CN208710055U - A kind of medicine backup actuating device - Google Patents

Abstract

The utility model relates to a kind of medicine backup actuating devices, it include: principal arm, positioning unit and instrument driving unit, the proximal end of positioning unit is fixedly connected with principal arm, positioning unit can stretch with respect to principal arm, unit of transposing includes extensible member, multiple degrees of freedom movable part and the first locking member, first locking member can lock extensible member and multiple degrees of freedom movable part simultaneously, instrument driving unit is located at the distal end of positioning unit, it is detachably connected with it, instrument driving unit includes motor apparatus, instrument fixation member and instrument transmission parts, surgical instrument is fixed on instrument driving unit by instrument fixation member, instrument transmission parts are adaptive to the surgical instrument of different shape and height, under the driving of motor apparatus, movement is passed into surgical instrument.The device has preferable adaptivity, and patient is enabled easily to carry out one man operation to the surgical instrument of surgical instrument or no-fix after positioning.

Description

A kind of medicine backup actuating device

Technical field

The utility model relates to medical instruments field more particularly to a kind of medicine backup actuating devices.

Background technique

Compared to traditional operation method, mechanical arm auxiliary or robotic assisted surgery operation have become surgical operation One of hot spot of development, such as endoscope micro-wound, minimally invasive spine surgical, cardiovascular interventional operation etc..Due to surgeon Both hands need to manipulate surgical instrument, and must keep sterile, when needing while operating multiple surgical instruments, it is necessary to assistant Help, at this point, manpower and operating time will be greatlyd save if borrowing mechanical arm or robot assisted operation.And intervene skill The development of art, so that more and more surgical operations are needed in the operation in-house operation with X-ray auxiliary irradiation, with operation The accumulation of time and number, the amount of radiation that patient is born also are being accumulated, and when amount for surgical is larger, are easily caused to patient irreversible The radiation injury turned, at this point, such injury will be greatly reduced if borrowing the auxiliary operation of mechanical arm or robot.

It describes a kind of for keeping the device of surgical operating instrument in patent CN200910127112.2, there is flexible drive The dynamic device includes: support；The the first flexible grade carried by support, the first flexible grade can complete the relative to support One movement；Second flexible grade, the second flexible grade can complete the second movement relative to the first flexible grade；And drive system, The drive system is operated to drive the first and second movements, to execute the first movement and the in the first telescopic element Two telescopic elements are performed simultaneously the second movement, wherein flexible driving be operably supported another device and mobile another device so as to The movement is centered on any or each telescopic element is all arc.Technology described in this patent, though have certain Practicability, but when described device carry out first and second movement when, arc telescopic element occupied space is larger, and its end When end is connected with surgical instrument, freedom degree, which is adjusted, to need then to lock by adjusting apart from the farther away proximal end ball-joint arm in end Fixed, since device volume is larger, joint arm lengths are long and have constant weight, cannot achieve the one-handed performance device so as to in art Surgical instrument after positioning carries out position automatic adjusument.

Summary of the invention

In view of the above drawbacks of the prior art, the purpose of the utility model is to provide a kind of medicine backup actuating device, The medicine backup actuating device has preferable adaptivity, enables patient to surgical instrument or no-fix after positioning Surgical instrument, easily carry out one man operation.

The purpose of this utility model is achieved through the following technical solutions:

A kind of medicine backup actuating device, comprising: principal arm, positioning unit and instrument driving unit, the positioning unit Proximal end is fixedly connected with the principal arm, and the relatively described principal arm of positioning unit can stretch, and the positioning unit includes flexible Component, multiple degrees of freedom movable part and the first locking member, first locking member can lock the extensible member simultaneously With the multiple degrees of freedom movable part, the instrument driving unit is located at the distal end of the positioning unit, with the positioning unit Be detachably connected, the instrument driving unit includes motor apparatus, instrument fixation member and instrument transmission parts, surgical instrument by The instrument fixation member is fixed on the instrument driving unit, and the instrument transmission parts are adaptive to different shape and height Movement is passed to surgical instrument under the driving of the motor apparatus by the surgical instrument of degree.

