Control mechanism for a flexible medical instrument

Abstract

The application relates to the technical field of medical robots, in particular to a control mechanism of a flexible medical instrument. The control mechanism comprises a first swing control structure; the first swing control structure comprises a first swing control shaft and a first pull wire; the first pull wire penetrates through a flexible mechanical arm, and an operation end of the first pull wire is fixed to an operation end of the flexible mechanical arm; a fixed end of the first pull wire is fixed and wound around the first swing control shaft; wherein rotation of the first swing control shaft can adjust the winding length of the first pull wire, so as to drive the flexible mechanical arm to swing. Rotating the swing control shaft controls the winding length of the first pull wire, and further controls the swing of the flexible mechanical arm. The control mechanism has simple structure and simple operation, and the swing control is accurate. For a surgical robot comprising the control mechanism, a simple, high-precision and miniaturized design can be realized.

Description

Technical Field

[0001] This application relates to the field of medical robot technology, and in particular to a control mechanism for a flexible medical device. Background Technology

[0002] With the development of minimally invasive surgery, surgical robots have been widely used in the medical field. Surgical robots are a new interdisciplinary research field integrating medicine, biomechanics, mechanics, materials science, computer graphics, computer vision, mathematical analysis, and robotics, and are currently a research hotspot in the field of robotics both domestically and internationally. Surgical robots offer advantages such as reduced error, enhanced safety, the ability to simulate surgery, comprehensive nursing care, and reduced human resource requirements. They also possess significant advantages over traditional medical personnel in terms of patience, meticulousness, and reducing physical fatigue.

[0003] Using flexible medical devices for abdominal surgery can significantly improve the minimally invasive nature of the procedure and gradually replace open abdominal surgery, such as for surgeries on malignant and benign lesions within the mucous membranes of biological cavities like the esophagus, stomach, small intestine, large intestine, vagina, and uterus. However, current flexible medical devices suffer from low operational accuracy of their control mechanisms, complex operating structures, large size, and high cost. Summary of the Invention

[0004] This application provides a control mechanism for a flexible medical device to improve the operational accuracy of the control mechanism, simplify, miniaturize, and compact the operational structure of the control mechanism, facilitate remote surgery, and reduce costs.

[0005] On one hand, embodiments of this application provide a control mechanism for a flexible medical device, the flexible medical device including a flexible robotic arm, and the control mechanism including a first swing control structure; the first swing control structure includes a first swing control shaft and a first pull wire;

[0006] The first pull wire passes through the flexible robotic arm, and the operating end of the first pull wire is fixed to the operating end of the flexible robotic arm. The fixed end of the first pull wire is fixed and wrapped around the first swing control shaft.

[0007] The rotation of the first swing control shaft adjusts the winding length of the first pull wire, thereby driving the flexible robotic arm to swing. The swing control structure converts the rotation of the swing shaft into linear motion of the pull wire's operating end, reducing the movement space of the control components and thus the size of the control mechanism. Furthermore, this structure is simple in design, easy to operate, and low in cost. For handheld medical devices incorporating this control mechanism, it enables single-handed control of the flexible robotic arm's swing; for surgical robots incorporating this control mechanism, it allows for a simple, high-precision, and miniaturized design.

[0008] In some optional embodiments, the first swing control structure further includes a second swing control shaft and a second pull wire;

[0009] The second swing control shaft is coaxially arranged with the first swing control shaft and rotates synchronously with the first swing control shaft;

[0010] The second pull wire passes through the flexible robotic arm, and the operating end of the second pull wire is fixed to the operating end of the flexible robotic arm. The fixed end of the second pull wire is fixed and wound around the second swing control shaft.

[0011] The first and second pull wires are symmetrically arranged about the axis of the flexible robotic arm, and the winding direction of the fixed end of the first pull wire on the first swing control axis is opposite to the winding direction of the fixed end of the second pull wire on the second swing control axis.

[0012] In some optional embodiments, the outer surfaces of the first swing control shaft and the second swing control shaft are respectively provided with a first fixing member and a second fixing member, and the first pull wire and the second pull wire are respectively fixed to the first fixing member and the second fixing member.

[0013] In some alternative embodiments, a baffle is provided between the first swing control axis and the second swing control axis.

[0014] In some optional embodiments, the first swing control structure further includes a lockable retaining ring, which is sleeved on the outside of the second swing control shaft for locking the first swing control shaft and the second swing control shaft.

[0015] In some optional embodiments, the control mechanism further includes a second swing control structure;

[0016] The second swing control structure includes a third swing control shaft and a fourth swing control shaft that rotate synchronously, as well as a third pull wire and a fourth pull wire;

[0017] The first swing control axis, the second swing control axis, the third swing control axis, and the fourth swing control axis are coaxially arranged in sequence, and the rotation of the first swing control axis and the third swing control axis are independent of each other; the portions of the first pull wire, the second pull wire, the third pull wire, and the fourth pull wire in the flexible robotic arm are evenly distributed in the circumferential direction of the flexible robotic arm.

[0018] In some optional embodiments, the control mechanism further includes a rotation control structure; the rotation control structure includes a rotation control wheel and a sleeve structure; the sleeve structure has a first receiving cavity for accommodating the first swing control shaft, the second swing control shaft, the third swing control shaft, and the fourth swing control shaft; one end of the sleeve structure is connected to the flexible robotic arm, and the other end is connected to the rotation control wheel;

[0019] The rotating control wheel, the sleeve structure, and the flexible robotic arm rotate synchronously.

[0020] In some optional embodiments, the first swing control structure further includes a first swing control wheel, which is used to drive the first swing control shaft or the second swing control shaft to rotate;

[0021] The second swing control structure further includes a second swing control wheel, which is used to drive the third swing control shaft or the fourth swing control shaft to rotate;

[0022] The rotation control wheel, the first swing control wheel, and the second swing control wheel are coaxially arranged and each rotates independently.

[0023] In some optional embodiments, the first pull wire, the second pull wire, the third pull wire, and the fourth pull wire extend on the outer surface of the sleeve structure, pass through the pull wire holes on the sleeve structure, enter the first receiving cavity, and are fixed to the corresponding swing control shaft.

[0024] In some optional embodiments, the rotating limiting hole is a non-circular structure that matches the cross-sectional shape of the core thread rod.

