CN211750045U

CN211750045U - Drive box, operation arm and surgical robot

Info

Publication number: CN211750045U
Application number: CN202020157383.4U
Authority: CN
Inventors: 黄健; 王雪生; 高元倩; 王建辰
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2020-02-09
Filing date: 2020-02-09
Publication date: 2020-10-27
Anticipated expiration: 2030-02-09

Abstract

The utility model discloses a drive box, operation arm and surgical robot, the drive box passes through the connecting rod and runs through the drive silk and the terminal apparatus connection of connecting rod, a serial communication port, the drive box include with base that the connecting rod is connected, locate winding on the base has the terminal drive shaft that opens and shuts of first group drive silk that winding opposite direction, is located the terminal drive shaft that opens and shuts with first group reversing wheel between the axis of connecting rod, and be located the second group reversing wheel of connecting rod top, first group drive silk warp in proper order behind the switching-over effect of first group reversing wheel and second group reversing wheel, pass the connecting rod with terminal apparatus connection, first group drive silk is in the terminal drive shaft that opens and shuts with the extending direction of the part between the first group reversing wheel with the base is parallel. The utility model discloses can satisfy drive box light weight, small and exquisite requirement.

Description

Drive box, operation arm and surgical robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a drive box, operation arm and surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation.

The slave operation device generally includes a mechanical arm, a power mechanism disposed on the mechanical arm, and an operation arm, the mechanical arm is used to adjust a position of the operation arm, the operation arm is used to extend into a body and perform a surgical operation, and the power mechanism is used to drive a distal end instrument of the operation arm to perform a corresponding operation. However, each driving shaft assembly in the driving box of the existing operating arm can increase other structures such as an adjusting portion for adjusting the tension degree of the driving wire based on different functional requirements, so that the space of the whole driving box is relatively small, and the phenomenon of driving wire interference or structural interference is easy to occur, thereby affecting the normal functions of other assemblies. In order to solve the problem, the existing scheme can cause the space of the whole drive box to be enlarged by adjusting the relative positions of other components, such as the positions of other drive shaft components relative to the base of the drive box, so that the requirements of light weight and small size of the drive box cannot be met.

SUMMERY OF THE UTILITY MODEL

The main object of the utility model is to provide a drive box, operation arm and surgical robot aims at guaranteeing to satisfy drive box light weight, small and exquisite requirement under the condition of each drive shaft subassembly normal function in the drive box.

In order to realize the above-mentioned purpose, the utility model provides a drive box, drive box passes through the connecting rod and runs through the drive silk and the terminal apparatus of connecting rod are connected, drive box include with base that the connecting rod is connected, locate winding on the base has the terminal drive shaft that opens and shuts of the first group drive silk that winding opposite direction is located the terminal drive shaft that opens and shuts with first group reverse wheel between the axis of connecting rod, and be located the second group reverse wheel of connecting rod top, first group drive silk passes through in proper order behind the switching-over effect of first group reverse wheel and second group reverse wheel, pass the connecting rod with terminal apparatus is connected, first group drive silk is in the terminal drive shaft that opens and shuts with the extending direction of the part between the first group reverse wheel with the base is parallel.

Preferably, the winding slot for accommodating the first group of driving wires is arranged on the end opening and closing driving shaft, the first group of driving wires comprises first driving wires close to the base side and second driving wires far away from the base side, and the length of tightening/loosening the first driving wires is equal to the length of loosening/tightening the second driving wires correspondingly.

Preferably, the tail end opening and closing drive shaft comprises a first shaft body wound with the first drive wire and the second drive wire, a first end body arranged at two ends of the first shaft body and close to the base side, and a second end body far away from the base side, wherein a first through hole is formed in one side of the first end body far away from the center of the first shaft body, so that a first bolt can pass through the first through hole to fix the first drive wire at the first through hole; and a second through hole is formed in one side, far away from the center of the first shaft body, of the second end body, so that a second bolt can penetrate through the second through hole to fix the second driving wire at the second through hole.

