公开(公告)号：US20230054829A1

公开(公告)日：2023-02-23

申请号：US17792189

申请日：2020-11-28

Applicant: Shenzhen Edge Medical CO.,Ltd.

Inventor： Jian Huang ,  YUANQIAN GAO ,  JIANCHEN WANG

IPC: A61B34/37

Abstract: An operating arm (100) includes a driving cartridge (1), a link (2), an end instrument (3), and a first group driving wire (4) and a second group driving wire (5) penetrating the link (2). The end instrument (3) includes a connecting assembly (6) connected to the link (2) and an end effector (7) connected to the connecting assembly (6). The driving cartridge (1) includes a base (10) connected to the link (2), a first rotatable shaft (111) arranged on the base (10), and a second rotatable shaft (112) arranged on and rotating coaxially with the first rotatable shaft (111). The first group driving wire (4) starts from the first rotatable shaft (111) and terminates at a first position of the connecting assembly (6). The second group driving wire (5) starts from the second rotatable shaft (112) and terminates at a second position of the connecting assembly (6).