A wire-driven motion module and a minimally invasive surgical forceps

Abstract

The present invention discloses a wire-driven motion module and a minimally invasive surgical forceps. The wire-driven motion module includes a first adapter structure and a second adapter structure arranged at intervals, a positioning structure, a joint assembly, and control wires. The positioning structure is disposed between the first adapter structure and the second adapter structure; the joint assembly includes a plurality of interconnected joint units, adjacent joint units are configured to be movably connected to each other, and the joint assembly is mechanically coupled between any one of the adapter structures and the positioning structure; at least two control wires are provided. The wire-driven motion module with this structure can switch between a bent state and an initial state, and the first adapter structure and the second adapter structure perform corresponding movements around the positioning structure, which can meet the motion actions and positions expected by the working conditions, and the overall module structure has the advantages of coherent transmission and stable movement.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a wire-driven motion module and a minimally invasive surgical forceps. Background Art

[0002] Due to the fact that the joint structure has good strength and the ability to flexibly adapt to spatial motion, it is widely used in the fields of machinery and medicine. Currently, in medical devices, for example, in minimally invasive surgery, a doctor operates a corresponding operating mechanism to make a minimally invasive device execute a desired action according to control actions and instructions, so as to achieve the purpose of medical treatment and diagnosis of the human body.

[0003] In the prior art, a minimally invasive device usually consists of a joint structure and multiple control lines. The control lines are connected to the joint structure. One end of multiple control lines is connected to an external driving device, and the other end of multiple control lines is connected to an external operating end. When it is necessary to adjust the bending of the joint structure of a minimally invasive machine, the external driving device is used to pull and retract the control lines, so that the adjacent joints where the wire-pulling ends are located approach each other, and the included angle between adjacent joints decreases and contracts. By pushing and extending the control lines with the external driving device, the adjacent joints where the wire-sending ends are located move away from each other, and the included angle between adjacent joints increases and expands, thereby completing the bending and folding action of the joints to achieve the desired operation process.

[0004] However, for the above joint structure, it is necessary to cooperate with the driving end of the driving device to simultaneously pull and retract multiple control lines to bend the joints. During the specific wire-pulling and wire-retracting process, due to the lateral contact of the control lines with the joints, there will be a small jumping error between adjacent joints. After the errors are accumulated and superimposed, the overall joint structure will jump, resulting in poor transmission stability of the joint structure and the problem of unstable operation execution. Summary of the Invention

[0005] The technical problem to be solved by the present invention lies in the defects of poor transmission stability of the joint structure and unstable operation execution in the prior art.

[0006] The present invention provides a wire-driven motion module, including:

[0007] A first adapter structure and a second adapter structure arranged at intervals. The first adapter structure is adapted to be connected to an external driving mechanism, and the second adapter structure is adapted to be connected to an operating mechanism;

[0008] A positioning structure adapted to be connected to an external support ring, and the positioning structure is arranged between the first adapter structure and the second adapter structure;

[0009] A joint assembly, the joint assembly includes a plurality of interconnected joint units, adjacent joint units are configured to be movably connected to each other, and the joint assembly is mechanically coupled between any one of the adapter structures and the positioning structure;

[0010] and at least two control lines, both ends of which are fixedly connected to the first adapter structure and the second adapter structure respectively, and the control lines are passed through all joint units and the positioning structure, and are movably connected to the joint units and the positioning structure;

[0011] The wire-driven motion module has a bending state in which the first adapter structure pulls the control line under the action of external force to drive the second adapter structure and the joint assembly to bend in conjunction with the first adapter structure; and an initial state in which the first adapter structure, the positioning structure and the second adapter structure are coaxially arranged, and the wire-driven motion module switches between the bending state and the initial state.

[0012] Optionally, in the above-mentioned linear drive motion module, the positioning structure includes:

[0013] A positioning body and at least two limiting channels formed in the positioning body, wherein the limiting channels are used for the control lines to pass through.

[0014] Optionally, the above-mentioned line drive motion module,

[0015] The extending direction of the limiting channel is arranged parallel to the extending direction of the positioning body;

[0016] The wire-driven motion module has a first bending state in which the first adapter structure pulls the control line under the action of an external force to drive the second adapter structure and the joint assembly to synchronously bend relative to the first adapter structure to perform an S-shaped motion.

[0017] Optionally, in the above-mentioned wire drive motion module, in the first bending state, a first end surface of the first adapter structure away from a side connected to the joint unit and a second end surface of the second adapter structure away from a side connected to the joint unit are arranged in parallel.

[0018] Optionally, in the above-mentioned wire drive motion module, any of the limiting channels has a first lead opening close to one side of the first adapter structure and a second lead opening close to one side of the second adapter structure, and a first plane where the first lead opening and the axis of the positioning structure are located and a second plane where the second lead opening and the axis of the positioning structure are located form an angle of 90 degrees;

[0019] The wire-driven motion module has a second bending state in which the first adapter structure pulls the control line under the action of an external force to drive the second adapter structure and the joint assembly to synchronously bend relative to the first adapter structure in an eccentric S-shaped motion.

[0020] Optionally, in the above-mentioned wire drive motion module, any of the limit channels has a third lead opening close to one side of the first adapter structure and a fourth lead opening close to one side of the second adapter structure, and the third lead opening and a third plane where the axis of the positioning structure is located, and the fourth lead opening and a fourth plane where the axis of the positioning structure is located form an angle of 180 degrees;

[0021] The wire drive motion module has a third bending state in which the first adapter structure pulls the control line under the action of an external force to drive the second adapter structure and the joint assembly to synchronously bend relative to the first adapter structure to form a C-shaped motion.

[0022] Optionally, in the above-mentioned wire-drive motion module, the limiting channel includes a first straight line segment, a second straight line segment and a curved segment; the first straight line segment is arranged on a side of the positioning body close to the first adapter structure, and the second straight line segment is arranged on a side of the positioning body close to the second adapter structure; the extension direction of the first straight line segment and the extension direction of the second straight line segment are arranged parallel to the extension direction of the positioning body; the curved segment is connected and arranged between the first straight line segment and the second straight line segment.

[0023] Optionally, in the above-mentioned wire drive motion module, the positioning structure further includes a first connecting hole extending in the same direction as the extending direction thereof;

[0024] Any adapter structure has a second connection hole extending in the same direction as its extension direction;

[0025] Any joint unit has a core hole, and all the core holes, all the second connection holes and the first connection hole together constitute an intervention channel, and the intervention channel is suitable for the external tube to pass through.

[0026] Optionally, the above-mentioned wire-driven motion module further has a rotational state in which the first adapter structure rotates under the action of an external force to pull the control line and drive the second adapter structure and the joint assembly to twist synchronously with the first adapter structure.

