Instrument rod for operation

Abstract

The utility model relates to an instrument rod for surgery, which comprises a plurality of spacing discs, a supporting piece and a plurality of active driving pieces, the spacing discs are sequentially arranged at intervals, the instrument rod further comprises a plurality of passive restraining pieces, the supporting piece is fixedly connected with two adjacent spacing discs, the supporting piece can keep the distance between the two adjacent spacing discs, and the active driving pieces are driven by the active driving pieces. The passive restraining piece is connected with the two adjacent spacing discs, the active driving piece at least penetrates through one spacing disc and is fixedly connected to the other spacing disc, the supporting piece and the passive restraining piece are flexible and can be bent along with driving of the active driving piece, and the distance between the two adjacent spacing discs can still be kept after the supporting piece is bent. According to the technical scheme, the instrument rod is not prone to deformation when being loaded, the movement path of the driving piece is simple, and the movement precision and the control precision can be improved conveniently.

Description

TECHNICAL FIELD

[0001] The utility model relates to a medical equipment especially a kind of instrument rod for operation. BACKGROUND

[0002] With the progress of science and technology, endoscopic surgery enables doctors to perform surgical treatment through smaller incisions, with shorter hospital stays, safe surgery and faster recovery. It is known as "surgery to save life quality" in the field of modern medicine.

[0003] The instrument rod used in existing endoscopic surgery has a diameter of about 8mm. Under the requirement of large working space, its load capacity is often weak, and it will deform greatly under the condition of being subjected to load. Therefore, it has an impact on the master-slave precise operation of the robot, and the rapid rebound after releasing the load caused by deformation will produce additional risks. SUMMARY

[0004] Therefore, an instrument rod is provided to solve the technical problem that the instrument rod in the prior art has weak load-bearing capacity and large deformation, making it difficult to control accurately.

[0005] The utility model discloses a kind of instrument rods for operation, including multiple interval discs, support and multiple active driving parts, multiple the interval discs are sequentially spaced arrangement, still include multiple passive constraint parts, the support is fixedly connected with two adjacent interval discs, the support can keep the distance of two adjacent interval discs, the passive constraint part is connected with two adjacent interval discs, the active driving part at least passes one interval disc and is fixedly connected to another interval disc, the support and the passive constraint part have flexibility, the support and the passive constraint part can be bent with the driving of the active driving part, the support can keep the interval of two adjacent interval discs after bending.

[0006] Compared with the prior art, the technical effects achieved by the technical scheme are as follows: the support of the support member supports the interval between the interval discs, so that the distance between the interval discs is relatively stable, and the passive constraint member limits the rotation of the two adjacent interval discs, so that the load force is transmitted to the active driving member. Therefore, the instrument rod will not deform after being subjected to load, so as to ensure the control accuracy of the driving member.

[0007] In the above-mentioned instrument rod, the support member is a support rod, and the interval discs are fixedly connected to the support rod, and the disc surface of the interval disc is perpendicular to the axis of the support rod.

[0008] Compared with the prior art, the technical effects achieved by the technical scheme are that all the interval discs are fixed by one support rod, which is beneficial to the manufacture of the instrument rod, and the bending flexibility of the support rod is better, and the connection between the support rod and the interval disc is not affected by bending, so that the whole instrument rod is not broken.

[0009] In the instrument rod, the interval disc is circular, the support rod passes through the center of the interval disc, and the middle part of the support rod is hollow.

[0010] In the instrument rod, the passive constraint member is strip-shaped, two ends of the passive constraint member are fixedly connected to two adjacent interval discs respectively, when the instrument rod is in the straight state, the two ends of the passive constraint member are located on two sides of the axis of the instrument rod, and the two fixed positions of the passive constraint member and the axis are in one plane.

[0011] Compared with the prior art, the technical effects achieved by the technical scheme are that the two ends of the passive constraint member are fixed to two adjacent interval discs respectively, and the support member supports the interval discs, so that the two interval discs, the support member and the passive constraint member are strongly associated, the rotation of the interval disc and the bending of the support member are restricted by the passive constraint member, so that the rotation and bending directions of the interval disc and the support member after being subjected to a load are prevented from being random, and the load capacity of the instrument rod is improved.

