阅读说明：本技术 手术机器人的力反馈传动系统 (Force feedback transmission system of surgical robot ) 是由 朱晒红 段吉安 王国慧 罗志 凌颢 李洲 李政 易波 朱利勇 于 2021-10-11 设计创作，主要内容包括：本发明提供了一种手术机器人的力反馈传动系统,包括：接收部,所述接收部设置有两个主操作手,每个所述主操作手均设置有多个旋转或水平位移自由度,每个自由度均设置有一组接收驱动钢丝；传动部,所述传动部设置有多个传动轴组,所述传动轴组的数量与两个所述主操作手的自由度数量之和相同,每个所述传动轴组均包括垂直传动轴和水平传动轴；执行部,所述执行部设置有两组机械臂和多组执行驱动钢丝,多组所述执行驱动钢丝分别用于驱动两组所述机械臂的执行机构的运动。本发明能够将主操作手的力传递到机械臂的执行机构,实现手术需要的拉伸,剪切,翻转等功能,手术过程中机械臂的执行机构的受力情况能够直接反映到主操作手。(The invention provides a force feedback transmission system of a surgical robot, comprising: the receiving part is provided with two main operating hands, each main operating hand is provided with a plurality of degrees of freedom of rotation or horizontal displacement, and each degree of freedom is provided with a group of receiving and driving steel wires; the transmission part is provided with a plurality of transmission shaft groups, the number of the transmission shaft groups is the same as the sum of the number of degrees of freedom of the two main operators, and each transmission shaft group comprises a vertical transmission shaft and a horizontal transmission shaft; the execution part is provided with two groups of mechanical arms and a plurality of groups of execution driving steel wires, and the plurality of groups of execution driving steel wires are respectively used for driving the two groups of execution mechanisms of the mechanical arms to move. The invention can transmit the force of the main manipulator to the executing mechanism of the mechanical arm, realizes the functions of stretching, shearing, overturning and the like required by the operation, and the stress condition of the executing mechanism of the mechanical arm can be directly reflected to the main manipulator in the operation process.)

1. A force feedback transmission system for a surgical robot, comprising:

the receiving part is provided with two main operating hands, each main operating hand is provided with a plurality of degrees of freedom of rotation or horizontal displacement, and each degree of freedom is provided with a group of receiving and driving steel wires;

the transmission part is provided with a plurality of transmission shaft groups, the number of the transmission shaft groups is the same as the sum of the number of the degrees of freedom of the two main operators, each transmission shaft group comprises a vertical transmission shaft and a horizontal transmission shaft, the second end of the vertical transmission shaft of each transmission shaft group is in transmission connection with the first end of the horizontal transmission shaft, and each group of the receiving and driving steel wires are respectively in transmission connection with the first end of the corresponding vertical transmission shaft;

the execution part is provided with two sets of mechanical arms and a plurality of sets of execution driving steel wires, the plurality of sets of execution driving steel wires are respectively used for driving the two sets of movement of the execution mechanisms of the mechanical arms, and the plurality of sets of execution driving steel wires are respectively in transmission connection with the second ends of the corresponding horizontal transmission shafts.

2. A force feedback transmission system for a surgical robot according to claim 1, wherein the main manipulator is provided with a hand shear joint, a wrist offset joint, a wrist flexion-extension joint, a forearm rotation joint, a forearm turning joint and an elbow flexion-extension joint connected one after the other; the horizontal displacement driving device is arranged between the forearm rotating joint and the forearm turning joint.

3. The force feedback transmission system of a surgical robot according to claim 1, wherein the second end of the vertical transmission shaft and the first end of the horizontal transmission shaft are each provided with a transmission bevel gear, and the transmission bevel gear of the second end of the vertical transmission shaft is engaged with the transmission bevel gear of the first end of the horizontal transmission shaft.

4. The force feedback transmission system of claim 1, wherein the first ends of the vertical transmission shafts are provided with receiving pre-tightening rollers, and each set of receiving driving wires is wound around the corresponding receiving pre-tightening rollers.

5. The force feedback transmission system of claim 1, wherein the second end of the horizontal transmission shaft is provided with an actuating pre-tightening roller, and each set of actuating driving wires is wound around the corresponding actuating pre-tightening roller.