[0027] Optionally, the positioning structure of the above-mentioned linear drive motion module further includes:

[0028] A first connecting portion, disposed at one end of the positioning body close to the first adapter structure, the first connecting portion being movably connected to the joint unit;

[0029] The second connecting portion is arranged at one end of the positioning body close to the second adapter structure, and the second connecting portion is suitable for being movably connected to the joint unit.

[0030] Optionally, in the above-mentioned wire drive motion module, the first adapter structure includes a third connecting portion, and the third connecting portion is movably connected to the joint unit;

[0031] The second transition structure includes a fourth connecting portion, and the fourth connecting portion is movably connected to the joint unit.

[0032] Optionally, in the above-mentioned wire-drive motion module, any of the adapter structures further includes an assembly hole and a fixing portion, the control line is passed through the assembly hole, the fixing portion is arranged adjacent to the assembly hole, and the fixing portion is fixedly connected to one end of the control line.

[0033] Optionally, the above-mentioned wire-driven motion module includes at least four control lines, and all of the control lines are rotationally symmetric along the axis direction of the positioning structure.

[0034] Optionally, in the above-mentioned wire drive motion module, the joint unit comprises:

[0035] The rotating member is provided with a limiting portion in the circumferential direction;

[0036] A limit support is fixedly connected to the rotating part. The limit support has at least one accommodating cavity for movably connecting the rotating parts of adjacent joint units. The accommodating cavity also has a limit member. The limit member cooperates with the limiting portion of the adjacent joint unit to limit the axial rotation of the rotating parts of the adjacent joint units.

[0037] Optionally, in the above-mentioned linear drive motion module, the rotating member is a sphere, and the inner wall surface of the accommodating cavity is adapted to the outer wall surface of the rotating member of the adjacent joint unit.

[0038] Optionally, in the above-mentioned linear drive motion module, two limiting parts are provided, and the two limiting parts are arranged at an interval to form an assembly space for limiting the limiting member, and the limiting member is movably connected to the assembly space.

[0039] Optionally, in the above-mentioned linear drive motion module, the limiting member is a column, and an extension direction of the column is arranged to intersect perpendicularly with the plane where the limiting portion is located.

[0040] Optionally, in the above-mentioned linear drive motion module, any connecting portion has the same structure as the rotating member or the limiting support.

[0041] A minimally invasive surgical forceps comprises a support ring and the above-mentioned wire-driven motion module.

[0042] The technical solution provided by the present invention has the following advantages:

[0043] 1. The wire-driven motion module provided by the present invention comprises a first adapter structure and a second adapter structure, a positioning structure, a joint assembly and a control line, wherein the first adapter structure is suitable for connecting to an external drive mechanism, and the second adapter structure is suitable for connecting to an operating mechanism; the positioning structure is suitable for connecting to an external support ring, and the positioning structure is arranged between the first adapter structure and the second adapter structure; the joint assembly comprises a plurality of interconnected joint units, adjacent joint units are configured to be movably connected to each other, and the joint assembly is mechanically coupled and connected between any of the adapter structure and the positioning structure; the control line is provided with at least two The two ends of the control line are respectively fixedly connected to the first adapter structure and the second adapter structure, the control line is passed through all joint units and the positioning structure, and is movably connected to the joint units and the positioning structure; the wire-driven motion module has a bending state in which the first adapter structure pulls the control line under the action of an external force to drive the second adapter structure and the joint assembly to bend in a linked manner relative to the first adapter structure; and an initial state in which the first adapter structure, the positioning structure and the second adapter structure are coaxially arranged, and the wire-driven motion module is switched between the bending state and the initial state.

[0044] The wire-driven motion module of this structure adjusts the movement of the first adapter structure through an external driving mechanism so that the control line and the joint assembly cooperate to transmit the second adapter structure. The joint assembly is composed of a plurality of interconnected joint units, and adjacent joint units are configured to be movably connected to each other. Under the traction of the movement of the first adapter structure, the control line can adjust the adjacent joint units accordingly to adapt to the movement of the first adapter structure; the movement of the control line is positioned and guided by the positioning structure, and the joint assembly and the adapter structure connected at both ends of the positioning structure are bent and transformed based on the positioning structure. When the wire-driven motion module switches between the bending state and the initial state, the first adapter structure and the second adapter structure move accordingly around the positioning structure. The force and torque are transmitted through the connection of the control line, which can prompt the second adapter structure to be linked with the first adapter structure, so that the second adapter structure can achieve the desired movement and position. Through the overall module design, the stability of the joint unit driven by the control line is improved, the movement is continuous, and small jumping errors between adjacent joints can be avoided.

[0045] 2. The wire-driven motion module provided by the present invention, the positioning structure includes a positioning body and at least two limiting channels formed in the positioning body, and the limiting channels are used for the control line to pass through.

[0046] For the wire-driven motion module of this structure, the limiting channel is used to control the threading of the wire. The movement of the control wire is limited and guided through the limiting channel. The structure of the limiting channel is designed so that when the control wire is pulled by the first adapter structure pair, the force conditions of the second adapter structure and the joint components connected between the positioning structure and the second adapter structure are changed, causing the joint components connected to both ends of the positioning structure and the adapter structure to bend and transform with the positioning structure as the reference, so that the joint components reach the desired actions and positions to meet the requirements of the desired working conditions.

[0047] 3. For the wire-driven motion module provided by the present invention, the positioning structure further includes a first connection hole extending in the same direction as its extension direction. Any adapter structure has a second connection hole extending in the same direction as its extension direction. Any joint unit has a core hole. All the core holes, all the second connection holes and the first connection hole together form an intervention channel, and the intervention channel is suitable for the penetration of an external connecting pipe.

[0048] For the wire-driven motion module of this structure, holes are configured on the adapter structure, the joint components and the positioning structure to form an intervention channel for medical and other purposes. Through the operation space formed by the intervention channel, flexible pipes can be connected in the intervention channel. When the wire-driven motion module bends and changes, the pipes bend together to meet the desired working conditions.

[0049] 4. For the wire-driven motion module provided by the present invention, the positioning structure further includes a first connection part and a second connection part. The first connection part is arranged at one end of the positioning body close to the first adapter structure, and the first connection part is movably connected to the joint unit; the second connection part is arranged at one end of the positioning body close to the second adapter structure, and the second connection part is suitable for being movably connected to the joint unit.

