Integrated hooked knife head, scalpel and surgical robot
By integrating the hook blade head and energy conversion components, the problems of high vibration transmission difficulty and large equipment size in vibration cutting equipment are solved, achieving a highly efficient peeling effect in the treatment of gout stones.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- WUHAN BBT MEDICAL TECH CO LTD
- Filing Date
- 2026-02-09
- Publication Date
- 2026-05-12
AI Technical Summary
The relevant hook cutters have problems such as difficulty in vibration transmission and large equipment size in vibration cutting equipment, which makes them difficult to effectively remove, especially in the treatment of gouty tophi.
An integrated hook-shaped scalpel head was designed, which integrates the hook-shaped scalpel head with the energy conversion component. The energy conversion component directly transmits vibration energy to the hook-shaped scalpel head, reducing the difficulty of vibration energy transmission and making the scalpel head structure more compact. It is suitable for ultrasonic or radiofrequency surgical scalpels.
It achieves a reduction in the size of the cutting equipment while lowering the difficulty of vibration signal transmission, improving cutting accuracy and operational flexibility, and is particularly suitable for the removal of tophi in surgical treatment.
Smart Images
Figure CN122005015A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical devices, and more particularly to an integrated hook-shaped blade, scalpel, and surgical robot. Background Technology
[0002] A hook scalpel is a surgical cutting tool that can be used in orthopedic surgery, plastic surgery, and other procedures. For example, it can be used to remove scar tissue, separate adhesions, and treat bone or cartilage. This type of scalpel allows for precise control of the cutting depth and range.
[0003] When these hooks are used in vibratory cutting equipment, they can lead to problems such as difficulty in vibration transmission and the large size of the vibratory cutting equipment. Summary of the Invention
[0004] This invention provides an integrated hook-blade head, scalpel, and surgical robot to address how to reduce the size of vibration cutting equipment while lowering the difficulty of vibration signal transmission, making it particularly suitable for dissection surgeries such as those for treating tophi.
[0005] A first aspect of the present invention provides an integrated hook knife head, the integrated hook knife head comprising: a hook knife head, and an energy conversion component integrally disposed on the hook knife head; wherein the hook knife head comprises: a blade body extending along a first direction; and a cutting portion extending from the outer surface of an end of the blade body portion along a second direction, the second direction forming a preset angle with the first direction.
[0006] In some embodiments, the end of the cutting portion away from the blade body portion forms a cutting end, and in the first direction, the edge of the cutting end near the blade body portion forms a cutting edge.
[0007] In some embodiments, the size of the cut end is between 1.35 mm and 1.45 mm in the first direction.
[0008] In some embodiments, the integrated hook cutter head further includes: a cutter shank portion, which is fixed to the side of the cutter body portion away from the cutting portion in the first direction, and the cutter shank portion is connected to the energy conversion component; wherein the cutter shank portion is a cylinder, the cutter body portion and the cutting portion are both sheet-like structures, and the thickness dimension of the cutter body portion is smaller than the radial dimension of the cutter shank portion, and there is a transition surface between the cutter shank portion and the cutter body portion.
[0009] A second aspect of the present invention provides a scalpel, comprising: an integrated hook blade head as described in the first aspect of the preceding embodiments; a blade shank connected to the integrated hook blade head, the blade shank having a hollow channel; and an energy generating device connected to the energy conversion component via a wire; wherein the energy conversion component is used to convert the energy of the energy generating device into vibration energy.
[0010] In some embodiments, the scalpel further includes a sleeve that is fitted over the energy conversion component and the scalpel handle to connect the energy conversion component to the scalpel handle.
[0011] In some embodiments, the cutter bar is detachably connected to the energy conversion component.
[0012] A third aspect of the present invention provides a surgical robot comprising: an integrated hook-shaped blade head as provided in the first aspect of the preceding embodiments; an operating part connected to the integrated hook-shaped blade head; a rod extending along a first direction and connected to the operating part, the operating part being capable of oscillating relative to the rod in a direction perpendicular to the first direction; and an oscillation drive assembly for driving the operating part to oscillate relative to the rod, a portion of the oscillation drive assembly passing through the rod; wherein the energy conversion device is used to convert the energy of the energy generating device into vibration energy.
