Control mechanism for a multi-degree-of-freedom robot arm with a tip and an instrument with a tip

Abstract

The application provides a control mechanism of a multi-degree-of-freedom mechanical arm with a tip and an instrument with a tip, and belongs to the technical field of medical instruments. The control mechanism of the flexible arm comprises control lines, a supporting arm, a fixed shell and a movable shell. The control lines are arranged in multiple and uniformly distributed around the flexible arm. The ends of the control lines are respectively connected at the edges of the head of the flexible arm. The fixed shell is connected at the tail of the flexible arm through the supporting arm. The movable shell is movably connected to the fixed shell, and the movable shell is provided with connecting fins. Each control line is connected to a corresponding connecting fin. Medical staff can control the movement of the movable shell relative to the fixed shell, that is, the corresponding control line is pulled to move through the connecting fin, so that the head of the flexible arm is bent in the corresponding direction, thereby realizing the mechanical control of the action of the head of the flexible arm. The application has the advantages of high sensitivity, simple and reliable structure, and low cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a control mechanism of a multi-degree-of-freedom mechanical arm with a tip and a device with a tip. BACKGROUND

[0002] Multi-degree-of-freedom mechanical arms are widely used in various fields, especially in the medical field. By using the bending action of a multi-degree-of-freedom mechanical arm, a tip device such as a forceps or an electrotome can be delivered to a lesion site through a complex natural cavity in the human body, so that the doctor can perform precise and delicate surgery.

[0003] However, the bending action of most multi-degree-of-freedom mechanical arms currently uses electric control. For example, different control buttons are arranged on the operating end of the multi-degree-of-freedom mechanical arm, and the medical staff sends electric control signals to the driving part through the control buttons, and then uses the driving part to control the multi-degree-of-freedom mechanical arm to make corresponding bending actions. This control method of the multi-degree-of-freedom mechanical arm not only has high cost, but also has the defects of poor sensitivity and difficult operation due to the safety hazards of damaged electric control devices during surgery. SUMMARY

[0004] Therefore, in order to improve the control sensitivity of the multi-degree-of-freedom mechanical arm, reduce the cost of the entire multi-degree-of-freedom mechanical arm device, and avoid the problem of inability to act due to damage to the electric control device during surgery, the present application provides a control mechanism of a multi-degree-of-freedom mechanical arm with a tip and a device with a tip.

[0005] In a first aspect, the present application provides a control mechanism of a multi-degree-of-freedom mechanical arm with a tip, which adopts the following technical solution:

[0006] A control mechanism of a multi-degree-of-freedom mechanical arm with a tip, the multi-degree-of-freedom mechanical arm comprising a flexible arm and a first reset spring arranged in the flexible arm, the two ends of the flexible arm being a head and a tail respectively, the control mechanism comprising:

[0007] A control line is provided, and a plurality of control lines are evenly distributed around the flexible arm. One end of each control line is connected to the edge of the head of the flexible arm.

[0008] A support arm is connected to the tail of the flexible arm, and the inside of the support arm is hollow.

[0009] A fixed shell is connected to one end of the support arm away from the flexible arm.

[0010] A movable shell is movably connected to the fixed shell, and the inside of the movable shell is provided with a plurality of connection fins corresponding to the number of control lines. Each connection fin corresponds to the connection point of each control line and the head of the flexible arm. Each control line extends through the support arm to the inside of the movable shell and is connected to each connection fin.

[0011] Optionally, the fixed shell is provided with a spherical shell, and the movable shell is provided with a spherical groove, and the movable shell is movably connected with the fixed shell through the spherical groove.

[0012] Optionally, the fixed shell is provided with a fixed part, the movable shell is provided with a movable part, each connecting fin plate is fixed on the movable part, and the fixed part and the movable part are movably connected through a universal joint.

[0013] Optionally, the universal joint is provided with a second reset spring.

[0014] Optionally, the control mechanism further comprises a connecting ring, which is sleeved at the connecting gap between the movable shell and the spherical shell.

[0015] Optionally, the fixed shell is provided with a front end holding part, and the bottom of the movable shell is extended downward to form a rear end holding part.

[0016] In another aspect, the present application provides an instrument with a tip, which adopts the following technical scheme:

[0017] An instrument with a tip, comprising:

[0018] The multi-degree-of-freedom mechanical arm comprises a flexible arm and a first reset spring arranged in the flexible arm, and two ends of the flexible arm are respectively a head and a tail;

[0019] An execution component is connected to the head of the flexible arm.

