Single-port multi-arm surgical robot with flexible steering sheath

Abstract

The application provides a single-hole multi-arm surgical robot with a flexible steering sheath, which comprises a flexible steering sheath, a plurality of flexible arms, a rigid straight sheath, a bending unit and a driving unit, the flexible steering sheath is installed at the front end of the rigid straight sheath, the plurality of flexible arms extend from the inside of the flexible steering sheath, the rigid straight sheath is fixed at the front end of the bending unit, and the bending unit is connected with the driving unit. The application has the beneficial effects that the single-hole multi-arm surgical robot with the flexible steering sheath can control the flexible steering sheath to change its shape, can adapt to a curved surgical approach, and can increase the working space of the plurality of operation arms; the flexible steering sheath is provided with a plurality of tool channels, which is beneficial to transmitting the plurality of operation arms through a single small-size surgical incision.

Description

Technical Field

[0001] This invention relates to medical devices, and more particularly to a single-port multi-arm surgical robot with a flexible steering sheath. Background Technology

[0002] Modern surgery is evolving from open surgery to minimally invasive laparoscopic surgery, and then to robot-assisted surgery. Open surgery provides clear exposure of the surgical field, but results in large incisions, significant blood loss, and noticeable scarring. Minimally invasive laparoscopic surgery requires multiple small incisions or a single larger incision to insert endoscopes and various surgical instruments, offering advantages such as less blood loss and smaller scarring. However, the slender, rigid surgical instruments are difficult to maneuver, requiring multiple medical staff to collaborate, leading to lower surgical efficiency. Robot-assisted surgery retains the advantages of minimally invasive laparoscopic surgery while offering high flexibility and intuitive operation of robotic arms, reducing the number of medical staff required and improving surgical efficiency.

[0003] Single-port minimally invasive surgical robots enter the patient's body through a single surgical incision, deploying various manipulators and imaging equipment near the surgical area to perform surgical procedures, further reducing surgical invasiveness. Traditional single-port minimally invasive surgical robots often employ a rigid straight sheath combined with multiple manipulators. The rigid straight sheath has a leverage effect, meaning that even slight changes in the rigid sheath's posture within the body require significant movements from the external drive mechanism, making it difficult to adapt to surgical scenarios with curved approaches. Furthermore, while some single-port minimally invasive surgical robots with flexible outer sheaths have emerged, their flexible sheaths are complex in structure, lack sufficient rigidity, and are relatively large, posing challenges to the stable operation of the end effector arms.

[0004] In summary, how to pass multiple surgical tools through a single small surgical incision, and how to solve the leverage effect of the rigid outer sheath of a single-port minimally invasive surgical robot are problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a single-port multi-arm surgical robot with a flexible steering sheath to solve the leverage effect problem and the problem of how to pass multiple surgical tools through a single small incision in existing single-port minimally invasive surgical robots.

[0006] To achieve the above objectives, the present invention provides a single-port multi-arm surgical robot with a flexible steering sheath, comprising a flexible steering sheath, a flexible arm, a rigid straight sheath, a bending unit, and a drive unit. The flexible steering sheath is mounted on the front end of the rigid straight sheath, and the rear end of the rigid straight sheath is fixed to the front end of the bending unit. The rear end of the bending unit is connected to the drive unit, and the drive unit is connected to the flexible arm, providing translational and rotational degrees of freedom for the flexible arm. The flexible arm extends from the interior of the flexible steering sheath, passing sequentially through the bending unit and the rigid straight sheath. The drive unit is connected to the flexible steering sheath, providing translational and rotational degrees of freedom for the flexible steering sheath.

[0007] As a further improvement of the present invention, the flexible steering sheath includes a pre-bent highly elastic tube, a limiting ring, and an elastic covering, wherein the pre-bent highly elastic tube is constrained inside the limiting ring, and the elastic covering encloses the limiting ring inside it.

[0008] As a further improvement of the present invention, there are at least two pre-bent high-elasticity tubes, and the rear end of each pre-bent high-elasticity tube is fixedly connected to a high-rigidity transmission tube. The drive unit is connected to the transmission tube to provide the transmission tube with translational and rotational degrees of freedom.

