CN111407412B

CN111407412B - A natural orifice surgical end effector

Info

Publication number: CN111407412B
Application number: CN202010250128.9A
Authority: CN
Inventors: 高谦; 肖维; 陈儒林; 方嘉灏; 黄彦玮; 孙正隆
Original assignee: Chinese University of Hong Kong Shenzhen
Current assignee: Chinese University of Hong Kong Shenzhen
Priority date: 2020-04-01
Filing date: 2020-04-01
Publication date: 2021-03-30
Anticipated expiration: 2040-04-01
Also published as: CN111407412A

Abstract

The invention discloses a natural orifice operation end manipulator, comprising: a wrist base, a wrist first pitch joint, a wrist first deflection joint, a rotation mechanism, a first driving wire and a control motor; The pitch joint includes: a first upper base, a first lower base, a first upper gear and a first lower gear, and the first deflection joint of the wrist includes: a second upper base, a second lower base, and a second upper gear and the second lower gear, the first driving wires pass through the first upper base, the first lower base, the second upper base and the second lower base in sequence and are connected to the rotation mechanism, and the middle of the four first driving wires The upper circumferential array is arranged to provide rotational torque for the autorotation mechanism. The end manipulator for natural orifice surgery provided by the present invention utilizes four first driving wires that penetrate through a plurality of bases and are arranged in a circumferential array, so as to realize the pitch rotation of the first pitch joint of the wrist, and the first pitch of the wrist. The yaw rotation of the yaw joint and the autorotation movement of the autorotation mechanism.

Description

Natural cavity operation end manipulator

Technical Field

The invention relates to the technical field of medical equipment, in particular to a natural cavity surgery end manipulator.

Background

With the development of science and technology, the minimally invasive surgery mode is also continuously improved, from laparoscopic surgery to single-hole surgery, and then from single-hole surgery to natural orifice surgery; compared with the traditional minimally invasive surgery, the natural orifice surgery has the advantages of no body surface wound, light pain, quick recovery and the like.

The natural orifice operation is that the end manipulator is delivered to the focus (in vivo) through the natural orifice (oral cavity, anus, vagina, etc.) and fixed at the end of the mechanical arm, the driving element (usually motor) of the operation manipulator is arranged outside the body, and the driving force is transmitted to the end manipulator in the body of the patient through the driving silk thread. Because the flexible drive wire can only transmit tension but not pressure, and a single drive wire is provided with tension by a single independent motor, the single degree of freedom of the existing surgical end effectors is usually realized by two drive wires and two motors. For example, to realize rotation of the wrist portion of the end effector, at least one driving wire and one motor are needed to realize left rotation, and another driving wire and another motor are needed to realize right rotation, so that more motors are needed, and the control difficulty is high. Moreover, the operation manipulator is delivered to the focus through the narrow natural orifice of the human body, and the structure compactness of the operation manipulator can meet the requirement of narrow operation space while the operation manipulator has enough freedom degree to facilitate the operation.

Obviously, how to meet the requirement of the surgical manipulator on the basis of ensuring that the surgical manipulator has enough freedom degree, and reducing the use of a motor, thereby reducing the control difficulty becomes a technical problem to be solved urgently in further development of natural orifice surgery.

It can be seen that the prior art is still in need of improvement and development.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, the present invention provides a natural orifice surgical end effector, which is intended to ensure the natural orifice surgical end effector to have sufficient freedom and meet the requirement of compact structure; and the number of required motors is reduced, so that the control difficulty is reduced.