Preferably, the drive box further comprises a drive shaft assembly arranged on the base and a housing arranged on the base and accommodating the drive shaft assembly and the tail end opening and closing drive shaft, wherein the drive shaft assembly comprises a drive shaft wound with a drive wire and an adjusting part connected with the drive shaft through the drive wire; the adjusting portion is connected with the shell in a sliding mode and used for moving to a preset position along the shell to tension or loosen the driving wire, the driving shaft is used for driving the terminal instrument to move in the direction of the corresponding degree of freedom through the driving wire when rotating, and the driving shaft assembly is a pitching driving shaft assembly or a swaying driving shaft assembly.

Preferably, a sliding groove is formed in the housing, the adjusting portion comprises a sliding block connected with the sliding groove in a sliding mode and an adjusting wheel fixed on the sliding block, and the adjusting wheel is abutted to the driving wire so that the driving wire can be tensioned or loosened when the sliding block moves to the preset position; the shell is further provided with an adjusting piece which is used for abutting against the sliding block and is fastened on the shell when the sliding block moves to the preset position, and the adjusting piece is used for limiting the sliding block to move in the sliding groove.

Preferably, a sliding groove is formed in the shell, the adjusting portion comprises a sliding block tightly connected with the sliding groove and an adjusting wheel fixed on the sliding block, and the adjusting wheel is abutted to the driving wire so as to tension or loosen the driving wire when the sliding block moves to the preset position.

Preferably, the driving box further comprises a rotation driving shaft which is arranged on the base and is wound with a second group of driving wires with opposite winding directions, and a driven driving shaft which is connected with the rotation driving shaft through the second group of driving wires, wherein the driven driving shaft is rotatably connected with the connecting rod.

Preferably, the secondary driving shaft comprises a second shaft body for winding the second group of driving wires, and a first lug is convexly arranged at the tail end of one end, close to the connecting rod, of the secondary driving shaft from the second shaft body along the axial direction of the secondary driving shaft towards the connecting rod; the connecting rod comprises an inner tube extending into the driven shaft and connected with the driven shaft and an outer tube fixedly connected with the inner tube, a notch part corresponding to the first lug is arranged on one side of the outer tube close to the driven shaft, and the notch part is provided with a side wall abutting against the first lug; the gap portion is used for accommodating the first protruding block and is abutted against the side wall of the gap portion through the first protruding block, so that when the driven shaft rotates, the outer tube is driven to rotate through the first protruding block, and the connecting rod is driven to rotate.

In order to achieve the above object, the present invention further provides an operation arm, the operation arm includes the driving box, the connecting rod and the terminal apparatus as described above, the operation arm further includes a driving wire which runs through the connecting rod, and respectively with the terminal apparatus and the driving box is connected.

In order to achieve the above object, the present invention further provides a surgical robot, which includes the above operating arm.

The utility model provides a drive box, operation arm and surgical robot make first group drive silk through setting up be in terminal open and shut the drive shaft with the extending direction of part between the first group reverse wheel with the first group reverse wheel that the base is parallel can make the follow the first group drive silk that the drive shaft was walked around out of terminal open and shut is in order being on a parallel with the direction of base extends, is located through setting up simultaneously the second group reverse wheel of connecting rod top can avoid being in order to ensure to follow the drive silk that terminal open and shut drive shaft department was walked around out can be in a parallel with the direction of base gets into the connecting rod, and lengthens the length that the terminal drive shaft that opens and shuts leads to the problem of the whole space grow of drive box. Therefore, the utility model discloses can satisfy the requirement of drive box light weight and small and exquisite.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of an operation arm of the present invention;

FIG. 2 is a schematic structural view of one embodiment of the open-close end drive shaft assembly of FIG. 1;

FIG. 3 is an assembled view of one embodiment of the slave drive shaft and connecting rod of FIG. 1;

