CN115363648A

CN115363648A - Flexible surgical instrument, flexible instrument and instrument conveying unit thereof

Info

Publication number: CN115363648A
Application number: CN202211117678.9A
Authority: CN
Inventors: 不公告发明人
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2022-09-14
Filing date: 2022-09-14
Publication date: 2022-11-22
Anticipated expiration: 2042-09-14
Also published as: WO2024055556A1; CN115363648B

Abstract

The invention discloses a flexible surgical instrument, a flexible instrument and an instrument conveying unit thereof, wherein the instrument conveying unit is used for conveying and accommodating an actuator unit with a flexible body and comprises a shell and an instrument storage, the shell is provided with an internal accommodating space, the side wall of the shell is provided with an instrument outlet, at least part of the instrument storage is arranged in the shell and can rotate and axially move relative to the shell; the peripheral surface of the instrument reservoir is provided with a helical receiving groove to wind a flexible body that receives the actuator unit. According to the scheme, efficient conveying and storage of the actuator unit body of the flexible instrument can be realized through optimized configuration, and the structural design is integrated reliably on the basis of meeting the requirement of avoiding pollution or cross infection; and meanwhile, the clinical problem of high difficulty in medical care cooperative operation can be effectively solved.

Description

Flexible surgical instrument, flexible instrument and instrument conveying unit thereof

Technical Field

The invention relates to the technical field of medical instruments, in particular to a flexible surgical instrument, a flexible instrument and an instrument conveying unit thereof.

Background

Natural cavity diseases of a digestive system, a urinary system, a respiratory system and the like are common serious chronic diseases, the morbidity and mortality rate of diseases such as gastric cancer, esophageal cancer, colorectal cancer, bladder cancer, lung cancer and the like are high, and the health of a human body is seriously damaged. The diagnosis and treatment by matching the soft endoscope with the related surgical instruments become the mainstream treatment means, and have the characteristics of small wound, small bleeding amount and low complication rate.

As is well known, unlike conventional large incision surgery, the surgical intervention through the body cavity is often narrow, and usually requires the medical treatment operation depending on flexible instruments. The existing flexible instruments are various in types, such as but not limited to clamps, electrocoagulation-electro-excision types, injection types, guide types and the like, and can meet different operation requirements in narrow environments. Most of the existing surgical instruments are designed based on manual operation, in order to meet the requirement of cavity intervention, the existing flexible instruments are designed to be flexible and slender instruments, and medical workers are required to cooperate and operate the flexible and slender instruments in the using process; in addition, flexible elongated instruments are susceptible to contact with dirt, presenting a risk of contamination, and the potential for cross-contamination during instrument retrieval.

In view of the above, it is desirable to optimize the design of a flexible surgical instrument to overcome the above-mentioned drawbacks.

Disclosure of Invention

An object of the application is to provide a flexible surgical instruments, flexible apparatus and apparatus conveying unit thereof, can realize effectively accomodating of flexible apparatus's executor unit body through optimizing configuration, on the functional requirement basis of satisfying the avoidance cross contamination, structural design is reasonable reliable.

The instrument conveying unit provided by the embodiment of the application is used for conveying and containing an actuator unit with a flexible body and comprises a shell and an instrument storage, wherein the shell is provided with an internal containing space, the side wall of the shell is provided with an instrument outlet, at least part of the instrument storage is arranged in the shell and can rotate and axially move relative to the shell; the peripheral surface of the instrument reservoir is provided with a helical receiving groove to wind a flexible body that receives the actuator unit.

Optionally, the housing is a cylinder with one open end, one end of the instrument reservoir is placed in the housing, and the other end is configured with a transport driving interface adapted to an instrument driving device.

Optionally, a protection tube is fixedly arranged on the surface of the outer shell at the periphery of the instrument outlet, and the outer shell comprises a fixing part.

The embodiment of the application also provides a flexible instrument, which comprises the instrument conveying unit, an actuator unit and a transmission unit, wherein the actuator unit comprises an actuator and a flexible body, the flexible body comprises a driving wire and a sleeve which are nested inside and outside, and the actuator is configured at the distal end of the driving wire; the transmission unit is connected with an instrument storage of the instrument conveying unit, and the transmission unit is provided with a conveying driving interface which is used for being matched with an instrument driving device so as to drive the instrument storage to rotate and axially move relative to the shell.

Optionally, the transmission unit is further configured with an execution drive interface adapted to an instrument drive device to move a drive wire of the actuator unit. .

Optionally, the transmission unit includes a transmission base plate fixedly connected with the instrument storage, and an execution transmission assembly and a rotation transmission assembly disposed on the transmission base plate; the conveying driving interface is positioned on the transmission substrate, the execution driving interface comprises a first execution driving interface and a second execution driving interface, the execution transmission assembly is matched with the first execution driving interface to push out or retract the driving wire, and the rotation transmission assembly is matched with the second execution driving interface to twist the driving wire.

Optionally, the execution transmission assembly includes a traction member and a first driving shaft, and the first driving shaft is inserted into the transmission base plate and can be in transmission connection with the instrument driving device through the first execution driving interface; the traction member is coupled to the first drive shaft, and the proximal end of the drive wire is coupled to the traction member and configured to: the driving wire can be pushed out or retracted along a preset track under the driving of the traction piece, and the driving wire has a rotational degree of freedom relative to the traction piece.

Optionally, a first terminal is embedded in the outer peripheral surface of the traction piece, and the first terminal comprises a fourth through hole; the driving wire is arranged in the fourth through hole of the first terminal in a penetrating mode, and two limiting blocks are arranged on the body of the driving wire and are respectively located on two end sides of the fourth through hole of the first terminal; a radial gap is formed between the driving wire and a fourth through hole of the first terminal, and the size of each limiting block is larger than that of the fourth through hole.

Optionally, a first constraint piece is fixedly arranged on the transmission substrate, and a constraint cavity capable of accommodating the driving wire is formed in the first constraint piece so as to drive the driving wire to be pushed out or retracted along a predetermined track.

Optionally, the first constraint piece and the constraint cavity formed in the first constraint piece are both arc-shaped, the first constraint piece comprises a guide section and a holding section which are sequentially connected, the guide section is provided with an arc-shaped inner wall which is opposite to the arc-shaped peripheral surface of the traction piece, the constraint cavity on the inner wall of the guide section is an open cavity channel, and the constraint cavity on the holding section is a closed cavity channel.

Optionally, the execution transmission assembly includes a first driving shaft, a bevel gear set engaged with the first driving shaft, a first terminal, and a lead screw, a driving gear of the bevel gear set is connected to the first driving shaft, and the lead screw is connected to a driven gear of the bevel gear set; one end of the first terminal clamps and fixes the near end of the driving wire, and the other end of the first terminal is provided with a nut matched with the screw rod so as to drive the driving wire to be pushed out or retracted through the first terminal.