The technical scheme of the invention is as follows:

a natural orifice surgical end effector, comprising: the wrist-mounted robot comprises a wrist base, a first wrist pitching joint, a first wrist deflecting joint, a self-rotating mechanism, a first driving silk thread and a control motor;

the wrist first pitch joint comprises: the first upper base is provided with a first upper gear, the first lower base is provided with a first lower gear, the first upper gear is meshed with the first lower gear, and the first lower gear can rotate in a first direction relative to the first upper gear;

the wrist first yaw joint comprises: the second upper base is provided with a second upper gear, the second lower base is provided with a second lower gear, the second upper gear is meshed with the second lower gear, the second lower gear can rotate in a second direction relative to the second upper gear, and the first direction is vertical to the second direction;

the four first driving silk threads are provided, each first driving silk thread is provided with a control motor, the first driving silk threads sequentially penetrate through the first upper base, the first lower base, the second upper base and the second lower base and are connected to the rotation mechanism, the middle upper portions of the four first driving silk threads are circumferentially arrayed, and the four first driving silk threads are matched to provide rotation torque force for the rotation mechanism.

In a further preferred aspect, the natural orifice surgical end effector further includes: the first wrist pitching joint, the first wrist deflecting joint and the second wrist pitching joint are sequentially arranged, and the second wrist pitching joint is configured by the same parts as the first wrist pitching joint.

In a further preferred aspect, the natural orifice surgical end effector further includes: and the first wrist pitching joint, the first wrist deflecting joint, the second wrist pitching joint and the second wrist deflecting joint are sequentially arranged, and the second wrist deflecting joint is configured by the same parts as the first wrist deflecting joint.

In a further preferred embodiment, the four first drive wires comprise in particular: the two first pitching driving silk threads are used for driving the first lower base to rotate in a first direction relative to the first upper base, and the two second deflection driving silk threads are used for driving the second lower base to rotate in a second direction relative to the second upper base.

In a further preferred aspect, the rotation mechanism includes: the device comprises an autorotation upper base and an autorotation lower base, wherein a rotating table is arranged at one end of the autorotation upper base facing to the autorotation lower base, the autorotation lower base is rotatably connected to the rotating table, the parts of two first pitching driving silk threads between the autorotation upper base and the autorotation lower base are arranged in a crossed mode, and the parts of two second deflecting driving silk threads between the autorotation upper base and the autorotation lower base are also arranged in a crossed mode.

In a further preferred aspect, the natural orifice surgical end effector further includes: a rotating guide, the rotating guide comprising: the upper rotary column is rotatably connected to the first upper base and/or the second upper base, and the lower rotary column is rotatably connected to the first lower base and/or the second lower base.

In a further preferred aspect, the natural orifice surgical end effector further includes: a finger mechanism, the finger mechanism comprising: finger root, middle finger and two finger tips; the finger root is rotatably connected with the middle part of the finger to form a finger pitching joint; the finger is rotatably connected with two fingertips and forms a finger deflection joint; the two finger tips form the interphalangeal joint.

In a further preferable scheme, two first annular grooves are formed in the middle of one end, close to the finger root, of the finger tip, two second annular grooves are formed in the middle of one end, close to the finger tip, of the finger tip, and the axis of each second annular groove is perpendicular to the axis of each first annular groove; and the side surfaces of the opposite sides of the two fingertips are provided with silk thread sliding channels which are communicated with the second annular groove.

In a further preferred aspect, the natural orifice surgical end effector further includes: and the middle of each second driving silk thread is divided into two threads after passing through the silk thread sliding channel, and the two threads are sequentially passed through the second annular groove and the first annular groove and penetrate through the second lower base, the second upper base, the first lower base and the first upper base to be connected with a control motor.

In a further preferred embodiment, the wire sliding channel is a curved channel, and a protrusion is surrounded on the inner side of the curved channel.

Compared with the prior art, the natural cavity surgery end effector provided by the invention comprises: the wrist-mounted robot comprises a wrist base, a first wrist pitching joint, a first wrist deflecting joint, a self-rotating mechanism, a first driving silk thread and a control motor; the wrist first pitch joint comprises: first upper base and first base down, first upper base are provided with first upper gear, are provided with first lower gear on the first base down, and the first joint that deflects of wrist includes: base under second upper base and the second, second upper base are provided with the gear on the second, are provided with the gear under the second on the base under the second, and the first joint that deflects of wrist includes: the first driving silk threads sequentially penetrate through the first upper base, the first lower base, the second upper base and the second lower base and are connected to the rotation mechanism, the middle upper parts of the four first driving silk threads are circumferentially arrayed, and the four first driving silk threads are matched to provide rotation torque force for the rotation mechanism. According to the natural cavity surgery end manipulator provided by the invention, the pitching rotation of the first pitching joint of the wrist, the deflection rotation of the first deflection joint of the wrist and the autorotation motion of the autorotation mechanism can be realized by using the four first driving silk threads which penetrate through the plurality of bases and are circumferentially arrayed, so that the control of three degrees of freedom is realized by using the four control motors and the four driving silk threads, the use of the motors is reduced, and the control difficulty of the end manipulator is further reduced.

