A universal control unit for electric multi-degree-of-freedom flexible instrument

Abstract

The present invention relates to a universal control part of an electric multi-freedom flexible instrument, wherein a universal steering mechanism is connected between a motor compartment and a handle, and an operating handle is obliquely inserted into the handle, so that the motor compartment, the universal steering mechanism and the handle can be used as a handheld part that can be used multiple times, and different disposable front-end actuators can be installed at the front end of the motor compartment as needed. The handheld part includes an operating handle and a handle. The handle includes 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 motor compartment of the motor compartment includes a motor, a control circuit and is connected to a transmission compartment close to the front end part, so as to convert the movement of the user's wrist and fingers into control of the front end actuator.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a universal control unit of an electric multi-degree-of-freedom flexible instrument. 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 working space with the incision as the apex. Figure 8 , which has various types. Figure 9-10 There are two types of front-end actuators. One type includes at least one tool flap 61 and a tool support seat 60. The tool flap 61 is rotatably connected to the tool support seat 60. The tool support seat 60 is connected to the distal end of the serpentine joint VI. The serpentine joint VI is controlled by four threads to complete the bending action of the serpentine joint. The tool flap is opened and closed by the extension and contraction of the flexible transmission rod at the center of the serpentine joint. The tool flap can also rotate around the axis with the flexible transmission rod. Another type includes two tool flaps. The two ends of the joint VI are rotatably connected to the tool flap and the shaft tube respectively through pins that are orthogonal to each other and perpendicular to the shaft tube. The tool flap can be deflected up and down, left and right by six threads. Two threads are used among the six threads to complete the opening and closing action of the tool flap. These two types of front-end actuators require at least four transmission shafts to be set on the handle to control the opening and closing of the tool flap, the deflection of the tool flap relative to the shaft tube, and the rotation of the tool flap around the shaft tube axis. The existing front-end actuator and the handle are not removable, so there is no need to consider using one handle to adapt to different types of front-end actuators.

[0003] 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 interventional structural parts and reusable non-invasional structural parts.

[0004] The multi-degree-of-freedom flexible instruments that have been published so far all use a wrist-driven serpentine joint deflection scheme through a mechanical structure. Since the mechanical structure of the traction wire and the pulling wire is relatively large and integrated with the entire multi-degree-of-freedom flexible instrument, the structure of the front-end execution part is inseparable from the multi-degree-of-freedom flexible instrument as a whole and cannot be disassembled. 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 discarded after the operation. At the same time, these current medical devices cannot replace the front-end execution part according to the needs of different operations, resulting in high surgical costs and inconvenient use. 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 instrument, and divides the instrument into a detachable internal structural part and a recyclable non-interventional structural part. In particular, the non-interventional structural part includes a control component and a sensor, which can sensitively capture the rotation of the wrist, and transmit the angle, direction and size of the rotation to the front-end actuator in the interventional body through a transmission mechanism and an electrical signal. At the same time, a universal control unit is designed, which can connect and drive a variety of different types of front-end actuators, which can effectively solve the problems of the prior art.

[0006] The technical solution of the present invention is: a universal control part of an electric multi-degree-of-freedom flexible instrument, which is detachably connected to a plurality of transmission compartments connected to front-end actuators, and the transmission compartment is connected to the front-end actuators through a shaft tube, characterized in that the control part includes a motor compartment, a universal steering mechanism and a handle, and the motor compartment and the handle are connected through the universal steering mechanism, and four groups of motors are arranged in the motor compartment, and the output shaft of each motor faces the transmission compartment, and is equipped with a coupling structure that rotates with the output shaft, which can adapt to and drive each transmission shaft in the transmission compartment, and the motor is electrically connected to the circuit main board, the auxiliary circuit board and the power supply in the motor compartment, and there is also a sensor in the motor compartment for identifying the type of the transmission compartment connected to the motor compartment;

