CN115890697B - Variable stiffness flexible surgical actuator - Google Patents

Abstract

The embodiment of the present invention discloses a variable-rigidity flexible surgical actuator, which includes an actuator and a driving mechanism. The actuator includes a first mounting member, a second mounting member, a third mounting member, and a connecting assembly. The connecting assembly includes a plurality of first connecting members, a plurality of second connecting members, and a plurality of third connecting members. One end of the first connecting member is connected to the first mounting member, one end of the second connecting member is connected to the second mounting member, one end of the third connecting member is connected to the third mounting member, the other end of the first connecting member passes through the second connecting member, and the other end of the second connecting member passes through the third connecting member. The driving mechanism is connected to the other ends of the plurality of first connecting members and the other ends of the plurality of second connecting members. The driving mechanism can drive any one or more of the plurality of first connecting members to move and drive any one or more of the second connecting members to move. The variable-rigidity flexible surgical actuator of the embodiment of the present invention has good flexibility, convenient operation, and high safety.

Description

Variable stiffness flexible surgical actuator

Technical Field

The present invention relates to the technical field of medical devices, and in particular to a variable-rigidity flexible surgical actuator.

Background technique

Minimally invasive surgery refers to surgery performed using modern medical devices such as laparoscopes and thoracoscopes and related equipment. Minimally invasive surgery has the advantages of less trauma, less pain and faster recovery.

With the development of minimally invasive medical technology, minimally invasive surgical instruments are also constantly innovating. However, minimally invasive surgical instruments in related technologies have low degrees of freedom and insufficient load when in use, resulting in surgical risks when using minimally invasive surgical instruments.

Summary of the invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a variable stiffness flexible surgical actuator, which has good flexibility, convenient operation and high safety.

The variable stiffness flexible surgical actuator of the embodiment of the present invention comprises: an actuator, the actuator comprising a first mounting member, a second mounting member, a third mounting member and a connecting assembly, the first mounting member, the second mounting member and the third mounting member are arranged in sequence along a first direction, the connecting assembly comprises a plurality of first connecting members, a plurality of second connecting members and a plurality of third connecting members, a plurality of the first connecting members are arranged in sequence along the circumference of the first mounting member, a plurality of the second connecting members are arranged in sequence along the circumference of the second mounting member, a plurality of the third connecting members are arranged in sequence along the circumference of the third mounting member, one end of the first connecting member is connected to the first mounting member, one end of the second connecting member is connected to the second mounting member, one end of the third connecting member is connected to the third mounting member, the other end of the first connecting member passes through the second connecting member, and the other end of the second connecting member passes through the third connecting member.

The third mounting member has a third passage and a third through hole, the third passage and the third through hole are opened along the first direction and penetrate the third mounting member, a plurality of the third through holes are provided, the plurality of the third through holes are arranged at intervals around the circumference of the third passage, the plurality of the third through holes are arranged in one-to-one correspondence with the plurality of the third connecting members, one end of the third connecting member is arranged in the third through hole, the plurality of the third through holes are divided into a plurality of groups, the distance between two adjacent groups of the third through holes is L5, each group of the third through holes includes at least two third through holes, the distance between two adjacent third through holes in each group is L6, L5＞L6;

A driving mechanism is connected to the other end of the plurality of first connecting members and the other end of the plurality of second connecting members, and the driving mechanism can drive any one or more of the plurality of first connecting members to move and drive any one or more of the second connecting members to move.

In the variable stiffness flexible surgical actuator of the embodiment of the present invention, the first mounting member, the second mounting member and the third mounting member are arranged in sequence at intervals, one end of the third connecting member is arranged on the third mounting member, the other end of the third connecting member extends along the first direction and is connected to the driving mechanism, one end of the second connecting member is arranged on the second mounting member, the other end of the second connecting member passes through the third connecting member and is connected to the driving mechanism, one end of the first connecting member is arranged on the first mounting member, the other end of the first connecting member passes through the second connecting member and is connected to the driving mechanism, when the variable stiffness flexible surgical actuator of the embodiment of the present invention is used, the first connecting member and the second connecting member can be pulled to move by driving the driving mechanism, thereby pulling the first mounting member and the second mounting member to move. The first connecting member and the second connecting member are both provided in plurality, and the arrangement positions of the plurality of first connecting members or the plurality of second connecting members are inconsistent, thereby, when the driving mechanism drives any one or more of the plurality of first connecting members to move and drives any one or more of the plurality of second connecting members to move, the first mounting member and the second mounting member can move in different directions. Therefore, the variable stiffness flexible surgical actuator of the embodiment of the present invention has strong flexibility, convenient operation, high safety, and can also improve the efficiency of doctors during surgery.

In some embodiments, the first mounting member has a mounting portion and a first through hole, the mounting portion is used to mount the instrument, the first through hole penetrates the first mounting member along the first direction, a plurality of first through holes are provided, the plurality of first through holes are arranged at intervals around the mounting portion, the plurality of first through holes and the plurality of first connecting members are arranged in a one-to-one correspondence, one end of the first connecting member is arranged in the first through hole, the plurality of first through holes are divided into a plurality of groups, the distance between two adjacent groups of the first through holes is L1, each group of the first through holes includes at least two first through holes, the distance between two adjacent first through holes in each group is L2, and L1＞L2.

In some embodiments, the second mounting member has a second channel and a second through hole, the second channel and the second through hole are both opened along the first direction and pass through the second mounting member, a plurality of second through holes are provided, the plurality of second through holes are arranged at intervals around the second channel, the plurality of second through holes and the plurality of second connecting members are arranged in one-to-one correspondence, one end of the second connecting member is arranged in the second through hole, the plurality of second through holes are divided into a plurality of groups, the distance between two adjacent groups of the second through holes is L3, each group of the second through holes includes at least two second through holes, the distance between two adjacent second through holes in each group is L4, L4＞L3＞L2.

