Rolling kinematic pair-fronted snake-shaped end-effector mechanism

Abstract

Provided is a rolling kinematic pair-fronted snake-shaped end-effector mechanism. A protrusion is provided at an instrument distal end to cooperate with a rear-mounted Geneva wheel. A pair of drive wires are installed on the Geneva wheel, with pulling of the drive wires driving rotation of the Geneva wheel to realize opening / closing motions of surgical forceps. A clamp jaw opening / closing joint base of the Geneva wheel is connected to a rotating shaft of a rolling joint. Drive wires for the opening / closing joint pass through a guide shaft on the opening / closing joint base into a central bore of the rotating shaft. The drive wires are wound along threads on the rotating shaft and pass through a small hole at the thread center to increase the frictional force on the rotating shaft. The winding process persists until the drive wires have fully covered the threads, after which the wires exit through a symmetrically arranged small hole on a rotating housing. When the rolling joint drive wires are pulled, the drive wires utilize the frictional force to actuate rotation of the rotating shaft, thereby achieving rolling motion of the end-effector. The continuous structure achieves space efficiency and omnidirectional pose transformation flexibility while incorporating an in-situ rotational clamping function at the instrument distal end, effectively reducing the complexity of the drive-control end transmission system and thereby enabling precise vascular tissue manipulation capability at the surgical instrument's distal end.

Description

A serpentine end effector with a front-mounted rolling motion pair

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 28, 2023, with application number 202311844402.5 and application name “A serpentine end effector with a forward rolling motion pair”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of a micro end effector system, and in particular to a serpentine end effector mechanism with a front rolling motion pair. Background Art

[0003] Most mature single-port laparoscopic surgical robots currently on the international market use a rear-mounted roll motion pair for their end effectors. A typical method involves using a motor shaft to drive a series of gear sets, achieving end torque output through the overall roll of the end effector's operating arm. However, this method suffers from gear return errors and the entanglement of the drive wire in the transition rod during rotation, affecting end precision. Another typical method involves designing a roll motion pair at the rear end of the entire end effector system, using the rotation of the entire machine's housing to drive the roll of the actuator's operating arm, thereby achieving the screwing operation of the end instrument. However, this increases the overall size of the end effector, making the rear-end drive unit bulky and inconvenient for integration into multi-arm end effector systems.

[0004] Summary of the Invention

[0005] This application provides a serpentine end effector with a pre-positioned rolling pair. While meeting the dual-constrained continuum segment space's flexible, full-dimensional pose transformations, it also features an in-situ twisting function for the end clamp. This effectively reduces the complexity of the drive system, miniaturizes the actuator's size, and enables precise manipulation of vascular tissue by the end-user end of the surgical instrument. In the future, it could be widely used as an end effector in robotic systems for single-port laparoscopy, multi-port laparoscopy, orthopedics, interventional surgery, and natural orifice surgery.

[0006] In a first aspect, a serpentine end effector with a front rolling motion pair is provided, comprising an end instrument, a grooved wheel mechanism, and a first drive wire;

[0007] The end instrument comprises an upper clamping jaw and a lower clamping jaw, which are arranged on the upper and lower sides of the instrument's rotation axis, and the upper clamping jaw can rotate relative to the instrument's rotation axis; the first driving wire is used to drive the groove wheel rotation center to rotate; the groove wheel mechanism comprises an upper groove wheel, the upper groove wheel is fixedly connected to the groove wheel rotation center, the upper groove wheel has an upper groove wheel guide groove, the upper groove wheel guide groove is eccentrically arc-shaped, and crosses the line connecting the groove wheel rotation center and the instrument's rotation axis, and along the counterclockwise direction, the distance from the center arc of the upper groove wheel guide groove to the groove wheel rotation center gradually increases, and the root of the upper clamping jaw is inserted into the upper groove wheel guide groove and can slide relatively in the upper groove wheel guide groove;

[0008] When the upper jaw and the lower jaw are in the open state, the distance from the position of the root of the upper jaw in the upper groove guide groove to the rotation center of the groove wheel is a first distance. When the upper jaw and the lower jaw are in the closed state, the distance from the position of the root of the upper jaw in the upper groove guide groove to the rotation center of the groove wheel is a second distance. The first distance is smaller than the second distance.

