| CPC A61B 34/37 (2016.02) [A61B 2017/00477 (2013.01)] | 19 Claims |
|
1. An operating arm, comprising successively connected a driving cartridge, a link, an end instrument, and a first group of driving wire and a second group of driving wire penetrating the link,
the end instrument comprising a connecting assembly connected to the link and an end effector connected to the connecting assembly, the connecting assembly comprising a first connecting unit coupled to the end effector, a second connecting unit coupled to the first connecting unit, a third connecting unit coupled to the second connecting unit, a fourth connecting unit coupled to the third connecting unit, and a fifth connecting unit having one end coupled to the fourth connecting unit and another end coupled to the link, two of the first, the second, the third, the fourth, and the fifth connecting units rotatable relative to each other about a rotation axis, and the rotation axis of each connecting unit joint assembly nonparallel to the rotation axis of an adjacent connecting unit; and
the driving cartridge comprising a base connected to the link, and at least two driving shaft assemblies arranged on the base, each of the at least two driving shaft assemblies comprising a first rotatable shaft arranged on the base, and a second rotatable shaft arranged on the first rotatable shaft and coaxially rotatable with the first rotatable shaft, the first group of driving wire comprising a first driving wire, a second driving wire, a third driving wire, and a fourth driving wire all wound around one of the at least two driving shaft assemblies, the first driving wire and the second driving wire both starting from the first rotatable shaft, the third driving wire and the fourth driving wire both starting from the second rotatable shaft, the second group of driving wire comprising a fifth driving wire, a sixth driving wire, a seventh driving wire, and an eighth driving wire all wound around another one of the at least two driving shaft assemblies, the fifth driving wire and the sixth driving wire both starting from the first rotatable shaft, the seventh driving wire and the eighth driving wire both starting from the second rotatable shaft, the first driving wire, the second driving wire, the fifth driving wire, and the sixth driving wire all terminating at the first connecting unit, the third driving wire, the fourth driving wire, the seventh driving wire, and the eighth driving wire all terminating at the third connecting unit, thereby the first group of driving wire and the second group of driving wire drives the end instrument to move in a direction corresponding to a degree of freedom during rotation of the at least two driving shaft assemblies.
|