[0007] The universal steering mechanism is a resettable universal steering mechanism, which keeps the central axis of the motor compartment without deflection relative to the vertical axis and the horizontal axis, the horizontal axis is perpendicular to the center line passing through the upper and lower ends of the handle, the vertical axis is orthogonal to the horizontal axis, and when the central axis of the motor compartment is not deflected and parallel to the horizontal plane, the vertical axis is perpendicular to the horizontal plane, two variable resistors are installed in the universal steering mechanism, connected to the circuit main board signal, and are used to convert the angle of rotation of the motor compartment / handle relative to the center of the universal steering mechanism around the horizontal axis and the vertical axis perpendicular to the shaft tube into a first electrical signal and a second electrical signal respectively, two analog signal generators are provided in the handle, and a rotating part and a clamping part are also provided on the handle, and the two analog signal generators respectively convert the mechanical movements of the rotating part and the clamping part into a rotating signal and a clamping signal for transmission to the auxiliary circuit board;

[0008] When the transmission warehouse is of the first type, the second electrical signal is used to control the first two motors in the motor warehouse to rotate in the same direction, the first electrical signal is used to synchronously control the rotation of the third motor in the motor warehouse, the rotation signal is used to control the rotation of the fourth motor in the motor warehouse, and the clamping signal is used to control the first two motors to rotate in opposite directions; when the transmission warehouse is of the second type, the first electrical signal is used to synchronously control the first two motors in the motor warehouse to rotate in the same direction, the second electrical signal is used to control the first two motors in the motor warehouse to rotate in opposite directions, the rotation signal is used to control the rotation of the fourth motor in the motor warehouse, and the clamping signal is used to control the rotation of the third motor in the motor warehouse.

[0009] Advantageously, the above structural design of the present invention creatively uses two variable resistors to detect the motion state of a universal steering mechanism with two degrees of freedom. The universal steering mechanism can make the motor compartment or the handle move relative to the center of the universal steering mechanism around a vertical axis or horizontal axis perpendicular to the shaft tube, so that the movement direction of the front-end actuator and the joint corresponds to the movement direction of the motor compartment or the handle relative to the center of the universal steering mechanism, which is conducive to directly controlling the motor compartment by directly operating the handle with the wrist. The two analog signal generators in the handle can convert the movements of the rotating part and the clamping part into rotation and clamping signals, and control the front-end actuator to rotate and open and close around the shaft tube through the motor compartment. The motor compartment can be adapted to a variety of transmission compartments for controlling different types of front-end actuators, which 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 device, using the motor compartment as a consumable and the handle for recycling.

[0010] 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 its axial direction is provided in the operating handle, and a lateral hole extending along its 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, 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, and the outer circumference of the cylindrical rod and the inner circumference of the cylindrical cavity are A spiral groove that matches each other is opened, and the ball is placed in the spiral groove between the cylindrical rod and the cylindrical cavity. The 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 with the potentiometer fixed relative to the handle through coupling 1 in the handle; the neck of the upper end of the operating handle is coaxially connected with 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 with 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.

[0011] 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.

[0012] Furthermore, a transmission shaft corresponding to the motor is provided in the transmission bin, and a turntable is concentrically fixed to one end of the transmission shaft 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.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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°.

[0018] 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°.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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 motor compartment as a whole, one end of the handle is provided with a concave cavity facing the motor compartment, 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 motor compartment, 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 joystick component also includes a joystick. The signal generating module of the 3D joystick component is fixed in the cavity of the inner spherical shell through a fixing part, and the joystick 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 motor compartment rotate relative to each other, the joystick 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 motor compartment through at least three springs. The three springs are evenly arranged around the axis of the motor compartment, so that after the operator stops applying bias force to the handle, the handle and the motor compartment can achieve autonomous reset.

[0023] Preferably, the universal steering mechanism includes a base plate connected to the proximal end / upper end side plane of the motor compartment 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, 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 motor compartment, so that when the handle and the motor compartment rotate relative to each other, the rocker rotates synchronously relative to the signal generating module.

[0024] Advantageously, the structure of the universal steering mechanism meets the requirement of utilizing wrist movements to operate the motor compartment relative to the handle to simulate the multi-degree-of-freedom rotation of the serpentine joint.

