CN104814792A - Separable multi-arm soft mechanical arm device - Google Patents

Abstract

The invention discloses a detachable multi-arm soft mechanical arm device, which includes a functional sub-arm part, a fixed main arm part and a supporting part; the functional sub-arm part and the fixed main arm part are all made of human silica gel; The arm part is connected to the rear end of the functional arm part to provide strength support for the functional arm part, and together with the functional arm part to form the robot arm body; the support part runs through the robot arm body longitudinally and is located at the The axis position is used to support the robot arm body. The invention is driven by a pull wire, and the control of the wire drive operation method is simple and reliable, safe and soft, and does not cause damage to body tissues, and the flexible structure has elasticity, which can absorb the vibration caused by the movement of body tissues, and reduce the impact of the patient's physiological movement on the operation of the surgical device during the operation. Sexual impact; instead of the traditional direct surgical operation, in order to achieve the surgical effect of less trauma and quicker recovery.

Description

Separable multi-arm soft robotic arm device

technical field

The invention relates to the technical field of medical soft manipulators, in particular to a detachable multi-arm soft manipulator device for single-incision surgery.

Background technique

Most of the medical and surgical robot systems currently used in clinical practice are based on the principle of endoscopic surgery, and are divided into non-invasive surgery systems and minimally invasive surgery systems. The surgical tools of the non-invasive surgery system enter the patient's body through the natural orifice of the human body without opening the body surface near the surgical site, which can maximize minimally invasive surgery. such as the United States As a mature non-invasive surgical system, X2Robotic System has entered clinical application in many countries. However, since the non-invasive surgery needs to go through the long and narrow human cavity, the operation is difficult; and the non-invasive surgery may need to puncture the healthy body tissue before reaching the lesion. Piercing from the right atrium into the left atrium will cause additional damage to the patient.

Single-incision minimally invasive surgery is currently recognized by more patients and doctors as a treatment method. For example, the single-port laparoscopic surgery based on The da Vinci SP system is to insert multiple puncture devices or a puncture device with multiple operating channels through a small incision of 1.5 cm to 4 cm, and use the surgical instruments in the channels to complete the operation. operate. But this system is relatively bulky and has poor flexibility. In response to the above problems, M. Piccigallo et al. proposed the SPRINT system, which uses the micro-motor in the robotic arm to realize the twisting and bending motion of the joint, imitating the movement of the human arm, and realizes a 6-degree-of-freedom single-hole endoscopic surgery system. Although the volume of the mechanism has been improved, the flexibility is insufficient, and only one surgical instrument is included to complete a single operation. Therefore, the bionic design of the hands of doctors, dual-arm robots and multi-arm robots have become the development trend of medical surgical robots in the near future. For example, the single-hole endoscopic surgical robot of the University of Tokyo is one of the cases of a dual-arm robot. It relies on the rotation of the anti-rotation screw to complete the joint rotation control, which can achieve the control of 3-5 degrees of freedom, but the system is operable. The angle is small, so the working space is small and the reachable range is limited.

In order to solve the above difficulties, the flexible continuum multi-arm robot came into being. The domestic patent application number is 201410206379.1, a single-hole laparoscopic minimally invasive surgical robot system, which drives the bending and stretching of the mechanical arm through the nickel-titanium alloy driving wire to complete the motion operation with multiple degrees of freedom in space. However, its structure and drive are complex, and there are 19 drive wires for a single arm, making it difficult to control. In addition, the mechanism of the system is complex, and the extension and contraction of the continuum robotic arm from the sheath may be blocked by the entry of foreign objects, thus affecting the normal operation of the mechanism. And although the mechanism is a flexible continuum, the material of the robotic arm is still relatively hard compared to human tissue, which may cause contact damage to body tissue when it enters the body.

Contents of the invention

The present invention aims at the above-mentioned deficiencies in the existing single-hole endoscope system, and provides a detachable multi-arm soft manipulator. The detachable multi-arm soft manipulator is a soft multi-arm with any degree of freedom. robot.

The present invention is achieved through the following technical solutions.