Drawings

FIG. 1 is a schematic view of the natural orifice surgical end effector of the preferred embodiment of the present invention.

Figure 2 is a schematic diagram of the structure of a first pitch joint of the wrist in a preferred embodiment of the invention.

Figure 3 is an exploded view of a first pitch joint of the wrist in a preferred embodiment of the invention.

Fig. 4 is a schematic structural view of a first upper base and a first upper fixing ring used in the preferred embodiment of the present invention.

FIG. 5 is a schematic diagram of the positional relationship of the first wrist pitch joint, the first wrist yaw joint, the second wrist pitch joint and the second wrist yaw joint according to the preferred embodiment of the present invention.

Fig. 6 is a schematic view of the connection structure of the wrist base and the first upper base according to the preferred embodiment of the present invention.

Fig. 7 is an exploded view of the rotation mechanism in the preferred embodiment of the present invention.

Fig. 8 is a schematic view of the winding pattern of four first drive wires at the spinning mechanism in the preferred embodiment of the present invention.

Figure 9 is a schematic view of the finger mechanism of the preferred embodiment of the present invention.

FIG. 10 is a schematic view of the winding of a second drive wire at a first point in time at a first viewing angle in a preferred embodiment of the invention.

FIG. 11 is a schematic representation of the winding of a second drive wire at a second viewing angle at the first fingertip in a preferred embodiment of the present invention.

Fig. 12 is a schematic illustration of the winding of a second drive wire at the finger according to a preferred embodiment of the invention.

Detailed Description

The invention provides a natural cavity surgery end effector, which is further described in detail below by referring to the attached drawings and examples in order to make the purpose, technical scheme and effect of the invention clearer and clearer. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The present invention provides a natural orifice surgical end effector, as shown in fig. 1, which includes: a wrist mechanism 100, a rotation mechanism 200, a finger mechanism 300, a drive wire 400, and a control motor (not shown). The implementation of the degrees of freedom of the finger mechanism 300 (i.e., the finger yaw, pitch, and opening/closing degrees of freedom) may be implemented using prior art structures, but preferably using the control structure provided below, see below.

The wrist mechanism 100 provided by the present invention mainly includes: the wrist base 110, the first wrist pitch joint 120, and the first wrist yaw joint 130, as shown in fig. 1; the wrist base 110 is fixed, the wrist first pitch joint 120 is capable of rotating the wrist in a first direction (referred to as pitch motion, which is opposite to yaw motion in the present invention; it is understood that rotation in the first direction is referred to as yaw motion, and rotation in a second direction is referred to as pitch motion, which should not be construed as limiting the scope of the present invention), and the wrist first yaw joint 130 is capable of rotating the wrist in a second direction, which is perpendicular to the first direction.

Preferably, the drive wire 400 includes: a first driving wire 410 (shown in fig. 1) for controlling the rotation of the rotation mechanism 200, the pitch of the wrist mechanism 100, and the yaw of the wrist mechanism 100, and a second driving wire 420 (shown in fig. 1) for controlling the pitch, the yaw, and the opening and closing of the finger mechanism 300.

As shown in fig. 2 and 3, the wrist first pitch joint 120 preferably includes: the first upper base 121, the first upper gear 122, the first lower gear 123 and the first lower base 124 (preferably, the first upper base 121 and the first lower base 124 have the same structure and are symmetrically arranged), the first upper gear 122 is fixedly connected to or integrally formed with the first upper base 121, the first lower gear 123 is fixedly connected to or integrally formed with the first lower base 124, the first upper gear 122 is engaged with the first lower gear 123, the first lower gear 123 can rotate in a first direction relative to the first upper gear 122, and the first lower base 124 also rotates in the first direction relative to the first upper base 121 because the bases are fixedly connected to or integrally formed with the gears.