[0013] In some embodiments, the rod includes: a first portion connected to the operating part; and a second portion connected to the first portion via a movable joint, such that the first portion can deflect relative to the second portion.
[0014] In some embodiments, the yaw drive assembly includes: a yaw cable group that passes through the second part and is connected to the first part; wherein, there are multiple yaw cable groups, and the positions where each yaw cable group is connected to the first part are arranged at circumferential intervals along the first part. The same yaw cable group has two connection positions with the first part, and the two connection positions are symmetrical with respect to a first axis, the first axis being the axis of symmetry of the rod portion parallel to the first direction.
[0015] This invention provides an integrated hook blade head, comprising a hook blade head and an energy conversion component integrated with the hook blade head. The hook blade head includes a blade body extending along a first direction and a cutting portion extending from the end of the blade body along a second direction. The second direction and the first direction form a preset angle, thereby forming a hook blade structure. By integrating the hook blade head and the energy conversion component, the vibration energy converted by the energy conversion component can be directly transmitted to the hook blade head, reducing the difficulty of vibration energy transmission. At the same time, integrating the energy conversion component and the hook blade head makes the structure of the integrated hook blade head more compact. When this blade head is applied to a cutting device, the size of the cutting device can be reduced. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of an integrated hook cutter head provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of one type of integrated hook cutter head provided in an embodiment of the present invention; Figure 3 A schematic diagram showing the dimensions of the cutting end of the integrated hook cutter head provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a surgical robot provided in an embodiment of the present invention; Figure 5 An exploded view of a surgical robot and its operating part provided in an embodiment of the present invention; Figure 6 An exploded view of another type of scalpel and operating unit in a surgical robot provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the assembly of the scalpel and the oscillating cable assembly in the surgical robot provided in an embodiment of the present invention.
[0017] Explanation of reference numerals in the attached figures 10. Integrated hook cutter head; 11. Hook cutter head; 111. Blade body; 112. Cutting section; 113. Cutting end; 114. Cutting edge; 12. Energy conversion component; 13. Blade shank; 40. Operating section; 50. Rod section; 51. First part; 511. Third arc surface; 52. Second part; 521. Fourth arc surface; 53. Movable joint; 531. First arc surface; 532. Second arc surface; 61. Swing cable assembly. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0019] The specific technical features described in the various embodiments in the detailed implementation can be combined in various ways without contradiction. For example, different implementation methods can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this invention will not be described separately.
[0020] It should also be noted that, in order to avoid obscuring the present invention with unnecessary details, only the structures and / or processing steps closely related to the present invention are shown in the accompanying drawings, while other details that are not closely related to the present invention are omitted.
[0021] Additionally, it should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. In the following description, the terms "first," "second," etc., are used merely to distinguish different objects and do not indicate any similarity or connection between them. It should be understood that the directional descriptions such as "above," "below," "inside," and "outside" refer to the orientation under normal use conditions.
[0022] In the following specific embodiments, the integrated hook blade head can also be applied to a vibratory cutting scalpel. For example, the integrated hook blade head can be applied to an ultrasonic scalpel, a radiofrequency scalpel, or a radiofrequency ultrasonic scalpel that combines both ultrasonic and radiofrequency energy. The structure and function of the blade head are illustrated below with reference to various embodiments.
[0023] In some embodiments, such as Figure 1 As shown, the integrated hook cutter head 10 includes a hook cutter head 11 and an energy conversion component 12. The hook cutter head 11 includes a blade body 111 and a cutting part 112. The blade body 111 is positioned along a first direction (the first direction is as follows: ...). Figure 1 The cutting portion 112 extends along the second direction (as indicated by the solid arrow in the middle), and the cutting portion 112 extends along the second direction (as shown by the solid arrow in the middle). Figure 1 (As shown by the dashed arrow) Extending from the outer surface of the end of the blade body 111, the second direction forms a preset angle with the first direction, so that the second direction is not parallel to the first direction, and the hook blade head 11 forms an L-shaped structure; wherein, the energy conversion component 12 is used to convert the form of energy to achieve the cutting function. When this integrated hook blade head is applied to an ultrasonic or radiofrequency scalpel, the energy conversion component 12 is used to convert electrical energy into vibration energy.
