d and 8c move in the opposite direction to the wires 8a and 8b, one retracts and the other extends, so that the serpentine joint VI can swing left and right.

[0056] The fourth transmission shaft 92d drives the shaft tube 72 to rotate through the transmission mechanism, and the serpentine joint VI also rotates synchronously with the shaft tube 72. The third transmission shaft 92c drives the rotating shaft three 93c to rotate. The rotating shaft three 93c drives the proximal end of the flexible transmission rod 77 to extend and retract along the shaft tube 72 through the transmission mechanism. The proximal end of the flexible transmission rod 77 is rotatably connected to the rack 83. A gear 1 82 meshing with the rack 83 is coaxially mounted on the rotating shaft three 93c. The rack 83 and the proximal end of the flexible transmission rod 77 are also axially limited to each other.

[0057] More specifically, the proximal end of the shaft tube 72 passes through the bearing 73 installed at the distal end of the driving part II, the proximal end of the flexible transmission rod 77 passes through the proximal end of the shaft tube 72 and is located in the driving part II at a section away from the rack 83, and is fixed with a gear 2 78. Gear 2 78 is meshed with a transmission mechanism driven by the fourth transmission shaft 92d. The transmission mechanism includes gear 3 76 coaxial with the fourth transmission shaft 92d, gear 4 75 meshed with both gear 3 76 and gear 2 78, and gear 5 79 symmetrically arranged relative to gear 4 75 with gear 2 78 as the center. Gear 5 79 is meshed with gear 2 78, and together with gear 4 75, gear 2 78 is limited to be concentric with the central axis of the shaft tube 72. The fourth transmission shaft 92d drives the flexible transmission rod 77 to rotate, and the flexible transmission rod 77 drives the front end actuator VII to rotate, and the shaft tube 72 connected to the front end actuator VII through the serpentine joint VI also rotates synchronously.

[0058] The rotating shaft 1 93a, the rotating shaft 2 93b and the rotating shaft 3 93c are also respectively provided with a bevel gear 1 58, and the first transmission shaft 92a, the second transmission shaft 92b and the third transmission shaft 92c are also respectively provided with a bevel gear 2 81. The three bevel gears 1 58 are respectively meshed with the three corresponding bevel gears 2 81. The first transmission shaft 92a, the second transmission shaft 92b and the third transmission shaft 92c are respectively installed with bearings, and are rotatably connected to the housing of the driving part II through the bearings.

[0059] The first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c, and the fourth transmission shaft 92d are driven by a motor in the driving part II respectively, and the four motors are connected to the circuit main board 39 and the auxiliary circuit board 33 by signal. As a preferred solution, the driving part II is detachably connected to the universal steering mechanism VIII, and the ends of the driving part II and the universal steering mechanism VIII that are connected to each other are provided with mutually plugged signal input and output terminals, and the signal input terminals are connected to the circuit main board 39 and the auxiliary circuit board 33 by signal. The two motors 34 and 38 driving the first transmission shaft 92a and the second transmission shaft 92b are both connected to the 3D rocker component 30 by signal through the circuit main board 39 and the signal input / output terminals. The prior art CN107104016B and CN205621645U disclose two 3D rocker components 30. Two variable resistors are arranged in the housing of the 3D rocker component 30. The rocker is connected to an upper rocker arm and a lower rocker arm orthogonal to each other in the housing. The rotation of the upper rocker arm and the lower rocker arm respectively causes the two variable resistors to generate corresponding signals, which are output from the output terminals. The two variable resistors are used to convert the angle of rotation of the driving part relative to the center of the universal steering mechanism around the vertical axis and the horizontal axis perpendicular to the shaft tube into electrical signals. The vertical axis is parallel to the center line of the left and right side wires separating the four strands of wire, and the horizontal axis is parallel to the center line of the upper and lower side wires separating the four strands of wire.

