CN116269788A

CN116269788A - Proximal end driving structure of flexible arm

Info

Publication number: CN116269788A
Application number: CN202310344676.1A
Authority: CN
Inventors: 夏宇; 苏士程; 代勇
Original assignee: Tuodao Medical Technology Co Ltd
Current assignee: Tuodao Medical Technology Co Ltd
Priority date: 2023-04-03
Filing date: 2023-04-03
Publication date: 2023-06-23

Abstract

The invention discloses a proximal driving structure of a flexible arm, which is characterized in that: the flexible arm comprises a driving component for driving the distal end of the flexible arm to execute structural bending motion, wherein the driving component comprises a driving mechanism, a driving rope which is driven by the driving mechanism to realize reciprocating motion, and two movable pieces which are respectively connected with the driving rope and move relatively along with the reciprocating motion of the driving rope; the two movable parts move relatively so that the distal execution structure is driven by the driving rope to realize movement with a certain degree of freedom. According to the invention, the sliding motion of the sliding block is realized through the rotary motion of the guide plate, and the motion of the far-end execution structure is driven by the alloy wire, so that the nickel-titanium alloy wire driving error introduced by the flexibility of the tungsten wire rope is eliminated by utilizing the rigid rod piece, the integral structure is simplified, the weight of the transmission structure is greatly reduced, and the external dimension is reduced.

Description

Proximal end driving structure of flexible arm

Technical Field

The invention relates to the technical field of robots, in particular to a proximal driving structure of a flexible arm.

Background

With the continuous development and perfection of robotics, the application range of robotics is expanding, such as surgical robots. The surgical robot not only reduces the manual labor of doctors in the operation, but also enables the wound of patients to be smaller, bleeding to be less, postoperative infection risk to be lower, recovery to be faster, and the like in the operation. Conventional multi-link articulated robots require a large working space, and for robots performing surgical operations, one has been able to perform multi-hole surgery of multiple surgical holes using multiple rigid arms. With the gradual deepening of the minimally invasive concept of the operation, people hope that the operation robot can perform operations with fewer holes, the degree of freedom of the operation instruments is higher, the accessible positions are more, the movable space is larger, and the like, and even the operation can be performed through a natural cavity without additionally forming holes on the body surface of a patient. For these needs, flexible arm technology can be satisfied. The flexible arm has higher degree of freedom, and because the arm body has flexibility, when the flexible arm enters the human body, the posture of the flexible arm can be adjusted according to the space of the internal organs, so that the tail end of the instrument can bypass tissues without damaging the tissues, and can reach the focus of a patient to finish operation. In addition to their application in the surgical field, flexible arms may find application in industrial inspection, rescue, etc., particularly where manipulation through a narrow tunnel is desired.

At present, a proximal end wire driving structure of a flexible arm generally utilizes a lead screw nut or a gear rack to convert the rotation motion of a motor into linear motion and then drive a nickel-titanium alloy wire to move. The whole size and weight of the transmission structure are large, the cost is high, and the application and popularization of the flexible arm technology are not facilitated.

Disclosure of Invention

The invention aims to: aiming at the defects, the invention provides the proximal driving structure of the flexible arm, which greatly reduces the weight of a transmission structure, reduces the external dimension, obviously reduces the cost of the instrument and is more beneficial to the application and popularization of the flexible arm technology.

The technical scheme is as follows:

a proximal driving structure of a flexible arm,

the flexible arm comprises a driving component for driving the distal end of the flexible arm to execute structural bending motion, wherein the driving component comprises a driving mechanism, a driving rope which is driven by the driving mechanism to realize reciprocating motion, and two movable pieces which are respectively connected with the driving rope and move relatively along with the reciprocating motion of the driving rope; the two movable parts move relatively so that the distal execution structure is driven by the driving rope to realize movement with a certain degree of freedom.

The number of drive assemblies is set according to the degree of freedom of the distal end to perform structural bending movements.

The two movable parts are respectively fixedly connected with a traction wire, and the traction wire is matched and connected with a certain degree of freedom of the far-end execution structure so as to realize the motion of the degree of freedom under the drive of the driving rope.

The two movable pieces are respectively arranged in the first sliding grooves which are symmetrical with each other in a sliding way, and do relative movement in the two first sliding grooves under the action of the driving rope.

