具多自由度之手術用細長型機構

A slender mechanism with multiple degrees of freedom for surgical operation includes a finger control terminal of multiple degrees of freedom, a servo far-end ball joint terminal of multiple degrees of freedom, a linkage rod set and a slender tube. The finger control terminal of multiple degrees of freedom has a sleeve ring or a joystick connection rod and a ball connector, and two spherical rings formed thereon arc rectangular trenches and pivots. The servo far-end ball joint terminal of multiple degrees of freedom has plural spherical joints. The spherical joint is disposed in the spherical recesses of a previous spherical joint, thereby forming a servo far-end of multiple rotary degrees of freedom. The linkage rod set can perform stretching operation to transmit the angle rotated by the finger control terminal to the servo far-end, so as to enable the far end of the tool to rotate. The linkage and ball joint can fix the tube to specific angle and direction. The slender tube is the main body of tool for surgical operation.