In some embodiments, the variable-rigidity flexible surgical actuator further includes an elastic member, wherein the elastic member is disposed between the second mounting member and the third mounting member, and the second connecting member passes through the elastic member along the first direction.

In some embodiments, the variable-rigidity flexible surgical actuator also includes a fourth mounting member, which is disposed between the second mounting member and the third mounting member, the fourth mounting member passes through the elastic member along the first direction, and the second connecting member passes through the fourth mounting member along the first direction.

In some embodiments, the variable-rigidity flexible surgical actuator further includes a joint component, wherein the joint component is disposed between the second mounting component and the third mounting component, and the third connecting component passes through the joint component along the first direction.

In some embodiments, the driving mechanism includes: a body, which extends along the first direction; a lead screw, one end of which is arranged on the body, and the other end of the lead screw extends along the first direction, and the lead screw can rotate relative to the body around the extension direction of the lead screw, and there are multiple lead screws; a driving assembly, which is connected to the other end of the lead screw, and the driving assembly is used to drive the lead screw to rotate; a slider assembly, which is arranged on the lead screw and can move on the lead screw, and the slider assembly includes a first slider group and a second slider group, the first slider group and the second slider group are arranged in sequence along the extension direction of the lead screw, each of the first slider group and the second slider group includes multiple sliders, the other end of the multiple third connecting members is connected to the body, the other end of the multiple second connecting members is connected to the multiple sliders of the second slider group, and the other end of the multiple first connecting members is connected to the multiple sliders of the first slider group.

In some embodiments, the driving mechanism also includes a clamping assembly, which is arranged on the main body, the first slider group and the second slider group, the other end of the third connecting member is connected to the clamping assembly on the main body, the other end of the second connecting member is connected to the clamping assembly on the second slider group, and the other end of the first connecting member is connected to the clamping assembly on the first slider group.

In some embodiments, the variable-rigidity flexible surgical actuator also includes a support assembly, which connects the third mounting member and the main body, and the support assembly has a support member and a shell, and the shell is mounted on the support member, and the shell can move relative to the support member along the length direction of the support member, and the support member has a chamber, which extends along the extension direction of the support member, one end of the support member is connected to the side of the third mounting member away from the second mounting member, and the other ends of the first connecting member, the second connecting member and the third connecting member pass through the chamber to be connected to the drive assembly.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a connection assembly of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 3 is a schematic diagram of an actuator of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of bending of a first bending portion and a second bending portion of a variable-rigidity flexible surgical actuator according to an embodiment of the present invention.

FIG. 5 is a schematic diagram of a first mounting member of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of a second mounting member of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 7 is a schematic diagram of a third mounting member of the variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 8 is a schematic diagram of a driving mechanism of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 9 is an exploded schematic diagram of a driving mechanism of a variable-rigidity flexible surgical actuator according to an embodiment of the present invention.

FIG. 10 is a schematic diagram of an actuator support of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 11 is a schematic diagram of a mounting clip of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 12 is a schematic diagram of a front end support of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 13 is a schematic diagram of a slider of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 14 is a schematic diagram of an intermediate support of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 15 is a schematic diagram of a driving bracket of a variable-stiffness flexible surgical actuator according to an embodiment of the present invention.

FIG. 16 is a schematic diagram of an actuator having an elastic member of a variable-rigidity flexible surgical actuator according to an embodiment of the present invention.

FIG. 17 is a schematic diagram of the installation of a fourth mounting member of the variable-rigidity flexible surgical actuator according to an embodiment of the present invention.

FIG. 18 is a schematic diagram of an actuator having a joint member of a variable-rigidity flexible surgical actuator according to an embodiment of the present invention.

FIG. 19 is a schematic structural diagram of a joint component of a variable-rigidity flexible surgical actuator according to an embodiment of the present invention.

FIG. 20 is a schematic diagram of a third mounting member in another embodiment of a variable-rigidity flexible surgical actuator according to an embodiment of the present invention.

Figure numerals: 1. actuator; 11. first mounting member; 111. mounting portion; 112. first channel; 113. first through hole; 12. second mounting member; 121. second channel; 122. second through hole; 123. circular groove; 124. first slot; 125. elastic member; 126. joint member; 1261. first slot; 1262. first protrusion; 1263. second slot; 1264. second protrusion; 1265. first part; 1266. second part; 13. third mounting member; 131. third channel; 132. third through hole; 133. second slot; 134. third slot; 135. fourth slot; 136. third protrusion; 14. connecting assembly; 141. first connecting member; 142. second connecting member; 143. third connecting member; 2. driving mechanism ;21. Main body;211. Execution bracket;2111. First section;2112. Second section;2113. Arc section;2114. First through-hole;212. Front bracket;2121. Second through-hole;213. Intermediate bracket;2131. Third through-hole;214. Driving bracket;2141. Mounting position;215. First steel shaft;216. Second steel shaft;22. Lead screw;23. Driving assembly;24. Slider assembly;241. First slider group;242. Second slider group;243. Slider;25. Coupling;26. Clamp assembly;261. First mounting clamp;262. Second mounting clamp;263. Third mounting clamp;3. Support assembly;31. Support member;32. Shell;4. Instrument;5. Fourth mounting member;51. Fourth channel;52. Fourth through-hole.

Detailed ways

Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

As shown in Figs. 1-19, the variable stiffness flexible surgical actuator according to an embodiment of the present invention comprises an actuator 1 and a driving mechanism 2. As shown in Fig. 3, the actuator 1 comprises a first mounting member 11, a second mounting member 12, a third mounting member 13 and a connecting assembly 14, and the first mounting member 11, the second mounting member 12 and the third mounting member 13 are sequentially arranged in a first direction (the left-right direction as shown in Fig. 3) at intervals.