6. A force feedback transmission system for a surgical robot according to claim 5, wherein the actuator of the robotic arm comprises a rotation mechanism, an arcuate rail mechanism, an actuator telescoping mechanism, and an actuator drive mechanism.

7. The force feedback transmission system of a surgical robot according to claim 6, wherein one end of the actuating driving wire is wound around the actuating pre-tightening roller, and the other end of the actuating driving wire is in transmission connection with the rotating mechanism, the arc-shaped guide rail mechanism, the actuator telescoping mechanism or the actuator driving mechanism.

8. A force feedback transmission system for a surgical robot according to claim 7, wherein said actuator drive wire is sheathed with a wire length limiting spring tube outside said actuator drive mechanism.

9. The force feedback transmission system of a surgical robot according to claim 5, wherein the second end of the horizontal transmission shaft is provided with a mounting rack, the bottom of the mounting rack is provided with a plurality of steel wire length limiting steps, steel wire length limiting spring tubes are arranged in the steel wire length limiting steps, and the execution driving steel wire is arranged in the steel wire length limiting spring tubes in a penetrating manner.

Technical Field

The invention relates to the technical field of surgical robots, in particular to a force feedback transmission system of a surgical robot.

Background

Minimally invasive surgery, also commonly referred to as invasive surgery, is performed by making small incisions in the body surface (or relying on the natural body lumen), and by using image guidance from a visual display system to extend surgical instruments through the body surface incisions into the body for treatment or diagnosis. The minimally invasive surgery technology distinguishes most surgical operations from open surgical modes, the application of the robot technology to medical surgical operations has become more and more popular, the robot has significant advantages in operation stability, rapidity and accuracy, and the integration of the robot technology into the surgical operations can improve the operation environment of doctors and shorten the recovery time of patients.

The minimally invasive surgical robot can be generally divided into a master-slave separation mode and a master-slave integration mode from the operation mode, wherein the master-slave separation mode is the most important operation mode in the world at present. Usually, a master-hand console, slave mechanical arms and an endoscope camera system are in a master-slave mode, a master operation end and a slave operation end are structurally divided into two independent structures, and communication between the master operation end and the slave operation end is realized in an electric control mode.

Disclosure of Invention

The invention provides a force feedback transmission system of a surgical robot, and aims to enable a doctor to better master operation force during surgical operation and avoid tissue damage.

In order to achieve the above object, an embodiment of the present invention provides a force feedback transmission system of a surgical robot, including:

the receiving part is provided with two main operating hands, each main operating hand is provided with a plurality of degrees of freedom of rotation or horizontal displacement, and each degree of freedom is provided with a group of receiving and driving steel wires;

the transmission part is provided with a plurality of transmission shaft groups, the number of the transmission shaft groups is the same as the sum of the number of the degrees of freedom of the two main operators, each transmission shaft group comprises a vertical transmission shaft and a horizontal transmission shaft, the second end of the vertical transmission shaft of each transmission shaft group is in transmission connection with the first end of the horizontal transmission shaft, and each group of the receiving and driving steel wires are respectively in transmission connection with the first end of the corresponding vertical transmission shaft;

the execution part is provided with two sets of mechanical arms and a plurality of sets of execution driving steel wires, the plurality of sets of execution driving steel wires are respectively used for driving the two sets of movement of the execution mechanisms of the mechanical arms, and the plurality of sets of execution driving steel wires are respectively in transmission connection with the second ends of the corresponding horizontal transmission shafts.

The main manipulator is provided with a hand shearing joint, a wrist deviation joint, a wrist flexion and extension joint, a forearm rotation joint, a forearm turning joint and an elbow flexion and extension joint which are connected one by one; the horizontal displacement driving device is arranged between the forearm rotating joint and the forearm turning joint.

The transmission bevel gear is arranged at the second end of the vertical transmission shaft and at the first end of the horizontal transmission shaft, and the transmission bevel gear at the second end of the vertical transmission shaft is meshed with the transmission bevel gear at the first end of the horizontal transmission shaft.

And the first ends of the vertical transmission shafts are provided with receiving pre-tightening rollers, and each group of receiving driving steel wires are wound on the corresponding receiving pre-tightening rollers.

And the second ends of the horizontal transmission shafts are provided with execution pre-tightening rollers, and each set of execution driving steel wires are wound on the corresponding execution pre-tightening rollers respectively.

