| abstract |
The flexible surgical tool system 10 includes a flexible continuum structure consisting primarily of sequentially connected distal structures 11, intermediate connectors 15 and proximal structures 16, Further comprising a drive unit (21); The power transmitting drive unit 21 includes a plurality of power transmitting mechanisms 22 corresponding to the driving proximal structural segments 17 and 18 respectively so that the power transmitting mechanism 22 has a pair of rotational motion inputs To a pair of rotational outputs whose axes intersect vertically, of which one rotational output parallel to the rotational input axis controls the direction of the rotational plane of the proximal segments 17, 18 And the other rotational motion output perpendicular to the rotational motion output shaft controls the pivoting angle of the proximal segment 17,18 in the plane of rotation so that the proximal segment 17,18 of the proximal structure 16 And to drive the distal structural segments 12, 13 in the distal structural body 11 connected thereto to pivot in the opposite direction. |