CN115211977B

CN115211977B - Modularized rope-driven continuum robot system for single-hole surgery

Info

Publication number: CN115211977B
Application number: CN202210948895.6A
Authority: CN
Inventors: 王昊东; 高永卓; 杜志江
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2022-08-09
Filing date: 2022-08-09
Publication date: 2023-08-18
Anticipated expiration: 2042-08-09
Also published as: CN115211977A

Abstract

The invention discloses a modularized rope-driven continuum robot system for single-hole surgery, and relates to the technical field of single-hole surgery. The invention aims to solve the problems of poor loading capacity, poor rigidity of a flexible continuum instrument, insufficient motion range of the continuum, interference among end parts of various surgical instruments and the like of a continuum surgical robot system in the prior art. The invention comprises a first flexible tissue forceps instrument assembly, a second flexible tissue forceps instrument assembly, a lens arm assembly and a fixed platform; the lower part sliding connection of first flexible tissue forceps instrument subassembly is on fixed platform, and the lower part sliding connection of second flexible tissue forceps instrument subassembly is on fixed platform, and the lower part sliding connection of camera lens arm subassembly is on fixed platform, and first flexible tissue forceps instrument subassembly and second flexible tissue forceps instrument subassembly are installed side by side and are set up in the rear portion of camera lens arm subassembly. The invention is used for single-hole minimally invasive surgery.

Description

Modularized rope-driven continuum robot system for single-hole surgery

Technical Field

The invention relates to the technical field of single-hole surgery, in particular to a modularized rope-driven continuum robot system for single-hole surgery.

Background

Modern surgery has been subject to innovative developments since the creation of the 15 th century, and doctors and engineers are constantly working on the search for high efficiency and safety of surgery. In the course of exploration, the introduction of engineering techniques has played a significant impetus for the development of surgery, especially in terms of improving the surgeon's skill. Traditional open surgery requires making a large incision in the abdomen of the human body and exposing the affected part, which has been done for the purpose of surgery, but this approach can cause a large scar in the abdomen of the patient. In order to be able to reduce the surgical trauma, minimally invasive surgery is increasingly being applied in surgery. Minimally invasive surgery is a procedure in which the internal condition of the body is observed through an endoscope, and surgical instruments are controlled to perform surgical operations inside the human body through incision holes for body surface surgery.

Conventional minimally invasive surgery also presents problems in clinical applications, such as: the doctor stands for a long time in the operation process, so that the doctor generates fatigue feeling, the accuracy of the operation is affected, the operation is also affected by physiological emotion of the doctor and chopsticks effect among surgical instruments, and therefore, the success or failure of the operation is directly related to the skilled operation of the doctor. The robot has the advantages of high precision, high motion resolution, flexible motion, small influence of external environment, no influence of fatigue and emotion and the like, so that the robot is introduced into a minimally invasive surgery, the problems existing in the minimally invasive surgery are solved, and the minimally invasive surgery is further promoted to be developed. Because single hole minimally invasive surgery robot makes the wound at patient's umbilical region generally, and the apparatus gets into the affected part operation through single incision, can reduce the operation wound to minimum, can shorten the time of hospitalization, provides better postoperative cosmetic effect for the patient simultaneously. The existing common continuum robot system has the defects of poor loading capacity, poor rigidity of a flexible continuum instrument, insufficient motion range of the continuum, interference among end parts of various surgical instruments and the like, and can not meet the requirements of actual minimally invasive surgery, so that a novel single-hole surgical robot system is urgently required to meet clinical requirements.

Disclosure of Invention

The invention aims to solve the problems of poor loading capacity, poor rigidity of flexible continuum instruments, insufficient motion range of the continuum, interference among end parts of various surgical instruments and the like of a continuum surgical robot system in the prior art, and further provides a modularized rope-driven continuum robot system for single-hole surgery.

The technical scheme adopted by the invention for solving the problems is as follows: a modularized rope-driven continuum robot system for single-hole surgery comprises a first flexible tissue clamp instrument assembly, a second flexible tissue clamp instrument assembly, a lens arm assembly and a fixed platform; the lower part sliding connection of first flexible tissue pincers instrument subassembly is on fixed platform, the lower part sliding connection of second flexible tissue pincers instrument subassembly is on fixed platform, the lower part sliding connection of camera lens arm subassembly is on fixed platform, first flexible tissue pincers instrument subassembly with second flexible tissue pincers instrument subassembly installs side by side and sets up the rear portion at the camera lens arm subassembly, first flexible tissue pincers instrument subassembly with the pincers instrument part of second flexible tissue pincers instrument subassembly all passes the pipe of camera lens arm subassembly, first flexible tissue pincers instrument subassembly the second flexible tissue pincers instrument subassembly with camera lens arm subassembly all can bend according to the actual structure of peritoneal, and then do rectilinear motion or gyration, cooperates jointly and accomplish the minimally invasive surgery.

Further, the first flexible tissue clamp instrument assembly comprises a tissue clamp instrument driving assembly, a tissue clamp instrument transmission assembly, a tissue clamp instrument mounting assembly, a tissue clamp continuum assembly and a tissue clamp instrument protective cover; the tissue forceps continuum assembly is arranged on the tissue forceps device transmission assembly through the tissue forceps device installation assembly, the tissue forceps device transmission assembly and the tissue forceps device installation assembly are arranged inside the tissue forceps device protection cover, the tissue forceps device protection cover is connected with the tissue forceps device driving assembly, and the tissue forceps device driving assembly is arranged on the fixing platform.

Further, the tissue forceps continuum tissue forceps device transmission assembly comprises a clamping transmission assembly, a rotation transmission assembly, a forceps head assembly, a rotation mechanism assembly and a clamping mechanism assembly which are arranged on a device mounting seat; the clamping transmission assembly is connected with the clamping mechanism assembly through a clamping guide wire, the rotary transmission assembly is connected with the rotary mechanism assembly through a rotary guide wire, the clamping mechanism assembly controls the opening and closing movement of the clamp head assembly, and the rotary mechanism assembly controls the rotary movement of the clamp head assembly;

the clamping transmission assembly further comprises a clamping transmission shaft, a first reel half, a second reel half, a first wire guide wheel and a second wire guide wheel; the lower end of the transmission shaft is rotationally connected to the instrument mounting seat, the first reel half and the second reel half are installed on the clamping transmission shaft from bottom to top, the first wire guide wheel is installed on the instrument mounting seat through a first wire guide wheel limit bolt, the second wire guide wheel is installed on the instrument mounting seat through a second wire guide wheel limit bolt, one end of the clamping wire is wound and fixed on the first reel half, the middle part bypasses the clamping mechanism assembly, and the other end of the clamping wire is wound and fixed on the second reel half;

The rotary transmission assembly further comprises a rotary transmission shaft, a third reel half, a fourth reel half and a third wire guide wheel; the lower end of the rotary transmission shaft is rotationally connected to the instrument mounting seat, the third reel half and the fourth reel half are arranged on the rotary transmission shaft from bottom to top, the third wire guide wheel is arranged on the instrument mounting seat through a third wire guide wheel limit bolt, one end of the rotary wire guide is wound and fixed on the third reel half, the middle part of the rotary wire guide is wound and fixed on the rotary mechanism assembly, and the other end of the rotary wire guide is wound and fixed on the fourth reel half;

the rotary mechanism assembly comprises a rotary joint, an instrument straight pipe, a connecting straight pipe, a steel wire sleeve and a traction steel wire; one end of the connecting straight pipe is rotationally connected with the rotary fixing block of the clamping mechanism assembly, the other end of the connecting straight pipe is connected with the instrument straight pipe, a rotary joint is arranged outside one end, close to the connecting straight pipe, of the instrument straight pipe, and the traction steel wire sequentially penetrates through the instrument straight pipe and the connecting straight pipe;

the clamping mechanism assembly comprises a guide rod pressing block, a rotary fixing block, a fourth wire guide wheel, a fifth wire guide wheel, a guide rod, a conversion connecting block and an adjusting knob; the guide rod pressing block and the rotary fixing block are both arranged on the instrument mounting seat, two guide rods are arranged between the guide rod pressing block and the rotary fixing block, the conversion connecting block is connected to the guide rod in a sliding mode, the fourth wire guide wheel is fixedly rotated between the guide rod pressing block and the instrument mounting seat through shoulder bolts, and the fifth wire guide wheel is fixedly rotated between the rotary fixing block and the instrument mounting seat through shoulder bolts; the adjusting knob is arranged at one end of the conversion connecting block through threads, and one end of the traction steel wire is connected with the adjusting knob;

The clamp head assembly comprises a stretching rod, a rotary joint and a clamp head; one end of the stretching rod is connected with the traction steel wire, the other end of the stretching rod is rotatably connected with the rotary joint, and the rotary joint is rotatably connected with the clamp head.

Further, one end of the clamping guide wire is fixed on the end of the first guide wire, the clamping guide wire further sequentially bypasses the first guide wire wheel, the second guide wire wheel and the fifth guide wire wheel, then passes through the conversion connecting block and bypasses the fourth guide wire wheel, sequentially bypasses the fifth guide wire wheel, the second guide wire wheel and the first guide wire wheel after passing through the conversion connecting block again, and finally the other end of the clamping guide wire is fixed on the end of the second guide wire;

one end of the rotary guide wire is fixed on the end of the third guide wire, the rotary guide wire further bypasses the third wire wheel and the rotary joint, then the rotary guide wire again winds the third wire wheel, and finally the other end of the rotary guide wire is fixed on the end of the fourth guide wire;

the outside of the traction steel wire is sleeved with a steel wire sleeve, one end of the traction steel wire is connected with a stretching rod, and the other end of the traction steel wire is connected with an adjusting knob;

one end of the adjusting knob is connected with the traction steel wire through a steel wire pressing block, and the other end of the adjusting knob is provided with an adjusting bolt.