A detachable multi-arm soft robotic arm device, including a functional sub-arm part, a fixed total arm part and a supporting part; wherein:

The functional sub-arm part and the fixed total arm part are all made of human body silica gel;

The fixed main arm part is connected to the rear end of the functional sub-arm part, provides strength support for the functional sub-arm part, and forms a mechanical arm body together with the functional sub-arm part;

The support part runs through the body of the robot arm longitudinally, and is located at the axis of the body of the robot arm for supporting the body of the robot arm.

Preferably, the detachable multi-arm soft manipulator device also includes a fixed base on which a driving motor is mounted; wherein:

The mechanical arm body is connected with the fixed base through the fixed total arm part;

The functional sub-arm part and the support part are respectively connected with the fixed base, and the action control is realized through the driving of the driving motor.

Preferably, the sub-arms of the functional sub-arm part include: a first operation sub-arm, a second operation sub-arm and a visual sub-arm; wherein, the first operation sub-arm and the second operation sub-arm are both Surgical tools are embedded, and the CCD camera is embedded in the visual sub-arm; the three sub-arms are attracted to each other by magnetic blocks. The arms have independent fan-shaped control boards, and the fan-shaped control boards of each sub-arm are connected with three sub-arm traction lines, and the sub-arm traction lines of each sub-arm can be controlled separately.

Preferably, the other ends of the traction wires of the sub-arms are respectively driven and connected to the driving motors on the fixed base; when reaching the target organ, the driving motor pulls the traction wires of the sub-arms to overcome the magnetic block attraction force to separate the three sub-arms from each other; By individually controlling the traction line of each sub-arm, and then controlling the independent bending and contraction of the sub-arms, the surgical operation is completed.

Preferably, the visual sub-arm faces the direction of travel during the entry stage through a single incision, and the embedded CCD camera provides image support for the positioning and navigation of the functional sub-arm; when reaching the target organ, the visual sub-arm is separated from the two operational sub-arms Complete the observation and diagnosis of target organs from different perspectives, and assist in the operation of the two arms.

Preferably, the surgical tool includes an ablation head, a biopsy forceps, an ultrasonic probe or an energy-type scalpel; the connecting wires of the surgical tool and the CCD camera are respectively connected to the fixed base.

Preferably, the support part includes a three-claw end frame, an end frame pulling wire and a flexible support shaft; wherein:

The three-claw-shaped end frame is arranged at the end of one end of the functional sub-arm part on the mechanical arm body;

The flexible support shaft is a flexible continuum with a certain rigidity, one end of the flexible support shaft is connected to the center of the three-claw-shaped end frame, and the other end of the flexible support shaft passes through the main body of the mechanical arm and is connected to the fixed base; The flexible support shaft can restore the original shape within a certain bending range, providing support for the main body of the robot arm;

One end of the end frame traction line is fixed on the top of the three-claw-shaped end frame, and the other end of the end frame traction line passes through the gap between the sub-arms of the functional sub-arm part, and is connected with the driving motor on the fixed base; When the manipulator body enters through the single slit, the drive motor on the fixed base pulls the end frame traction line to complete the bending and steering control of the manipulator body.

Preferably, the support part also includes an LED lighting unit, which is embedded on the front end surface of the triangular end frame to provide auxiliary lighting for the visual sub-arm; in the operation stage, the operation is completed by pulling the pulling wire of the end frame Lighting angle adjustment of the LED lighting unit.

Compared with the prior art, the present invention has the following beneficial effects:

1. Both the functional arm part and the fixed arm part are made of human body silica gel. The human body silica gel can be used for a long time and maintain its soft and elastic properties in the temperature range of -65°C-200°C. It is environmentally friendly and non-toxic, and has passed the SGS environmental protection and non-toxic certification , with excellent electrical properties and chemical stability, water resistance, ozone resistance, weather aging resistance, non-corrosive, physiologically inert, non-toxic and tasteless, low linear shrinkage, easy to operate, etc., can be safely and reliably used in the medical field ;

2. Relying on the pull wire drive, the control of the wire drive operation method is simple and reliable, safe and soft, and does not cause damage to body tissues, and the flexible structure is elastic and can absorb the vibration caused by the movement of body tissues, reducing the impact of the patient's physiological movement on the operation of the surgical device during the operation sexual influence;

3. The present invention can be applied in the field of medical surgery to replace the traditional direct surgical operation, in order to achieve the surgical effect of less trauma and quick recovery.