[0020] The control mechanism in any one of the above embodiments is connected to the tail of the flexible arm.

[0021] Optionally, the execution component is a gripper, the head of the flexible arm is provided with a mounting cylinder, the mounting cylinder is provided with a slidable driving member, the driving member is connected with the gripper, and a gripper reset spring is arranged between the driving member and the flexible arm; the medical instrument further comprises a driving mechanism, and the driving mechanism can control the driving member to slide.

[0022] Optionally, the driving mechanism comprises:

[0023] A driving line, one end of which is connected to the driving member;

[0024] An operating rod, one end of which is hinged in the movable shell, at least part of the operating rod is located outside the movable shell, and the other end of the driving line is connected to the operating rod.

[0025] Optionally, the driving mechanism further comprises a rod body reset spring connected between the operating rod and the movable shell for resetting after rotation of the operating rod.

[0026] Optionally, the driving mechanism further comprises:

[0027] A locking rod connected to the operating rod, wherein a plurality of tooth grooves are formed in the locking rod and are distributed in an arc shape along the rotation axis of the operating rod.

[0028] A locking trigger hinged to the movable shell, wherein a ratchet is arranged on the side of the locking trigger close to the locking rod, the ratchet is provided with an inclined surface, the ratchet is adapted to be clamped in the tooth groove, and at least part of the locking trigger is located outside the movable shell.

[0029] A trigger reset spring connected between the locking trigger and the movable shell for resetting after rotation of the locking trigger.

[0030] Optionally, a buffer assembly is arranged between the driving wire and the operating rod, and the buffer assembly comprises:

[0031] A connecting plate arranged on the side of the operating rod close to the support arm, wherein a fixed baffle is arranged at one end of the connecting plate, and a sliding hole is arranged on the fixed baffle.

[0032] A sliding rod slidably arranged in the sliding hole, wherein the driving wire is fixed on the sliding rod, and a limiting ring is arranged at the end of the sliding rod close to the operating rod.

[0033] A buffer spring sleeved on the sliding rod and located between the fixed baffle and the limiting ring.

[0034] A connecting rod hinged at both ends to the connecting plate and the operating rod, respectively.

[0035] The technical scheme of the present application has the following advantages:

[0036] The control mechanism of the multi-degree-of-freedom mechanical arm with a sharp end provided by the present application can realize mechanical control of the head movement of the flexible arm by controlling the movement of the movable shell relative to the fixed shell, i.e., by pulling the corresponding control wire through the connecting fin to bend the head of the flexible arm in the corresponding direction, thereby realizing mechanical control of the head movement of the flexible arm. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the specific embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0038] Figure 1 Structure diagram of the instrument with a sharp end provided by the present application;

[0039] Figure 2 Sectional view of the control mechanism and the driving mechanism in the instrument with a sharp end provided by the present application;

[0040] Figure 3 Structure diagram of the multi-degree-of-freedom mechanical arm in the instrument with a sharp end provided by the present application;

[0041] Figure 4 Explosive diagram of the connection relationship between the gripper and the flexible arm in the instrument with a sharp end provided by the present application;

[0042] Figure 5 Enlarged view of part A in Figure 2

[0043] Figure 6 Structure diagram of the buffer assembly in the instrument with a sharp end provided by the present application;

[0044] Marked with 100, flexible arm; 101, first reset spring; 200, control line; 300, support arm; 400, fixed shell; 401, spherical shell; 410, fixing piece; 402, front end holding part; 500, movable shell; 501, spherical groove body; 502, rear end holding part; 503, first through groove; 504, second through groove; 505, limiting plate; 510, movable piece; 520, connecting fin plate; 530, universal joint; 531, second reset spring; 600, connecting ring; 700, gripper; 701, mounting cylinder; 702, driving piece; 703, gripper reset spring; 800, driving mechanism; 810, driving line; 820, operating lever; 821, lever body reset spring; 830, locking lever; 840, locking trigger; 831, gear groove; 841, ratchet; 842, trigger reset spring; 850, buffer assembly; 851, connecting plate; 852, connecting rod; 853, sliding rod; 854, buffer spring; 855, fixed baffle; 856, limiting ring. DETAILED DESCRIPTION

[0045] ​The technical solutions of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0046] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0048] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0049] The present embodiment provides an instrument with a tip, which is shown in Figures 1 to 6 The instrument includes a multi-degree-of-freedom mechanical arm, a control mechanism and an execution component, the two ends of the multi-degree-of-freedom mechanical arm are a head and a tail respectively, the execution component is connected to the head of the multi-degree-of-freedom mechanical arm, and the control mechanism is connected to the tail of the multi-degree-of-freedom mechanical arm. The multi-degree-of-freedom mechanical arm can be controlled to perform bending action through the control mechanism, thereby driving the execution component to move with the bending of the multi-degree-of-freedom mechanical arm.