As shown in FIG2 , the connection assembly 14 includes a plurality of first connection members 141, a plurality of second connection members 142, and a plurality of third connection members 143. The plurality of first connection members 141 are sequentially arranged at intervals along the circumference of the first mounting member 11, the plurality of second connection members 142 are sequentially arranged at intervals along the circumference of the second mounting member 12, and the plurality of third connection members 143 are sequentially arranged at intervals along the circumference of the third mounting member 13. One end of the first connection member 141 (the left end of the first connection member 141 as shown in FIG2 ) is connected to the first mounting member 11, one end of the second connection member 142 (the left end of the second connection member 142 as shown in FIG2 ) is connected to the second mounting member 12, and one end of the third connection member 143 (the left end of the third connection member 143 as shown in FIG2 ) is connected to the third mounting member 13. The other end of the first connection member 141 (the right end of the first connection member 141 as shown in FIG2 ) passes through the second connection member 142, and the other end of the second connection member 142 (the right end of the second connection member 142 as shown in FIG2 ) passes through the third connection member 143.

Specifically, the first connecting member 141 is configured as a nickel-titanium wire, the second connecting member 142 is tubular, the first connecting member 141 is inserted into the second connecting member 142 , the third connecting member 143 is configured as a stainless steel tube, and the second connecting member 142 is inserted into the third connecting member 143 .

The driving mechanism 2 is connected to the other ends of the first connecting members 141 and the other ends of the second connecting members 142 , and the driving mechanism 2 can drive any one or more of the first connecting members 141 to move and drive any one or more of the second connecting members 142 to move.

Specifically, as shown in Figure 3, the left end of the third connecting member 143 is arranged on the third mounting member 13, the right end of the third connecting member 143 extends in the left-right direction and is connected to the driving mechanism 2, the left end of the second connecting member 142 is arranged on the second mounting member 12, the right end of the second connecting member 142 passes through the third connecting member 143 and is connected to the driving mechanism 2, and the left end of the first connecting member 141 is arranged on the first mounting member 11, and the right end of the first connecting member 141 passes through the second connecting member 142 and is connected to the driving mechanism 2.

In some embodiments, as shown in FIG4 , the first mounting member 11, the second mounting member 12, and the first connecting member 141 between the first mounting member 11 and the second mounting member 12 are set as the first bending portion, and the second mounting member 12, the third mounting member 13, and the second connecting member 142 between the second mounting member 12 and the third mounting member 13 are set as the second bending portion. When the driving mechanism 2 drives any one or more of the plurality of first connecting members 141 to move, the first mounting member 11 can be driven to move, so that the bending radius of the first bending portion can be adjusted, and when the driving mechanism 2 drives any one or more of the plurality of second connecting members 142 to move, the second mounting member 12 can be driven to move, so that the bending radius of the second bending portion can be adjusted.

When the bending radius of the first bending portion and the second bending portion is large, the variable stiffness flexible surgical actuator of the embodiment of the present invention is in a state of low stiffness and large bending radius, and can realize the exploration function; when the bending radius of the first bending portion and the second bending portion is small, the variable stiffness flexible surgical actuator of the embodiment of the present invention is in a state of high stiffness and small bending radius, and can realize the stripping function, thereby improving the safety of the variable stiffness flexible surgical actuator of the embodiment of the present invention when in use.

When the variable-rigidity flexible surgical actuator of the embodiment of the present invention is used, the first connecting member 141 and the second connecting member 142 can be pulled to move by driving the driving mechanism 2, thereby pulling the first mounting member 11 and the second mounting member 12 to move. The first connecting member 141 and the second connecting member 142 are both provided in plurality, and the arrangement positions of the plurality of first connecting members 141 or the plurality of second connecting members 142 are inconsistent. Therefore, when the driving mechanism 2 drives any one or more of the plurality of first connecting members 141 to move and drives any one or more of the plurality of second connecting members 142 to move, the first mounting member 11 and the second mounting member 12 can move in different directions. Therefore, the variable-rigidity flexible surgical actuator of the embodiment of the present invention is highly flexible and easy to operate when in use, thereby improving the efficiency of doctors during surgery.

In some embodiments, as shown in Figures 3 and 5, the first mounting member 11 has a mounting portion 111 and a first through hole 113, the mounting portion 111 is used to mount the instrument 4, the first through hole 113 passes through the first mounting member 11 along the first direction, a plurality of first through holes 113 are provided, and the plurality of first through holes 113 are arranged at intervals around the mounting portion 111, the plurality of first through holes 113 and the plurality of first connecting members 141 are arranged in a one-to-one correspondence, one end of the first connecting member 141 is arranged in the first through hole 113, the plurality of first through holes 113 are divided into a plurality of groups, the distance between two adjacent groups of first through holes 113 is L1, each group of first through holes 113 includes at least two first through holes 113, the distance between two adjacent first through holes 113 in each group is L2, and L1＞L2.

Specifically, as shown in Figures 3 and 5, the first mounting member 11 has a first channel 112, which is opened in the left-right direction and passes through the first mounting member 11. The mounting portion 111 is located in the first channel 112, and the mounting portion 111 is used to install various instruments 4 to improve the applicability of the variable-rigidity flexible surgical actuator of an embodiment of the present invention.

As shown in Fig. 3 and Fig. 5, there are six first through holes 113, and the six first through holes 113 are divided into three groups, each group includes two first through holes 113, and the three groups of first through holes 113 are arranged at intervals around the circumference of the first channel 112, and the distance between the two first through holes 113 in each group is L2, and the distance between two adjacent groups is L1, L1>L2. There are six first connecting members 141, and the six first connecting members 141 and the six first through holes 113 are arranged one by one. The left end of the first connecting member 141 is inserted into the first through hole 113, and the outer wall surface of the first connecting member 141 is connected to the inner wall surface of the first through hole 113, so that the left end of the first connecting member 141 is connected to the first mounting member 11, and when the driving mechanism 2 drives any one or more of the six first connecting members 141 to move, the first mounting member 11 can move in different directions.