[0009] In combination with the first aspect, in certain implementations of the first aspect, the sheave mechanism further includes a lower sheave fixedly connected to the sheave rotation center, the lower sheave having a lower sheave guide groove, the lower sheave guide groove being eccentrically arc-shaped and spanning a line connecting the sheave rotation center and the instrument rotation axis, wherein a distance from a center arc of the lower sheave guide groove to the sheave rotation center gradually decreases in a counterclockwise direction, and a root of the lower clamping jaw is inserted into the lower sheave guide groove and can slide relatively within the lower sheave guide groove;

[0010] When the upper jaw and the lower jaw are in the open state, the distance from the position of the root of the lower jaw in the guide groove of the lower groove wheel to the rotation center of the groove wheel is the third distance. When the upper jaw and the lower jaw are in the closed state, the distance from the position of the root of the lower jaw in the guide groove of the lower groove wheel to the rotation center of the groove wheel is the fourth distance. The third distance is smaller than the fourth distance.

[0011] In combination with the first aspect, in certain implementations of the first aspect, the upper sheave guide groove and the lower sheave guide groove are symmetrically arranged relative to a line connecting a sheave rotation center and an instrument rotation axis.

[0012] In combination with the first aspect, in certain implementations of the first aspect, the first drive wire is clamped between the upper sheave and the lower sheave.

[0013] In combination with the first aspect, in certain implementations of the first aspect, the end instrument, the sheave mechanism, and the first drive wire constitute an end instrument-sheave transmission mechanism of the end actuator; the end actuator further includes a rolling shaft, a rolling cylinder, and a second drive wire;

[0014] The rolling shaft is used to carry the end instrument-groove transmission mechanism; the rolling cylinder is coaxially connected to the rolling shaft, and the rolling cylinder is used to drive the rolling shaft to roll under the drive of the second drive wire; the rolling shaft and the rolling cylinder are both provided with a through hole on the central axis to pass the first drive wire.

[0015] In combination with the first aspect, in certain implementations of the first aspect, the rolling drum includes a rolling shaft, a first guide post, and a second guide post;

[0016] The rolling shaft body has a spiral rolling track, and a locking hole is provided in the middle of the rolling shaft body, which passes through the rolling shaft body. The locking hole intersects with the central axis of the rolling shaft body and is arranged along the direction of the helical pitch angle. The first guide column and the second guide column are respectively located on both sides of the rolling shaft body and at both ends of the rolling shaft body.

[0017] The second drive wire wraps around the rolling shaft along the spiral raceway, from one end of the rolling shaft to the other end, passes through the locking hole at the locking hole, and wraps around the outside of the first guide column and the second guide column; the second drive wire on the first guide column side and the second drive wire on the second guide column side move in opposite directions, driving the rolling shaft of the rolling drum to rotate, and then driving the end instrument-groove wheel transmission mechanism on the rolling shaft to rotate.

[0018] In combination with the first aspect, in certain implementations of the first aspect, the second driving wire on the first guide post side and the second driving wire on the second guide post side are symmetrical along the circumference.

[0019] In combination with the first aspect, in certain implementations of the first aspect, the method includes a roller and a second drive wire;

[0020] The rolling drum includes a rolling shaft body, a first guide post, and a second guide post; the rolling shaft body has a spiral rolling track, and a locking hole is provided in the middle of the rolling shaft body, which intersects with the central axis of the rolling shaft body and is arranged along the direction of the helical pitch angle; the first guide post and the second guide post are respectively located on both sides of the rolling shaft body and at both ends of the rolling shaft body;

[0021] The second drive wire wraps around the rolling shaft along the spiral raceway, from one end of the rolling shaft to the other end, passes through the locking hole at the locking hole, and wraps around the outside of the first guide column and the second guide column; the second drive wire on the first guide column side and the second drive wire on the second guide column side move in opposite directions, driving the rolling shaft of the rolling drum to rotate, and then driving the end instrument-groove wheel transmission mechanism on the rolling shaft to rotate.

[0022] In combination with the first aspect, in certain implementations of the first aspect, the second driving wire on the first guide post side and the second driving wire on the second guide post side are symmetrical along the circumference.

[0023] In a second aspect, an end effector is provided, comprising the end effector mechanism as described in any one of the implementations of the first aspect.