Optionally, the rotary transmission assembly includes a rotary shaft, a second terminal, a bevel gear set, and a second drive shaft, and the second drive shaft is inserted into the transmission base plate and is in transmission connection with the instrument driving device through the second execution drive interface; the driving wheel of the bevel gear set is connected with the second driving shaft, and the rotating shaft is connected with the driven wheel of the bevel gear set; the drive wire is fixed to the second terminal, the second terminal being provided on the rotary shaft and configured to: the second terminal can be driven by the rotating shaft to rotate, and the second terminal has the freedom degree of sliding along the pulling direction of the driving wire relative to the rotating shaft.

Optionally, the second terminal is embedded in a middle mounting hole of the rotating shaft, and the second terminal and the rotating shaft have matched rectangular cross sections, and the driving wire can extend into the restraining cavity of the first restraining part through the mounting hole.

Optionally, a second constraint piece is fixedly arranged on the transmission substrate, one end of the second constraint piece is arranged opposite to the end of the holding section of the first constraint piece along the axial direction of the rotating shaft, and two side shaft ends of the rotating shaft are respectively pivoted with the second constraint piece and the first constraint piece.

Optionally, a third through hole is formed in the second restraint piece, and the aperture of the third through hole of the second restraint piece is matched with the size of a sleeve of the actuator unit so as to fix the pipe end of the sleeve; the instrument storage is provided with a through port, and the flexible body of the actuator unit extends and transitions into the spiral accommodating groove on the outer surface of the flexible body through the through port of the instrument storage.

The invention also provides a flexible surgical instrument, which comprises a flexible instrument and an instrument driving device capable of outputting driving force to the flexible instrument, wherein the flexible instrument adopts the flexible instrument.

Compared with the prior art, the invention provides a scheme for realizing the storage and the transportation of the actuator unit with the flexible body. Specifically, the outer shell of the instrument conveying unit is provided with an inner accommodating space, the side wall of the outer shell is provided with an instrument outlet, the outer peripheral surface of the instrument storage is provided with a spiral accommodating groove for winding a flexible body for accommodating the actuator unit, and the instrument storage can rotate and move axially relative to the outer shell. The scheme has the following beneficial technical effects:

first, as the instrument reservoir rotates, the flexible body wound around the spiral receiving channel may be continuously transported through the instrument outlet. In the conveying process of the actuator, the elastic deformation energy based on the spiral winding deformation storage can be released, so that the resistance formed in the soft endoscope can be effectively overcome, and good conveying capacity can be provided in an auxiliary manner.

Secondly, the instrument storage device moves reversely, the flexible bodies can be retracted into the shell and spirally wound on the instrument storage device, on one hand, for the flexible bodies with low self rigidity, the scheme enables the flexible bodies to be orderly arranged through structural constraint, and avoids mutual extrusion and damage between the bodies; meanwhile, the actuator unit is retracted and stored without occupying a radial size space, the structure is compact and reasonable, the clinical use and operation are convenient, and the clinical problems of difficult single-person operation and cross infection of the existing flexible instrument can be further solved.

Thirdly, in an alternative of the invention, the housing is cylindrical with an open end, one end of the instrument reservoir is placed in the housing, and the other end is provided with a delivery drive interface for adapting to the instrument drive means. In this way, the driving force is transmitted through the conveying driving interface, and automatic conveying or storage operation can be realized according to different application scenes.

Fourthly, in another alternative of the present invention, a flexible instrument is provided which includes a transmission unit for driving corresponding operation of an actuator by a drive wire of the actuator unit, the transmission unit being connected to the instrument reservoir and being configured with an implement drive interface for adapting to an instrument drive means, such as, but not limited to, enabling pulling and twisting operation of the drive wire.

Fifth, in yet another alternative of the present invention, the implement transmission assembly includes a traction element and a first drive shaft that is operably coupled to the implement drive via a first implement drive interface; the traction member is coupled to the first drive shaft, and the proximal end of the drive wire is coupled to the traction member and configured to: the driving wire can be pushed out or retracted along a preset track under the driving of the traction piece, and the driving wire has a rotational degree of freedom relative to the traction piece. Further, the rotary transmission assembly comprises a rotary shaft, a second terminal, a bevel gear set and a second drive shaft, and the second drive shaft can be in transmission connection with the instrument driving device through a second execution driving interface; a driving wheel of the bevel gear set is connected with a second driving shaft, and a rotating shaft is connected with a driven wheel of the bevel gear set; the driving wire is fixed with a second terminal, the second terminal is arranged on the rotating shaft and is configured to: the second terminal can be driven by the rotating shaft to rotate, and the second terminal has the freedom degree of sliding along the drawing direction of the driving wire relative to the rotating shaft. With the arrangement, when the driving wire of the actuator unit is pushed out or retracted under the driving of the execution transmission assembly, no action interference exists on the rotary transmission side based on the sliding freedom degree between the second terminal and the rotary shaft; similarly, when the driving wire of the actuator unit is twisted by the rotary transmission assembly, the actuating transmission side has no action interference based on the rotational degree of freedom between the proximal end of the driving wire and the traction member.

Drawings

FIG. 1 is a schematic view of a flexible instrument according to an embodiment of the present disclosure in an applied state;

FIG. 2 is a schematic view of the overall structure of a flexible instrument according to an embodiment of the present application;

FIG. 3 is an exploded assembly view of the flexible instrument illustrated in FIG. 2;

FIG. 4 is a schematic view of the flexible instrument shown in FIG. 2 formed in partial cutaway;

FIG. 5 is a schematic view of an actuator unit provided in an embodiment of the present application;

FIG. 6 isbase:Sub>A cross-sectional view A-A of FIG. 2;

fig. 7 is a schematic overall structure diagram of a transmission unit provided in an embodiment of the present application;

FIG. 8 is a schematic diagram illustrating an assembled relationship of a transmission unit and an instrument reservoir according to an embodiment of the present application;

FIG. 9 is a schematic illustration of the assembled relationship of the drive unit and the instrument reservoir from another perspective;

FIG. 10 is a schematic illustration of an assembly of an implement drive assembly according to an embodiment of the present disclosure;

FIG. 11 is an enlarged view of section I of FIG. 6;

FIG. 12 is a schematic view of another actuator assembly according to an embodiment of the present disclosure;

FIG. 13 is a schematic view of an assembled relationship of a rotary drive assembly according to an embodiment of the present application;

FIG. 14 is an enlarged view of section II of FIG. 6;

FIG. 15 is a schematic diagram of the power and signal source introduction paths in an embodiment of the present application;

FIG. 16 is a schematic view of an internal structure of an instrument drive unit according to an embodiment of the present application;

FIG. 17 is a schematic view of the coupling mechanism on the side of the instrument driver shown in FIG. 16

FIG. 18 is a schematic view of an assembled relationship of a drive base plate and an instrument reservoir according to an embodiment of the present application;

FIG. 19 is a partial sectional view taken along line B-B of FIG. 17;

FIG. 20 is a schematic illustration of an assembled relationship of the first and second drive disks in an embodiment of the present application;

FIG. 21 is a schematic view illustrating an assembly relationship between the transmission substrate and the transmission unit according to an embodiment of the present disclosure;

FIG. 22 is a schematic illustration of the drive relationship of the first drive member in an embodiment of the present application;

fig. 23 is an axial cross-sectional view of fig. 16.