In some embodiments, as shown in Figures 3 and 6, the second mounting member 12 has a second channel 121 and a second through hole 122, the second channel 121 and the second through hole 122 are both opened along the first direction and penetrate the second mounting member 12, a plurality of second through holes 122 are provided, and the plurality of second through holes 122 are arranged at intervals around the second channel 121, the plurality of second through holes 122 and the plurality of second connecting members 142 are arranged in a one-to-one correspondence, one end of the second connecting member 142 is arranged in the second through hole 122, the plurality of second through holes 122 are divided into a plurality of groups, the distance between two adjacent groups of second through holes 122 is L3, each group of second through holes 122 includes at least two second through holes 122, the distance between two adjacent second through holes 122 in each group is L4, and L4＞L3＞L2.

Specifically, as shown in FIG6 , there are six second through holes 122 , which are divided into three groups, each group including two second through holes 122 , and the three groups of second through holes 122 are arranged circumferentially around the second channel 121 , and the distance between the two second through holes 122 in each group is L4 , and the distance between two adjacent groups is L3 , L4＞L3＞L2 , and the three groups of first channels 112 and the three groups of second channels 121 are alternately arranged.

There are six second connecting members 142, and the six second connecting members 142 and the six second through holes 122 are arranged one by one. The left end of the second connecting member 142 is inserted into the second through hole 122, and the outer wall surface of the second connecting member 142 is connected to the inner wall surface of the second through hole 122, so that the left end of the second connecting member 142 is connected to the second mounting member 12. When the driving mechanism 2 drives any one or more of the six second connecting members 142 to move, the second mounting member 12 can move in different directions. The right end of the first connecting member 141 is inserted into the second connecting member 142.

Two adjacent second through holes 122 in two adjacent groups of second through holes 122 and a group of first through holes 113 located between the two adjacent groups form a spatial triangle, and L4>L3>L2 makes the angle of the spatial triangle larger.

In some embodiments, as shown in Figure 6, the second mounting member 12 also has a circular groove 123, and there are three circular grooves 123. The three circular grooves 123 are arranged at circumferential intervals around the second channel 121, and the three circular grooves 123 are arranged in a one-to-one correspondence with the three groups of second through holes 122. Each circular groove 123 is located between two second through holes 122 in each group, and the circular groove 123 is opened toward the central axis away from the second channel 121. When the variable-rigidity flexible surgical actuator of an embodiment of the present invention is bent, the surgical tools and sensors in the second channel 121 can be distributed in the circular groove 123.

In some embodiments, as shown in Figure 6, the second mounting member 12 also has a first groove 124, and there are three first grooves 124. The three first grooves 124 are arranged at circumferential intervals around the outer wall surface of the second mounting member 12, and the three first grooves 124 are arranged in a one-to-one correspondence with the three groups of second through holes 122. The first grooves 124 are connected to the second through holes 122. When the second connecting member 142 is installed in the second through hole 122, the adhesive is filled between the inner wall surface of the second through hole 122 and the outer wall surface of the second mounting member 12 through the first groove 124, so that the second connecting member 142 is firmly installed in the second through hole 122.

In some embodiments, as shown in FIG. 16 , the variable-rigidity flexible surgical actuator further includes an elastic member 125 , which is disposed between the second mounting member 12 and the third mounting member 13 , and the second connecting member 142 passes through the elastic member 125 along the first direction.

As shown in Figures 16 and 17, the second mounting member 12 has a second channel 121 and a second through hole 122. The second channel 121 extends along the first direction and passes through the second mounting member 12. There are six second through holes 122. The six second through holes 122 are divided into three groups. Each group includes two second through holes 122. The three groups of second through holes 122 are arranged at circumferential intervals around the second channel 121. The distance between the two second through holes 122 in each group is L4, and the distance between two adjacent groups is L3. L4＞L3＞L2.

Specifically, in this embodiment, the third mounting member 13 is shown in Figures 16 and 17. The third mounting member 13 has a third channel 131 and a third through hole 132. The third channel 131 extends along the first direction and passes through the third mounting member 13. The third through holes 132 are provided in six forms. The six third through holes 132 are arranged at intervals around the circumference of the third channel 131. The six third through holes 132 are arranged in a one-to-one correspondence with the six second through holes 122. The six second connecting members 142 are arranged in a one-to-one correspondence with the six second through holes 122 and the six third through holes 132. The left end of the second connecting member 142 is arranged in the second through hole 122, and the right end of the second connecting member 142 passes through the elastic member 125 and the third through hole 132 in sequence. The left end of the third connecting member 143 is arranged in the third through hole 132, and the right end of the third connecting member 143 extends rightward along the left-right direction.

Specifically, as shown in Fig. 16, the left end of the elastic member 125 is connected to the outer wall surface of the second mounting member 12, and the right end of the elastic member 125 extends to the third mounting member 13 in the left-right direction and is connected to the outer wall surface of the third mounting member 13. The provision of the elastic member 125 improves the resilience and stiffness change capability of the second bending portion after bending.

In some embodiments, the elastic member 125 may be a spring, so that the elastic member 125 has a simple structure and low cost.

In some embodiments, as shown in Figures 16 and 17, the variable-rigidity flexible surgical actuator also includes a fourth mounting member 5, which is disposed between the second mounting member 12 and the third mounting member 13, and the fourth mounting member 5 passes through the elastic member 125 along the first direction, and the second connecting member 142 passes through the fourth mounting member 5 along the first direction.

Specifically, as shown in FIG17 , the fourth mounting member 5 has a fourth channel 51 and a fourth through hole 52. The fourth channel 51 is opened in the left-right direction and penetrates the fourth mounting member 5. Six fourth through holes 52 are provided. The six fourth through holes 52 are arranged at intervals around the circumference of the fourth channel 51. The diameter of the fourth through hole 52 is greater than the diameter of the second connecting member 142, so that the second connecting member 142 can move relative to the fourth mounting member 5. The outer wall surface of the fourth mounting member 5 contacts the inner wall surface of the elastic member 125, and supports the elastic member 125.