The bearing body is provided with a guide plate which rotates around an axis to enable two ends of the guide plate to do opposite relative movement, the movable piece is slidably arranged in a second chute arranged at two ends of the guide plate, and the extending direction of the second chute is different from that of the first chute.

And a fixed support is arranged on the supporting body, and the first sliding groove is arranged on the fixed support.

The two ends of the first sliding groove are provided with guide wheels which are used for winding the driving rope to change the extending direction of the driving rope.

An upright post is arranged between the two movable pieces, and the guide plate is rotatably arranged on the upright post.

The upright post is provided with a movable groove, and the guide plate is arranged in the movable groove in a penetrating manner and is rotatably arranged on the upright post through a pin shaft.

The difference between the width of the movable groove in the length direction of the upright post and the width of the guide plate is larger than or equal to the maximum distance of the driving rope driving the traction wire to move.

The drive mechanism includes a capstan for winding a drive rope, the capstan having an axis of rotation perpendicular to the guide plate axis of rotation.

The beneficial effects are that: according to the invention, the linear motion of the nickel-titanium alloy wire is realized by utilizing the tungsten wire rope drive and the lever principle, so that the whole structure is simplified, the weight of the transmission structure is greatly reduced, and the external dimension is reduced; the invention realizes the sliding motion of the sliding block through the rotary motion of the guide plate, further drives the motion of the far-end execution structure through the alloy wire, eliminates the nickel-titanium alloy wire driving error introduced by the flexibility of the tungsten wire rope by utilizing the rigid rod piece, obviously reduces the cost of the instrument and is more beneficial to the application and popularization of the flexible arm technology.

Drawings

FIG. 1 is a schematic view of the structure of a flexible arm of the present invention;

FIG. 2 is a schematic diagram of a remote execution architecture;

FIG. 3 is a schematic view of the proximal drive structure of the flexible arm of the present invention;

FIG. 4 is a schematic structural view of a column;

FIG. 5 is a schematic view of a structure of a guide plate;

FIG. 6 is a schematic diagram of the drive assembly;

FIG. 7 is a cross-sectional view of the drive assembly;

FIG. 8 is a schematic diagram of the structure of the drive capstan;

FIG. 9 is a perspective view of the drive assembly;

FIG. 10 is a schematic view of a tensioning arrangement;

FIG. 11 is a schematic illustration of the connection between the proximal drive structure and the distal actuating structure of the flexible arm of the present invention;

FIG. 12 is a schematic representation of the operation of the flexible arm proximal drive structure of the present invention;

fig. 13 is a schematic view of the operation of the flexible arm of the present invention.

In the figures, a 1-proximal drive configuration, a 2-distal actuation configuration;

11-supporting body, 12-driving component, 13-fixed disk, 14-supporting column and 15-guiding tube;

111-bearing plates, 112-upright posts and 113-fixed brackets;

1121-first movable groove, 1122-first pin hole, 1123-second movable groove, 1124-second pin hole, 1125-drive rope groove;

1131-a first runner, 1132-a guide wheel shaft;

121-driving motors, 122-transmission winches, 123-guide wheel sets, 124-driving ropes, 125-transmission sliding blocks, 126-alloy wires, 127-tensioning pieces and 128-guide plates;

1221-upper wire winding slot, 1222-lower wire winding slot;

1231-first guide wheel, 1232-second guide wheel, 1233-third guide wheel, 1234-fourth guide wheel;

1271-a disc spring, 1272-a tensioning bracket and 1273-a tensioning wheel;

1281-a second chute, 1282-a guide pin hole; 12811-sliding blocks and 12812-guiding grooves;

21-a passing section, 22-a bending section and 23-a locking disc;

211-a wire passing disc, 221-a framework tube and 222-a framework disc.

Detailed Description

The invention is further elucidated below in connection with the drawings and the specific embodiments.

Fig. 1 is a schematic structural view of a flexible arm according to the present invention, as shown in fig. 1, the flexible arm according to the present invention includes a proximal driving structure 1 and a distal actuating structure 2, and referring to fig. 2, the proximal driving structure 1 of the flexible arm according to the present invention includes a carrier 11, a driving assembly 12 disposed on the carrier 11, a fixing plate 13 fixedly connected to an end of the distal actuating structure 2, a support column 14 for connecting the carrier 11 and the fixing plate 13, and a guide tube 15 disposed between the carrier 11 and the fixing plate 13 for threading alloy wires for transmission in the driving assembly 12.

