| 摘要 |
Disclosed is a bendable end effector, which can be used in endoscopic surgery requiring very big refraction angles, supports strong force, secures a larger inner space, and stably transfers rotary force to a surgery tool even while bent. The bendable end effector comprises: a plurality of first cylinders spaced at intervals to be separated; a plurality of second cylinders alternatively arranged among the first cylinders; a pair of first band-shaped springs which connects second cylinders to the first cylinders respectively so as to enable the second cylinders based on the first cylinders to bend in a lateral or longitudinal direction; and a pair of second band-shaped springs which connects the first cylinders to the second cylinders respectively so as to enable the first cylinders to bend in a curved and perpendicular direction of the second cylinders. |