[0050] Among them, the multi-degree-of-freedom mechanical arm is a flexible arm 100, which has no specific structure form and can be a joint structure or an integral structure. The bending direction of the flexible arm 100 can be set according to the needs of medical personnel and can be bent in only one direction or in multiple directions, which is not specifically limited in the present embodiment. Furthermore, the flexible arm 100 is also provided with a first reset spring 101, which is used for resetting after the action of the flexible arm 100, so that the flexible arm 100 maintains a straight posture in the initial state.

[0051] In combination Figure 2 As shown in the drawings, the control mechanism provided by the embodiment includes a control line 200, a support arm 300, a fixed shell 400 and a movable shell 500.

[0052] The control line 200 is provided with one or more lines and is evenly distributed around the flexible arm 100. The ends of the control line 200 are respectively connected to the edges of the head of the flexible arm 100, so that the head of the flexible arm 100 can be bent in the corresponding direction by pulling the control line 200. The support arm 300 is a hollow structure, one end of the support arm 300 is connected to the tail of the flexible arm 100, the fixed shell 400 is connected to the end of the support arm 300 away from the flexible arm 100, the movable shell 500 is movably connected to the fixed shell 400, and the movable shell 500 is provided with a connecting fin 520, the number of the connecting fin 520 is consistent with the number of the control line 200, the connecting fin 520 corresponds to the connecting point of each control line 200 and the flexible arm 100, and each control line 200 extends through the support arm 300 to the inside of the fixed shell 400 and the movable shell 500 and is connected to the corresponding connecting fin 520. Medical staff can only need to rotate the movable shell 500 relative to the fixed shell 400, so as to pull the control line 200 to move through the connecting fin 520, so that the head of the flexible arm 100 is bent in the corresponding direction.

[0053] It can be understood that the movable connection between the movable shell 500 and the fixed shell 400 can be adaptively set according to the bending action of the flexible arm 100. When the flexible arm 100 can only bend in one direction, the movable shell 500 should also be set to only move relative to the fixed shell 400 in one direction. When the flexible arm 100 can bend in multiple directions, the movable shell 500 should also be set to be movable relative to the fixed shell 400 in multiple directions. At the same time, the number of control lines 200 can also be set according to the direction in which the flexible arm 100 can bend.

[0054] In some embodiments, in combination Figure 3 As shown in the drawings, the flexible arm 100 is composed of multiple universal joints 530, so that the flexible arm 100 can bend in any direction. At this time, the movable shell 500 is movably connected to the fixed shell 400, and the control line 200 is provided with four lines and is evenly distributed around the flexible arm 100.

[0055] Specifically, as Figure 2As shown, the fixed shell 400 is provided with a spherical shell 401 on the side facing the movable shell 500, and the movable shell 500 is provided with a spherical groove 501, the diameter of the spherical groove 501 is matched with the outer diameter of the spherical shell 401, the opening diameter of the spherical groove 501 is smaller than the outer diameter of the spherical shell 401, and the outer wall of the spherical shell 401 is attached to the inner wall of the spherical groove 501, so that the movable shell 500 can rotate around the spherical center of the spherical shell 401 relative to the fixed shell 400. Moreover, the spherical shell 401 is provided with an opening with a diameter smaller than the outer diameter thereof, so that the spherical shell 401 is in communication with the inside of the movable shell 500 through the opening thereof.

[0056] Further, a connecting ring 600 can be arranged between the fixed shell 400 and the movable shell 500, the connecting ring 600 is sleeved on the connecting gap between the movable shell 500 and the fixed shell 400 and can move with the movable shell 500, and the connecting ring 600 is used to fix the position of the movable shell 500, so that the movable shell 500 can be prevented from being separated from the fixed shell 400.