[0009] As a further improvement of the present invention, the pre-bent high elastic tube is capable of rotating around the central axis, the limiting ring binds the pre-bent high elastic tube together, and there is an elastic interaction between each of the pre-bent high elastic tubes and between each of the pre-bent high elastic tubes and the limiting ring, which can change the curvature of each of the pre-bent high elastic tubes and change the bending shape of the flexible steering sheath.

[0010] As a further improvement of the present invention, the free state of the pre-bent highly elastic tube is bent.

[0011] As a further improvement of the present invention, there are at least two limiting rings and they are evenly distributed along the axial direction of the pre-bent highly elastic tube.

[0012] As a further improvement of the present invention, the rigid straight sheath includes a rear section and a front section. The rear section is fixed to the front end of the bending unit and converges each of the transmission tubes that obliquely exit from the bending unit into the rear section. The front end of the front section is connected to the elastic covering body, and the rear end of the front section is connected to the rear section. The pre-bent highly elastic tube exits from the interior of the front section.

[0013] As a further improvement of the present invention, the bending unit includes a tube separator and a tower-shaped connector. The tube separator is fixed to the rear end of the tower-shaped connector, the front end of the tower-shaped connector is connected to the rigid straight sheath, and its rear end is fixed to the drive unit. Each of the transmission tubes is inserted into the bending unit at an angle, and the tube separator separates each of the transmission tubes.

[0014] As a further improvement of the present invention, the drive unit includes a front mounting plate, a rear mounting plate, and a drive module. The front mounting plate is connected to the rear end of the bending unit. The drive module and the flexible arm correspond one-to-one. The drive module is obliquely mounted between the front mounting plate and the rear mounting plate. The drive module includes a front mounting part, a rear mounting part, a lead screw, a guide rod, and a drive module. The front mounting part is connected to the front mounting plate of the drive unit, and the rear mounting part is connected to the rear mounting plate of the drive unit. The two ends of the lead screw and the guide rod are respectively fixed to the front mounting part and the rear mounting part of the drive module. The drive module is mounted on the lead screw and the guide rod, providing translational and rotational degrees of freedom for the transmission tube. Each independent transmission tube is driven by an independent drive module, and each independent flexible arm is driven by an independent drive module. The drive module includes a moving carrier plate, a linear bearing, a hollow lead screw motor, a rotary motor, a worm, a worm wheel, and a tube connecting ring. The linear bearing is fixed on the moving carrier plate and cooperates with the lead screw. The hollow lead screw motor is installed on the upper part of the moving carrier plate and cooperates with the lead screw. The rotary motor is installed on one side of the moving carrier plate. The worm is connected to the output shaft of the rotary motor. The worm wheel is installed on the lower part of the moving carrier plate and is hollow inside. The worm and the worm wheel mesh with each other. The tube connecting ring is sleeved with the front end of the worm wheel. The proximal end of the transmission tube is inserted into the hollow hole of the worm wheel and is connected to the worm wheel and the tube connecting ring.

[0015] As a further improvement of the present invention, the flexible arm includes an operating arm, a visual arm, a surgical tool, and a miniature camera. The operating arm extends from a pre-bent highly elastic tube, with one independent operating arm corresponding to one independent highly elastic tube. The visual arm extends from a pre-bent highly elastic tube, with one independent visual arm corresponding to one independent highly elastic tube. The surgical tool is mounted at the end of the operating arm, and the miniature camera is mounted at the end of the visual arm.