In the present invention, the structure shown in fig. 1 includes 2 driving units 12 to realize the yaw and pitch motions of the end of the flexible arm, that is, the distal end executing structure 2 in this embodiment has two degrees of freedom of motion, and only one motion is described in detail herein as an example because the transmission structures of the two degrees of freedom of motion are identical.

Further, the guide tube 15 is a steel tube, which serves to establish a movement path for the alloy wire so that the alloy wire can move along a determined trajectory.

As shown in fig. 1 and 2, the distal end executing structure 2 comprises a passing section 21, a bending section 22 and a locking disc 23, wherein the passing section 21 is formed by a plurality of wire passing discs 211 in a matched installation manner, the wire passing discs 211 are annular discs, and a plurality of groups of wire passing holes along the vertical direction are formed on the wire passing discs at intervals, so that channels through which alloy wires penetrate are formed; the number of groups of the wire passing holes is related to the attitude adjustment degree of freedom of the flexible arm, namely, the number of the wire passing holes is consistent with the number of the driving components 12 of the proximal driving structure 1, if the degree of freedom of the flexible arm is adjusted to be the deflection degree and the pitching degree of freedom, the number of the groups of the wire passing holes is two, and each group of the wire passing holes is oppositely arranged on the circumferential direction of the wire passing disc. The bending section 22 comprises a framework pipe 221 which is arranged in the bending section and can realize deflection or pitching, and a plurality of framework plates 222 which are sleeved outside the framework pipe 221 along the length direction of the framework pipe, the framework pipe 221 is of a hollow structure, and the framework pipe 221 is flexible and bendable; the skeleton plate 222 is fixedly sleeved outside the skeleton pipe 221, and a plurality of groups of wire passing holes are formed in the skeleton pipe at intervals along the vertical direction, and the arrangement of the wire passing holes is consistent with that of the wire passing plate 211, so that a passage through which the alloy wires pass is formed. The locking disc 23 is provided with a plurality of groups of wire fixing holes along the vertical direction at intervals, and the number of the wire fixing holes is consistent with that of the wire passing disc 211 and the wire passing holes on the framework disc 222. The alloy wire passes through the guide tube 15 and then sequentially passes through the wire passing holes formed in the wire passing discs 211 of the passing section 21 and the wire passing holes formed in the skeleton discs 222 of the bending section 22, and is then fixed in the wire fixing holes in the locking disc 23.

As shown in fig. 3, the carrier 11 includes a carrier plate 111 cooperatively connected with the fixing plate 13 through the supporting columns 14, a column 112 mounted on the carrier plate 111, and a fixing bracket 113 mounted on the carrier plate 111 and located at the column 112 side, specifically, the column 112 is mounted on the carrier plate 111 and located at the center position, and a driving rope slot 1125 for passing through the driving rope 124 is formed at the top end thereof; as shown in fig. 4, the upright post 112 is provided with a movable groove for slidably mounting the transmission slide block 125, the opening direction of the movable groove is perpendicular to the length direction of the upright post 112 (the direction perpendicular to the vertical direction is taken as the reference in fig. 3), the side wall of the upright post 112 adjacent to the movable groove is provided with a pin shaft hole communicated with the movable groove, a guide plate 128 is penetrated in the movable groove, the guide plate 128 is penetrated in the movable groove through the pin shaft to be matched and rotated with the pin hole formed in the center of the guide plate 128 and the pin shaft hole on the upright post 112, and the width of the movable groove in the vertical direction is larger than the width of the guide plate 128, so that the rotation of the guide plate 128 can be realized, and the two ends of the guide plate are subjected to opposite relative movement; more specifically, the difference between the width of the movable slot in the vertical direction and the width of the guide plate 128 is greater than or equal to the maximum distance that the driving rope 124 drives the alloy wire 126 to move, and more specifically, in the specific embodiment of the present invention, the difference between the width of the movable slot in the vertical direction and the width of the guide plate 128 is greater than or equal to the maximum sliding distance of the driving slider 125 in the movable slot.

In the present invention, the guide plate 128 is rotatably mounted in the movable slot through the pin shaft in the middle part thereof, so that the guide plate 128 can rotate around the axis in the middle part thereof, and further the two ends of the guide plate perform opposite arc movements.