In the figure:

the flexible instrument 10, the instrument delivery unit 11, the housing 111, the instrument outlet 1111, the socket 1112, the instrument reservoir 112, the spiral receiving slot 1121, the through port 1122, the bayonet 1123, the protective tube 113, the actuator unit 12, the drive wire 121, the stop block 1211, the actuator 122, the cannula 123, the transmission unit 13, the actuator transmission assembly 131, the first drive shaft 1311, the first terminal 1312, the fourth through hole 13121, the tractor 1313, the mounting slot 13131, the first constraint 1315, the constraint cavity 13151, the first internal channel 52, the bevel gear set 1311a, the first terminal 1312a, the lead screw 1313a, the rotation transmission assembly 132, the rotation shaft 1321, the mounting hole 13211, the second terminal 1322, the bevel gear set 1323, the second drive shaft 1324, the second constraint 1325, the third through hole 13251, the second internal channel 13252, the transmission substrate 133, the card slot 1331, the first passive transmission disc 134, the first recess 1341, the second passive electrical interface disc 135, the second recess 1351, the docking unit 14, the transmission unit 141, the water interface 141, the signal generator assembly 161, and the guide tube generator 162;

the instrument driving device 20, the first driving member 21, the second driving member 22, the third driving member 23, the interface member 24, the driving base 241, the first through hole 2411, the second through hole 2412, the first driving transmission disk 242, the first protrusion 2421, the second driving transmission disk 243, the second protrusion 2431, the buckle 244, the hook 2441, the guide surface 2442, the button 245, the return spring 246, the sleeve 247, the shielding section 2471, the insertion hole 2472, the connection sleeve 248, the first flange 251, the second flange 252, the sliding bracket 253, the sliding rail 254, the return member 255, the lead screw 261, the nut 262, the driving pulley 263, the driven pulley 264, the output shaft 265, the key 2651, the first sleeve 266, the key groove 2661, the connection 267, the bearing holder 268, the thrust bearing 2681, the bearing 269, the housing 27, the side wall 271, the fixed disk 272, the second sleeve 273, and the guide sleeve 274.

Detailed Description

In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments.

Without loss of generality, the embodiment provides a flexible surgical instrument, so as to effectively solve the problems that a long, thin and soft instrument is complex to operate and is not easy to contain and easy to pollute. Please refer to fig. 1, which is a schematic structural diagram of a flexible operation instrument according to an embodiment of the present application.

The flexible surgical instrument comprises a flexible instrument 10 and an instrument driving device 20, wherein the flexible instrument 10 is provided with an actuator unit 12 for diagnosis and treatment and auxiliary diagnosis and treatment, and the instrument driving device 20 can provide driving force to the flexible instrument 10 so as to realize the conveying operation of the flexible instrument and the rotation or opening and closing operation of an actuator.

Referring to fig. 2 and 3 together, fig. 2 is a schematic view of a flexible instrument according to an embodiment of the present application, and fig. 3 is an exploded view of the assembly of the flexible instrument 10 shown in fig. 2.

The flexible instrument 10 includes an instrument transport unit 11, an actuator unit 12 built in the instrument transport unit 11, and a transmission unit 13 for transmitting a driving force for actuator movement.

The instrument conveying unit 11 includes a housing 111 and an instrument storage 112, and the instrument storage 112 can rotate relative to the housing 111 under the driving of the transmission unit 13; in this embodiment, the housing 111 is cylindrical with an open end, and a portion of the instrument reservoir 112 is disposed in the housing 111, and after assembly, the housing 111 remains relatively fixed. In other implementations, the instrument reservoir may also be completely disposed within the housing (not shown).

Wherein, the flexible body (the driving wire 121 and the sleeve 123) of the actuator unit 12 is wound around the outer periphery of the instrument storage 112 and can extend out through an instrument outlet 1111 formed on the side wall of the housing 111; here, a guard tube 113 is provided outside the instrument outlet 1111, and is fixed to the housing 111 so that the actuator unit 12 protruding out of the housing 111 protects a stable posture. As the instrument reservoir 112 rotates, the flexible body of the effector unit 12 is continuously delivered through the instrument outlet 1111; similarly, when the instrument reservoir 112 is moved in the opposite direction, the flexible body may be retracted into the housing and wound around the instrument reservoir 112, thereby retracting and housing the effector unit 12. In particular, the housing 111 and the instrument reservoir 112 in the non-use state form a relatively closed space for the housing of the flexible instrument body.

In order to allow the flexible body of the actuator unit 12 to be wound in an orderly manner, the outer circumferential surface of the instrument reservoir 112 may be provided with a spiral receiving groove 1121, see also fig. 4, which is a partially cut-away schematic view of the flexible instrument shown in fig. 2. The flexible body of the actuator unit 12 retracted into the housing is disposed within the spiral receiving slot 1121 of the instrument reservoir 112 to avoid a wire tangle or knot.

The instrument reservoir 112 is also axially displaceable relative to the housing 111 by the drive unit 13. That is, the instrument reservoir 112 is rotated in a synchronized axial movement such that the flexible body of the actuator unit 12 is free of the helical receiving channel 1121 and remains substantially centered with respect to the instrument outlet 1111 in two dimensions, allowing for smooth deployment and retraction.