[0016] The beneficial effects of this invention are as follows: Through the above-mentioned solution, the single-port multi-arm surgical robot with a flexible steering sheath proposed in this invention can control the flexible steering sheath to change its shape, thereby adapting to curved surgical approaches. This solves the leverage effect problem of the rigid outer sheath of traditional single-port minimally invasive surgical robots, improves the robot's adaptability to different surgical scenarios, and effectively increases the working space of the manipulator. Each pre-bent, highly elastic tube in the flexible steering sheath has a hollow channel, eliminating the need for additional tool channels. This has the advantages of simple structure and convenient installation of multiple manipulators and surgical tools through each hollow channel, which is beneficial for transferring multiple manipulators through a single small-sized surgical incision. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of the present invention, 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 the present invention. For those skilled in the art, other solutions can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a single-port multi-arm surgical robot body with a flexible sheath according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the surgical execution mechanism of the present invention in the flexible arm extended state;

[0020] Figure 3 This is a schematic diagram of the surgical execution mechanism of the present invention in the retracted state of the flexible arm;

[0021] Figure 4 This is a schematic diagram of the flexible steering sheath in the straightened state according to an embodiment of the present invention;

[0022] Figure 5 This is a schematic diagram of the flexible steering sheath in a bent state according to an embodiment of the present invention;

[0023] Figure 6 This is a schematic diagram of the bending unit according to an embodiment of the present invention;

[0024] Figure 7 This is a schematic diagram of the combined structure of the pre-bent high-elasticity tube and the transmission tube according to an embodiment of the present invention;

[0025] Figure 8 This is a schematic diagram of the structure of the driving unit according to an embodiment of the present invention;

[0026] Figure 9 This is a schematic diagram of the drive module according to an embodiment of the present invention;

[0027] Figure 10 This is a schematic diagram of the structure of the driver module according to an embodiment of the present invention;

[0028] Figure 11 This is a schematic diagram of the structure of a robot body mounted on a mobile adjustment platform according to an embodiment of the present invention.

[0029] Reference numerals: 1. Flexible steering sheath; 2. Flexible arm; 3. Rigid straight sheath; 4. Bending unit; 5. Drive unit; 6. Moving adjustment platform; 11. Pre-bent high-elasticity tube; 12. Limiting ring; 13. Elastic covering; 21. Operating arm; 22. Visual arm; 23. Surgical tool; 24. Miniature camera; 31. Front section of straight sheath; 32. Rear section of straight sheath; 41. Tube separator; 42. Tower-shaped connector; 51. Transmission tube; 52. Proximal end of transmission tube; 53. Front mounting plate; 54. Rear mounting plate; 55. Drive module; 111. Free state of pre-bent high-elasticity tube; 551. Front mounting component of drive module; 552. Rear mounting component of drive module; 553. Lead screw; 554. Optical rod; 555. Drive module; 555. Moving carrier plate; 5551. Linear bearing; 5552. Hollow lead screw motor; 5553. Rotary motor; 5554. Worm gear; 5555. Worm wheel; 5556. Tube connecting ring; 5557. Detailed Implementation

[0030] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0031] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the scope of protection of this invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0034] Please see Figure 1 This embodiment provides a single-hole multi-arm surgical robot with a flexible steering sheath, including a flexible steering sheath 1, three flexible arms 2, a rigid straight sheath 3, a bending unit 4, and a drive unit 5. The flexible steering sheath 1 is installed at the front end of the rigid straight sheath 3, and each flexible arm 2 extends out from the inside of the flexible steering sheath 1. The rear end of the rigid straight sheath 3 is fixed to the front end of the bending unit 4, and the rear end of the bending unit 4 is connected to the drive unit 5.

[0035] It should be noted that the flexible arm 2 in this application can be one, two, three, or even more, and the number can be set as needed. Preferably, three flexible arms 2 are used; therefore, this embodiment will be described using three flexible arms 2 as an example.

[0036] Please see Figures 2 to 5 The flexible steering sheath 1 includes three pre-bent highly elastic tubes 11, a limiting ring 12, and an elastic covering body 13. Each pre-bent highly elastic tube 11 is constrained inside the limiting ring 12. There are multiple limiting rings 12, which are evenly distributed along the axial direction of the highly elastic tubes 11. The elastic covering body 13 covers each limiting ring 12 inside it to prevent the discretely distributed limiting rings 12 from moving axially.

[0037] It should be noted that the high-elasticity tube 11 in this application can be one, two, three, or even more, and the number can be set as needed. Preferably, three high-elasticity tubes 11 are used; therefore, this embodiment will be described using three high-elasticity tubes 11 as an example.