[0025] 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

[0026] Figure 1 It is the overall structure diagram of the electric multi-degree-of-freedom flexible medical device;

[0027] Figure 2 It is a schematic diagram of the half-section structure of the motor compartment, universal steering mechanism, handle, and operating handle of an electric multi-degree-of-freedom flexible medical device;

[0028] Figure 3 A schematic diagram of a half-section structure of a universal steering mechanism of an electric multi-degree-of-freedom flexible medical device;

[0029] Figure 4 for Figure 3 A three-dimensional diagram of the universal steering mechanism;

[0030] Figure 5 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;

[0031] Figure 6 It is a schematic diagram of the structure of the operating handle of an electric multi-degree-of-freedom flexible medical device;

[0032] Figure 7 A top view cross-sectional view of a handle of an electric multi-degree-of-freedom flexible medical device;

[0033] Figure 8 The following are appearance diagrams of various existing front-end execution devices;

[0034] Fig. 9 It is a structural schematic diagram of an existing front-end execution device;

[0035] Fig.10 It is a structural schematic diagram of an existing front-end execution device;

[0036] Fig.11 For Fig. 9 Internal structure diagram of the paired transmission compartment;

[0037] Fig.12 For Fig.10 Internal structure diagram of the paired transmission compartment;

[0038] Among them, I-handle, I-1-concave cavity, II-motor compartment, V-operating handle, VI-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, 8h-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, 16-slide block, 16a-protruding petal, 16b-slide groove, 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, 30-3d rocker component, 30a-rocker, 30b-signal generating module, 30c-first end, 30d-second end, 31a-pin shaft one, 31b-pin shaft two, 33-secondary circuit board, 34, 38-motor, 39-circuit board, 40-motor compartment, 40a-slot, 4 0b-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, 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 two, 79-gear five, 81 - helical gear 2, 82 - gear 1, 83 - rack, 90 - guide assembly, 91 - center channel, 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 reel 1, 94b - winding reel 2, 94c - winding reel 3, 94d - winding reel 4, 100, 101 - semicircular arc bracket, 102 - base plate, 103 - waist-shaped hole, 104 - horizontal bearing seat, 105 - annular end cover. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] 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.

[0042] Existing electric multi-degree-of-freedom flexible medical devices such as Figure 1 The device shown includes: a front-end actuator VII, a joint VI / snake joint VI, a hollow shaft tube 72, a transmission compartment III and a general control unit, the general control unit includes a motor compartment II and a handle I, the motor compartment II is connected to the handle I through a universal steering mechanism VIII, and a rotatable operating handle V is provided on the handle I. By rotating the operating handle V and rotating the handle I relative to the motor compartment II, the relative movement of the operating handle V and the handle I can be captured with the help of the universal steering mechanism VIII, and converted into an electrical signal to control multiple motors in the motor compartment, and transmitted to the front-end actuator VII and joint VI of the instrument, so as to complete the deflection of the front-end actuator VII relative to the shaft tube. With the help of the rotation of the operating handle V and the opening and closing of the mechanism on the operating handle, it is converted into an electrical signal to control multiple motors in the motor compartment, so as to complete the rotation and opening and closing of the front-end actuator around the central axis of the shaft tube.

[0043] like Figure 2 As shown, the proximal end of the motor compartment II is connected to the handle I through the universal steering mechanism VIII. Four groups of motors are arranged in the motor compartment II. The motors are electrically connected to the circuit main board 39, the auxiliary circuit board 38 and the power supply in the motor compartment II. There is also a sensor in the motor compartment II for identifying the type of the transmission compartment III connected to the motor compartment II, such as Fig.11 and Fig.12 There are two different internal transmission structures of Transmission Chamber III. Fig.11 The transmission compartment is used to drive Fig. 9The front end actuator in the shaft opens and closes and rotates around the central axis of the shaft tube, and drives the serpentine joint to bend relative to the shaft tube. Fig.12 Transmission compartment for driving Fig.10 The front end actuator opens and closes and rotates around the center axis of the shaft tube, and the front end actuator bends relative to the shaft tube.

[0044] like Figure 2 and Figure 3 As shown, a 3D rocker component 30 is installed in the universal steering mechanism of the present invention, which has a rocker 30a and a signal generating module 30b. The prior art CN107104016B and CN205621645U disclose two types of 3D rocker components 30. Two variable resistors are arranged in the housing of the 3D rocker component 30. The rocker connects the upper rocker arm and the 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 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 rocker 30a causes the rotation of the upper rocker arm and the lower rocker arm, so that 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 terminals.

