Flexible operating mechanism and natural orifice robot

Abstract

The utility model provides a kind of flexible operating mechanism and natural cavity robot, wherein flexible operating mechanism includes: first joint, second joint, surgical operation structure and driving device;First joint is equipped with the first rotation axis with the first included angle of the axis center line of first joint, and the first rotation axis is in the plane of the axis center line of first joint;Second joint is equipped with the second rotation axis with the second included angle of the axis center line of second joint, and the second rotation axis is in the plane of the axis center line of second joint;Surgical operation structure can be under the drive of driving device Surgical action is carried out.By using the above technical solution, first joint and second joint are respectively provided with the rotation axis with the first included angle and the second included angle of the axis center line, and the rotation axis is in the plane of the axis center line, and the rotation of two joints around non-orthogonal shaft is independently controlled by driving line, so that the surgical operation structure at the end forms composite space movement track, and the displacement precision of surgical operation structure is improved.

Description

Technical Field

[0001] This utility model relates to the technical field of natural cavity robots, and more specifically, to a flexible manipulator and a natural cavity robot. Background Technology

[0002] With the development of minimally invasive surgical techniques, natural cavity surgical robots have become a research hotspot due to their advantages such as no external incisions and rapid postoperative recovery. Traditional cavity robots mostly adopt a single-joint serial structure, which has limited degrees of freedom of movement and makes it difficult to achieve precise multi-directional movement in narrow and tortuous anatomical cavities (such as the intestines and bronchi). In existing technologies, although snake-shaped robotic arms have a certain degree of flexibility, there is coupling interference in the transmission between adjacent joints, which leads to a decrease in the positioning accuracy of the end effector. At the same time, their drive devices mostly use external cable traction, resulting in a bulky system size, which cannot meet the stringent requirements of miniaturization of instruments in natural cavities. In addition, the rotation axis of conventional joints is mostly arranged orthogonally to the body axis, which significantly increases the radial dimension of the instrument when achieving pitch movement, and is prone to mechanical damage to the cavity wall. Utility Model Content

[0003] The purpose of this invention is to provide a flexible manipulator and a natural cavity robot to solve the technical problems of low movement accuracy and easy damage to the cavity wall in the flexible manipulator of the existing natural cavity robot.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] Firstly, a flexible operating mechanism is provided, comprising:

[0006] A first joint, a second joint connected to the first joint axis, a surgical operation structure connected to the side of the first joint opposite to the second joint, and a drive device that is respectively connected to the first joint, the second joint and the surgical operation structure for transmission.

[0007] The first joint has a first rotation axis on the side opposite to the surgical operation structure, which forms a first angle with the axis of the first joint. The first rotation axis is located in the plane where the axis of the first joint is located, and the first joint can rotate around the first rotation axis under the drive of the driving device.

[0008] The second joint has a second rotation axis on the side opposite to the first joint, which forms a second angle with the axis of the second joint. The second rotation axis is located in the plane where the axis of the second joint is located, and the second joint can rotate around the second rotation axis under the drive of the driving device.

[0009] The surgical operation structure is capable of performing surgical actions under the drive of the driving device.

[0010] By adopting the above technical solution, the first joint and the second joint are respectively provided with rotation axes that form a first angle and a second angle with the axis, and the rotation axes are located in the plane where their respective axes are located. The rotation of the two joints around the non-orthogonal axis is independently controlled by the drive line, so that the surgical operation structure at the end forms a composite spatial motion trajectory, thereby improving the displacement accuracy of the surgical operation structure.

[0011] In one embodiment, the first rotation axis and the second rotation axis are symmetrically arranged on both sides of the second joint, and the first included angle is equal to the second included angle.

[0012] In one embodiment, a first connecting member is provided between the first joint and the second joint, and the first rotating shaft is disposed on the first connecting member.

[0013] In one embodiment, the flexible operating mechanism further includes a third joint connected to the second joint axis. The third joint has a third rotation axis on its side opposite to the second joint, which forms a third angle with the axis of the third joint. The third rotation axis is located in the plane containing the axis of the third joint, or the third rotation axis is located in the radial plane of the third joint.

