A proximal end drive structure for a flexible arm

Abstract

The application discloses a proximal end driving structure of a flexible arm, characterized in that: the driving structure comprises a driving assembly for driving a bending motion of a distal end execution structure of the flexible arm, the driving assembly comprises a driving mechanism, a driving rope driven to realize a reciprocating motion by the driving mechanism, and two movable pieces respectively connected with the driving rope and relatively moved along with the reciprocating motion of the driving rope; the two movable pieces relatively move to make the distal end execution structure realize a motion of a certain degree of freedom under the driving of the driving rope. The application realizes the sliding motion of the sliding block through the rotary motion of the guide plate, and then realizes the motion of the distal end execution structure through the alloy wire, and the driving error of the nickel-titanium alloy wire caused by the flexibility of the tungsten wire rope is eliminated by using the rigid rod, so that the overall structure is simplified, the weight of the transmission structure is greatly reduced, and the size is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a proximal drive structure for a flexible arm. Background Technology

[0002] With the continuous development and improvement of robotics technology, its application scope is constantly expanding, such as in surgical robots. Surgical robots not only reduce the physical labor of doctors during surgery, but also result in smaller wounds, less bleeding, lower postoperative infection risks, and faster recovery for patients. Traditional multi-link articulated robots require a large workspace. For robots performing surgical procedures, multiple rigid arms can already be used to perform multi-port surgeries with multiple surgical holes. As the concept of minimally invasive surgery deepens, there is a growing desire for surgical robots to perform surgeries with fewer openings, higher degrees of freedom for surgical instruments, access to more positions, and greater range of motion, even enabling surgery through natural cavities without additional openings in the patient's body. Flexible arm technology can meet these needs. Flexible arms not only have a high degree of freedom, but also, due to their flexibility, can adjust their posture according to the space of internal organs when entering the human body. This allows the instrument tip to bypass tissues without causing damage while still reaching the patient's lesion to complete the surgical procedure. In addition to applications in the field of surgery, flexible arms can also be used in industrial inspection, rescue, and other fields, especially in situations requiring operations through narrow passages.

[0003] Currently, the proximal wire drive structure of flexible arms typically uses a lead screw and nut, or a gear and rack system, to convert the rotational motion of the motor into linear motion, which then drives the nickel-titanium alloy wire. This transmission structure is relatively large and heavy, and expensive, which is not conducive to the application and promotion of flexible arm technology. Summary of the Invention

[0004] Purpose of the invention: To address the above-mentioned shortcomings, this invention proposes a proximal drive structure for a flexible arm, which greatly reduces the weight and size of the transmission structure, significantly lowers the cost of the device, and is more conducive to the application and popularization of flexible arm technology.

[0005] Technical solution:

[0006] A proximal actuation structure for a flexible arm.

[0007] The device includes a drive assembly for driving the bending motion of the distal actuator of a flexible arm. The drive assembly includes a drive mechanism, a drive rope that is driven by the drive mechanism to achieve reciprocating motion, and two movable parts that are respectively connected to the drive rope and move relative to it with the reciprocating motion of the drive rope. The relative movement of the two movable parts enables the distal actuator to achieve a certain degree of freedom of motion under the drive of the drive rope.

[0008] The number of drive components is set according to the degrees of freedom of the bending motion of the distal execution structure.

[0009] Two movable parts are respectively fixed to a traction wire, and the traction wire is connected to a certain degree of freedom of the remote actuator to realize the movement of that degree of freedom under the drive of the drive rope.

[0010] The two movable parts are respectively slidably disposed in the first sliding grooves that are symmetrical to each other, and move relative to each other in the two first sliding grooves under the action of the drive rope.

[0011] The carrier is provided with a guide plate that rotates around an axis so that its two ends move in opposite directions relative to each other. The movable part is slidably installed in the second slide grooves provided at both ends of the guide plate. The second slide grooves extend in different directions than the first slide grooves.

[0012] A fixed bracket is installed on the carrier, and the first sliding groove is disposed on the fixed bracket.

[0013] Guide wheels are provided at both ends of the first chute for winding the drive rope to change the extension direction of the drive rope.

[0014] A column is provided between the two movable parts, and the guide plate is rotatably mounted on the column.

[0015] A movable groove is provided on the column, the guide plate passes through the movable groove, and is rotatably mounted on the column by a pin.