In some embodiments, as shown in FIG. 18 and FIG. 19 , the variable-rigidity flexible surgical actuator further includes a joint component 126 , which is disposed between the second mounting component 12 and the third mounting component 13 , and the third connecting component 143 passes through the joint component 126 along the first direction.

Specifically, as shown in FIGS. 18 and 19 , the joint part 126 is cylindrical, and has a first groove 1261, a first protrusion 1262, a second groove 1263, and a second protrusion 1264. Two first grooves 1261 are provided, and the two first grooves 1261 are located on the top surface of the joint part 126, and the two first grooves 1261 are arranged oppositely, and the first grooves 1261 are opened downwardly in the up-down direction. Two first protrusions 1262 are provided, and the two first protrusions 1262 are located on the bottom surface of the joint part 126, and the two first protrusions 1262 are arranged oppositely, the two first grooves 1261 and the two first protrusions 1262 are arranged oppositely, the first protrusions 1262 protrude downwardly in the up-down direction, and the first protrusions 1262 and the first grooves 1261 are adapted to each other.

As shown in Fig. 19, one second groove 1263 is provided, the second groove 1263 is provided on the bottom surface of the joint part 126 and the second groove 1263 is located between the two first protrusions 1262, and the second groove 1263 is opened upward in the up-down direction. One second protrusion 1264 is provided, the second protrusion 1264 is provided on the top surface of the joint part 126 and the second protrusion 1264 is located between the two first grooves 1261, the second protrusion 1264 protrudes upward in the up-down direction, and the second protrusion 1264 and the second groove 1263 are adapted.

As shown in Figure 19, the bottom surface of the joint part 126 is symmetrically divided into a first part 1265 and a second part 1266 about the line between the two first protrusions 1262. The second groove 1263 is located in the first part 1265, and the second part 1266 is set as an inclined surface. The end of the second part 1266 away from the first protrusion 1262 is inclined upward in the up and down direction.

As shown in FIGS. 18 and 19, the joint component 126 is disposed between the second mounting component 12 and the third mounting component 13, the third mounting component 13 passes through the joint component 126, at least a portion of the top surface of the joint component 126 contacts the right side surface of the second mounting component 12, and at least a portion of the bottom surface of the joint component 126 contacts the left side surface of the third mounting component 13. There are multiple joint components 126, and the multiple joint components 126 cooperate with each other. The multiple joint components 126 can be bent toward the direction where the second portion 1266 is located with the first protrusion 1262 as a fulcrum. Therefore, the variable stiffness flexible surgical actuator of the embodiment of the present invention is provided with the joint component 126 between the second mounting component 12 and the third mounting component 13, which can improve the load capacity of the second bending portion, so that the variable stiffness flexible surgical actuator of the embodiment of the present invention can drive a larger load.

Specifically, the structure of the third mounting member 13 in this embodiment is shown in FIG. 20 , and the third mounting member 13 has a third channel 131, a third groove 134, a fourth groove 135, and a third protrusion 136. The third channel 131 extends along the first direction and penetrates the third mounting member 13. There are two third grooves 134, which are located on the top surface of the third mounting member 13, and the two third grooves 134 are arranged opposite to each other. The third groove 134 is opened downward along the up-down direction, and the third groove 134 is matched with the first protrusion 1262. There is one third protrusion 136, which is arranged on the top surface of the third mounting member 13 and is located between the two third grooves 134. The third protrusion 136 protrudes upward along the up-down direction, and the third protrusion 136 is matched with the second groove 1263.

There are four fourth grooves 135, which are arranged at intervals around the circumference of the third channel 131. The fourth grooves 135 are opened along the radius of the third channel 131 from the inner wall surface of the third channel 131 toward the outer wall surface of the third mounting member 13. Two of the four fourth grooves 135 are respectively located at the positions of the two third grooves 134. The other two of the four fourth grooves 135 are arranged oppositely and are both located between the two third grooves 134, and one of them is located at the position of the third protrusion 136. The arrangement of the fourth grooves 135 has the effect of saving space, so that the space of the third channel 131 is increased. The right end of the third connecting member 143 passes through the third channel 131, and at least part of the six third connecting members 143 is located in the fourth groove 135.

In some embodiments, as shown in Figures 3 and 7, the third mounting member 13 has a third channel 131 and a third through hole 132, the third channel 131 and the third through hole 132 are opened along the first direction and penetrate the third mounting member 13, a plurality of third through holes 132 are provided, and the plurality of third through holes 132 are arranged at intervals around the circumference of the third channel 131, the plurality of third through holes 132 are arranged in a one-to-one correspondence with the plurality of third connecting members 143, one end of the third connecting member 143 is arranged in the third through hole 132, the plurality of third through holes 132 are divided into a plurality of groups, the distance between two adjacent groups of third through holes 132 is L5, each group of third through holes 132 includes at least two third through holes 132, the distance between two adjacent third through holes 132 in each group is L6, and L5＞L6.

Specifically, as shown in FIG. 7 , the number of the third through holes 132 is set to six, and the six third through holes 132 are divided into three groups, each group includes two third through holes 132, and the three groups of third through holes 132 are arranged circumferentially around the third channel 131, and the distance between the two third through holes 132 in each group is L6, and the distance between two adjacent groups is L5, and L5＞L6.

As shown in FIG3 , three groups of third through holes 132 and three groups of second through holes 122 are alternately arranged, six third connecting members 143 are provided, and the six third connecting members 143 are arranged one-to-one correspondingly with the six third through holes 132. The left end of the third connecting member 143 is arranged in the third through hole 132, and the outer wall surface of the third connecting member 143 is connected to the inner wall surface of the third through hole 132, so that the left end of the third connecting member 143 is connected to the third mounting member 13. The right end of the second connecting member 142 passes through the third connecting member 143.