[0060] The 3d rocker component 30 has a rocker 30a and a signal generating module 30b. The first end 30c of the rocker 30a penetrates the upper rocker arm and the lower rocker arm in the signal generating module 30b. The rotation of the upper rocker arm and the lower rocker arm causes the two variable resistors in the signal generating module 30b to generate signals of corresponding amplitudes, which are output from the output terminal. The signals correspond to the orientation and angle of the second end 30d of the rocker 30a relative to the first end 30c. The signals are transmitted to the MCU for processing. The signals are used to control the motors 34 and 38 to rotate in the same direction or in the opposite direction, and to control the number of revolutions of the motors 34 and 38 according to the size of the signals, so that the direction and angle of the swing of the front-end actuator VII relative to the shaft tube 72 are opposite to the direction and angle of the swing of the signal generating module 30b relative to the rocker 30a. The 3d rocker component 30 is installed in the universal steering mechanism VIII. Figure 7As shown in the figure, as an embodiment of the universal steering mechanism VIII, the universal steering mechanism VIII includes: an outer spherical shell composed of an outer lower hemisphere 23 and an outer upper hemisphere 22, and an inner spherical shell composed of an inner upper hemisphere 21 and an inner lower hemisphere 24, the outer spherical shell and the inner spherical shell both have openings, the closed end of the inner spherical shell is connected to the proximal end of the driving part II as a whole, the signal generating module 30b of the 3d rocker component 30 is fixed in the cavity of the inner spherical shell by a fixing member 29, and the rocker 30a extends out of the opening of the inner spherical shell, and the handle I One end of the handle I is provided with a concave cavity I-1 facing the driving part II, and the sealed end of the outer spherical shell is fixed in the concave cavity I-1 through a connecting piece 26, and the opening of the outer spherical shell faces the proximal end of the driving part II. The inner spherical shell is embedded in the outer spherical shell to form a spherical hinge structure, which can rotate freely, and a sleeve 25 facing the opening is fixed in the outer spherical shell, and the second end 30d of the rocker 30a is inserted into the sleeve 25 in the outer spherical shell, so that when the handle I and the driving part II rotate relative to each other, the rocker 30a rotates synchronously relative to the signal generating module 30b.

[0061] The open edge of the outer spherical shell is also connected to the proximal end of the driving part II through at least three springs 27. The three springs 27 are evenly arranged around the axis of the driving part II, so that after the operator stops applying the biasing force to the handle I, the handle I and the driving part II can achieve autonomous reset.

[0062] like Figure 8As another embodiment of the universal steering mechanism VIII, the universal steering mechanism VIII is installed on the upper side plane of the proximal end / handle I of the driving part II. The universal steering mechanism VIII includes a base plate 102 connected to the upper side plane of the proximal end / handle I of the driving part II, and two orthogonally arranged semicircular arc brackets 100 and 101, and the arched parts of the two semicircular arc brackets 100 and 101 are centrally opened with a waist-shaped hole 103, and the two ends of the waist-shaped hole 103 extend to the two ends of the semicircular arc brackets 100 and 101. The two ends of the semicircular arc brackets 100 and 101 are respectively connected to the shaft necks, and each shaft neck passes through the annular end cover 105 of the horizontal bearing seat 104 and is connected to the rotation reset mechanism in the horizontal bearing seat 104. The rotation reset mechanism is also connected to the inner side of the annular end cover 105. The rotation reset mechanism is very common. For example, a rotation reset mechanism has been published in CN215859481U, which realizes the rotation reset of the handle shaft through a torsion spring. Four horizontal bearing seats 104 and a centrally arranged 3D rocker component 30 are fixed on the side of the substrate 102 facing the semicircular arc brackets 100 and 101. Every two horizontal bearing seats are concentrically arranged to form a group. The axes of the two groups of horizontal bearing seats are orthogonal to each other and surround the 3D rocker component 30. The signal generating module 30b of the 3D rocker component 30 is connected and fixed to the substrate 102. The second end 30d of the rocker 30a of the 3D rocker component 30 passes through the waist-shaped holes 103 of the two semicircular arc brackets 100 and 101 and is connected to the upper side plane of the handle I / the proximal end of the driving part II. When the handle I and the driving part II rotate relative to each other, the rocker 30a rotates synchronously relative to the signal generating module 30b.

[0063] Specifically, Figure 7 A circuit main board 39 is installed in the driving part II, the motors 34 and 38 are electrically connected to the circuit main board 39, and the main board 39 is signal-connected to the signal generating module 30b.