[0016] The difference between the width of the movable groove along the length of the column and the width of the guide plate is greater than or equal to the maximum distance that the drive rope can move the traction wire.

[0017] The drive mechanism includes a winch for winding a drive rope, the axis of rotation of which is perpendicular to the axis of rotation of the guide plate.

[0018] Beneficial effects: This invention utilizes tungsten wire rope drive and lever principle to achieve linear motion of nickel-titanium alloy wire, which not only simplifies the overall structure but also greatly reduces the weight of the transmission structure and the size of the overall structure. Furthermore, this invention achieves sliding motion of the slider through the rotational motion of the guide plate, and then drives the movement of the distal actuator through the alloy wire. The rigid rod eliminates the driving error of nickel-titanium alloy wire introduced by the flexibility of the tungsten wire rope, and the cost of the device is also significantly reduced, which is more conducive to the application and popularization of flexible arm technology. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the flexible arm of the present invention;

[0020] Figure 2 This is a schematic diagram of the remote execution structure;

[0021] Figure 3 This is a schematic diagram of the flexible arm proximal drive structure of the present invention;

[0022] Figure 4 This is a structural diagram of the column;

[0023] Figure 5 This is a schematic diagram of the guide plate structure;

[0024] Figure 6 This is a schematic diagram of the drive assembly.

[0025] Figure 7 This is a cross-sectional view of the driving component;

[0026] Figure 8 This is a schematic diagram of the transmission winch.

[0027] Figure 9 A 3D view of the driving component;

[0028] Figure 10 This is a schematic diagram of the tensioning structure;

[0029] Figure 11 This is a schematic diagram showing the connection between the proximal drive structure and the distal execution structure of the flexible arm according to the present invention;

[0030] Figure 12 This is a schematic diagram of the operation of the flexible arm proximal drive structure of the present invention;

[0031] Figure 13 This is a schematic diagram of the operation of the flexible arm of the present invention.

[0032] In the diagram, 1 represents the proximal driving structure, and 2 represents the distal execution structure.

[0033] 11-Carrier body, 12-Drive assembly, 13-Fixed plate, 14-Support column, 15-Guide tube;

[0034] 111-Bearing plate, 112-Column, 113-Fixing bracket;

[0035] 1121-First movable groove, 1122-First pin hole, 1123-Second movable groove, 1124-Second pin hole, 1125-Drive rope groove;

[0036] 1131 - First slide groove, 1132 - Guide wheel shaft;

[0037] 121-Drive motor, 122-Transmission winch, 123-Guide wheel assembly, 124-Drive rope, 125-Transmission slider, 126-Alloy wire, 127-Tensioning element, 128-Guide plate;

[0038] 1221 - Upper winding groove, 1222 - Lower winding groove;

[0039] 1231 - First guide wheel, 1232 - Second guide wheel, 1233 - Third guide wheel, 1234 - Fourth guide wheel;

[0040] 1271-Disc spring, 1272-Tension bracket, 1273-Tension wheel;

[0041] 1281-Second slide groove, 1282-Guide plate pin hole; 12811-Slider slide groove, 12812-Guide groove;

[0042] 21-Passing section, 22-Bending section, 23-Locking disc;

[0043] 211-Wire guide plate, 221-Skeleton tube, 222-Skeleton plate. Detailed Implementation

[0044] The present invention will be further explained below with reference to the accompanying drawings and specific embodiments.

[0045] Figure 1 This is a schematic diagram of the flexible arm of the present invention, as shown below. Figure 1 As shown, the flexible arm of the present invention includes a proximal driving structure 1 and a distal actuation structure 2, referring to... Figure 2 The proximal drive structure 1 of the flexible arm of the present invention includes a carrier 11, a drive assembly 12 disposed on the carrier 11, a fixed disk 13 fixedly connected to the end of the distal execution structure 2, a support column 14 for connecting the carrier 11 and the fixed disk 13, and a guide tube 15 disposed between the carrier 11 and the fixed disk 13 for threading the alloy wire for transmission in the drive assembly 12.

[0046] In this invention, Figure 1 The structure shown contains two drive components 12 that can realize the yaw and pitch movements of the flexible arm end. That is, the remote execution structure 2 in this embodiment has two degrees of freedom of motion. Since the transmission structure of the two degrees of freedom of motion is the same, only one of the movements will be described in detail here.