[0024] Compared with the existing technology, the solution provided by this application includes at least the following beneficial technical effects:

[0025] (1) The dual continuum serpentine end effector with integrated rolling motion pair has the function of in-situ screwing of the end instrument.

[0026] (2) The roll motion pair is placed in front to reduce the complexity of the transmission mechanism at the drive control end and reduce the size of the end actuator.

[0027] (3) The axial length of the surgical end actuator is short, which is suitable for delicate operations under extreme space constraints.

[0028] (4) The instrument-groove mechanism has a simple structure and can realize synchronous reverse movement of the two parts of the clamp through one-way drive transmission, thus realizing the opening and closing operation of the instrument.

[0029] (5) The force transmission device can be quickly disassembled and connected to the servo motor at the driving end, making it easy to quickly replace the end effector during surgery.

[0030] (6) The spatial layout of the driving wire and the constraint wire not only realizes multi-joint linear coupling to improve control efficiency, but also satisfies the kinematic decoupling relationship, facilitates the rapid construction of the kinematic model, and realizes precise and stable control of the end effector. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a structural diagram of the end effector system.

[0032] Figure 2 is a diagram of the end instrument-groove wheel transmission mechanism.

[0033] Figure 3 is a diagram of the rolling motion pair transmission mechanism.

[0034] Figure 4 is a structural diagram of the opening, closing and rolling joints. DETAILED DESCRIPTION

[0035] The present application is described in further detail below with reference to the accompanying drawings and specific embodiments.

[0036] Figure 1 is a structural diagram of an end effector system provided in an embodiment of the present application. The end effector system can enter the human body through a minimally invasive channel to perform high-precision surgical operations on the lesion area. The surgical robot end effector is a mechanical device that converts the rotational input of the proximal drive motor into the output of the distal surgical instrument. The proximal and distal ends are connected by a support rod. The proximal end is connected to the drive-end servo motor through a force transmission device. Each drive motor transmits torque input to the joints of the end effector through a drive wire and a guide mechanism. Each joint represents an independent control variable, also known as a degree of freedom. The surgical robot end effector is a micro-actuator with a highly integrated structure, transmission, and drive control. It consists of an end instrument and a motion joint. It does not have a drive part itself. The joints and drive transmission links form a closed-loop transmission chain. The drive-end servo motor drives the movement of multiple joints in coordination through the force transmission device, thereby replacing traditional open surgical instruments that are inserted into the human body and accurately completing typical operations such as clamping, cutting, and suturing of blood vessels and other tissues during surgical procedures.

[0037] The end effector features long input and output transmission distances, a compact size, and high degrees of freedom. This allows surgeons to manipulate the end effector from a master controller to insert it into the human body and perform surgical tasks. A degree of freedom configuration similar to that of the human arm helps surgeons develop an intuitive mapping of the end effector, simplifying control. Therefore, a torsion joint is added to the end effector to mimic the axial rotational degrees of freedom of the human wrist.

[0038] The end effector system includes an end effector mechanism, a support rod, a support frame, a force transmission device, a drive-end servo motor and a mobile slide module. The mobile slide module has a total of 7 independently controllable degrees of freedom. The mobile slide module is connected to the force transmission device to realize the overall movement of the end effector mechanism. The drive-end servo motor can have 7 motors, 6 of which are integrated into the force transmission device and are responsible for driving the end effector mechanism to move, and 1 motor is used to drive the end effector mechanism as a whole to move along the mobile slide. The support rod is arranged on the support frame, and the end effector mechanism is arranged at the end of the support rod away from the support frame. The motor interface part of the force transmission device transmits the input torque of the drive-end servo motor to the end effector mechanism through the wire transmission mechanism. The driving wire of the wire transmission mechanism passes through the support frame and is connected from the end to the drive end. Through the coordinated movement of multiple motors at the drive end, continuous motion control of the position and posture of the end effector mechanism in Cartesian space is realized.

[0039] The end effector mechanism includes an end tool-groove wheel transmission mechanism. FIG2 shows a schematic structural diagram of an end tool-groove wheel transmission mechanism provided in an embodiment of the present application.

[0040] The end instrument-sheave transmission mechanism may include an end instrument, a sheave mechanism, and a first drive wire.