The purpose of this utility model can also further realize by the following technical programs:

In one embodiment, one end of the instrument transmission parts is connect with the motor apparatus, and the instrument passes The other end of dynamic component is provided with the connecting component being connected with the surgical instrument, and the connecting component is nonelastic, length energy Enough it is adjusted.

In one preferred embodiment, the connecting component is drive rod, the institute under the driving of the motor apparatus Stating drive rod can be moved to close and contact surgical instrument, and transmission is realized in transmitting movement.

In one embodiment, one end of the instrument transmission parts is detachably connected with the motor apparatus, described The second locking member is additionally provided on instrument driving unit, when being in the lock state, the instrument transmission parts and the motor Device is cooperated in transmitting driving force, after operating second locking member unlock, the instrument transmission parts with it is described Motor apparatus can relatively move, and the instrument transmission parts can be moved manually to desired position.

In one embodiment, the positioning unit and the principal arm are coaxial, on the positioning unit be arranged slot or Track, the slot or track are parallel with the principal arm axis.

In one preferred embodiment, the extensible member and the principal arm are coaxial, and the extensible member includes the One extensible member and the second extensible member, second extensible member are coaxially socketed in first extensible member, and can be described State axial movement in the first extensible member.

In one preferred embodiment, first locking member is lock-screw, is also set in the positioning unit It is equipped with the first locating piece, the second locating piece and third locating piece, the distal portions of first locating piece are arranged on described Inside two extensible members, for limiting, second locating piece be wedge block, the proximal end of the third locating piece be provided with it is described The lozenges that second locating piece matches, the distal end of the third locating piece is provided with to match with the multiple degrees of freedom movable part The face of conjunction, above-mentioned component match, and realize the lock-screw once while locking the extensible member and the multiple degrees of freedom Movable part.

In one embodiment, the multiple degrees of freedom movable part is ball-joint.

In one embodiment, connection unit is additionally provided on the positioning unit, the connection unit is located at described It transposes between unit and the instrument driving unit, the proximal end of the connection unit and the positioning unit are fixed or detachably Connection, the distal end of the connection unit is detachably connected with the instrument driving unit.

In one embodiment, guide groove or sliding rail, the instrument transmission parts are set on the instrument driving unit It is moved along the guide groove or sliding rail.

In one embodiment, the instrument driving unit is primary sterilization consumptive material.

Compared with the existing technology, it is the advantages of above-mentioned technical proposal:

1. the technical solution of the utility model increases simultaneously on the basis of the multiple degrees of freedom movable part for unit of transposing One extensible member, and the first locking member can lock extensible member and multiple degrees of freedom component simultaneously, especially mostly freely When degree component is ball-joint, the structural volume is smaller than common mechanical joint, and space occupied is small, can easily be expendable locked, so that Early period mechanical arm and surgical instrument between position cooperation it is more efficient and convenient, operate it is more easy, facilitate doctor one man operation, One hand locking, reduces patient's number, saves operating room space, reduces operating time.

It, will be described 2. the technical solution of the utility model, instrument driving unit and single unit system use detachable scheme Instrument driving unit is set as primary sterilization consumptive material, on the one hand patient is facilitated to operate, and reduces operating time, while instrument drives Unit can have more models to be arranged, so that patient selects classification and model；On the other hand, sterile working reduces pollution Possibility, avoid because clean it is improper caused by have bacterium infection and cross-infection generation.

3. the technical solution of the utility model, the structure design on instrument transmission parts, can make itself and not similar shape The surgical instrument of shape height can be adapted to connection, while realize transmission, and realizing a device, can to correspond to auxiliary operation a variety of The scheme of surgical instrument.

