A spiral wire-laying continuum robot for single-port laparoscopic exploratory surgery

Abstract

The present invention provides a spiral-wired continuum robot for single-port laparoscopic exploratory surgery, comprising a continuum, a drive device, a long axis, a bracket, and a transverse movement assembly. The transverse movement assembly is used to drive the bracket to move laterally. The continuum includes a proximal continuum segment and a distal continuum segment connected end to end. The tail end of the proximal continuum segment is fixed to the bracket via the long axis. The proximal and distal continuum segments are each composed of a spiral continuum and a four-spiral elastic skeleton. The present invention has one linear feed degree of freedom and four bending and deflection degrees of freedom, and has high flexibility and dexterity as well as a large workspace. It can achieve comprehensive exploration and diagnosis of the abdominal cavity and organ tissues, and has safe physical interactivity, reduces damage to the human body, and accelerates postoperative recovery. Its drive device is a layered modular drive device, which achieves compactness, modularity, and precision, effectively improving space utilization.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to a spiral-wire-type continuum robot for single-port laparoscopic exploratory surgery. Background Art

[0002] Single-port laparoscopic exploratory surgery is a minimally invasive surgery that involves making a small incision of about 1-2 cm in the abdomen (usually the navel area) to insert surgical instruments such as a laparoscope to observe internal organs or collect tissue samples (biopsy) for diagnosis and treatment. Compared with open laparoscopic exploration and multi-port laparoscopic exploratory surgery, single-port laparoscopic exploratory surgery can minimize damage to the human body and has outstanding advantages such as minimal invasiveness, safety, economy, aesthetics, and less postoperative pain. In single-port laparoscopic exploratory surgery, the doctor manually controls the laparoscope to perform exploration operations on the human body. The surgical instruments are usually rigid straight-rod laparoscopes with limited working space and flexibility, making it difficult to achieve a comprehensive exploration of the entire abdomen. In addition, rigid surgical tools can easily cause damage to human tissue, affecting the quality of the operation and postoperative recovery. The emergence of continuum robots provides a good solution to the above problems.

[0003] A continuum surgical robot is a type of surgical robot that integrates flexible surgical instruments at the distal end. With the development of robotics technology, continuum robots have become a research hotspot in the medical and engineering fields, and are widely studied and applied both at home and abroad. Compared with traditional rigid instruments, continuum robots are highly flexible and dexterous, and can easily integrate a variety of surgical instruments. They can greatly improve the dexterity and working range of the instruments, allowing surgeons to obtain more visual feedback and have more flexible tissue manipulation capabilities. In addition, continuum robots also exhibit excellent adaptability and safe physical interaction characteristics, which can significantly reduce the risk of tissue damage and accelerate the patient's postoperative recovery process. Therefore, continuum robots have been widely studied and applied in minimally invasive surgery, especially in single-port laparoscopic surgery and natural orifice endoscopic surgery.

[0004] The flexible continuum is a key component of a continuum robot, integrated into the distal end of the robot. It provides crucial guidance and support for the advancement and manipulation of endoscopes and surgical tools within narrow cavities. It is crucial for minimally invasive surgery and has been widely studied and applied by research institutions and companies both domestically and internationally. Depending on whether the continuum relies on the elasticity of the material to achieve bending deformation, it can be categorized as either a discrete-joint continuum structure or a continuous-joint continuum structure. A discrete-joint continuum consists of a series of rigid mechanical joints connected in series by actuating wires, which connect these joints to achieve bending or deflection. It is essentially a rigid, redundant robotic arm. It offers advantages such as low axial compression and good load capacity. However, high friction between the joints results in poor constant curvature properties, making precise control difficult. The overall structure is composed of several units, resulting in poor torsional stiffness and poor compliance, making it difficult to navigate narrow, complex, and anatomical pathways. The continuous-joint flexible continuum, inspired by the arms of snakes, elephant trunks, and octopuses, leverages the inherent elasticity of the material to produce curvilinear motion with continuous curvature. Compared to discrete continua, continuous continua offer a complete overall structure, smooth curves, high flexibility and dexterity, and can effectively minimize damage to the human body. However, they exhibit significant axial compression and poor axial stiffness. Furthermore, most slotted continua only achieve single-degree-of-freedom bending, resulting in limited flexibility. Therefore, designing flexible continua with both excellent kinematic and mechanical properties remains a significant challenge.

