Kai XU,Jiangran ZHAO,Zhengchen DAI,Huichao ZHANG,Huan LIU,Zenghui LIU,Zhixiong YANG,Zhijun ZHU
申请号：
US16329752
公开号：
US20190231331A1
申请日:
2017.08.31
申请国别(地区):
US
年份:
2019
代理人:
摘要：
Disclosed are a flexible surgical instrument and a driving unit thereof. The flexible surgical instrument may comprise a flexible continuous body structure composed of a distal structural body, a middle connecting body and a proximal structural body linked in sequence. The driving unit is linked to the flexible continuous body structure. When a structural backbone driving mechanism in the driving unit drives the proximal structural body to turn in any direction, the distal structural body correspondingly turns in the opposite direction. A surgical end effector driving mechanism in the driving unit can drive a surgical end effector linked to the distal end of the distal structural body to implement the action control of the surgical end effector.