[0064] like Fig. 9 A~ Fig. 9 C. As a further improvement scheme, the driving part II is divided into a detachably connected motor compartment 40 and a transmission compartment 53. The transmission compartment 53 is close to the shaft tube 72, and the first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c, the fourth transmission shaft 92d and the components driven by them are installed in the transmission compartment 53. The four motors driving the first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c, and the fourth transmission shaft 92d, as well as the circuit main board 39 and the auxiliary circuit board 33 are installed in the motor compartment 40, and the end of the motor compartment 40 facing away from the transmission compartment 53 is connected to the handle I through the universal steering mechanism VIII.

[0065] A turntable 54 is concentrically fixed to one end of the first transmission shaft 92a, the second transmission shaft 92b, the third transmission shaft 92c, and the fourth transmission shaft 92d facing away from the shaft tube 72, and an eccentric protrusion 54a is provided on the side of each turntable 54 facing away from the shaft tube 72.

[0066] The end of the transmission compartment 53 facing away from the shaft tube 72 and the end of the motor compartment 40 facing away from the handle I have a guide skirt 53a and a slot 40a that cooperate with each other. A groove 53b is provided on the guide skirt 53a. The button 51 is installed in the groove 53b. A spring 2 52 is accommodated between the button 51 and the groove 53b. A protrusion 51a is centrally arranged on the side of the button 51 facing away from the groove 53b. A notch 40b that can accommodate the protrusion 51a is provided on the edge of the slot 40a. The guide skirt 53a of the transmission compartment 53 and the motor compartment When the slot 40a of the button 40 is inserted into each other, the projection 51a can slide into the notch 40b. The two sides of the projection 51a on the button 51 are provided with right-angled trapezoidal ridges 51b parallel to the end face of the guide skirt 53a, and the slope surface of the right-angled trapezoidal ridges 51b faces away from the side of the shaft tube 72. The two sides of the plane of the notch 40b facing the center of the motor compartment 40 are provided with ridges 40c that cooperate with the right-angled trapezoidal ridges 51b, which are used to lock the transmission compartment 53 with the spring 2 52 after the button 51 is inserted into the slot 40a along with the guide skirt 53a. After pressing the button 51, the spring 2 52 is compressed, and the button 51 is separated from the inner side of the slot 40a, so that the transmission compartment 53 can be pulled out of the slot 40a.

[0067] Four motors are fixed in the motor bin 40 by a fixing plate 41 and a reinforcing plate 32. A sleeve 42 is mounted on the output shaft 46 of each motor. The sleeve 42 is interference fit with the output shaft 46 of the motor. A sleeve 44 is mounted outside the sleeve 42 and is slidably connected to the sleeve 42. A spring 3 43 is also provided between the sleeve 44 and the sleeve 42. A waist-shaped hole 42a is provided on the sleeve 44. Pin holes that can be aligned with each other are also provided on the sleeve 42 and the output shaft 46. A pin 50 is inserted into the waist-shaped hole 42a of the sleeve 44 and the pin holes of the sleeve 42 and the output shaft 46, so that when the spring 3 43 pushes the sleeve 44 away from the sleeve 42, the sleeve 44 is prevented from separating from the sleeve 42 and the sleeve 44 can rotate synchronously with the sleeve 42. A concave hole 44a that cooperates with the convex point 54a of the turntable 54 is provided on the side of the sleeve 44 facing away from the sleeve 42.

[0068] Therefore, when the transmission compartment 41 is inserted into the motor compartment 40, the turntable 54 pushes the sleeve 44 to compress the spring three 43, and the sleeve 44 slides relative to the shaft sleeve 42. After the motor is turned to rotate the sleeve 44, the convex point 54a of the turntable 54 is inserted into the concave hole 44a of the sleeve 44, and the spring three 43 pushes the surface of the sleeve 44 to fit tightly against the surface of the turntable 54, completing the pairing of the turntable 54 and the motor transmission. When the motor rotates again, it can drive the turntable 54 to drive the transmission shaft to rotate.

[0069] Furthermore, a strip rod 42 b is provided on one side of the shaft sleeve 42 close to the motor, and a photoelectric sensor 37 for monitoring the strip rod is provided in the slot 40 a of the motor compartment 40 for “zeroing” the initial position of the motor output shaft 46 .