[0005] Based on the above issues, this case arose. Summary of the Invention

[0006] (1) Technical problems solved

[0007] In response to the problems and shortcomings of current single-port laparoscopic surgery, the present invention provides a spiral-wired continuum robot for single-port laparoscopic exploratory surgery, which solves the above technical problems and proposes a new continuum structure based on this. The continuum inherits the excellent flexibility and uniform stress distribution of the spiral spring continuum, and the innovative design of the elastic skeleton spiral arrangement effectively improves the torsional stiffness and axial stiffness of the continuum, which solves the problem of poor axial stiffness of the spring-type continuum and difficulty in achieving precise control. It has excellent comprehensive performance and is convenient for application in the integration of multiple continua.

[0008] (2) Technical solution

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions: a spiral wire-laid continuum robot for single-port laparoscopic exploratory surgery, including a continuum, a driving device, a long axis, a bracket and a transverse movement component, the transverse movement component is used to drive the bracket to move laterally, the continuum includes a proximal continuum segment and a distal continuum segment connected end to end, the tail end of the proximal continuum segment is fixed to the bracket through the long axis, the proximal continuum segment and the distal continuum segment are both composed of a spiral continuum and four spirally arranged elastic skeletons, four elastic skeleton holes are circumferentially opened on the spiral continuum, the two ends of the four spirally arranged elastic skeletons are fixed at the head and tail of the spiral continuum, the four spirally arranged elastic skeletons are fixed at the head and tail of the spiral continuum, and the four spirally arranged elastic skeletons are fixed at the head and tail of the spiral continuum. The middle section of the elastic skeleton presents a DNA double helix structure and passes through the elastic skeleton holes in sequence. The driving device includes four proximal driving wires, four distal driving wires and a control component. Four proximal driving wire holes and four distal driving wire holes are opened at equal angles in a circumferential direction on the outer ring of the spiral continuum. One end of the four proximal driving wires is fixed to the head of the proximal continuum segment, and the other end passes through the proximal driving wire hole on the proximal continuum segment and is connected to the control component. One end of the four distal driving wire holes is fixed to the head of the distal continuum segment, and the other end passes through the distal driving wire holes on the distal continuum segment and the proximal continuum segment in sequence and is connected to the control component. The control component is used to control the retraction and extension of the four proximal driving wires and the four distal driving wires.

[0010] Preferably, the control component includes four groups of winding shafts, guide wheel 1, guide wheel 2 and a driving source, the driving source is used to drive the winding shaft to rotate, the winding shaft is arranged on the bracket along the length direction of the major axis, the guide wheel 1 is arranged on the bracket and arranged tangentially to the winding shaft, the guide wheel 2 is arranged on the bracket and arranged axially parallel to the winding shaft, every two proximal driving wires that are 180° apart form a group, a total of two groups, to drive the bending freedom of the proximal continuous body segment, every two distal driving wires that are 180° apart form a group, a total of two groups, to drive the bending freedom of the distal continuous body segment, each group of driving wires successively passes around guide wheel 1 and guide wheel 2 and is wound on the winding shaft, and the two driving wires in each group are wound in opposite directions on the winding shaft.