[0057] In some embodiments, the fixed shell 400 can be further provided with a fixed part 410, and the movable shell 500 can be further provided with a movable part 510, the wings are uniformly arranged on the movable part 510, and the movable part 510 is connected with the fixed part 410 through the universal joint 530, so that the movable part 510 can move with the movement of the movable shell 500.

[0058] Moreover, the universal joint 530 is further provided with a second reset spring 531, the second reset spring 531 is used for resetting the relative movement between the movable part 510 and the fixed part 410, so that the movable part 510 and the fixed part 410 can also keep a relatively flat posture in the initial state, thereby enabling the reset of the relative movement between the fixed shell 400 and the movable shell 500, reducing the resistance of the flexible arm 100 when the first reset spring 101 resets the flexible arm 100, and ensuring that the flexible arm 100 can smoothly perform the reset action.

[0059] In some embodiments, the fixed shell 400 is provided with a front end holding part 402 on the side of the spherical shell 401 close to the support arm 300, and the bottom of the movable shell 500 is provided with a rear end holding part 502 extending downward, so that the medical staff can hold the front end holding part 402 and the rear end holding part 502 with two hands when operating, which is more convenient for controlling the movement of the movable shell 500 and improves the comfort in use.

[0060] In addition, the above-mentioned execution part can be an endoscope, an electrotome or a grasping forceps 700, which can be adaptively set according to different medical methods. For example, Figure 1 and Figure 4As shown, the execution component is provided as a gripper 700, at this time, the medical instrument further comprises a driving mechanism 800 for controlling the opening and closing action of the gripper 700.

[0061] Specifically, the head of the flexible arm 100 is further connected with a mounting cylinder 701, the gripper 700 is connected on the mounting cylinder 701, the mounting cylinder 701 is provided with a slidable driving member 702 and a gripper reset spring 703, the gripper 700 is connected with the driving member 702, the opening and closing action of the gripper 700 can be controlled by the movement of the driving member 702, the gripper reset spring 703 is located between the driving member 702 and the flexible arm 100, for the reset after the movement of the driving member 702, so that the driving member 702 is in the open posture of the gripper 700 in the initial state.

[0062] The driving mechanism 800 comprises a driving wire 810 and an operating rod 820, one end of the operating rod 820 is hinged on the inner side of the movable shell 500, at least part of the operating rod 820 is located outside the movable shell 500, one end of the driving wire 810 is connected on the driving member 702, the other end of the driving wire 810 extends to the inside of the movable shell 500 through the flexible arm 100, the support arm 300, the fixing member 410, the universal joint 530 and the movable member 510 in turn and is connected on the operating rod 820, so that the driving wire 810 can be moved by the rotation of the operating rod 820, and then the driving member 702 is driven to slide to make the gripper 700 perform the closing action, and after the operating rod 820 is released, the gripper 700 can be restored to the open posture under the action of the gripper reset spring 703, so as to realize the control of the opening and closing action of the gripper 700.

[0063] In some embodiments, the driving mechanism 800 can further comprise a rod body reset spring 821, both ends of the rod body reset spring 821 are connected on the movable member 510 and the operating rod 820 respectively, the rod body reset spring 821 can reset the operating rod 820 after movement, reduce the resistance of the gripper reset spring 703 when resetting the driving member 702, and ensure that the gripper reset spring 703 can smoothly reset the gripper 700 to the open state.

[0064] In some embodiments, in combination with Figure 2 and Figure 5As shown, the driving mechanism 800 can further include a locking rod 830 connected to the operating rod 820, and a locking trigger 840 located below the locking rod 830 and hinged to the movable shell 500. The locking rod 830 is provided with a plurality of tooth grooves 831 distributed in an arc along the rotation axis of the operating rod 820. The locking trigger 840 is provided with a ratchet 841 on the side close to the locking rod 830, which is adapted to be clamped in the tooth groove 831 and has an inclined surface.