[0025] In some alternative embodiments, a groove for receiving a pull wire is provided on the outer surface of the sleeve structure.

[0026] In some optional embodiments, the first swing control structure further includes a first guide and a second guide, and the second swing control structure further includes a third guide and a fourth guide;

[0027] The first guide, the second guide, the third guide, and the fourth guide correspond one-to-one with the first pull wire, the second pull wire, the third pull wire, and the fourth pull wire, and are used to guide the pull wire to the outer surface of the sleeve structure.

[0028] In some optional embodiments, the first guide and the third guide, the second guide and the fourth guide are arranged in pairs, and the two pairs of guides are symmetrically arranged about the axis of the first swing control axis.

[0029] In some optional embodiments, the flexible medical device further includes an operating structure, which includes a control filament and an operating tool; the control filament extends within the flexible robotic arm; the operating tool is connected to the operating end of the control filament; the control mechanism further includes a telescopic control structure, which includes a filament control shaft, a support base, and a filament threaded rod.

[0030] The core wire control shaft is coaxially arranged with the first swing control shaft, and rotates independently of the first swing control shaft, the third swing control shaft, and the sleeve structure;

[0031] The support member is fixed inside the first receiving cavity, and a rotation limiting hole is provided on the support member;

[0032] One end of the threaded rod is connected to the control thread, and the other end passes through the rotation limiting hole and is threaded to the threaded control shaft.

[0033] The rotating limiting hole is used to limit the relative rotation of the core wire threaded rod and the support member; the rotation of the core wire control shaft drives the core wire threaded rod to move axially.

[0034] In some alternative embodiments, the rotary limiting hole has a non-circular shape that matches the cross-sectional shape of the mandrel threaded rod.

[0035] In some optional embodiments, the telescopic control structure further includes a telescopic control wheel for driving the core wire control shaft to rotate.

[0036] In some alternative embodiments, the flexible robotic arm includes an inner sleeve and a protective sleeve.

[0037] The inner sleeve extends within the flexible robotic arm and accommodates the control core wire;

[0038] The protective sleeve is disposed at the operating end of the flexible robotic arm and is connected to the inner sleeve.

[0039] The protective sleeve has a channel for the operating tool to extend out and defines the maximum position of the operating tool's extension; the inner sleeve includes a variable diameter section located on the retraction path of the operating tool and defines the maximum retraction position of the operating tool.

[0040] In some optional embodiments, the control mechanism further includes a housing and a conductive elastic sheet structure;

[0041] The housing has a second receiving cavity to accommodate the rotation control structure, and the rotation control structure is capable of rotating relative to the housing; a conductive ring is provided circumferentially in the second receiving cavity, and the conductive ring is powered by an external power supply line;

[0042] One end of the conductive elastic sheet structure abuts against the control core wire, and the other end is fixed to the support and keeps in contact with the conductive ring.

[0043] In some alternative embodiments, the conductive elastic sheet structure is kept in contact with the conductive ring by a spring pin.

[0044] In some alternative embodiments, there are two conductive elastic sheet structures, which are symmetrically arranged about the axis of the support.

[0045] On the one hand, this application can control the winding length of the pull wire on the swing control shaft by setting the swing control shaft in the swing control structure, thereby controlling the flexible robotic arm to swing to one side. The swing control structure has a simple structural design, is easy to operate and has low cost, and occupies little space, thus optimizing the structural design and cost control of the control mechanism.

[0046] On the other hand, by integrating a conductive structure into one end of the control mechanism, this application can save space in the control mechanism. When the control mechanism rotates relative to the housing, the conductive structure can effectively maintain a continuous electrical connection between the operating tool and the external power supply on the housing, while ensuring insulation safety and avoiding unnecessary electrical conduction.

[0047] Furthermore, the rotation control structure, the swing control structure, and the telescopic control structure in the control mechanism are coaxial and rotate relative to each other. When applied to handheld instruments, this facilitates single-handed operation; when applied to surgical robots, it is easy to adapt to drive structures such as gears and motors, further improving control efficiency and accuracy; surgical robots incorporating the above control mechanisms can achieve a simple, high-precision, and miniaturized design. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the overall structure of a flexible robotic arm provided in an embodiment of this application;

[0050] Figure 2 This is a schematic diagram of the internal structure of a flexible robotic arm provided in an embodiment of this application;

[0051] Figure 3A This is a schematic diagram of the swinging motion of a flexible robotic arm provided in an embodiment of this application;

[0052] Figure 3B This is a schematic diagram of the swing control principle of a flexible robotic arm provided in an embodiment of this application;

[0053] Figure 4 This is a schematic diagram of the control mechanism of a flexible robotic arm provided in an embodiment of this application;

[0054] Figure 5 This is a schematic diagram of the swing control structure and telescopic control structure in the control mechanism of a flexible robotic arm provided in an embodiment of this application, including an enlarged view of the region M where the conductive structure is located;

[0055] Figure 6 This is a schematic diagram of the telescopic control structure in the control mechanism of a flexible robotic arm provided in an embodiment of this application;

[0056] Figure 7 This is a schematic diagram of the internal structure of the control mechanism of a flexible robotic arm provided in an embodiment of this application.

[0057] Figure 8 This is a schematic diagram of the conductive structure in the control mechanism of a flexible robotic arm provided in an embodiment of this application.

[0058] The meanings of the numbers in the attached diagram are as follows:

[0059] 1-Flexible robotic arm, 11-Outer tube of robotic arm, 12-Protective sleeve, 13-Inner sleeve, 131-First sleeve, 132-Reducing diameter sleeve, 133-Second sleeve, 14-Outer covering layer;

[0060] 2-Operating structure, 21-Control core wire, 22-Operating tool;

[0061] 3-Control mechanism,

[0062] 31A - First swing control structure; 311A ​​- First swing control shaft; 312A - First pull cable; 313A - Second pull cable; 314A - First fixing component; 315A - Second fixing component; 316A - Baffle; 317A - Lockable fixing ring; 318A - First swing control wheel; 319A - First swing rotary bearing; 3110A - Second swing rotary bearing; 3111A - Second swing control shaft; 3112 - Guide component;

[0063] 31B - Second swing control structure, 311B - Third swing control shaft, 312B - Third pull cable, 313B - Fourth pull cable, 314B - Third fixing component, 315B - Fourth fixing component, 316B - Baffle, 317B - Lockable fixing ring, 318B - Second swing control wheel, 319B - First swing rotary bearing, 3110B - Second swing rotary bearing, 3111B - Fourth swing control shaft;

[0064] 32-Telescopic control structure; 321-Core threaded rod; 322-Support component; 323-Core threaded control shaft; 324-Telescopic control wheel; 325-Telescopic rotary bearing; 326-Washer.