[0014] In one embodiment, a second connector is provided between the second joint and the third joint, and the second rotating shaft is disposed on the second connector.

[0015] In one embodiment, the flexible operating mechanism further includes a fourth joint connected to the third joint axis. The fourth joint has a fourth rotation axis on its side opposite to the third joint, which forms a fourth angle with the axis of the fourth joint. The fourth rotation axis is located in the plane containing the axis of the fourth joint, or the fourth rotation axis is located in the radial plane of the fourth joint.

[0016] In one embodiment, a third connector is provided between the third joint and the fourth joint, and the third rotating shaft is disposed on the third connector.

[0017] In one embodiment, the flexible operating mechanism further includes a fifth joint connected to the fourth joint axis. The fifth joint has a fifth rotation axis on its side opposite to the fourth joint, which forms a fifth angle with the axis of the fifth joint. The fifth rotation axis is located in the plane containing the axis of the fifth joint, or the fifth rotation axis is located in the radial plane of the fifth joint.

[0018] In one embodiment, the flexible operating mechanism further includes a sixth joint connected to the fifth joint axis, the sixth joint being used to connect to the attitude adjustment mechanism.

[0019] Secondly, a natural cavity robot is provided, including a trolley mechanism and the aforementioned flexible manipulator, wherein the flexible manipulator is connected to the trolley mechanism.

[0020] By adopting the above technical solution, the natural cavity robot of this embodiment, in addition to having the advantages of the flexible operating mechanism of the above embodiments, also has the advantage of precise operation. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a three-dimensional structural diagram of the flexible operating mechanism provided in Embodiment 1 of this utility model.

[0023] Figure 2 This is a front view of the flexible operating mechanism provided in Embodiment 1 of this utility model.

[0024] Figure 3 This is an exploded view of the flexible operating mechanism provided in Embodiment 1 of this utility model.

[0025] Figure 4 This is a three-dimensional structural diagram of the flexible operating mechanism provided in Embodiment 2 of this utility model.

[0026] Figure 5 This is a front view of the flexible operating mechanism provided in Embodiment 2 of this utility model.

[0027] Figure 6 This is a three-dimensional structural diagram of the flexible operating mechanism provided in Embodiment 3 of this utility model.

[0028] Figure 7 This is a front view of the flexible operating mechanism provided in Embodiment 3 of this utility model.

[0029] The labels for the attached figures are as follows:

[0030] 10. Flexible operating mechanism;

[0031] 1. First joint; 2. Second joint; 3. Third joint; 4. Fourth joint; 5. Fifth joint; 6. Sixth joint; 7. Surgical manipulation structure; 8. Drive line; X-axis; R1. First rotation axis; R2. Second rotation axis; R3. Third rotation axis; R4. Fourth rotation axis; R5. Fifth rotation axis;

[0032] 11. First clamping groove; 12. First clamping groove; 71. First clamping part; 72. Second clamping part;

[0033] 101. First connector; 102. Second connector; 103. Third connector. Detailed Implementation

[0034] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0035] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0036] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0038] like Figures 1 to 3 As shown, this embodiment of the present invention provides a flexible manipulation mechanism 10, which is applied in a natural cavity robot. The flexible manipulation mechanism 10 itself has deformable functionality and also has a surgical manipulation structure, enabling it to extend into the human body cavity to perform surgical actions. The flexible manipulation mechanism 10 provided in this embodiment can precisely steer during movement while avoiding interference between multiple joints. The following is a detailed description of the specific implementation:

[0039] The flexible operating mechanism 10 in this embodiment includes:

[0040] A first joint 1, a second joint 2 connected to the first joint 1 shaft, a surgical operation structure 7 connected to the side of the first joint 1 opposite to the second joint 2, and a drive device that is respectively connected to the first joint 1, the second joint 2 and the surgical operation structure 7 for transmission.