In some embodiments, as shown in Figures 3 and 7, the third mounting member 13 further has a second groove 133, and there are three second grooves 133. The three second grooves 133 are arranged at circumferential intervals around the outer wall surface of the third mounting member 13, and the three second grooves 133 are arranged in a one-to-one correspondence with the three groups of third through holes 132. The second grooves 133 are connected to the third through holes 132. When the third connecting member 143 is installed in the third through hole 132, the adhesive is filled between the inner wall surface of the third through hole 132 and the outer wall surface of the third mounting member 13 through the second groove 133, so that the third connecting member 143 is firmly installed in the third through hole 132.

In some embodiments, as shown in FIGS. 8 and 9 , the driving mechanism 2 includes a body 21, a lead screw 22, a driving assembly 23, and a slider assembly 24. The body 21 extends along a first direction. Specifically, as shown in FIG. X, the body 21 has an execution bracket 211, an intermediate bracket 213, a driving bracket 214, a front bracket 212, a first steel shaft 215, and a second steel shaft 216. The execution bracket 211, the front bracket 212, the intermediate bracket 213, and the driving bracket 214 are sequentially arranged in intervals in the left-right direction.

As shown in Fig. 8, Fig. 9 and Fig. 10, there are two execution brackets 211, the two execution brackets 211 are arranged opposite to each other, and the two execution brackets 211 are arranged at intervals in the left-right direction. The execution bracket 211 has a first section 2111, a second section 2112 and an arc section 2113, one end of the first section 2111 is connected to one end of the second section 2112, the other end of the first section 2111 and the other end of the second section 2112 extend in directions away from each other, the angle between the first section 2111 and the second section 2112 is an obtuse angle, one end of the arc section 2113 is connected to the other end of the first section 2111, the other end of the arc section 2113 is connected to the other end of the second section 2112, and the arc section 2113 protrudes downward in the up-down direction.

As shown in Figure 10, the execution bracket 211 also has a first through hole 2114, and the first through hole 2114 is located at the position where the first section 2111 and the second section 2112 are connected. The first through holes 2114 on the two execution brackets 211 are arranged opposite to each other, and the right ends of the first connecting member 141, the second connecting member 142 and the third connecting member 143 pass through the first through hole 2114.

As shown in Fig. 8, Fig. 9 and Fig. 12, the front bracket 212 is in an arc shape, the upper top surface of the front bracket 212 is an arc surface convex downward, and the lower bottom surface of the front bracket 212 is also an arc surface convex downward. The front bracket 212 has six second through holes 2121, and the six second through holes 2121 are arranged on the front bracket 212 at intervals.

As shown in Fig. 8, Fig. 9 and Fig. 14, the intermediate bracket 213 is in an arc shape, the upper top surface of the intermediate bracket 213 is an arc surface convex downward, and the lower bottom surface of the intermediate bracket 213 is also an arc surface convex downward. The intermediate bracket 213 has three third through holes 2131, and there are six third through holes 2131, which are arranged at intervals on the intermediate bracket 213.

As shown in FIG. 8 , FIG. 9 and FIG. 15 , the drive rack has six mounting positions 2141 , and the mounting positions 2141 are used to mount the drive assembly 23 . The six mounting positions 2141 are arranged along the direction of a semicircular arc, and the six mounting positions 2141 are located on the same plane.

As shown in Figures 8 and 9, three first steel shafts 215 are provided, and the three first steel shafts 215 are arranged opposite to each other. The three first steel shafts 215 are arranged at intervals along the extension direction of the arc segment 2113. The left end of the first steel shaft 215 is connected to the execution bracket 211, and the right end of the first steel shaft 215 extends to the right along the left-right direction and passes through the front end bracket 212, the middle bracket 213 and the driving bracket 214 in sequence.

As shown in Figures 8 and 9, four second steel shafts 216 are provided, and the four second steel shafts 216 are arranged opposite to each other. The four second steel shafts 216 are arranged at intervals on the front end bracket 212, and the four second steel shafts 216 and the three first steel shafts 215 are arranged alternately. The left end of the second steel shaft 216 is connected to the front end bracket 212, and the right end of the second steel shaft 216 extends to the right along the left-right direction and passes through the middle bracket 213 to be connected to the driving bracket 214.

Specifically, the first steel shaft 215 and the second steel shaft 216 are made of cold drawn steel, so that the first steel shaft 215 and the second steel shaft 216 meet the requirements of straightness and strength.

As shown in Fig. 8 and Fig. 9, one end of the lead screw 22 (the left end of the lead screw 22 as shown in Fig. 8) is arranged on the body 21, and the other end of the lead screw 22 (the right end of the lead screw 22 as shown in Fig. 8) extends along the first direction, and the lead screw 22 can rotate relative to the body 21 around the extension direction of the lead screw 22, and there are multiple lead screws 22. The drive assembly 23 is connected to the other end of the lead screw 22, and the drive assembly 23 is used to drive the lead screw 22 to rotate. There are six drive assemblies 23, and the six drive assemblies 23 are arranged one by one with the six mounting positions 2141, and the drive assembly 23 is arranged on the mounting position 2141.

Specifically, as shown in Fig. 8 and Fig. 9, the driving mechanism 2 further includes a coupling 25, which is disposed between the driving bracket 214 and the intermediate bracket 213. There are six couplings 25, which are disposed one-to-one with the six driving assemblies 23. The couplings 25 are connected to the driving assemblies 23 for transmitting the power of the driving assemblies 23. There are six lead screws 22, which are disposed one-to-one with the six lead screws 22 and the six couplings 25. The left end of the lead screw 22 is connected to the front bracket 212, and the right end of the lead screw 22 passes through the intermediate bracket 213 and is connected to the coupling 25. The lead screw 22 can rotate along its own axis relative to the front bracket 212 and the intermediate bracket 213.