Further, the tissue forceps continuum assembly is arranged on an instrument straight pipe of the tissue forceps instrument installation assembly, and comprises a forceps head installation plate, a plurality of wire guide plates, a continuum chassis and four wires, wherein the wires are contacted with the forceps head installation plate, the wire guide plates and the continuum chassis in the moving process, so that the rotation and bending actions of the tissue forceps continuum assembly are realized, and then the operation is performed;

The tissue forceps continuum assembly further comprises a spring steel tube, a steel wire and a stretching rod; the clamp head mounting plate is arranged at the front end of the spring steel pipe, the continuous body chassis is arranged at the rear end of the spring steel pipe, the plurality of wire guide plates are sequentially sleeved on the spring steel pipe from front to back, the wire guide plates are positioned between the clamp head mounting plate and the continuous body chassis, the continuous body chassis is arranged on the instrument straight pipe, and four wires are uniformly distributed outside the steel wire in circumference;

one end of the steel wire is connected with the stretching rod, the other end of the steel wire sequentially penetrates through the spring steel tube, the continuum chassis and the instrument straight tube, one end of the guide wire is connected with the clamp head mounting plate, the other end of the guide wire sequentially penetrates through the guide wire plate, the continuum chassis and the instrument straight tube, the clamp head mounting plate is provided with the surgical clamp assembly, and the tail end of the surgical clamp assembly is connected with the stretching rod;

the outer part of the steel wire is penetrated with a first steel wire spring and a second steel wire spring, the first steel wire spring is arranged in the instrument straight pipe, the second steel wire spring is arranged in the spring steel pipe, the outer part of each guide wire is penetrated with a guide wire spring, and the guide wire springs are arranged in the instrument straight pipe;

One end of the instrument straight pipe connected with the continuum chassis is cut and processed with a section of instrument straight pipe spiral incision through four-axis laser, and the instrument straight pipe is made of nickel-titanium alloy;

the spring steel tube is integrally processed with a spiral notch of the spring steel tube through four-axis laser cutting, the spring steel tube is made of nickel-titanium alloy, and mounting notches are processed at two ends of the spring steel tube.

Further, the guide wire disc is a hollow cylinder, an annular boss is arranged in the guide wire disc, and four guide wire holes of the guide wire disc are uniformly distributed on the annular boss along the circumferential direction;

the end faces of the guide wire discs are symmetrically provided with two arc guide wire disc inclined surfaces, the two guide wire disc inclined surfaces are connected through two guide wire disc cambered surfaces, the central connecting line of the two guide wire disc cambered surfaces at one end of each guide wire disc is perpendicular to the central connecting line of the two guide wire disc cambered surfaces at the other end, the opposite guide wire disc cambered surfaces between the two adjacent guide wire discs are contacted with each other, and after the guide wire disc cambered surfaces between the two guide wire discs are contacted with each other, the opposite guide wire disc inclined surfaces form a shuttle-shaped guide wire disc clearance inclined surface;

two arc clamp head mounting disc inclined planes are symmetrically arranged at one end of the clamp head mounting disc, the two clamp head mounting disc inclined planes are connected through two clamp head mounting disc cambered surfaces, an annular boss is arranged in the clamp head mounting disc, four clamp head mounting disc wire guide holes are uniformly distributed in the circumferential direction on the annular boss, a stretching rod through hole is formed in the center of the clamp head mounting disc, and the clamp head mounting disc cambered surfaces are in contact with the wire guide disc cambered surfaces on the adjacent wire guide discs;

Two arc continuous body chassis inclined planes are symmetrically arranged at one end of the continuous body chassis, the two continuous body chassis inclined planes are connected through two continuous body chassis cambered surfaces, an annular boss is arranged in the continuous body chassis, four continuous body chassis wire guide holes are uniformly distributed on the annular boss along the circumferential direction, a steel wire through hole is arranged in the center of the continuous body chassis, and the continuous body chassis cambered surfaces are in contact with the wire guide disc cambered surfaces on the adjacent wire guide discs.

Further, the tissue forceps instrument mounting assembly further comprises a mounting plate body, a guide shaft sleeve and a rotary joint; the device straight pipe is rotationally connected to the mounting plate body through the guide shaft sleeve, one end of the device straight pipe extending out of the mounting plate body is connected with a rotary joint, the rotary joint is fixed through a steel wire check ring, and a pipe plug is arranged between the rotary joint and the steel wire check ring.

Further, the lens arm assembly comprises a lens arm driving assembly, a power transmission assembly, four driving wires, two cavities, a catheter, a bottom end ring, a plurality of guide wire rings, a steering guide wire ring, a top end ring and a lens fixing tube; the guide tube is characterized in that a bottom end ring, a guide wire ring, a steering guide wire ring and a top end ring are sequentially arranged between the guide tube and the lens fixing tube from front to back, the steering guide wire ring is arranged between the guide wire rings, the bottom end ring is arranged on the guide tube, the top end ring is arranged on the lens fixing tube, one end of the cavity is connected with the lens fixing tube, the other end of one end of the cavity sequentially penetrates through the guide tube, the bottom end ring, the guide wire ring, the steering guide wire ring and the top end ring, the cavity is a hollow elastic tube body, the driving wires penetrate through the guide wire ring and the steering guide wire ring, and the lens arm driving assembly drives four driving wires through the power transmission assembly.

Further, each end face of the steering wire guide ring is symmetrically provided with two arc steering wire guide ring inclined planes, the two steering wire guide ring inclined planes are connected through two steering wire guide ring cambered surfaces, the steering wire guide rings are uniformly provided with a plurality of steering wire guide holes along the circumferential direction, and one side of each steering wire guide hole is provided with a wire guide lock head;

two arc guide wire ring inclined surfaces are symmetrically arranged on each end surface of the guide wire ring, the two guide wire ring inclined surfaces are connected through two guide wire ring cambered surfaces, a central connecting line of the two guide wire ring cambered surfaces at one end of the guide wire ring is perpendicular to a central connecting line of the two guide wire ring cambered surfaces at the other end of the guide wire ring, the opposite guide wire ring cambered surfaces between the two adjacent guide wire rings are contacted with each other, the steering guide wire ring cambered surfaces of the steering guide wire ring are contacted with the adjacent guide wire ring cambered surfaces, and a plurality of guide wire holes are uniformly distributed on the guide wire ring along the circumferential direction;

the lens fixing tube is provided with two lens mounting holes and two tissue clamp through holes; one end of two driving wires of the four driving wires is fixed on a guide wire lock head of the steering guide wire ring, the other end of the four driving wires sequentially penetrates through the guide wire rings, the bottom end ring and the guide tube, one end of the other two driving wires is fixed on the top end ring, the other end of the other two driving wires sequentially penetrates through the guide wire rings, the steering guide wire ring, the bottom end ring and the guide tube, and finally the four driving wires are converged to the power transmission assembly.

Further, the fixing platform comprises a bottom bracket, a first flexible tissue clamp instrument assembly sliding table, a second flexible tissue clamp instrument assembly sliding table, a lens arm assembly sliding table and a sheath tube; the first flexible tissue forceps instrument assembly is in sliding connection with the bottom support through the first flexible tissue forceps instrument assembly sliding table, the second flexible tissue forceps instrument assembly is in sliding connection with the bottom support through the second flexible tissue forceps instrument assembly sliding table, the lens arm assembly is in sliding connection with the bottom support through the lens arm assembly sliding table, the sheath tube is arranged on the bottom support, and the lens arm assembly of the lens arm assembly penetrates through the sheath tube.

The invention has the following beneficial technical effects:

1. the flexible tissue forceps instrument assembly adopts the guide wire to pass through the rotary joint and enter the instrument straight tube, sequentially passes through the guide wire spring, the continuum chassis and the guide wire trays, and is finally fixed in the forceps head mounting tray, the guide wire can be contacted with the forceps head mounting tray, the guide wire trays and the continuum chassis in the moving process, the force generated in the contact process can force the flexible continuum surgical instrument to bend, the rotation and bending actions of the tissue forceps continuum assembly are realized, the cambered surfaces of the guide wire trays opposite to each other between two adjacent guide wire trays are contacted with each other, after the cambered surfaces of the guide wire trays between the two guide wire trays are contacted, the inclined surfaces of the guide wire trays form a shuttle-shaped guide wire tray gap inclined surface opposite to the inclined surfaces of the guide wire trays, and the flexible unit is formed by the inclined surfaces of the guide wire tray gap.

2. The flexible tissue forceps instrument assembly adopts the spring steel tube to cut the spiral incision by laser, ensures the bending stiffness of the continuum, has stronger torque, effectively prevents the non-operative rotation of the continuum, further increases the integral load of the continuum, locally cuts the spiral incision by the straight tube of the instrument by laser, ensures the integral strength and the precision of the continuum by a single straight tube, can be locally and elastically bent, and increases the operation range of the terminal instrument of the continuum.