In particular implementations, the actuator unit 12 may be selected according to a particular application, such as, but not limited to, a clamp-type, an electrocoagulation-type, a basket-type, an injection-type, a guide-type, a sensor-type flexible instrument, and the like. Wherein, the clamp type flexible apparatus comprises a tissue clamping device with a clamping freedom degree and a hemostat with a clamping rotation freedom degree; the electrocoagulation-electric excision flexible instrument comprises a clamping freedom degree for tissue electrocoagulation and a push-pull freedom degree containing a snare instrument; the flexible appliance of the basket type comprises a pushing freedom degree for pushing out and retracting the basket; the injection type flexible instrument comprises a pushing freedom degree for pushing out and retracting the needle head; the guiding type is used for guiding coaxial instruments and has no degree of freedom; the sensor-like flexible instrument may include an image sensing instrument, a position sensing instrument, a shape sensing instrument, or the like.

Based on the above-mentioned functional requirements of the actuator unit 12, this can be achieved by pulling or twisting the proximal end of the drive wire 121 of the actuator unit 12. Please refer to fig. 5, which is a schematic diagram of an actuator unit 12 according to an embodiment of the present disclosure.

Specifically, the actuator 122 located at the distal end may be moved by pulling the driving wire 121, for example, but not limited to, including opening and closing of the actuator and pushing of the actuator; similarly, the rotational movement of the distally located actuator 122 may also be achieved by twisting the drive wire 121.

The terms "proximal" and "distal" as used herein are defined from the perspective of the operator of the surgical device, i.e., the end of the drive wire 121 proximal to the operator is "proximal" and the other end proximal to the patient is correspondingly "distal". It should be understood that the use of the above directional terms is for clarity of description only and does not constitute a substantial limitation on the flexible surgical instruments claimed herein.

The pulling and twisting of the drive wire 121 of the actuator unit 12 is achieved on the basis of the drive force output from the instrument drive device 20 side, which is transmitted in particular via the actuation transmission assembly 131 and the rotation transmission assembly 132 of the transmission unit 13. Please refer to fig. 2, fig. 3, fig. 6 and fig. 7 together, wherein fig. 6 isbase:Sub>A sectional view taken alongbase:Sub>A-base:Sub>A of fig. 2, and fig. 7 isbase:Sub>A schematic overall structural view ofbase:Sub>A transmission unit according to an embodiment of the present disclosure.

As shown in fig. 3, the transmission unit 13 includes a transmission base plate 133, and the actuating transmission assembly 131 and the rotary transmission assembly 132 are disposed on the transmission base plate 133 and can be assembled and fixed with the instrument storage 112 of the instrument transportation unit 11 through the transmission base plate 133. Referring to fig. 8 and 9 together, the assembled relationship of the transmission unit and the instrument reservoir is shown from different perspectives, respectively. The whole structure is compact, and the assembly manufacturability is good.

As shown in fig. 6, implement transmission assembly 131 includes a first terminal 1312, a traction member 1313, and a first drive shaft 1311.

The traction element 1313 is connected to the first driving shaft 1311, and the first driving shaft 1311 is inserted into the transmission base plate 133 to rotate under the driving force of the device driving apparatus 20 and drive the traction element 1313 to swing around the rotation center thereof.

Wherein the first terminal 1312 is fixed on the pulling member 1313 and can follow when the pulling member 1313 rotates. The proximal end of the drive wire 121 is connected to the first terminal 1312 and is configured to: the driving wire 121 can be pushed out or retracted along a predetermined track by the first terminal 1312, and the driving wire 121 can rotate relative to the first terminal 1312. It will be appreciated that the range of the amplitude of the swing of the pulling member 1313 is required to satisfy the pulling stroke requirement of the first terminal 1312, i.e., the required amount of push-out or retraction displacement of the actuator 122 at the distal end.

Please refer to fig. 10 and fig. 11 together, wherein fig. 10 is a schematic view illustrating an assembly relationship of the actuating transmission assembly according to the embodiment of the present application, and fig. 11 is an enlarged view of a portion i of fig. 6.

The first terminal 1312 is embedded in the pulling member 1313, and specifically, an installation groove 13131 adapted to the first terminal 1312 is opened on an outer circumferential surface of the pulling member 1313, and the outer circumferential surface is a circular arc surface. In other implementations, the outer peripheral surface of the tractor 1313 is not limited to the arcuate shape shown in the figures, depending on the actual product design requirements; meanwhile, the first terminal may be disposed entirely inside the drawing member, not limited to being fitted on the outer circumferential surface of the drawing member 1313 (not shown).

In this embodiment, the driving wire 121 is inserted into the fourth through hole 13121 of the first terminal 1312, and the driving wire 121 is provided with two stoppers 1211 on the body thereof, which are respectively located at two end sides of the fourth through hole 13121, wherein the size of the stoppers 1211 is larger than the size of the fourth through hole 13121. When the traction member 1313 rotates forward and backward, the driving wire 121 can be pushed out and retracted based on the limit relationship between the first terminal 1312 and the corresponding side limit block 1211, so that specific operation requirements in the operation are met.

Meanwhile, there is a radial gap between the driving wire 121 and the fourth through hole 13121 of the first terminal 1312, that is, the driving wire 121 has a rotational degree of freedom with respect to the first terminal, and when the driving wire is rotated by the rotation transmission assembly 132, the driving wire can rotate with respect to the fourth through hole 13121 without any interference with the first terminal. In other specific applications, the first terminal and the pulling member may be an integrated structure, that is, the functional structure of the first terminal may be integrated on the pulling member; in comparison, the two are of split type structure as shown in the figure, and have better processing manufacturability.

The transmission substrate 133 is used as a base member in transmission connection with the driving side, a first constraint piece 1315 is fixedly arranged on the transmission substrate, a constraint cavity 13151 is formed in the first constraint piece 1315, and the driving wire 121 is placed in the constraint cavity 13151. The driving wire 121 can be pushed out or retracted on a predetermined track formed by the constraining cavity 13151 by the driving of the first terminal 1312.

The first constraint member 1315 and the constraint cavity 13151 formed therein are substantially arc-shaped in order to make the most of the internal space of the housing. Meanwhile, the first restraint member 1315 includes a guide section C and a holding section D connected in sequence, as shown in fig. 6, the guide section C has a circular arc-shaped inner wall fitted to the circular arc-shaped outer peripheral surface of the traction member 1313, the restraint chamber 13151 on the inner wall of the guide section C is an open channel, and the restraint chamber 13151 on the holding section D is a closed channel; in this way, on the one hand, the displacement guidance of the pulling element 1313 is established by the circular-arc-shaped inner wall, while the predetermined trajectory of the guide drive wire 121 is established by the open channel on the guide section C and the closed channel on the holding section D.

Of course, in other specific implementations, the first terminal 1312a, the engaged bevel gear set 1311a and the screw rod 1313a may also be adopted to realize the pushing out or the retracting back of the driving wire 121. Referring to fig. 12, a schematic diagram of another actuator assembly according to an embodiment of the present disclosure is shown. For clarity of illustration, the same functional components or structures are shown with the same reference numbers as the embodiment depicted in fig. 6.