[0011] Preferably, the driving source includes a motor, a motor connecting block, a driving output disk, a transmission disk, and a spring. The motor is fixed on the bracket, the motor connecting block is arranged on the output shaft of the motor, the transmission disk is coaxially connected to the winding shaft, and a movable column is provided at the axis center of the driving output disk. A movable hole for axial movement of the movable column is provided on the side of the motor connecting block corresponding to the driving output disk. The spring is sleeved outside the movable column, and one end is fixed to the bottom of the movable hole. Several protrusions are circumferentially arranged on the side of the driving output disk corresponding to the transmission disk, and an interface for the protrusion to be snapped into is provided on the transmission disk.

[0012] Preferably, a hollow tool channel is provided in the center of the spiral continuum.

[0013] Preferably, the transverse movement component is a screw slide rail module.

[0014] (3) Beneficial effects

[0015] The present invention provides a spiral wire-laying continuum robot for single-port laparoscopic exploratory surgery. It has the following beneficial effects:

[0016] 1. This spiral-wire continuum robot for single-port laparoscopic exploratory surgery has five degrees of freedom, including one linear feed degree of freedom and four bending and deflection degrees of freedom. It has high flexibility and dexterity as well as a large workspace, and can achieve comprehensive exploration and diagnosis of the abdominal cavity and organ tissues. It also has safe physical interactivity, reduces damage to the human body, and accelerates postoperative recovery. Its drive device is a layered modular drive device, which realizes compactness, modularity, and precision, effectively improves space utilization, and reduces interference between drive wires.

[0017] 2. This spiral-wired continuum robot for single-port laparoscopic exploratory surgery uses eight spirally arranged elastic skeletons, each group of four, designed as a DNA spiral structure, arranged around each spiral continuum. The two ends of the spirally arranged elastic skeletons are fixed to the head and tail of the spiral continuum, and their length can remain constant when the spiral continuum is bent, solving the problem of the length of the surrounding arrangement type changing with the continuum. At the same time, it will not occupy the central tool channel of the continuum, which is conducive to the integration of endoscopes and surgical instruments. This arrangement enables the spirally arranged elastic skeletons to be fixed at both ends of the continuum, which can effectively improve the axial stiffness and torsional stiffness of the continuum. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an axonometric diagram of the present invention;

[0019] Figure 2 It is an overall schematic diagram of the driving device of the present invention;

[0020] Figure 3 It is an overall side view of the present invention;

[0021] Figure 4 It is a front view and a cross-sectional view of the continuum of the present invention;

[0022] Figure 5 This is a schematic diagram of the connection between the motor and the motor connecting block of the present invention;

[0023] Figure 6 This is an exploded isometric view of the reel and the transmission disc of the present invention;

[0024] Figure 7 This is a schematic diagram of the drive output disk and the motor connection block of the present invention;

[0025] Figure 8 This is a test chart of the continuum motion accuracy experiment results of the present invention;

[0026] Figure 9 This is a test diagram of the load performance test results of the continuum of the present invention;

[0027] Figure 10 This is a test diagram of the torsional stiffness test results of the continuum of the present invention;

[0028] Figure 11 This is a test diagram of the axial stiffness test results of the continuum of the present invention;

[0029] Figure 12 This is a test diagram of the motion accuracy experimental results of the proximal continuum segment of the continuum robot of the present invention;

[0030] Figure 13 This is a test diagram of the motion accuracy experimental results of the distal continuum segment of the continuum robot of the present invention;

[0031] Figure 14 This is a test diagram of the experimental results of the simultaneous motion accuracy of the proximal and distal continuum segments of the continuum robot of the present invention.