[0012] In the instrument rod, the number of the passive constraint members between two adjacent interval discs is a multiple of two, two passive constraint members form a group, and one passive constraint member in each group is rotated by 180 degrees based on the axis of the instrument rod to obtain the position of the other passive constraint member.

[0013] Compared with the prior art, the technical effects achieved by the technical scheme are that the two ends of the passive constraint member and the axis of the instrument rod are in one plane, and two passive constraint members in one group have a relationship of being rotated by 180 degrees based on the axis of the instrument rod, so that the interval disc, the two passive constraint members in one group form two sides and two diagonal lines of a parallelogram, when the size of the diagonal line is determined, the four sides of the parallelogram cannot be moved arbitrarily. Moreover, the support member maintains the distance between two adjacent interval discs, when the support member is bent, the positions of the interval discs on the support member do not change, and the distance of the diagonal line is slightly shortened. In this way, the instrument rod cannot be S-shaped when subjected to an external load, and can still be normally bent after being driven by the active driving member. The load capacity of the instrument rod is further improved, the large deformation after being subjected to a load is prevented, and the control precision is improved.

[0014] In one of the aforementioned instrument rods, the plurality of spacers arranged sequentially in the instrument rod have a first position and a last position. The active drive member includes a first active drive member, which passes sequentially through the through holes of the plurality of spacers starting from the first spacer and is fixedly connected to the last spacer.

[0015] In one of the aforementioned instrument rods, the active drive component further includes a second active drive component, which passes sequentially through the through holes of a plurality of spacers starting from the first spacer and is fixedly connected to one of the spacers outside the first and last spacers.

[0016] Compared to existing technologies, the technical advantages of this solution are as follows: The first active drive component passes through each partition plate sequentially and is fixed to the last partition plate, allowing it to drive the entire instrument rod to complete the bending motion. The second active drive component also passes through multiple partition plates and selects one of the partition plates between the first and last partition plates as its fixed end. This allows the second active drive component to bend one end of the instrument rod to one side, while the first active drive component bends to the other side. This creates two sections of the instrument rod with different bending directions, significantly increasing its adaptability to surgical environments and making it suitable for more complex working conditions.

[0017] The aforementioned instrument rod further includes a proximal fixation member, a distal fixation member, and a surgical tool head; the proximal fixation member is connected to the first spacer disc, or the distal fixation member and the first spacer disc are the same part; the surgical tool head is connected to the last spacer disc, or the surgical tool head is connected to the last spacer disc via the distal fixation member.

[0018] In the aforementioned instrument rod, the plurality of support members constitute a support rod, the passive constraint member is a constraint line, the plurality of spacer discs are sequentially fixed on the support rod, the two ends of the plurality of constraint lines are respectively fixedly connected to two adjacent spacer discs, the number of constraint lines between two adjacent spacer discs is a multiple of two, each pair of constraint lines forms a group, and the constraint lines in each group rotate around the support rod in the same direction.

[0019] In one of the aforementioned instrument rods, the instrument rod further includes a second constraint member, and the two ends of a plurality of the second constraint members are connected to two non-adjacent spacer discs.

[0020] In one of the aforementioned instrument rods, the second constraint member is connected to two non-adjacent spacers that are spaced apart by one spacer, and the second constraint member passes through the spacer between the two non-adjacent spacers.

[0021] Compared with existing technologies, the technical effects achieved by this technical solution are as follows: Based on the passive constraint connecting two adjacent spacers, adding a second constraint between the spacers helps to reduce the probability of S-shaped deformation between the spacers. If further added, the load capacity of the instrument rod is increased, thus improving its control accuracy.

[0022] In one of the aforementioned mechanical rods, the number of the second constraint members is a multiple of two.