[0065] 33-Rotation control structure, 331-Lower sleeve, 332-Middle sleeve, 333-Upper sleeve, 334-Rotation control wheel, 335-First rotary bearing, 336-Second rotary bearing, 337-Groove;

[0066] 34-Housing housing, 341-First housing housing, 342-Second housing housing, 343-First housing bearing, 344-Second housing bearing;

[0067] 351 - Conductive elastic sheet structure, 352 - Conductive ring structure, 353 - First spring pin, 354 - Fastening screw. Detailed Implementation

[0068] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0069] The term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the invention. In the description of the invention, it should be understood that the terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0070] It should be noted that, in this application, rotary connection refers to a direct or indirect connection between two structures, which can rotate relative to each other without axial displacement; threaded connection refers to a connection between two structures via a threaded structure, which can generate axial displacement as the two rotate relative to each other.

[0071] The following describes a flexible medical device, which includes a flexible robotic arm. Please refer to [link / reference needed]. Figures 1 to 3BThe flexible robotic arm 1 includes an outer tube 11.

[0072] The outer tube 11 of the robotic arm is a hollow structure, comprising a flexible serpentine structure containing multiple sequentially connected segments. Adjacent segments are connected by a hinge-like design, allowing for relative deflection at a certain angle. Depending on actual needs, by adjusting the structure and deflection direction of the segments, the entire serpentine structure can achieve unidirectional, bidirectional, and four-directional deflection. For example, when the serpentine structure allows for unidirectional deflection, each segment has a unidirectional deflection design, which, combined with a return spring, allows the serpentine structure to return to its original shape when not controlled by a pull wire; when the serpentine structure allows for bidirectional deflection, each segment has a bidirectional deflection design, and adjacent segments deflect in the same direction; when the serpentine structure allows for four-directional deflection, each segment has a bidirectional deflection design, and the deflection directions of adjacent segments are perpendicular to each other. Figure 1 As shown, two adjacent vertebrae deflect along the mutually perpendicular X-axis and Y-axis, respectively.

[0073] The outer tube 11 of the robotic arm also has a through hole structure or a groove structure in its tube wall, which is used to accommodate the pull wire.

[0074] For example, such as Figure 3B As shown, the pull wires include a first pull wire 312 and a second pull wire 313, which are symmetrically arranged about the axis of the outer tube 11 of the robotic arm. Pulling the first pull wire 312 and releasing the second pull wire 313 simultaneously controls the flexible robotic arm 1 to swing towards the first pull wire 312; pulling the second pull wire 313 and releasing the first pull wire 312 simultaneously controls the flexible robotic arm 1 to swing towards the second pull wire 313, thus achieving… Figure 3A The flexible robotic arm 1 shown swings in two directions.

[0075] The pulling and releasing of the cable can be achieved by the control mechanism of the flexible medical device to control the swing of the flexible robotic arm 1. The control mechanism is often complex in structure, has low operational accuracy, large size, and high design and manufacturing costs.

[0076] Based on the above problems, the following section uses an example comprising two swing control structures to describe the control mechanism of a flexible medical device provided in this application. Please refer to... Figures 4-8 The control mechanism 3 includes two swing control structures 31, namely the first swing control structure 31A and the second swing control structure 31B (the labels are only for easy distinction between the first and the second and are not marked in the figure); the first swing control structure 31A and the second swing control structure 31B are used to control the operating end of the flexible robotic arm 1 to swing in different preset directions.

[0077] For example, the first swing control structure 31A can be used to control Figure 3A The operating end of the flexible robotic arm 1 swings in the left and right directions; the second swing control structure 31B can be used to control the operating end of the flexible robotic arm 1 to swing in the up and down directions.

[0078] Specifically, the first swing control structure 31A includes a first swing control shaft 311A ​​and a first pull wire 312A;

[0079] In some optional embodiments, the operating end of the first pull wire 312A (in this application, "operating end" refers to the end closest to the surgical operation) is disposed at the operating end of the flexible robotic arm 1. The first pull wire 312A penetrates the wall of the outer tube 11 of the robotic arm, and the fixed end of the first pull wire 312A is wound clockwise around the first swing control shaft 311A ​​and fixed to the first fixing member 314A on the outer surface of the first swing control shaft 311A. Alternatively, the fixed end of the first pull wire 312A may also be welded or bonded to the first swing control shaft 311A.

[0080] In some optional embodiments, the first swing control shaft 311A ​​of the first swing control structure 31A is located on one side of the fixed end of the flexible robotic arm 1 and can rotate relative to the flexible robotic arm 1 about its own axis. The first swing control shaft 311A ​​and the flexible robotic arm 1 can be directly connected or indirectly connected.

[0081] In some optional embodiments, the first swing control structure 31A further includes a second swing control shaft 3111A and a second pull wire 313A; the second swing control shaft 3111A and the first swing control shaft 311A ​​are coaxially arranged and rotate synchronously.

[0082] The operating end of the second pull wire 313A is located at the operating end of the flexible robotic arm 1. The second pull wire 313A penetrates the wall of the outer tube 11 of the robotic arm. The fixed end of the second pull wire 313A is wound counterclockwise around the second swing control shaft 3111A and fixed to the second fixing member 315A on the outer surface of the second swing control shaft 3111A. The fixed ends of the first pull wire 312A and the second pull wire 313A are wound in opposite directions on the corresponding swing control shafts, so that the two pull wires loosen and tighten as the two swing control shafts rotate synchronously, thereby realizing the swing of the flexible robotic arm 1 to one side. It can be understood that the winding direction of the fixed ends of the first pull wire 312A and the second pull wire 313A only needs to satisfy the condition of being opposite, and it is not necessary to limit them to clockwise or counterclockwise.

[0083] In some alternative embodiments, portions of the first pull wire 312A and the second pull wire 313A in the flexible robotic arm 1 are arranged symmetrically about the axis of the flexible robotic arm 1.