The executing mechanism of the mechanical arm comprises a rotating mechanism, an arc-shaped guide rail mechanism, an actuator telescopic mechanism and an actuator driving mechanism.

One end of the execution driving steel wire is wound on the execution pre-tightening roller, and the other end of the execution driving steel wire is in transmission connection with the rotating mechanism or the arc-shaped guide rail mechanism or the actuator telescopic mechanism or the actuator driving mechanism.

The actuating driving steel wire is positioned on the outer side of the actuator driving mechanism and is sleeved with a steel wire length limiting spring tube.

The second end of horizontal transmission shaft is provided with the mounting bracket, a plurality of steel wire length limiting steps are seted up to the bottom of mounting bracket, be provided with steel wire length limiting spring pipe in the steel wire length limiting step, it wears to establish to carry out the drive steel wire in the steel wire length limiting spring pipe.

The scheme of the invention has the following beneficial effects:

the force feedback transmission system of the surgical robot can realize force feedback, and doctors can sense the force fed back by the tail end of the actuator in the surgical process, so that tissues can be effectively prevented from being scratched in the surgical process. The force feedback is realized mainly by directly transmitting the force at the tail end of the actuator to the main operating hand end through a mechanical structure. The executing mechanism of each mechanical arm has seven degrees of freedom, the seven degrees of freedom are transmitted to the top of the robot through the executing driving steel wire to be connected with the executing pre-tightening roller of the horizontal transmission shaft and pre-tightened, meanwhile, the pulling force transmitted by the executing driving steel wire is converted into torque, then the torque is transmitted to the receiving pre-tightening roller of the vertical transmission shaft through the 14 horizontal transmission shafts and the 14 pair bevel gear sets, and the receiving pre-tightening roller is connected to the seven degrees of freedom of each main manipulator through the receiving driving steel wire, so that the force of the executing mechanism of the mechanical arm is transmitted to the main manipulators, and when the same main manipulator operates, the driving transmission system transmits the force of the main manipulator to the executing mechanism of the mechanical arm, so that the functions of stretching, shearing, overturning and the like required by the operation are realized.

Drawings

FIG. 1 is a first schematic structural view of a force feedback transmission system of a surgical robot according to the present invention;

FIG. 2 is a second schematic structural view of the force feedback transmission system of the surgical robot of the present invention;

FIG. 3 is a schematic view of the main manipulator structure of the force feedback transmission system of the surgical robot of the present invention;

FIG. 4 is a schematic view of the hand shear joint and wrist offset joint structure of the force feedback transmission system of the surgical robot of the present invention;

FIG. 5 is a schematic view of a wrist flexion-extension joint structure of a force feedback transmission system of the surgical robot according to the present invention;

FIG. 6 is a first diagram of the forearm rotating joint structure of the force feedback transmission system of the surgical robot of the present invention;

FIG. 7 is a second structural diagram of the forearm rotation joint of the force feedback transmission system of the surgical robot of the present invention;

FIG. 8 is a schematic view of the horizontal displacement drive arrangement of the force feedback transmission system of the surgical robot of the present invention;

FIG. 9 is a schematic view of a forearm rollover joint configuration of the force feedback transmission system of the surgical robot of the present invention;

FIG. 10 is a schematic view of the elbow flexion-extension joint configuration of the force feedback transmission system of the surgical robot of the present invention;

FIG. 11 is a bottom view of the table of the force feedback drive system of the surgical robot of the present invention;

FIG. 12 is a schematic view of the drive shaft set drive of the force feedback drive system of the surgical robot of the present invention;

FIG. 13 is a schematic view of the horizontal drive shaft and the actuating drive wire drive of the force feedback drive system of the surgical robot of the present invention;

FIG. 14 is a schematic view of the robotic arm structure of the force feedback transmission system of the surgical robot of the present invention;

FIG. 15 is a schematic view of the actuator structure of the robotic arm of the force feedback drive system of the surgical robot of the present invention;

FIG. 16 is a schematic view of the linkage of the actuator structure of the robotic arm of the force feedback transmission system of the surgical robot of the present invention to the actuator drive wire;

FIG. 17 is a first schematic structural view of an actuating drive wire and a wire length limiting spring tube of the force feedback transmission system of the surgical robot of the present invention;

fig. 18 is a second structural diagram of the actuating drive wire and the wire length limiting spring tube of the force feedback transmission system of the surgical robot according to the present invention.