[0023] The technical solution of this utility model provides an instrument rod in which a support member and a passive constraint member cooperate with a spacer. By restricting the bending direction of the spacer by the support member and the passive constraint member, the instrument rod is allowed to be driven to bend by the active drive member, and it is not easy to deform under external load. This simplifies the motion path of the active drive member and improves the motion accuracy and control accuracy of the instrument rod. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the instrument rod according to an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the instrument rod after bending according to an embodiment of the present invention;

[0026] Figure 3 This is a side view of the instrument rod after it has been bent according to an embodiment of the present invention;

[0027] Figure 4 This utility model Figure 1 Enlarged view of region A in the middle;

[0028] Figure 5 This is a schematic diagram illustrating the adjustment of the position of the passive constraint component in an embodiment of this utility model;

[0029] Figure 6 This is a schematic diagram showing the multi-directional bending of the instrument rod in an embodiment of this utility model;

[0030] Figure 7 This is an example diagram of a passive constraint component in an embodiment of this utility model;

[0031] Figure 8 This is a schematic diagram of the S-shaped deformation mentioned in the embodiments of this utility model;

[0032] Figure 9 This is another example diagram of the passive constraint member in the embodiments of this utility model;

[0033] Figure 10 This is an example diagram of the second constraint member in an embodiment of this utility model;

[0034] Figure 11This is a schematic diagram of various constraint combinations in an embodiment of the present utility model;

[0035] Figure 12 This is a schematic diagram of the assembly of the second constraint member in an embodiment of this utility model.

[0036] In the figure, 10 is the spacer disc; 20 is the support rod; 30 is the active drive component; 31 is the first drive component; 32 is the second drive component; 40 is the passive restraint component; 41 is the second restraint component; 51 is the proximal fixation component; 52 is the distal fixation component; and 60 is the surgical tool head. Detailed Implementation

[0037] To make the above-mentioned objects, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0038] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0039] Furthermore, the terms "first" and "second" 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0040] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0041] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0042] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0043] like Figures 1 to 6 As shown, a surgical instrument rod includes multiple spacer discs 10, a support member, multiple passive restraint members 40, and multiple active drive members 30. The multiple spacer discs 10 are arranged sequentially at intervals. The support member is fixedly connected to two adjacent spacer discs 10 and can maintain the distance between two adjacent spacer discs 10. The two ends of the passive restraint member 40 are connected to two adjacent spacer discs 10. The spacer discs 10 have through holes evenly distributed circumferentially at the same distance from the center. The active drive member 30 passes through the through holes and is fixedly connected to one of the spacer discs 10. The support member and the passive restraint member 40 are flexible and can bend as driven by the active drive member 30. After bending, the support member can still maintain the distance between two adjacent spacer discs 10.

[0044] The aforementioned support member is a support rod 20, and the passive constraint member 40 is strip-shaped. The two ends of the passive constraint member 40 are fixedly connected to two adjacent spacer discs 10. The number of passive constraint members 40 is a multiple of two. Every two passive constraint members 40 form a group. Each group of passive constraint members 40 rotates around the support member in the same direction.

[0045] This design employs an instrument rod that utilizes a support member, a passive constraint member 40, and a spacer plate 10. The support member and passive constraint member 40 restrict the bending direction of the spacer plate 10, ensuring that the instrument rod does not undergo S-shaped deformation under load. (See...) Figure 8 This reduces the difference in shape between the instrument rod when it is not under load and when it is under load, thereby improving the movement and control accuracy of the instrument rod during surgery.

[0046] The specific structure will be described in detail below with reference to the accompanying drawings.

[0047] See Figure 1 As shown, the instrument rod includes multiple circular spacer discs 10, support rods 20, multiple passive restraint components 40, and multiple active drive components 30. The multiple spacer discs 10 are arranged sequentially with a first and a last position, and adjacent spacer discs 10 are fixedly connected by support components. Figure 1 When the support rod 20 is straight, the surface of the spacer disc 10 is perpendicular to the axis of the support rod 20. The support rod 20 can maintain the distance between two adjacent spacer discs 10. The support rod 20 is flexible, and even when the support rod 20 is bent, it can still maintain the distance between two adjacent spacer discs 10. Figure 2 As shown.