3. The invention comprises two flexible tissue forceps instrument assemblies and a lens arm assembly, wherein the lens arm assembly is inserted into an affected part in advance before an operation, the two flexible tissue forceps instrument assemblies are inserted into the human body through a sheath tube on the lens arm assembly, and single-hole minimally invasive operation is realized by controlling the cooperation of the lens arm assembly and the two flexible tissue forceps instrument assemblies. The invention adopts flexible continuum instrument, has wide action range, and the jaw instrument parts of the two groups of flexible tissue jaw instrument assemblies pass through the continuum joint of the lens arm assembly to cooperatively work, so that the tail end parts of various surgical instruments cannot interfere.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention; FIG. 2 is a schematic exploded view of the present invention; FIG. 3 is a schematic structural view of a stationary platform; FIG. 4 is a schematic view of the structure of a flexible tissue clamp instrument assembly; FIG. 5 is an exploded view of the lens arm assembly; FIG. 6 is a schematic view of the structure of a lens arm assembly; FIG. 7 is a schematic view of the structure of a guide wire ring; FIG. 8 is a schematic structural view of a steering wire loop; FIG. 9 is a schematic structural view of one of the embodiments of the tissue forceps instrument transmission assembly; FIG. 10 is a cross-sectional view of the position of the adjustment knob; FIG. 11 is a cross-sectional view of the shoulder bolt position; FIG. 12 is a schematic view of the structure of the clamping transmission assembly; FIG. 13 is a schematic structural view of a swing drive assembly; FIG. 14 is a schematic structural view of a swing mechanism assembly; FIG. 15 is a schematic view of the construction of the binding clip assembly; FIG. 16 is a schematic structural view of a clamping mechanism assembly; FIG. 17 is a schematic view of the construction of a tissue forceps instrument mounting assembly and a tissue forceps continuum assembly; FIG. 18 is a schematic view of the internal structure of a tissue forceps continuum assembly; FIG. 19 is a schematic view of an arrangement of spring steel tubes; FIG. 20 is an enlarged partial view of the A position of FIG. 2; FIG. 21 is a schematic view of the structure of a spring steel tube; FIG. 22 is a schematic illustration of the bending of a spring steel tube; FIG. 23 is a cross-sectional view of a spring steel tube; FIG. 24 is one of the schematic structural views of the straight tube of the apparatus; FIG. 25 is a second schematic view of the structure of the straight tube of the apparatus; FIG. 26 is one of the flexible continuum bending diagrams; FIG. 27 is a second schematic view of a flexible continuum bending; FIG. 28 is a cross-sectional view of the straight tube of the instrument; FIG. 29 is an enlarged view of a portion of the B position of FIG. 12;

FIG. 30 is a schematic view of the construction of a tissue forceps instrument mounting assembly; FIG. 31 is a cross-sectional view of the tissue forceps instrument mounting assembly; FIG. 32 is an enlarged partial view of the position C of FIG. 1; FIG. 33 is a schematic view of the construction of the binding clip mounting plate; FIG. 34 is a schematic view of the structure of a guidewire disc; FIG. 35 is a schematic view of the structure of the continuum chassis;

in the drawings, there is shown a first flexible tissue clamp instrument assembly; 20. a second flexible tissue forceps instrument assembly; 30. a lens arm assembly; 40. a fixed platform; 10. a flexible tissue forceps instrument assembly; 11. a tissue forceps instrument drive assembly; 12. a tissue forceps instrument transmission assembly; 13. a tissue forceps instrument mounting assembly; 14. a tissue forceps continuum assembly; 15. a tissue forceps instrument protective cover;

12. a tissue forceps instrument transmission assembly; 121. clamping the transmission assembly; 12101. clamping a transmission shaft; 12102. a first bearing; 12103. a second bearing; 12104. a first reel half; 12104-1, first reel half bolt; 12105. a second reel half; 12105-1, a second reel half bolt; 12106. a first spacing sleeve; 12107. a first bolt; 12108. clamping the guide wire; 12109. a first wire guide wheel limit bolt; 12110. a first wire guide wheel; 12111. a first gasket; 12112. the second wire guide wheel limit bolt; 12113. a second wire guide wheel; 122. a rotary transmission assembly; 12201. a rotary transmission shaft; 12202. a third bearing; 12203. a fourth bearing; 12204. a third reel half; 12204-1, a third reel half bolt; 12205. a fourth reel half; 12205-1, a fourth reel half bolt; 12206. the second limiting shaft sleeve; 12207. a second bolt; 12208. rotating the guide wire; 12209. a second gasket; 12210. a third wire guide wheel limit bolt; 12211. a third wire guide wheel; 123. an instrument mounting seat; 124. a clamp head assembly; 12401. a stretching rod; 12402. rotating the joint; 12403. a clamp head; 125. a swing mechanism assembly; 12501. a swivel joint; 12502. an instrument straight tube; 12503. connecting a straight pipe; 12504. a fifth bearing; 12505. a steel wire sleeve; 12506. traction steel wire; 126. a clamping mechanism assembly; 12601. a guide rod pressing block; 12602. rotating the fixed block; 12603. shoulder bolts; 12604. a fourth wire guide wheel; 12605. a fifth wire guide wheel; 12606. a guide rod; 12607. a conversion connecting block; 12608. an adjustment knob; 12609. a steel wire pressing block; 12610. an adjusting bolt; 12611. a linear bearing.

13. A tissue forceps instrument mounting assembly; 1301. a mounting plate body; 1302. an instrument straight tube; 1302-1, straight tube helical incision of instrument; 1303. a guide sleeve; 1304. a swivel joint; 1305. a pipe plug; 1306. a steel wire retainer ring; 14. a tissue forceps continuum assembly; 1401. a clamp head mounting plate; 1401-1, a clamp head mounting plate inclined plane; 1401-2, a clamp head mounting plate cambered surface; 1401-3, a clamp head mounting plate wire guide hole; 1401-4, a tension rod via hole; 1402. a guide wire disc; 1402-1, annular boss; 1402-2, a guidewire disc guidewire port; 1402-3, guidewire disc bevel; 1402-4, arc surface of a wire guide disc; 1402-5, guidewire disc clearance ramp; 1403. spring steel tube; 1403-1, spiral cut of spring steel tube; 1403-2 mounting cut; 1404. a continuum chassis; 1404-1, a continuum chassis bevel; 1404-2, cambered surface of the continuum chassis; 1404-3, a continuum chassis guidewire port; 1404-4, wire vias; 1405. a steel wire; 1406. a first wire spring; 1407. a guide wire spring; 1408. a guide wire; 1409. a second wire spring; 1410. a surgical clamp assembly; 1411. a stretching rod;

30. a lens arm assembly; 31. a lens arm driving assembly; 32. a power transmission assembly; 33. a drive wire; 34. a cavity channel; 35. a conduit; 36. a bottom end ring; 37. a guide wire ring; 3701. a guide wire ring inclined plane; 3702. a guide wire ring cambered surface; 3703. a guidewire port; 38. steering wire loops; 3801. steering wire ring inclined plane; 3802. a steering wire ring cambered surface; 3803. steering wire guide holes; 3804. a guide wire lock; 39. a top end ring; 310. a lens fixing tube; 3101. a lens mounting hole; 3102. tissue forceps via hole; 40. a fixed platform; 41. a bottom bracket; 42. a first flexible tissue forceps instrument assembly slipway; 43. a second flexible tissue forceps instrument assembly slipway; 44. a lens arm assembly slipway; 45. a sheath.

Detailed Description

The first embodiment is as follows: referring to fig. 1 to 8, a modular rope-driven continuum robot system for single-hole surgery according to the present embodiment includes a first flexible tissue forceps instrument assembly 10, a second flexible tissue forceps instrument assembly 20, a lens arm assembly 30, and a fixing platform 40; the lower part of the first flexible tissue forceps device assembly 10 is slidably connected to the fixing platform 40, the lower part of the second flexible tissue forceps device assembly 20 is slidably connected to the fixing platform 40, the lower part of the lens arm assembly 30 is slidably connected to the fixing platform 40, the first flexible tissue forceps device assembly 10 and the second flexible tissue forceps device assembly 20 are mounted side by side and are arranged at the rear part of the lens arm assembly 30, the forceps device parts of the first flexible tissue forceps device assembly 10 and the second flexible tissue forceps device assembly 20 penetrate through the guide tube 35 of the lens arm assembly 30, and the first flexible tissue forceps device assembly 10, the second flexible tissue forceps device assembly 20 and the lens arm assembly 30 can bend according to the actual structure of an abdominal cavity so as to perform linear motion or rotary motion and cooperatively complete a minimally invasive operation.

The second embodiment is as follows: the present embodiment is described with reference to fig. 1-8, wherein the first flexible tissue clamping device assembly 10 includes a tissue clamping device drive assembly 11, a tissue clamping device drive assembly 12, a tissue clamping device mounting assembly 13, a tissue clamping continuum assembly 14, and a tissue clamping device protective cover 15; the tissue forceps continuum assembly 14 is mounted on the tissue forceps device transmission assembly 12 through the tissue forceps device mounting assembly 13, the tissue forceps device transmission assembly 12 and the tissue forceps device mounting assembly 13 are both mounted inside a tissue forceps device protection cover 15, the tissue forceps device protection cover 15 is connected with the tissue forceps device driving assembly 11, and the tissue forceps device driving assembly 11 is mounted on the fixing platform 40. In this embodiment, the tissue forceps device transmission assembly 12 adopts two different transmission modes to drive the tissue forceps continuum assembly 14, so that different functions can be realized, and the scope of the application is also protected.

Other components and connection relationships are the same as those of the first embodiment.

And a third specific embodiment: referring to fig. 9 to 16, the transmission assembly 12 for the continuous tissue forceps according to the present embodiment includes a clamping transmission assembly 121, a rotation transmission assembly 122, a forceps head assembly 124, a rotation mechanism assembly 125 and a clamping mechanism assembly 126 mounted on a device mounting base 123; the clamping transmission assembly 121 is connected with the clamping mechanism assembly 126 through a clamping guide wire 12108, the rotary transmission assembly 122 is connected with the rotary mechanism assembly 125 through a rotary guide wire 12208, the clamping mechanism assembly 126 controls the opening and closing movement of the clamp head assembly 124, and the rotary mechanism assembly 125 controls the rotary movement of the clamp head assembly 124. The embodiment discloses a specific structural form of the tissue forceps instrument transmission assembly 12, which realizes the clamping, rotating and adjusting functions of the minimally invasive surgical forceps.