As shown in fig. 12, the driving gear of the bevel gear set 1311a can be driven by the first driving shaft 1311 to drive the driven gear to rotate, and the lead screw 1313a and the driven gear rotate coaxially; meanwhile, one end of the first terminal 1312a clamps and fixes the proximal end of the driving wire 121, and the other end of the first terminal 1312a is configured with a nut (not shown) adapted to the screw 1313a, where the nut is fixed on the first terminal 1312a and can move along the axial direction of the screw 1313a along with the rotation of the screw 1313a, so that the driving wire 121 is driven by the first terminal 1312a to be pushed out or retracted. It should be understood that the embodiment depicted in FIG. 12 may also be configured with a constraining chamber for constructing the predetermined trajectory.

As further shown in fig. 3 and 6, the rotary transmission assembly 132 in this embodiment includes a rotary shaft 1321, a second terminal 1322, a bevel gear set 1323, and a second drive shaft 1324.

The driving wheel of the bevel gear set 1323 is connected to a second driving shaft 1324, and the second driving shaft 1324 is inserted into the transmission substrate 133 to rotate under the driving force of the instrument driving device 20, and the bevel gear set 1323 drives the rotating shaft 1321 to rotate around the rotation center thereof.

The second terminal 1322 is provided on the rotation shaft 1321, and the driving wire 121 is fixed by the second terminal 1322 and can follow when the rotation shaft 1321 rotates. And is configured to: the second terminal 1322 is rotated by the rotation shaft 1321, and the second terminal 1322 is slidable with respect to the rotation shaft 1321 along the pulling direction of the driving wire 121. Here, the sliding stroke of the second terminal 1322 also needs to satisfy the pull stroke requirement of the first terminal 1312.

Please refer to fig. 13 and 14 together, wherein fig. 13 is a schematic assembly view of the rotary transmission assembly according to the embodiment of the present application, which is a view taken from a position where the second terminal 1322 is located after being radially cut away, and fig. 14 is an enlarged schematic view of part ii of fig. 6.

The second terminal 1322 is fitted into the rotating shaft 1321, specifically, a mounting hole 13211 is opened in the middle of the rotating shaft 1321, and the driving wire 121 may extend into the restriction chamber of the first restriction member through the mounting hole 13211. In this embodiment, the second terminal 1322 fixedly connected to the driving wire 121 is inserted into the mounting hole 13211, and both have a rectangular cross section. Thus, when the rotating shaft 1321 rotates, the second terminal 1322 can rotate synchronously to drive the driving wire 121 to twist; meanwhile, the second terminal 1322 has a degree of freedom to slide with respect to the rotating shaft 1321, that is, the second terminal 1322 is axially movable with respect to the rotating shaft 1321, and when the driving wire is pulled by the driving assembly 131, it can rotate with respect to the mounting hole 13211 without any interference with the movement of the rotating shaft side.

In other specific implementations, the cross-sectional shapes of the second terminal 1322 and the mounting hole 13211 may also adopt other structures, such as, but not limited to, other polygons or forms with circumferential limiting planes, and it is within the scope of the present application as long as the functional requirements that the second terminal slides in the mounting hole and can rotate synchronously with the rotating shaft are satisfied.

As shown in fig. 6 and 7, along the axial direction of the rotating shaft 1321, one end of the second restraining member 1325 is disposed opposite to the end of the holding section D of the first restraining member 1315, and the second restraining member 1325 and the first restraining member 1315 respectively provide shaft end support, so that both side shaft ends of the rotating shaft 1321 can obtain a reliable pivot fitting relationship, thereby meeting the functional requirement of relative rotation.

Here, the second constraining member 1325 is opened with a third through hole 13251, correspondingly, the instrument storage 112 of the instrument transportation unit 11 is opened with a through hole 1122, and the through hole 1122 is opened obliquely, so that the flexible body of the actuator unit 12 extends and transits into the spiral receiving groove 1121 on the outer surface thereof. The aperture of the third through hole 13251 may be sized to fit the flexible body sleeve 123 of the actuator unit 12 to securely fix the tube end of the sleeve 123.

In addition, the present embodiment provides a flexible instrument 10 further including a docking unit 14 for connection with external devices, such as, but not limited to, power and signal source connections and water connections. Referring to fig. 2 and 4, an electrical port 141 and a water port 142 are disposed at the top end of the housing 111 and communicate with the inside, and the housing 111 is fixedly provided with a guide tube 15 formed to extend axially. The electrical interface 141 allows for the introduction of electrical and signal sources into the instrument interior, and the water interface 142 allows for the introduction of an external water source into the instrument interior, through the guide tube 15 in the middle of the housing 111, into the actuator unit 12 for connection to the distal actuator.

For the introduction of the power source and the signal source, please refer to fig. 7 and fig. 15 together, wherein fig. 15 is a schematic diagram of the introduction path of the power source and the signal source.

The first restriction member 1315 has a first inner passage 13152 formed therein, and the first inner passage 13152 communicates with the mounting hole 13211 of the rotary shaft. The cable introduced by the electrical interface 141 travels down the guide tube and through the first internal passage 13152 of the first restraint 1315 into the mounting bore 13211 of the rotary shaft and through the cannula 123 of the actuator unit 12 to the distal end effector. Such as, but not limited to, power supply for the distal end effector, signal transmission with the distal end effector, etc.

The second restraint 1325 further has a second inner passage 13252 formed therein, and the second inner passage 13252 communicates with the third through hole 13251. The waterway adapter introduced by the water interface 142 may also be descended through the guide tube and into the third through hole 13251 through the second internal passage 13252 of the second restriction 1325, and be connected to the actuator at the distal end through the sleeve 123 of the actuator unit 12. Such as, but not limited to, for effecting irrigation of irrigation fluids, etc.

In order to facilitate the fast assembly of the whole machine, in the present embodiment, a detachable connection mechanism is disposed between the flexible instrument 10 and the instrument driving device 20, and specifically includes the detachable connection between the instrument storage 112 and the transmission unit 13 (the execution transmission assembly 131, the rotation transmission assembly 132) and the instrument driving device 20, so as to simultaneously satisfy the functional requirement of transmitting the corresponding driving force on the basis of the fast assembly operation.

Referring to fig. 16 and 17, fig. 16 is a schematic view showing an internal structure of an instrument driving device 20 according to an embodiment of the present invention, and fig. 17 is a schematic view showing a coupling mechanism on the instrument driving device side shown in fig. 16.