[0048] It should be noted that the support rod 20 can be replaced with other components. These could be short support rods 20 connecting every two spacer discs 10, or a single support rod 20 threading the spacer discs 10 together. It could also be a retainer on the outside of the spacer disc 10, an insulation tube, or a flexible sleeve. The function of the support is to separate the spacer discs 10 at fixed intervals and to support the distance between two spacer discs 10 both before and after bending. Any part that can perform the same function is acceptable.

[0049] Furthermore, the support rod 20 passes through the center of the spacer disc 10, and the middle of the support rod 20 is hollow. The hollow part of the support rod 20 can be used to pass through the drive rope and wire of the surgical tool head 60, etc.

[0050] Furthermore, the passive constraint member 40 is strip-shaped, connecting two adjacent spacer discs 10. Both ends of the passive constraint member 40 are fixedly connected to the two adjacent spacer discs 10. The number of passive constraint members 40 between two adjacent spacer discs 10 is a multiple of two, and each pair of passive constraint members 40 forms a group. (See...) Figure 4 .

[0051] See Figure 1 and Figure 4 When the instrument bar is in the extended state, with the axis of the instrument bar as the reference, the two ends of the passive constraint member 40 are located on both sides of the axis, see Figure 7 Furthermore, the two fixed positions and the axis of the passive constraint member 40 are in the same plane. In each group of passive constraint members 40, one passive constraint member 40 is rotated 180° with the axis of the instrument rod as a reference to obtain the position of the other passive constraint member 40.

[0052] It should be noted that the passive restraint 40 and the spacer 10 do not need to be fixedly connected. This is because it is only necessary to restrict the diagonal sections of the two spacers 10 from being stretched, while allowing them to be shortened. For example, the passive restraint 40 can be a high-strength rope, and the dimensions of the connecting parts at both ends can be larger than the through holes on the spacer 10 used for the passive restraint 40. A set of strip-shaped passive restraints 40 is equivalent to the two diagonals of the spacer 10. In this way, the instrument rod can only bend and cannot undergo S-shaped deformation, and the bending of the instrument rod is constrained by the active drive 30. As long as the load is within the allowable range, the shape difference of the instrument rod before and after being loaded can be reduced.

[0053] It should be noted that the passive constraint component 40 can be made of tungsten wire rope, alloy wire, or high-strength wire; it can also be a non-strip-shaped integral part, such as an integral part made of plastic. As long as the passive constraint component 40 is made of a flexible but not stretchable material, it can prevent the diagonal distance between the two spacer discs 10 from increasing. (See reference...) Figure 7 If the passive constraint component 40 is a single piece of plastic, then a diagonal line needs to exist within that plastic component; see [reference needed]. Figure 9 After the plastic part is fixed at both ends to the two spacer discs 10, its diagonal line replaces the two diagonals of the spacer discs 10.

[0054] It should be noted that the fixed position of the passive constraint component 40 on the spacer 10 can be close to or far from the center, see [reference needed]. Figure 1 and Figure 5 The position where the passive constraint 40 connects to the spacer 10 is such that the closer the fixed position of the passive constraint 40 is to the center of the circle, the smaller the change in diagonal distance after bending.

[0055] It should be noted that the passive constraint member 40 can be wound in a uniform direction on the support rod 20, or the passive constraint members 40 of the same group can be wound in opposite directions and cross each other.

[0056] See Figure 1 and Figure 2The spacer disk 10 has through holes evenly distributed around its circumference at the same distance from the center. The active drive component 30 extends from the drive source (not shown in the figure), passes through the through holes on the multiple spacer disks 10, and is fixedly connected to the last spacer disk 10. The support component and the passive constraint component 40 can bend as the active drive component 30 drives.

[0057] It should be noted that the number of spacers 10 can be increased or decreased as needed. When there are only two spacers 10, the active drive unit 30 can pass through one spacer 10 and be fixedly connected to the other spacer 10.