[0084] Optionally, the second swing control shaft 3111A and the first swing control shaft 311A ​​are integrally formed.

[0085] In some preferred embodiments, the first swing control shaft 311A ​​has an extension end extending in a direction away from the flexible robotic arm 1, and the second swing control shaft 3111A is sleeved on the extension end of the first swing control shaft 311A.

[0086] In some optional embodiments, the first swing control structure 31A further includes a first swing control wheel 318A, which is used to drive the first swing control shaft 311A ​​or the second swing control shaft 3111A to rotate.

[0087] Specifically, the extension end of the first swing control structure 31A is provided with a first swing control wheel 318A. Preferably, the first swing control wheel 318A is located on the side of the second swing control shaft 3111A opposite to the first swing control shaft 311A. In some other embodiments, the first swing control wheel 318A may also be connected to the extension end of the second swing control shaft 3111A.

[0088] In some optional embodiments, when the second swing control shaft 3111A is sleeved on the extension end of the first swing control shaft 311A, the first swing control structure further includes a lockable retaining ring 317A, which is sleeved on the outside of the second swing control shaft 3111A for locking the first swing control shaft 311A ​​and the second swing control shaft 3111A. Figure 6 This allows the second swing control shaft 3111A and the first swing control shaft 311A ​​to rotate synchronously.

[0089] Specifically, the lockable retaining ring 317 is provided with a locking screw and a gap. When installing the first pull cable 312A and the second pull cable 313A, loosening the locking screw opens the gap on the lockable retaining ring 317. Rotating the first swing control shaft 311A ​​and the second swing control shaft 3111A adjusts the winding length of the fixed ends of the first pull cable 312A and the second pull cable 313A on the swing control shaft until both are taut. Tightening the locking screw closes the gap on the lockable retaining ring 317, thereby fixing the second swing control shaft 3111A onto the first swing control shaft 331A.

[0090] In some optional embodiments, a baffle 316A is provided between the first swing control shaft 311A ​​and the second swing control shaft 3111A to separate the first pull wire 312A and the second pull wire 313A wound on the swing control shaft, thereby preventing the two pull wires from tangling together. Preferably, the baffle 316A extends radially outward from the outer surface of the first swing control shaft 311A ​​and / or the second swing control shaft 3111A.

[0091] For details, please refer to Figures 5-8 The baffle 316A is disposed between the first fixing member 314A and the second fixing member 315A in the first swing control structure 31A; the first pull wire 312A is wound around the first region between the baffle 316A and the first fixing member 314A of the second swing control shaft 3111A, and the second pull wire 313A is wound around the second region between the baffle 316A and the first swing control shaft 311A.

[0092] The second swing control structure 31B is similar in structure to the first swing control structure 31A described above, and will be briefly introduced below.

[0093] In some optional embodiments, the second swing control structure 31B includes a third swing control shaft 311B, a fourth swing control shaft 3111B, a third pull wire 312B, and a fourth pull wire 313B; the fourth swing control shaft 3111B is sleeved on the third swing control shaft 311B.

[0094] like Figure 7 As shown, the third swing control axis 311B is rotatably connected to the outside of the first swing control axis 311A ​​and is located on the side of the second fixing member 315A away from the flexible robotic arm 1.

[0095] In some alternative embodiments, the third fastener 314B is fixed to the outside of the third swing control shaft 311B; the fourth fastener 315B is fixed to the outside of the fourth swing control shaft 3111B.

[0096] The third pull wire 312B is wound clockwise and fixed to the third fastener 314B; the fourth pull wire 313B is wound counterclockwise and fixed to the fourth fastener 315B.

[0097] In some optional embodiments, the second swing control structure 31B further includes a lockable retaining ring 317B, which is sleeved on the outside of the fourth swing control shaft 3111B for locking the third swing control shaft 311B and the fourth swing control shaft 3111B.

[0098] In some alternative embodiments, the outer surface of the third swing control shaft 311B is provided with a baffle 316B extending radially, the baffle 316B being disposed between the third fixing member 314B and the fourth fixing member 315B.

[0099] In some optional embodiments, the second swing control structure 31B further includes a second swing control wheel 318B, which is used to drive the third swing control shaft 311B or the fourth swing control shaft 3111B to rotate.

[0100] Specifically, a second swing control wheel 318B is provided at the extension end of the third swing control shaft 311B.

[0101] In the above embodiments, the volume of multiple swing control structures can be effectively reduced by the sleeve-type rotary connection between multiple swing control axes, and it is also convenient to install multiple swing control structures.

[0102] By incorporating a swing control structure, handheld medical devices can achieve single-handed control of the flexible robotic arm's swing. Specifically, rotating the swing control axis increases or decreases the winding lengths of the first and second pull wires, thereby controlling the swing of the flexible robotic arm. The swing control structure is simple in design, easy to operate, low in cost, and occupies little space, thus optimizing the structural design and cost control of the control mechanism. For surgical robots incorporating this control mechanism, the swing control wheel can be a gear, driven by a transmission structure consisting of a motor and gears, enabling a simple, high-precision, and miniaturized design.

[0103] In some optional embodiments, the control mechanism 3 further includes a rotation control structure 33.

[0104] The rotation control structure 33 is a hollow structure and is fixed to the fixed end of the flexible robotic arm 1, and extends in a direction away from the flexible robotic arm 1; the rotation control structure 33 is used to rotate the flexible robotic arm 1.

[0105] In some optional embodiments, the extension of the rotation control structure 33 is a sleeve structure, and the swing control structure 31 is disposed inside the sleeve structure. One end of the sleeve structure is connected to the flexible robotic arm 1, and the other end is connected to the rotation control wheel 334.

[0106] The rotary control wheel 334, the sleeve structure, and the flexible robotic arm 1 rotate synchronously.

[0107] In some optional embodiments, the rotation control wheel 334, the first swing control wheel 318A, and the second swing control wheel 318B are coaxially arranged and each rotates independently.

[0108] Specifically, the sleeve structure has a first receiving cavity for accommodating the first swing control shaft 311A, the second swing control shaft 3111A, the third swing control shaft 311B, and the fourth swing control shaft 3111B.