Preferably, two first upper gears 122 and two first lower gears 123 are provided (as shown in fig. 2 and 3), and the two first upper gears 122 are respectively engaged with the two first lower gears 123, so as to improve the stability of the first lower gears 123 and the first lower base 124 during rotation, i.e. the stability of the wrist pitching motion.

Further, the wrist first pitch joint 120 further includes: a first upper fixing ring 126 and a first lower fixing ring 127, wherein the first upper gear 122 is integrally formed on the first upper fixing ring 126 and is fixedly connected to the first upper base 121 through the first upper fixing ring 126; similarly, the first lower gear 123 is integrally formed on the first lower fixing ring 127, and is fixedly connected to the first lower base 124 through the first lower fixing ring 127. Specifically, as shown in fig. 4, a connection groove 121a is formed in a side of the first upper base 121 facing the first upper gear 122, the first upper fixing ring 126 is fixed in the connection groove 121a in an interference fit manner, and the connection manner of the first lower fixing ring and the first lower base is the same, and is not repeated and illustrated.

As a preferred embodiment of the present invention, the wrist first pitch joint 120 further includes: a rotating guide 125 (shown in fig. 2 and 3), wherein the rotating guide 125 comprises: an upper rotary column 125a, a connecting plate 125b and a lower rotary column 125c, wherein the upper rotary column 125a is rotatably connected to a first upper base 121 (the first upper base 121 is provided with a first rotary hole 121b adapted to the upper rotary column 125a, and in the case of providing a first upper fixing ring 126, preferably, the first upper fixing ring 126 is also provided with a second rotary hole 126a adapted to the upper rotary column 125a, and the connection between the lower rotary column 125c and the first lower base 124 is the same, and will not be described again), and the lower rotary column 125c is rotatably connected to the first lower base 124; the two ends of the connecting plate 125b are respectively connected to the upper rotating column 125a and the lower rotating column 125 c.

The wrist first yaw joint 130 is configured by the same components as the wrist first pitch joint 120, except that the arrangement direction of the components of the wrist first yaw joint 130 is not the same as the arrangement direction of the components of the wrist first pitch joint 120, but is 90 ° yaw on the basis of the arrangement direction, specifically, 90 ° yaw with the axis of the first upper fixing ring as the center line, as shown in fig. 5.

Preferably, the wrist mechanism further comprises: preferably, the wrist second pitch joint 140 is configured by exactly the same components as the wrist first pitch joint 120, and the wrist second yaw joint 150 is configured by exactly the same components as the wrist first yaw joint 130 (including the arrangement direction of the components) as the wrist second pitch joint 150. The wrist second pitch joint 140 and the wrist second yaw joint 150 are arranged so that the wrist can be bent at a larger angle; the wrist is lengthened and the accessible range is enlarged.

In specific implementation, one end of the wrist base 110 facing the first upper base 121 is provided with a plurality of first retaining protrusions 110a, the first upper base 121 is adapted to the first retaining protrusions 110a and is provided with a plurality of first retaining grooves (as shown in the matching relationship shown in fig. 6, since the first retaining grooves are filled by the first retaining protrusions 110a, labeling cannot be performed), and the first retaining protrusions 110a are inserted and connected in the first retaining grooves in an interference fit manner; in order to further improve the connection reliability between the wrist base 110 and the first upper base 121, the first upper base 121 is further provided with a plurality of second clamping protrusions 121c at an end facing the wrist base 110, and similarly, the wrist base 110 is provided with a plurality of first clamping grooves adapted to the second clamping protrusions 121 c. In addition, the first lower base of the wrist first pitch joint 120 and the second upper base of the wrist first yaw joint 130, the first upper base of the wrist second pitch joint 140 and the second lower base of the wrist first yaw joint 130, and the first lower base of the wrist second pitch joint 140 and the second upper base of the wrist second yaw joint 150 may be connected together by adopting such a structure.