[0041] The end-use instrument comprises an upper jaw and a lower jaw, each of which can rotate relative to the instrument's rotational axis to open and close. The sheave mechanism comprises an upper sheave and a lower sheave, with a first drive wire disposed between the upper and lower sheaves to drive the sheave's rotational center. The first drive wire is used to drive the sheave's rotational center counterclockwise (as viewed from above in this application) to open the instrument-sheave transmission mechanism, and to drive the sheave's rotational center clockwise to close the instrument-sheave transmission mechanism.

[0042] Both the upper and lower sheaves have guide grooves. These guide grooves rotate with the sheave's center of rotation. These eccentrically curved guide grooves constrain the movement of the jaws' bases, thereby driving the jaws' opening and closing. The guide grooves of the upper and lower sheaves are symmetrically positioned relative to the line connecting the sheave's center of rotation and the instrument's axis of rotation. During the opening and closing process, the bases of the upper and lower jaws remain symmetrical relative to the line connecting the sheave's center of rotation and the instrument's axis of rotation, thereby enabling the end-device-sheave transmission mechanism to open and close.

[0043] The upper sheave includes an upper sheave guide groove fixedly connected to the sheave rotation center, allowing the upper sheave to rotate with the sheave rotation center. The base of the upper jaw extends downwardly into the upper sheave guide groove and is relatively slidable within the upper sheave guide groove. The upper sheave guide groove may span a line connecting the sheave rotation center and the instrument's rotation axis. As the upper sheave rotates counterclockwise, the distance from the center arc of the upper sheave guide groove to the sheave rotation center gradually increases.

[0044] When the instrument is in the closed position, the distance between the insertion position of the upper jaw in the upper sheave guide groove and the sheave rotation center is a, where a is, for example, the maximum distance between the center arc of the upper sheave guide groove and the sheave rotation center. As the upper sheave guide groove rotates counterclockwise, the distance between the upper jaw and the sheave rotation center gradually decreases due to the upper jaw's position within the upper sheave guide groove, thereby enabling the upper sheave guide groove to drive the upper jaw to rotate counterclockwise about the instrument's rotation axis. When the instrument is in the open position, the distance between the insertion position of the upper jaw in the upper sheave guide groove and the sheave rotation center is b, where b is, for example, the minimum distance between the center arc of the upper sheave guide groove and the sheave rotation center.

[0045] The lower sheave includes a lower sheave guide groove fixedly connected to the sheave rotation center, allowing the lower sheave to rotate counterclockwise along the sheave rotation center. The base of the lower jaw extends upward from the bottom into the lower sheave guide groove and is relatively slidable within the groove. The lower sheave guide groove may span a line connecting the sheave rotation center and the instrument's rotation axis. As the sheave rotates counterclockwise, the center arc of the lower sheave guide groove decreases in distance from the sheave rotation center.

[0046] When the instrument is in the closed position, the distance between the base of the lower jaw, where it is inserted into the lower sheave guide groove, and the sheave rotation center is c, where c is, for example, the maximum distance between the center arc of the lower sheave guide groove and the sheave rotation center. As the lower sheave guide groove rotates counterclockwise, the distance between the base of the lower jaw and the sheave rotation center gradually decreases due to the lower sheave guide groove being within the lower sheave guide groove, thereby enabling the lower sheave guide groove to drive the lower jaw to rotate clockwise about the instrument's rotation axis. When the instrument is in the open position, the distance between the base of the lower jaw, where it is inserted into the lower sheave guide groove, and the sheave rotation center is d, where d is, for example, the minimum distance between the center arc of the lower sheave guide groove and the sheave rotation center.

[0047] In summary, the two jaws of the end-use instrument are mounted on guide grooves at the upper and lower ends of the sheave mechanism. A wire drive drives the sheave along its axis of rotation, which in turn drives the two halves of the instrument's jaws along the instrument's axis of rotation, thereby opening and closing the instrument.

[0048] The end effector may further include a rolling motion pair transmission mechanism. FIG3 shows a schematic structural diagram of a rolling motion pair transmission mechanism provided in an embodiment of the present application.

[0049] The rolling motion transmission mechanism can include a rolling shaft, which can be used to mount the end-implant-sheave transmission mechanism shown in Figure 2. The rolling shaft is coaxially connected to a rolling cylinder via a thrust bearing, which drives the rolling shaft. The rolling shaft, thrust bearing, and rolling cylinder all have through-holes on their central axes for the passage of the first drive wire.