[0024] Meanwhile, the energy conversion component 12 and the hook blade head 11 are integrated. By integrating the energy conversion component 12 and the hook blade head 11, the energy conversion component 12 can directly transmit the converted vibration energy to the hook blade head 11, thereby reducing the difficulty of transmitting vibration energy. Moreover, the integrated structure makes the blade head structure more compact. The cutting edge is arc-shaped and the cutting surface faces inward, which is highly compatible with the nodular protrusion of gouty tophi and the shape of the base adhering to normal tissue. This facilitates the hook-shaped cutting edge to accurately probe into the adhesion gap between the gouty tophi nodules and normal tissue. In a narrow space, the cutting and separation action can be completed with only a small rotation of the wrist. The prying and cutting are integrated into one blade head to achieve directional and precise cutting.
[0025] This invention provides an integrated hook blade head, comprising a hook blade head and an energy conversion component integrated with the hook blade head. The hook blade head includes a blade body extending along a first direction and a cutting portion extending from the end of the blade body along a second direction. The second direction and the first direction form a preset angle, thereby forming a hook blade structure. By integrating the hook blade head and the energy conversion component, the vibration energy converted by the energy conversion component can be directly transmitted to the hook blade head, reducing the difficulty of vibration energy transmission. At the same time, integrating the energy conversion component and the hook blade head makes the structure of the integrated hook blade head more compact. When this blade head is applied to a cutting device, the size of the cutting device can be reduced.
[0026] In some embodiments, such as Figure 2 As shown, a cutting end 113 is formed at the end of the cutting portion 112 away from the blade portion 111, in the first direction (the first direction is as shown in the figure). Figure 2 (As shown by the solid arrow in the middle) The edge of the cutting end 113 near the blade body 111 forms a cutting edge 114. The cutting part in the relevant blade head is set as a pointed structure, so that the contact form between this blade head and the affected area is point contact. The blade head provided in this application embodiment uses the edge as the cutting part, so that the contact form between the blade head and the affected area is surface contact. Since the contact area between the blade head and the affected area provided in this application is larger, under the same variable of force applied by the operator's hand to the blade head, the change in cutting stress of the point contact blade head is greater than the change in cutting stress of the line contact blade head. That is, the change in cutting stress of this blade head is more gradual, thereby reducing the difficulty of controlling the cutting stress. At the same time, since the cutting part 112 protrudes from the outer surface of the blade body 111, the cutting edge 114 can also extend outside the blade body 111, thereby reducing the possibility that the cutting edge 114 will be blocked by the blade body 111 during operation, thereby improving the ease of operation.
[0027] In some embodiments, such as Figure 3As shown, in the first direction, the size of the cutting end 113 is D1, which is between 1.35 mm and 1.45 mm. Since the radio frequency signal or ultrasonic signal output by the energy conversion component 12 needs to be transmitted through the hook blade head 11, there are certain requirements for the key dimensions of the hook blade head 11 so that the natural frequency of the hook blade head 11 is consistent with the vibration frequency of the radio frequency signal or ultrasonic signal, thereby improving the cutting effect of the hook blade head 11. Specifically, the cutting effect of the hook blade head 11 is mainly reflected in two indicators: cutting time and thermal damage characteristic parameters. The shorter the cutting time, the higher the cutting efficiency. The smaller the thermal damage characteristic parameters, the smaller the thermal damage area to the tissues around the affected area during the cutting process. The following, in conjunction with Table 1, uses the values of cutting time and thermal damage characteristic parameters obtained by cutting the same simulated material (not a real human body, and no damage to a real human body will be caused during the test) with different cutting end 113 sizes D1 to illustrate the cutting effect formed by different cutting end 113 sizes.
[0028] Based on Table 1, since the thermal damage parameter of a high-frequency vibrating scalpel must not exceed 2.5 mm, the size D1 of the cutting end 113 should be selected between 1.35 mm and 1.45 mm. Alternatively, while taking into account the cutting time and ensuring that the thermal damage parameter does not exceed 2.5, the size D1 of the cutting end 113 can be selected between 1.39 mm and 1.41 mm.