[0041] On the side of the first joint 1 away from the surgical operation structure 7, there is a first rotation axis R1 that forms a first angle with the axis X of the first joint 1. The first rotation axis R1 is located in the plane where the axis X of the first joint 1 is located. The first joint 1 can rotate around the first rotation axis R1 under the drive of the driving device.

[0042] The second joint 2 is provided on the side opposite to the first joint 1 with a second rotation axis R2 that forms a second angle with the axis X of the second joint 2. The second rotation axis R2 is located in the plane where the axis X of the second joint 2 is located. The second joint 2 can rotate around the second rotation axis R2 under the drive of the driving device.

[0043] The surgical operation structure 7 is capable of performing surgical actions under the drive of the drive device.

[0044] Specifically, the first joint 1 refers to one of the joint structures in the flexible operating mechanism 10. The first joint 1 is defined by an axis X, and a first rotation axis R1 is provided on one side of the first joint 1. The first rotation axis R1 can be a solid rotation axis or a virtual rotation axis. The first rotation axis R1 is located on the side of the first joint 1 away from the surgical operating structure 7, and the first rotation axis R1 forms a first angle with the axis X of the first joint 1. The angle of the first angle ranges from 0 degrees to 90 degrees. The first rotation axis R1 is also located in the plane where the axis X of the first joint 1 is located. The first joint 1 can rotate around the first rotation axis R1 under the drive of the driving device, thereby causing the surgical operating structure 7 to deflect around the first rotation axis R1. The power output structure of the driving device is provided with a driving line 8. The two ends of the driving line 8 are respectively connected to the opposite two sides of the first joint 1 on the axis X. When one end of the driving line 8 extends, the other end retracts, realizing the rotation of the first joint 1 around the first rotation axis R1.

[0045] The second joint 2 refers to one of the joint structures in the flexible operating mechanism 10. The second joint 2 is defined by an axis X, and a second rotation axis R2 is provided on one side of the second joint 2. The second rotation axis R2 can be a solid rotation axis or a virtual rotation axis. The second rotation axis R2 is located on the side of the second joint 2 away from the first joint 1, and the second rotation axis R2 forms a second angle with the axis X of the second joint 2. The angle of the second angle ranges from 0 degrees to 90 degrees. The second rotation axis R2 is also located in the plane where the axis X of the second joint 2 is located. The second joint 2 can rotate around the second rotation axis R2 under the drive of the driving device, thereby causing the first joint 1 and the surgical operating structure 7 to deflect around the second rotation axis R2. The power output structure of the driving device is provided with a driving line 8. The two ends of the driving line 8 are respectively connected to the opposite two sides of the second joint 2 on the axis X. When one end of the driving line 8 extends, the other end retracts, realizing the rotation of the second joint 2 around the second rotation axis R2.

[0046] The surgical operation structure 7 can perform surgical actions under the drive of the driving device. In this embodiment, the surgical operation structure 7 includes a first clamping part 71 and a second clamping part 72. The first clamping part 71 is connected to the first joint 1, and the second clamping part 72 is axially connected to the first clamping part 71. The surgical operation structure 7 is correspondingly connected to a driving device. The two ends of the driving line 8 of the driving device are respectively connected to the opposite sides of the second clamping part 72. When one end of the driving line 8 extends, the other end retracts, realizing the rotation of the second clamping part 72 around the axis, thereby realizing the surgical operation structure 7 to perform surgical actions.

[0047] By adopting the above technical solution, the first joint 1 and the second joint 2 are respectively provided with rotation axes that form a first angle and a second angle with the axis X, and the rotation axes are located in the plane where their respective axis X is located. The rotation of the two joints around the non-orthogonal axis is independently controlled by the drive line 8, so that the surgical operation structure 7 at the end forms a composite spatial motion trajectory, thereby improving the displacement accuracy of the surgical operation structure 7.

[0048] In one embodiment, the first rotating shaft R1 and the second rotating shaft R2 are symmetrically arranged on both sides of the second joint 2, and the first included angle is equal to the second included angle.

[0049] Specifically, the first rotation axis R1 and the second rotation axis R2 are symmetrically arranged.

