Deformable mechanism with combined motion

A deformable mechanism with combined motion, comprising:

• a proximal driving segment, a deformable segment with combined motion, a distal execution segment, and an end-effector,
• wherein the deformable segment with combined motion comprises a flexible center backbone, a plurality of tendons, a connecting piece, a proximal disk, and a distal disk,
• wherein a proximal end of the flexible center backbone and a proximal end of each of the plurality tendons are fixedly connected to the proximal disk, a distal end of each of the plurality of tendons is fixedly connected to the distal disk,
• wherein a distal end of the flexible center backbone extends through the distal disk into the distal execution segment and is connected with a connecting disk (401) at the end-effector,
• wherein the proximal driving segment is provided with a plurality of proximal driving tendons that extend through the proximal disk of the deformable segment with combined motion and are fixedly connected with the connecting piece,
• wherein the distal execution segment comprises a plurality of distal driving tendons each having a distal end fixedly connected to the connecting disk at the end-effector, and
• a proximal end extending through the deformable segment with combined motion and the proximal driving segment,
• wherein the end-effector comprises a rotating seat, a connecting disk, an opening and closing push-pull rod, an opening and closing driving tendon, and a torque sheath pipe, and
• wherein the rotating seat is rotatably arranged on the connecting disk, a movable opening and closing push-pull rod is arranged in the rotating seat, the connecting disk is connected with the flexible center backbone, a torque sheath pipe for driving rotation of the rotating seat is arranged in the flexible center backbone, and the opening and closing driving tendon for driving the opening and closing push-pull rod is arranged in the torque sheath pipe.