FIG. 4 is an assembly view of one embodiment of the connecting rod and the connecting tube shown in FIG. 1;

FIG. 5 is a schematic structural diagram of an embodiment of the housing and the adjustment portion of FIG. 1;

FIG. 6 is an enlarged view of portion A of FIG. 5;

FIG. 7 is a schematic structural diagram of an embodiment of a pitch angle drive shaft assembly or a roll angle drive shaft assembly.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present application, unless expressly stated or limited otherwise, the terms "connected" and "fixed" are to be construed broadly, e.g., "fixed" may be fixedly connected or detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In addition, descriptions in the present application as to "first", "second", and the like are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The utility model provides a surgical robot, which comprises a main operating platform and a slave operating device, wherein the main operating platform is used for sending a control command to the slave operating device according to the operation of a doctor so as to control the slave operating device; the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation. The slave operation equipment comprises a mechanical arm, a power mechanism arranged on the mechanical arm and an operation arm, wherein the operation arm is used for extending into a body to execute corresponding operation under the driving action of the power mechanism.

As shown in fig. 1, the operation arm 1 includes a driving box 10, a connecting rod 20, and a distal end instrument 30, which are connected in sequence, and the operation arm 1 further includes a driving wire penetrating through the connecting rod 20 and respectively connected to the distal end instrument 30 and the driving box 10.

As shown in fig. 1, the drive cassette 10 is connected to a distal instrument 30 via a linkage 20 and a drive wire extending through the linkage 20. The drive box 10 includes a base 11 connected to the connecting rod 20, a pitch angle drive shaft assembly 12 provided on the base 11, a roll angle drive shaft assembly 15, a rotation drive shaft assembly 17, a tip opening/closing drive shaft assembly 18, and a housing 19 provided on the base 11 and accommodating each drive shaft assembly.

Referring to fig. 2, the end opening and closing driving shaft assembly includes an end opening and closing driving shaft 181 disposed on the base, a first set of reversing wheels 182 located between the end opening and closing driving shaft and the axis of the connecting rod, and a second set of reversing wheels 183 located above the connecting rod. Wherein, a first group of driving wires 184 with opposite winding directions are wound on the end opening and closing driving shaft. The first set of driving wires includes a first driving wire 845 near the base side and a second driving wire 846 far away from the base side, the winding directions of the first driving wire and the second driving wire are opposite, and the length of the first driving wire which is tightened/loosened is correspondingly equal to the length of the second driving wire which is loosened/tightened. The first group of driving wires sequentially pass through the first group of reversing wheels and the second group of reversing wheels after reversing, penetrate through the connecting rod and are connected with the tail end instrument, and in addition, the extending direction of the part, between the tail end opening and closing driving shaft and the first group of reversing wheels, of the first group of driving wires is parallel to the base.

Further, the end opening and closing driving shaft includes a first shaft 811 wound with the first driving wire and the second driving wire, a winding groove 812 provided on the first shaft 811 and accommodating the first driving wire and the second driving wire, and a first end 813 adjacent to the base side and a second end 814 away from the base side provided at both ends of the first shaft 811. A first through hole 815 is formed in one side of the first end body, which is far away from the center of the first shaft body 811, so that a first bolt 816 can pass through the first through hole to fix the first driving wire. A second through hole (not shown) is formed in one side of the second end body, which is far away from the center of the first shaft body 811, so that a second bolt (not shown) can pass through the second through hole to fix the second driving wire to the second through hole. In addition, a third through hole 817 is formed in the first end body and/or the second end body, and the third through hole is used for a rotating rod to pass through so as to rotate the first shaft body 811.