[0050] The rolling drum may include a rolling shaft having a spiral raceway, and a second drive wire may be arranged around the rolling shaft along the spiral raceway. A first guide post may be provided near the first end of the rolling shaft, and a second guide post may be provided near the second end, with the first guide post and the second guide post respectively located on either side of the rolling shaft. A locking hole extending through the rolling shaft is provided in the middle of the rolling shaft, intersecting the central axis of the rolling shaft. The locking hole may be arranged along the direction of the helical pitch angle. The second drive wire may be arranged around the rolling shaft from one end to the other along the spiral raceway, passing through the locking hole at the locking hole (increasing the friction force of the second drive wire on the rolling shaft), and then passing around the outside of the first guide post and the second guide post. The first guide post and the second guide post may be a fixed pulley. When the second drive wire is driven, the second drive wire on the first guide post side and the second drive wire on the second guide post side can move in opposite directions, driving the rolling shaft of the rolling drum to rotate, thereby driving the end instrument-groove transmission mechanism on the rolling shaft to rotate.

[0051] The transmission direction of the second drive wire at both ends is changed from radial to axial by the first and second guide posts. The second drive wire is symmetrically arranged along the circumference and connected to the drive end via a series of joint components, forming a closed-loop transmission chain. This achieves multi-joint linear coupling to improve control efficiency while also satisfying kinematic decoupling, facilitating the rapid construction of kinematic models and enabling precise and stable control of the end effector.

[0052] The dual continuum serpentine end effector with an integrated roll kinematic pair, provided in embodiments of the present application, features in-situ instrument rotation. A closed loop formed by a drive wire, joint assembly, and drive wheel enables flexible reciprocating motion of each joint assembly. The drive wheel, through force transmission transposition, allows for rapid connection and detachment with the drive-end servo motor, meeting surgical requirements for dexterous, precise, and stable control of the end effector in all dimensions while also enabling rapid instrument replacement. The forward placement of the roll kinematic pair reduces the complexity of the drive-end transmission mechanism and the size of the end effector. The surgical end effector boasts a short axial length, making it suitable for delicate operations within extreme spatial constraints. The instrument-sheave mechanism features a simple structure, and a unidirectional drive system enables synchronized, counter-directional motion of the two gripper components, enabling instrument opening and closing. The force transmission device allows for rapid connection and detachment from the drive-end servo motor, facilitating rapid intraoperative end effector replacement. The spatial layout of the drive wire and constraint wires achieves multi-joint linear coupling for improved control efficiency while also satisfying kinematic decoupling, facilitating rapid kinematic model construction and enabling precise and stable end effector control.

[0053] Although the present invention is disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined by the claims of the present invention.

Claims

1. A snake-like end effector with a roll kinematic pair placed in front, characterized in that, It includes an end effector, a grooved pulley mechanism, and a first drive wire; The end effector has an upper jaw and a lower jaw. The upper jaw and the lower jaw are arranged on the upper and lower sides of the rotation axis of the instrument. The upper jaw can rotate relative to the rotation axis of the instrument. The first drive wire is used to drive the rotation of the rotation center of the grooved pulley. The grooved pulley mechanism includes an upper grooved pulley. The upper grooved pulley is fixedly connected to the rotation center of the grooved pulley. The upper grooved pulley has an upper grooved pulley guide groove. The upper grooved pulley guide groove is eccentrically arc-shaped and spans the connection line between the rotation center of the grooved pulley and the rotation axis of the instrument. Along the counterclockwise direction, the distance from the center arc of the upper grooved pulley guide groove to the rotation center of the grooved pulley gradually increases. The root of the upper jaw is inserted into the upper grooved pulley guide groove and can slide relative to the upper grooved pulley guide groove; When the upper jaw and the lower jaw are in the open state, the distance from the position of the root of the upper jaw in the upper grooved pulley guide groove to the rotation center of the grooved pulley is a first distance. When the upper jaw and the lower jaw are in the closed state, the distance from the position of the root of the upper jaw in the upper grooved pulley guide groove to the rotation center of the grooved pulley is a second distance. The first distance is less than the second distance.