[0038] Combination Figure 7 Each pre-bent high-elasticity tube 11 is fixedly connected to a high-rigidity transmission tube 51 at its rear end. The transmission tube 51 provides translational and rotational degrees of freedom for the high-elasticity tube 11, and the transmission tube 51 is driven by the drive unit 5, which provides translational and rotational degrees of freedom for each transmission tube 51.

[0039] Please see Figure 4 and Figure 5Each pre-bent high elastic tube 11 can rotate around its own central axis. Since the limiting ring 12 binds each high elastic tube 11 together, elastic interaction will occur between each pre-bent high elastic tube 11 and between the high elastic tube 11 and the limiting ring 12, causing the curvature of each high elastic tube 11 to change, thereby causing the bending shape of the flexible steering sheath 1 to change.

[0040] Please see Figure 2 , 3 The flexible arm 2 includes two manipulator arms 21, a visual arm 22, a surgical instrument 23, and a miniature camera 24. The manipulator arms 21 and the visual arm 22 extend from corresponding pre-bent highly elastic tubes 11 (i.e., one independent manipulator arm corresponds to one independent highly elastic tube, and one independent visual arm corresponds to one independent highly elastic tube). The surgical instrument 23 is mounted at the end of the manipulator arm 21, and the miniature camera 24 is mounted at the end of the visual arm 22. The manipulator arms 21 and the surgical instrument 23 are used to perform specific surgical operations, while the visual arm 22 and the miniature camera 24 are used for intraoperative imaging.

[0041] Please see Figure 4 The free state 111 of the pre-bent high elastic tube is bent, specifically bent in a direction away from the central axis. Therefore, the three high elastic tubes 11 are bifurcated.

[0042] Please see Figure 5 As can be seen from the cross-sectional view AA, the elastic covering 13 is located in the outer layer, while the limiting ring 12 is located in the middle layer, and the three highly elastic tubes 11 are located in the inner core.

[0043] Please see Figure 2 and Figure 6 The rigid straight sheath 3 includes a rear section 32 and a front section 31. The rear section 32 is fixed to the front end of the bending unit 4, and it gathers the transmission tubes 51 that obliquely pass through the bending unit 4 into the rear section 32. The front end of the front section 31 is connected to the elastic covering body 13, and the rear end of the front section 31 is connected to the rear section 32. Each pre-bent highly elastic tube 11 passes through the interior of the front section 31.

[0044] Please see Figures 6 to 8 The bending unit 4 includes a tube separator 41 and a tower-shaped connector 42. The tube separator 41 is fixed to the rear end of the tower-shaped connector 42. The front end of the tower-shaped connector 42 is connected to the rigid straight sheath 3, and its rear end is fixed to the drive unit 5. Each transmission tube 51 is inserted into the bending unit 4 at an angle. The tube separator 41 then separates each transmission tube 51. The bending unit 4 can bend each transmission tube 51, which is initially in a straight state, at a certain angle to facilitate the arrangement of each drive module 55 in the drive unit 5.

[0045] Please see Figure 8The drive unit 5 includes a front mounting plate 53, a rear mounting plate 54, and three drive modules 55. The front mounting plate 53 is connected to the rear end of the bending unit 4. Each drive module 55 is obliquely mounted between the front mounting plate 53 and the rear mounting plate 54. Each drive module 55 corresponds to a highly elastic tube 11 and a flexible arm 2 in the flexible steering sheath 1. The highly elastic tube 11 and the flexible arm 2 provide translational and rotational degrees of freedom.

[0046] Please see Figure 9 The drive module 55 includes a front mounting part 551, a rear mounting part 552, a lead screw 553, a guide rod 554, and a drive module 555. The front mounting part 551 is connected to the front mounting plate 53 of the drive unit 5, and the rear mounting part 552 is connected to the rear mounting plate 54 of the drive unit 5. The two ends of the lead screw 553 and the guide rod 554 are respectively fixed on the front mounting part 551 and the rear mounting part 552 of the drive module 55. There are two guide rods 554, which are respectively installed on both sides of the lead screw 553. The drive module 555 is installed on the lead screw 553 and the guide rod 554, and can provide translational and rotational degrees of freedom for each transmission tube 51.