[0050] By adopting the above technical solution, the flexible operating mechanism 10 can achieve spiral propulsion or S-shaped bending, which helps to improve the passability of the flexible operating mechanism 10.

[0051] In one embodiment, a first connector 101 is provided between the first joint 1 and the second joint 2, and a first rotating shaft R1 is provided on the first connector 101.

[0052] Specifically, the first connector 101 can be a clamping soft object, which is flexible or elastic, so that the first joint 1 and the second joint 2 are flexibly or elastically connected.

[0053] It needs to be further explained that the first joint 1 clamps one end of the first connector 101, the second joint 2 clamps the other end of the first connector 101, and the first rotating shaft R1 is located on the part of the first connector 101 between the first joint 1 and the second joint 2.

[0054] In addition, the first joint 1 is provided with a first clamping groove 11, and the second joint 2 is provided with a second clamping groove 21. The two ends of the first connector 101 are respectively embedded in the first clamping groove 11 and the second clamping groove 21, and the first joint 1 and the second joint 2 are fixedly connected by interference fit.

[0055] By adopting the above technical solution, the first connector 101 applies a certain force to the first joint 1 and the second joint 2, so that the trajectory of the first joint 1 and the second joint 2 is stable during deflection.

[0056] In one embodiment, the flexible operating mechanism 10 further includes a third joint 3 connected to the second joint 2 axis. The side of the third joint 3 facing away from the second joint 2 is provided with a third rotation axis R3 forming a third angle with the axis X of the third joint 3. The third rotation axis R3 is located in the plane where the axis X of the third joint 3 is located, or the third rotation axis R3 is located in the radial plane of the third joint 3, and the radial plane is arranged perpendicular to the axis X.

[0057] Specifically, the third joint 3 refers to one of the joint structures in the flexible operating mechanism 10. The third joint 3 is defined by an axis X, and a third rotation axis R3 is provided on one side of the third joint 3. The third rotation axis R3 can be a solid rotation axis or a virtual rotation axis. The third rotation axis R3 is located on the side of the third joint 3 away from the second joint 2, and the third rotation axis R3 forms a third angle with the axis X of the third joint 3. The angle of the third angle ranges from 0 degrees to 90 degrees. The third joint 3 can rotate around the third rotation axis R3 under the drive of the driving device, thereby causing the first joint 1, the second joint 2, and the surgical operating structure 7 to deflect around the third rotation axis R3. The power output structure of the driving device is provided with a drive line 8. The two ends of the drive line 8 are respectively connected to the opposite two sides of the third joint 3 on the axis X. When one end of the drive line 8 extends, the other end retracts, realizing the rotation of the third joint 3 around the third rotation axis R3. The third rotation axis R3 is also located in the plane where the axis X of the third joint 3 is located, or the third rotation axis R3 is located in the radial plane of the third joint 3.

[0058] By adopting the above technical solution, the flexibility of the flexible operating mechanism 10 in deformation has been further improved.

[0059] In one embodiment, a second connector 102 is provided between the second joint 2 and the third joint 3, and a second rotating shaft R2 is provided on the second connector 102.

[0060] Specifically, the second connector 102 can be a clamping soft object, which is flexible or elastic, so that the second joint 2 and the third joint 3 are flexibly or elastically connected.

[0061] It needs to be further explained that the second joint 2 clamps one end of the second connector 102, the third joint 3 clamps the other end of the second connector 102, and the second rotating shaft R2 is located on the part of the second connector 102 between the second joint 2 and the third joint 3.

[0062] By adopting the above technical solution, the second connector 102 applies a certain force to the second joint 2 and the third joint 3, so that the trajectory of the second joint 2 and the third joint 3 is stable during deflection.

[0063] Please refer to the following: Figure 4 and Figure 5 In one embodiment, the flexible operating mechanism 10 further includes a fourth joint 4 connected to the third joint 3 axis. The side of the fourth joint 4 opposite to the third joint 3 is provided with a fourth rotation axis R4 forming a fourth angle with the axis X of the fourth joint 4. The fourth rotation axis R4 is located in the plane where the axis X of the fourth joint 4 is located, or the fourth rotation axis R4 is located in the radial plane of the fourth joint 4.