[0045] A variable resistor is used to convert the angle of rotation of the motor compartment relative to the center of the universal steering mechanism around a horizontal axis perpendicular to the shaft tube into a first electrical signal, and another variable resistor is used to convert the angle of rotation of the motor compartment relative to the center of the universal steering mechanism around a vertical axis perpendicular to the shaft tube into a second electrical signal. The horizontal axis and the vertical axis are orthogonal, and the horizontal axis is perpendicular to the center line passing through the upper and lower ends of the handle. The universal steering mechanism is a resettable universal steering mechanism, which keeps the center axis of the motor compartment without deflection relative to the vertical axis and the horizontal axis. When the center axis of the motor compartment is not deflected and is parallel to the horizontal plane, the vertical axis is perpendicular to the horizontal plane. In this way, the rotation of the handle relative to the drive is equivalent to the electrical signal obtained by monitoring the two variable resistors after the rotation relative to the horizontal axis and the vertical axis. The obtained electrical signal is more consistent with the movement of the wrist. The 3D joystick component 30 is installed in the universal steering mechanism VIII, such as Figure 2 and Figure 3As shown, the universal steering mechanism VIII specifically 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, both of which have openings, and opposite ear plates are arranged on the outer periphery of the outer lower hemisphere 23 and the outer upper hemisphere 22 on one side or one end facing each other, and are connected and fixed by bolt 1 221, and corresponding internal threaded holes are arranged on the inner upper hemisphere 21 and the inner lower hemisphere 24 on one side or one end facing each other near the edge of the spherical shell and are connected and fixed by bolt 2 211. The closed end of the inner spherical shell is connected or integrated with the proximal end of the motor compartment II, the signal generating module 30b of the 3d rocker component 30 is fixed in the cavity of the inner spherical shell by the fixing member 29, and the rocker 30a extends from the opening of the inner spherical shell away from the closed end. The closed end of the outer spherical shell faces the handle I, and the handle I is provided with a concave cavity I-1 facing the motor compartment II. The closed end of the outer spherical shell is fixed in the concave cavity I-1 through a connector 26, and the opening of the outer spherical shell faces the proximal end of the motor compartment II. A sleeve 25 facing the opening of the inner spherical shell 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. The closed end of the inner spherical shell is connected to a connecting rod extending into the open end of the outer spherical shell, and the end of the connecting rod facing away from the inner spherical shell is connected to the proximal end of the motor compartment II as a whole. The inner spherical shell is embedded in the outer spherical shell to form a spherical hinge structure, and the inner spherical shell can rotate freely in the outer spherical shell. The open edge of the outer spherical shell is also connected to the proximal end of the motor compartment II through at least three springs 27, and the three springs 27 are evenly arranged around the axis of the motor compartment II. After the operator stops applying a biasing force to the handle I, the handle I and the motor compartment II can achieve self-reset.

[0046] like Figure 3 and Figure 4As shown, as 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 motor compartment II, and the universal steering mechanism VIII includes a base plate 102 connected to the upper side plane of the proximal end / handle I of the motor compartment 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 by a torsion spring. Four horizontal bearing seats 104 and a centrally arranged 3D rocker component 30 are fixed to the side of the substrate 102 facing the semicircular 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 brackets 100 and 101 and is connected to the upper side plane of the handle I / the proximal end of the motor compartment II. When the handle I and the motor compartment II rotate relative to each other, the rocker 30a rotates synchronously relative to the signal generating module 30b. It is preferred to Figure 4 The universal steering mechanism is installed in the upper end side plane of the handle 1.

[0047] like Figure 5 A~ Figure 5 C. As a further improvement scheme, four transmission shafts and components driven by them are installed in the transmission compartment 53. The transmission shafts correspond one-to-one to the motors in the motor compartment. A turntable 54 is concentrically fixed to one end of each of the multiple transmission shafts in the transmission compartment facing away from the shaft tube 72. An eccentric protrusion 54a is provided on the side of each turntable 54 facing away from the shaft tube 72.

[0048] 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.

[0049] The motors matching the number of transmission shafts are fixed in the motor compartment 40 through the fixing plate 41 and the 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. The sleeve 44 is mounted outside the sleeve 42 and is slidably connected with the sleeve 42. A spring three 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. The 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 three 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. The side of the sleeve 44 facing away from the sleeve 42 is provided with a recessed hole 44a that matches the convex point 54a of the turntable 54.

[0050] 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.

[0051] 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 .