4. the technical solution of the utility model is provided with the second locking member on instrument transmission parts, instrument can be made Transmission parts drive in motor and are converted between manual actuation, and conversion time is short, and conversion regime is convenient, and art may be implemented Person is moved to desired position to the manual operation of transmission parts, increases the operability and practicability of device, patient Also instrument transmission parts quickly can be moved to position corresponding with surgical instrument manually, realizes connection transmission.

5. the technical solution of the utility model allows patient in out operating-room or far from the area of C-arm x-ray machine Domain carries out remote-controlled operation to existing commercialized product using the medicine backup actuating device in the utility model, reduces patient and exist The irradiation accumulation received in surgical procedure improves the surgical procedure environment of patient, ensures the health of patient.

6. the technical solution of the utility model uses motor etc. and is used as driving method, has better precision and stabilization Property, surgical quality and success rate are improved, data observation and the record being also convenient in surgical procedure.

Make furtherly below with reference to technical effect of the attached drawing to the design of the utility model, specific structure and generation It is bright, to be fully understood from the purpose of this utility model, feature and effect.

Detailed description of the invention

Fig. 1 is a kind of general structure schematic diagram of medicine backup actuating device described in the utility model；

Fig. 2 is a kind of use schematic diagram of medicine backup actuating device described in the utility model；

Fig. 3 is an embodiment schematic diagram of positioning unit described in the utility model；

Fig. 4 is an embodiment schematic diagram of the first extensible member described in the utility model；

Fig. 5 is an embodiment schematic diagram of the first locking member described in the utility model；

Fig. 6 is the structural schematic diagram of the distal portions of the second extensible member described in the utility model；

Fig. 7 is the structural schematic diagram of an embodiment of the first locating piece described in the utility model；

Fig. 8 is the structural schematic diagram of an embodiment of the second locating piece described in the utility model；

Fig. 9 is an embodiment schematic diagram of third locating piece described in the utility model and ball-joint cooperation；

Figure 10 is the dress of the first locating piece, the second locating piece and third locating piece described in the utility model and ball-joint cooperation With diagrammatic cross-section；

Figure 11 is an embodiment schematic diagram of ball-joint described in the utility model；

Figure 12 is an embodiment schematic diagram of connection unit described in the utility model and the instrument driving unit；

Figure 13 is the top view of Figure 12；

Figure 14 is the another embodiment schematic diagram of connection unit described in the utility model；

Figure 15 is the another embodiment schematic diagram of ball-joint described in the utility model；

Figure 16 is the another embodiment schematic diagram of connection unit described in the utility model；

Figure 17 is an embodiment schematic diagram of instrument driving unit described in the utility model；

Figure 18 is the side view of Figure 17；

Figure 19 is the front view of Figure 17；

Figure 20 is the another embodiment schematic diagram of instrument driving unit described in the utility model；

Figure 21 is an embodiment schematic diagram of instrument transmission parts described in the utility model；

Figure 22 and Figure 23 is instrument transmission parts operation principle schematic diagram described in the utility model；

Figure 24 to Figure 29 is other embodiment schematic diagrams of instrument transmission parts described in the utility model；

It is the instrument transmission parts, described when Figure 30 is that the second locking member described in the utility model is in the unlocked state The side elevational cross-section schematic diagram of structural relation between motor apparatus and second locking member；

It is the instrument transmission parts, described when Figure 31 is that the second locking member described in the utility model is in the lock state The side elevational cross-section schematic diagram of structural relation between motor apparatus and second locking member；

It is the instrument transmission parts, described when Figure 32 is that the second locking member described in the utility model is in the unlocked state The top cross-sectional view of structural relation between motor apparatus and second locking member；

It is the instrument transmission parts, described when Figure 33 is that the second locking member described in the utility model is in the lock state The top cross-sectional view of structural relation between motor apparatus and second locking member；

Figure 34 is the screw rod and third connection assist diagrammatic cross-section in the unlocked state；

Figure 35 is the diagrammatic cross-section that the screw rod and the third connection assist are in the lock state.