The specific embodiment IV is as follows: the present embodiment is described with reference to fig. 9 to 16, in which the clamp transmission assembly 121 includes a clamp transmission shaft 12101, a first reel half 12104, a second reel half 12105, a clamp wire 12108, a first wire wheel 12110, and a second wire wheel 12113; the lower end of the transmission shaft 12101 is rotatably connected to the instrument mounting seat 123, the first reel half 12104 and the second reel half 12105 are mounted on the clamping transmission shaft 12101 from bottom to top, the first wire wheel 12110 is mounted on the instrument mounting seat 123 through a first wire wheel limiting bolt 12109, the second wire wheel 12113 is mounted on the instrument mounting seat 123 through a second wire wheel limiting bolt 12112, one end of the clamping wire 12108 is wound and fixed on the first reel half 12104, the middle part bypasses the clamping mechanism assembly 126, and the other end is wound and fixed on the second reel half 12105.

In the embodiment, the lower end of the clamping transmission shaft 12101 is rotationally connected with the instrument mounting seat 123 through a first bearing 12102, the upper end of the clamping transmission shaft 12101 is rotationally connected with the outer shell of the invention through a second bearing 12103, the inner ring of the second bearing 12103 is fixed on the clamping transmission shaft 12101 through a first bolt 12107, a first gasket 12111 is arranged on the first bolt 12107, the upper end and the lower end of the clamping transmission shaft 12101 are respectively provided with a first limiting sleeve 12106, the first limiting sleeve 12106 prevents the reel from being in semi-vertical movement to increase stability, four first wire wheels 12110 are arranged on the first wire wheel limiting bolts 12109, four second wire wheels 12113 are arranged on the second wire wheel limiting bolts 12112, and wire grooves are arranged on the first wire wheels 12110 and the second wire wheels 12113;

The rotary drive assembly 122 includes a rotary drive shaft 12201, a third reel half 12204, a fourth reel half 12205, a rotary wire 12208, and a third wire wheel 12211; the lower end of the rotary transmission shaft 12201 is rotatably connected to the instrument mounting seat 123, the third reel half 12204 and the fourth reel half 12205 are mounted on the rotary transmission shaft 12201 from bottom to top, the third wire guide wheel 12211 is mounted on the instrument mounting seat 123 through a third wire guide wheel limit bolt 12210, one end of the rotary wire guide 12208 is wound and fixed on the third reel half 12204, the middle part bypasses the rotary mechanism assembly 125, and the other end is wound and fixed on the fourth reel half 12205.

In this embodiment, the lower end of the rotary transmission shaft 12201 is rotationally connected with the instrument mounting seat 123 through a third bearing 12202, the upper end of the rotary transmission shaft 12201 is rotationally connected with the outer casing of the present invention through a fourth bearing 12203, the inner ring of the fourth bearing 12203 is fixed on the rotary transmission shaft 12201 through a second bolt 12207, a second gasket 12209 is disposed on the second bolt 12207, the upper and lower ends of the rotary transmission shaft 12201 are respectively provided with a second limiting sleeve 12106, the first limiting sleeve 12206 prevents the reel from being semi-vertically strung to increase stability, four third wire guide wheels 12211 are mounted on the third wire guide wheel limiting bolts 12210, and wire guide grooves are disposed on the third wire guide wheels 12211;

The swing mechanism assembly 125 includes a swing joint 12501, an instrument straight tube 12502, a connection straight tube 12503, a wire sleeve 12505, and a traction wire 12506; one end of the connecting straight tube 12503 is rotatably connected with the rotary fixing block 12602 of the clamping mechanism assembly 126, the other end of the connecting straight tube 12503 is connected with the instrument straight tube 12502, a rotary joint 12501 is arranged outside one end, close to the connecting straight tube 12503, of the instrument straight tube 12502, and the traction steel wire 12506 sequentially penetrates through the instrument straight tube 12502 and the connecting straight tube 12503.

The connecting straight pipe 12503 in the embodiment is rotationally connected with the rotary fixing block 12602 through a fifth bearing 12504; the clamping mechanism assembly 126 includes a guide rod press 12601, a rotary fixed block 12602, a fourth wire guide wheel 12604, a fifth wire guide wheel 12605, a guide rod 12606, a switching connection block 12607, and an adjustment knob 12608; the guide rod pressing block 12601 and the rotary fixing block 12602 are both arranged on the instrument mounting seat 123, two guide rods 12606 are arranged between the guide rod pressing block 12601 and the rotary fixing block 12602, the conversion connecting block 12607 is connected on the guide rod 12606 in a sliding manner, the fourth wire guide wheel 12604 is arranged between the guide rod pressing block 12601 and the instrument mounting seat 123 through a shoulder bolt 12603 in a rotating manner, and the fifth wire guide wheel 12605 is arranged between the rotary fixing block 12602 and the instrument mounting seat 123 through the shoulder bolt 12603 in a rotating manner; the adjusting knob 12608 is mounted at one end of the conversion connecting block 12607 by threads, and one end of the traction wire 12506 is connected with the adjusting knob 12608.

The conversion connecting block 12607 in the present embodiment is slidably connected by linear bearings 12611 and 12606; the clamp head assembly 124 includes a tension rod 12401, a pivot joint 12402, and a clamp head 12403; one end of the stretching rod 12401 is connected with the traction steel wire 12506, the other end is rotatably connected with the rotary joint 12402, and the rotary joint 12402 is rotatably connected with the clamp head 12403. In this embodiment, one end of the stretching rod 12401 is rotatably connected to two rotary joints 12402 through a pin, each rotary joint 12402 is rotatably connected to one clamp head 12403 through a pin, and middle portions of the two clamp heads 12403 are connected through a pin.

Other components and connection relationships are the same as those of the second embodiment.

Fifth embodiment: referring to fig. 9 to 16, in the present embodiment, one end of the clamping wire 12108 is fixed on the first reel half 12104, the clamping wire 12108 further sequentially bypasses the first wire wheel 12110, the second wire wheel 12113 and the fifth wire wheel 12605, then passes through the switching connection block 12607 and bypasses the fourth wire wheel 12604, sequentially passes through the switching connection block 12607 again and then sequentially winds back around the fifth wire wheel 12605, the second wire wheel 12113 and the first wire wheel 12110, and finally the other end of the clamping wire 12108 is fixed on the second reel half 12105;

One end of the rotary wire 12208 is fixed on the third reel half 12204, the rotary wire 12208 further bypasses the third wire wheel 12211 and the rotary joint 12501, then winds the third wire wheel 12211 again, and finally the other end of the rotary wire 12208 is fixed on the fourth reel half 12205; the outside of the traction steel wire 12506 is sleeved with a steel wire sleeve 12505, one end of the traction steel wire 12506 is connected with a stretching rod 12401, and the other end of the traction steel wire 12506 is connected with an adjusting knob 12608; one end of the adjusting knob 12608 is connected with the traction steel wire 12506 through the steel wire pressing block 12609, the other end of the adjusting knob is provided with the adjusting bolt 12610, and the adjusting bolt 12610 is used for locking the steel wire pressing block 12609 to press the traction steel wire 12506.

One end of the clamping guide wire 12108 is fixed on the first reel half 12104, the other end is fixed on the second reel half 12105, the first reel half 12104 and the second reel half 12105 are provided with winding grooves, the first reel half 12104 is locked on the clamping transmission shaft 12101 through the first reel half bolt 12104-1, and the second reel half 12105 is locked on the clamping transmission shaft 12101 through the second reel half bolt 12105-1.

In this embodiment, two rotary guide wires 12208 are provided, one end of one rotary guide wire 12208 is fixed on a third reel half 12204, the other end is fixed on a rotary joint 12501, one end of the other rotary guide wire 12208 is fixed on a fourth reel half 12205, the other end is fixed on the rotary joint 12501, wire winding grooves are formed in the third reel half 12204 and the fourth reel half 12205, wire winding grooves are formed in the rotary joint 12501, the third reel half 12204 is locked on the rotary transmission shaft 12201 through a third reel half bolt 12204-1, and the fourth reel half 12205 is locked on the rotary transmission shaft 12201 through a fourth reel half bolt 12205-1.

Specific embodiment six: referring to fig. 9 to 16, in the present embodiment, a rotary transmission shaft 12201 is provided on the device mounting base 123, two bearings are provided on the rotary transmission shaft 12201, a third reel half 12204 and a fourth reel half 12205 are provided on the rotary transmission shaft 12201, a limit sleeve B1213 is provided on the transmission shaft B210, a third wire wheel limit bolt 12210 is provided on the device mounting base 123, and four third wire wheels 12111 are provided on the third wire wheel limit bolt 12210. The guide rod pressing block 12601 and the rotation fixing block 12602 are fixed on the instrument mounting seat 123 through shoulder bolts 12603, and the two guide rods 12606 are fixed between the guide rod pressing block and the instrument mounting seat, the linear bearings 12611 are mounted on the guide rods 12606, so that the linear bearings 12611 slide on the guide rods 12606 in a single degree of freedom, and the fourth wire guide wheel 12604 and the fifth wire guide wheel 12605 are arranged on the step parts of the two shoulder bolts 12603. One end of the clamping wire 12108 is wound on the first reel half 12104 according to a winding groove path and is fixed on the first wire guide end 12104-1, the clamping wire 12108 further sequentially bypasses the first wire guide wheel 12110, the second wire guide wheel 12113 and the fifth wire guide wheel 12605, then passes through the conversion connecting block 12607 and bypasses the fourth wire guide wheel 12604, sequentially passes through the conversion connecting block 12607 again and then sequentially winds back the fifth wire guide wheel 12605, the second wire guide wheel 12113 and the first wire guide wheel 12110, finally the other end of the clamping wire 12108 is fixed on the second wire guide end 12105-1, the clamping wire 12108 and the conversion connecting block 12607 are fixedly connected through a wire guide lock head, and the wire guide lock head adopts a general standard component or a component known to a person skilled in the art, and the structure and the principle of the wire guide lock head model are all known by the skilled person through a technical manual.