[0047] Furthermore, the guide tube 15 is made of steel pipe, and its function is to establish a movement channel for the alloy wire so that the alloy wire can move along a defined trajectory.

[0048] like Figure 1 , 2As shown, the remote actuator 2 includes a traveling section 21, a bending section 22, and a locking disc 23. The traveling section 21 is formed by the cooperation and installation of several wire guide discs 211. The wire guide disc 211 is an annular disc with several sets of wire guide holes spaced apart along the vertical direction, thereby forming a channel for the alloy wire to pass through. The number of sets of wire guide holes is related to the degree of freedom of the flexible arm's attitude adjustment, that is, it is consistent with the number of drive components 12 in the proximal drive structure 1. For example, if the degree of freedom of the flexible arm is adjusted to two degrees of freedom, namely yaw and pitch, then there are two sets of wire guide holes, and each set of wire guide holes is arranged relative to the circumference of the wire guide disc. The bending section 22 includes a skeleton tube 221 disposed therein, which can be tilted or pitched, and several skeleton discs 222 sleeved on the skeleton tube 221 along its length. The skeleton tube 221 has a hollow structure and is flexible and bendable. The skeleton discs 222 are fixedly sleeved on the skeleton tube 221, and have several sets of wire-passing holes spaced apart in the vertical direction. The arrangement of the wire-passing holes is consistent with that on the wire-passing discs 211, thus forming a channel for the alloy wire to pass through. The locking disc 23 has several sets of wire-fixing holes spaced apart in the vertical direction. The number of wire-fixing holes is consistent with the wire-passing holes on the wire-passing discs 211 and the skeleton discs 222. After passing through the guide tube 15, the alloy wire passes through the wire-passing holes on the wire-passing discs 211 of the traveling section 21 and the wire-passing holes on the skeleton discs 222 of the bending section 22 in sequence, and is then fixed in the wire-fixing holes on the locking disc 23.

[0049] like Figure 3 As shown, the carrier 11 includes a carrier plate 111 connected to the fixed disk 13 via a support column 14, a column 112 mounted on the carrier plate 111, and a fixed bracket 113 mounted on the carrier plate 111 and located on the side of the column 112. Specifically, the column 112 is mounted on the carrier plate 111 at the center position, and its top end has a drive rope groove 1125 for the drive rope 124 to pass through; the column 112 is as follows Figure 4 As shown, a movable groove for sliding the transmission slider 125 is provided on it, and the direction of the movable groove is perpendicular to the length direction of the column 112 (within the range of 1-2). Figure 3(Using the vertical direction as a reference), a pin hole communicating with the movable groove is provided on the side wall of the column 112 adjacent to the movable groove. A guide plate 128 is installed in the movable groove, and the guide plate 128 is rotatably installed in the movable groove by the cooperation of the guide plate pin hole opened at its center and the pin hole on the column 112. The width of the movable groove in the vertical direction is greater than the width of the guide plate 128, so that the guide plate 128 can be rotated, and thus its two ends can make relative movements in opposite directions. More specifically, the difference between the width of the movable groove in the vertical direction and the width of the guide plate 128 is greater than or equal to the maximum distance that the drive rope 124 drives the alloy wire 126 to move. More specifically, taking the specific embodiment of the present invention as an example, the difference between the width of the movable groove in the vertical direction and the width of the guide plate 128 is greater than or equal to the maximum sliding distance of the transmission slider 125 in the movable groove.

[0050] In this invention, the guide plate 128 is rotatably mounted in the movable groove via a pin in its middle part, thereby allowing the guide plate 128 to rotate around the axis of its middle part, and thus causing its two ends to make relative arc movements in opposite directions.

[0051] Fixed brackets 113 are arranged in pairs and installed opposite each other on the support plate 111 on both sides of the movable slot opened on the column 112. Each fixed bracket 113 has a long slot for the guide plate 128 to pass through at both ends. The fixed bracket 113 also has a groove along its length (i.e., along its length direction). Figure 3 The first groove 1131 in the vertical direction; such as Figure 5 As shown, at both ends of the guide plate 128, there are openings along its length direction (i.e., Figure 3 The second slide groove 1281 (in the horizontal direction) is provided, and the transmission slider 125 is slidably installed in the second slide groove 1281. The transmission slider 125 is provided with a protrusion that is perpendicular to the length direction of the fixed bracket 113 and the length direction of the guide plate 128. The protrusion is placed in the first slide groove 1131 provided on the fixed bracket 113. The first slide groove 1131 provided on the fixed bracket 113 and the second slide groove 1281 provided on the guide plate 128 constitute the moving space of the transmission slider 125.