Specific embodiment

For the purpose of this utility model, technical solution and advantage is more clearly understood, develop simultaneously implementation referring to the drawings The utility model is further described in example.Close ground is lower section in the utility model, is top far from ground, It is distal end close to patient, is proximal end far from patient, the term of such as " first " and " second " etc can be used for describing respectively Kind component, but these components are certainly not limited to above-mentioned term, above-mentioned term is only used for distinguishing a component and other component It comes.

The term used in the present specification is only used for description specific embodiment, and it is originally practical new to be not intended to limitation Type.In the present specification, it should be appreciated that the term of such as " comprising ", " being provided with " and " having " etc, which is intended to mean that, to be disclosed in Feature, quantity, step, operation, component, assembly unit in specification or its presence combined, and be not intended to exclude may exist or Increase one or more different features, quantity, step, operation, component, assembly unit or its possibility combined.

Below with reference to some embodiments of the utility model is described in detail in attached drawing.In all the appended drawings using identical attached Icon note indicates identical or corresponding component, and omits the repeated description to identical component.

As shown in Figure 1, a kind of medicine backup actuating device 1, including principal arm 100, positioning unit 200 and instrument driving unit 300, the proximal end of the principal arm 100 is fixedly connected with (not shown) with movable case, is placed in the attached of hospital bed 3 as shown in Figure 2 Near position, the distal end of the principal arm 100 are fixedly connected with the proximal end of the positioning unit 200, the opposite institute of the positioning unit 200 Stating principal arm 100 can stretch, and the instrument driving unit 300 is located at the distal end of the positioning unit 200, detachably connect with it It connects, for being connected with surgical instrument 2 as shown in Figure 2, it is assisted to operate near hospital bed 3.

As shown in figure 3, the positioning unit 200 is coaxial with the principal arm, the positioning unit 200 includes extensible member 210, multiple degrees of freedom movable part 220 and the first locking member 230, the extensible member 210 and the principal arm are coaxial, described to stretch Contracting component 210 includes the first extensible member 211 and the second extensible member 212, and second extensible member 212 is coaxially socketed in described the It in one extensible member 211, and can be moved axially in first extensible member 211, realize and stretch, in another embodiment (not shown), the extensible member may include third extensible member, three coaxial sockets be realized, so that the positioning unit is shunk Entire length is shorter afterwards, and occupied space is smaller；It is additionally provided with slot or track 214 on the positioning unit 200, with the main shaft Axis is parallel, and in this embodiment, the multiple degrees of freedom movable part 220 is ball-joint, is located at as shown in FIG. 6 described In the distal portions of second extensible member 212, multiple degrees of freedom activity is realized, as shown in Figure 3 and Figure 4, on the positioning unit 200 also It is provided with positioning light 213, such as infrared light, visible laser, facilitates patient in advance that the medicine backup actuating device is mobile To surgical instrument neighbouring position.

As shown in figure 5, in one embodiment, first locking member 230 is institute in lock-screw, with such as Fig. 3 Second extensible member 212 shown is translated relative to first extensible member 211 along the slot or track 214 together, described When first locking member 230 is locked, the relative position between first extensible member 211 and second extensible member 212 is consolidated It is fixed；As shown in Figure 7 to 9, the first locating piece 240 (Fig. 7), the second locating piece 250 (Fig. 8) are additionally provided in the positioning unit With third locating piece 260 (Fig. 9), as shown in Figure 10, the distal portions of first locating piece 240 are arranged on described second Inside extensible member 212, for limiting, second locating piece 250 is wedge block, and the proximal end of the third locating piece 260 is arranged There is the lozenges to match with the wedge block, the distal end of the third locating piece 260 is provided with and 220 phase of ball-joint The face of cooperation, above-mentioned component is matched with the lock-screw 230 as shown in Figure 5, when the lock-screw 230 is locked When movement, to the positioning unit inside compress second locating piece 250, meanwhile, active force is transferred to third positioning Part 260, to reach the ball-joint 220, under the interaction of above-mentioned components, first locking member 230 is realized The primary stretching motion and the multiple degrees of freedom locked between first extensible member 211 and second extensible member 212 simultaneously Movable part 220 realizes the lock-screw once while locking the extensible member 210 and the multiple degrees of freedom movable part Part 220.When the multiple degrees of freedom movable part 220 is ball-joint, the structural volume is smaller than common mechanical joint, space occupied It is small, and can easily be expendable locked, so that the position cooperation between mechanical arm early period and surgical instrument is more efficient and convenient, operation It is more easy, facilitate doctor one man operation, one hand locking reduces patient's number, saves operating room space, reduces operating time.