[0058] Further, see Figure 6 The active drive unit 30 includes a first drive unit 31, which passes through the through holes of multiple spacers 10 starting from the first spacer 10 and is fixedly connected to the last spacer 10.

[0059] The active drive unit 30 also includes a second drive unit 32, which passes through the through holes of multiple spacers 10 sequentially starting from the first spacer 10 and is fixed to a spacer 10 between the first and last spacers 10.

[0060] It should be noted that the active drive component 30 may also include a third drive component, a fourth drive component, etc., and different drive components can be used to achieve independent and controllable bending of multiple sections of the instrument rod according to the working environment requirements of the instrument rod.

[0061] See Figure 1 As shown, it also includes a proximal fixation member 51, a distal fixation member 52, and a surgical tool head 60; the proximal fixation member 51 is connected to the first lateral spacer 10, and the surgical tool head 60 is connected to the last lateral spacer 10.

[0062] It should be noted that the distal fixation member 52 and the first spacer 10 can be the same part, with the first spacer 10 being a part of that part; the surgical tool head 60 is not directly connected to the last spacer 10, but is connected to the last spacer 10 through the distal fixation member 52.

[0063] See Figures 10 to 12 The instrument rod also includes a second constraint member 41, and the two ends of the plurality of second constraint members 41 are connected to two non-adjacent spacer discs 10.

[0064] It should be noted that the second constraint member 41 can connect any two non-adjacent spacer disks 10, for example... Figure 10 As shown, there is a spacer 10 in the middle, but naturally there can be two or three. Moreover, multiple second constraint members 41 can exist in the same instrument rod, with different numbers of spacers 10 to connect two spacers 10.

[0065] Furthermore, a second constraint member 41 is connected to each of two non-adjacent spacers 10 that are spaced apart by one spacer 10. The second constraint member 41 passes through the spacer 10 between the two non-adjacent spacers 10. See [reference needed]. Figure 12 The second constraint member 41 first connects to one spacer 10, then passes through another spacer 10, and finally connects to a third spacer 10. This connection relationship exists between any three consecutive spacers 10 and the second constraint member 41 connected to them. By connecting two spacers 10 with the second constraint member 41, a diagonal constraint is created between these two spacers 10, allowing bending only in the same direction between any two spacers on the instrument rod, preventing bending in opposite directions. This further improves the load-bearing capacity of the instrument rod, reduces the deformation amplitude under load, and enhances the precise control of the instrument rod.

[0066] Furthermore, the number of the second constraint member 41 is a multiple of the number of two members.

[0067] It should be noted that the circumferential layout, material selection, and connection method with the spacer 10 of the second constraint member 41 can all be referenced from the passive constraint member 40. The second constraint member 41 and the passive constraint member 40 are the same except for the spacer 10 they are connected to.

[0068] It should be noted that the positions of the passive constraint member 40 and the second constraint member 41 on the spacer 10 are preferably on a circle at the same distance from the center of the spacer 10, which facilitates processing and calculation of bending changes.

[0069] The specific details of the S-deformation mentioned above need to be explained. Figure 8 For example, when the instrument rod is initially straight, an external force F is applied to its distal end. This force is perpendicular to the instrument rod. Under this force, the position between the first and last spacer discs 10 of the instrument rod will undergo an S-shaped deformation. Although an active drive component 30 is mounted on the instrument rod, its length relative to the instrument rod when the drive source is not driving it is fixed. However, the active drive component 30 cannot avoid this S-shaped deformation. This is because the active drive component 30 is mounted on the spacer discs 10 of the instrument rod. Except for its fixed relationship with the last spacer disc 10, it is movable relative to the spacer discs 10 of the other instrument rods. When subjected to an external force, the two parts of the support rod 20 have opposite bending directions. These two bending positions, relative to the same active drive component 30, require one part to be lengthened and the other part to be shortened. Thus, the two positions cancel each other out, and the length of the active drive component 30 remains constant. In the above situation, the instrument rod undergoes an approximately S-shaped deformation after being subjected to external force, which is the S-deformation technical problem of the instrument rod.

