Snake-like joint for surgical robot, surgical instrument and endoscope

Abstract

The invention provides a snake-like joint for a surgical robot, a surgical instrument and an endoscope. The snake-like joint has at least one degree of freedom, and the snake-like joint comprises at least one joint connector pair and a flexible structure, wherein each joint connector pair comprises a first joint connector at the lower end and a second joint connector at the upper end; the first joint connectors comprise first substrates, and first bumps and first grooves are arranged on the first surfaces of the first substrates; the second joint connectors comprise second substrates, and second bumps and second grooves are arranged on the second surfaces of the second substrates; the first surfaces and the second surfaces are oppositely arranged; the first bumps are arranged in the second grooves and are capable of rotating relatively to the second grooves; the second bumps are arranged in the first grooves and are capable of rotating relatively to the first grooves; and under the control of the flexible structure, the joint connector pair is swung. Planar rotation or spatial rotation is achieved, so that structural complexity is reduced.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a serpentine joint for a surgical robot, a surgical device and an endoscope. Background technique [0002] With the rapid development of robots, a variety of distinctive robots continue to emerge, and among them, the research on bionic robots is becoming more and more prominent, and there are more and more researches on snake-like robots. The fundamental reason for the generation and development of snake-like robots is that they can complete actions that normal robots cannot complete. Its movement is similar to that of snakes in nature. It can realize plane torsion and space torsion, avoid obstacles during the movement, and use it to complete tasks that humans or other machines cannot complete. [0003] In view of this feature, snake-like robots for medical operations are also slowly appearing. Especially in the process of minimally invasive surgery, since the wound is ...

AI Technical Summary

Problems solved by technology

[0004] However, the current serpentine joints used for surgical instruments have the disadvantages of complex structure, many parts and cumbersome assembly

Patent US 6817974 B2 proposes a serpentine joint. The joints are connected by a structure similar to short connecting rods, which can realize spatial torsional movement through different arrangements, but in the process of bending and torsion, there is a problem of low movement accuracy. , the disadvantage of complex structure

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