[0070] like Figure 1 and Fig.10 , Figure 7 A rotatable operating handle V is installed on the handle I, and the neck of the upper end of the operating handle V passes through the round hole on the handle and is rotatably connected to the handle I. A cylindrical guide groove extending along the axial direction is provided in the operating handle V, and a lateral hole extending along the axial direction is symmetrically provided at the lower end of the operating handle. One end of a pair of symmetrical crank handles 3 and 4 extends into the lateral hole and is rotatably connected to the lower end of the operating handle. A push cylinder 6 is accommodated at the lower part of the guide groove and can slide along the guide groove. A cylindrical rod 7 is accommodated at the upper part of the guide groove. The lower end of the push cylinder 6 is respectively connected to a The rocking handles 3 and 4 are connected by a connecting rod 5. The upper end of the push tube 6 is provided with a cylindrical cavity along the axial direction to accommodate the cylindrical rod 7. The outer circumference of the cylindrical rod 7 and the inner circumference of the cylindrical cavity are provided with spiral grooves 8 that match each other. The ball 8e is placed in the spiral groove 8 between the cylindrical rod 7 and the cylindrical cavity. The inner circumference of the upper end of the guide groove can be provided with a radial protrusion structure 8b, which is embedded in the annular groove at the upper end of the cylindrical rod 7 to limit the cylindrical rod 7 from sliding in the guide groove along the axial direction and allow the cylindrical rod 7 to rotate in the guide groove. Therefore, when the finger presses the pair of rocking handles 3 and 4, the push tube 6 can be pushed to slide upward along the guide groove. When the push tube 6 slides upward along the cylindrical rod 7, the cylindrical rod 7 is driven to rotate through the ball 8e. When the pair of rocking handles 3 and 4 are opened, the push tube 6 is pulled back along the axial direction, and the push tube 6 slides downward along the cylindrical rod 7, and the cylindrical rod 7 is driven to rotate through the ball 8e.

[0071] The upper end of the cylindrical rod 7 passes through the neck of the upper end of the operating handle V and is coaxially connected to a potentiometer 9 fixed relative to the handle through a coupling 14 in the handle I. The potentiometer is a resistor element with linearly adjustable resistance. The potentiometer is composed of a relatively movable resistor and a brush. When the brush moves along the resistor, a resistance value or voltage that is in a certain relationship with the displacement is obtained at the output end. The rotation of the cylindrical rod 7 changes the voltage output by the potentiometer 9 to the auxiliary circuit board 33. The auxiliary circuit board 33 outputs a signal to the motor for controlling the rotation of the third transmission shaft 92c, thereby opening or closing the front end actuator VII.

[0072] Furthermore, the neck of the upper end of the operating handle V is coaxially connected with the driving gear 10 in the handle I, and a driven gear 11 meshing with the driving gear 10 is installed in the handle I. The driven gear 11 is coaxially connected with the potentiometer 2 13 through the coupling 2 12. Since the driving gear 10 is larger than the diameter of the circular hole on the handle, the driving gear 10 prevents the operating handle from moving relative to the handle along its axial direction, and the potentiometer 1 prevents the cylindrical rod from moving relative to the handle along its axial direction, restricting the cylindrical rod 7 and the operating handle from sliding axially in the guide groove, and allowing the cylindrical rod 7 to rotate in the guide groove and the operating handle. The fingers manipulate the operating handle V to rotate axially, driving the driving gear 10 to rotate synchronously, and at the same time, the gear 10 drives the driven gear 11 to rotate, so that the potentiometer 2 13 outputs a voltage signal to the auxiliary circuit board 33, and the auxiliary circuit board 33 outputs a signal to the motor for controlling the fourth transmission shaft 92d to rotate, so that the shaft tube 72 rotates a certain angle.

[0073] When the driving part II and the universal steering mechanism VIII are designed to be detachably connected, the potentiometer 1 9 and the potentiometer 2 13 can be connected to the auxiliary circuit board 33 through the signal input / output terminal signal. When the driving part II is designed to be a detachably connected motor compartment 40 and a transmission compartment 53, the potentiometer 1 9, the potentiometer 2 13 and the auxiliary circuit board 33 are directly connected through wire signals.