[0050] For the wire-driven motion module of this structure, when the wire-driven motion module needs to be in a bent state, the support ring is fixedly connected to the positioning body, and the adjacent joint units are limited by the first connection part and the second connection part to ensure stable cooperation and movement between the adjacent joint units, so as to promote the bending of the joint components; when the wire-driven motion module needs to be in a rotating state, the first adapter structure pulls the control wire and the adjacent joint components to rotate together. The first connection part receives the transmission of the adjacent joint unit to make the positioning structure rotate synchronously, and drives the joint unit between the second adapter structure and the positioning structure and the second adapter structure through the second connection part, so that the wire-driven motion module rotates as a whole. Description of the Drawings

[0051] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0052] Figure 1 A schematic diagram of the connection between the wire drive motion module and the support ring provided in an embodiment of the present invention;

[0053] Figure 2 It is a structural schematic diagram of a wire drive motion module provided in an embodiment of the present invention;

[0054] Figure 3 It is a structural schematic diagram of a first switching structure in a line drive motion module provided in an embodiment of the present invention;

[0055] Figure 4 It is a schematic structural diagram of a side view of a first adapter structure in a wire drive motion module provided in an embodiment of the present invention;

[0056] Figure 5 It is a schematic structural diagram of a top view of a first adapter structure in a wire drive motion module provided in an embodiment of the present invention;

[0057] Figure 6 It is a structural schematic diagram of a first adapter structure in a line drive motion module provided in an embodiment of the present invention when viewed from bottom up;

[0058] Figure 7 It is a schematic structural diagram of a three-dimensional positioning structure in a wire drive motion module provided in an embodiment of the present invention;

[0059] Figure 8 It is a schematic structural diagram of a side view of a positioning structure in a wire drive motion module provided in an embodiment of the present invention;

[0060] Figure 9 It is a structural schematic diagram of a main view of a positioning structure in a line drive motion module provided in an embodiment of the present invention;

[0061] Figure 10 It is a schematic structural diagram of a position-limiting channel in a positioning structure of a wire-drive motion module provided in an embodiment of the present invention being a straight-through channel;

[0062] Figure 11 It is a structural schematic diagram of a wire drive motion module provided in an embodiment of the present invention in a first bending state;

[0063] Figure 12 It is a schematic structural diagram of a wire drive motion module provided in an embodiment of the present invention in a top view in a first bending state;

[0064] Figure 13 It is a structural schematic diagram of a joint unit in a wire drive motion module provided in an embodiment of the present invention;

[0065] Figure 14 It is a schematic structural diagram of a front view of a joint unit in a wire drive motion module provided in an embodiment of the present invention;

[0066] Figure 15 It is a three-dimensional schematic diagram of a joint unit in a wire-driven motion module provided in an embodiment of the present invention;

[0067] Figure 16 A three-dimensional diagram of a joint unit in a wire-driven motion module provided in an embodiment of the present invention;

[0068] Figure 17 It is a structural schematic diagram of a positioning structure of a wire drive motion module provided in an embodiment of the present invention in a first bending state;

[0069] Figure 18 It is a schematic structural diagram of a side view of a positioning structure of a wire drive motion module provided in an embodiment of the present invention in a first bending state;

[0070] Figure 19 It is a structural schematic diagram of a wire drive motion module provided in an embodiment of the present invention in a second bending state;

[0071] Figure 20 It is a schematic structural diagram of a wire drive motion module provided in an embodiment of the present invention in a top view in a second bending state;

[0072] Figure 21 It is a structural schematic diagram of a positioning structure of a wire drive motion module in a third bending state provided in an embodiment of the present invention;

[0073] Figure 22 It is a schematic structural diagram of a side view of a positioning structure of a wire-driven motion module provided in an embodiment of the present invention in a third bending state;

[0074] Description of reference numerals:

[0075] 1-first adapter structure; 11-first adapter body; 111-first end surface; 112-second connecting hole; 113-assembly hole; 114-fixing part; 12-third connecting part;

[0076] 2-second adapter structure; 21-second adapter body; 211-second end surface; 22-fourth connecting portion;

[0077] 3 - Positioning structure; 31 - Positioning body; 311 - First connection hole; 32 - Limiting channel; 3201 - First lead port; 3202 - Second lead port; 3203 - Third lead port; 3204 - Fourth lead port; 321 - First straight segment; 322 - Second straight segment; 323 - Bending segment; 33 - First connection part; 34 - Second connection part;

[0078] 4 - Support ring;

[0079] 5 - Joint unit; 51 - Rotating part; 511 - Limiting part; 52 - Limiting support; 521 - Accommodating cavity; 522 - Core hole; 523 - Threading hole; 53 - Limiting piece; 6 - Control line. Specific embodiments

[0080] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0081] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0082] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected", "connected to", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0083] In the following description, when the equipment is in use, the side close to the operator is the proximal end, and the end far from the operator is the distal end.

[0084] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0085] Embodiment 1

[0086] This embodiment provides a wire-driven motion module, which can be used in the transmission structure of medical devices. As a mechanical component for medical and diagnostic purposes, such as minimally invasive surgical instruments, it adapts to the motion form during operation in a narrow space to meet the usage conditions of the medical environment. It can be used to form a transmission mechanism and is applied in scenarios where it is necessary to change the axis for transmitting rotational motion and where there are requirements for anti-torsion and strength. Of course, it can also be applied to human joints, robots, and robot joints, facilitating the construction and manufacturing of robots and robot joints, etc.

[0087] As Figure 1 shown in Figure 2 Figure, the wire-driven motion module includes a first adapter structure 1, a second adapter structure 2, a positioning structure 3, a joint assembly, and a control wire 6.

[0088] The first adapter structure 1 is adapted to be connected to an external driving mechanism. By adjusting the motion of the first adapter structure 1 through the external driving mechanism, the first adapter structure 1 can move along the Figure 1 shown in Figure 2 X-Y plane in the figure and rotate around the Z axis to move within the three-dimensional space provided by the outside world.

[0089] The second adapter structure 2 is adapted to be connected to an operating mechanism. When the first adapter structure 1 is in motion, the second adapter structure 2 is driven by the cooperation of the control wire 6 and the joint assembly, so that the operating mechanism and the second adapter structure 2 perform actions and positions adapted to the first adapter structure 1 according to the adjustment of the motion of the first adapter structure 1 by the driving mechanism.

[0090] For the wire-driven motion module provided in this embodiment, the wire-driven motion module has a bending state in which the first adapter structure 1 drives the control wire 6 under the action of the driving mechanism to drive the second adapter structure 2 and the joint assembly to bend relative to the first adapter structure 1. The wire-driven motion module also has an initial state in which the first adapter structure 1 drives the control wire 6 under the action of the driving mechanism to drive the first adapter structure 1, the positioning structure 3, and the second adapter structure 2 to be coaxially arranged. The wire-driven motion module is set to switch between the bending state and the initial state.