[0052] In this invention, the length of the first slide groove 1131 can also be designed to limit the movement space of the transmission slider 125 in the first slide groove 1131, thereby limiting the stretching length of the drive rope 124; furthermore, the length of the second slide groove 1281 can also be designed to limit the movement space of the transmission slider 125 in the first slide groove 1131, or the lengths of the first slide groove 1131 or the second slide groove 1281 can be designed simultaneously to limit the movement space of the transmission slider 125 in the first slide groove 1131.

[0053] In this invention, the second sliding grooves 1281 at both ends of the guide plate 128 include a slider groove 12811 and a guide groove 12812. The slider groove 12811 is a slot opened parallel to the length direction of the fixed bracket 113 along the length direction of the guide plate 128, used to drive the sliding installation of the slider 125. The guide groove 12812 is a through groove opened perpendicular to the plane of the guide plate 128 along the length direction of the guide plate 128. The through groove is connected to the slider groove 12811 and is used to drive the protrusion of the slider 125 through, which not only guides the slider 125 to slide, but also effectively prevents the slider 125 from disengaging from the slider groove 12811.

[0054] Specifically, the fixed bracket 113 can be two identical plates arranged parallel to each other on the carrier 111, with a long groove formed in the middle for the guide plate 128 to pass through at both ends. Correspondingly, a first sliding groove 1131 along its length direction can be opened on the two plates or one of them.

[0055] In this invention, the number of movable slots opened on the column 112 corresponds to the degree of freedom of motion of the remote execution structure 2, and the orientation and position of each movable slot are different and do not interfere with each other. Correspondingly, the number of fixed brackets 113 also corresponds to the degree of freedom of motion of the remote execution structure 2, and each is installed on the support plate 111 on both sides of the movable slots opened on the column 112.

[0056] Furthermore, as shown in the examples of the various views of the present invention, the remote execution structure 2 has two degrees of freedom of movement, so the column 112 has two movable slots, namely the first movable slot 1121 and the second movable slot 1123; more specifically, the two movable slots are perpendicular to each other and have different heights, and their corresponding pin holes 1122 and 1124 are also provided, and the fixed bracket 113 is designed accordingly.

[0057] In this invention, the column 112 can be a cylindrical or square column structure.

[0058] Reference Figure 6 , 7The drive assembly 12 includes a drive motor 121, a transmission winch 122, a guide wheel assembly 123, a transmission slider 125, a drive rope 124, and an alloy wire 126. The drive motor 121 is fixedly mounted below the support plate 111; the transmission winch 122 is positioned above the support plate 111 and is installed in conjunction with the motor shaft of the drive motor 121, forming a triangular arrangement with the fixed supports 113 paired on the support plate 111; guide wheel shafts 1132 perpendicular to the length direction of the fixed supports 113 are provided at the upper and lower ends of both fixed supports 113, and guide wheels are rotatably mounted on the guide wheel shafts 1132, with the first guide wheel at the lower end of one of the fixed supports 113. 1231 and the upper second guide wheel 1232, and another fixed bracket 113 has a lower first guide wheel 1233 and an upper second guide wheel 1234, these four guide wheels constitute a guide wheel group 123; more specifically, the wheel grooves of the lower guide wheels of the two fixed brackets 113 are set towards the transmission winch 122, while the wheel grooves of their upper guide wheels are set towards the column 112; the transmission winch 122 is provided with two winding grooves in opposite directions, namely the upper winding groove 1221 and the lower winding groove 1222, as shown in the figure. Figure 8 As shown; one end of the drive rope 124 is fixed and wound around the lower winding groove 1222 of the transmission winch 122, and then sequentially winds around the first guide wheel 1231, the transmission slider 125 passing through the first sliding groove 1131 of a fixed bracket 113, the second guide wheel 1232, the third guide wheel 1233, the transmission slider 125 passing through the first sliding groove 1131 of another fixed bracket 113, the fourth guide wheel 1234, and finally winds around and is fixed to the upper winding groove 1221 of the transmission winch 122, as shown. Figure 6 As shown.