The utility model discloses a setting makes first group drive silk be in the end drive shaft that opens and shuts with the extending direction of the part between the first group reverse wheel with the first group reverse wheel that the base is parallel can make and follow the first group drive silk that the end drive shaft that opens and shuts was walked around is in order being on a parallel with the direction of base extends, is located through setting up simultaneously the reverse wheel is organized to the second of connecting rod top, can avoid in order to ensure to follow the drive silk that the end drive shaft department that opens and shuts was walked around can be in a parallel with the direction of base gets into the connecting rod, and lengthens the length that the end drive shaft that opens and shuts leads to the problem of the whole space grow of drive box. Therefore, the utility model discloses can satisfy the requirement of drive box light weight and small and exquisite. Further, since the first group of driving wires 184 wound from the open/close driving shaft 181 extend in a direction parallel to the base 11, a loss of force of the driving wires at the open/close driving shaft 181 can be reduced.

As shown in fig. 1 and 3, the rotation driving shaft assembly 17 includes a rotation driving shaft 171 provided on the base 11 and wound with a second group of driving wires 170 in opposite winding directions, a driven shaft 172 connected to the rotation driving shaft 171 through the second group of driving wires 170, and guide wheels (not shown) located between the rotation driving shaft 171 and the driven shaft 172 and connected to the rotation driving shaft 171 and the driven shaft 172 through the rotation driving wires, respectively. In this embodiment, the guide wheel 173 is provided to prevent the rotation driving wire from interfering with other driving wires, and the space of the driving box is fully utilized, so that the driving box is more compact. Wherein the driven shaft 172 is rotatably connected to the connecting rod 20.

Specifically, as shown in fig. 3, the driven shaft 172 includes a second shaft body 720 for winding the second group of driving wires 170, and the driven shaft 172 is provided with a first projection 174 projecting from a distal end of the second shaft body 720 near one end of the connecting rod 20 in a direction of the connecting rod 20 along an axial direction thereof. The link 20 includes an inner tube 21 extending into the driven shaft 172 and connected to the driven shaft 172, and an outer tube 22 fixedly connected to the inner tube 21, and the outer tube 22 is provided with a notch 175 corresponding to the first protrusion 174 on a side close to the driven shaft 172. The notch 175 has a sidewall 750 abutting against the first protrusion 174. The notch 175 is used for accommodating the first protrusion 174 and is abutted by the first protrusion 174 and a side wall 750 of the notch 175, so that when the driven shaft 172 rotates, the outer tube 22 is driven to rotate by the first protrusion 174, and the connecting rod 20 is driven to rotate.

The end of the driven shaft 172 on the side close to the connecting rod 20 is further provided with a limit block 176 in a protruding manner along the periphery of the driven shaft 172, and one surface of the limit block 176 facing the base 11 is in abutting connection with one surface of the base 11 facing the connecting rod 20. In this way, the slave drive shaft 172 can be restricted from moving in the drive cartridge 10 in a direction away from the base 11.

Further, as shown in fig. 4, the inner tube 21 is recessed with a receiving groove 210 at an end away from the driving shaft 172, the distal end device 30 has a connecting tube 31 having a tube body 100 for extending into the outer tube, the connecting tube 31 extends from the end of the tube body 100 near one side of the inner tube 21 with a second protrusion 310 along the axial direction of the tube body 100, and the second protrusion 310 is used for connecting with the receiving groove 210 of the inner tube 21 after entering the outer tube 22.

As shown in fig. 1, the pitch angle drive shaft assembly and the roll angle drive shaft assembly are disposed opposite to each other on the base 11, and the rotation drive shaft assembly 17 and the tip opening/closing drive shaft assembly 18 are disposed opposite to each other on the base 11. Of course, in other embodiments, the pitch angle drive shaft assembly 12 and the roll angle drive shaft assembly 15 are disposed adjacent to each other on the base 11, and similarly, the rotation drive shaft assembly 17 and the open-close end drive shaft assembly 18 may be disposed adjacent to each other on the base 11. The relative position of each driving shaft assembly on the base 11 can be reasonably set according to actual needs.