[0052] like Figure 6 and Figure 7 A rotatable operating handle V is installed on the handle I, 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 its axial direction is provided in the operating handle V, and a lateral hole extending along its axial direction is symmetrically provided at the lower end of the operating handle V, 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, and the lower ends of the push cylinder 6 are respectively connected to A pair of rocking handles 3 and 4 are rotatably connected by a connecting rod 5. A cylindrical cavity is provided at the upper end of the push tube 6 along the axial direction to accommodate the cylindrical rod 7. Spiral grooves 8 that match each other are provided on the outer circumference of the cylindrical rod 7 and the inner circumference of the cylindrical cavity. Balls 8h are placed in the spiral grooves 8 between the cylindrical rod 7 and the cylindrical cavity. A radial protrusion structure 8b may be provided at the inner circumference of the upper end of the guide groove to be embedded in the annular groove at the upper end of the cylindrical rod 7, so as to limit the cylindrical rod 7 from sliding axially in the guide groove and allow the cylindrical rod 7 to rotate in the guide groove. Therefore, when a finger presses a pair of rocking handles 3 and 4, the push tube 6 may 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 8h. 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 8h.

[0053] 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 resistor body and a brush that can move relatively. When the brush moves along the resistor body, 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, so that the auxiliary circuit board 33 receives different clamping signals.

[0054] Furthermore, the neck of the upper end of the operating handle V is coaxially connected to 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 to the potentiometer 2 13 through the coupling 2 12. The finger manipulates the operating handle V to rotate axially, driving the driving gear 10 to rotate synchronously. 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, so that the auxiliary circuit board 33 receives different rotation signals.

[0055] Furthermore, Figure 6-7In 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.

[0056] 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.

[0057] 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.

[0058] During operation, when the handle I drives the rocker 30a of the 3D rocker component 30 in the universal steering mechanism to rotate together, the first end 30c of the rocker 30a rotates synchronously in the signal generating module 30b, so that the two variable resistors in the signal generating module 30b generate the first electrical signal and the second electrical signal of the corresponding amplitude, which are output from the output terminal and transmitted to the circuit main board 39 in the driving part II. The difference between the first / second electrical signal before rotation and the first / second electrical signal after rotation is related to the rotation direction of the handle. If the difference is positive, it means that the handle rotates around the horizontal axis / vertical axis. The axis rotates counterclockwise, and the absolute value of the difference is positively correlated with the angle of the handle rotating counterclockwise around the horizontal axis / vertical axis. If the difference is negative, it means that the handle rotates clockwise around the horizontal axis or vertical axis, and the absolute value of the difference is positively correlated with the angle of the handle rotating clockwise around the horizontal axis / vertical axis. The mainboard accurately controls the rotation of the motor according to the difference between the first / second telecommunication signals collected from the variable resistor, thereby obtaining electrical signals by monitoring the movement of the wrist, so as to control the motor in the drive transmission compartment to make the front actuator deflect at corresponding angles and directions relative to the horizontal and vertical axes.

[0059] When the operating handle V rotates around its axis by ±90° or ±180°, similarly, the auxiliary circuit board 33 compares the difference in rotation signals collected from the potentiometer 13 before and after the rotation of the operating handle. If the difference is negative, it is judged that the motor should rotate forward, and the rotation angle is positively correlated with the absolute value of the difference. If the difference is positive, it is judged that the motor should rotate reversely, and the rotation angle is positively correlated with the absolute value of the difference. The direction and angle of motor rotation correspond to the direction and angle of rotation of the front actuator around the center of the shaft tube. When the cranks 3 and 4 change from a state of moving away from each other to a state of moving closer to each other, the electrical signal (clamping signal) collected from the potentiometer 9 increases linearly. If the difference between the electrical signal before the crank action and the electrical signal after the action is negative, the tool flap should be closed, and the closing angle is positively correlated with the absolute value of the difference. If the difference between the electrical signal before the crank action and the electrical signal after the action is positive, the tool flap should be opened, and the opening angle is positively correlated with the absolute value of the difference.