[0029] In some embodiments, such as Figure 2 As shown, the integrated hook cutter head 10 also includes a cutter shank 13, in a first direction (the first direction is as shown in the figure). Figure 2 (As indicated by the solid arrow) The shank portion 13 is fixed to the side of the blade body portion 111 away from the cutting portion 112, and the shank portion 13 is connected to the energy conversion component 12, thereby enabling the energy conversion component 12 to be integrated with the hook blade head 11; wherein, the shank portion 13 is a cylinder, the blade body portion 111 and the cutting portion 112 are both sheet-like structures, and the thickness dimension of the blade body portion 111 is smaller than the radial dimension of the shank portion 13. There is a transition curved surface between the shank portion 13 and the blade body portion 111, so that the end of the shank portion 13 gradually transitions from a cylindrical shape to a wedge shape or a flat sheet shape. The end of the hook blade head 11 is the cutting portion 112, which is question mark shaped and suitable for soft tissue traction and fine cutting and peeling.
[0030] This invention also provides a scalpel for cutting via vibration energy. For example, the scalpel is an ultrasonic scalpel or a radiofrequency scalpel. The structure and function of this scalpel are described below with reference to various embodiments.
[0031] In some embodiments, the scalpel includes: a blade, an energy generator, and as shown in the accompanying drawings. Figures 1 to 3 The integrated hook cutter head 10 shown in any one of the images; wherein, Figure 1 The energy conversion component 12 is used to convert the energy of the energy generating device into vibration energy. It can be understood that the energy generating device is used to generate an energy source, and the energy conversion component 12, which is integrated with the hook cutter head 11, is used to convert the energy generated by the energy generating device into a vibration signal and directly transmit the vibration signal to the hook cutter head 11, so that the cutting edge can achieve a better cutting effect through radio frequency energy. In related technologies, the energy source of the energy generating device is directly transmitted to the energy conversion component. After the energy conversion component converts the energy into a vibration signal, the vibration signal is transmitted through the cutter bar structure. In order for the vibration signal to be transmitted to the cutter head, the size and shape of the cutter bar need to be specially designed, and the cutter bar also needs to be made of a material that can transmit vibration and has the required vibration frequency. However, in the technical solution provided in this embodiment, the energy conversion component 12 and the hook cutter head 11 are integrated. After the energy conversion component 12 converts the energy source into a vibration signal, it is directly transmitted to the cutting edge 112 through the hook cutter head 11, without the need to transmit the vibration signal through the cutter bar, so that the shape, material and size of the cutter bar can be set more flexibly. Meanwhile, the energy generating device is connected to the energy conversion component 12 via a wire. The wire is a flexible structure and the wire point position can be freely set. Optionally, the tool bar has a hollow channel inside, through which the wire passes to connect the energy generating device and the energy conversion component 12, thereby protecting the wire through the guide rod.
[0032] In some embodiments, the scalpel shaft has a hollow channel inside, and the scalpel also includes a sleeve that is fitted over the energy conversion component and the scalpel shaft, protecting the energy conversion component while connecting it to the scalpel shaft. In some embodiments, the scalpel shaft and the energy conversion component are detachably connected, facilitating the replacement of the entire integrated hook scalpel.
[0033] This invention also provides a surgical robot with a wrist rotation structure, which enables more flexible operation of the hook blade head. The structure and function of the surgical robot are described below with reference to various embodiments.
[0034] In some embodiments, such as Figure 4 As shown, the surgical robot includes: an operating unit 40, a lever 50, a yaw drive assembly, and as shown in the accompanying drawings. Figures 1 to 3The integrated hook-shaped blade head 10 is shown in any of the illustrations. The operating unit 40 is connected to the integrated hook-shaped blade head 10 and is used to drive the integrated hook-shaped blade head 10 to move, thereby realizing the surgical operation of the integrated hook-shaped blade head 10. For example, the operating unit 40 can drive the integrated hook-shaped blade head 10 to move along a first direction. For example, the operating unit 40 can also drive the integrated hook-shaped blade head 10 to swing relative to the rod 50 in a direction perpendicular to the first direction.