One end of the conversion connecting block 12607 is provided with a threaded hole, the adjusting knob 12608 is rotated through the threaded hole to realize the initial clamp opening and closing tightness adjustment, the initial clamp opening and closing tightness adjustment can be adjusted when the steel wire is loosened, one end of the traction steel wire 12506 is fixed on the adjusting knob 12608, the inside of the steel wire sleeve 12505 penetrates through the traction steel wire 12506, one end of the traction steel wire 12506 is fixed on the adjusting knob 12608 through the steel wire pressing block 12609, the other side of the traction steel wire 12506 is fixed on the stretching rod 12401, the stretching rod 12401 is connected with one ends of the two rotary joints 12402 through pin shafts, and the other ends of the two rotary joints 12402 are connected with the two clamp 12403 through pin shafts. One end of the rotary wire 12208 is wound around the third reel half 12204 in a wire winding groove and is fixed to the third wire end 12204-1, the rotary wire 12208 further passes around the third wire wheel 12211 and the rotary joint 12501, then again passes around the third wire wheel 12211, and finally the other end of the rotary wire 12208 is fixed to the fourth wire end 12205-1.

The driving unit adopts a motor to drive the clamping transmission shaft 12101, the first reel half 12104 and the second reel half 12105 to jointly rotate, so as to drive the clamping guide wire 12108, the clamping guide wire 12108 drives the conversion connecting block 12607 to convert the rotation motion of the motor into linear motion, the conversion connecting block 12607 drives the traction steel wire 12506 to drive the traction steel wire 12506, the traction steel wire 12506 pulls the rotary joint 12402 and the clamp head 12403, and the linear motion of the traction steel wire 12506 is converted into the opening and closing motion of the clamp head 12403, so that the clamping operation of the surgical forceps is realized. The adjusting knob 12608 is in threaded connection with the driving conversion connecting block 12607, and the relative position of the adjusting knob 12608 and the conversion connecting block 12607 can be adjusted by rotating the adjusting knob 12608, so that the effect of adjusting the tightness of the traction steel wire 12506 is achieved. The other motor of the driving unit drives the rotary transmission shaft 12201, the third reel half 12204 and the fourth reel half 12205 to jointly rotate, so as to drive the rotary guide wire 12208, and the rotary mechanism assembly 125 is driven by the rotary guide wire 12208 to realize the rotation action of the surgical instrument.

Seventh embodiment: the tissue forceps continuum assembly 14 according to the present embodiment is mounted on the straight instrument tube 1302 of the tissue forceps instrument mounting assembly 13, the tissue forceps continuum assembly 14 includes a forceps head mounting plate 1401, a plurality of wire guide plates 1402, a continuum base plate 1404 and four wires 1408, and the wires 1408 are in contact with the forceps head mounting plate 1401, the wire guide plates 1402 and the continuum base plate 1404 during movement, so as to implement rotation and bending actions of the tissue forceps continuum assembly 14 and further perform operation. The tissue clamping instrument transmission assembly 12 of this embodiment takes another form.

Eighth embodiment: 17-35, the tissue forceps continuum assembly 14 of this embodiment further includes a spring steel tube 1403, a steel wire 1405, and a tension rod 1411; the clamp head mounting plate 1401 is mounted at the front end of the spring steel pipe 1403, the continuum chassis 1404 is mounted at the rear end of the spring steel pipe 1403, the plurality of wire guide plates 1402 are sleeved on the spring steel pipe 1403 from front to back in sequence, the wire guide plates 1402 are located between the clamp head mounting plate 1401 and the continuum chassis 1404, the continuum chassis 1404 is mounted on the instrument straight pipe 1302, and four wires 1408 are uniformly distributed outside the steel wire 1405 in circumference.

One end of the steel wire 1405 is connected with a stretching rod 1411, the other end of the steel wire 1405 sequentially penetrates through the spring steel pipe 1403, the continuum chassis 1404 and the instrument straight pipe 1302, one end of the guide wire 1408 is connected with a clamp head mounting plate 1401, the other end of the guide wire 1408 sequentially penetrates through the guide wire plate 1402, the continuum chassis 1404 and the instrument straight pipe 1302, a surgical clamp assembly 1410 is mounted on the clamp head mounting plate 1401, and the tail end of the surgical clamp assembly 1410 is connected with the stretching rod 1411.

The first wire springs 1406 and the second wire springs 1409 are penetrated outside the steel wire 1405, the first wire springs 1406 are installed inside the instrument straight tube 1302, the second wire springs 1409 are installed inside the spring steel tube 1403, the guide wire springs 1407 are penetrated outside each guide wire 1408, and the guide wire springs 1407 are installed inside the instrument straight tube 1302.

In this embodiment, a first wire spring 1406 is disposed in the straight tube 1302 of the apparatus, the wire 1405 passes through the first wire spring 1406, the first wire spring 1406 protects the passed wire 1405 from winding with other wires, four wire springs 1407 are disposed in the straight tube 1302 of the apparatus, the wire 1408 passes through the wire springs 1407, the wire springs 1407 protect the passed wire 1408 from winding with other wires, and the spring can bend with the continuum.

The continuum chassis 1404 is installed at the other end of apparatus straight tube 1302, spring steel tube 1403 one end is installed in continuum chassis 1404, wire guide tray 1402 installs outside spring steel tube 1403 in proper order, spring steel tube 1403 inside is equipped with second wire spring 1409, wire 1405 passes inside spring second wire spring 1409, second wire spring 1409 protects wire 1405 that passes, prevent taking place winding wire 1405 one end with other parts and fix on stretching rod 1411, stretching rod 1411 passes binding clip mounting plate 1401, the operation pincers subassembly 1410 is installed on binding clip mounting plate 1401.

Detailed description nine: 17-35, a section of straight instrument tube spiral notch 1302-1 is formed at the connecting end of the straight instrument tube 1302 and the continuous body chassis 1404 according to the embodiment by four-axis laser cutting, and the straight instrument tube 1302 is made of nickel-titanium alloy; the spring steel tube 1403 is integrally machined with a spring steel tube spiral cut 1403-1 through four-axis laser cutting, the spring steel tube 1403 is made of nickel-titanium alloy, and two ends of the spring steel tube 1403 are machined with mounting cuts 1403-2.

In the embodiment, the spring steel tube 1403 is cut by four-axis laser to form a spiral notch 1403-1 of the spring steel tube, the spring steel tube has good allowable strain and structural strength, is arranged in a continuum, ensures that the bending stiffness of the spring steel tube 1403 is adapted to the bending and resetting required values of the continuum, ensures the working load of the forceps assembly 1410, ensures that the bending angle of the spring steel tube 1403 is within 60 ℃, has the best resetting effect, and realizes that the forceps continuum assembly 14 does not generate non-operative rotation in the operation after the installation, and the mounting notches 1403-2 are formed at the two ends of the spring steel tube 1403; the instrument straight tube 1302 is locally cut through four-axis laser, and the spiral incision 1302-1 of the instrument straight tube is processed, so that the instrument straight tube 1302 is locally bendable, the operable range of the forceps assembly 1410 is enlarged, the bending function of the whole steel tube of the instrument straight tube 1302 can be realized, the integral precision can be ensured, the strength is higher than that of a linked steel tube, and the continuous body terminal instrument is more stable and reliable.

Detailed description ten: referring to fig. 17 to 35, in this embodiment, the wire guide plate 1402 is a hollow cylinder, an annular boss 1402-1 is disposed in the wire guide plate 1402, four wire guide plate wire guide holes 1402-2 are uniformly disposed on the annular boss 1402-1 along a circumferential direction, two arc wire guide plate inclined planes 1402-3 are symmetrically disposed on end surfaces of the wire guide plate 1402, the two wire guide plate inclined planes 1402-3 are connected through two wire guide plate cambered surfaces 1402-4, a central connecting line of the two wire guide plate cambered surfaces 1402-4 at one end of the wire guide plate 1402 is perpendicular to a central connecting line of the two wire guide plate cambered surfaces 1402-4 at the other end, opposite wire guide plate cambered surfaces 1402-4 between two adjacent wire guide plates 1402 are contacted with each other, and after the wire guide plate cambered surfaces 1402-4 between the two wire guide plates 1402 are contacted, the two opposite wire guide plate inclined planes 1402-3 form a shuttle-shaped wire guide plate gap inclined plane 1402-5.

One end of the binding clip installation plate 1401 is symmetrically provided with two arc binding clip installation plate inclined planes 1401-1, the two binding clip installation plate inclined planes 1401-1 are connected through two binding clip installation plate cambered surfaces 1401-2, an annular boss is arranged in the binding clip installation plate 1401, four binding clip installation plate wire guide holes 1401-3 are uniformly distributed on the annular boss along the circumferential direction, a stretching rod through hole 1401-4 is arranged in the center of the binding clip installation plate 1401, and the binding clip installation plate cambered surfaces 1401-2 are in contact with the wire guide plate cambered surfaces 1402-4 on the adjacent wire guide plates 1402.