[0060] when Fig.11After the transmission bin is plugged into the motor bin, the motor bin recognizes that the type of the transmission bin is the second type, and the four turntables 54 of the transmission bin are aligned with the four sleeves 44 of the motor bin. The motor bin synchronously controls the first two motors in the motor bin to rotate in the same direction with each other through the first electrical signal, so that the first transmission shaft 92a and the second transmission shaft 92b in the transmission bin rotate in the same direction, and the drive shaft 1 93a and the shaft 2 93b rotate in the same direction. Since the wires 8a and 8d are located on the shaft 1 93a and the winding directions are opposite, and the wires 8b and 8c are located on the shaft 2 93b and the winding directions are opposite, the wires 8a and 8b located above and around the flexible transmission rod 77 are connected with the wires 8a and 8b. The wires 8c and 8d below the flexible transmission rod 77 extend and retract in opposite directions, so that the serpentine joint bends in the up and down directions; the motor compartment synchronously controls the first two motors in the motor compartment to rotate in opposite directions through the second electrical signal, so that the first transmission shaft 92a and the second transmission shaft 92b in the transmission compartment rotate in opposite directions, and the drive shaft 1 93a and the shaft 2 93b rotate in opposite directions. Since the wires 8a and 8d are located on the shaft 1 93a and the winding directions are opposite, the wires 8b and 8c are located on the shaft 2 93b and the winding directions are opposite, the winding directions of the wires 8a and 8c are opposite, and the winding directions of the wires 8b and 8d are opposite, so the wires located in the flexible transmission rod 77 are opposite. The wires 8a, 8c on the left side around the movable rod 77 and the wires 8b, 8d on the right side around the flexible transmission rod 77 extend and retract in opposite directions, so the serpentine joint bends to the left and right directions; the bending angle of the serpentine joint is positively correlated with the absolute value of the difference between the first electrical signal or the second electrical signal before and after the handle rotates relative to the motor compartment, and the bending direction of the serpentine joint is positively correlated with the positive or negative difference between the first electrical signal or the second electrical signal before and after the handle rotates relative to the motor compartment. If the difference between the first electrical signals before and after is positive, the two motors rotate counterclockwise in the same direction, causing the wires 8a, 8b to extend, the wires 8c, 8d to retract, and the serpentine joint to bend downward. If the difference of the first electric signal is negative, the two motors rotate clockwise in the same direction, so that the wires 8a and 8b are retracted, the wires 8c and 8d are extended, and the serpentine joint bends upward; if the difference of the second electric signal twice before and after is positive, the two motors drive the rotating shaft 1 93a to rotate clockwise and the rotating shaft 2 93b to rotate counterclockwise, so that the wires 8a and 8c are retracted, the wires 8b and 8d are extended, and the serpentine joint bends to the left; if the difference of the second electric signal twice before and after is negative, the two motors drive the rotating shaft 1 93a to rotate counterclockwise and the rotating shaft 2 93b to rotate clockwise, so that the wires 8a and 8c are extended, the wires 8b and 8d are retracted, and the serpentine joint bends to the right;

[0061] The rotation signal is used to control the rotation of the fourth motor in the motor compartment, so that the fourth transmission shaft 92d rotates and the flexible transmission rod 77 rotates. Therefore, the two tool petals rotate in the same direction with the flexible transmission rod. The rotation angle is positively correlated with the absolute value of the signal difference before and after the rotation of the potentiometer 13, and the rotation direction is positively correlated with the positive or negative value of the signal difference before and after the rotation of the potentiometer 13. The clamping signal is used to control the rotation of the third motor in the motor compartment, so that the third transmission shaft 92c rotates and the flexible transmission rod 77 is extended or retracted. The extension distance of the flexible transmission rod 77 is positively correlated with the absolute value of the signal difference before and after the rotation of the potentiometer 19. The linear motion direction of the flexible transmission rod 77 is positively correlated with the positive or negative value of the signal difference before and after the rotation of the potentiometer 19. When the difference is negative, the flexible transmission rod retracts, and when the difference is positive, the flexible transmission rod extends.