[0032] In the figure: 1 continuum, 2 driving device, 3 long axis, 4 bracket, 5 transverse movement assembly, 11 proximal continuum segment, 12 distal continuum segment, 13 spiral continuum, 14 spirally arranged elastic skeleton, 15 proximal driving wire hole, 16 distal driving wire hole, 17 elastic skeleton hole, 18 hollow tool channel, 19 proximal driving wire, 20 distal driving wire, 21 motor connecting block, 22 winding shaft, 23 guide wheel 1, 24 guide wheel 2, 25 drive output disk, 26 transmission disk, 27 bump, 28 interface, 29 movable column, 30 movable hole, 31 spring, 32 motor. DETAILED DESCRIPTION

[0033] The present invention provides a spiral-wired continuum robot for single-port laparoscopic exploratory surgery. The present invention can be used for peritoneal cancer exploratory surgery to assist doctors in endoscopic exploration and surgical operations. The continuum robot for flexible endoscopic minimally invasive surgery proposed in the present invention is operated by a human operator.

[0034] like Figure 1-14 As shown, it includes a continuum 1, a driving device 2, a long axis 3, a bracket 4 and a transverse movement component 5.

[0035] The traverse assembly 5 is used to drive the lateral movement of the bracket 4. It comprises a screw and slide module. Specifically, the screw and slide module consists of a ball screw, a ball screw nut slider, a linear guide, a linear guide slider, a bearing block, a DC servo motor, and a motor mounting bracket. The bottom of the bracket is connected to the ball screw nut slider and the linear guide slider. This is conventional technology and will not be described in detail here. The DC servo motor drives the ball screw, which in turn drives the ball screw nut slider along the linear guide, thereby driving the entire bracket 4 and continuum 1 forward, thus achieving the overall feed freedom of the continuum robot from the operator.

[0036] The continuum 1 includes a proximal continuum segment 11 and a distal continuum segment 12 connected end to end. The base of the proximal continuum segment 11 is snapped into the head end of the long axis 3 to achieve a fixed connection between the continuum 1 and the long axis 3. The distal end of the long axis 3 is fixed to the bracket 4.

[0037] Currently, there are two types of elastic skeleton arrangements for continua: central and peripheral. In the central arrangement, the elastic skeleton is located at the central axis of the continuum. When the continuum bends, the elastic skeleton maintains a constant length and can be fixed at both ends. This design not only provides support and resilience, but also effectively improves the continuum's axial stiffness and constant curvature performance. However, this design occupies the continuum's central lumen, making it difficult to integrate endoscopes or surgical instruments. In contrast, the peripheral arrangement, where the elastic skeleton is arranged along the continuum's circumference, does not occupy the central lumen, facilitating instrument integration. However, this arrangement causes the elastic skeleton to change length when the continuum bends, lengthening on the outer edges and shortening on the inner edges. This length change means that the peripheral arrangement can only be fixed at one end while the other remains relaxed, compromising assembly and precision, and making it difficult to apply to the distal ends of multi-segment continua. The helical structure of DNA is an intriguing biomimetic structure that has been widely studied and applied in various fields. The DNA structure can be thought of as a virtual cylinder with two helices wrapped around its surface. Several acids connect the two helices, making the entire structure behave like a flexible cylinder. This structure retains its cylindrical properties even when bent. Based on the structural characteristics of DNA, this invention incorporates the idea that the DNA helix maintains its length even when deflected, and proposes a novel continuum elastic skeleton arrangement. The details are as follows.

[0038] like Figure 4As shown, the proximal continuum segment 11 and the distal continuum segment 12 are each composed of a spiral continuum 13 and four spirally arranged elastic skeletons 14, and the head and tail of the spiral continuum 13 are fixed by a base. Four elastic skeleton holes 17 are circumferentially opened on the spiral continuum 13, and the four elastic skeleton holes 17 are arranged at equal angles in the circle. The two ends of the four spirally arranged elastic skeletons 14 are fixed to the head and tail of the spiral continuum 13, and the middle section of the four spirally arranged elastic skeletons 14 is in a DNA double helix structure and passes through the elastic skeleton holes 17 in sequence. The elastic skeleton is arranged in a DNA double helix configuration to solve the problem that the length of the existing elastic skeleton changes when it is bent and the two ends are difficult to fix. Each section of the proximal continuum segment 11 and the distal continuum segment 12 has two degrees of freedom of deflection, which can achieve large-angle bending greater than 180° and flexible deflection movement. The overall diameter of the operating hand execution end is 12mm and the length is 470mm, which can penetrate into the human body through a narrow abdominal incision for exploration operations. This two-stage design allows the operator to move flexibly in the complex and tortuous abdominal cavity, explore locations obscured by abdominal organs, achieve precise staging of the peritoneum, and effectively reduce damage to the human body.