Description of drawings

Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

Fig. 1 is a schematic diagram of the folded state of the overall structure of the present invention;

Fig. 2 is a schematic diagram of the supporting part;

Fig. 3 is a partial perspective view of the functional arm of Fig. 1;

Fig. 4 is a schematic view of the unfolded state of the overall structure of the present invention;

Fig. 5 is a schematic diagram of visual sub-arm control in Fig. 3;

Fig. 6 is a schematic diagram of distribution of arm sector control boards;

Fig. 7 is a schematic diagram of the fan-shaped control board in Fig. 6 .

In the figure, 1 is the functional sub-arm part, 2 is the fixed sub-arm part, 3 is the support part, 4 is the three-claw end frame, 5 is the flexible support shaft, 6 is the traction line of the first end frame, and 7 is the second end Frame traction line, 8 is the third end frame traction line, 9 is the LED lighting unit, 10 is the operation sub-arm, 11 is the visual sub-arm, 12 is the embedded surgical tool, 13 is the CCD camera, 14 is the magnetic block, 15 is the sector Control panel, 16 is the branch arm traction line.

Detailed ways

The following is a detailed description of the embodiments of the present invention: this embodiment is implemented on the premise of the technical solution of the present invention, and provides detailed implementation methods and specific operation processes. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention.

Example

This embodiment provides a detachable multi-arm soft robotic arm device, including:

A functional sub-arm part, the functional sub-arm part includes a functional sub-arm part and a visual sub-arm part. The functional sub-arm and visual sub-arm can be controlled respectively by sub-arm traction lines. Theoretically, the arm has unlimited degrees of freedom, and can complete bending movements at any angle, as well as telescopic movements within a certain range.

The total arm part is fixed, and the fixed total arm part is located at the rear of the sub-arm to provide certain strength support for the whole device. And the detachable multi-arm soft manipulator is connected with the fixed base.

The supporting part is located at the axial center of the whole device, runs through the whole device longitudinally, and provides support for the device. Before the device enters the human body through a single incision and does not reach the target organ, the device is controlled to bend and steer through the end frame pulling wire of the supporting part.

Further, the functional sub-arm part includes 2 operating sub-arms and 1 visual sub-arm. Each sub-arm contains sub-arm functional units, in which the operation sub-arm corresponds to the embedded surgical tools (ablation head, biopsy forceps, ultrasonic probe, energy-type scalpel, etc.), and the vision sub-arm corresponds to the embedded CCD camera. The sub-arms are attracted to each other by magnetic blocks, and remain in the closed state when entering the patient's body through a single incision in the chest cavity or abdominal cavity. When the three sub-arms are in the suction state, they merge into a cylinder.

Further, each of the sub-arms includes an independent fan-shaped control board and a sub-arm traction line. One end of the sub-arm traction line is fixed on the fan-shaped traction plate, and the other end longitudinally passes through the corresponding sub-arm, and the fixed total arm is connected to the control motor on the fixed base. Each sub-arm corresponds to 3 traction lines. By pulling the corresponding traction line through the motor, the main body separation and independent control action of the sub-arm can be completed. Pull the traction line, overcome the magnetic force of the magnetic block between the sub-arms and separate the sub-arms and the sub-arm from the main body. Independent control of the sub-arm can complete arm bending and contraction within a certain range, so that the operation sub-arm can complete the corresponding surgical actions; the CCD camera at the front of the vision sub-arm can obtain a suitable field of view, assisting the diagnosis and surgical operation of the target organ.

Further, the vision sub-arm is embedded with a CCD camera, and the lens of the CCD camera faces the longitudinal direction of the vision sub-arm. Real-time image transmission is performed during the entry stage of the robotic arm device, providing a reference for the navigation and positioning control of the device. In the operation stage of the robotic arm device, the adjustment of the CCD camera lens direction and the visual arm pose is completed by pulling the arm traction line, so that the doctor can obtain intuitive image data, which provides reference for diagnosis and operation of the arm.

Further, the fixed main arm part is connected to the rear end of the sub-arms, and has the same size as the cylinder when the three sub-arms are sucked together.