[0047] Please see Figure 10 The drive module 555 includes a movable carrier plate 5551, two linear bearings 5552, a hollow lead screw motor 5553, a rotary motor 5554, a worm gear 5555, a worm wheel 5556, and a pipe connecting ring 5557. The two linear bearings 5552 are respectively fixed on both sides of the movable carrier plate 5551, and the linear bearings 5552 cooperate with the lead screw 554. The hollow lead screw motor 5553 is mounted on the upper part of the movable carrier plate 5551 and cooperates with the lead screw 554. The motor 5554 is installed on one side of the movable carrier plate 5551. The worm 5555 is connected to the output shaft of the rotary motor 5554. The worm wheel 5556 is installed at the lower part of the movable carrier plate 5551. Its interior is hollow. The worm 5555 and the worm wheel 5556 mesh with each other. The tube connecting ring 5557 is sleeved with the front end of the worm wheel 5556. The proximal end of the transmission tube 51 is inserted into the hollow hole of the worm wheel 5556. It is connected to the worm wheel 5556 and the tube connecting ring 5557.

[0048] When the hollow lead screw motor 5553 rotates, the drive module 555 can be translated along the axial direction of the lead screw 553, thereby driving the transmission tube 51 to translate. When the rotary motor 5554 rotates, it can drive the worm 5555 to rotate. The power is transmitted through the meshing of the worm 5555 and the worm wheel 5556. The rotation axis of the worm wheel is parallel to the moving carrier plate 5551, thereby driving the transmission tube 51 to rotate.

[0049] Please see Figure 11 and combined Figure 1The single-port multi-arm surgical robot with a flexible steering sheath provided in this embodiment can be mounted on a mobile adjustment platform 6. The mobile adjustment platform 6 can provide the robot body with degrees of freedom of movement, lifting, rotation, pitch, feed and roll to assist the robot body in performing single-port minimally invasive surgery.

[0050] The following is in conjunction with the appendix Figure 1 To be continued Figure 11 The following describes the method of using the single-port multi-arm surgical robot with a flexible steering sheath proposed in this invention:

[0051] 1. Control the drive unit 5 so that each flexible arm 2 retracts into the interior of the flexible steering sheath 1 and the flexible steering sheath 1 is in a straightened state.

[0052] 2. Move and adjust the moving adjustment platform 6 so that the front end of the flexible steering sheath 1 of the robot body mounted thereon is positioned at the surgical incision entrance at an appropriate tilt angle.

[0053] 3. Control the feed and rotation degrees of freedom of the drive unit 5 and the moving adjustment platform 6 so that the flexible steering sheath 1 and the rigid straight sheath 3 enter from the surgical opening, pass through the surgical channel, and reach the vicinity of the surgical target position.

[0054] 4. The flexible arm 2 extends from the flexible steering sheath 1, and under the image feedback of the visual arm 22 and the miniature camera 24, the two operating arms 21, together with their respective surgical tools 23, perform specific surgical tasks.

[0055] 5. After completing the surgical task, control the flexible arm 2 to retract into the flexible steering sheath 1, and control the flexible steering sheath 1 and the rigid straight sheath 3 to exit from the surgical channel.

[0056] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various simple deductions or substitutions can be made without departing from the concept of the present invention, and all such modifications and substitutions should be considered within the scope of protection of the present invention.