As shown in fig. 6, the first upper base 121 is provided with four first thread holes 121d for the first driving thread 410 (shown in fig. 1) to pass through; the other bases are also possible.

According to another aspect of the present invention, the rotation mechanism 200 includes: the present invention relates to a wind turbine, and more particularly, to a wind turbine comprising a rotation upper base 210 and a rotation lower base 220, wherein a rotation table 240 is disposed at one end of the rotation upper base 210 facing the rotation lower base 220, the rotation lower base 220 is rotatably connected to the rotation table 240, a portion of two first pitching driving wires between the rotation upper base 210 and the rotation lower base 220 is crossed, and a portion of two second yawing driving wires between the rotation upper base 210 and the rotation lower base 220 is also crossed.

The first driving wire 410 is preferably provided with four wires, namely a first wire 411, a second wire 412, a third wire 413 and a fourth wire 414 (two wires are essential, each divided into two, but since the divided two wires have different functions, the movement process will be described as four single wires hereinafter for clarity, but it is not difficult to see fig. 8 that the

wires

411 and 412 are divided by the same wire from the rotation base 220, and the

wires

413 and 414 are also the same).

As shown in fig. 8 (the image shown in fig. 8 is reversed, and therefore the arrow of the ascending and descending direction of the filament is also reversed), when the corresponding control motor stretches the first filament 411 and the third filament 413, and the corresponding control motor releases the second filament 412 and the fourth filament 414, the rotation lower base 220 receives a rotation force due to the intersection between 411 and 414 and the intersection between 412 and 413, and rotates relative to the rotation upper base 210; on the contrary, the rotation lower base 220 will be subjected to the reverse rotation torque force and will rotate in the reverse direction with respect to the rotation upper base 210.

When the corresponding control motor stretches the first thread 411 and the second thread 412 and releases the third thread 413 and the fourth thread 414, because the lengths of the first thread 411 and the second thread 412 are shortened, the second lower base of the first deflection joint of the wrist rotates in the direction of the first thread 411 and the second thread 412 relative to the second upper base under the tension of the first thread 411 and the second thread 412; conversely, the second lower base of the first wrist-deflecting joint rotates in the direction of the third and

fourth wires

413, 414 relative to the second upper base, thereby realizing wrist-deflecting motion.

When the corresponding control motor stretches the first wire 411 and the fourth wire 414 and releases the second wire 412 and the third wire 413, because the lengths of the first wire 411 and the fourth wire 414 are shortened, the first lower base of the first wrist pitch joint rotates in the direction of the first wire 411 and the fourth wire 414 relative to the first upper base under the tension of the first wire 411 and the fourth wire 414; conversely, the first lower base of the first wrist pitch joint rotates in the direction of the second wire 412 and the third wire 413 with respect to the first upper base, thereby realizing the wrist pitch motion.

Wrist pitch and yaw are also controlled by releasing or pulling four of the first drive wires 410, the specific combined control logic is shown in the following table:

	wrist deflection degree of freedom	Wrist pitch degree of freedom	Degree of freedom of rotation
				Drive wire
411	↑	↑	↓
				Drive wire
412	↑	↓	↑
				Drive wire 413	↓	↓	↓
Drive wire 414	↓	↑	↑

According to another aspect of the present invention, as shown in fig. 1 and 9, the finger mechanism 300 includes: a base 310, a middle 320, and two fingertips (330 and 340); the finger root 310 is rotatably connected with the middle finger 320 and forms a finger pitching joint (namely, the finger root 310 and the middle finger are matched for realizing the pitching motion of the finger); the finger is rotatably connected with two finger tips and forms a finger deflecting joint (namely the three parts are matched to realize the deflecting motion of the finger); the two fingertips form an interphalangeal opening and closing joint, and the surgical end manipulator clamps other instruments through the first forceps head 331 and the second forceps head 341.