As shown, an interface member 24 for outputting power is disposed on the top of the instrument drive device 20, wherein the drive base plate 241 serves as an interface connector for outputting the driving force of the first drive member 21 for transmitting power to the instrument reservoir 112; the first driving transmission disc 242 serves as an interface connection for outputting the driving force of the second driving part 22, i.e., a first actuating driving interface, to transmit power to the first driving shaft 1311 for drawing the driving wire; the second active transmission disc 243 serves as an interface connection for outputting the driving force of the third driving part 23, i.e., a second actuating driving interface, to transmit power to the second driving shaft 1324 for twisting the driving wire.

It will be appreciated that the implement drive interface on the instrument side may be a first and second drive shaft, or a first and second passive drive disk as described below that are coupled to the respective drive shafts. In the concrete implementation, the determination is made according to the overall design requirements of the product, and from the viewpoint of the transmission of the driving force, it is within the scope of the present application as long as reliable power transmission can be achieved.

Referring to fig. 8, 9 and 18 together, fig. 18 shows a schematic view of the drive base plate in assembled relation to the instrument reservoir 112.

The driving base plate 241 is opposite to the transmission base plate 133, a buckle 244 is arranged on the driving base plate 241, a clamping groove 1331 is correspondingly arranged on the transmission base plate 133, and after assembly, the buckle 244 is placed in the clamping groove 1331 to form a circumferential rotation limiting pair. Here, the card slot 1331 serves as a transport drive interface of the transmission unit adapted to the instrument drive device, establishing a transmission connection. When the driving base plate 241 is driven by the first driving part 21 to rotate, the driving base plate 133 can be driven to synchronously rotate based on the circumferential rotation limiting pair, so as to drive the instrument storage 112 fixed with the driving base plate 133 to rotate, so as to convey the actuator unit 12.

It will be appreciated that the slots 1331 for the snaps 244 to fit into the circumferential rotation stop pairs are not limited to being disposed on the drive base plate. In other implementations, the card slot may also be configured on the instrument reservoir, or the adapter card slot may be formed on both the transmission substrate and the instrument reservoir.

In this embodiment, the two sets of the fasteners 244 and the slots 1331 are symmetrically arranged, so that the stress is balanced. It will be appreciated that in other implementations, other plural sets arranged at circumferential intervals may be provided.

Further, the hook 244 can move radially relative to the driving base 241, that is, the hook 244 can also slide in the slot 1331, the hook 244 has a hook 2441 formed by extending outward from the body, and an outer end; correspondingly, a bayonet 1123 matched with the hook head 2441 is arranged on the side wall of the instrument storage 112. Thus, when the latch 244 is in the extended position, the hook 2441 can be inserted into the bayonet 1123 to restrict the instrument holder 112 from being disengaged.

Therefore, when the instrument storage 112 is driven to rotate, the axial extension or retraction can be synchronously driven by the matched buckle 244 and the clamping groove 1331. In other specific implementations, the functional requirement of synchronous axial movement can also be achieved through other structural forms.

In order to improve the operability, the outer side of the catch 244 is provided with a push button 245 and the inner side of the catch 244 is provided with a return spring 246, and the return spring 246 may be pre-compressed between the catch 244 and the drive base 241 so that the catch 244 is reliably held in the extended working position. Reference is also made to fig. 19, which is a partial sectional view B-B of fig. 17.

During disassembly, an operator applies an acting force to the button 245, the buckle 244 slides inwards along the clamping groove 1331, the return spring 246 further deforms, the hook head portion 2441 is disengaged from the clamping opening 1123, and the flexible instrument 10 can be disassembled.

The top of the overhanging end of the hook head 2441 has a guide surface 2442, and the guide surface 2442 is formed to extend downward. During actual assembly, the lower axial direction of instrument reservoir 112 presses against guide surface 2442 of hook head 2441 and creates a radially inward component force on catch 244, under which catch 244 slides inward; meanwhile, the return spring 246 is further deformed when being pressed, and when the bayonet 1123 on the instrument storage 112 is aligned with the hook head 2441 along with the axial movement of the instrument storage 112, the return spring 246 releases elastic deformation energy to push the hook head 2441 to extend into the bayonet 1123, and the assembly operation between the two is completed quickly.

It is understood that in other embodiments, the return spring may be implemented in other structures, such as, but not limited to, a return member made of rubber based material, or a return member with a spring structure.

Further, in order to avoid the possible influence of the exposed engaging structure, in the present embodiment, the driving base plate 241 is provided with a sleeve 247 at its outer periphery, and the sleeve 247 includes a shielding section 2471 extending upward in the axial direction. The driving base plate 241 and the buckle 244 thereon can be arranged in a cavity formed by the shielding section 2471; meanwhile, two penetrating holes 2472 are formed in the shielding section 2471 and are respectively arranged opposite to the two buttons 245 in the radial direction, so that the push rod of the button 245 is fixedly connected with the buckle 244 body through the penetrating holes 2472. On the basis of effectively sheltering from the block structure, can compromise the maneuverability of button simultaneously.

Here, the driving base 241 is drivingly connected to the first driving member 21 through the sleeve 247 and the connecting sleeve 248. Of course, in other implementations, the driving substrate 241 may be directly connected to the first driving member 21 in a transmission manner, or may be connected to the first driving member 21 in a transmission manner through the sleeve 247.

In addition, an electronic identification component may be provided between the flexible instrument 10 and the instrument driver 20 for systematically identifying the type of instrument currently engaged. As further shown in fig. 17, the electronic identification assembly may include a signal generator 161 disposed on one side of the flexible instrument and a signal receiver 162 disposed on one side of the instrument drive device, specifically, the signal generator 161 may be disposed on the outer peripheral surface of the instrument reservoir 112, and correspondingly, the signal receiver 162 may be disposed on the inner wall (not shown) of the sleeve 247, and identification is performed by using radio frequency signals.

In addition, in order to monitor the installation state in real time, an installation detection unit 17 may be provided on the instrument driving device side. As further shown in fig. 16 and 17, the installation detection assembly 17 may employ a micro switch and is disposed on the top surface of the catch 244. When the flexible instrument is mounted on the driving device, the flexible instrument generates a signal by pressing the microswitch, so that the mounting state detection is realized.

It should be noted that the electronic identification component and the installation detection component may take other device forms, and may be specifically selected according to the design requirements of the actual product, and are not limited to the type and configuration position of the device shown in the drawings.

Referring to fig. 9, 17, 18, 20 and 21, fig. 20 is a schematic view illustrating an assembly relationship between the first driving plate 242 and the second driving plate 243, and fig. 21 is a schematic view illustrating an assembly relationship between the driving base plate and the driving unit.