[ description of reference ]

1-a receiving section; 2-a transmission part; 3-an execution section; 10-main manipulator; 11-receiving a drive wire; 12-an operation table; 20-a vertical drive shaft; 21-a horizontal transmission shaft; 22-top drive train support; 30-a mechanical arm; 31-executing the driving wire; 32-a mounting frame; 101-a finger activity mechanism; 102-a palm positioning mechanism; 103-a shearing rotating shaft; 104-a first carriage mechanism; 105-an offset spindle; 106-front ring mechanism; 107-wrist flexion and extension rotating shaft; 108-an arm rest mechanism; 109-arc male rail; 110-inner ring arc female guide rail; 111-outer ring arc female guide rail; 112-arc rack; 113-bevel gear; 114-a mandrel; 115-arm rest base; 116-a slide rail; 117-displacement drive shaft; 118-a drive gear; 119-a drive rack; 120-a second bracket mechanism; 121-overturning the shaft tube; 122-a flexion-extension shaft tube; 201-receiving a pre-tightening roller; 211-executing pre-tightening rollers; 221-drive bevel gear; 301-a rotation mechanism; 302-arc guide rail mechanism; 303-actuator telescoping mechanism; 304-an actuator drive mechanism; 305-steel wire length limiting step; 306-a robot arm mounting frame; 307-wire length limiting spring tube; r₁-a hand shear joint; r₂-a wrist offset joint; r₃-a wrist flexion-extension joint; r₄-a forearm rotation joint; r₅-a forearm turnover joint; r₆-the elbow flexion and extension joint; m₁-a horizontal displacement drive.

Detailed Description

In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.

The invention provides a force feedback transmission system of a surgical robot, aiming at the problems that the existing master-slave separation minimally invasive surgical robot has high operation difficulty, a doctor has no hand feeling during operation and is easy to damage tissues.

As shown in fig. 1 to 18, an embodiment of the present invention provides a force feedback transmission system of a surgical robot, including: the receiving part 1 is provided with two main operating hands 10, each main operating hand 10 is provided with a plurality of rotation or horizontal displacement degrees of freedom, and each degree of freedom is provided with a group of receiving and driving steel wires 11; the transmission part 2 is provided with a plurality of transmission shaft groups, the number of the transmission shaft groups is the same as the sum of the number of degrees of freedom of the two main operators 10, each transmission shaft group comprises a vertical transmission shaft 20 and a horizontal transmission shaft 21, the second end of the vertical transmission shaft 20 of each transmission shaft group is in transmission connection with the first end of the horizontal transmission shaft 21, and each group of the receiving and driving steel wires 11 is in transmission connection with the first end of the corresponding vertical transmission shaft 20 respectively; the execution part 3, the execution part 3 is provided with two sets of arms 30 and multiunit execution drive steel wire 31, the multiunit execution drive steel wire 31 is used for driving two sets of respectively the actuating mechanism's of arm motion, the multiunit execution drive steel wire 31 respectively with correspond the second end transmission of horizontal transmission shaft 21 is connected.

The force feedback transmission system of the surgical robot according to the above embodiment of the present invention is provided with an operation table 12, two main operation hands 10 are installed on the left and right sides of the operation table 12, each main operation hand 10 is provided with seven degrees of freedom, which are a hand shearing degree of freedom, a wrist deviation degree of freedom, a wrist flexion and extension degree of freedom, a forearm rotation degree of freedom, a forearm turning degree of freedom, an elbow flexion and extension degree of freedom, and a horizontal displacement degree of freedom; the actuating mechanism of each mechanical arm 30 also has seven degrees of freedom corresponding to the main manipulator, the seven degrees of freedom of the actuating mechanism of the mechanical arm 30 are transmitted to the top of the robot through the actuating driving steel wire 31 and are connected with and pre-tightened by the actuating pre-tightening roller 211 of the horizontal transmission shaft 21, meanwhile, the pulling force transmitted by the actuating driving steel wire 32 is converted into torque, then the torque is transmitted to the receiving pre-tightening roller 201 of the vertical transmission shaft 20 through 14 horizontal transmission shafts 22 and 14, the receiving pre-tightening roller 201 is connected to the seven degrees of freedom of each main manipulator 10 through the receiving driving steel wire 11, so that the force of the actuating mechanism of the mechanical arm 30 is transmitted to the main manipulator 10, and when the same main manipulator 10 operates, the force of the main manipulator 10 is transmitted to the actuating mechanism of the mechanical arm 30 through the driving transmission system.