In practice, the base 310 and the middle 320 are hinged by the snap rivet 14 (other rotatable structures are also possible, and the middle and the finger tips are also possible). The connection between the finger base 310 and the wrist mechanism 200 is preferably a key slot interference fit connection (please refer to the connection between the wrist base 110 and the first upper base 121, which is not described in detail).

As shown in fig. 10, first fingertip 330 includes: a first binding clip 331 and a first pulley 332, wherein a yarn sliding channel (the yarn sliding channel is filled with a second driving yarn and is not labeled) is formed in the middle of the first pulley 332, a protrusion 333 is surrounded on the inner side of the yarn sliding channel, the outer wall of the protrusion may be a curved surface or an arc-shaped surface, preferably a curved surface, to increase the contact length between the driving yarn and the first pulley, thereby increasing friction force, preventing relative sliding between the driving yarn and the first pulley, and ensuring reliability of yarn driving. Preferably, the second fingertip 340 has the same structure as the first fingertip 330, and thus, the description thereof is omitted.

It will be appreciated that when the wire 421 is pulled and the wire 422 is released, the first forcer head 331 will rotate away from the second forcer head 341 to effect finger tip opening; conversely, the first pincer 331 rotates toward the direction close to the second pincer 341, so as to close the finger tip.

As shown in fig. 11, a second annular groove a332a is formed on the outer edge of the first pulley 332, and the thread 421 and the thread 422 are respectively attached to two sides of the second annular groove a332a for winding; similarly, a second annular groove B342a is formed on the outer edge of the second pulley 342, and the thread 423 and the thread 424 are respectively attached to two sides of the second annular groove B342a for winding. When the

threads

421 and 423 are simultaneously stretched and the

threads

422 and 424 are released, the first fingertip 330 and the second fingertip 340 will simultaneously rotate around the finger to the side of the thread 421 (figure 11 hides the finger from view for clarity of illustration of the way the thread is wrapped), thereby completing the finger's deflection movement; if the release and stretching of the wire is reversed, the direction of rotation of the fingertips is reversed.

As shown in fig. 12, two first annular grooves (not shown) are formed in the middle of the middle 320 near one end of the finger base 310, four second driving wires are wound in the two first annular grooves as shown in fig. 12, when the

wires

421 and 422 are released and the

wires

423 and 424 are tightened, the middle 320 rotates relative to the finger base 310 (for clarity, the wire winding is hidden in fig. 12), specifically rotates towards the sides of the

wires

423 and 424, so as to realize the pitching motion of the finger portion; if the release and stretch of the filament is reversed, the direction of rotation in the fingers is reversed.

It can be easily found that the degrees of freedom of pitch, yaw and opening and closing of the fingers are achieved by releasing or stretching four of the second drive wires 420, and the specific combined control logic is shown in the following table:

according to the invention, six degrees of freedom of wrist pitching, wrist deflection, autorotation of the autorotation mechanism, finger pitching, finger deflection and finger opening and closing are realized through the eight driving wires and the eight control motors, so that the use of the motors is reduced, the structural compactness and the operation flexibility of the end manipulator are improved, the volume of the end manipulator can be reduced, and the end manipulator can conveniently reach a focus through a natural orifice of a human body and perform an operation; meanwhile, the control difficulty is also reduced.

The important improvements of the invention are: 3 degrees of freedom (wrist deflection, wrist pitching and autorotation of the autorotation mechanism) at the wrist and the autorotation mechanism are realized through 4 first driving silk threads 410 and control motors respectively corresponding to four first driving silk threads 410, and the structure is combined with the 3 degree of freedom realization mechanisms at the finger part, so that the purpose of realizing 6 degrees of freedom of the whole surgical end manipulator by matching 8 driving silk threads and 8 control motors can be achieved.

