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|1. (WO2018040707) INSTRUMENT SET AND OPERATION INSTRUMENT|
|Applicants:||MICROPORT (SHANGHAI) MEDBOT CO., LTD.
|Title:||INSTRUMENT SET AND OPERATION INSTRUMENT|
Provided are an instrument set (1) and an operation instrument. The instrument set (1) comprises a turning-over table assembly, two groups of drive wires, two wire rotating parts (12,18) and four output wires. Each group of driving wires comprises two driving wires, and each group of driving wires has two fixing points formed on an inner rotating part (114) and being symmetric with respect to the first crosspoint. The four fixed points formed on the inner rotating part (114) by the four driving wires, are sequentially connected to form a first parallelogram, and the crosspoint of the diagonals of the first parallelogram is the first crosspoint. The other ends of the two driving wires of each group of driving wires are wound on the corresponding wire rotating parts (12, 18) in opposite directions, so as to drive the turning-over table assembly to move on the basis of the four driving wires, and then the moving of the turning-over table assembly is passed to an end instrument assembly (3) by the output wires to enable the end instrument assembly (3) to move in multiple directions and multiple degrees of freedom. Thus, the instrument set (1) has simplified design, redued volume, and improved space utilization.