[0091] For the wire-driven motion module provided by the present invention, as Figure 1 shown in

[0092] In the first transfer structure 1 and the second transfer structure 2, both can be commonly replaced and connected to the driving mechanism. During specific assembly and use, one of them can be connected to the peripheral driving mechanism, and the other can be connected to the operating mechanism, which can facilitate the connection of the module structure.

[0093] As Figures 1 to 6 shown, the first transfer structure 1 includes a first transfer body 11, the second transfer structure 2 includes a second transfer body 21, and the first transfer body 11 and the second transfer body 21 are arranged at intervals; the first transfer body 11 has a first end face 111 on the side away from the connection joint unit 5. The first transfer body 11 has a first end face 111 on the side away from the connection joint unit 5. The first end face 111 is located at the proximal part of the wire-driven motion module, and the second end face 211 is located at the distal part of the wire-driven motion module. In the initial state of the wire-driven motion module, the first end face 111 and the second end face 211 are arranged opposite to each other.

[0094] It should be noted that when specifically driving the wire-driven motion module to move, the first end face 111 can be used as the reference surface driven by the driving mechanism. First, the driving mechanism can be used to drive the first transfer structure 1 to adjust its position, so that the overall wire-driven motion module moves in three-dimensional space to achieve the corresponding bending motion posture. Then, the driving mechanism can be used to adjust the first end face 111 so that the first end face 111 and the second end face 211 perform corresponding actions, so as to achieve the purpose of adjusting the position and orientation of the second end face 211, so that the operating mechanism on the second transfer structure 2 can perform actions at the predetermined target position and target direction. Correspondingly, the first end face 111 can be adjusted by the driving mechanism first, so that the second end face 211 performs corresponding actions with the first end face 111, and then the driving mechanism is used to drive and act on the first transfer structure 1 to adjust its position, so that the overall wire-driven motion module moves in three-dimensional space to achieve the corresponding bending motion posture. Among them, the first end face 111 can be used as the mounting surface for connecting the driving mechanism, and the shape of the first end face 111 can be a plane, a curved surface or a stepped surface, which is not specifically limited here.

[0095] In this embodiment, the first transfer body 11 and the second transfer body 21 are of a rotary body structure.

[0096] As Figure 3 shown, the first transfer structure 1 includes a third connection part 12. The third connection part 12 is movably connected to the joint unit 5. The third connection part 12 is arranged at the distal end of the first transfer body 11, and the joint unit 5 adjacent to the distal end of the first transfer structure 1 is driven through the third connection part 12.

[0097] As Figure 2As shown, the second transfer structure 2 includes a fourth connection part 22. The fourth connection part 22 is movably connected to the joint unit 5. The fourth connection part 22 is arranged at the proximal end of the second transfer body 21, and receives and transmits the bending moment and torque transmitted by the adjacent joint unit 5 at the proximal end on the second transfer structure 2 through the fourth connection part 22.

[0098] As Figure 1 shown, the positioning structure 3 is adapted to be connected to an externally connected support ring 4, and the positioning structure 3 is arranged between the first transfer structure 1 and the second transfer structure 2.

[0099] As Figure 7 shown, the positioning structure 3 includes a positioning body 31. The positioning body 31 can serve as a support space for the control line 6, so as to cause the two ends of the control line 6 to bend according to the movement of the first transfer structure 1.

[0100] As Figures 7 to 9 shown, the positioning structure 3 includes a first connection part 33 and a second connection part 34. The first connection part 33 is arranged at one end of the positioning body 31 close to the first transfer structure 1, and the first connection part 33 is movably connected to the joint unit 5; the second connection part 34 is arranged at one end of the positioning body 31 close to the second transfer structure 2, and the second connection part 34 is adapted to be movably connected to the joint unit 5.

[0101] When the wire-driven motion module needs to be in a bent state, the support ring 4 is fixed to the positioning body 31, and the adjacent joint unit 5 is limited by the first connection part 33 and the second connection part 34, ensuring the stable cooperation and movement between the positioning body 31 and the adjacent joint unit, so as to promote the reliable bending of the joint assembly.

[0102] When the wire-driven motion module needs to be in a rotating state, the first transfer structure 1 pulls the control line 6 and the adjacent joint assembly to rotate together. The first connection part 33 receives the transmission of the adjacent joint unit 5, so that the positioning structure 3 rotates synchronously, and drives the joint unit 5 between the second transfer structure 2 and the positioning structure 3 and the second transfer structure 2 through the second connection part 34, so that the wire-driven motion module rotates as a whole.

[0103] The wire-driven motion module provided by the present invention, as Figure 1 As Figure 2 shown, the joint assembly includes a plurality of interconnected joint units 5. The adjacent joint units 5 are configured to be movably connected to each other, and the joint assembly is mechanically coupled between any transfer structure and the positioning structure 3.

[0104] In this embodiment, as Figures 13 to 16As shown in the figure, the joint unit 5 includes a rotating member 51 and a limit support 52. A limit portion 511 is provided in the circumferential direction of the rotating member 51; the limit support 52 is fixedly connected to the rotating member 51. An accommodation cavity 521 for movably connecting the rotating member 51 of an adjacent joint unit 5 is provided in the limit support 52. A limiting member 53 is provided in the accommodation cavity 521. The limiting member 53 cooperates with the limit portion 511 of the adjacent joint unit 5 to limit the axial rotation of the rotating member 51 of the adjacent joint unit 5. The limiting member 53 and the limit support 52 can be integrally formed and cooperate to form the space where the accommodation cavity 521 is located. The rotating member 51 is movably adapted to the accommodation cavity 521. The rotating member 51 is movably connected between the limiting member 53 and the accommodation cavity 521. By jointly limiting the rotating member 51 by the limiting member 53 and the accommodation cavity 521, the adjacent joint unit 5 is bent in the circumferential direction.

[0105] In this embodiment, as Figure 16 shown, two limit portions 511 are provided. The two limit portions 511 are spaced apart to form an assembly space for limiting the limiting member 53. The limiting member 53 is movably connected to the assembly space, and the limiting member 53 rotatably abuts between the limit portions 511.

[0106] In this embodiment, as Figure 13 and Figure 16 shown, the rotating member 51 has a spherical surface, and the spherical surface can be formed by the outer wall surfaces of the two limit portions 511.

[0107] In this embodiment, as Figure 13 and Figure 15 shown, the accommodation cavity 521 is a spherical segment cavity. The wall surface of the spherical segment cavity is rotatably and adaptively connected to the outer wall surface of the rotating member 51 of the adjacent joint unit 5. The accommodation cavity 521 restricts the movement of the rotating member 51, so that the rotating member 51 rotates around the axial direction of the limiting member 53.