In one embodiment, removable between the instrument driving unit 300 and the positioning unit in order to realize Connection is unloaded, is additionally provided with connection unit 270 as shown in figure 12 on the positioning unit, is located at the instrument driving unit 300 Between the positioning unit, as shown in figure 9, the distal end of the ball-joint 220 is provided with helicitic texture 221, with such as Figure 12 institute The proximal end of the connection unit shown is that screw thread is detachable or screw thread adds being fixedly connected for glue, the connection unit 270 it is remote End is detachably connected with the instrument driving unit 300.In another embodiment, as shown in figure 11, the multiple degrees of freedom The distal end of movable part 220 is bending rod piece, increases its movable range.

In one embodiment, as shown in Figure 12 and Figure 13, the instrument driving unit 300 is primary sterilization consumption Material, including shell 310, motor apparatus, instrument fixation member 320 and instrument transmission parts 330, the motor apparatus are located at described Inside shell 310, the instrument transmission parts 330 are adaptive to the surgical instrument of different shape and height, fill in the motor Under the driving set, movement is passed into the surgical instrument, in another embodiment, the motor apparatus is motor.Such as Shown in Figure 14, in order to realize being detachably connected for the instrument driving unit and the connection unit 270, the connection unit The groove 251 positioned at distal portions and the handle 252 positioned at two sides are provided on 270, the groove 251 drives with the instrument The plunger (not shown) cooperation being arranged inside unit 300, realization are detachably connected.(not shown) in other embodiments, The connection unit is detachably connected using modes, realizations such as common buckle, turn buckles.In another embodiment, such as Shown in Figure 15, the distal end of the ball-joint 220 is that elastic cutting 221 is provided on the connection unit 270 as shown in figure 16 With the elastic mutually matched slot 253 of cutting 221 and facilitate the handle 252 of holding, under the cooperation of above-mentioned component, the ball Realize that plug is detachably connected with the connection unit 270 in joint 220.

In one embodiment, as shown in Figures 17 to 19, in order to being adapted to the operation of different shape and height Instrument realizes transmission, is provided with guide groove or sliding rail 350, the instrument fixation member 320 on the instrument driving unit 300 It is as shown in figure 18 plug buckle structure, is detachably connected with the surgical instrument that patient uses, the instrument transmission parts 330 One end is fixedly connected with the electric machine, and the other end is provided with drive rod 340, realizes fixed and movement by the motor, It can be moved in arrow direction as shown in figure 18 along guide groove as shown in figure 19 or sliding rail 350 under the driving of the motor, it is real It is now close and contact surgical instrument, transmitting movement.This embodiment is advantageous in that, in art, patient by backup actuating device with When surgical instrument carries out position cooperation with fixing, is not limited by surgical instrument original height and instrument shape, realize one Device can correspond to the scheme of a variety of surgical instruments of auxiliary operation.In another embodiment, as shown in figure 20, the instrument Driving unit 300 is another model classification of disposable sterilizing consumptive material, and the guide groove 350 drives single along the instrument The laterally setting of member 300, the instrument transmission parts 330 are card slot, are detachably connected with surgical instrument, patient can be according to reality The demand of operational motion selects the model classification of the instrument driving unit.