Two arc-shaped continuous body chassis inclined planes 1404-1 are symmetrically arranged at one end of the continuous body chassis 1404, the two continuous body chassis inclined planes 1404-1 are connected through two continuous body chassis cambered planes 1404-2, an annular boss is arranged in the continuous body chassis 1404, four continuous body chassis wire guide holes 1404-3 are uniformly distributed on the annular boss along the circumferential direction, a steel wire through hole 1404-4 is arranged in the center of the continuous body chassis 104, and the continuous body chassis cambered planes 1404-2 are mutually contacted with the wire guide plate cambered planes 1402-4 on the adjacent wire guide plates 1402.

In this embodiment, the opposite wire guide plate cambered surfaces 1402-4 between two adjacent wire guide plates 1402 are in contact with each other, and after the wire guide plate cambered surfaces 1402-4 between two wire guide plates 1402 are in contact, the opposite two wire guide plate inclined surfaces 1402-3 form a shuttle-shaped wire guide plate gap inclined surface 1402-5, and the wire guide plate gap inclined surfaces 1402-5 form a flexible unit, so that the flexible continuum instrument has a wide action range.

Eleventh embodiment: 17-35, the tissue clamping instrument mounting assembly 13 of the present embodiment further includes a mounting plate body 1301, a guide sleeve 1303, and a swivel joint 1304; the instrument straight tube 1302 is rotatably connected to the mounting plate body 1301 through the guide shaft sleeve 1303, one end of the instrument straight tube 1302 extending out of the mounting plate body 1301 is connected with a rotary joint 1304, the rotary joint 1304 is fixed through a steel wire retainer ring 1306, and a tube plug 1305 is arranged between the rotary joint 1304 and the steel wire retainer ring 1306. In this embodiment, the plug 1305 is a stainless steel plug, and the type of the plug 1305 adopts a general standard component or a component known to those skilled in the art, and the structure and principle of the plug 1305 are all known to those skilled in the art through technical manuals.

Twelve specific embodiments: referring to fig. 17 to 35, the tissue forceps instrument mounting assembly 13 according to the present embodiment includes an instrument straight tube 1302, a guide sleeve 1303, a swivel joint 1304, a plug 1305, and a wire retainer ring 1306, wherein the instrument straight tube 1302 is mounted on a mounting plate body 1301 through the guide sleeve 1303, the swivel joint 1304 is mounted on the instrument straight tube 1302, the swivel joint 1304 is fixed on the instrument straight tube 1302 by using the wire retainer ring 1306, and the stainless steel plug 1305 is mounted on the end of the instrument straight tube 1302; the first wire spring 1406 is arranged in the instrument straight tube 1302, the wire 1405 passes through the first wire spring 1406, the first wire spring 1406 protects the passed wire 1405 from winding with other wires, the instrument straight tube 1302 is internally provided with four wire springs 1407, the wire 1408 passes through the wire springs 1407, the wire springs 1407 protect the passed wire 1408 from winding with other wires, and the spring can bend along with the continuum.

The spring steel tube 1403 is cut by four-axis laser, a spiral notch 1403-1 of the spring steel tube is processed, the spring steel tube has good allowable strain and structural strength, is arranged in a continuum, ensures that the bending stiffness of the spring steel tube 1403 is adapted to the bending and resetting required value of the continuum, can ensure the working load of the forceps assembly 1410, ensures that the bending angle of the spring steel tube 1403 is within 60 ℃, has the optimal resetting effect, and realizes that the installation notches 1403-2 are processed at two ends of the spring steel tube 1403, and the tissue forceps continuum assembly 14 does not generate non-operative rotation in the operation after installation; the instrument straight tube 1302 is locally cut through four-axis laser, and the spiral incision 1302-1 of the instrument straight tube is processed, so that the instrument straight tube 1302 is locally bendable, the operable range of the forceps assembly 1410 is enlarged, the bending function of the whole steel tube of the instrument straight tube 1302 can be realized, the integral precision can be ensured, the strength is higher than that of a linked steel tube, and the continuous body terminal instrument is more stable and reliable.

According to the invention, the motor in the motor drive transmission assembly is used for pulling the guide wires 1408 to act, the four guide wires 1408 enter the instrument straight tube 1302 through the rotary joint 1304, sequentially pass through the guide wire spring 1407, the continuous body chassis 1404 and the plurality of guide wire trays 1402 and finally are fixed in the forceps head mounting tray 1401, the guide wires 1408 can be contacted with the forceps head mounting tray 1401, the guide wire trays 1402 and the continuous body chassis 1404 in the moving process, and force generated in the contact process can force the flexible continuous body surgical instrument to bend, so that the tissue forceps continuous body assembly 14 rotates and bends, and further, the operation is performed, the other specific structural form of the tissue forceps instrument transmission assembly 12 is disclosed in the embodiment, and the rotation and bending action functions of the minimally invasive surgical forceps are realized.

Thirteen specific embodiments: the lens arm assembly 30 according to the present embodiment includes a lens arm driving assembly 31, a power transmission assembly 32, four driving wires 33, two passages 34, a guide tube 35, a bottom end ring 36, a plurality of wire rings 37, a steering wire ring 38, a top end ring 39, and a lens fixing tube 310, which are described with reference to fig. 1 to 8; the guide tube 35 and the lens fixing tube 310 are sequentially provided with a bottom end ring 36, a guide wire ring 37, a steering guide wire ring 38 and a top end ring 39 from front to back, the steering guide wire ring 38 is arranged among the guide wire rings 37, the bottom end ring 36 is arranged on the guide tube 35, the top end ring 39 is arranged on the lens fixing tube 310, one end of the cavity 34 is connected with the lens fixing tube 310, the other end of one end of the cavity 34 sequentially penetrates through the guide tube 35, the bottom end ring 36, the guide wire ring 37, the steering guide wire ring 38 and the top end ring 39, the cavity 34 is a hollow elastic tube body, the driving wires 33 penetrate through the guide wire ring 37 and the steering guide wire ring 38, and the lens arm driving assembly 31 drives the four driving wires 33 through the power transmission assembly 32.

Each end face of the steering wire ring 38 is symmetrically provided with two arc steering wire ring inclined planes 3801, the two steering wire ring inclined planes 3801 are connected through two steering wire ring cambered surfaces 3802, the steering wire ring 38 is uniformly provided with a plurality of steering wire holes 3803 along the circumferential direction, and one side of the steering wire hole 3803 is provided with a wire locking head 3804;

Two arc guide wire ring inclined surfaces 3701 are symmetrically arranged on each end surface of the guide wire ring 37, the two guide wire ring inclined surfaces 3701 are connected through two guide wire ring cambered surfaces 3702, a central connecting line of the two guide wire ring cambered surfaces 3702 at one end of the guide wire ring 37 is perpendicular to a central connecting line of the two guide wire ring cambered surfaces 3702 at the other end, opposite guide wire ring cambered surfaces 3702 between the adjacent two guide wire rings 37 are contacted with each other, a steering guide wire ring cambered surface 3802 of the steering guide wire ring 38 and the adjacent guide wire ring cambered surfaces 3702 are contacted with each other, and a plurality of guide wire holes 3703 are uniformly distributed on the guide wire ring 37 along the circumferential direction; the drive wire 33 passes through the guidewire aperture 3703 and the steering guidewire aperture 3803;

the lens fixing tube 310 is provided with two lens mounting holes 3100 and two tissue clamp through holes 3102; one end of two driving wires 33 of the four driving wires 33 is fixed on a wire locking head 3804 of a steering wire ring 38, the other end sequentially passes through a plurality of wire rings 37, a bottom end ring 36 and a guide tube 35, one end of the other two driving wires 33 is fixed on a top end ring 39, the other end sequentially passes through the plurality of wire rings 37, the steering wire ring 38, the bottom end ring 36 and the guide tube 35, and finally the four driving wires 33 are converged to the power transmission assembly 32.

The fixing platform 40 comprises a bottom bracket 41, a first flexible tissue forceps instrument assembly sliding table 42, a second flexible tissue forceps instrument assembly sliding table 43, a lens arm assembly sliding table 44 and a sheath 45; the first flexible tissue forceps instrument assembly 10 is slidably connected with the bottom bracket 41 through a first flexible tissue forceps instrument assembly sliding table 42, the second flexible tissue forceps instrument assembly 20 is slidably connected with the bottom bracket 41 through a second flexible tissue forceps instrument assembly sliding table 43, the lens arm assembly 30 is slidably connected with the bottom bracket 41 through a lens arm assembly sliding table 44, the sheath 45 is mounted on the bottom bracket 41, and the lens arm assembly 30 of the lens arm assembly 30 penetrates through the sheath 45.

In this embodiment, the first flexible tissue forceps device assembly sliding table 42, the second flexible tissue forceps device assembly sliding table 43 and the lens arm assembly sliding table 44 all adopt linear slide rail assemblies. The structure of the lens arm assembly 30 in this embodiment is similar to the application material of the modular multi-wire driven continuum lens arm based on fixed pulleys, and the invention is 20201402469. X, and the lens arm assembly 30 is in the prior art.

The working principle of the invention is as follows:

the invention comprises two flexible tissue forceps instrument assemblies and a lens arm assembly 30, wherein before operation, the lens arm assembly 30 is inserted into an affected part in advance, the two flexible tissue forceps instrument assemblies are inserted into the human body through a sheath tube 45 on the lens arm assembly 30, and single-hole minimally invasive operation is realized by controlling the cooperation of the lens arm assembly 30 and the two flexible tissue forceps instrument assemblies.