As shown in Figures 8 and 9, the slider assembly 24 is arranged on the screw 22, and the slider assembly 24 can move on the screw 22. The slider assembly 24 includes a first slider group 241 and a second slider group 242. The first slider group 241 and the second slider group 242 are arranged in sequence along the extension direction of the screw 22. Each of the first slider group 241 and the second slider group 242 includes a plurality of sliders 243, the other end of the plurality of third connecting members 143 is connected to the body 21, the other end of the plurality of second connecting members 142 is connected to the plurality of sliders 243 of the second slider group 242, and the other end of the plurality of first connecting members 141 is connected to the plurality of sliders 243 of the first slider group 241.

Specifically, as shown in FIG8 and FIG9, the slider assembly 24 is arranged between the front bracket 212 and the middle bracket 213, the first slider group 241 is arranged close to the middle bracket 213, and the second slider group 242 is arranged close to the front bracket 212. The first slider group 241 includes three sliders 243, and the second slider group 242 includes three sliders 243. The three sliders 243 of the first slider group 241 and the three sliders 243 of the second slider group 242 are arranged alternately, and the six sliders 243 and the six lead screws 22 are arranged one by one. The sliders 243 are inserted on the lead screw 22, and the driving assembly 23 drives the lead screw 22 to rotate along itself so that the sliders 243 move in all directions on the lead screw 22. Among them, the first steel shaft 215 or the second steel shaft 216 also passes through the slider 243 to play a guiding role when the slider 243 moves in the left and right directions. Therefore, the structure of the variable stiffness flexible surgical actuator of the embodiment of the present invention is simple.

In some embodiments, as shown in Figures 8 and 9, the driving mechanism 2 also includes a clamping assembly 26, which is arranged on the main body 21, the first slider group 241 and the second slider group 242, the other end of the third connecting member 143 is connected to the clamping assembly 26 on the main body 21, the other end of the second connecting member 142 is connected to the clamping assembly 26 on the second slider group 242, and the other end of the first connecting member 141 is connected to the clamping assembly 26 on the first slider group 241.

Specifically, as shown in FIG8 and FIG9, the clamp assembly 26 includes a first mounting clamp 261, a second mounting clamp 262 and a third mounting clamp 263. The third mounting clamp 263 is arranged on the side of the front bracket 212 close to the execution bracket 211. There are six third mounting clamps 263, and the six third mounting clamps 263 and the six second through holes 2121 are arranged one by one. The third mounting clamp 263 is arranged in the second through hole 2121. There are six second mounting clamps 262, and the six second mounting clamps 262 are divided into three groups, each group includes two second mounting clamps 262, and the three groups of second mounting clamps 262 are respectively installed on the three sliders 243 of the second slider group 242. There are six first mounting clamps 261, and the six first mounting clamps 261 are divided into three groups, each group includes a first mounting clamp 261, and the three groups of first mounting clamps 261 are respectively installed on the three sliders 243 of the first slider group 241.

As shown in Fig. 8 and Fig. 9, the right end of the third connecting member 143 is arranged on the third mounting clamp 263, the right end of the second connecting member 142 extends out of the right end of the third connecting member 143 and is arranged on the second mounting clamp 262, and the right end of the first connecting member 141 extends out of the right end of the second connecting member 142 and is arranged on the first mounting clamp 261. The driving mechanism 2 drives the lead screw 22 to rotate along itself to make the first slider group 241 slider 243 or the second slider group 242 slider 243 move left and right on the lead screw 22, so as to drive the first connecting member 141 or the second connecting member 142 to move in the left and right direction, thereby moving the first mounting member 11 and the second mounting member 12. Therefore, the variable stiffness flexible surgical actuator of the embodiment of the present invention is easy to operate when used.

In some embodiments, as shown in Figures 1, 3 and 4, the variable-rigidity flexible surgical actuator also includes a support assembly 3, which connects the third mounting member 13 and the body 21. The support assembly 3 has a support member 31 and a shell 32. The shell 32 is mounted on the support member 31, and the shell 32 can move relative to the support member 31 along the length direction of the support member 31. The support member 31 has a chamber, which extends along the extension direction of the support member 31. One end of the support member 31 (the left end of the support member 31 as shown in Figure 3) is connected to the side of the third mounting member 13 away from the second mounting member 12, and the chamber is connected to the third channel 131. The other ends of the first connecting member 141, the second connecting member 142 and the third connecting member 143 pass through the chamber and are connected to the drive assembly 23.

Specifically, as shown in Fig. 1, Fig. 3 and Fig. 4, the left end of the support member 31 is connected to the side of the third mounting member 13 away from the second mounting member 12, the right end of the support member 31 extends rightward along the left-right direction and passes through the first through hole 2114, and the outer wall surface of the support member 31 is connected to the inner wall surface of the first through hole 2114. The chamber of the support member 31 is connected to the third channel 131 so that the first connecting member 141, the second connecting member 142 and the third connecting member 143 can pass through. The shell 32 is sleeved on the support member 31, and the shell 32 can move relative to the support member 31 along the extension direction of the support member 31, which is convenient for cleaning and disinfection in actual use. Specifically, the support member 31 is a thin-walled stainless steel tube.