[0064] Specifically, the fourth joint 4 refers to one of the joint structures in the flexible operating mechanism 10. The fourth joint 4 is defined by an axis X, and a fourth rotation axis R4 is provided on one side of the fourth joint 4. The fourth rotation axis R4 can be a solid rotation axis or a virtual rotation axis. The fourth rotation axis R4 is located on the side of the fourth joint 4 away from the third joint 3, and the fourth rotation axis R4 forms a fourth angle with the axis X of the fourth joint 4. The angle of the fourth angle ranges from 0 degrees to 90 degrees. The fourth joint 4 can rotate around the fourth rotation axis R4 under the drive of the driving device, thereby causing the first joint 1, the second joint 2, the third joint 3, and the surgical operating structure 7 to deflect around the fourth rotation axis R4. The power output structure of the driving device is provided with a driving line 8. The two ends of the driving line 8 are respectively connected to the opposite two sides of the fourth joint 4 on the axis X. When one end of the driving line 8 extends, the other end retracts, realizing the rotation of the fourth joint 4 around the fourth rotation axis R4. The fourth rotation axis R4 is also located in the plane containing the axis X of the fourth joint 4, or the fourth rotation axis R4 is located in the radial plane of the fourth joint 4.

[0065] By adopting the above technical solution, the flexibility of the flexible operating mechanism 10 in deformation has been further improved.

[0066] In one embodiment, a third connector 103 is provided between the third joint 3 and the fourth joint 4, and a third rotating shaft R3 is provided on the third connector 103.

[0067] Specifically, the third connector 103 can be a clamping soft object, which is flexible or elastic, so that the third joint 3 and the third joint 3 are flexibly or elastically connected.

[0068] It needs to be further explained that the third joint 3 clamps one end of the third connector 103, the third joint 3 clamps the other end of the third connector 103, and the third rotating shaft R3 is located in the part of the third connector 103 between the third joint 3 and the fourth joint 4.

[0069] By adopting the above technical solution, the third connector 103 applies a certain force to the third joint 3 and the fourth joint 4, so that the trajectory of the third joint 3 and the fourth joint 4 is stable during deflection.

[0070] In one embodiment, the flexible operating mechanism 10 further includes a fifth joint 5 connected to the fourth joint 4 axis. The side of the fifth joint 5 facing away from the fourth joint 4 is provided with a fifth rotation axis R5 that forms a fifth angle with the axis X of the fifth joint 5. The fifth rotation axis R5 is located in the plane where the axis X of the fifth joint 5 is located, or the fifth rotation axis R5 is located in the radial plane of the fifth joint 5.

[0071] Specifically, the fifth joint 5 refers to one of the joint structures in the flexible operating mechanism 10. The fifth joint 5 is defined by an axis X, and a fifth rotation axis R5 is provided on one side of the fifth joint 5. The fifth rotation axis R5 can be a solid rotation axis or a virtual rotation axis. The fifth rotation axis R5 is located on the side of the fifth joint 5 away from the fourth joint 4, and the fifth rotation axis R5 forms a fifth angle with the axis X of the fifth joint 5. The angle of the fifth angle ranges from 0 degrees to 90 degrees. The fifth joint 5 can rotate around the fifth rotation axis R5 under the drive of the driving device, thereby causing the first joint 1, the second joint 2, the third joint 3, the fourth joint 4, and the surgical operating structure 7 to deflect around the fifth rotation axis R5. The power output structure of the driving device is provided with a driving line 8. The two ends of the driving line 8 are respectively connected to the opposite two sides of the fifth joint 5 on the axis X. When one end of the driving line 8 extends, the other end retracts, realizing the rotation of the fifth joint 5 around the fifth rotation axis R5. The fifth rotation axis R5 is also located in the plane containing the axis X of the fifth joint 5, or the fifth rotation axis R5 is located in the radial plane of the fifth joint 5.