Further, the supporting part is composed of a three-claw-shaped end frame, a flexible support shaft, an end frame pulling wire and an LED lighting unit. Among them, the three-claw-shaped end frame is a bracket with certain elasticity and rigidity, fixed on one end of the flexible support shaft, the flexible support shaft runs through the whole device longitudinally, and the other end is fixed on the fixed base. The flexible support shaft is located on the longitudinal axis of the device and is only used for support without driving tasks. It is a flexible column with a certain stiffness and can be restored after bending. The three ends of the three-claw-shaped end frame are fixed with end frame traction wires, which play a role in traction control during the entry stage of the mechanical arm device, and pull the end frame traction wires to control the overall bending and turning of the mechanical arm. During the operation deployment stage of the robotic arm device (the arm is separated for independent surgical operation), the traction line of the end frame is pulled, and the angle of the LED lighting unit on the end face of the end frame is adjusted to improve the lighting environment of the target organ.

Furthermore, the functional sub-arm part and the fixed total arm part are all flexible continuums made of human silicone material without any rigid structure. Can complete bending and recovery of any degree of freedom.

This embodiment will be further described below in conjunction with the accompanying drawings.

A detachable multi-arm soft mechanical arm device includes a functional sub-arm part, a fixed general arm part and a supporting part. Among them, the functional part of the arm and the main body of the fixed arm part are made of human body silicone. The front part of the device is divided into the functional sub-arm part, the fixed total arm part is connected to the rear part of the functional sub-arm, and the supporting part runs through the whole device longitudinally and is located at the axis of the device.

The functional sub-arm part contains three functional sub-arms, including 2 operational sub-arms and 1 visual sub-arm. Surgical tools, such as ablation heads, biopsy forceps, ultrasonic probes, energy scalpels, etc., are embedded in the operation sub-arm. The vision sub-arm is embedded with a CCD camera. The sub-arms are attracted to each other by the magnetic block. In the stage of entering through a single incision, the three sub-arms are in a closed posture, forming a cylinder. Each sub-arm has an independent fan-shaped control board, and each control board is distributed with three sub-arm traction lines. The other end of the sub-arm traction line passes through the sub-arm longitudinally and is connected with the motor of the fixed base. Controlling the rotation of the motor can complete the tensioning and loosening actions of the traction line of the pairing and splitting arms. When the target organ is reached, pull the traction line of the arm to overcome the attraction force of the magnetic block to separate the arm from the main body. Separately controlling the sub-arm traction line of each sub-arm can control the independent bending and contraction of the sub-arms, thereby completing the operation.

The vision sub-arm contains a CCD camera, which faces the direction of travel during the entry stage, providing image support for positioning and navigation. Separate the visual arm from the main body to complete the observation and diagnosis of target organs from different perspectives, and assist the surgical operation of the arm.

The fixed main arm part connects the functional sub-arms with the fixed base to provide support for the mechanical arm device. The arm traction line, the embedded surgical tool, the CCD camera connection line, and the flexible support shaft of the support part pass through the fixed total arm part and are connected with the fixed base.

The supporting part includes a three-claw-shaped end frame, an end frame pulling wire, a flexible support shaft and an LED lighting unit. The three-claw end frame is located at one end of the flexible support shaft, and the other end of the flexible support shaft passes through the fixed total arm part and is connected with the fixed base. Among them, the flexible support shaft is a flexible continuum with a certain rigidity, which can restore the original shape within a certain bending range and provide support for the whole device. The top of the three-claw-shaped end frame is fixed with an end frame traction line, and the other end of the end frame traction line passes through the gap between the sub-arms, passes through the fixed total arm and is connected with the driving motor on the fixed base. When the device enters through the single incision, the functional arm part is in the folded state, and the drive motor on the fixed base pulls the end frame traction line to complete the overall bending steering control. The end face of the three-claw end frame is embedded with an LED lighting unit to provide auxiliary lighting for the visual arm. During the operation stage, the lighting angle adjustment of the lighting device can be completed by pulling the traction wire of the end frame.

Specifically:

As shown in FIG. 1 , the functional sub-arm part 1 is directly connected to the fixed general arm part 2, and the support part 3 longitudinally runs through the whole multi-arm soft robotic arm device.