[0109] Specifically, the sleeve structure includes a lower sleeve 331, a middle sleeve 332, and an upper sleeve 333 extending in a direction away from the flexible robotic arm 1. The lower sleeve 331 is fixed to the outside of the fixed end of the flexible robotic arm 1 by a pin, thereby fixing the rotation control structure 33 to the fixed end of the flexible robotic arm 1. Alternatively, other connection methods can be used, such as welding or bonding.

[0110] In some alternative embodiments, the lower sleeve 331 is a variable-diameter sleeve opening to guide the pull wire extending from the fixed end of the flexible robotic arm 1 to the outer surface of the sleeve structure. The middle sleeve 332 is fitted onto the larger end of the variable-diameter sleeve opening; the upper sleeve 333 is fitted onto the extended end of the middle sleeve 332. The opening of the middle sleeve 332 is aligned with the lockable retaining ring 317 to facilitate adjustment of the lockable retaining ring 317.

[0111] The outer surface of the sleeve structure is provided with at least one groove 337. The number of grooves 337 corresponds to the number of pull wires and is used to accommodate the first pull wire 312A, the second pull wire 313A, the third pull wire 312B and the fourth pull wire 313B, so that they extend in the grooves 337.

[0112] The sleeve structure is provided with multiple pull wire through holes, which are used to guide the pull wire in the groove to a fixed position on the swing control shaft, such as a fastener corresponding to the pull wire.

[0113] For example, such as Figure 4 The groove 377 shown is provided with a pull wire through hole (not labeled in the figure), which is used to guide the first pull wire 312A to the first fixing member 314A.

[0114] In the above embodiment, the rotation control structure 33 achieves coaxiality with the swing control structure 31 through the sleeve structure, and provides a accommodating space for the swing control structure 31, preventing improper axial displacement of the components in the swing control structure 31 and ensuring the control accuracy of the swing control. Furthermore, by setting a groove on the outside of the sleeve structure of the rotation control structure 33, the pull wire is guided to extend on the outer surface of the sleeve structure, avoiding the pull wires from tangling with each other. This facilitates assembly and ensures the normal use of the product.

[0115] In some alternative embodiments, the lower sleeve 331 of the sleeve structure includes at least one guide 3112, the number of guides 3112 corresponding to the number of pull wires, for guiding the pull wires to the outer surface of the sleeve structure.

[0116] For example, guide element 3112 is a guide rod or guide wheel.

[0117] In some optional embodiments, the first swing control structure 31A further includes a first guide and a second guide, and the second swing structure 31B further includes a third guide and a fourth guide;

[0118] The first guide component, the second guide component, the third guide component, and the fourth guide component correspond one-to-one with the first pull wire 312A, the second pull wire 313A, the third pull wire 312B, and the fourth pull wire 313B.

[0119] In some optional embodiments, the first guide and the third guide, the second guide and the fourth guide are arranged in pairs, and the two sets of guides are symmetrically arranged about the axis of the first swing control axis 311A.

[0120] In some optional embodiments, the lower sleeve 331 is provided with a structure for fixing guide 3112, such as an open structure, a slotted structure, a fixing rod, etc.

[0121] In this embodiment, the way the guide is arranged facilitates the compact and miniaturized design of the control mechanism.

[0122] For each swing control structure 31, the guide 3112 corresponds one-to-one with the groove 337, and the guide 3112 is used to guide the pull line to extend to the corresponding groove 337.

[0123] Specifically, the guide 3112 corresponds to the groove 377. The guide 3112 is positioned close to the pull wire through hole. After the first pull wire 312A is guided by the guide 3112, it is placed in the groove 337 through the pull wire through hole.

[0124] This application guides the pull wire from the outer surface of the sleeve structure to the fixing member inside the sleeve structure by providing a pull wire through hole corresponding to the groove on the outer side of the sleeve structure of the rotation control structure 33. The rotation control structure 33 can save space, effectively guide the extension of the pull wire, and facilitate installation and disassembly.

[0125] Please see Figures 1 to 2 The flexible medical device also includes an operating structure 2, which penetrates the hollow structure of the outer tube 11 of the robotic arm; the operating structure 2 includes an operating tool 22 and a control core wire 21.

[0126] The operating tool 22 is set at the operating end of the flexible robotic arm 1 and is used to perform surgical operations; the end of the operating tool 22 away from the surgical operation is fixed to the operating end of the control core wire 21.

[0127] The control core wire 21 is disposed in the inner cavity of the flexible robotic arm 1. The control core wire 21 is used to drive the operating tool 22 to move along the extension direction of the inner cavity of the flexible robotic arm 1.

[0128] Specifically, the control wire 21 is made of a conductive metal material to facilitate the conduction of current to the operating tool 22. For example, the control wire 21 is a solid metal wire or a metal capillary.

[0129] The aforementioned flexible robotic arm 1 also includes a protective sleeve 12, an inner sleeve 13, and an outer covering layer 14.

[0130] The inner cavity channel of the protective sleeve 12 is used to guide the movement direction of the operating tool 22 and to determine the maximum position of the operating tool 22 relative to the flexible robotic arm 1.

[0131] For example, the operating tool 22 is an electric knife tip.

[0132] It should be noted that the electrosurgical blade includes straight blades, round blades, and ball blades, and different blades can be used depending on the application. Operating tool 22 can also be surgical-related tools other than the electrosurgical blade, such as hemostatic clips, suture devices, biopsy forceps, etc., without limitation.

[0133] The protective sleeve 12 is fixed to the operating end of the outer tube 11 of the robotic arm, and serves to protect the operating end of the outer tube 11 of the robotic arm. The protective sleeve 12 is provided with an inner cavity channel extending along the extension direction of the outer tube 11 of the robotic arm.

[0134] The inner sleeve 13 is set in the hollow structure of the outer tube 11 of the robotic arm, and the operating end of the inner sleeve 13 is sleeved and fixed to the protective sleeve head 12.

[0135] It should be noted that the inner sleeve 13 and the protective sleeve head 12 can be fixed in other ways, such as welding, bonding, or integral molding, and there are no restrictions here.

[0136] Specifically, the inner sleeve 13 is located between the outer tube 11 of the robotic arm and the control core wire 21, and the inner sleeve 13 includes a first sleeve 131, a variable diameter sleeve 132 and a second sleeve 133 arranged sequentially along the direction away from the operating end of the outer tube 11 of the robotic arm.