The lens arm assembly 30 is driven by four driving wires 33, the lens arm driving assembly 31 adopts four driving motors, each driving motor controls one driving wire 33, each driving wire 33 corresponds to one degree of freedom, two degrees of freedom close to the lens arm driving assembly 31 achieve coarse positioning of the lens, fine adjustment of the lens can be achieved by the other two degrees of freedom, accurate spatial positioning of the lens is achieved, a channel is provided for transmission of the flexible tissue forceps instrument assembly by an inner cavity 34 of the lens arm assembly 30, the structure can be achieved by a soft spring structure, and the load capacity of the lens arm can be enhanced to a certain extent.

The first flexible tissue forceps device assembly 10 and the second flexible tissue forceps device assembly 20 have the same structure, the spatial position and posture of the tail end of the device can be adjusted by matching with the rotation freedom degree of the outer part of the lens arm assembly 30, the tissue forceps continuum assembly 14 is only one of the flexible device terminals, and the tissue forceps continuum assembly can also be used for clamping pathological tissues and cutting tissues for various surgical device terminals such as an electrotome.

The fixing platform 40 comprises a bottom bracket 41, a first flexible tissue forceps instrument assembly sliding table 42, a second flexible tissue forceps instrument assembly sliding table 43, a lens arm assembly sliding table 44 and a sheath 45, wherein the bottom bracket 41 is a general fixing platform of the system, the sliding table can be fixed on the surgical robot, the first flexible tissue forceps instrument assembly sliding table 42, the second flexible tissue forceps instrument assembly sliding table 43 and the lens arm assembly sliding table 44 provide feeding motion for the two flexible tissue forceps instrument assemblies and the lens arm assembly 30, forward and backward movement of the instruments is realized, and the sheath 45 constrains the positions of the two flexible tissue forceps instrument assemblies and the lens arm assembly 30, so that preoperative positioning is realized.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A modular rope driven continuum robotic system for single hole surgery, characterized by: the continuum robot comprises a first flexible tissue clamp instrument assembly (10), a second flexible tissue clamp instrument assembly (20), a lens arm assembly (30) and a fixed platform (40); the lower part of the first flexible tissue forceps instrument assembly (10) is connected to the fixed platform (40) in a sliding manner, the lower part of the second flexible tissue forceps instrument assembly (20) is connected to the fixed platform (40) in a sliding manner, the lower part of the lens arm assembly (30) is connected to the fixed platform (40) in a sliding manner, the first flexible tissue forceps instrument assembly (10) and the second flexible tissue forceps instrument assembly (20) are arranged side by side and are arranged at the rear part of the lens arm assembly (30), the forceps instrument parts of the first flexible tissue forceps instrument assembly (10) and the second flexible tissue forceps instrument assembly (20) penetrate through the guide pipe (35) of the lens arm assembly (30), and the first flexible tissue forceps instrument assembly (10), the second flexible tissue forceps instrument assembly (20) and the lens arm assembly (30) can bend according to the actual structure of an abdominal cavity so as to perform linear motion or rotary motion and cooperatively complete a minimally invasive operation;

The first flexible tissue clamp instrument assembly (10) comprises a tissue clamp instrument driving assembly (11), a tissue clamp instrument transmission assembly (12), a tissue clamp instrument mounting assembly (13), a tissue clamp continuum assembly (14) and a tissue clamp instrument protective cover (15); the tissue forceps continuum assembly (14) is arranged on the tissue forceps device transmission assembly (12) through the tissue forceps device installation assembly (13), the tissue forceps device transmission assembly (12) and the tissue forceps device installation assembly (13) are arranged inside a tissue forceps device protection cover (15), the tissue forceps device protection cover (15) is connected with the tissue forceps device driving assembly (11), and the tissue forceps device driving assembly (11) is arranged on the fixing platform (40);

the tissue forceps device transmission assembly (12) comprises a clamping transmission assembly (121), a rotary transmission assembly (122), a forceps head assembly (124), a rotary mechanism assembly (125) and a clamping mechanism assembly (126) which are arranged on a device mounting seat (123); the clamping transmission assembly (121) is connected with the clamping mechanism assembly (126) through a clamping guide wire (12108), the rotary transmission assembly (122) is connected with the rotary mechanism assembly (125) through a rotary guide wire (12208), the clamping mechanism assembly (126) controls the opening and closing movement of the clamp head assembly (124), and the rotary mechanism assembly (125) controls the rotary movement of the clamp head assembly (124);

The clamping transmission assembly (121) further comprises a clamping transmission shaft (12101), a first reel half (12104), a second reel half (12105), a first wire wheel (12110) and a second wire wheel (12113); the lower end of the transmission shaft (12101) is rotatably connected to the instrument mounting seat (123), the first reel half (12104) and the second reel half (12105) are mounted on the clamping transmission shaft (12101) from bottom to top, the first wire guide wheel (12110) is mounted on the instrument mounting seat (123) through a first wire guide wheel limit bolt (12109), the second wire guide wheel (12113) is mounted on the instrument mounting seat (123) through a second wire guide wheel limit bolt (12112), one end of the clamping wire guide (12108) is wound and fixed on the first reel half (12104), the middle part bypasses the clamping mechanism assembly (126), and the other end of the clamping wire guide (12108) is wound and fixed on the second reel half (12105);

the rotary transmission assembly (122) further comprises a rotary transmission shaft (12201), a third reel half (12204), a fourth reel half (12205) and a third wire guide wheel (12211); the lower end of the rotary transmission shaft (12201) is rotatably connected to the instrument mounting seat (123), the third reel half (12204) and the fourth reel half (12205) are mounted on the rotary transmission shaft (12201) from bottom to top, the third wire guide wheel (12211) is mounted on the instrument mounting seat (123) through a third wire guide wheel limit bolt (12210), one end of the rotary wire guide (12208) is wound and fixed on the third reel half (12204), the middle part bypasses the rotary mechanism assembly (125), and the other end is wound and fixed on the fourth reel half (12205);

The slewing mechanism assembly (125) comprises a slewing joint I (12501), an instrument straight pipe (12502), a connecting straight pipe (12503), a steel wire sleeve (12505) and a traction steel wire (12506); one end of the connecting straight pipe (12503) is rotationally connected with a rotary fixing block (12602) of the clamping mechanism assembly (126), the other end of the connecting straight pipe is connected with the instrument straight pipe (12502), a rotary joint I (12501) is arranged outside one end, close to the connecting straight pipe (12503), of the instrument straight pipe (12502), and a traction steel wire (12506) sequentially penetrates through the instrument straight pipe (12502) and the connecting straight pipe (12503);

the clamping mechanism assembly (126) comprises a guide rod pressing block (12601), a rotary fixing block (12602), a fourth wire guide wheel (12604), a fifth wire guide wheel (12605), a guide rod (12606), a conversion connecting block (12607) and an adjusting knob (12608); the guide rod pressing block (12601) and the rotary fixing block (12602) are both arranged on the instrument mounting seat (123), two guide rods (12606) are arranged between the guide rod pressing block (12601) and the rotary fixing block (12602), the conversion connecting block (12607) is connected to the guide rod (12606) in a sliding mode, the fourth wire guide wheel (12604) is arranged between the guide rod pressing block (12601) and the instrument mounting seat (123) in a rotating mode through shoulder bolts (12603), and the fifth wire guide wheel (12605) is arranged between the rotary fixing block (12602) and the instrument mounting seat (123) in a rotating mode through shoulder bolts (12603); the adjusting knob (12608) is arranged at one end of the conversion connecting block (12607) through threads, and one end of the traction steel wire (12506) is connected with the adjusting knob (12608);

The clamp head assembly (124) comprises a stretching rod I (12401), a rotating joint (12402) and a clamp head (12403); one end of the stretching rod I (12401) is connected with a traction steel wire (12506), the other end of the stretching rod I is rotationally connected with a rotary joint (12402), and the rotary joint (12402) is rotationally connected with the clamp head (12403).

2. A modular rope driven continuum robotic system for single hole surgery as recited in claim 1, wherein: one end of the clamping guide wire (12108) is fixed on the first guide wire end (12104-1), the clamping guide wire (12108) sequentially bypasses the first guide wire wheel (12110), the second guide wire wheel (12113) and the fifth guide wire wheel (12605), then passes through the conversion connecting block (12607) and bypasses the fourth guide wire wheel (12604), sequentially winds back the fifth guide wire wheel (12605), the second guide wire wheel (12113) and the first guide wire wheel (12110) after passing through the conversion connecting block (12607) again, and finally the other end of the clamping guide wire (12108) is fixed on the second guide wire end (12105-1);

one end of the rotary guide wire (12208) is fixed on the third guide wire end head (12204-1), the rotary guide wire (12208) bypasses the third wire guide wheel (12211) and the rotary joint I (12501), then the rotary guide wire is wound back to the third wire guide wheel (12211) again, and finally the other end of the rotary guide wire (12208) is fixed on the fourth guide wire end head (12205-1);

The outside of the traction steel wire (12506) is sleeved with a steel wire sleeve (12505), one end of the traction steel wire (12506) is connected with a stretching rod I (12401), and the other end of the traction steel wire is connected with an adjusting knob (12608);

one end of the adjusting knob (12608) is connected with the traction steel wire (12506) through a steel wire pressing block (12609), and the other end of the adjusting knob is provided with an adjusting bolt (12610).