[0072] By adopting the above technical solution, the flexibility of the flexible operating mechanism 10 in deformation has been further improved.

[0073] Please refer to the following: Figure 6 and Figure 7 In one embodiment, the flexible operating mechanism 10 further includes a sixth joint 6 connected to the fifth joint 5 axis, the sixth joint 6 being used to connect to the attitude adjustment mechanism.

[0074] By adopting the above technical solution, the flexibility of the flexible operating mechanism 10 in deformation has been further improved.

[0075] Secondly, a natural cavity robot is provided, including a trolley mechanism and the aforementioned flexible manipulation mechanism 10, wherein the flexible manipulation mechanism 10 is connected to the trolley mechanism.

[0076] By adopting the above technical solution, the natural cavity robot of this embodiment has the advantage of precise operation, in addition to the advantages of the flexible operating mechanism 10 of the above embodiment.

[0077] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A flexible operating mechanism, characterized in that, include: A first joint, a second joint connected to the first joint axis, a surgical operation structure connected to the side of the first joint opposite to the second joint, and a drive device that is respectively connected to the first joint, the second joint and the surgical operation structure for transmission. The first joint has a first rotation axis on the side opposite to the surgical operation structure, which forms a first angle with the axis of the first joint. The first rotation axis is located in the plane where the axis of the first joint is located, and the first joint can rotate around the first rotation axis under the drive of the driving device. The second joint has a second rotation axis on the side opposite to the first joint, which forms a second angle with the axis of the second joint. The second rotation axis is located in the plane where the axis of the second joint is located, and the second joint can rotate around the second rotation axis under the drive of the driving device. The surgical operation structure is capable of performing surgical actions under the drive of the driving device.

2. The flexible operating mechanism as described in claim 1, characterized in that, The first rotation axis and the second rotation axis are symmetrically arranged on both sides of the second joint, and the first included angle is equal to the second included angle.

3. The flexible operating mechanism as described in claim 2, characterized in that, A first connecting member is provided between the first joint and the second joint, and the first rotating shaft is disposed on the first connecting member.

4. The flexible operating mechanism as described in claim 3, characterized in that, The flexible operating mechanism further includes a third joint connected to the second joint axis. The third joint has a third rotation axis on its side away from the second joint, which forms a third angle with the axis of the third joint. The third rotation axis is located in the plane where the axis of the third joint is located, or the third rotation axis is located in the radial plane of the third joint.

5. The flexible operating mechanism as described in claim 4, characterized in that, A second connecting member is provided between the second joint and the third joint, and the second rotating shaft is provided on the second connecting member.

6. The flexible operating mechanism as described in claim 4, characterized in that, The flexible operating mechanism further includes a fourth joint connected to the third joint axis. The fourth joint has a fourth rotation axis on the side opposite to the third joint, which forms a fourth angle with the axis of the fourth joint. The fourth rotation axis is located in the plane where the axis of the fourth joint is located, or the fourth rotation axis is located in the radial plane of the fourth joint.

7. The flexible operating mechanism as described in claim 6, characterized in that, A third connecting member is provided between the third joint and the fourth joint, and the third rotating shaft is provided on the third connecting member.

8. The flexible operating mechanism as described in claim 6, characterized in that, The flexible operating mechanism further includes a fifth joint connected to the fourth joint axis. The fifth joint has a fifth rotation axis on its side opposite to the fourth joint, which forms a fifth angle with the axis of the fifth joint. The fifth rotation axis is located in the plane where the axis of the fifth joint is located, or the fifth rotation axis is located in the radial plane of the fifth joint.

9. The flexible operating mechanism as described in claim 8, characterized in that, The flexible operating mechanism also includes a sixth joint connected to the fifth joint axis, the sixth joint being used to connect to the attitude adjustment mechanism.

10. A natural cavity robot, characterized in that, It includes a trolley mechanism and a flexible operating mechanism as described in any one of claims 1 to 9, wherein the flexible operating mechanism is connected to the trolley mechanism.

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