[0137] The first sleeve 131 is fitted onto the protective sleeve 12.

[0138] The reducing sleeve 132 is used to limit the maximum retraction position of the operating tool 22, so as to prevent the operating tool 22 from disengaging from the inner cavity channel of the protective sleeve 12 due to excessive retraction, so that the operating tool 22 can extend out again along the inner cavity channel of the protective sleeve 12.

[0139] The second sleeve 133 is used to guide the control core wire 21 to move along the extension direction of the flexible robotic arm 1, so that the control core wire 21 drives the operating tool 22 to move, so that the operating tool 22 can extend and retract into the inner cavity channel of the protective sleeve 12.

[0140] Specifically, the inner sleeve 13 can be made of non-metallic insulating materials such as polytetrafluoroethylene (PTFE) or polyvinyl chloride (PVC). The inner sleeve 13 can separate the outer tube 11 of the robotic arm from the control core wire 21, preventing short circuits and leakage.

[0141] The outer covering layer 14 is fastened to the outer surface layer of the outer tube 11 of the robotic arm.

[0142] The protective sleeve 12, inner sleeve 13 and outer covering layer 14 are all made of non-metallic insulating material to avoid lateral conduction discharge of the flexible robotic arm 1 during use. For example, it avoids conduction discharge between the metal control core wire 22 and the outer covering layer 14.

[0143] In some optional embodiments, the control mechanism 3 of the flexible medical device further includes a telescopic control structure 32 for controlling the movement of the control core wire 21 along the extension direction of the flexible robotic arm 1.

[0144] The telescopic control structure 32 includes a support member 322 and a core wire control shaft 323. The support member 322 is connected to the fixed end of the flexible robotic arm 1 through a lower sleeve 331. The swing control shaft 311 in the swing control structure 31 is sleeved on the outside of the core wire control shaft 323.

[0145] The telescopic control structure 32 also includes a core thread rod 321 for connecting the fixed end of the control core wire 21.

[0146] By setting the core wire control shaft 323, it is convenient to install the swing control structure 31, and to connect the drive structure, such as a motor or gear, to the end of the swing control structure 31 and the telescopic control structure 32 that is away from the flexible robotic arm 1.

[0147] Specifically, the support member 322 has an H-shaped structure. One end of the H-shaped structure is fixed to the fixed end of the flexible robotic arm 1, and the other end is rotatably connected to the core wire control shaft 323. The core wire control shaft 323 extends in a direction away from the H-shaped structure.

[0148] One end of the threaded rod 321 is fixed to the fixed end of the control thread 21, and the other end of the threaded rod 321 passes through the rotation limiting hole at the crossbeam of the H-shaped structure and is threadedly engaged with the threaded groove in the thread control shaft 323. The rotation limiting hole is used to limit the relative rotation of the threaded rod 321 and the support 322. As the thread control shaft 323 rotates, the threaded rod 321 moves axially relative to the thread control shaft 323 along the extension direction of the thread control shaft 323.

[0149] Specifically, the rotating core wire control shaft 323, under the threaded engagement between the core wire thread rod 321 and the core wire control shaft 323, can provide the force to screw in or out of the core wire thread rod 321. At the same time, the rotating limiting hole restricts the rotation of the control core wire 21, so that the core wire thread rod 321 can only move axially to realize the extension and retraction of the control core wire 21.

[0150] Specifically, both the support 322 and the threaded rod 321 are made of non-metallic insulating material, which can prevent the current on the control wire 21 from being conducted to the control mechanism 3.

[0151] By designing the H-shaped support member 322, a limiting hole can be set on the crossbeam structure to restrict the relative rotation of the core thread rod 321, so as to realize the axial movement of the core thread rod 321, thereby driving the control core wire 21 to extend and retract. It is understood that the H-shaped structure is only one implementation method. Structures with crossbeams or other structures that can be equipped with rotation limiting holes can achieve similar effects, such as the gate shape or N-shaped structure.

[0152] In some alternative embodiments, the rotation limiting hole is a non-circular structure that matches the cross-sectional shape of the core thread rod 321.

[0153] In some optional embodiments, the extension end of the telescopic control structure 32 is provided with a telescopic control wheel 324; the telescopic control wheel 324 is used to drive the core wire control shaft 323 to rotate.

[0154] It can be seen that the telescopic control structure 32 facilitates the adjustment of the telescopic control core 21 and the installation of the swing control structure 31. The coaxial design of the swing control structure 31 and the telescopic control structure 32 makes the control mechanism with multiple control functions more compact and miniaturized.

[0155] In some embodiments of this application, the control mechanism 3 further includes a housing 34 and a conductive elastic sheet structure 351; the housing 34 has a second receiving cavity for accommodating the rotation control structure 33 and is rotatable relative to the rotation control structure 33.

[0156] For ease of assembly, the housing 34 includes a first housing 341 and a second housing 342, the two ends of which can be fixed with screws. A conductive ring structure 352 is provided circumferentially on the inner wall of the housing 34. The conductive ring structure 352 is powered by an external power supply line. An opening can be provided on the housing 34 as a connector for the external power supply.

[0157] One end of the conductive elastic sheet structure 351 abuts against the control core wire 21, and the other end is fixed to the support member 322 and keeps in contact with the conductive ring structure 352.

[0158] Specifically, one end of the conductive elastic sheet structure 351 that abuts against the control core wire is a bent portion. Due to the elastic deformation caused by bending, the bent portion presses against the control core wire, maintaining constant contact with it. To ensure fixed position and insulation safety, the other end of the conductive elastic sheet structure 351 is fixed between the support member 322 and the gasket 326 by a fastening screw 354, and extends out from between the support member 322 and the gasket 326, exposed on the outside of the lower sleeve 331 (a corresponding opening may be provided on the lower sleeve 331). The gasket 326 is provided with a through hole for the control core wire 21 to pass through.

[0159] When the flexible robotic arm 1 is rotated, the housing 34 and the rotation control structure 33 rotate relative to each other, and the conductive ring structure 352 and the conductive elastic sheet structure 351 always remain in contact.

[0160] In some optional embodiments, the control mechanism 3 further includes a first spring pin 353.