[0065] When the medical staff uses the operating rod 820 to pull the driving wire 810 to move the grabbing clamp 700 to perform a closing action, the locking rod 830 moves relative to the locking trigger 840, and the tooth groove 831 can press and move the ratchet 841 under the action of the inclined surface of the ratchet 841, and the ratchet 841 is clamped into the next set of tooth grooves 831 under the action of the trigger return spring 842, so that the locking rod 830 and the operating rod 820 can move normally. When the medical staff releases the operating rod 820, the tooth groove 831 cannot move reversely under the action of the ratchet 841, so that the operating rod 820 cannot reset under the action of the rod body return spring 821, and the grabbing clamp 700 also cannot reset under the action of the grabbing clamp return spring 703, so that the grabbing clamp 700 maintains the current posture, and the medical staff does not need to apply pressure to the operating rod 820 for a long time to enable the grabbing clamp 700 to maintain the state of grabbing the object, and can also control the grabbing force of the grabbing clamp 700 on the object according to the pressing amplitude of the operating rod 820. When the medical staff needs to control the grabbing clamp 700 to open, the ratchet 841 is only needed to be pulled out of the tooth groove 831 by pulling the locking trigger 840, and the operating rod 820 and the grabbing clamp 700 can be restored to the initial position under the action of the grabbing clamp return spring 703 and the rod body return spring 821.

[0066] In some embodiments, the movable shell 500 is provided with a first through groove 503 and a second through groove 504, one end of the operating rod 820 extends to the outside of the movable shell 500 through the first through groove 503, and the locking trigger 840 extends to the outside of the movable shell 500 through the second through groove 504, and the locking trigger 840 is located on the side of the rear end holding portion 502 close to the support arm 300, and the operating rod 820 is located between the rear end holding portion 502 and the locking trigger 840, so that the medical staff can hold the front end holding portion 402 and press the operating rod 820 and the locking trigger 840 with one hand, which is more convenient to use.

[0067] And, a limiting plate 505 is formed on the inner wall of the first through slot 503, the limiting plate 505 can limit the pressing distance of the operating lever 820, avoiding the moving distance of the operating lever 820 too large to cause the lock lever 830 and the lock trigger 840 to be separated. And the lock trigger 840 can be limited by the two side walls of the second through slot 504, avoiding the lock trigger 840 rotating too large to be separated from the trigger return spring 842.

[0068] In some embodiments, a buffer assembly 850 is further arranged between the driving line 810 and the operating lever 820, and the driving line 810 is connected with the operating lever 820 through the buffer assembly 850. In combination with Figure 6 As shown, the buffer assembly 850 includes a connecting plate 851, a connecting rod 852, a sliding rod 853 and a buffer spring 854. The connecting plate 851 is located between the movable element 510 and the operating lever 820, and a fixed baffle 855 is arranged on the side of the connecting plate 851 close to the movable element 510, the fixed baffle 855 is provided with a sliding hole, the sliding rod 853 is slidably arranged in the sliding hole, and the driving line 810 is fixed on the sliding rod 853. The end of the sliding rod 853 away from the fixed baffle 855 is provided with a limiting ring 856, the buffer spring 854 is sleeved on the sliding rod 853 and located between the fixed baffle 855 and the limiting ring 856, and one end of the connecting rod 852 is hinged to the side of the connecting plate 851 away from the movable element 510, and the other end is hinged to the operating lever 820.

[0069] When the medical staff presses the operating lever 820 to close the gripper 700, the operating lever 820 will first pull the connecting plate 851 to move through the connecting rod 852, and under the action of the elastic force of the buffer spring 854, the sliding rod 853 will first move synchronously with the connecting rod, so as to pull the driving line 810 to close the gripper 700, when the gripper 700 holds the object, the gripper 700 receives resistance, at this time, continue to press the operating lever 820, because the driving line 810 cannot move due to the resistance received by the movement of the gripper 700, at this time, the sliding rod 853 will move relative to the connecting plate 851 and compress the buffer spring 854.

[0070] Through the buffer assembly 850, it can avoid that the gripper 700 applies too much force to the object to cause damage to the object, and also can use the reaction force of the buffer spring 854 to ensure that the gripper 700 holds the object stably and is not easy to be separated.