The pitch angle drive shaft assembly 12 and the roll angle drive shaft assembly 15 have the same structure, and for convenience of description, they may be collectively referred to as a drive shaft assembly, or the pitch angle drive shaft assembly 12 may be described as an example. As shown in fig. 1, the pitch angle drive shaft assembly 12 specifically includes a drive shaft 121 around which a drive wire is wound, and an adjustment portion 122 connected to the drive shaft 121 via the drive wire; the adjusting portion 122 is slidably connected to the housing 19, the adjusting portion 122 is configured to move to a predetermined position along the housing 19 to tension or relax the driving wire, and the driving shaft 121 is configured to drive the distal end instrument 30 to move in a direction corresponding to the degree of freedom by the driving wire when rotating. It is to be understood that the predetermined positions may include a first position and a second position, and that the drive wire may be tensioned when the adjustment portion is moved to the first position along the housing; the drive wire may be relaxed when the adjustment portion moves to the second position along the housing. It is understood that the specific structure of the swing angle drive shaft assembly is the same as above, and the detailed description is omitted here.

In one embodiment, as shown in fig. 1, the adjusting portion 122 includes a sliding block 221 slidably connected to the sliding groove, and an adjusting wheel 222 fixed to the sliding block 221. As shown in fig. 5 and 6, a sliding groove 190 is provided on the housing 19, and the adjusting wheel 222 abuts against the driving wire to tension or relax the driving wire when the sliding block 221 moves to the predetermined position in the sliding groove 190. The housing 19 is further provided with an adjusting member 14 fastened to the housing 19 when the sliding block 221 is abutted to move to the predetermined position, and the adjusting member 14 is used for limiting the movement of the sliding block 221 in the sliding groove 190.

In another embodiment, as shown in fig. 1, the adjusting portion 122 includes a sliding block 221 slidably connected to the sliding groove 190 and an adjusting wheel 222 fixed to the sliding block 221. As shown in fig. 5 and 6, a sliding groove 190 is provided on the housing 19, and the adjusting wheel 222 abuts against the driving wire to tension or relax the driving wire when the sliding block 221 moves to the predetermined position in the sliding groove 190. In this embodiment, the sliding block 221 is tightly connected to the sliding groove 190, so that, compared with the previous embodiment, there is no need to provide an adjusting member 14.

As shown in fig. 7, the pitch angle drive shaft assembly 12 or the roll angle drive shaft assembly includes a first rotating shaft 123 provided on the base 11, and a second rotating shaft 124 provided on the first rotating shaft 123 and rotating coaxially with the first rotating shaft 123. The second rotating shaft 124 is rotatably adjustable relative to the first rotating shaft 123 to adjust the posture of the distal end instrument 30 to the initial state. In this embodiment, the diameter L1 of the second rotating shaft 124 is larger than the diameter L2 of the first rotating shaft 123. L1/L2 is a/b (a and b each indicate the distance the corresponding drive wire moves on one side). In other embodiments, the diameter of the first shaft 123 is equal to the diameter of the second shaft 124.

It can be understood that, when the posture of the distal end instrument 30 needs to be adjusted to the initial state, the distal end instrument 30 may be clamped by a zero position tool adjusting member (not shown in the figure) to keep the linear state; at this time, if the posture of the distal end instrument 30 is not yet set to the initial state, the position of the second rotating shaft 124 with respect to the first rotating shaft 123 may be further adjusted by the rotating lever, so that the distal end instrument 30 may be further set to the initial state.

Further, as shown in fig. 7, the pitch angle driving shaft assembly 12 further includes a third set of steering wheels 213 located between the first rotating shaft 123 and the axis of the connecting rod 20 and connected to the first rotating shaft 123 through a third set of driving wires 125, and a fourth set of steering wheels 214 located between the second rotating shaft 124 and the axis of the connecting rod 20 and connected to the second rotating shaft 124 through a fourth set of driving wires 126. It will be appreciated that the third set of diverting pulleys 213 is used to guide the third set of driving wires 125 extending from the first rotating shaft 123, and at the same time, prevent the third set of driving wires 125 from slipping off the corresponding winding grooves. Similarly, the second set of diverting pulleys 1214 is used to guide the fourth set of driving wires 126 extending from the second rotating shaft 124, and at the same time, prevent the fourth set of driving wires 126 from slipping off the corresponding winding slots.