In other embodiments, as shown in figure 21, one end of the instrument transmission parts 330 and the motor apparatus Connection, the other end is provided with the connecting component 360 connecting with surgical instrument, and the is additionally provided on the instrument transmission parts 330 One connection assist 341 and the second connection assist 342, first connection assist 341 are located at the instrument transmission parts 330 side is fixedly connected with one end of the connecting component 360, and second connection assist 342 is located at the instrument Another side of transmission parts 330, inside sets elastic hole, and the connecting component 360 is with the inelastic of certain length Flexible plastic rope is provided with multiple circles spaced apart at it on one end of second connection assist 342 Protrusion, size are matched with above-mentioned elastic hole.As shown in figure 22, this end of the connecting component 360 is bypassed into the operation Instrument 2, the elastic hole on second connection assist 342, between the circular protrusions and the elastic hole The cooperation of size, so that the connecting component 360 can only realize that length can be adjusted to direction one-way movement as indicated in the figures by an arrow Whole and after being adjusted length can be fixed, and taken up the rear surgical instrument 2 and be fixed on the instrument driving section On part 330.As shown in figure 23, then, the motor apparatus drives the instrument transmission parts 330, then drives fixed thereto The surgical instrument 2, moves upwards along arrow direction as shown, realizes auxiliary operation.In another embodiment, with it is above-mentioned Embodiment the difference is that, as shown in figure 24, first connection assist 341 and second connection assist 342 all fix with 360 adjustable length of connecting component.In another embodiment, with the difference of above embodiment Place is, as shown in Figure 25 and Figure 26, is provided with band structure 361 in the connecting component 360, with second auxiliary The clamping matching set in connector 342 uses, and realizes that the length after length can be adjusted and be adjusted can be fixed. In other embodiments, with above embodiment the difference is that, as shown in figure 27, the connecting component 360 is Inelastic rope can be wound on second connection assist 342 and fix, also can be as shown in figure 28, using pressure after finishing Set is fixed, also can be as shown in figure 29, and second connection assist 342 is rotary structure, adjusts institute by rotation mode State the length of connecting component 360.Technical solution in above-described embodiment can be realized the instrument transmission parts and be adaptive to not The surgical instrument of similar shape and height, and realize auxiliary operation.

In another embodiment, as shown in figure 30, the motor apparatus includes screw rod 380, the instrument driving section One end of part 330 is detachably connected with the screw rod 380 by third connection assist 331, the third connection assist tool There is certain elasticity, in one embodiment, be made of plastic material, is additionally provided on the instrument driving unit 300 Second locking member 370, as shown in Figure 30 and Figure 32, when rotating second locking member 370 to unlocked state, described the It is separated between three connection assists 331 and the screw rod 380 to state as shown in figure 34, at this time second locking member 370 With the third connection assist 331 still as shown in figure 30, part contact so that the instrument transmission parts 330 with The motor apparatus can relatively move, and the instrument transmission parts 330 can be with second locking member 370 and described Third connection assist 331 is moved along the up and down direction of the screw rod 380 together, is moved manually to desired position；Such as Shown in Figure 31 and Figure 33, when rotating second locking member 370 to lock state, the third connection assist 331 with It is clamped between the screw rod 380 to the state as shown in Figure 35, thus the instrument transmission parts 330 and the motor apparatus It matches, in order to transmit driving force, the instrument transmission parts 330 can be moved under the driving of the motor apparatus It is dynamic.Such embodiment can be such that instrument transmission parts are converted between motor driving and manual actuation, and conversion time Short, conversion regime is convenient, can be realized patient to the manual operation of transmission parts, is moved to desired position, increases Instrument transmission parts also can quickly be moved to corresponding with surgical instrument by the operability and practicability of device, patient manually Position, realize connection transmission.

The technical solution of the utility model, enable patient out operating-room or far from C-arm x-ray machine region, Remote-controlled operation is carried out to existing commercialized product using the medicine backup actuating device in the utility model, patient is reduced and is performing the operation Irradiation accumulation in the process improves the surgical procedure environment of patient, ensures the health of patient.