[0062] when Fig.12 After the transmission compartment is plugged into the motor compartment, the motor compartment recognizes that the type of the transmission compartment is the first type, and the four turntables 54 of the transmission compartment are aligned with the four sleeves 44 of the motor compartment. The motor compartment synchronously controls the first two motors in the motor compartment to rotate in the same direction with each other through the second electrical signal, so that the first transmission shaft 92a and the second transmission shaft 92b in the transmission compartment rotate in the same direction, and the drive shaft 1 93a and the shaft 2 93b rotate in the same direction. Since the wires 8a and 8b are located on the shaft 1 93a and the winding directions are opposite, the wires 8b and 8c are located on the shaft 2 93b. And the winding directions are opposite, so the wires 8a, 8c on the left side of the tool flaps 61, 62 are synchronously extended and retracted in opposite directions relative to the wires 8b, 8d on the right side, so that the tool flaps swing to the left and right directions; the motor compartment synchronously controls the rotation of the third motor in the motor compartment through the first electrical signal, so that the third transmission shaft 92c in the transmission compartment rotates, and the driving shaft 3 93c rotates. Since the wires 8e, 8d are respectively connected to the upper and lower sides of the joint VI, the winding directions of the wires 8e, 8f are opposite, so that the joint VI swings to the up and down directions; the two tools The left and right deflection angle of the tool petals is positively correlated with the absolute value of the difference between the second electrical signals before and after the handle rotates relative to the motor compartment. The up and down deflection angle of the joint is positively correlated with the absolute value of the difference between the first electrical signals before and after the handle rotates relative to the motor compartment. The direction of the left and right deflection of the two tool petals is positively correlated with the positive and negative difference between the second electrical signals before and after the handle rotates relative to the motor compartment. If the difference between the two second electrical signals is positive, the two motors rotate counterclockwise in the same direction, causing the wires 8a and 8c to extend, and the wires 8b and 8d to retract, and the two tool petals move to the right together. If the difference between the two second electrical signals is negative, the two motors rotate clockwise in the same direction, so that the wires 8a and 8c are retracted, and the wires 8b and 8d are extended, and the two tool petals deflect to the left together; if the difference between the two first electrical signals is positive, the motor drives the rotating shaft 3 93c to rotate clockwise, so that the wire 8e is extended and the wire 8f is retracted, and the joint deflects downward; if the difference between the two first electrical signals is negative, the motor drives the rotating shaft 3 93c to rotate counterclockwise, so that the wire 8e is retracted and the wire 8f is extended, and the joint deflects upward;

[0063] The rotation signal is used to control the fourth motor in the motor compartment to rotate, so that the fourth transmission shaft 92d rotates, and the rotating shaft 93d rotates. Therefore, the two tool petals rotate in the same direction with the shaft tube. The rotation angle is positively correlated with the absolute value of the signal difference before and after the rotation of the potentiometer 13, and the rotation direction is positively correlated with the positive and negative difference of the signal before and after the rotation of the potentiometer 13. The clamping signal is used to control the first two motors in the motor compartment to rotate, so that the first transmission shaft 92a and the second transmission shaft 92b rotate in opposite directions, so that the two tool petals 61 and 62 are respectively clamped by the wire 8c , 8d and the wires 8a, 8b are pulled to rotate in opposite directions, the rotation angle of the two tool flaps 61, 62 is positively correlated with the absolute value of the signal difference before and after the rotation of the potentiometer 9, and the relative opening or closing direction of the two tool flaps 61, 62 is positively correlated with the positive or negative value of the signal difference before and after the rotation of the potentiometer 9. When the difference is negative, the rotating shaft 1 93a rotates counterclockwise and the rotating shaft 2 93b rotates clockwise, and the tool flaps 61, 62 are closed. When the difference is positive, the rotating shaft 1 93a rotates clockwise and the rotating shaft 2 93b rotates counterclockwise, and the tool flaps 61, 62 are opened.

[0064] 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 motor compartment II, so that the 3D rocker 30 generates four signals corresponding to the up, down, left and right directions, and controls the front end actuator VII to deflect in the up, down, left and right directions. When the front end actuator VII and the joint VI remain 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.