In this embodiment, two sets of driving discs and driven discs are provided for driving connection, wherein the bottom of the driving base plate 133 is provided with a first driven disc 134 and a second driven disc 135. The first passive transmission disc 134 is fixedly connected to the shaft end of the first driving shaft 1311 and is in adaptive connection with the first active transmission disc 242; the second passive driving plate 135 is fixedly connected to the axial end of the second driving shaft 1324, and is fittingly connected to the second active driving plate 243.

Correspondingly, the driving substrate 241 is provided with a first through hole 2411 and a second through hole 2412, so that the first driving transmission disc 242 and the second driving transmission disc 243 are respectively matched with the matched driven transmission discs through the two through holes. Meanwhile, the second driving member 22 is fixedly arranged on the first flange 251, and the output shaft of the second driving member is connected with the first driving transmission disc 242 through the first flange 251, the third driving member 23 is fixedly arranged on the second flange 252, and the output shaft of the third driving member is connected with the second driving transmission disc 243 through the second flange 252, and the second driving member and the third driving member are sequentially arranged along the axial direction as a whole, so that the space occupation of the radial dimension can be reduced.

In order to further match different docking-side axial docking strokes, the detachable connection mechanism of the present embodiment further has axial adaptability. The first flange 251 and the second flange 252 can each be fastened to a respective sliding support 253, and the two sliding supports 253 can each be axially displaceable relative to a fixedly arranged slide 254. Here, for the sake of simplifying the illustration, only the sliding bracket 253 and the sliding rail 254 fitted to the first flange 251 are shown in fig. 20. That is, the sliding bracket 253 has a degree of freedom that can be relatively displaced in the axial direction with respect to the sliding rail 254, so as to be able to adjust the relative position in the axial direction.

Accordingly, an elastic restoring member 255 may be provided at the bottom of each sliding bracket 253 to provide a restoring force to the sliding bracket 253, so that a reliable connection between the corresponding active and passive driving discs is established. It is understood that the sliding track 254 is a relatively fixed structural member, and a corresponding fixed connection manner can be configured according to the inner space, such as but not limited to the fixed arrangement on the connection sleeve 248 shown in the figure.

As shown in fig. 9, first passive drive disk 134 has a first recess 1341 therein and second passive drive disk 135 has a second recess 1351 therein; as shown in fig. 17 and 18, the first driving disk 242 has a first convex part 2421 thereon, and the second driving disk 243 has a second convex part 2431 thereon, which can be respectively matched with the concave parts on the corresponding driven disks to form a circumferential limit pair. Thus, when the second driving part 22 and the third driving part 23 are respectively activated, the adaptive driving and driven transmission discs can respectively transmit power to the driving shaft of the transmission unit, so as to realize the pulling and twisting operations of the actuator unit.

In this embodiment, the external diameter size of the initiative driving disc of looks adaptation is roughly the same with the external diameter size of passive driving disc, and the concave part forms from the radial indent of the peripheral surface of passive driving disc, and the convex part forms from the top surface axial extension of initiative driving disc, and the back is assembled, and the convex part on the initiative driving disc is with the concave part gomphosis on the passive driving disc. The device has the characteristics of compact structure and high connection reliability. In other specific implementations, the number of the matched convex and concave parts on each transmission path can be determined according to the overall design requirements of the product, and is not limited to the two groups shown in the figure.

In addition, the instrument storage 112 of the present embodiment is rotated and axially displaced, and the driving force is provided by the first driving member 21, and is realized through two power transmission paths, respectively. Referring to fig. 16, 22 and 23, fig. 22 is a schematic view of the transmission relationship of the first driving member, and fig. 23 is an axial sectional view of fig. 16, specifically cutting the central line passing through the first driving member and the output shaft.

The output shaft of the first drive member 21 is fixed coaxially with the screw 261, and the screw 261 serves as a basic transmission member of two power transmission paths. As shown, the screw 261 is provided with a driving pulley 263 and a nut 262 at intervals.

Among them, the driving pulley 263 is fixedly provided on the lead screw 261, and transmits a rotational driving force to the driven pulley 264 by a belt, and the driven pulley 264 is provided on the output shaft 265. Specifically, the driven pulley 264 is fixedly disposed on a first bushing 266, the first bushing 266 is pivotally connected to the fixed structure by a bearing 269, the output shaft 265 has an axially disposed key 2651 on an outer surface thereof, and the first bushing 266 has a key slot 2661 on an inner surface thereof that is complementary to the key. Based on the pulley transmission mechanism, under the driving of the first shaft sleeve 266, the output shaft 265 can rotate synchronously, and the output shaft 265 and the first shaft sleeve 266 can move axially relatively.

Wherein the nut 262 is threadedly engaged with the lead screw 261 and is coupled to the output shaft 265 via the coupling 267. The nut 262 is fixedly disposed at one end of the connecting member 267, and the output shaft 265 is pivotally connected to the other end of the connecting member 267 with an axial position therebetween. Specifically, the shaft end of the output shaft 265 is provided with a thrust bearing 2681, the connecting member 267 is fixedly provided with a bearing fixing seat 268, and the bearing fixing seat 268 is axially limited with the thrust bearing 2681. Based on the adaptation relation of the screw rod and the nut, the output shaft 265 can be driven to reciprocate along the axial direction.

Therefore, the driving force output by the output shaft of the first driving part 21 synchronously drives the output shaft 265 to rotate and axially move through two transmission paths, and drives the driving substrate 241 to rotate and axially move through the connecting sleeve 248 fixed on the output shaft 265. This compound motion is a primary motion delivered by the flexible instrument in a rotational motion and an axial motion is a secondary motion that ensures that the flexible body of the effector unit 12 remains aligned with the instrument reservoir 112 through port 1122.

It should be noted that the fixed structure for pivotally fitting the first sleeve 266 and the related structure for keeping the housing 111 relatively fixed can be implemented in different manners. In this embodiment, the fixing structure is integrally disposed on the housing 27 of the instrument driving device 20, and the side wall 271 of the housing 27 extends upward to the side of the casing 111 of the flexible instrument 10.

For the fixation of the housing 111 of the flexible instrument 10, please refer to fig. 1 and 16 together. The outer circumferential surface of the housing 111 is provided with a socket 1112, and can be fitted over the side wall 271 through the socket 1112, and the housing 111 is fixed to the side wall 271 by means of a screw fastener based on various assembly dimensions. It should be understood that the socket 1112 as a fixed portion of the housing 111 may also be implemented in other forms, such as, but not limited to, merely by a threaded fastener.