The fixed brackets 113 are arranged in pairs and are arranged on two sides of the movable groove on the upright post 112 on the bearing plate 111 relatively, the fixed brackets 113 are provided with long grooves for penetrating the two ends of the guide plate 128, and the fixed brackets 113 are also provided with first sliding grooves 1131 along the length direction (namely, the vertical direction in fig. 3) of the fixed brackets; as shown in fig. 5, two ends of the guide plate 128 are respectively provided with a second sliding groove 1281 along the length direction (i.e. the horizontal direction in fig. 3), and a transmission sliding block 125 is slidably installed in the second sliding groove 1281; the transmission slide block 125 is provided with a protrusion which is perpendicular to the length direction of the fixed support 113 and the length direction of the guide plate 128, and the protrusion is just placed in a first chute 1131 arranged on the fixed support 113, and a movable space of the transmission slide block 125 is formed by the first chute 1131 arranged on the fixed support 113 and a second chute 1281 arranged on the guide plate 128.

In the present invention, the length of the first chute 1131 may also be designed to limit the moving space of the driving slider 125 in the first chute 1131, thereby limiting the stretching length of the driving rope 124; further, the present invention may further design the length of the second sliding groove 1281 to limit the moving space of the driving sliding block 125 in the first sliding groove 1131, or design the length of the first sliding groove 1131 or the second sliding groove 1281 to limit the moving space of the driving sliding block 125 in the first sliding groove 1131.

In the present invention, the second sliding grooves 1281 at two ends of the guide plate 128 comprise a sliding block sliding groove 12811 and a guiding groove 12812, wherein the sliding block sliding groove 12811 is a slot along the length direction of the guide plate 128 and is arranged parallel to the length direction of the fixed bracket 113 for driving the sliding installation of the sliding block 125; the guide groove 12812 is a through groove which is perpendicular to the plane direction of the guide plate 128 and is arranged along the length direction of the guide plate 128, and the through groove is communicated with the slide block chute 12811 for the protrusion of the transmission slide block 125 to penetrate, so that the transmission slide block 125 is guided to slide, and the transmission slide block 125 can be effectively prevented from being separated from the slide block chute 12811.

Specifically, the fixing support 113 may be two opposite plates disposed in parallel on the carrier 111, and a long slot is formed in the middle for two ends of the guide plate 128 to pass through, and correspondingly, a first chute 1131 may be formed on one or both of the two plates along the length direction thereof.

In the present invention, the number of the movable slots formed on the upright post 112 corresponds to the degree of freedom of movement of the remote execution structure 2, and the orientation and position of each movable slot are different and do not interfere with each other, correspondingly, the pair of the fixed brackets 113 also corresponds to the degree of freedom of movement of the remote execution structure 2, and are respectively and relatively installed on the two sides of the movable slots formed on the upright post 112 on the bearing plate 111.

Further, as shown in the examples of the various views of the present invention, the degree of freedom of movement of the distal end executing structure 2 is two, so the number of movable slots opened on the upright post 112 is 2, namely a first movable slot 1121 and a second movable slot 1123; more specifically, the two movable slots are oriented perpendicular to each other and have different heights, and the

corresponding pin holes

1122 and 1124 are correspondingly arranged, and accordingly, the fixed bracket 113 is correspondingly designed.

In the present invention, the column 112 may be a cylindrical or square column structure.

Referring to fig. 6 and 7, drive assembly 12 includes a drive motor 121, a drive capstan 122, a guide wheel set 123, a drive slide 125, a drive rope 124, and an alloy wire 126. The driving motor 121 is fixedly installed below the bearing plate 111; the transmission winch 122 is arranged above the bearing plate 111 and is matched with the motor shaft of the driving motor 121, and the transmission winch 122 and the fixed brackets 113 arranged on the bearing plate 111 in pairs form a triangle; the upper end and the lower end of each fixed support 113 are respectively provided with a guide wheel shaft 1132 vertical to the length direction of the fixed support 113, the guide wheel shafts 1132 are rotatably provided with guide wheels, a first guide wheel 1231 at the lower end and a second guide wheel 1232 at the upper end of one fixed support 113 are arranged on the other fixed support 113, a first guide wheel 1233 at the lower end and a second guide wheel 1234 at the upper end are arranged on the other fixed support 113, and the four guide wheels form a guide wheel group 123; more specifically, the wheel grooves of the guide wheels at the lower ends of the two fixed brackets 113 are arranged toward the transmission winch 122, and the wheel grooves of the guide wheels at the upper ends thereof are arranged toward the upright 112; two winding slots with opposite directions, an upper winding slot 1221 and a lower winding slot 1222, are arranged on the transmission winch 122, as shown in fig. 8; one end of the driving rope 124 is fixed and wound on the lower winding groove 1222 of the driving winch 122, and sequentially winds around the first guide wheel 1231, the driving slide block 125 penetrating through the first sliding groove 1131 of the fixing bracket 113, winds around the second guide wheel 1232, winds around the third guide wheel 1233, winds around the driving slide block 125 penetrating through the first sliding groove 1131 of the other fixing bracket 113, winds around the fourth guide wheel 1234, and finally winds around and is fixed on the upper winding groove 1221 of the driving winch 122, as shown in fig. 6.