Claims

1. A universal control unit of an electric multi-degree-of-freedom flexible instrument, which is detachably connected to a plurality of transmission bins connected to front-end actuators, wherein the transmission bin is connected to the front-end actuators through an axle tube, characterized in that: The control unit includes a motor compartment, a universal steering mechanism and a handle. The motor compartment and the handle are connected through the universal steering mechanism. Four groups of motors are arranged in the motor compartment. The output shaft of each motor faces the transmission compartment and is equipped with a coupling structure that rotates with the output shaft, which can adapt to and drive each transmission shaft in the transmission compartment. The motor is electrically connected to the circuit main board, the auxiliary circuit board and the power supply in the motor compartment. There is also a sensor in the motor compartment for identifying the type of the transmission compartment connected to the motor compartment; The universal steering mechanism is a resettable universal steering mechanism, which keeps the central axis of the motor compartment without deflection relative to the vertical axis and the horizontal axis, the horizontal axis is perpendicular to the center line passing through the upper and lower ends of the handle, the vertical axis is orthogonal to the horizontal axis, and when the central axis of the motor compartment is not deflected and parallel to the horizontal plane, the vertical axis is perpendicular to the horizontal plane, two variable resistors are installed in the universal steering mechanism, connected to the circuit main board signal, and are used to convert the angle of rotation of the motor compartment / handle relative to the center of the universal steering mechanism around the horizontal axis and the vertical axis perpendicular to the shaft tube into a first electrical signal and a second electrical signal respectively, two analog signal generators are provided in the handle, and a rotating part and a clamping part are also provided on the handle, and the two analog signal generators respectively convert the mechanical movements of the rotating part and the clamping part into a rotating signal and a clamping signal for transmission to the auxiliary circuit board; When the transmission warehouse is of the first type, the second electrical signal is used to control the first two motors in the motor warehouse to rotate in the same direction, the first electrical signal is used to synchronously control the rotation of the third motor in the motor warehouse, the rotation signal is used to control the rotation of the fourth motor in the motor warehouse, and the clamping signal is used to control the first two motors to rotate in opposite directions; when the transmission warehouse is of the second type, the first electrical signal is used to synchronously control the first two motors in the motor warehouse to rotate in the same direction, the second electrical signal is used to control the first two motors in the motor warehouse to rotate in opposite directions, the rotation signal is used to control the rotation of the fourth motor in the motor warehouse, and the clamping signal is used to control the rotation of the third motor in the motor warehouse.

2. The universal control unit of the electric multi-degree-of-freedom flexible device according to claim 1, characterized in that: The handle is provided with a rotatable operating 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 its axial direction is provided in the operating handle, a lateral hole extending along its 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, 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 provided at the upper end of the push cylinder along the axial direction and can accommodate the cylindrical rod, and a cylindrical cavity is provided on the outer circumference of the cylindrical rod and the inner circumference of the cylindrical cavity. There are spiral grooves that match each other, and the ball is placed in the spiral groove between the cylindrical rod and the cylindrical cavity. The 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 with the potentiometer fixed relative to the handle through coupling 1 in the handle; the neck of the upper end of the operating handle is coaxially connected with 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 with 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.

3. The universal control unit of the electric multi-degree-of-freedom flexible device according to claim 1, characterized in that: The transmission compartment is provided with a transmission shaft corresponding to the motor one by one, and a turntable is concentrically fixed to one end of the transmission shaft facing away from the shaft tube, and an eccentric convex point 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 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.

4. The universal control unit of the electric multi-degree-of-freedom flexible device according to claim 3, 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.

5. The universal control unit of the electric multi-degree-of-freedom flexible device according to claim 4, characterized in that: A strip rod is also arranged on one side of the shaft sleeve close to the motor, and a photoelectric sensor for monitoring the strip rod is also arranged in the motor compartment.

6. The universal control unit of the electric multi-degree-of-freedom flexible device according to claim 2, 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°.

7. The universal control unit of the electric multi-degree-of-freedom flexible device according to claim 6, 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.

8. The universal control unit of the electric multi-degree-of-freedom flexible device according to claim 7, 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.

9. The universal control unit of the electric multi-degree-of-freedom flexible device according to any one of claims 1 to 8, 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 motor compartment as a whole, one end of the handle is provided with a concave cavity facing the motor compartment, 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 motor compartment, 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 motor compartment 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 motor compartment through at least three springs. The three springs are evenly arranged around the axis of the motor compartment, so that after the operator stops applying bias force to the handle, the handle and the motor compartment can achieve autonomous reset.

10. The universal control unit of the electric multi-degree-of-freedom flexible device according to any one of claims 1 to 8, characterized in that: The universal steering mechanism includes a base plate connected to the proximal end of the motor compartment / the upper end side plane of the handle, 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 motor compartment, so that when the handle and the motor compartment rotate relative to each other, the rocker rotates synchronously relative to the signal generating module.

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