As shown in FIG. 3, the main manipulator 10 is provided with a hand shear joint R₁Wrist offset joint R₂Wrist flexion and extension joint R₃Forearm rotary joint R₄Forearm turnover joint R₅And elbow flexion-extension joint R₆Connecting one by one; the forearm rotary joint R₄And forearm turnover joint R₅Is provided with the horizontal displacement driving device M₁。

As shown in fig. 3 to 11, in the present embodiment, the hand cutting joint R₁The palm cutting device comprises a finger moving mechanism 101 and a palm positioning mechanism 102, wherein the finger moving mechanism 101 is rotationally arranged at the top of the palm positioning mechanism 102 through a cutting rotating shaft 103, and a group of receiving and driving steel wires 11 are wound on the cutting rotating shaft 103; the wrist offset joint R₂The palm positioning mechanism 102 is composed of a first bracket mechanism 104 and the palm positioning mechanism 102, the rear end of the palm positioning mechanism 102 is rotatably arranged on the upper part of the first bracket mechanism 104 through an offset rotating shaft 105, and a group of receiving and driving steel wires 11 are wound on the offset rotating shaft 105; the wrist flexion-extension joint R₃The lower part of the first bracket mechanism 104 is rotatably arranged at the bottom of the front end of the front ring mechanism 106 through a wrist bending and extending rotating shaft 107, and a group of receiving and driving steel wires 11 are wound on the wrist bending and extending rotating shaft 107; the forearm rotary joint R₄The front ring mechanism 106 is composed of an arm support mechanism 108, an arc-shaped male guide rail 109 is fixedly arranged on the arm support mechanism 108, an inner ring arc-shaped female guide rail 110 and an outer ring arc-shaped female guide rail 111 are fixedly arranged at the rear end of the front ring mechanism 106, and the arc-shaped male guide rail 109 is slidably arranged between the inner ring arc-shaped female guide rail 110 and the outer ring arc-shaped female guide rail 111; the arc-shaped male guide rail 109 is circumferentially arrangedAn arc-shaped rack 112 is arranged in the direction, the front ring mechanism 106 is rotationally provided with a bevel gear 113, a mandrel 114 penetrates through the center of the bevel gear 113, the bevel gear 113 is in meshing transmission with the arc-shaped rack 112, and a group of receiving and driving steel wires 11 are wound on the mandrel 114; the horizontal displacement driving device M₁The arm support mechanism 108 is arranged on the arm support base 115 in a sliding manner through two sets of sliding rails 116, a displacement driving shaft 117 is rotatably arranged on the side surface of the arm support base 115 in a penetrating manner, a driving gear 118 is arranged at the end head of the displacement driving shaft 117, a driving rack 119 is arranged on the side surface of the arm support mechanism 108, the driving gear 118 is meshed with the driving rack 119, and a set of receiving and driving steel wires 11 are wound on the displacement driving shaft 117; the forearm turnover joint R₅The arm support base 115 is rotatably connected with the upper part of the second support mechanism 120 through a turnover shaft tube 121, and a group of receiving and driving steel wires 11 are wound on the turnover shaft tube 121; the elbow flexion-extension joint R₆The bottom of the second support mechanism 120 is rotatably arranged on the operating table 12 through a flexible shaft tube 122, and a group of receiving and driving steel wires 11 are wound on the flexible shaft tube 122; wherein a part of the receiving driving wire 11 is connected to the receiving pretension roller 201 from the bottom surface of the operation table 12.

As shown in fig. 12, the second end of the vertical transmission shaft 20 and the first end of the horizontal transmission shaft 21 are both provided with a transmission bevel gear 221, and the transmission bevel gear 211 at the second end of the vertical transmission shaft 20 is engaged with the transmission bevel gear 221 at the first end of the horizontal transmission shaft 21.

As shown in fig. 11, the first ends of the vertical transmission shafts 20 are provided with receiving pre-tightening rollers 201, and each group of the receiving driving wires 11 is wound around the corresponding receiving pre-tightening rollers 201.

As shown in fig. 13, the second ends of the horizontal transmission shafts 21 are provided with execution pre-tightening rollers 211, and each set of execution driving steel wires 31 is wound around the corresponding execution pre-tightening rollers 211.