[0074] Furthermore, if Figure 10-11 In order to accurately control the rotation angle of the shaft tube 72, a slider 16 is also installed in the handle 1. The slider 16 can move away from or close to the button gear 15 along the slide groove 16b provided on the handle 1. A protruding petal 16a is provided on the side of the slider 16 facing the button gear 15. On the sliding path of the slider 16, a button gear 15 meshing with the driving gear 10 is installed between the slider 16 and the driving gear 10. A semi-cylindrical boss 15a is provided on the side of the button gear 15 facing away from the operating handle V. The side arc surface of the semi-cylindrical boss 15a is also provided with a central The fin 15b protrudes and points to the central axis of the driving gear 10. When the slider 16 is pushed forward to approach the semi-cylindrical boss 15a, the straight edge 15d of the semi-cylindrical boss 15a is limited, so that the semi-cylindrical boss 15a is rotated left and right within ±90°. When the slider 16 is pushed backward to be away from the semi-cylindrical boss 15a, the fin 15b of the semi-cylindrical boss 15a is limited, so that the semi-cylindrical boss 15a is rotated left and right within ±180°, thereby realizing two rotation gear ranges of ±90° and ±180° of the axial rotation of the operating handle V.

[0075] Furthermore, in order to make the operating handle V automatically reset after axial rotation and release, a pin 15c is further provided on the side of the semi-cylindrical boss 15a facing away from the operating handle V, and the pin 15c is eccentrically arranged on the line connecting the fin 16a and the central axis of the semi-cylindrical boss 15a. A reset rod 19 is arranged between the side of the semi-cylindrical boss 15a facing away from the operating handle V and the housing of the handle I. The reset rod 19 is provided with a pair of levers facing one side of the semi-cylindrical boss 15a, and the pair of levers are respectively located on both sides of the pin 15c. The two ends of 9 are connected to the inner side of the handle I through springs four 18, and the springs four 18 are arranged parallel to the slide groove 16b. If four springs four 18 are arranged, the four springs four 18 will suspend the reset rod 19 in parallel above the semi-cylindrical boss. When the semi-cylindrical boss rotates with the button gear 15, the pin pushes the lever on one side to deflect the reset rod 19, stretching and compressing the spring four. When the hand releases the operating handle V, the four springs four 18 reset the reset rod 19, and then push the eccentric pin to rotate and reset the button gear 15.

[0076] Preferably, only two springs 18 are provided, and a pair of auxiliary levers 19b symmetrical to the above-mentioned lever are provided on the side of the reset rod 19 facing away from the semicircular boss 15a. The pair of auxiliary levers 19b are each embedded in a limiting groove 20a in the handle I and can slide along the limiting groove 20a. When the semi-cylindrical boss 15a rotates with the button gear 15, the pin 15c pushes the lever on one side, causing the reset rod 19 to slide and deflect along the limiting groove 20a, stretching and compressing the spring four 18. When the hand releases the operating handle V, the four springs 18 reset the reset rod 19, and then push the eccentric pin 15c, causing the button gear 15 to rotate and reset.

[0077] When the operating handle V does not rotate, the electric multi-degree-of-freedom flexible medical device of the present invention rotates the handle I relative to the driving part II, so that the 3D rocker 30 generates four signals corresponding to up, down, left and right, and controls the distal end of the serpentine joint to deflect in the up, down, left and right directions. When the serpentine joint VI remains straight, the present invention can also adjust the clamping direction of the front end actuator VII by rotating the operating handle V to drive the shaft tube to rotate axially. The present invention also controls the front end actuator VII to complete the opening and closing action by operating the rockers 3 and 4 on the operating handle V to perform the opening and closing action.

[0078] As a further improvement, Figure 12 to Figure 14The tool support seat 60 can also be made so that the proximal end of the tool support seat 60 is coaxially connected to the distal end of the serpentine joint VI, and the proximal end of the tool support seat 60 is nested in the end of the serpentine joint VI, and the proximal end of the tool support seat 60 and the distal end of the serpentine joint VI are mutually limited along the axial direction. The driving part and the shaft tube are changed to be coaxially fixedly connected, and the tool support seat and the serpentine joint can rotate relatively along the axial direction. In this way, when the serpentine joint is bent, driving the flexible transmission rod to rotate will not cause the four strands of silk to be twisted into one strand after the serpentine joint rotates around the central axis. Therefore, the four strands of silk drive the serpentine joint to bend and drive the flexible transmission rod to rotate at the same time. It also realizes the adjustment of the angle between the current opening and closing plane of the tool flap 61 and 62 relative to the opening and closing plane before the tool flap rotates around the central axis of the shaft tube, so that the tool flap can clamp and cut tissue at any angle, and the angle is adjusted by the motor more accurately relative to the rotation of the wrist around the arm axis.