[0035] The lever 50 extends along a first direction and is connected to the operating part 40, and the operating part 40 is able to tilt relative to the lever 50 in a direction perpendicular to the first direction. The tilting drive assembly is used to drive the operating part 40 to tilt relative to the lever 50.
[0036] The connection between the operating part 40 and the lever 50 can be any connection that allows the operating part 40 to swing. For example, the operating part 40 and the lever 50 are directly and movably connected, so that the operating part 40 can swing relative to the lever 50. For example, the lever 50 includes a first part and a second part, which are connected by a movable joint so that the second part can swing relative to the first part. The second part is connected to the operating part 40, so that the operating part 40 and the second part can swing relative to the first part.
[0037] It should be noted that in the relevant surgical robots with radio frequency cutting function, the energy conversion component is located at the rear end of the scalpel. The energy conversion component needs to be connected to the scalpel located at the front end of the scalpel via the scalpel. Moreover, in order for the energy conversion component to reliably drive the integrated micro scalpel to vibrate at high frequency, not only does the scalpel need to be a rigid structure, but the integrated micro scalpel also needs to be rigidly connected to the scalpel. This rigid structure of the integrated micro scalpel and scalpel prevents the integrated micro scalpel from yawing relative to the scalpel. In the embodiments of the present invention, the integrated micro scalpel and the energy conversion component are fixed together to form an integrated hook scalpel head 10, and the integrated hook scalpel head 10 is located at the front end of the rod 50. Thus, while the integrated hook scalpel head 10 can generate high frequency vibration under the drive of the energy conversion component, it is allowed to yaw relative to the rod 50, thereby improving the flexibility of the surgical robot.
[0038] In some embodiments, such as Figure 5As shown, the rod portion 50 includes a first part 51 and a second part 52. The first part 51 is connected to the operating part 40, and the second part 52 is connected to the first part 51 via a movable joint 53, so that the first part 51 can swing relative to the second part 52, thereby causing the operating part 40 to swing relative to the second part 52. The movable joint 53 can be any structure that allows the first part 51 to swing relative to the second part 52. For example, the first part 51 and the second part 52 are connected by a ball joint, or for example, the first part 51 and the second part 52 are connected by a cross joint.
[0039] In some embodiments, such as Figure 5 As shown, one end of the movable joint 53 has a first arcuate surface 531, and the other end of the movable joint 53 has a second arcuate surface 532. The first arcuate surface 531 abuts against the end of the first part 51, and the second arcuate surface 532 abuts against the end of the second part 52; wherein, in combination Figure 5 and Figure 6 In the third direction, two first arc surfaces 531 are located on both sides of the movable joint 53, thereby enabling the movable joint 53 and the second part 52 to swing relative to the first part 51 in the fourth direction. In the fourth direction, two second arc surfaces 532 are located on both sides of the movable joint 53, thereby enabling the second part 52 to swing relative to the movable joint 53 in the third direction. Both the third and fourth directions are perpendicular to the first axis and the third and fourth directions are perpendicular. It can be understood that the movable joint 53, the second part 52 and the first part 51 form a serpentine joint through the first arc surfaces 531 and the second arc surfaces 532. Through the combination of the swinging movement of the movable joint 53 and the second part 52 in the fourth direction and the swinging movement of the second part 52 in the third direction, the first part 51 can swing at any angle in a hemispherical region or a conical region with the first axis as the axis.
[0040] Optional, combined Figure 5 and Figure 6 The first part 51 has a third arc surface 511 at its end. In the third direction, two third arc surfaces 511 are located on both sides of the first part 51 and abut against the first arc surface 531. The second part 52 has a fourth arc surface 521 at its end. In the fourth direction, two fourth arc surfaces 521 are located on both sides of the second part 52 and abut against the second arc surface 532. It can be understood that by the abutment of the arc surfaces, a larger yaw angle can be formed between the movable joint 53 and the first part 51, and a larger yaw angle can be formed between the second part 52 and the movable joint 53. This allows the first part 51 to yaw relative to the second part 52 within a larger angle range, further improving the flexibility of the surgical robot.