Finally it should be noted that the foregoing is merely the preferred embodiments of the utility model, not to limit The utility model processed, any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., It should be included within the scope of protection of this utility model.

Claims (10)

1. a kind of medicine backup actuating device, which is characterized in that single including principal arm (100), positioning unit (200) and instrument driving The proximal end of first (300), positioning unit (200) is fixedly connected with the principal arm (100), and the positioning unit (200) is opposite The principal arm (100) can stretch, and the positioning unit (200) includes extensible member (210), multiple degrees of freedom movable part (220) and the first locking member (230), first locking member (230) can lock simultaneously the extensible member (210) and The multiple degrees of freedom movable part (220), the instrument driving unit (300) are located at the distal end of positioning unit (200), with The positioning unit (200) is detachably connected, and the instrument driving unit (300) includes motor apparatus, instrument fixation member (320) instrument is fixed on by the instrument fixation member (320) and drives list with instrument transmission parts (330), surgical instrument On first (300), the instrument transmission parts (330) are adaptive to the surgical instrument of different shape and height, in the horse Up under the driving of device, movement is passed into the surgical instrument.

2. medicine backup actuating device according to claim 1, which is characterized in that the instrument transmission parts (330) One end is connect with the motor apparatus, and the other end of the instrument transmission parts (330) is provided with to be connected with the surgical instrument The connecting component (360) connect, the connecting component (360) is nonelastic, and length can be adjusted.

3. medicine backup actuating device according to claim 1, which is characterized in that the instrument transmission parts (330) One end is detachably connected with the motor apparatus, is additionally provided with the second locking member on the instrument driving unit (300) (370), when being in the lock state, the instrument transmission parts (330) and the motor apparatus cooperate to drive in transmitting Power, after operating the second locking member (370) unlock, the instrument transmission parts (330) being capable of phase with the motor apparatus To movement, the instrument transmission parts (330) can be moved manually to desired position.

4. medicine backup actuating device according to claim 1, which is characterized in that the positioning unit (200) with it is described Slot perhaps track (214) slot or track (214) and institute coaxially, on the positioning unit (200) is arranged in principal arm (100) It is parallel to state principal arm (100) axis.

5. medicine backup actuating device according to claim 4, which is characterized in that the extensible member (210) with it is described Principal arm (100) coaxially, the extensible member (210) include the first extensible member (211) and the second extensible member (212), described second Extensible member (212) is coaxially socketed in first extensible member (211), and can be in the first extensible member (211) inner shaft To movement.

6. medicine backup actuating device according to claim 5, which is characterized in that first locking member (230) is Lock-screw, the positioning unit (200) is interior to be additionally provided with the first locating piece (240), the second locating piece (250) and third positioning Part (260), the distal portions of first locating piece (240) are arranged on the second extensible member (212) inside, for limiting Position, second locating piece (250) are wedge block, and the proximal end of the third locating piece (260) is provided with and second positioning The lozenges that part (250) matches, the distal end of the third locating piece (260) are provided with and the multiple degrees of freedom movable part (220) face matched, above-mentioned component match, and realize the lock-screw once while locking the extensible member (210) With the multiple degrees of freedom movable part (220).

7. medicine backup actuating device according to claim 1, which is characterized in that the multiple degrees of freedom movable part It (220) is ball-joint.

8. medicine backup actuating device according to claim 1, which is characterized in that also set on the positioning unit (200) It is equipped with connection unit (270), the connection unit (270) is located at the positioning unit (200) and the instrument driving unit (300) between, the proximal end of the connection unit is fixed or is detachably connected with the positioning unit (200), and the connection is single The distal end of first (270) is detachably connected with the instrument driving unit (300).

9. medicine backup actuating device according to claim 1, which is characterized in that on the instrument driving unit (300) Guide groove is arranged, and perhaps sliding rail (350) the instrument transmission parts (330) move along the guide groove or sliding rail (350).

10. medicine backup actuating device according to claim 1, which is characterized in that the instrument driving unit (300) is Primary sterilization consumptive material.