[0059] In this invention, the axis of the transmission winch 122 is designed to be perpendicular to the rotation axis of the guide plate 128. This design allows both ends of the guide plate 128 to move along the length of the flexible arm, saving lateral space and allowing the flexible arm to be made more slender. This prevents interference between flexible arms (such as those used in machinery) due to excessive thickness. Furthermore, the slender flexible arm provides better gripping and easier installation, conforming to ergonomic principles. More specifically, in a specific embodiment of this invention, the transmission winch 122 is installed vertically.

[0060] like Figure 7 , 8 As shown, the drive assembly 12 of the present invention also includes a tensioning member 127, which is fixedly installed in the drive rope groove 1125 at the upper end of the column 112 and located on the path of the drive rope 125. Specifically, the tensioning member 127 is fixedly installed at the position at the top of the side wall of the column 112 located in the drive rope groove 1125; Figure 9As shown, it includes a tensioning bracket 1272 mounted parallel to the column 112 via a disc spring 1271, and a tensioning wheel 1273 rotatably mounted on the tensioning bracket 1272. The drive rope 124 passes through the second guide wheel 1232, then wraps around the tensioning wheel 1273, and finally wraps around the third guide wheel 1233. This invention utilizes the elasticity of the disc spring 1271 to achieve the engagement between the tensioning wheel 1273 and the drive rope 124, thereby adaptively adjusting the tension of the drive rope 124. Using the disc spring 1271 is more advantageous in saving structural space. In this invention, the tensioning element 127 is not essential for the entire transmission chain; if the service life requirement is not high, the tensioning element 127 can be omitted.

[0061] Furthermore, in a specific embodiment of the present invention, for the remote execution structure 2 with two degrees of freedom, the tensioning member 127 of another set of drive components 12 is fixedly installed on the top of the upper end of the column 112 and the top of the side wall adjacent to the aforementioned side wall of the column 112.

[0062] like Figure 10-12 As shown, with the direction shown in the figure as a reference, the upper end of the alloy wire 126 is fixedly connected to the transmission slider 125, and its lower end passes through the guide tube 15, the wire guide spool 211 and the skeleton spool 222 in sequence, and is finally fixed on the locking spool 23. The drive motor 121 drives the transmission winch 122 to rotate, which can drive the drive rope 124 to move along its path, thereby driving the relative movement of the transmission sliders 125 at both ends of the guide plate 128 in the vertical direction. In turn, the transmission sliders 125 drive the corresponding alloy wire 126 to follow up, so that the attitude adjustment action of the remote execution structure 2 can be realized through the two alloy wires 126.

[0063] In this invention, the number of drive components 12 is consistent with the degree of freedom of the flexible arm's posture adjustment. In this embodiment, the yaw or pitching motion of the flexible arm is used as an example for explanation.

[0064] To facilitate the explanation of the structural scheme, some specific structures are proposed in this paper. In this invention, the drive rope 124 is made of tungsten wire rope, and the alloy wire 126 is made of nickel-titanium alloy wire. However, in this invention, the material of the alloy wire 126 includes, but is not limited to, nickel-titanium alloy wire; any material with a certain rigidity and capable of bending can be used. Similarly, the material of the drive rope 124 also includes, but is not limited to, tungsten wire rope; any flexible, bendable, wear-resistant, and tensile-resistant material can be used.

[0065] Taking the transmission of a set of drive components 12 as an example, when the drive motor 121 rotates in a certain direction, the transmission winch 122 follows the drive motor 121 and rotates in that direction. The rotation of the transmission winch 122 drives the drive rope 124 to move under the guidance of the guide wheel group 123. Since the transmission slider 125 is fixedly connected to the drive rope 124 and the alloy wire 126, the drive rope 124 drives the transmission slider 125 to move up and down in the first slide groove 1131. In this way, one transmission slider 125 will pull the alloy wire 126, and the other transmission slider 125 will push the alloy wire 126. The ends of the two alloy wires 126 pass through the through section 21 and the bending section 22 and are fixedly connected to the locking plate 23. Thus, by the pull and release of the two alloy wires 126, the locking plate 23 can be moved from position A to position B, thereby realizing the adjustment of the end position of the instrument.