Claims

1. A single-port multi-arm surgical robot with a flexible steering sheath, characterized in that: The system includes a flexible steering sheath, a flexible arm, a rigid straight sheath, a bending unit, and a drive unit. The flexible steering sheath is mounted at the front end of the rigid straight sheath, and the rear end of the rigid straight sheath is fixed to the front end of the bending unit. The rear end of the bending unit is connected to the drive unit, which is connected to the flexible arm, providing translational and rotational degrees of freedom for the flexible arm. The flexible arm extends from the interior of the flexible steering sheath, passing successively through the bending unit and the rigid straight sheath. The drive unit is connected to the flexible steering sheath, providing translational and rotational degrees of freedom for the flexible steering sheath. The flexible steering sheath includes a pre-bent highly elastic tube, a limiting ring, and an elastic covering. The pre-bent highly elastic tube is constrained within the limiting ring. The elastic covering encloses the limiting ring inside. There are at least two pre-bent highly elastic tubes. The rear end of each pre-bent highly elastic tube is fixedly connected to a high-rigidity transmission tube. The drive unit is connected to the transmission tube, providing the transmission tube with translational and rotational degrees of freedom. The pre-bent highly elastic tubes can rotate around the central axis. The limiting ring binds the pre-bent highly elastic tubes together. There is elastic interaction between the pre-bent highly elastic tubes and between the pre-bent highly elastic tubes and the limiting ring, which can change the curvature of each pre-bent highly elastic tube and change the bending shape of the flexible steering sheath. The free state of the pre-bent highly elastic tubes is bent.

2. The single-port multi-arm surgical robot with a flexible steering sheath according to claim 1, characterized in that: There are at least two limiting rings, which are evenly distributed along the axial direction of the pre-bent highly elastic tube.

3. The single-port multi-arm surgical robot with a flexible steering sheath according to claim 1, characterized in that: The rigid straight sheath includes a rear section and a front section. The rear section is fixed to the front end of the bending unit and converges each of the transmission tubes that obliquely exit from the bending unit into the rear section. The front end of the front section is connected to the elastic covering body, and the rear end of the front section is connected to the rear section. The pre-bent highly elastic tube exits from the interior of the front section.

4. The single-port multi-arm surgical robot with a flexible steering sheath according to claim 3, characterized in that: The bending unit includes a tube separator and a tower-shaped connector. The tube separator is fixed to the rear end of the tower-shaped connector. The front end of the tower-shaped connector is connected to the rigid straight sheath, and its rear end is fixed to the drive unit. Each of the transmission tubes is inserted into the bending unit at an angle, and the tube separator separates each of the transmission tubes.

5. The single-port multi-arm surgical robot with a flexible steering sheath according to claim 4, characterized in that: The drive unit includes a front mounting plate, a rear mounting plate, and a drive module. The front mounting plate is connected to the rear end of the bending unit. Each drive module corresponds to a flexible arm, and the drive module is obliquely mounted between the front and rear mounting plates. Each drive module includes a front mounting component, a rear mounting component, a lead screw, a guide rod, and a drive module. The front mounting component is connected to the front mounting plate of the drive unit, and the rear mounting component is connected to the rear mounting plate. The two ends of the lead screw and the guide rod are respectively fixed to the front and rear mounting components of the drive module. The drive module is mounted on the lead screw and the guide rod, providing translational and rotational degrees of freedom for the transmission tube. (A separate transmission tube is also mentioned.) Driven by an independent drive module, each flexible arm is driven by an independent drive module. The drive module includes a moving carrier plate, a linear bearing, a hollow lead screw motor, a rotary motor, a worm gear, a worm wheel, and a tube connecting ring. The linear bearing is fixed to the moving carrier plate and cooperates with the lead screw. The hollow lead screw motor is mounted on the upper part of the moving carrier plate and cooperates with the lead screw. The rotary motor is mounted on one side of the moving carrier plate. The worm gear is connected to the output shaft of the rotary motor. The worm wheel is mounted on the lower part of the moving carrier plate and is hollow inside. The worm gear and the worm wheel mesh with each other. The tube connecting ring is sleeved with the front end of the worm wheel. The proximal end of the transmission tube is inserted into the hollow hole of the worm wheel and is connected to the worm wheel and the tube connecting ring.

6. The single-port multi-arm surgical robot with a flexible steering sheath according to claim 1, characterized in that: The flexible arm includes an operating arm, a visual arm, surgical tools, and a miniature camera. The operating arm extends from a pre-bent, highly elastic tube, with one independent operating arm corresponding to one independent highly elastic tube. The visual arm extends from a pre-bent, highly elastic tube, with one independent visual arm corresponding to one independent highly elastic tube. The surgical tools are mounted at the end of the operating arm, and the miniature camera is mounted at the end of the visual arm.

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