[0070] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0071] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A surgical instrument rod comprising a plurality of spacer discs (10), a support member, and a plurality of active drive members (30), wherein the plurality of spacer discs (10) are arranged sequentially at intervals, characterized in that, It also includes multiple passive constraint members (40), the support member is fixedly connected to two adjacent spacer discs (10), the support member can maintain the distance between two adjacent spacer discs (10), the passive constraint member (40) is connected to two adjacent spacer discs (10), the active drive member (30) passes through at least one spacer disc (10) and is fixedly connected to another spacer disc (10), the support member and the passive constraint member (40) are flexible, the support member and the passive constraint member (40) can bend as driven by the active drive member (30), and the support member can still maintain the distance between two adjacent spacer discs (10) after bending.

2. The instrument rod according to claim 1, characterized in that, The support is a support rod (20), and a plurality of spacer discs (10) are fixedly connected to the support rod (20), and the disc surface of the spacer discs (10) is perpendicular to the axis of the support rod (20).

3. The instrument rod according to claim 2, characterized in that, The spacer disc (10) is circular, and the support rod (20) passes through the center of the spacer disc (10). The support rod (20) is hollow in the middle.

4. The instrument rod according to claim 1, characterized in that, The passive constraint member (40) is strip-shaped, and its two ends are fixedly connected to two adjacent spacer discs (10). When the instrument rod is in a straight state, with the axis of the instrument rod as the reference, the two ends of the passive constraint member (40) are located on both sides of the axis, and the two fixed positions of the passive constraint member (40) and the axis are in the same plane.

5. The instrument rod according to claim 4, characterized in that, The number of passive restraints (40) between two adjacent spacers (10) is a multiple of two. Each pair of passive restraints (40) forms a group. In each group of passive restraints (40), one of the passive restraints (40) is rotated 180° with respect to the axis of the instrument rod to obtain the position of the other passive restraint (40).

6. The instrument rod according to claim 1, characterized in that, The multiple spacer discs (10) arranged sequentially in the instrument rod have a first position and a last position. The active drive member (30) includes a first drive member (31), which passes through the through holes of the multiple spacer discs (10) sequentially starting from the first spacer disc (10) and is fixedly connected to the last spacer disc (10).

7. The instrument rod according to claim 6, characterized in that, The active drive unit (30) further includes a second drive unit (32), which passes sequentially through the through holes of a plurality of spacers (10) starting from the first spacer (10) and is fixedly connected to one of the spacers (10) outside the first and last spacers (10).

8. The instrument rod according to claim 6, characterized in that, It also includes a proximal fixation element (51), a distal fixation element (52), and a surgical tool head (60); The proximal fixing member (51) is connected to the first spacer disc (10), or the distal fixing member (52) and the first spacer disc (10) are the same part; The surgical tool head (60) is connected to the last spacer disc (10), or the surgical tool head (60) is connected to the last spacer disc (10) via the distal fixation member (52).

9. The instrument rod according to claim 1, characterized in that, The plurality of support members constitute a support rod (20), the passive constraint member (40) is a constraint line, the plurality of spacer discs (10) are fixed sequentially on the support rod (20), the two ends of the plurality of constraint lines are respectively fixedly connected to two adjacent spacer discs (10), the number of constraint lines between two adjacent spacer discs (10) is a multiple of two, each pair of constraint lines forms a group, and the constraint lines of each group rotate around the support rod (20) in the same direction.

10. The instrument rod according to any one of claims 1 to 9, characterized in that, The instrument rod also includes a second constraint (41), the two ends of which are connected to two non-adjacent spacers (10).

11. The instrument rod according to claim 10, characterized in that, The second constraint member (41) is connected to two non-adjacent spacers (10) that are spaced apart by one spacer (10), and the second constraint member (41) passes through the spacer (10) between the two non-adjacent spacers (10).

12. The instrument lever according to claim 11, characterized in that, The number of the second constraint (41) is a multiple of two.

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