[0161] The first spring pin 353 is fixed to the portion of the conductive elastic sheet structure 351 exposed on the outside of the lower sleeve 331 and is in electrical contact with the conductive ring structure 352.

[0162] Specifically, during the rotation of the housing 4, the conductive ring structure 352 and the conductive elastic sheet structure 351 maintain electrical contact through the first spring pin 353.

[0163] Preferably, there are two symmetrically arranged conductive elastic sheet structures 351 to ensure that the first spring pin 353 and the conductive ring structure 352 are always electrically connected during the rotation of the flexible robotic arm 1.

[0164] It should be noted that the above-mentioned conductive structure includes a conductive elastic sheet structure 351, a conductive ring structure 352, and a first spring pin 353.

[0165] The connection between the conductive elastic sheet structure 351 and the conductive ring structure 352 facilitates the connection between the external power supply and the control core wire 21, thereby powering the operating tool. At the same time, the design of the conductive elastic sheet structure 351 ensures that the conductive elastic sheet structure 351 and the control core wire 21 maintain good contact during the movement of the control core wire 21. Meanwhile, the conductive elastic sheet structure 351 and the conductive ring structure 352 can rotate relative to each other, continuously conducting current.

[0166] In the above embodiment, in the swing control structure 31, the other end of the support member 322 (the end closest to the core wire control shaft 323) is sleeved on the core wire control shaft 323 to achieve relative rotation. To reduce the frictional force generated during relative rotation, a telescopic rotary bearing 325 is provided. Thus, the cooperation between the core wire control shaft 323, the rotation limiting hole, and the core wire threaded rod 321 realizes a structure that controls the extension and retraction of the core wire 21 through rotation control.

[0167] In the above embodiments, the swing control structure 31, telescopic control structure 32, and rotation control structure 33 in the control mechanism 3 are coaxial and rotate relative to each other. The design of the relative rotation between each control structure is described below.

[0168] Regarding the relative rotation between the swing control structure 31 and the telescopic control structure 32, in some optional embodiments, the swing control structure 31 is radially positioned between the rotation control structure 33 and the telescopic control structure 32. Specifically, the swing control shaft is sleeved on the core wire control shaft 323 to achieve relative rotation. To reduce the frictional force generated during relative rotation, a first swing rotation bearing 319 and a second swing rotation bearing 3110 can be provided at both ends of the swing control structure 31. Specifically, a first swing rotation bearing 319A and a second swing rotation bearing 3110A are provided at both ends of the first swing control structure 31A. Figure 7 This reduces the frictional force generated when the first swing control structure 31A and the telescopic control structure 32 rotate relative to each other. The second swing control structure 31B has a first swing rotary bearing 319B and a second swing rotary bearing 3110B at both ends. Figure 7 This reduces the frictional force generated when the second swing control structure 31B and the first swing control structure 31A rotate relative to each other.

[0169] Regarding the relative rotation between the rotation control structure 33 and the swing control structure 31, in some optional embodiments, the sleeve structure of the rotation control structure 33 accommodates the swing control structure 31, allowing the swing control structure 31 to rotate relative to the rotation control structure 33 within the inner cavity of the sleeve structure. To reduce the frictional force generated by the relative rotation, a first rotary bearing 335 is provided at the end of the sleeve structure away from the flexible robotic arm 1. Figure 7 (Inner side of upper sleeve 333) and second rotary bearing 336 ( Figure 7 The first rotary bearing 335 and the second rotary bearing 336 are sleeved on the outside of the third swing control shaft 311B.

[0170] In some optional embodiments, the rotation control wheel 334 is connected to the upper sleeve 333. Rotating the rotation control wheel 334 can sequentially drive the upper sleeve 333, the middle sleeve 332, and the lower sleeve 331 to rotate (a force transmission structure can be provided between the upper sleeve 333, the middle sleeve 332, and the lower sleeve 331, for example...). Figure 4 As shown, corresponding protrusions and notches are provided at the connection of the two adjacent sleeves. The force transmission structure can also be a buckle, a push block, a saw tooth, etc., which in turn drives the flexible robotic arm 1 to rotate.

[0171] The aforementioned rotation control wheel 334, first swing control wheel 318A, second swing control wheel 318B and telescopic control wheel 324 are arranged sequentially along a coaxial axis.

[0172] Regarding the relative rotation between the housing 34 and the rotation control structure 33, in some optional embodiments, the housing 34 accommodates the rotation control structure 33, allowing the rotation control structure 33 to rotate relative to the housing 34 within the inner cavity of the housing 34. To reduce the frictional force generated by the relative rotation, a first housing bearing 343 is provided on the outer side of the lower sleeve 331, and a second housing bearing 344 is provided on the outer side of the upper sleeve 333. It should be noted that, to achieve the purpose of reducing friction, other methods can also be used, such as injecting grease or lubricating oil into the gap where friction needs to be reduced.

[0173] In the above embodiments, by designing the housing, rotation control structure, swing control structure, and telescopic control structure in the control mechanism to rotate coaxially relative to each other, the rotation control structure, swing control structure, and telescopic control structure can independently control the rotation of the flexible robotic arm, the swing of the flexible robotic arm, and the extension and retraction of the operating tool through rotation. This reduces the structural installation difficulty of the control mechanism, simplifies the structure of the control mechanism, reduces the cost of the control mechanism, and makes operation simple. It facilitates one-handed operation of the end of the control mechanism away from the flexible robotic arm, for example, the user can operate the swing control wheel 318, telescopic control wheel 324, and rotation control wheel 334 with one hand. This can reduce the size of the control mechanism and facilitate the connection of the drive devices of each control structure, enabling the design of a miniaturized surgical robot.

[0174] In some optional embodiments, the swing control wheel 318, telescopic control wheel 324 and rotation control wheel 334 described above can be configured as gears and used in conjunction with motors and chip control to realize an intelligent surgical robot for remote operation.