3. A modular rope driven continuum robotic system for single hole surgery as recited in claim 1, wherein: the tissue forceps continuum assembly (14) is arranged on an instrument straight tube (1302) of the tissue forceps instrument installation assembly (13), the tissue forceps continuum assembly (14) comprises a forceps head installation disc (1401), a plurality of wire guide discs (1402), a continuum base plate (1404) and four wires (1408), and the wires (1408) are contacted with the forceps head installation disc (1401), the wire guide discs (1402) and the continuum base plate (1404) in the movement process, so that the rotation and bending actions of the tissue forceps continuum assembly (14) are realized, and then the operation is executed;

the tissue forceps continuum assembly (14) further comprises a spring steel tube (1403), a steel wire (1405) and a stretching rod II (1411); the clamp head mounting plate (1401) is mounted at the front end of the spring steel pipe (1403), the continuum chassis (1404) is mounted at the rear end of the spring steel pipe (1403), a plurality of wire guide plates (1402) are sequentially sleeved on the spring steel pipe (1403) from front to back, the wire guide plates (1402) are positioned between the clamp head mounting plate (1401) and the continuum chassis (1404), the continuum chassis (1404) is mounted on the instrument straight pipe (1302), and four wires (1408) are uniformly distributed outside the steel wire (1405) in circumference;

One end of the steel wire (1405) is connected with the stretching rod II (1411), the other end of the steel wire (1405) sequentially penetrates through the spring steel pipe (1403), the continuum chassis (1404) and the instrument straight pipe (1302), one end of the guide wire (1408) is connected with the clamp head mounting plate (1401), the other end of the guide wire (1408) sequentially penetrates through the guide wire plate (1402), the continuum chassis (1404) and the instrument straight pipe (1302), the clamp head mounting plate (1401) is provided with the operation clamp assembly (1410), and the tail end of the operation clamp assembly (1410) is connected with the stretching rod II (1411);

a first steel wire spring (1406) and a second steel wire spring (1409) are penetrated outside the steel wire (1405), the first steel wire spring (1406) is installed inside the instrument straight tube (1302), the second steel wire spring (1409) is installed inside the spring steel tube (1403), a guide wire spring (1407) is penetrated outside each guide wire (1408), and the guide wire springs (1407) are installed inside the instrument straight tube (1302);

one end, connected with the instrument straight tube (1302) and the continuum chassis (1404), is cut and processed with a section of instrument straight tube spiral incision (1302-1) through four-axis laser, and the instrument straight tube (1302) is made of nickel-titanium alloy;

The spring steel tube (1403) is integrally machined with a spring steel tube spiral notch (1403-1) through four-axis laser cutting, the spring steel tube (1403) is made of nickel-titanium alloy, and two ends of the spring steel tube (1403) are machined with mounting notches (1403-2).

4. A modular rope driven continuum robotic system for single hole surgery as recited in claim 3, wherein: the wire guide plate (1402) is a hollow cylinder, an annular boss (1402-1) is arranged in the wire guide plate (1402), and four wire guide plate wire guide holes (1402-2) are uniformly distributed on the annular boss (1402-1) along the circumferential direction;

two arc wire guide disc inclined surfaces (1402-3) are symmetrically arranged on the end face of the wire guide disc (1402), the two wire guide disc inclined surfaces (1402-3) are connected through two wire guide disc cambered surfaces (1402-4), a central connecting line of the two wire guide disc cambered surfaces (1402-4) at one end of the wire guide disc (1402) is perpendicular to a central connecting line of the two wire guide disc cambered surfaces (1402-4) at the other end, opposite wire guide disc cambered surfaces (1402-4) between two adjacent wire guide discs (1402) are contacted with each other, and after the wire guide disc cambered surfaces (1402-4) between the two wire guide discs (1402) are contacted with each other, the two opposite wire guide disc inclined surfaces (1402-3) form a fusiform wire guide disc gap inclined surface (1402-5);

Two arc clamp head mounting disc inclined planes (1401-1) are symmetrically arranged at one end of the clamp head mounting disc (1401), the two clamp head mounting disc inclined planes (1401-1) are connected through two clamp head mounting disc cambered surfaces (1401-2), an annular boss is arranged in the clamp head mounting disc (1401), four clamp head mounting disc wire guide holes (1401-3) are uniformly distributed in the circumferential direction on the annular boss, a stretching rod through hole (1401-4) is formed in the center of the clamp head mounting disc (1401), and the clamp head mounting disc cambered surfaces (1401-2) are in contact with wire guide disc cambered surfaces (1402-4) on adjacent wire guide discs (1402);

two circular arc continuous body chassis inclined planes (1404-1) are symmetrically arranged at one end of the continuous body chassis (1404), the two continuous body chassis inclined planes (1404-1) are connected through two continuous body chassis cambered surfaces (1404-2), annular bosses are arranged in the continuous body chassis (1404), four continuous body chassis wire guide holes (1404-3) are uniformly distributed on the annular bosses along the circumferential direction, steel wire through holes (1404-4) are formed in the center of the continuous body chassis (104), and the continuous body chassis cambered surfaces (1404-2) are mutually contacted with wire guide disc cambered surfaces (1402-4) on adjacent wire guide discs (1402).

5. A modular rope driven continuum robotic system for single hole surgery as recited in claim 3, wherein: the tissue forceps instrument mounting assembly (13) further comprises a mounting plate body (1301), a guide shaft sleeve (1303) and a rotary joint II (1304); the device is characterized in that the device straight pipe (1302) is rotationally connected to the mounting plate body (1301) through the guide shaft sleeve (1303), one end, extending out of the mounting plate body (1301), of the device straight pipe (1302) is connected with a rotary joint II (1304), the rotary joint II (1304) is fixed through a steel wire check ring (1306), and a pipe plug (1305) is arranged between the rotary joint II (1304) and the steel wire check ring (1306).

6. A modular rope driven continuum robotic system for single hole surgery as recited in claim 1, wherein: the lens arm assembly (30) comprises a lens arm driving assembly (31), a power transmission assembly (32), four driving wires (33), two cavities (34), a guide pipe (35), a bottom end ring (36), a plurality of guide wire rings (37), a steering guide wire ring (38), a top end ring (39) and a lens fixing tube (310); a bottom end ring (36), a guide wire ring (37), a steering guide wire ring (38) and a top end ring (39) are sequentially arranged between the guide tube (35) and the lens fixing tube (310) from front to back, the steering guide wire ring (38) is arranged among the guide wire rings (37), the bottom end ring (36) is arranged on the guide tube (35), the top end ring (39) is arranged on the lens fixing tube (310), one end of the cavity (34) is connected with the lens fixing tube (310), the other end of one end of a cavity channel (34) sequentially penetrates through a guide pipe (35), a bottom end ring (36), a guide wire ring (37), a steering guide wire ring (38) and a top end ring (39), the cavity channel (34) is a hollow elastic pipe body, a driving wire (33) penetrates through the guide wire ring (37) and the steering guide wire ring (38), and the lens arm driving assembly (31) drives four driving wires (33) through a power transmission assembly (32).

7. A modular rope driven continuum robotic system for single hole surgery as recited in claim 6, wherein: each end face of the steering wire guide ring (38) is symmetrically provided with two arc steering wire guide ring inclined planes (3801), the two steering wire guide ring inclined planes (3801) are connected through two steering wire guide ring cambered planes (3802), the steering wire guide ring (38) is uniformly provided with a plurality of steering wire guide holes (3803) along the circumferential direction, and one side of each steering wire guide hole (3803) is provided with a wire guide lock head (3804);

two arc guide wire ring inclined surfaces (3701) are symmetrically arranged on each end surface of the guide wire ring (37), the two guide wire ring inclined surfaces (3701) are connected through two guide wire ring cambered surfaces (3702), a central connecting line of the two guide wire ring cambered surfaces (3702) at one end of the guide wire ring (37) is perpendicular to a central connecting line of the two guide wire ring cambered surfaces (3702) at the other end, the opposite guide wire ring cambered surfaces (3702) between the two adjacent guide wire rings (37) are contacted with each other, the guide wire ring cambered surfaces (3802) of the guide wire ring (38) and the adjacent guide wire ring cambered surfaces (3702) are contacted with each other, and a plurality of guide wire holes (3703) are uniformly distributed in the guide wire ring (37) along the circumferential direction;

Two lens mounting holes (3100) and two tissue clamp through holes (3102) are formed in the lens fixing tube (310);

one end of two driving wires (33) in four driving wires (33) is fixed on a wire guide lock head (3804) of a steering wire guide ring (38), the other end sequentially passes through a plurality of wire guide rings (37), a bottom end ring (36) and a guide pipe (35), one end of the other two driving wires (33) is fixed on a top end ring (39), the other end sequentially passes through the plurality of wire guide rings (37), the steering wire guide ring (38), the bottom end ring (36) and the guide pipe (35), and finally the four driving wires (33) are converged to a power transmission assembly (32).

8. A modular rope driven continuum robotic system for single hole surgery as recited in claim 1, wherein: the fixing platform (40) comprises a bottom bracket (41), a first flexible tissue forceps instrument assembly sliding table (42), a second flexible tissue forceps instrument assembly sliding table (43), a lens arm assembly sliding table (44) and a sheath tube (45); the first flexible tissue forceps instrument assembly (10) is in sliding connection with the bottom bracket (41) through the first flexible tissue forceps instrument assembly sliding table (42), the second flexible tissue forceps instrument assembly (20) is in sliding connection with the bottom bracket (41) through the second flexible tissue forceps instrument assembly sliding table (43), the lens arm assembly (30) is in sliding connection with the bottom bracket (41) through the lens arm assembly sliding table (44), the sheath tube (45) is arranged on the bottom bracket (41), and the lens arm assembly (30) of the lens arm assembly (30) penetrates through the sheath tube (45).