Claims

1. A detachable electric multi-freedom flexible device with a flexible transmission rod, comprising: The shaft tube contains a retractable and movable flexible transmission rod, four retractable wires located at the upper left / upper right / lower left / lower right of the flexible transmission rod, the distal end of the shaft tube is connected to the front end actuator through a serpentine joint, and the proximal end of the shaft tube is rotatably connected to the distal end of the driving part; The proximal end of the driving part is connected with the handle through a universal steering mechanism, and the front-end execution device includes at least one tool flap and a tool support seat, the tool flap is rotatably connected to the tool support seat, the proximal end of the flexible transmission rod passes through the shaft tube and the central channel formed in the center of the serpentine joint and the tool support seat to drive the tool flap to rotate relative to the tool support seat, the proximal end of the flexible transmission rod extends into the driving part, and the distal ends of the four strands of silk thread pass through the through holes formed around the central channel of the serpentine joint to connect the four sides of the tool support seat, characterized in that two groups of two strands of silk thread in a diagonal relationship with each other among the four strands of silk thread respectively form a combination one and a combination two, and the silk threads of the combination one and the combination two are respectively wound and fixed on two rotatable shafts perpendicular to the shaft tube in the driving part, and the two strands of silk thread in the same combination are wound on the same shaft in opposite winding directions. When the two strands of silk thread are in different combinations, if they are in an up-and-down position relationship with each other, the two strands of silk thread are wound on different shafts in opposite winding directions, and if they are in a left-and-right position relationship with each other, the two strands of silk thread are wound on different shafts in the same winding direction; The driving part is detachably connected to the universal steering mechanism, and the driving part is also provided with four groups of motors and transmission mechanisms: two groups are used to drive the two rotating shafts to rotate, and the other two groups are used to drive the flexible transmission rod to extend and rotate, the four groups of motors are electrically connected to the circuit board and the power supply in the driving part, and the signal input end of the circuit board is connected to the signal input terminal of the driving part; Two variable resistors are installed in the universal steering mechanism, and the signals of the two variable resistors are connected to the signal output terminal. The signal output terminal is detachably connected to the signal input terminal, and the two variable resistors are used to convert the angles of rotation of the driving part relative to the center of the universal steering mechanism around the vertical axis and the horizontal axis perpendicular to the shaft tube into electrical signals. The two electrical signals are transmitted to the two groups of motors through the circuit board to drive the two rotating shafts wound around the silk threads to rotate forward or reverse. The vertical axis is parallel to the center line of the left and right silk threads separating the four silk threads, and the horizontal axis is parallel to the center line of the upper and lower silk threads separating the four silk threads. The universal steering mechanism is a resettable universal steering mechanism, so that the central axis of the driving part remains non-deflected relative to the vertical axis and the horizontal axis. The handle is provided with two analog signal generators, both of which are connected to the signal output terminal, and are respectively used to transmit the clamping signal and the rotation signal to the other two groups of motors through the circuit board to drive the flexible transmission rod to extend and rotate. The handle is also provided with a rotating part and a clamping part. The two analog signal generators convert the mechanical motion of the rotating part and the clamping part into a rotation signal and a clamping signal respectively. A rotatable operating handle is installed on the handle, the neck of the upper end of the operating handle passes through the circular hole on the handle and is rotatably connected to the handle, a cylindrical guide groove extending along the axial direction is provided in the operating handle, and a lateral hole extending along the axial direction is symmetrically provided at the lower end of the operating handle, one end of a pair of symmetrical crank handles extends into the lateral hole and is rotatably connected to the lower end of the operating handle, a push cylinder is accommodated at the lower part of the guide groove and can slide along the guide groove, a cylindrical rod is accommodated at the upper part of the guide groove, and the lower end of the push cylinder is rotatably connected to the pair of crank handles respectively through a connecting rod, a cylindrical cavity is opened axially at the upper end of the push cylinder and can accommodate the cylindrical rod, spiral grooves that match each other are opened on the outer circumference of the cylindrical rod and the inner circumference of the cylindrical cavity, and a ball is placed in the spiral groove between the cylindrical rod and the cylindrical cavity, and two analog signal generators are potentiometer 1 and potentiometer 2, the upper end of the cylindrical rod passes through the neck of the upper end of the operating handle and is coaxially connected to a potentiometer fixed to the handle through coupling 1 in the handle; The neck at the upper end of the operating handle is coaxially connected to the driving gear in the handle, and a driven gear meshing with the driving gear is installed in the handle. The driven gear is coaxially connected to potentiometer 2 through coupling 2. The diameter of the driving gear is larger than the circular hole, which limits the relative displacement of the cylindrical rod and the guide groove along the axial direction and allows the cylindrical rod to rotate in the guide groove.

2. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 1, characterized in that: The driving part is coaxially fixedly connected to the shaft tube and is mutually limited in the axial direction. The proximal end of the tool support seat is coaxially rotatably connected to the distal end of the serpentine joint.

3. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 2, characterized in that: The flexible transmission rod is rotatably connected to one end of the rack in the driving part, and the rack and the proximal end of the flexible transmission rod are also axially limited to each other. A gear is fixed to a section of the flexible transmission rod away from the rack in the driving part, and the rack is driven by a third rotatable shaft perpendicular to the shaft tube in the driving part. The driving part is also provided with four rotatable transmission shafts parallel to the shaft tube, which are respectively used to drive two shafts for winding the silk threads, one shaft for driving the rack, and the gear through a transmission mechanism.

4. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 3, characterized in that: The driving part is composed of a motor bin and a transmission bin that are detachably connected. The transmission bin is close to the shaft tube, and four transmission shafts, four groups of transmission mechanisms and rotating shafts driven by them are installed in the transmission bin. Four groups of motors and circuit boards are installed in the motor bin. The end of the motor bin facing away from the transmission bin is connected to the handle through a universal steering mechanism. A turntable is concentrically fixed to each end of the four transmission shafts facing away from the shaft tube. An eccentric convex point is provided on the side of each turntable facing away from the shaft tube. A sleeve that rotates with the output shaft is mounted on the output shaft of each motor, and a concave hole that cooperates with the convex point of the turntable is provided on the side of the sleeve facing away from the output shaft.

5. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 4, characterized in that: A shaft sleeve is provided between the sleeve and the output shaft, and the shaft sleeve and the output shaft have an interference fit. The sleeve is sleeved outside the shaft sleeve and is slidably connected to the shaft sleeve. A spring three is also provided between the sleeve and the shaft sleeve. A waist-shaped hole is provided on the sleeve, and pin holes that can be aligned with each other are provided on the shaft sleeve and the output shaft. The pin is inserted into the waist-shaped hole of the sleeve, the pin hole of the shaft sleeve and the output shaft, so that when the spring three pushes the sleeve away from the shaft sleeve, the sleeve and the shaft sleeve are prevented from separating, and the sleeve can rotate synchronously with the shaft sleeve.

6. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 5, characterized in that: A strip rod is also provided on one side of the shaft sleeve close to the motor, and a photoelectric sensor for monitoring the strip rod is also provided in the motor compartment.

7. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 1, characterized in that: A slider is also installed in the handle. The slider can move away from or close to the button gear along the slide groove provided on the handle. A protruding petal is provided on the side of the slider facing the button gear. On the sliding path of the slider, a button gear meshing with the driving gear is installed between the slider and the driving gear. A semi-cylindrical boss is provided on the side of the button gear facing away from the operating handle. The side arc surface of the semi-cylindrical boss is also provided with a centrally protruding fin pointing to the central axis of the driving gear. When the slider is pushed forward to approach the semi-cylindrical boss, the straight edge surface of the semi-cylindrical boss is restricted so that the semi-cylindrical boss does not rotate left or right within ±90°. When the slider is pushed backward to move away from the semi-cylindrical boss, the fins of the semi-cylindrical boss are restricted so that the semi-cylindrical boss does not rotate left or right within ±180°.

8. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 7, characterized in that: The semi-cylindrical boss is also provided with a pin on the side facing away from the operating handle, and the pin is eccentrically arranged on the line connecting the fin and the central axis of the semi-cylindrical boss. A reset rod is arranged between the side of the semi-cylindrical boss facing away from the operating handle and the handle housing. The reset rod is provided with a pair of levers facing one side of the semi-cylindrical boss, and the pair of levers are respectively located on both sides of the pin. The two ends of the reset rod are respectively connected to the inner side of the handle through a spring four, and the spring four is arranged parallel to the slide groove. If four springs four are provided, the four springs four will suspend the reset rod in parallel above the semi-cylindrical boss.

9. The detachable electric multi-freedom flexible device with a flexible transmission rod according to claim 8, characterized in that: Only two springs four are provided, and a pair of auxiliary levers symmetrical to the above lever are provided on the side of the reset rod facing away from the semicircular boss. Each of the pair of auxiliary levers is embedded in a limiting groove in the handle and can slide along the limiting groove. The two springs four are on the left or right side in the longitudinal direction of the reset rod, and one end of the reset rod and the handle housing are pulled respectively through the two ends of the spring four.

10. The detachable electric multi-freedom flexible device with a flexible transmission rod according to any one of claims 1 to 9, characterized in that: The universal steering mechanism comprises an outer spherical shell and an inner spherical shell, both of which have openings, the closed end of the inner spherical shell is connected to the proximal end of the driving part as a whole, one end of the handle is provided with a concave cavity facing the driving part, the closed end of the outer spherical shell is fixed in the concave cavity through a connecting piece, the opening of the outer spherical shell faces the proximal end of the driving part, the inner spherical shell is embedded in the outer spherical shell to form a spherical hinge structure, which can rotate freely, and a sleeve facing the opening is fixed in the outer spherical shell, the two variable resistors are arranged in the signal generation module of the 3D rocker component, and the 3D The rocker component also includes a rocker. The signal generating module of the 3D rocker component is fixed in the cavity of the inner spherical shell through a fixing part, and the rocker extends out of the opening of the inner spherical shell and is inserted into the sleeve in the outer spherical shell, so that when the handle and the driving part rotate relative to each other, the rocker rotates synchronously relative to the signal generating module. The opening edge of the outer spherical shell is also connected to the proximal end of the driving part through at least three springs. The three springs are evenly arranged around the axis of the driving part, so that after the operator stops applying bias force to the handle, the handle and the driving part can achieve autonomous reset.

11. The detachable electric multi-freedom flexible device with a flexible transmission rod according to any one of claims 1 to 9, characterized in that: The universal steering mechanism includes a base plate connected to the upper side plane of the proximal end / handle of the driving part, and two orthogonally arranged semicircular arc brackets, and the arched parts of the two semicircular arc brackets are centrally opened with a waist-shaped hole, and the two ends of the waist-shaped hole extend to the two ends of the semicircular arc bracket. The two ends of the semicircular arc bracket are respectively connected to the shaft neck, and each shaft neck passes through the annular end cover of the horizontal bearing seat and is connected to the rotation reset mechanism in the horizontal bearing seat. The rotation reset mechanism is also connected to the inner side of the annular end cover. Four horizontal bearing seats and centrally arranged 3D rocker components are fixed on the side of the base plate facing the semicircular arc bracket. Every two horizontal The two sets of horizontal bearing seats are concentrically arranged to form a group, the axes of the two sets of horizontal bearing seats are orthogonal to each other and parallel to the vertical axis and the horizontal axis respectively, and surround the 3D rocker component. The signal generating module of the 3D rocker component is connected and fixed to the substrate. The two variable resistors are arranged in the signal generating module of the 3D rocker component. The 3D rocker component also includes a rocker. The end of the rocker of the 3D rocker component away from the signal generating module passes through the waist-shaped holes of the two semicircular arc brackets and is connected to the upper side plane of the handle / the proximal end of the driving part, so that when the handle and the driving part rotate relative to each other, the rocker rotates synchronously relative to the signal generating module.

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