[0066] This invention only describes the swing of one degree of freedom at the end of the flexible arm in detail. More degrees of freedom at the end of the flexible arm can be achieved by increasing the number of motors, the transmission chain, and the number of flexible arms connected in series. For example... Figure 13 The diagram shows the case with two degrees of freedom. A new transmission mechanism has been added, orthogonally distributed to the original transmission mechanism.

[0067] This invention employs a tungsten wire rope transmission scheme. The main structural components are the tungsten wire rope, guide wheel, winch, and slider. These parts are small, lightweight, and can be made very compact. Compared to common linear motion schemes such as lead screw drives, this scheme is lighter, easier to manufacture, lower in cost, and more compact. Compared to the fixed and power-connected lead screw, the structural complexity is significantly reduced. Furthermore, the degree of freedom at the end of the flexible arm can be easily increased by adding more transmission chains, making the scheme easier to implement and promote. The distal flexible arm itself is a flexible continuum; when the distal end of the arm is subjected to external forces, it can move horizontally or twist. Simultaneously, if the nickel-titanium wire, as the skeleton of the flexible arm, is directly connected to the tungsten wire rope structure, the elastic deformation of the tungsten wire rope... Errors can be directly applied to the nickel-titanium alloy wire, reducing the positional accuracy of the end effector and causing the entire drive structure to push forward. This invention limits the slider, which is fixedly connected to the nickel-titanium wire and the tungsten wire rope, to a guide plate. The sliding motion of the slider is achieved by the rotation of the guide plate, which in turn drives the movement of the distal actuator through the alloy wire. The rigidity of the guide plate limits the influence of the flexibility error of the tungsten wire rope on the nickel-titanium alloy wire, thereby significantly improving the stiffness of the transmission chain. This solution also adds a tensioning structure for the tungsten wire rope, which helps to extend the service life of the instrument. The elasticity of the tensioning wheel structure is provided by a disc spring, reducing the axial dimension of the tensioning wheel structure, making the structure more compact and smaller, and thus reducing the overall size of the instrument base.

[0068] The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations (such as quantity, shape, position, etc.) can be made to the technical solution of the present invention, and these equivalent transformations all fall within the protection scope of the present invention.

Claims

1. A proximal actuation structure for a flexible arm, characterized in that: Includes a drive assembly for performing structural bending motion on a carrier and a distal end of a drive flexible arm mounted on the carrier; The drive assembly includes a drive mechanism, a drive rope that is driven by the drive mechanism to achieve reciprocating motion, and two movable parts that are respectively connected to the drive rope and move relative to it as the drive rope reciprocates. A column and a fixing bracket are installed on the carrier. A movable groove is provided on the column, and a guide plate that rotates around an axis and causes its two ends to move in opposite directions is rotatably installed in the movable groove. The movable part is slidably installed in the second sliding grooves provided at both ends of the guide plate. The fixed brackets are arranged in pairs and installed opposite each other on both sides of the movable groove opened on the column. The fixed brackets are provided with a first sliding groove along their length direction, and the second sliding groove extends in a different direction from the first sliding groove. The two movable parts are respectively slidably arranged in the mutually symmetrical first sliding grooves and move relative to each other in the two first sliding grooves under the action of the drive rope. The two movable parts are respectively fixedly connected to a traction wire, and the traction wire is connected to a certain degree of freedom of the remote actuator to realize the movement of that degree of freedom under the drive of the drive rope.

2. The proximal drive structure of the flexible arm according to claim 1, characterized in that: The number of drive components is set according to the degrees of freedom of the bending motion of the distal execution structure.

3. The proximal drive structure of the flexible arm according to claim 1, characterized in that: Guide wheels are provided at both ends of the first chute for winding the drive rope to change the extension direction of the drive rope.

4. The proximal drive structure of the flexible arm according to claim 1, characterized in that: The difference between the width of the movable groove along the length of the column and the width of the guide plate is greater than or equal to the maximum distance that the drive rope can move the traction wire.

5. The proximal drive structure of the flexible arm according to claim 1, characterized in that: The drive mechanism includes a winch for winding a drive rope, the axis of rotation of which is perpendicular to the axis of rotation of the guide plate.

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