[0108] The wire-driven motion module provided in this embodiment, as Figure 13 and Figure 15 shown, the limiting member 53 is a cylinder. The extending direction of the cylinder is vertically intersecting with the plane where the limit portion 511 is located, so that the adjacent joint units 5 are orthogonally arranged. The adjacent joint units 5 have two perpendicular pivot axes, one of which is parallel to the extending direction of the cylinder, and the other is parallel to the intersection line of the radial plane of the cylinder and the extending direction of the cylinder.

[0109] In this embodiment, as Figure 13 and Figure 14 shown, a wire passing hole 523 is provided on the joint unit 5. The wire passing hole 523 is movably connected to the control wire 6. The control wire 6 drives the adjacent joint unit 5 by abutting against the wire passing hole 523.

[0110] In the linear drive motion module provided in this embodiment, in the positioning structure 3, the first connecting portion 33 and the second connecting portion 34 have the same structure as the rotating member 51. In the first adapter structure 1 and the second adapter structure 2, the third connecting portion 12 and the fourth connecting portion 22 have the same structure as the limiting support 52. The linear drive motion module has good transmission adaptability.

[0111] As an alternative implementation of this embodiment, in the positioning structure 3, the first connecting portion 33 and the second connecting portion 34 have the same structure as the limiting support 52. In the first adapter structure 1 and the second adapter structure 2, the third connecting portion 12 and the fourth connecting portion 22 have the same structure as the rotating member 51. The structure of the connecting portion is selected and adapted according to the connection mode of the joint assembly and the actual transmission.

[0112] In the linear drive motion module provided in this embodiment, the joint unit 5 connecting the first adapter structure 1 and the positioning structure 3 is named the first joint assembly, and the joint unit 5 connecting the second adapter structure 2 and the positioning structure 3 is named the second joint assembly. The number of joint units 5 included in the first joint assembly and the number of joint units 5 included in the second joint assembly are not specifically limited.

[0113] In this embodiment, when the number of joint units 5 in the first joint assembly is greater than the number of joint units 5 in the second joint assembly, the linear drive motion module of this structure has better flexibility. The angle that adjacent joint units 5 in the first joint assembly need to rotate becomes smaller. During the transmission of self-rotation, the smaller the rotation angle of adjacent joint units 5, the more conducive it is to the transmission of self-rotation. At this time, while maintaining the original positional relationship where the first end face 111 and the second end face 211 are parallel or intersect at an included angle in space, the first adapter structure 1 can be actuated by the drive mechanism to make the first joint assembly perform flexion and extension movements to adjust the posture of the linear drive motion module. At this time, the second joint assembly and the second adapter structure 2 maintain their original postures unchanged.

[0114] In this embodiment, when the number of joint units 5 in the first joint assembly is the same as the number of joint units 5 in the second joint assembly, the linear drive motion module of this structure has continuous transmission and consistent synchronous movement between the first joint assembly and the second joint assembly, and is simple to use and operate.

[0115] In this embodiment, when the number of joint units 5 in the first joint assembly is less than the number of joint units 5 in the second joint assembly, the linear drive motion module of this structure has a tight connection between adjacent joint units 5 in the first joint assembly, a compact structure, and good stiffness in its connection, which is beneficial to promoting its connection strength.

[0116] In the linear drive motion module provided in this embodiment, there are two or more control lines 6, and all the control lines 6 are rotationally symmetrically arranged along the axis direction of the positioning structure 3.

[0117] In this embodiment, the control line 6 can be made of elastic materials such as elastic fiber ropes and nitinol wires to drive the joint assembly and the second adapter structure 2 by the control line 6, thereby realizing the function of the linkage of the cable-driven motion module. In the initial state, when it is necessary to synchronously bend the joint units 5 at both ends of the positioning structure 3, the lengths of all the control lines 6 are set to be the same, which is conducive to promoting the corresponding and consistent transmission and linkage bending of the cable-driven motion module.

[0118] In this embodiment, as Figure 1 shown, taking four control lines 6 as an example, the four control lines 6 are respectively arranged on the cable-driven motion module in a penetrating manner, and the elastic coefficients of the four control lines 6 are the same. In this embodiment, both ends of the control line 6 are fixedly connected to the first adapter structure 1 and the second adapter structure 2 respectively. The control line 6 passes through all the joint units 5 and the positioning structure 3 and is movably connected to the joint unit and the positioning structure 3.

[0119] For the cable-driven motion module provided in this embodiment, under the traction of the first adapter structure 1, the control line 6 can rotate and adjust the adjacent joint unit 5 and the second adapter body 21 accordingly to adapt to the movement of the first adapter structure 1. The cable-driven motion module abuts against the positioning body 31 through the middle section of the control line 6. When the first adapter structure 1 pulls one end of the control line 6 to move, the second adapter structure 2 where the other end of the control line 6 is located performs an adapted action, thereby realizing the linkage bending process.

[0120] For the cable-driven motion module provided in this embodiment, the first adapter structure 1 is the same as the second adapter structure 2. Taking the first adapter structure 1 as an example, as Figure 3 shown in Figure 4 , the first adapter structure 1 further includes an assembly hole 113 and a fixing part 114. The control line 6 is arranged in the assembly hole 113. The fixing part 114 is adjacently arranged to the assembly hole 113. The fixing part 114 is fixedly connected to one end of the control line 6. The connection between the fixing part 114 and the control line 6 includes but is not limited to welding, bonding, and locking through fastening connectors.

[0121] For the cable-driven motion module provided in this embodiment, as Figures 7 to 9 shown, the positioning structure 3 further includes a limiting channel 32 formed in the positioning body 31 for the control line 6 to pass through. The number of the limiting channels 32 is two or more, and the number of the limiting channels 32 is the same as the number of the control lines 6. The movement of the control line 6 is limited and guided through the limiting channels 32.

[0122] For the cable-driven motion module provided in this embodiment, there are no specific limitations on the length and material of the positioning body 31. The material of the positioning body 31 can be steel pipes, medical plastic pipes, etc. The length and material are selected and adapted according to the actual application scenarios.

[0123] The wire drive motion module provided by the present invention is as follows: Figure 5 and Figure 6 As shown, any transition structure has a second connection hole 112 extending in the same direction as its extension direction. Figure 7 and Figure 10 As shown, the positioning structure 3 also includes a first connecting hole 311 extending in the same direction as the extending direction thereof. Figure 14 and Figure 15 As shown, any joint unit 5 has a core hole 522, and all the core holes 522, all the second connection holes 112 and the first connection hole 311 together constitute an intervention channel, which is suitable for the external pipe fittings to pass through. The matching holes are arranged on the transition structure, the joint assembly and the positioning structure 3, aiming to form an intervention channel for medical purposes, etc. Through the operating space formed by the intervention channel, a flexible pipe can be connected in the intervention channel, and when the line drive motion module bends and changes, the pipes are bent together to meet the desired working conditions.