As shown in Figure 2, the supporting part consists of a three-claw-shaped end frame 4, a flexible support unit 5, end frame pulling wires 6, 7, 8, and an LED lighting unit 9. The support part completes the overall support of the soft robotic arm device and the realization of the driving function. The flexible support unit is a flexible continuum with a certain rigidity. The stainless steel braided hose is waterproof and corrosion-resistant, has a certain rigidity and good elasticity. In this embodiment, a stainless steel braided hose with a diameter of 2 mm is used. In this embodiment, the fishing line is selected as the end-frame traction line. The fishing line is mainly made of nylon, DYNEEMA fiber, etc., which can withstand a large pulling force and has high strength and wear resistance. The soft robotic arm is in a folded state when entering the patient's body through a single incision, as shown in Figure 1. As shown in Figure 3, the magnetic blocks between the functional sub-arms attract each other and are cylindrical. In this embodiment, the sub-arms in this folded state have the same diameter as the fixed total arm part, which is 15mm.

When the mechanical arm device is in the folded state, the overall direction of the mechanical arm is controlled by pulling the traction line of the end frame, as shown in Figure 2. For example, the first pulling end frame pulling line 6 can complete the head-up action, while pulling the end frame pulling lines 7 and 8 can complete the head-down action, and the second pulling end frame pulling line 7 can complete the paper-facing outward turning action, similarly The third pulling end frame pulling line 8 can complete the turning action of the paper surface inward. One end of the traction line of the end frame is fixed on the top of the end frame, passes between the sub-arms, runs through the fixed sub-arm part longitudinally, and is connected with the control motor on the fixed base. The LED lighting unit at the front of the end frame provides lighting assistance for the vision unit.

Figure 3 is a schematic perspective view of functional sub-arms. In this embodiment, two operating sub-arms 10 and one visual sub-arm 11 are used, wherein the operating sub-arms are embedded with surgical tools such as ablation heads, biopsy forceps, ultrasonic probes, energy-based Scalpel etc., the present embodiment adopts biopsy forceps to give specific scheme. The vision arm is embedded with a CCD camera, which communicates with the host computer in real time, providing doctors with image references for navigation, positioning, and diagnosis during the entry stage of the robotic arm and the surgical operation stage. Each branch arm all has sector control board 15, and the distribution of sector control board is as Figure 6, and the fixed position of branch arm traction line on each sector control board is as Figure 7. The sub-arm traction line longitudinally runs through the controlled corresponding function sub-arms, and the fixed total arm is connected with the control motor on the fixed base. For the traction control method of the sub-arm, refer to the control of the traction line of the end frame. The schematic diagram of the manipulation of a single functional sub-arm is shown in Figure 5.

When the robotic arm reaches the target organ, it pulls the corresponding arm traction wires of the three arm arms to overcome the magnetic force of the magnetic block between the arm arms and unfold the device, as shown in Figure 4. Each functional arm is controlled by an independent control handle to complete the surgical operation. Pulling the sub-arm traction line completes the control of the sub-arm posture, and can simultaneously manipulate surgical tools to complete remote surgery operations, pull the end frame traction line to complete the lighting angle of the LED lighting unit on the end face of the end frame, and assist in the operation. During the operation, according to the size of the working space, the posture of the sub-arm is adjusted through the traction line. When operation operation and diagnosis work were finished, loosening the arm traction line made the function arm draw together again due to the magnetic force of the magnetic block. Inaccurate suction may occur during suction and folding. In the specific implementation, the suction and folding of the two operating arms should be carried out first. The sub-arm completes the suction, folding and homing, and then performs the suction, folding and homing operation on the visual sub-arm. The sign of the completion of the overall suction and folding action should be that only human tissues are in the field of vision of the visual sub-arm, and no soft robotic arm will appear. of the image.

In the detachable multi-arm soft robot device provided in this embodiment, the functional sub-arm part is located at the front of the robot arm, the fixed general arm part is located at the rear of the robot arm, and the support part is located at the axis of the arm. Among them, the functional sub-arm part contains a total of three functional sub-arms, including two operating sub-arms with embedded surgical tools (ablation head, biopsy forceps, ultrasonic probe, energy-type scalpel, etc.), and a front-facing CCD camera. Divide arms. The fixed total arm part is a cylinder. The support part is a bracket with certain elasticity and rigidity, which supports the whole mechanical arm. This device is the operating part of the medical robot system with soft manipulator, and is controlled by the control part of the system. The device enters the patient's body through a single incision in the abdominal cavity or thoracic cavity. During the entry stage, the magnetic force between the arms attracts and tightens the three arms, and the pulling wire at the top of the support part completes bending, stretching and other actions. After arriving at the surgical target organ, the traction wires of the sub-arms overcome the magnetic force to separate the functional sub-arms, and the traction wires of the sub-arms are operated independently to complete the adjustment of the camera and surgical operations. The device is mainly used in the field of medical surgery to replace the traditional direct surgical operation, in order to achieve the surgical effect of less trauma and quick recovery.

Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention.

Claims (8)

1. a separable multi-arm software robot arm device, is characterized in that, comprises function and divides arm segment, fixing total arm segment and support section; Wherein:

Described function divides arm segment and fixing total arm segment all to adopt human body silica gel material;

Described fixing total arm segment is connected to the rear end that function divides arm segment, for function divides arm segment to provide intensity support, and divides arm segment jointly to form mechanical arm body with function;

Described support section longitudinally through mechanical arm body, and is positioned at the shaft core position of mechanical arm body, for supported mechanical arm body.

2. separable multi-arm software robot arm device according to claim 1, is characterized in that, described separable multi-arm software robot arm device also comprises fixed pedestal, and described fixed pedestal is provided with drive motors; Wherein:

Described mechanical arm body is connected with fixed pedestal by fixing total arm segment;

Described function divides arm segment to be connected with fixed pedestal respectively with support section, and realizes action control by the driving of drive motors.

3. separable multi-arm software robot arm device according to claim 1 and 2, is characterized in that, described function divides a point arm for arm segment to comprise: the first operation point arm, the second operation point arm and vision divide arm three points of arms; Wherein, described first operation point arm and the second operation point all embedded operation tool of arm, described vision divides arm embedded ccd video camera; Rely on magnetic piece adhesive each other between three points of arms, entering the stage through single otch, three points of arms are gathering attitude, in cylinder; Three points of arms have independently fan-shaped panel respectively, and the fan-shaped panel of each point of arm is all connected with three pieces points of arm draught lines, and a point arm draught line for each point of arm all can control separately.

4. separable multi-arm software robot arm device according to claim 3, is characterized in that, the other end of described point of arm draught line drives with the drive motors on fixed pedestal respectively and is connected; When arriving target organ, drive motors pulls a point arm draught line to overcome magnetic piece the suction-combining force to make three points of arms separated from one another; By controlling separately point arm draught line of each point of arm, so control point arm independently bend contractive action, complete operation technique.

5. separable multi-arm software robot arm device according to claim 3, is characterized in that, described vision divides arm entering the stage towards direct of travel through single otch, and embedded ccd video camera divides the location navigation of arm segment to provide image support for function; When arriving target organ, vision divides arm to operate with two the target organ inspections and examinations that point arm has been separated different visual angles, the operation technique of auxiliary two operation point arms.

6. separable multi-arm software robot arm device according to claim 3, is characterized in that, described operation tool comprises and melts head, biopsy forceps, ultrasonic probe or energy type scalpel; Described operation tool is connected with fixed pedestal respectively with the connecting line of ccd video camera.

7. separable multi-arm software robot arm device according to claim 2, it is characterized in that, described support section comprises three claw type end-rack, end-rack draught line and flexible support axle; Wherein:

Described three claw type end-rack are arranged at the end that function in mechanical arm body divides arm segment one end;

Described flexible support axle is flexible continuum, and one end of flexible support axle is connected to the center of three claw type end-rack, and the other end of flexible support axle through mechanical arm body, and is connected with fixed pedestal; Flexible support axle can recover original shape in certain bending range, for mechanical arm body provides support;

The top of three claw type end-rack is fixed in one end of described end-rack draught line, and the other end of end-rack draught line divides the space divided arm of arm segment through function, and is connected with the drive motors on fixed pedestal; When mechanical arm body enters through single otch, completed the bending course changing control of mechanical arm body by the drive motors tractive end-rack draught line on fixed pedestal.

8. separable multi-arm software robot arm device according to claim 7, it is characterized in that, described support section also comprises LED illumination unit, and described LED illumination unit is inlaid in the front end surface of triangle end-rack, for vision divides arm to provide floor light; In the operation technique stage, completed the light angle adjustment of LED illumination unit by tractive end-rack draught line.