In the force feedback transmission system of the surgical robot according to the above embodiment of the present invention, the second end of the vertical transmission shaft 20 is provided with the top transmission system support frame 22, the top transmission system support frame 22 can fix and limit the vertical transmission shaft 20 and the horizontal transmission shaft 21 of each transmission shaft group, so that the transmission bevel gear 221 at the second end of the vertical transmission shaft 20 is always engaged with the transmission bevel gear 221 at the first end of the horizontal transmission shaft 21, the receiving pre-tightening roller 201 can be set to have different diameters as required, and the transmission torque of the receiving part 1 can be changed by changing the diameter ratio of the receiving pre-tightening roller 201 to the transmission bevel gear 221 at the second end of the vertical transmission shaft 20; each of the pre-tightening rollers 211 can be set to have different diameters as required, and the transmission torque of the executing part 3 can be changed by changing the diameter ratio of the pre-tightening roller 211 to the transmission bevel gear 221 at the second end of the vertical transmission shaft 21.

As shown in fig. 14 and 15, the actuator mechanism of the robot arm 30 includes a rotating mechanism 301, an arc-shaped rail mechanism 302, an actuator retracting mechanism 303, and an actuator driving mechanism 304.

As shown in fig. 16, one end of the execution driving wire 31 is wound around the execution pre-tightening roller 211, and the other end is in transmission connection with the rotating mechanism 301, the arc-shaped guide rail mechanism 302, the actuator telescoping mechanism 303, or the actuator driving mechanism 304.

In the force feedback transmission system of the surgical robot according to the above embodiment of the present invention, the arc-shaped guide rail mechanism 302 is provided with the arc-shaped guide rail sliding block, the arc-shaped guide rail sliding block 305 is slidably disposed on the arc-shaped guide rail mechanism 302, the arc-shaped guide rail sliding block is fixedly disposed on the rotating shaft of the rotating mechanism 301, the rotating shaft of the rotating mechanism 301 is connected to a set of execution driving steel wires 31, and the rotating mechanism 301 and the elbow flexion-extension joint R are connected to each other₆Synchronous movement; the two ends of the arc guide rail sliding block are connected and provided with a group of execution driving steel wires 31, the arc guide rail mechanism 302 and the forearm turnover joint R₅Synchronous movement; the actuator telescoping mechanism 303 is provided with a telescoping slide block, and the telescoping slide block is slidably arranged on the actuator telescoping mechanism 303Two ends of the telescopic sliding block are connected with a group of execution driving steel wires 31, and the actuator telescopic mechanism 303 and the horizontal displacement driving device M₁Synchronous movement; the actuator driving mechanism 304 is provided with a shearing driving shaft, a pitching driving shaft, a yawing driving shaft and a rotating driving shaft, wherein the shearing driving shaft, the pitching driving shaft, the yawing driving shaft and the rotating driving shaft are all connected with a group of execution driving steel wires 31, and the shearing driving shaft and the hand shearing joint R are connected₁Synchronous movement of the pitch drive shaft and the wrist flexion-extension joint R₃Synchronous motion of said yaw drive shaft and said wrist offset joint R₂Synchronous motion of the rotary drive shaft and the forearm rotary joint R₄The movement is synchronized.

Wherein, the executing driving wire 31 is sleeved with a wire length limiting spring tube 307 outside the actuator driving mechanism 304.

As shown in fig. 17 and 18, a mounting bracket 32 is disposed at the second end of the horizontal transmission shaft 21, a plurality of wire length limiting steps 305 are disposed at the bottom of the mounting bracket 32, a wire length limiting spring tube 307 is disposed in the wire length limiting steps 305, and the execution driving wire 31 is inserted into the wire length limiting spring tube 307.

In the force feedback transmission system of the surgical robot according to the above embodiment of the present invention, the robot arm mounting frame 306 is disposed at the front end of the mounting frame 32, the two robot arms 30 are respectively rotatably disposed at two sides of the robot arm mounting frame 306, and the steel wire length limiting spring tube 307 limits the overall length through the steel wire length limiting step 305 structure, so that the length of the steel wire length limiting spring tube 307 is kept unchanged during bending deformation, thereby keeping the length of the internal execution driving steel wire unchanged, and ensuring accurate transmission of each degree of freedom of the actuator.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.