In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims (9)

1. A variable stiffness flexible surgical actuator, comprising:

The actuating mechanism (1), actuating mechanism (1) includes first installed part (11), second installed part (12), third installed part (13) and coupling assembling (14), first installed part (11), second installed part (12) and third installed part (13) are arranged at intervals in proper order along first direction, coupling assembling (14) includes a plurality of first connecting pieces (141), a plurality of second connecting pieces (142) and a plurality of third connecting pieces (143), a plurality of first connecting pieces (141) are arranged at intervals in proper order along the circumference of first installed part (11), a plurality of second connecting pieces (142) are arranged at intervals in proper order along the circumference of second installed part (12), a plurality of third connecting pieces (143) are arranged at intervals in proper order along the circumference of third installed part (13), one end of first connecting pieces (141) is connected with first installed part (11), one end of second connecting pieces (142) is connected with second installed part (12), the other end of second connecting pieces (142) pass through second connecting pieces (142) and the other end of third connecting pieces (142),

The third mounting piece (13) is provided with a third channel (131) and a third through hole (132), the third channel (131) and the third through hole (132) are formed in the first direction and penetrate through the third mounting piece (13), the third through hole (132) is provided with a plurality of third through holes (132), the plurality of third through holes (132) are arranged at intervals around the circumference of the third channel (131), the plurality of third through holes (132) are arranged in one-to-one correspondence with the plurality of third connecting pieces (143), one end of each third connecting piece (143) is arranged in each third through hole (132), the plurality of third through holes (132) are divided into a plurality of groups, the distance between two adjacent groups of third through holes (132) is L5, each group of third through holes (132) comprises at least two third through holes (132), and the distance between two adjacent third through holes (132) in each group is L6, and L5 is more than L6;

The driving mechanism (2) is connected with the other ends of the first connecting pieces (141) and the second connecting pieces (142), and the driving mechanism (2) can drive any one or more of the first connecting pieces (141) to move and drive any one or more of the second connecting pieces (142) to move.

2. The variable stiffness flexible surgical actuator according to claim 1, wherein the first mounting member (11) has a mounting portion (111) and a first through hole (113), the mounting portion (111) is used for mounting an instrument (4), the first through hole (113) penetrates through the first mounting member (11) along the first direction, the first through hole (113) is provided with a plurality of first through holes which are arranged at intervals around the mounting portion (111), the plurality of first through holes (113) and the plurality of first connecting members (141) are arranged in a one-to-one correspondence manner, one end of the first connecting member (141) is arranged in the first through hole (113), the plurality of first through holes (113) are divided into a plurality of groups, a distance between two adjacent groups of first through holes (113) is L1, each group of first through holes (113) comprises at least two first through holes (113), and a distance between two adjacent first through holes (113) in each group is L2 > L2.

3. The variable stiffness flexible surgical actuator according to claim 2, wherein the second mounting member (12) has a second channel (121) and a second through hole (122), the second channel (121) and the second through hole (122) are both opened along the first direction and penetrate through the second mounting member (12), the second through hole (122) is provided with a plurality of second through holes (122) which are arranged at intervals around the second channel (121), the plurality of second through holes (122) and the plurality of second connecting members (142) are arranged in a one-to-one correspondence manner, one end of the second connecting member (142) is arranged in the second through hole (122), the plurality of second through holes (122) are divided into a plurality of groups, the distance between two adjacent groups of second through holes (122) is L3, each group of second through holes (122) comprises at least two second through holes (122), and the distance between two adjacent second through holes (122) in each group is L4 > L3.

4. The variable stiffness flexible surgical actuator of claim 1, further comprising an elastic member (125), the elastic member (125) being disposed between the second mounting member (12) and the third mounting member (13), the second connecting member (142) passing through the elastic member (125) in the first direction.

5. The variable stiffness flexible surgical actuator of claim 4 further comprising a fourth mount (5), the fourth mount (5) being disposed between the second mount (12) and the third mount (13), the fourth mount (5) passing through the elastic member (125) in the first direction, the second connector (142) passing through the fourth mount (5) in the first direction.

6. The variable stiffness flexible surgical actuator of claim 1, further comprising an articulation member (126), the articulation member (126) being disposed between the second mounting member (12) and the third mounting member (13), the third connecting member (143) passing through the articulation member (126) in the first direction.

7. The variable stiffness flexible surgical actuator according to claim 1, wherein the drive mechanism (2) comprises:

-a body (21), said body (21) extending along said first direction;

The screw rod (22), one end of the screw rod (22) is arranged on the body (21), the other end of the screw rod (22) extends along the first direction, the screw rod (22) can rotate around the extending direction of the screw rod (22) relative to the body (21), and a plurality of screw rods (22) are arranged;

The driving assembly (23) is connected with the other end of the screw rod (22), and the driving assembly (23) is used for driving the screw rod (22) to rotate;

The sliding block assembly (24), the sliding block assembly (24) is arranged on the screw rod (22), the sliding block assembly (24) can move on the screw rod (22), the sliding block assembly (24) comprises a first sliding block group (241) and a second sliding block group (242), the first sliding block group (241) and the second sliding block group (242) are sequentially arranged at intervals along the extending direction of the screw rod (22), each of the first sliding block group (241) and the second sliding block group (242) comprises a plurality of sliding blocks (243), the other ends of a plurality of third connecting pieces (143) are connected with the body (21), the other ends of a plurality of second connecting pieces (142) are connected with a plurality of sliding blocks (243) of the second sliding block group (242), and the other ends of a plurality of first connecting pieces (141) are connected with a plurality of sliding blocks (243) of the first sliding block group (241).

8. The variable stiffness flexible surgical actuator of claim 7 wherein the drive mechanism (2) further comprises a clip assembly (26), the clip assembly (26) being disposed on the body (21), a first slider group (241) and a second slider group (242), the other end of the third connector (143) being connected to the clip assembly (26) on the body (21), the other end of the second connector (142) being connected to the clip assembly (26) on the second slider group (242), the other end of the first connector (141) being connected to the clip assembly (26) on the first slider group (241).

9. The variable stiffness flexible surgical actuator according to claim 7, further comprising a support assembly (3), the support assembly (3) connecting the third mounting (13) and the body (21), the support assembly (3) having a support (31) and a housing (32), the housing (32) being sleeved on the support (31) and the housing (32) being movable relative to the support (31) in a length direction of the support (31), the support (31) having a chamber extending in an extension direction of the support (31), one end of the support (31) being connected to a side of the third mounting (13) facing away from the second mounting (12), the chamber being in communication with the third channel (131), the other ends of the first (141), second (142) and third (143) connectors being connected to the drive assembly (23) through the chamber.