In the present invention, the axis of the driving capstan 122 is designed to be perpendicular to the rotation axis of the guide plate 128, by which the two ends of the guide plate 128 can move in the length direction of the flexible arm, so that the transverse space is saved, the flexible arm can be made to be more slender, the flexible arms (such as the apparatus using the flexible arm) are prevented from being interfered with each other because of too thick, the slender flexible arm can be better grasped, and the installation is more convenient, thereby conforming to the ergonomics. More specifically, in a particular embodiment of the present invention, drive capstan 122 is mounted vertically.

As shown in fig. 7 and 8, the driving assembly 12 of the present invention further includes a tensioning member 127, wherein the tensioning member 127 is fixedly installed in the driving rope slot 1125 at the upper end of the upright 112 and located on the threading line of the driving rope 125, specifically, the tensioning member 127 is fixedly installed at the top end of the side wall of the upright 112 and located in the driving rope slot 1125; as shown in fig. 9, the driving rope 124 passes through the second guide wheel 1232, passes through the tensioning wheel 1273 and then passes through the third guide wheel 1233, and is wound on the tensioning bracket 1272 and the tensioning wheel 1273 rotatably mounted on the tensioning bracket 1272 by the disc spring 1271 in a direction parallel to the upright post 112. The invention realizes the matching between the tensioning wheel 1273 and the driving rope 124 through the elasticity of the disc spring 1271, so that the tensioning of the driving rope 124 can be adjusted in a self-adaptive way, the disc spring 1271 is more beneficial to saving the structural space, in the invention, the tensioning piece 127 is unnecessary for the whole transmission chain, and the tensioning piece 127 can be omitted if the service life requirement is not high for consumable materials.

Further, in the embodiment of the present invention, the tensioning members 127 of the other set of driving assemblies 12 are fixedly mounted on the top ends of the side walls of the upright 112 adjacent to the side walls of the upright 112 for the two degrees of freedom of the distal actuating structure 2.

As shown in fig. 10-12, with reference to the direction of illustration, the upper end of the alloy wire 126 is fixedly connected with the transmission slide block 125, and the lower end of the alloy wire passes through the guide tube 15, the wire passing disc 211 and the skeleton disc 222 in sequence, and is finally fixed on the locking disc 23; the driving motor 121 drives the transmission winch 122 to rotate, so that the driving rope 124 can be driven to move on the winding path, and the transmission sliding blocks 125 at two ends of the guide plate 128 can be driven to move relatively in the vertical direction, and then the corresponding alloy wires 126 are driven to follow up through the transmission sliding blocks 125, so that the gesture adjustment action of the remote execution structure 2 can be realized through the two alloy wires 126.

In the present invention, the number of driving units 12 is consistent with the attitude adjustment degree of freedom of the flexible arm, and the yaw or pitch movements of the flexible arm are described as an example in this embodiment.

For ease of description, specific constructions are presented herein, and in the present invention, the drive cord 124 is a tungsten wire cord and the alloy wire 126 is a nitinol wire. However, in the present invention, the material of the alloy wire 126 includes, but is not limited to, nitinol wire, any material that is rigid and capable of bending, and the material of the driving cord 124 includes, but is not limited to, tungsten wire, and any flexible and bendable material that is resistant to wear and tension.