[0124] The wire drive motion module provided in this embodiment is as follows: Figure 10 As shown, the extension direction of the limiting channel 32 is parallel to the extension direction of the positioning body 31, and the limiting channel 32 is a straight channel. Figure 11 and Figure 12 As shown, the line-driven motion module has a first bending state in which the first adapter structure 1 is driven by the driving mechanism to pull the control line 6, so as to drive the second adapter structure 2 and the joint assembly to bend synchronously and synchronously relative to the first adapter structure 1 to form an S-shaped motion. The first end surface 111 and the second end surface 211 are always arranged in parallel, and the second end surface 211 can perform a corresponding action by operating the position of the first end surface 111.

[0125] like Figure 11 and Figure 12 As shown, in the first bending state, the first adapter structure 1 and the second adapter structure 2 move toward each other in the XY plane, and the first adapter structure 1 and the second adapter structure 2 bend in relative opposite directions, so that the joint assembly can achieve the desired movement posture and position during the S-shaped bending movement to meet the required usage conditions.

[0126] The wire-driven motion module provided by the present invention has a first adapter structure 1 and a first joint assembly in the wire-driven motion module that can bend relative to the second adapter structure 2 and the second joint assembly. The displacement of the first adapter structure 1 relative to the positioning structure 3 in three-dimensional space caused by the driving mechanism is compensated by the rotation of the adjacent joint units 5 connected between the first adapter structure 1 and the positioning structure 3 and the elastic expansion and contraction of the control line 6 itself, so that the first joint assembly can perform flexible flexion and extension movements; at this time, the first end face 111 and the second end face 211 maintain their original parallel positional relationship in space, and the second adapter structure 2 and the second joint assembly maintain their original postures unchanged. Within the range of the flexible activity of the first joint assembly, the driving mechanism can drive the first adapter structure 1 to adjust the flexion and extension of the first joint assembly at the position of the wire-driven motion module during its S-shaped bending movement, so that the first joint assembly can achieve the desired movement posture and position during the flexion and extension movement to meet the required use conditions. Accordingly, the driving mechanism can first drive the first adapter structure 1 to adjust the first joint assembly to flex and extend, and then drive the first adapter structure 1 to make the entire linear drive motion module perform an S-shaped bending motion, thereby meeting the required working conditions.

[0127] As an alternative implementation of this embodiment, any of the first connecting portion 33 and the second connecting portion 34 on the positioning structure 3 can be formed by a joint unit 5 to achieve the purpose of transmitting power and torque. By directly fixing one or two joint units 5 to the end of the positioning structure 3 along the first direction, the fixing method can be one-piece molding, welding, threaded connection or pin connection, etc., and the joint unit 5 is movably connected in series with the joint assembly.

[0128] As an alternative implementation of this embodiment, in the third connection part 12 of the first adapter structure 1 and the fourth connection part 22 of the second adapter structure 2, any connection part can be formed by a joint unit 5 to achieve the purpose of transmitting power and torque. By directly fixing a joint unit 5 to the distal end of the first adapter structure 1 or the proximal end of the second adapter structure, the fixing method can be one-piece molding, welding, threaded connection or pin connection, etc., and the joint unit 5 is movably connected in series with the joint assembly.

[0129] It should be noted that the wire-driven motion module can use any of the motion postures it can achieve as the initial motion position driven by the driving mechanism. The wire-driven motion module has the advantages of flexible operation and coherent and stable motion.

[0130] The wire-driven motion module provided in the present embodiment locates the movement of the guide control wire 6 through the positioning structure 3. The joint components and the adapter structure connected at both ends of the positioning structure 3 perform bending transformations based on the positioning structure 3. When the wire-driven motion module switches the bending state and the initial state, the first adapter structure 1 and the second adapter structure 2 perform corresponding movements around the positioning structure 3. The force and torque are transmitted through the connection of the control wire 6, which can promote the second adapter structure 2 to be synchronously linked with the first adapter structure 1, so that the second adapter structure 2 can achieve the desired movement and position. Through the structural optimization design of the overall module, the stability of the joint unit 5 driven by the control wire 6 is improved, and the movement is continuous, which can avoid causing small jumping errors between adjacent joints.

[0131] Example 2

[0132] This embodiment provides a linear drive motion module, which is different from the linear drive motion module provided in Embodiment 1 in that the limiting channel 32 is in the shape of a non-through channel, such as Figure 17 As shown, in this embodiment, there are four limit channels 32, which are adapted and movably connected to the four control lines 6, and the four limit channels 32 are rotationally symmetrically distributed on the positioning body 31 to promote the stability of the connection and achieve the desired transmission action.

[0133] The wire drive motion module provided in this embodiment is as follows: Figures 18 to 20 As shown, the limiting channel 32 has a first lead wire opening 3201 close to the first adapter structure 1 and a second lead wire opening 3202 close to the second adapter structure 2. The first lead wire opening 3201 and the first plane where the axis of the positioning structure 3 is located, and the second lead wire opening 3202 and the second plane where the axis of the positioning structure 3 is located, form an angle of 90 degrees. The movement and force of the control line 6 are changed by the limiting channel 32, so that when the control line 6 is pulled by the first adapter structure 1, it automatically acts on the second adapter structure 2 and the joint assembly connected between the positioning structure 3 and the second adapter structure 2, so that the control line 6 causes the joint assembly connected at both ends of the positioning structure 3 and the adapter structure to bend and transform based on the positioning structure 3, driving the second adapter structure 2 and the joint assembly to bend synchronously relative to the first adapter structure 1 to form a second bending state of eccentric S-shaped motion.

[0134] Take one of the limit channels 32 as an example. Figure 17 and Figure 18As shown, the limiting channel 32 includes a first straight segment 321, a second straight segment 322 and a curved segment 323; the first straight segment 321 is arranged on a side of the positioning body 31 close to the first adapter body 11, and the second straight segment 322 is arranged on a side of the positioning body 31 close to the second adapter body 21; the extension direction of the first straight segment 321 and the extension direction of the second straight segment 322 are arranged parallel to the extension direction of the positioning body 31; the curved segment 323 is connected and arranged between the first straight segment 321 and the second straight segment 322, the first lead wire opening 3201 is arranged at the proximal end of the first straight segment 321, and the second lead wire opening 3202 is arranged at the distal end of the first straight segment 321.