[0039] Eight spirally arranged elastic skeletons 14 are arranged in groups of four, with each group designed as a DNA helix structure, around a spiral continuum 13. The two ends of the spirally arranged elastic skeletons 14 are fixed to the head and tail of the spiral continuum 13. The length of the spirally arranged elastic skeletons 14 can remain constant when the spiral continuum 13 is bent, solving the problem of the length of the spirally arranged skeletons changing with the continuum. At the same time, it will not occupy the central tool channel 18 of the continuum, which is conducive to the integration of endoscopes and surgical instruments. This arrangement allows the spirally arranged elastic skeletons 14 to be fixed at both ends of the continuum, which can effectively improve the axial stiffness and torsional stiffness of the continuum.

[0040] like Figure 4As shown, the drive device 2 includes four proximal drive wires 19, four distal drive wires 20, and a control component. Four proximal drive wire holes 15 and four distal drive wire holes 16 are circumferentially and equidistantly formed on the outer ring of the spiral continuous body 13. The four proximal drive wire holes 15 and the four distal drive wire holes 16 are alternately arranged. The proximal drive wire holes 15 may not be provided on the spiral continuous body 13 of the distal continuous body segment 12. One end of the four proximal drive wires 19 is fixed to the head of the proximal continuous body segment 11, and the other end passes through the proximal drive wire holes 15 in the proximal continuous body segment 11 and is connected to the control component. One end of the four distal drive wire holes 16 is fixed to the head of the distal continuous body segment 12, and the other end passes through the distal drive wire holes 16 in the distal continuous body segment 12 and the proximal continuous body segment 11, respectively, and is connected to the control component. The control component is used to control the retraction and extension of the four proximal drive wires 19 and the four distal drive wires 20. By changing the total length of the four proximal driving wires 19 and the four distal driving wires 20 , a total of four deflection degrees of freedom of the two continua can be controlled.

[0041] like Figure 4 As shown, a hollow tool channel 18 is provided in the center of the spiral continuum 13. The hollow tool channel 18 can pass a variety of surgical instruments and surgical tools to facilitate surgical environment exploration and surgical operations.

[0042] like Figure 5-6 As shown, the control component includes four groups of reel shafts 22, guide wheels 1 and 2, and a drive source. The drive source is used to drive the reel shafts 22 to rotate. The reel shafts 22 are arranged on the bracket 4 along the longitudinal direction of the major axis 3. The guide wheels 1 and 2 are arranged on the bracket 4 and are arranged tangentially to the reel shafts 22. The guide wheels 2 and 3 are arranged on the bracket 4 and are arranged axially parallel to the reel shafts 22. Two proximal drive wires 19, each 180° apart, form a group, for a total of two groups, which drive the bending freedom of the proximal continuous body segment 11. Two distal drive wires 20, each 180° apart, form a group, for a total of two groups, which drive the bending freedom of the distal continuous body segment 12. Each group of drive wires passes around the guide wheels 1 and 2, respectively, and then is reeled onto the reel shaft 22. The two drive wires in each group are wound in opposite directions on the reel shaft 22. The guide wheels 1 and 2, respectively, guide the drive wires.