[0175] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, specific embodiments have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired result. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0176] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0177] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0178] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control mechanism for a flexible medical device, the flexible medical device comprising a flexible robotic arm, characterized in that, The control mechanism includes a first swing control structure; the first swing control structure includes a first swing control shaft and a first pull wire; The first pull wire passes through the flexible robotic arm, and the operating end of the first pull wire is fixed to the operating end of the flexible robotic arm. The fixed end of the first pull wire is fixed and wrapped around the first swing control shaft. The rotation of the first swing control shaft can adjust the winding length of the first pull wire to drive the flexible robotic arm to swing. The first swing control structure also includes a second swing control shaft and a second pull wire; The second swing control shaft is coaxially arranged with the first swing control shaft and rotates synchronously with the first swing control shaft; The second pull wire passes through the flexible robotic arm, and the operating end of the second pull wire is fixed to the operating end of the flexible robotic arm. The fixed end of the second pull wire is fixed and wound around the second swing control shaft. The first and second pull wires are symmetrically arranged about the axis of the flexible robotic arm, and the winding direction of the fixed end of the first pull wire on the first swing control axis is opposite to the winding direction of the fixed end of the second pull wire on the second swing control axis.

2. The control mechanism according to claim 1, characterized in that, The outer surfaces of the first swing control shaft and the second swing control shaft are respectively provided with a first fixing member and a second fixing member, and the first pull wire and the second pull wire are respectively fixed to the first fixing member and the second fixing member.

3. The control mechanism according to claim 1, characterized in that, A baffle is provided between the first swing control axis and the second swing control axis.

4. The control mechanism according to claim 1, characterized in that, The first swing control structure further includes a lockable retaining ring, which is sleeved on the outside of the second swing control shaft to lock the first swing control shaft and the second swing control shaft.

5. The control mechanism according to any one of claims 1 to 4, characterized in that, The control mechanism also includes a second swing control structure; The second swing control structure includes a third swing control shaft and a fourth swing control shaft that rotate synchronously, as well as a third pull wire and a fourth pull wire; The first swing control axis, the second swing control axis, the third swing control axis, and the fourth swing control axis are coaxially arranged in sequence, and the rotation of the first swing control axis and the third swing control axis are independent of each other; the portions of the first pull wire, the second pull wire, the third pull wire, and the fourth pull wire in the flexible robotic arm are evenly distributed in the circumferential direction of the flexible robotic arm.

6. The control mechanism according to claim 5, characterized in that, The control mechanism further includes a rotation control structure; the rotation control structure includes a rotation control wheel and a sleeve structure; the sleeve structure has a first receiving cavity for accommodating the first swing control shaft, the second swing control shaft, the third swing control shaft, and the fourth swing control shaft; one end of the sleeve structure is connected to the flexible robotic arm, and the other end is connected to the rotation control wheel; The rotating control wheel, the sleeve structure, and the flexible robotic arm rotate synchronously.

7. The control mechanism according to claim 6, characterized in that, The first swing control structure further includes a first swing control wheel, which is used to drive the first swing control shaft or the second swing control shaft to rotate; The second swing control structure further includes a second swing control wheel, which is used to drive the third swing control shaft or the fourth swing control shaft to rotate; The rotation control wheel, the first swing control wheel, and the second swing control wheel are coaxially arranged and each rotates independently.

8. The control mechanism according to claim 6, characterized in that, The first, second, third, and fourth pull wires extend on the outer surface of the sleeve structure, pass through the pull wire holes on the sleeve structure, enter the first receiving cavity, and are fixed to the corresponding swing control shaft.

9. The control mechanism according to claim 8, characterized in that, The outer surface of the sleeve structure is provided with a groove to accommodate the pull wire.

10. The control mechanism according to claim 8, characterized in that, The first swing control structure further includes a first guide and a second guide, and the second swing control structure further includes a third guide and a fourth guide; The first guide, the second guide, the third guide, and the fourth guide correspond one-to-one with the first pull wire, the second pull wire, the third pull wire, and the fourth pull wire, and are used to guide the pull wire to the outer surface of the sleeve structure.

11. The control mechanism according to claim 10, characterized in that, The first guide and the third guide, and the second guide and the fourth guide are arranged in pairs, with the two pairs of guides symmetrically arranged about the axis of the first swing control axis.

12. The control mechanism according to claim 6, wherein the flexible medical device further comprises an operating structure, the operating structure comprising a control core wire and an operating tool; the control core wire extends within the flexible robotic arm; the operating tool is connected to the operating end of the control core wire; characterized in that, The control mechanism also includes a telescopic control structure, which includes a core wire control shaft, a support member, and a core wire threaded rod. The core wire control shaft is coaxially arranged with the first swing control shaft, and rotates independently of the first swing control shaft, the third swing control shaft, and the sleeve structure; The support member is fixed inside the first receiving cavity, and a rotation limiting hole is provided on the support member; One end of the threaded rod is connected to the control thread, and the other end passes through the rotation limiting hole and is threaded to the threaded control shaft. The rotating limiting hole is used to limit the relative rotation of the core wire threaded rod and the support member; the rotation of the core wire control shaft drives the core wire threaded rod to move axially.

13. The control mechanism according to claim 12, characterized in that, The rotating limiting hole has a non-circular shape that matches the cross-sectional shape of the core thread rod.

14. The control mechanism according to claim 12, characterized in that, The telescopic control structure also includes a telescopic control wheel, which is used to drive the core wire control shaft to rotate.

15. The control mechanism according to claim 12, characterized in that, The flexible robotic arm includes an inner sleeve and a protective sleeve. The inner sleeve extends within the flexible robotic arm and accommodates the control core wire; The protective sleeve is disposed at the operating end of the flexible robotic arm and is connected to the inner sleeve. The protective sleeve has a channel for the operating tool to extend out and defines the maximum position of the operating tool's extension; the inner sleeve includes a variable diameter section located on the retraction path of the operating tool and defines the maximum retraction position of the operating tool.

16. The control mechanism according to claim 12, characterized in that, The control mechanism also includes a housing and a conductive elastic sheet structure; The housing has a second receiving cavity to accommodate the rotation control structure, and the rotation control structure is capable of rotating relative to the housing; a conductive ring is provided circumferentially in the second receiving cavity, and the conductive ring is powered by an external power supply line; One end of the conductive elastic sheet structure abuts against the control core wire, and the other end is fixed to the support and keeps in contact with the conductive ring.

17. The control mechanism according to claim 16, characterized in that, The conductive elastic sheet structure is kept in contact with the conductive ring by a spring pin.

18. The control mechanism according to claim 16, characterized in that, The conductive elastic sheet structure consists of two parts, which are symmetrically arranged about the axis of the support member.

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