[0041] In some embodiments, such as Figure 7 As shown, the yaw drive assembly includes a yaw cable group 61, which passes through the second part 52 and connects to the first part 51, thereby driving the first part 51 to yaw relative to the second part 52. There are multiple yaw cable groups 61, and the connection positions of each yaw cable group 61 to the first part 51 are arranged at circumferential intervals along the first part 51. This allows each yaw cable group 61 to drive the first part 51 to yaw relative to the second part 52 in different directions perpendicular to the first axis. Simultaneously, as... Figure 7 As shown, the same yaw cable assembly 61 and the first part 51 have two connection points, and the two connection points are symmetrical with respect to the first axis L1. This allows one yaw cable assembly 61 to drive the first part 51 to deflect in opposite directions on both sides perpendicular to the first axis. Consequently, while the cable on one side of the yaw cable assembly 61 extends, the cable on the other side shortens synchronously, thus reducing the risk of motion interference between the cables on both sides of the yaw cable assembly 61. Optionally, the yaw cable assembly 61 can be formed by a single cable, with both ends of the cable connected to the first part 51.
[0042] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
Claims
1. An integrated hook cutter head, characterized in that, The integrated hook cutter head includes: The hook blade tip, and, An integrated energy conversion component is located in the hook cutter head; The hook cutter head includes: The blade body extends along the first direction; The cutting section extends from the outer surface of the end of the blade body in a second direction, and the second direction forms a preset angle with the first direction.
2. The integrated hook cutter head according to claim 1, characterized in that, The end of the cutting portion away from the blade body portion forms a cutting end portion, and in the first direction, the edge of the cutting end portion near the blade body portion forms a cutting edge.
3. The integrated hook cutter head according to claim 2, characterized in that, In the first direction, the size of the cut end is between 1.35 mm and 1.45 mm.
4. The integrated hook cutter head according to any one of claims 1 to 3, characterized in that, The integrated hook cutter head also includes: The blade shank is fixed to the side of the blade body away from the cutting part in the first direction, and the blade shank is connected to the energy conversion component; The blade holder is cylindrical, the blade body and the cutting part are both sheet-like structures, the thickness of the blade body is smaller than the radial dimension of the blade holder, and there is a transition surface between the blade holder and the blade body.
5. A surgical scalpel, characterized in that, The surgical knife includes: The integrated hook cutter head as described in any one of claims 1 to 4, and, The blade holder is connected to the integrated hook blade head, and the blade holder has a hollow channel inside; An energy generating device is connected to the energy conversion component via a wire; The energy conversion component is used to convert the energy of the energy generating device into vibration energy.
6. The scalpel according to claim 5, characterized in that, The scalpel also includes a sleeve, which is fitted over the energy conversion component and the scalpel handle to connect the energy conversion component to the scalpel handle.
7. The scalpel according to claim 5 or 6, characterized in that, The cutter bar is detachably connected to the energy conversion component.
8. A surgical robot, characterized in that, The surgical robot includes: The integrated hook cutter head as described in any one of claims 1 to 4, and, The operating unit is connected to the integrated hook cutter head; A rod portion extends along the first direction and is connected to the operating portion, the operating portion being able to deflect relative to the rod portion in a direction perpendicular to the first direction; A yaw drive assembly for driving the operating part to yaw relative to the rod, a portion of the yaw drive assembly passing through the rod; The energy conversion device is used to convert the energy of the energy generating device into vibration energy.
9. The surgical robot according to claim 8, characterized in that, The rod portion includes: The first part is connected to the operating unit; The second part is connected to the first part by a movable joint, so that the first part can tilt relative to the second part.
10. The surgical robot according to claim 9, characterized in that, The yaw drive component includes: A yaw cable assembly, which passes through the second portion and is connected to the first portion; The number of the sway cable groups is multiple, and the positions where each sway cable group is connected to the first part are arranged at intervals along the circumference of the first part. The same sway cable group has two connection positions with the first part, and the two connection positions are symmetrical with respect to the first axis, which is the axis of symmetry of the rod that is parallel to the first direction.