Further, the adjusting wheel 222 includes a first group of adjusting wheels 226 connected to the third group of steering wheels 213 through the third group of driving wires 125, and a second group of adjusting wheels 227 connected to the fourth group of steering wheels 214 through the fourth group of driving wires 126, the third group of driving wires 125 passes through the connecting rod 20 and is connected to the distal end device 30 after being tensioned by the third group of adjusting wheels 226, and the fourth group of driving wires 126 passes through the connecting rod 20 and is connected to the distal end device 30 after being tensioned by the second group of adjusting wheels 227.

The third set of reversing wheels 213 and the first set of adjusting wheels 226 are located on two sides of the third set of driving wires 125 opposite to each other, and the portion of the third set of driving wires 125 located between the first set of reversing wheels 1213 and the first set of adjusting wheels 226 is in a linear state, so that the force loss generated when the third set of driving wires 125 pass through the third set of reversing wheels 213 and the first set of adjusting wheels 226 can be reduced; and/or the fourth group of reversing wheels 214 and the second group of adjusting wheels 227 are located on two sides of the fourth group of driving wires 126 opposite to each other, and the portion of the fourth group of driving wires 126 located between the fourth group of reversing wheels 214 and the second group of adjusting wheels 227 is in a straight line state, so that the force loss generated when the fourth group of driving wires 126 pass through the fourth group of reversing wheels 214 and the second group of adjusting wheels 227 can be reduced.

Further, the pitch angle driving shaft assembly 12 further includes a fifth set of steering wheels 215 located above the connecting rod 20 and respectively connected to the first set of adjusting wheels 226, the third set of steering wheels 213 and the first rotating shaft 123 sequentially through the third set of driving wires 125, so as to guide the third set of driving wires 125 tensioned by the first set of adjusting wheels 226 to penetrate through the connecting rod 20 and be connected to the distal end instrument 30; and a sixth group of reversing wheels 216 which are located above the connecting rod 20 and are respectively connected with the second group of adjusting wheels 227, the fourth group of reversing wheels 214 and the second rotating shaft 124 sequentially through the fourth group of driving wires 126, so as to guide the fourth group of driving wires 126 tensioned by the second group of adjusting wheels 227 to penetrate through the connecting rod 20 and be connected with the end instrument 30. The direction of extension of the third set of drive wires 125 after reversing over the fifth set of reversing wheels 215 is parallel to the direction of extension of the portion of the third set of drive wires 125 between the first set of adjustment wheels 226 and the fifth set of reversing wheels 215; the direction of extension of the fourth set of drive wires 126 after being reversed by the sixth set of reversing wheels 216 is parallel to the direction of extension of the portion of the fourth set of drive wires 126 between the second set of adjustment wheels 227 and the sixth set of reversing wheels 216.

The above is only the optional embodiment of the present invention, and not therefore the limit of the patent scope of the present invention, all of which are in the concept of the present invention, the equivalent structure transformation of the content of the specification and the drawings is utilized, or the direct/indirect application is included in other related technical fields in the patent protection scope of the present invention.

Claims

1. The utility model provides a drive box, drive box passes through the connecting rod and runs through the drive silk and the terminal apparatus connection of connecting rod, its characterized in that, drive box include with base that the connecting rod is connected, locate winding on the base has the terminal drive shaft that opens and shuts of the first group drive silk that winding direction is opposite, is located the terminal drive shaft that opens and shuts with first group reverse wheel between the axis of connecting rod, and be located the second group reverse wheel of connecting rod top, first group drive silk passes through in proper order behind the switching-over effect of first group reverse wheel and second group reverse wheel, pass the connecting rod with terminal apparatus connection, first group drive silk is in terminal drive shaft that opens and shuts with the extending direction of the part between the first group reverse wheel with the base is parallel.