[0071] Obviously, the above embodiments are only examples for clearly illustrating, and not limiting the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to enumerate all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. An instrument having a tip, characterized by, The device comprises a multi-degree-of-freedom mechanical arm and a control mechanism, the multi-degree-of-freedom mechanical arm comprises a flexible arm (100), a first reset spring (101) arranged in the flexible arm (100), and an execution component connected to the head of the flexible arm (100), and the tail of the flexible arm (100) is connected with the control mechanism; the two ends of the flexible arm (100) are the head and the tail respectively; The control mechanism comprises: Control lines (200) are arranged around the flexible arm (100), and one end of each control line (200) is connected to the edge of the head of the flexible arm (100); A support arm (300) is connected to the tail of the flexible arm (100), and the inside of the support arm (300) is hollow; A fixed shell (400) is connected to one end of the support arm (300) away from the flexible arm (100); A movable shell (500) is movably connected to the fixed shell (400), and the inside of the movable shell (500) is provided with a plurality of connecting fins (520) corresponding to the number of control lines (200), each connecting fin (520) corresponds to the connecting point of each control line (200) and the head of the flexible arm (100), and each control line (200) extends through the support arm (300) to the inside of the movable shell (500) and is connected to each connecting fin (520); Further comprising a driving mechanism (800), the head of the flexible arm (100) is provided with a mounting cylinder (701), the inside of the mounting cylinder (701) is provided with a slidable driving member (702), the driving mechanism (800) can control the sliding of the driving member (702), and the driving mechanism (800) comprises: a driving line (810) and an operating rod (820), a buffer assembly (850) is arranged between the driving line (810) and the operating rod (820), and the buffer assembly (850) comprises: A connecting plate (851) is arranged on one side of the operating rod (820) close to the support arm (300), one end of the connecting plate (851) is provided with a fixed baffle (855), and the fixed baffle (855) is provided with a sliding hole; A sliding rod (853) is slidably arranged in the sliding hole, the driving line (810) is fixed on the sliding rod (853), and one end of the sliding rod (853) close to the operating rod (820) is provided with a limiting ring (856); A buffer spring (854) is sleeved on the sliding rod (853) and located between the fixed baffle (855) and the limiting ring (856), and the buffer spring has a force for driving the limiting ring (856) to move away from the execution component; A connecting rod (852) is hingedly connected to the connecting plate (851) and the operating rod (820) at both ends.

2. The instrument with a sharp tip according to claim 1, wherein, A spherical shell (401) is arranged on the fixed shell (400), a spherical groove is arranged on the movable shell (500), and the movable shell (500) is movably connected to the fixed shell (400) by sleeving the spherical groove on the spherical shell (401).

3. The instrument with a sharp tip of claim 2, wherein, The fixed shell (400) is internally provided with a fixed part (410), the movable shell (500) is internally provided with a movable part (510), each connecting fin plate (520) is fixed on the movable part (510), and the fixed part (410) is movably connected with the movable part (510) through a universal joint (530).

4. The instrument with a sharp tip according to claim 3, wherein, The universal joint (530) is internally provided with a second reset spring (531).

5. The instrument with a sharp tip according to claim 2, wherein, The control mechanism further comprises a connecting ring (600) which is sleeved at the connecting gap between the movable shell (500) and the spherical shell (401).

6. The instrument with a tip according to any one of claims 1 to 5, characterized in that The fixed shell (400) is provided with a front end holding part (402), and the bottom of the movable shell (500) is downwardly extended to form a rear end holding part (502).

7. The instrument with a sharp tip according to claim 6, wherein, The execution part is a grabber (700), the driving part (702) is connected with the grabber (700), and a grabber reset spring (703) is arranged between the driving part (702) and the flexible arm (100).

8. The instrument with a sharp tip according to claim 7, wherein, One end of the operating rod (820) is hingedly connected in the movable shell (500), at least part of the operating rod (820) is located outside the movable shell (500), one end of the driving wire (810) is connected to the driving part (702), and the other end is connected to the operating rod (820).

9. The instrument with a sharp tip according to claim 8, wherein, The driving mechanism (800) further comprises a rod body reset spring (821) which is connected between the operating rod (820) and the movable shell (500) and is used for resetting after rotation of the operating rod (820).

10. The instrument with a sharp tip according to claim 8, wherein, The driving mechanism (800) further comprises: A locking rod (830) is connected to the operating rod (820), a plurality of tooth grooves (831) are formed in the locking rod (830), and the tooth grooves (831) are arranged in an arc shape along the rotation axis of the operating rod (820); A locking trigger (840) is hingedly connected to the movable shell (500), a ratchet (841) is arranged on one side of the locking trigger (840) close to the locking rod, the ratchet (841) is provided with an inclined surface, the ratchet (841) is adapted to be clamped in the tooth groove (831), and at least part of the locking trigger (840) is located outside the movable shell (500); A trigger reset spring (842) is connected between the locking trigger (840) and the movable shell (500) and is used for resetting after rotation of the locking trigger (840).

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