[0135] In the second bending state, for example, when an external force acts on the first adapter structure 1 Figure 1 When the first adapter structure 1 and the first joint assembly move in the X-axis extension direction, the first adapter structure 1 and the first joint assembly bend and move in the X-axis extension direction. At this time, under the transmission action of the control line 6, the second adapter structure 2 and the second joint assembly move in the X-axis extension direction. Figure 1 The bending movement in the Y-axis extension direction is shown, and the bending direction of the first joint component and the bending direction of the second joint component are projected at 90 degrees on the XY plane, so that the joint component can achieve the desired action posture and position during the eccentric S-shaped curve action to meet the required working conditions.

[0136] The wire-driven motion module provided by the present invention has a first adapter structure 1 and a first joint assembly in the wire-driven motion module that can bend relative to the second adapter structure 2 and the second joint assembly. The displacement of the first adapter structure 1 relative to the positioning structure 3 in three-dimensional space caused by the driving mechanism is compensated by the rotation of the adjacent joint units 5 connected between the first adapter structure 1 and the positioning structure 3 and the elastic expansion and contraction of the control line 6 itself, so that the first joint assembly can perform flexible flexion and extension movements; at this time, the first end face 111 and the second end face 211 maintain their original spatial positional relationship of being parallel or extending and intersecting at an angle, and the second adapter structure 2 and the second joint assembly maintain their original postures unchanged. Within the range of the flexible activity of the first joint assembly, the driving mechanism can drive the first adapter structure 1, so that the wire-driven motion module can adjust the flexion and extension of the first joint assembly at its position during the skewed S-shaped action, so that the first joint assembly can achieve the desired action posture and position during the flexion and extension action to meet the required use conditions. Accordingly, the driving mechanism can first drive the first adapter structure 1 to adjust the first joint assembly for flexion and extension, and then drive the first adapter structure 1 to perform an eccentric S-shaped bending motion on the entire linear drive motion module to meet the required working conditions.

[0137] Example 3

[0138] The wire drive motion module provided in this embodiment is different from the wire drive motion module provided in Embodiment 1 in that the limiting channel 32 is in the shape of a non-through channel, such as Figure 21 and Figure 22 As shown, in this embodiment, there are four limit channels 32, which are adapted and movably connected to the four control lines 6, and the four limit channels 32 are rotationally symmetrically distributed on the positioning body 31 to promote the stability of the connection and achieve the desired transmission action.

[0139] The wire drive motion module provided in this embodiment is as follows: Figure 22 As shown, the limiting channel 32 has a third lead opening 3203 close to the first adapter structure 1 and a fourth lead opening 3204 close to the second adapter structure 2. The third lead opening 3203 and the third plane where the axis of the positioning structure 3 is located, and the fourth lead opening 3204 and the fourth plane where the axis of the positioning structure 3 is located, form an angle of 180 degrees. The movement and force of the control line 6 are changed by the limiting channel 32, so that when the control line 6 is pulled by the first adapter structure 1, it automatically acts on the second adapter structure 2 and the joint assembly connected between the positioning structure 3 and the second adapter structure 2, so that the control line 6 causes the joint assembly connected at both ends of the positioning structure 3 and the adapter structure to bend and transform based on the positioning structure 3, driving the second adapter structure 2 and the joint assembly to bend synchronously relative to the first adapter structure 1 to form a third bending state of C-shaped movement.

[0140] Take one of the limit channels 32 as an example. Figure 22 As shown, the limiting channel 32 includes a first straight segment 321, a second straight segment 322 and a curved segment 323; the extension direction of the first straight segment 321 and the extension direction of the second straight segment 322 are arranged parallel to the extension direction of the positioning body 31; the curved segment 323 is connected and arranged between the first straight segment 321 and the second straight segment 322, the third lead wire opening 3203 is arranged at the proximal end of the first straight segment 321, and the fourth lead wire opening 3204 is arranged at the distal end of the first straight segment 321.

[0141] In the third bending state, the first adapter structure 1 and the second adapter structure 2 are close to each other in the circumferential plane along the radial plane of the positioning body 31, so that the joint assembly can achieve the desired movement posture and position during the C-shaped bending movement to meet the required usage conditions.

[0142] The wire-driven motion module provided by the present invention has a first adapter structure 1 and a first joint assembly in the wire-driven motion module that can bend relative to the second adapter structure 2 and the second joint assembly. The displacement of the first adapter structure 1 relative to the positioning structure 3 in three-dimensional space caused by the driving mechanism is compensated by the rotation of the adjacent joint units 5 connected between the first adapter structure 1 and the positioning structure 3 and the elastic expansion and contraction of the control line 6 itself, so that the first joint assembly can perform flexible flexion and extension movements; at this time, the first end face 111 and the second end face 211 maintain their original spatial positional relationship of being parallel or extending and intersecting at an angle, and the second adapter structure 2 and the second joint assembly maintain their original postures unchanged. Within the range of the flexible activity of the first joint assembly, the driving mechanism can drive the first adapter structure 1 to adjust the flexion and extension of the first joint assembly at the position of the wire-driven motion module during its C-shaped bending movement, so that the first joint assembly can achieve the desired movement posture and position during the flexion and extension movement to meet the required use conditions. Accordingly, the driving mechanism can first drive the first adapter structure 1 to adjust the first joint assembly to flex and extend, and then drive the first adapter structure 1 to perform a C-shaped bending motion on the entire linear drive motion module to meet the required working conditions.

[0143] Example 4

[0144] A minimally invasive surgical forceps includes a wire-driven motion module configured with embodiment 1, embodiment 2 or embodiment 3. Therefore, it also has the advantages brought by embodiments 1, embodiment 2 and embodiment 3. During specific use, when the wire-driven motion module rotates, it can be rotatably connected with the positioning structure 3 through the support ring 4. When the wire-driven motion module is bent in a linked manner, the support ring 4 and the positioning structure 3 can be fixed.

[0145] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A wire-driven motion module, characterized in that, Comprising: A first transfer structure (1) and a second transfer structure (2) arranged at intervals, the first transfer structure (1) being adapted to be connected to an external drive mechanism, and the second transfer structure (2) being adapted to be connected to an operating mechanism; A positioning structure (3), adapted to be connected to an external support ring (4), the positioning structure (3) being arranged between the first transfer structure (1) and the second transfer structure (2); A joint assembly, the joint assembly comprising a plurality of interconnected joint units (5), adjacent joint units (5) being configured to be movably connected to each other, and the joint assembly being mechanically coupled between any one of the transfer structures and the positioning structure (3); And at least two control lines (6), both ends of the control line (6) being fixedly connected to the first transfer structure (1) and the second transfer structure (2) respectively, the control line (6) passing through all joint units (5) and the positioning structure (3), and being movably connected to the joint units (5) and the positioning structure (3); the lengths of all control lines (6) are set to be the same; The wire-driven motion module has a bending state in which the first transfer structure (1) pulls the control line (6) under the action of an external force to drive the second transfer structure (2) and the joint assembly to bend synchronously relative to the first transfer structure (1); And an initial state in which the first transfer structure (1), the positioning structure (3) and the second transfer structure (2) are coaxially arranged, the wire-driven motion module being switchable between the bending state and the initial state; The positioning structure (3) comprises: A positioning body (31) and at least two limiting channels (32) formed in the positioning body (31), the limiting channels (32) being for the control line (6) to pass through, and the limiting channels (32) being straight channels or non-straight channels.