2. The drive cartridge as in claim 1, wherein said open-close distal drive shaft is provided with a winding slot for receiving said first set of drive wires, said first set of drive wires including a first drive wire closer to said base side and a second drive wire farther from said base side, said first drive wire having a corresponding equal tightened/loosened length and said second drive wire having a corresponding equal loosened/tightened length.

3. The drive cartridge as claimed in claim 2, wherein the open-close end driving shaft includes a first shaft body wound with the first driving wire and the second driving wire, and a first end body disposed at both ends of the first shaft body and adjacent to the base side and a second end body disposed at a side away from the base side, the first end body having a first through hole at a side away from a center of the first shaft body for a first bolt to pass through to fix the first driving wire at the first through hole; and a second through hole is formed in one side, far away from the center of the first shaft body, of the second end body, so that a second bolt can penetrate through the second through hole to fix the second driving wire at the second through hole.

4. The drive cartridge of any one of claims 1 to 3, further comprising a drive shaft assembly provided on the base and a housing provided on the base and housing the drive shaft assembly and the open-ended drive shaft, the drive shaft assembly comprising a drive shaft wound with a drive wire, an adjustment portion connected to the drive shaft by the drive wire; the adjusting portion is connected with the shell in a sliding mode and used for moving to a preset position along the shell to tension or loosen the driving wire, the driving shaft is used for driving the terminal instrument to move in the direction of the corresponding degree of freedom through the driving wire when rotating, and the driving shaft assembly is a pitching driving shaft assembly or a swaying driving shaft assembly.

5. The drive cassette according to claim 4, wherein a slide groove is provided on the housing, the adjusting portion includes a slider slidably connected to the slide groove and an adjusting wheel fixed to the slider, the adjusting wheel abuts against the drive wire to tension or relax the drive wire when the slider moves to the predetermined position; the shell is further provided with an adjusting piece which is used for abutting against the sliding block and is fastened on the shell when the sliding block moves to the preset position, and the adjusting piece is used for limiting the sliding block to move in the sliding groove.

6. The drive cassette according to claim 4, wherein a slide groove is provided on the housing, the adjusting portion includes a slider tightly connected to the slide groove, and an adjusting wheel fixed to the slider, the adjusting wheel abutting against the drive wire to tension or relax the drive wire when the slider moves to the predetermined position.

7. The drive cassette according to any one of claims 1 to 3, further comprising a rotation drive shaft provided on the base and wound with a second group of drive wires wound in opposite directions, and a slave drive shaft connected to the rotation drive shaft through the second group of drive wires, the slave drive shaft being rotatably connected to the link.

8. The drive cartridge as claimed in claim 7, wherein said slave drive shaft includes a second shaft body for winding said second group of drive wires, said slave drive shaft being provided with a first projection projecting from a tip end of said second shaft body near one end of said link rod in a direction of the axial direction thereof toward said link rod; the connecting rod comprises an inner tube extending into the driven shaft and connected with the driven shaft and an outer tube fixedly connected with the inner tube, a notch part corresponding to the first lug is arranged on one side of the outer tube close to the driven shaft, and the notch part is provided with a side wall abutting against the first lug; the gap portion is used for accommodating the first protruding block and is abutted against the side wall of the gap portion through the first protruding block, so that when the driven shaft rotates, the outer tube is driven to rotate through the first protruding block, and the connecting rod is driven to rotate.

9. An operating arm comprising a drive cassette as claimed in any one of claims 1 to 8, a linkage and a tip instrument, the operating arm further comprising a drive wire extending through the linkage and connected to the tip instrument and the drive cassette respectively.

10. A surgical robot, characterized in that it comprises an operating arm according to claim 9.