As for the fixing plate 272 pivotally fitted to the first sleeve 266, as shown in fig. 16 and 23, the fixing plate 272 is fixed to the side wall 271, thereby fixedly forming a second sleeve 273 for mounting the bearing 269. Of course, in other implementations, the second bushing 273 and the fixed plate 272 may be formed as a single piece.

Further, in order to improve the stability of the axial movement, a guide sleeve 274 may be disposed on the outer periphery of the connection sleeve 248, the guide sleeve 274 is fixed on the sidewall 271, an axial movement adapting pair is formed between the connection sleeve 248 and the guide sleeve 274, and a guide support is provided within the axial movement stroke range of the connection sleeve 248, so as to ensure that the related structure has good actuation performance.

The ordinal numbers "first" and "second" used herein are used only to describe a structure or acts of like function in the claims. It is to be understood that the use of the ordinal numbers "first" and "second" does not constitute an understandable limitation on the claimed technical solution.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.

Claims

1. An instrument delivery unit for delivery and storage of an actuator unit having a flexible body, comprising:

the shell is provided with an internal accommodating space, and the side wall of the shell is provided with an instrument outlet;

an instrument reservoir, at least a portion of which is disposed within the housing and is rotatable and axially movable relative to the housing; the peripheral surface of the instrument reservoir is provided with a helical receiving groove to wind a flexible body that receives the actuator unit.

2. The instrument delivery unit of claim 1 wherein the housing is cylindrical with an open end, the instrument reservoir being disposed in the housing at one end and configured with a delivery drive interface for mating with an instrument drive device at the other end.

3. The instrument delivery unit according to claim 1 or 2, wherein the outer shell surface of the outer periphery of the instrument outlet is fixedly provided with a sheath, and the outer shell comprises a fixing portion.

4. A flexible instrument, comprising:

the instrument delivery unit of any one of claims 1 to 3;

the actuator unit comprises an actuator and a flexible body, wherein the flexible body comprises a driving wire and a sleeve which are nested inside and outside, and the actuator is configured at the far end of the driving wire;

the transmission unit is connected with the instrument storage of the instrument conveying unit, and is provided with a conveying driving interface which is used for being matched with an instrument driving device so as to drive the instrument storage to rotate and axially move relative to the shell.

5. The flexible instrument of claim 4 wherein said transmission unit is further configured with an actuation drive interface adapted to an instrument drive device to move a drive wire of said actuator unit.

6. The flexible instrument of claim 5 wherein said transmission unit comprises a transmission base plate fixedly connected to said instrument reservoir, and an actuation transmission assembly and a rotation transmission assembly disposed on said transmission base plate; the conveying driving interface is positioned on the transmission substrate, the execution driving interface comprises a first execution driving interface and a second execution driving interface, the execution transmission assembly is matched with the first execution driving interface to push out or retract the driving wire, and the rotation transmission assembly is matched with the second execution driving interface to twist the driving wire.

7. The flexible instrument of claim 6 wherein the actuation transmission assembly comprises a traction member and a first drive shaft, the first drive shaft being insertable into the transmission base plate and being drivingly connectable to the instrument drive device via the first actuation drive interface; the traction member is coupled to the first drive shaft, and the proximal end of the drive wire is coupled to the traction member and configured to: the driving wire can be pushed out or retracted along a preset track under the driving of the traction piece, and the driving wire has a rotational degree of freedom relative to the traction piece.

8. The flexible instrument of claim 7, wherein the outer peripheral surface of the pulling member is embedded with a first terminal, and the first terminal comprises a fourth through hole; the driving wire is arranged in the fourth through hole of the first terminal in a penetrating mode, and two limiting blocks are arranged on the body of the driving wire and are respectively located on two end sides of the fourth through hole of the first terminal; a radial gap is formed between the driving wire and a fourth through hole of the first terminal, and the size of each limiting block is larger than that of the fourth through hole.

9. The flexible instrument of claim 7, wherein the transmission substrate is fixedly provided with a first constraint member, and the first constraint member is provided with a constraint cavity capable of accommodating the driving wire so as to drive the driving wire to be pushed out or retracted along a predetermined track.

10. The flexible instrument of claim 9, wherein the first constraint member and the constraint cavity defined therein are both arc-shaped, and the first constraint member comprises a guide section and a retaining section connected in sequence, the guide section has an arc-shaped inner wall disposed opposite to the arc-shaped outer peripheral surface of the traction member, the constraint cavity on the inner wall of the guide section is an open channel, and the constraint cavity on the retaining section is a closed channel.

11. The flexible instrument of claim 6 wherein the actuation transmission assembly comprises a first drive shaft, a set of intermeshing bevel gears having a drive gear coupled to the first drive shaft, a first terminal, and a lead screw coupled to a driven gear of the set of bevel gears; one end of the first terminal clamps and fixes the near end of the driving wire, and the other end of the first terminal is provided with a nut matched with the screw rod so as to drive the driving wire to be pushed out or retracted through the first terminal.

12. The flexible instrument of claim 9 or 10 wherein the rotary transmission assembly comprises a rotary shaft, a second terminal, a bevel gear set and a second drive shaft, the second drive shaft is inserted into the transmission base plate and is in transmission connection with the instrument driving device through the second execution drive interface; the driving wheel of the bevel gear set is connected with the second driving shaft, and the rotating shaft is connected with the driven wheel of the bevel gear set; the drive wire is fixed to the second terminal, and the second terminal is provided on the rotary shaft and configured to: the second terminal can be driven by the rotating shaft to rotate, and the second terminal has the freedom degree of sliding along the pulling direction of the driving wire relative to the rotating shaft.

13. The flexible instrument of claim 12 wherein the second terminal is inserted into a central mounting hole of the rotating shaft and has a rectangular cross section adapted to the central mounting hole, and the driving wire extends into the restriction cavity of the first restriction member through the mounting hole.

14. The flexible instrument as claimed in claim 12, wherein a second constraint member is fixedly disposed on the transmission substrate, one end of the second constraint member is disposed opposite to the end of the retaining section of the first constraint member along the axial direction of the rotation shaft, and two axial ends of the rotation shaft are pivotally connected to the second constraint member and the first constraint member respectively.

15. The flexible instrument of claim 14 wherein the second restraint has a third through-hole formed therein, the third through-hole of the second restraint having a diameter that is compatible with a diameter of a cannula of the actuator unit to secure a tube end of the cannula; the instrument storage is provided with a through port, and the flexible body of the actuator unit extends and transitions into the spiral accommodating groove on the outer surface of the flexible body through the through port of the instrument storage.

16. A flexible surgical instrument comprising a flexible instrument and an instrument driving device capable of outputting a driving force to the flexible instrument, wherein the flexible instrument is the flexible instrument according to any one of claims 4 to 15.