2. The wire-driven motion module according to claim 1, wherein The extending direction of the limiting channel (32) is parallel to the extending direction of the positioning body (31); The wire-driven motion module has a first bending state in which the first transfer structure (1) pulls the control line (6) under the action of an external force to drive the second transfer structure (2) and the joint assembly to bend synchronously relative to the first transfer structure (1) in an S-shaped motion.

3. The wire-driven motion module according to claim 2, wherein, In the first bending state, a first end face (111) of the first transfer structure (1) on the side away from connecting the joint unit (5) is parallel to a second end face (211) of the second transfer structure (2) on the side away from connecting the joint unit (5).

4. The wire-driven motion module according to claim 1, characterized in that, Any one of the limiting channels (32) has a first lead port (3201) on the side close to the first transfer structure (1) and a second lead port (3202) on the side close to the second transfer structure (2), and a first plane where the first lead port (3201) and the axis of the positioning structure (3) are located and a second plane where the second lead port (3202) and the axis of the positioning structure (3) are located form a 90-degree angle; The wire-driven motion module has a second bending state in which the first adapter structure (1) drives the control wire (6) under the action of an external force to drive the second adapter structure (2) and the joint assembly to synchronously bend relative to the first adapter structure (1) in a skew S shape.

5. The wire-driven motion module according to claim 1, characterized in that Any one of the limiting channels (32) has a third wire lead port (3203) on the side close to the first adapter structure (1) and a fourth wire lead port (3204) on the side close to the second adapter structure (2), and the third wire lead port (3203) and the third plane where the axis of the positioning structure (3) is located, and the fourth plane where the fourth wire lead port (3204) and the axis of the positioning structure (3) are located form an angle of 180 degrees. The wire-driven motion module has a third bending state in which the first adapter structure (1) drives the control wire (6) under the action of an external force to drive the second adapter structure (2) and the joint assembly to synchronously bend relative to the first adapter structure (1) in a C shape.

6. The wire-driven motion module according to claim 1, wherein The limiting channel (32) includes a first straight segment (321), a second straight segment (322), and a bending segment (323); the first straight segment (321) is arranged on the side of the positioning body (31) close to the first adapter structure (1), and the second straight segment (322) is arranged on the side of the positioning body (31) close to the second adapter structure (2); The extending directions of the first straight segment (321) and the second straight segment (322) are parallel to the extending direction of the positioning body (31); The bending segment (323) is connected and arranged between the first straight segment (321) and the second straight segment (322).

7. The wire-driven motion module according to claim 1, wherein The positioning structure (3) further includes a first connection hole (311) extending in the same direction as its extending direction; Any one of the adapter structures has a second connection hole (112) extending in the same direction as its extending direction; Any one of the joint units (5) has a core hole (522), and all the core holes (522), all the second connection holes (112), and the first connection hole (311) together form an intervention channel, and the intervention channel is suitable for an external pipe fitting to pass through.

8. The wire-driven motion module according to any one of claims 1-7, characterized in that, The wire-driven motion module further has a rotation state in which the first adapter structure (1) rotates under the action of an external force to drive the control wire (6) and drive the second adapter structure (2) and the joint assembly to twist synchronously with the first adapter structure (1).

9. The wire-driven motion module according to any one of claims 1-7, characterized in that The positioning structure (3) further includes: A first connection part (33) arranged at one end of the positioning body (31) close to the first adapter structure (1), and the first connection part (33) is movably connected to the joint unit (5); A second connection part (34) arranged at one end of the positioning body (31) close to the second adapter structure (2), and the second connection part (34) is suitable for being movably connected to the joint unit (5).

10. The wire-driven motion module according to any one of claims 1-7, characterized in that, The first adapter structure (1) includes a third connection part (12), and the third connection part (12) is movably connected to the joint unit (5); The second adapter structure (2) includes a fourth connection part (22), and the fourth connection part (22) is movably connected to the joint unit (5).

11. The wire-driven motion module according to any one of claims 1-7, characterized in that, Any one of the adapter structures further includes an assembly hole (113) and a fixing part (114). The control line (6) is passed through the assembly hole (113). The fixing part (114) is adjacently arranged to the assembly hole (113), and the fixing part (114) is fixedly connected to one end of the control line (6).

12. The wire-driven motion module according to any one of claims 1-7, characterized in that, The wire-driven motion module includes at least four control lines (6), and all the control lines (6) are rotationally symmetric along the axial direction of the positioning structure (3).

13. The wire-driven motion module according to any one of claims 1-7, characterized in that, The joint unit (5) includes: A rotating member (51) with a limiting part (511) arranged in the circumferential direction; A limiting support (52) fixedly connected to the rotating member (51). The limiting support (52) has at least one accommodating cavity (521) for movably connecting the rotating member (51) of an adjacent joint unit (5). A limiting member (53) is further arranged in the accommodating cavity (521). The limiting member (53) cooperates with the limiting part (511) of the adjacent joint unit (5) to limit the axial rotation of the rotating member (51) of the adjacent joint unit (5).

14. The wire-driven motion module according to claim 13, characterized in that, The rotating member (51) is a sphere, and the inner wall surface of the accommodating cavity (521) is adapted to the outer wall surface of the rotating member (51) of the adjacent joint unit (5); Two limiting parts (511) are arranged, and the two limiting parts (511) are spaced apart to form an assembly space for limiting the limiting member (53), and the limiting member (53) is movably connected in the assembly space; The limiting member (53) is a cylinder, and the extending direction of the cylinder is vertically intersecting with the plane where the limiting part (511) is located.

15. The wire-driven motion module according to claim 9, characterized in that, Any one of the connection parts has the same structure as the rotating member (51) or the limiting support (52).

16. The wire-driven motion module according to claim 10, characterized in that, Any one of the connection parts has the same structure as the rotating member (51) or the limiting support (52).

17. A minimally invasive surgical forceps, characterized in that, It includes a wire-driven motion module, and the above wire-driven motion module is the wire-driven motion module described in any one of claims 1-16.

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