It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims

1. A natural cavity operation terminal manipulator, characterized in that, comprising: a wrist base, the first pitch joint of the wrist, the first deflection joint of the wrist, a rotation mechanism, a first drive wire and a control motor;

The first tilt joint of the wrist includes: a first upper base and a first lower base, the first upper base is provided with a first upper gear, and the first lower base is provided with a first lower gear , the first upper gear meshes with the first lower gear, and the first lower gear can rotate relative to the first upper gear in a first direction;

The first deflection joint of the wrist includes: a second upper base and a second lower base, the second upper base is provided with a second upper gear, and the second lower base is provided with a second lower gear , the second upper gear meshes with the second lower gear, the second lower gear can rotate relative to the second upper gear in a second direction, and the first direction is perpendicular to the second direction;

There are four first driving wires, each of which is equipped with a control motor, and the first driving wires pass through the first upper base, the first lower base, the second upper base and the second base in sequence. The lower base is connected to the rotation mechanism, and the middle and upper parts of the four first driving wires are arranged in a circumferential array, and the four first driving wires cooperate to provide the rotation mechanism to the rotation mechanism;

The four first driving wires specifically include: two first pitch driving wires for driving the first lower base to rotate relative to the first upper base in the first direction, and two first pitching driving wires for driving the second lower base to rotate relative to the first upper base. a second deflection drive wire on a second upper base that rotates in a second direction;

The rotation mechanism includes: an upper rotation base and a lower rotation base, the upper rotation base facing the lower rotation base is provided with a turntable at one end, the lower rotation base is rotatably connected to the rotation table, and the two The part of the first pitch driving wire between the upper rotation base and the lower rotation base is crossed, and the parts of the two second yaw driving wires between the upper rotation base and the lower base are also crossed.

2 . The end effector for natural orifice surgery according to claim 1 , wherein the end effector for natural orifice surgery further comprises: a second tilting joint of the wrist, a first tilting joint of the wrist, a wrist The first yaw joint of the wrist and the second pitch joint of the wrist are arranged in sequence, and the second pitch joint of the wrist adopts the same component configuration as the first pitch joint of the wrist.

3 . The end effector for natural orifice surgery according to claim 2 , wherein the end effector for natural orifice surgery further comprises: a second deflection joint of the wrist, a first pitch joint of the wrist, a wrist The first deflection joint of the wrist, the second pitch joint of the wrist and the second deflection joint of the wrist are arranged in sequence, and the second deflection joint of the wrist adopts the same component configuration as the first deflection joint of the wrist.

4 . The natural orifice surgical end effector according to claim 1 , wherein the natural orifice surgical end effector further comprises: a rotating guide member, and the rotating guide member comprises: an upper rotating column, a connecting plate and a lower rotating column, the upper rotating column is rotatably connected to the first upper base and/or the second upper base, and the lower rotating column is rotatably connected to the first lower base and/or the second lower base .

5 . The natural orifice surgical end effector according to claim 1 , wherein the natural orifice surgical end effector further comprises: a finger mechanism, the finger mechanism comprising: a finger root, a middle finger, and a finger. 6 . Two fingertips; the base of the finger and the middle of the finger are rotatably connected to form a pitch joint of the finger; the middle of the finger is rotatably connected to the two fingertips to form a deflection joint of the finger; the two fingertips form the inter-finger Opening and closing joints.

6 . The end effector for natural orifice surgery according to claim 5 , wherein two first annular grooves are formed in the middle part of the middle part of the finger close to the end of the finger base, and the middle part of the fingertip close to the middle part of the finger middle part. 7 . Two second annular grooves are opened, and the axis of the second annular groove is perpendicular to the axis of the first annular groove; the side surfaces on the opposite sides of the two fingertips are provided with a wire sliding channel, and the wire sliding channel communicated with the second annular groove.

7 . The natural orifice surgical end effector according to claim 6 , wherein the natural orifice surgical end effector further comprises: two second driving wires, and the middle of the second driving wires is wound around a warp wire. 8 . After the sliding channel is divided into two strands, the two strands of wire are successively wound through the second annular groove and the first annular groove, and are connected through the second lower base, the second upper base, the first lower base and the first upper base A control motor.

8 . The end effector for natural orifice surgery according to claim 7 , wherein the wire sliding channel is a curved channel, and a protrusion surrounds the inner side of the curved channel. 9 .