[0043] The two side sections of the take-up shaft 22 are designed with spiral grooves and drive wire fixing holes. The two drive wires that control a single degree of freedom of deflection are guided and wound in opposite directions within the spiral grooves at either end of the take-up shaft 22. They are then fixed to the drive wire fixing holes at the end points of the grooves. This design acts as a limiter during the winding process, preventing the drive wires from stacking on top of each other, which would increase friction and cause system errors such as inaccurate wire length control. Due to the rotational direction of the drive wire spiral grooves on the take-up shaft 22 and the specific winding method of the drive wires, the two drive wires can achieve antagonistic motion, achieving the effect of increasing the length of one wire while simultaneously decreasing the length of the other.

[0044] The drive source includes a motor 32, a motor connection block 21, a drive output disc 25, a transmission disc 26, and a spring 31. The motor 32 is fixed to the bracket 4. The motor connection block 21 is arranged on the output shaft of the motor 32. The transmission disc 26 is coaxially connected to the reel 22. The drive output disc 25 and the motor connection block 21 are loosely connected by multiple bolts, and the two retain a certain degree of axial movement between them. A movable post 29 is provided at the axis of the drive output disc 25. A movable hole 30 is provided on the side of the motor connection block 21 corresponding to the drive output disc 25, which allows the movable post 29 to move axially. A spring 31 is sleeved outside the movable post 29, with one end fixed to the bottom of the movable hole 30. The spring 31 serves as a buffer for axial displacement between the drive output disc 25 and the motor connection block 21. A plurality of protrusions 27 are circumferentially arranged on the side of the drive output disc 25 corresponding to the transmission disc 26. The transmission disc 26 is provided with an interface 28 for the protrusions 27 to engage.

[0045] The retractable design of the movable column 29 makes it unnecessary to align the quick-change interface 28 with the interface 28 on the drive output disk 21 during assembly. When the motor 32 drives the drive output disk 25 to rotate to the appropriate position, the spring 31 pushes the drive output disk 25 to reset, and the protrusion 27 is clamped with the interface 28, thereby driving the reel 22 connected to the transmission disk 26.

[0046] In summary, the continuum designed by the present invention has the following significant advantages, which can effectively meet the needs of peritoneal cancer exploratory surgery. First, the axial stiffness and torsional stiffness are large. The spirally arranged elastic skeleton 14 is similar to a spring spirally arranged in the continuum, which can effectively enhance the torsional resistance and tensile and compressive resistance of the continuum, thereby improving the torsional stiffness and axial stiffness of the continuum 1, which helps to avoid torsional deformation and axial deformation caused by external torsion, stretching, and compression of the operator during the operation, and ensure the accuracy of the operation and the stability of the operation. Second, the bending performance and constant curvature performance are excellent. The continuum 1 designed by the present invention is a continuous type continuum, which can use the elastic properties of the material itself to produce curved motion with continuous curvature characteristics, and has the advantages of good flexibility, overall structural continuity, and excellent constant curvature performance. Third, it is convenient for application in multi-segment continuum integration. The present invention designs the spirally arranged elastic skeleton 14 into a DNA spiral structure and arranges it around the spiral continuum 13. Its length can remain constant when the spiral continuum 13 is bent, which solves the problem that the length of the elastic skeleton arranged around the continuum changes with the continuum, avoids the state where one end of the elastic skeleton is fixed and the other end remains loose, and is convenient for application in the integration of multi-segment continua. Fourth, the load capacity is good. Due to the arrangement of NiTi tendons as the elastic skeleton, the continuum also has good load capacity. Fifth, the movement flexibility is excellent. Since the continuum 1 adopts a two-stage design, it can achieve large-angle bending greater than 180° and flexible deflection movement. Therefore, it can enable the operator to move flexibly in the complex and tortuous abdominal cavity. Therefore, the spiral wire-laid continuum structure has large axial stiffness and torsional stiffness, excellent multi-segment continuum integration performance, excellent load capacity, excellent movement flexibility, and excellent bending performance, and an effective balance is achieved between dexterity and stiffness.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A spiral wire-laying continuum robot for single-port laparoscopic exploratory surgery, characterized by: The invention comprises a continuum (1), a driving device (2), a long axis (3), a bracket (4) and a transverse movement component (5), wherein the transverse movement component (5) is used to drive the bracket (4) to move transversely, the continuum (1) comprises a proximal continuum segment (11) and a distal continuum segment (12) connected end to end, the tail end of the proximal continuum segment (11) is fixed to the bracket (4) through the long axis (3), the proximal continuum segment (11) and the distal continuum segment (12) are both composed of a spiral continuum (13) and four spirally arranged elastic skeletons (14), four elastic skeleton holes (17) are circumferentially opened on the spiral continuum (13), the two ends of the four spirally arranged elastic skeletons (14) are fixed to the head and tail of the spiral continuum (13), the middle section of the four spirally arranged elastic skeletons (14) is in a DNA double helix structure and passes through the elastic skeleton holes (17) in sequence, and the driving device (2) It comprises four proximal drive wires (19), four distal drive wires (20) and a control component. Four proximal drive wire holes (15) and four distal drive wire holes (16) are provided on the outer ring of the spiral continuum (13) at equal angles in the circumferential direction. One end of the four proximal drive wires (19) is fixed to the head of the proximal continuum segment (11), and the other end passes through the proximal drive wire hole (15) on the proximal continuum segment (11) and is connected to the control component. One end of the four distal drive wire holes (16) is fixed to the head of the distal continuum segment (12), and the other end passes through the distal drive wire holes (16) on the distal continuum segment (12) and the proximal continuum segment (11) in turn and is connected to the control component. The control component is used to control the retraction and extension of the four proximal drive wires (19) and the four distal drive wires (20); a hollow tool channel (18) is provided in the center of the spiral continuum (13).