2. The end effector according to claim 1, wherein The grooved pulley mechanism further includes a lower grooved pulley. The lower grooved pulley is fixedly connected to the rotation center of the grooved pulley. The lower grooved pulley has a lower grooved pulley guide groove. The lower grooved pulley guide groove is eccentrically arc-shaped and spans the connection line between the rotation center of the grooved pulley and the rotation axis of the instrument. Along the counterclockwise direction, the distance from the center arc of the lower grooved pulley guide groove to the rotation center of the grooved pulley gradually decreases. The root of the lower jaw is inserted into the lower grooved pulley guide groove and can slide relative to the lower grooved pulley guide groove; When the upper jaw and the lower jaw are in the open state, the distance from the position of the root of the lower jaw in the lower grooved pulley guide groove to the rotation center of the grooved pulley is a third distance. When the upper jaw and the lower jaw are in the closed state, the distance from the position of the root of the lower jaw in the lower grooved pulley guide groove to the rotation center of the grooved pulley is a fourth distance. The third distance is less than the fourth distance.

3. The end effector according to claim 2, characterized in that The upper grooved pulley guide groove and the lower grooved pulley guide groove are symmetrically arranged with respect to the connection line between the rotation center of the grooved pulley and the rotation axis of the instrument.

4. The end effector according to claim 2, characterized in that, The first drive wire is clamped between the upper grooved pulley and the lower grooved pulley.

5. The end effector according to claim 1, wherein The end effector, the grooved pulley mechanism, and the first drive wire constitute the end effector-grooved pulley transmission mechanism of the end effector mechanism; the end effector mechanism further includes a rolling shaft, a rolling cylinder, and a second drive wire; The rolling shaft is used to carry the end effector-grooved pulley transmission mechanism; the rolling cylinder is coaxially connected to the rolling shaft. The rolling cylinder is used to drive the rolling shaft to roll under the drive of the second drive wire. Through holes are provided on the central axes of both the rolling shaft and the rolling cylinder to pass through the first drive wire.

6. The end effector according to claim 5, characterized in that, The rolling cylinder includes a rolling shaft body, a first guide post, and a second guide post; The rolling shaft body has a rolling shaft body with a spiral raceway. A locking hole penetrating the rolling shaft body is provided at the middle position of the rolling shaft body. The locking hole intersects with the central axis of the rolling shaft body and is arranged along the spiral lead angle direction. The first guide post and the second guide post are respectively located on both sides of the rolling shaft body and at both ends of the rolling shaft body; The second driving wire surrounds the rolling shaft body along the spiral raceway, from one end of the rolling shaft body to the other end, passes through the locking hole at the locking hole, and winds around the outside of the first guide post and the second guide post; the second driving wire on the side of the first guide post and the second driving wire on the side of the second guide post move in opposite directions, driving the rolling shaft body of the rolling cylinder to rotate, and then driving the end instrument - sheave transmission mechanism on the rolling shaft to rotate.

7. The end effector according to claim 6, wherein The second driving wire on the side of the first guide post and the second driving wire on the side of the second guide post are circumferentially symmetric.

8. A snake-like end effector with a roll kinematic pair placed in front, characterized in that, It includes a rolling cylinder and a second driving wire; The rolling cylinder includes a rolling shaft body, a first guide post and a second guide post; the rolling shaft body has a rolling shaft body with a spiral raceway, and has a locking hole penetrating the rolling shaft body at the middle position of the rolling shaft body. The locking hole intersects with the central axis of the rolling shaft body, and the locking hole is arranged along the spiral angle direction; the first guide post and the second guide post are respectively located on both sides of the rolling shaft body and at both ends of the rolling shaft body; The second driving wire surrounds the rolling shaft body along the spiral raceway, from one end of the rolling shaft body to the other end, passes through the locking hole at the locking hole, and winds around the outside of the first guide post and the second guide post; the first guide The second driving wire on the side of the post and the second driving wire on the side of the second guide post move in opposite directions, driving the rolling shaft body of the rolling cylinder to rotate, and then driving the end instrument - sheave transmission mechanism on the rolling shaft to rotate.

9. The end effector according to claim 8, wherein The second driving wire on the side of the first guide post and the second driving wire on the side of the second guide post are circumferentially symmetric.

10. An end effector, characterized in that, It includes the end effector according to any one of claims 1 to 9.

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