In the invention, taking the transmission of a group of driving components 12 as an example, when a driving motor 121 rotates along a certain direction, a transmission winch 122 rotates along the direction along with the driving motor 121, the transmission winch 122 rotates to drive a driving rope 124 to move under the guidance of a guide wheel group 123, and as a transmission slide block 125 is fixedly connected with the driving rope 124 and an alloy wire 126, the driving rope 124 drives the transmission slide block 125 to move up and down in a first chute 1131, so that one transmission slide block 125 pulls the alloy wire 126, the other transmission slide block 125 pushes the alloy wire 126, and the tail ends of the two alloy wires 126 are fixedly connected with a locking disc 23 after penetrating through a passing section 21 and a bending section 22, so that the locking disc 23 can be driven to move from an A position to a B position by the retraction of the two alloy wires 126, thereby realizing the position and posture adjustment of the tail end of an instrument.

The invention only details the swinging of one degree of freedom of the flexible arm end, and can realize more degrees of freedom of the flexible arm end by increasing the number of motors, the transmission chains and the number of flexible arm series connection. As shown in fig. 13, two degrees of freedom. A group of transmission mechanisms are added and are distributed orthogonally to the original transmission mechanisms.

The invention adopts the transmission scheme of the tungsten wire rope, the structure mainly comprises the tungsten wire rope, the guide wheel, the winch and the sliding block, the parts are smaller and lighter, the size can be very compact, compared with the common linear motion scheme such as screw transmission, the scheme has lighter overall weight, easier processing, lower cost and more compact size, compared with the fixation and power connection of the screw, the structure complexity is obviously reduced, the degree of freedom of the tail end of the flexible arm can be conveniently increased by increasing the number of the transmission chains, and the scheme is easier to realize and popularize; the flexible arm at the far end is a flexible continuous body, the far end of the arm body can horizontally move or twist when being acted by external force, meanwhile, if the framework of the flexible arm is directly connected with a tungsten wire rope structure, the elastic deformation error of the tungsten wire rope can be directly loaded on the nickel titanium alloy wire so as to reduce the pose precision of end driving, and the problem that the whole driving structure is pushed forward can also occur. The tensioning structure of the tungsten wire rope is further increased, the service life of the device is prolonged due to tensioning of the tungsten wire rope, the elastic force of the tensioning wheel structure is provided by the belleville spring, the axial size of the tensioning wheel structure is reduced, the structure is more compact, and the overall size of the device seat is further reduced.

The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and these equivalent changes all fall within the scope of the present invention.

Claims

1. A proximal drive structure for a flexible arm, characterized by:

2. The proximal drive structure of a flexible arm according to claim 1, wherein: the number of drive assemblies is set according to the degree of freedom of the distal end to perform structural bending movements.

3. The proximal drive structure of a flexible arm according to claim 1, wherein: the two movable parts are respectively fixedly connected with a traction wire, and the traction wire is matched and connected with a certain degree of freedom of the far-end execution structure so as to realize the motion of the degree of freedom under the drive of the driving rope.

4. The proximal drive structure of a flexible arm according to claim 1, wherein: the two movable pieces are respectively arranged in the first sliding grooves which are symmetrical with each other in a sliding way, and do relative movement in the two first sliding grooves under the action of the driving rope.

5. The flexible arm proximal drive structure of claim 4, wherein: the bearing body is provided with a guide plate which rotates around an axis to enable two ends of the guide plate to do opposite relative movement, the movable piece is slidably arranged in a second chute arranged at two ends of the guide plate, and the extending direction of the second chute is different from that of the first chute.

6. The proximal drive structure of a flexible arm according to claim 4 or 5, wherein: and a fixed support is arranged on the supporting body, and the first sliding groove is arranged on the fixed support.

7. The flexible arm proximal drive structure of claim 4, wherein: the two ends of the first sliding groove are provided with guide wheels which are used for winding the driving rope to change the extending direction of the driving rope.

8. The flexible arm proximal drive structure of claim 5, wherein: an upright post is arranged between the two movable pieces, and the guide plate is rotatably arranged on the upright post.

9. The flexible arm proximal drive structure of claim 8, wherein: the upright post is provided with a movable groove, and the guide plate is arranged in the movable groove in a penetrating manner and is rotatably arranged on the upright post through a pin shaft.

10. The flexible arm proximal drive structure of claim 9, wherein: the difference between the width of the movable groove in the length direction of the upright post and the width of the guide plate is larger than or equal to the maximum distance of the driving rope driving the traction wire to move.

11. The flexible arm proximal drive structure of claim 5, wherein: the drive mechanism includes a capstan for winding a drive rope, the capstan having an axis of rotation perpendicular to the guide plate axis of rotation.