2. The spiral wire-laying continuum robot for single-port laparoscopic exploratory surgery according to claim 1, characterized in that: The control component includes four groups of reeling shafts (22), a guide wheel 1 (23), a guide wheel 2 (24) and a driving source, wherein the driving source is used to drive the reeling shaft (22) to rotate, the reeling shaft (22) is arranged on the bracket (4) along the length direction of the long axis (3), the guide wheel 1 (23) is arranged on the bracket (4) and is arranged tangentially to the reeling shaft (22), and the guide wheel 2 (24) is arranged on the bracket (4) and is arranged axially parallel to the reeling shaft (22). Every two proximal driving wires (19) separated by 180 degrees form a group, with a total of two groups, which drive the bending freedom of the proximal continuous body segment (11); every two distal driving wires (20) separated by 180 degrees form a group, with a total of two groups, which drive the bending freedom of the distal continuous body segment (12); each group of driving wires passes around the guide wheel 1 (23) and the guide wheel 2 (24) in turn and is then wound on the winding shaft (22); the two driving wires in each group are wound in opposite directions on the winding shaft (22).

3. The spiral wire-laying continuum robot for single-port laparoscopic exploratory surgery according to claim 2, characterized in that: The driving source comprises a motor (32), a motor connecting block (21), a driving output disk (25), a transmission disk (26), and a spring (31). The motor (32) is fixed on the bracket (4). The motor connecting block (21) is arranged on the output shaft of the motor (32). The transmission disk (26) is coaxially connected to the winding shaft (22). A movable column (29) is arranged at the axis center of the driving output disk (25). A movable hole (30) for axial movement of the movable column (29) is opened on a side of the motor connecting block (21) corresponding to the driving output disk (25). The spring (31) is sleeved outside the movable column (29), and one end is fixed to the bottom of the movable hole (30). A plurality of protrusions (27) are circumferentially arranged on a side of the driving output disk (25) corresponding to the transmission disk (26). The transmission disk (26) is provided with an interface (28) for the protrusions (27) to be snapped into.

4. The spiral wire-laying continuum robot for single-port laparoscopic exploratory surgery according to claim 1, characterized in that: The transverse movement component (5) is a screw slide module.

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