S-shaped joint for surgical robot, surgical instrument and endoscope

Abstract

The invention provides an S-shaped joint for a surgical robot. The S-shaped joint comprises at least one joint connector pair and a flexible structure, a first joint connector of each joint connector pair comprises a first spherical surface, a first meshing mechanism is arranged on each first spherical surface, a second joint connector of each joint connector pair comprises a second spherical surface, a second meshing mechanism is arranged on the second spherical surface, each first meshing mechanism is meshed with the corresponding second meshing mechanism, the flexible structure controls the swing direction and the swing angle of the joint connector pair to realize swing of the S-shaped joint. The spherical surfaces are adopted as support structures of the joint connector pair during swing, and the bearing capacity of the S-shaped joint is improved; swing of the at least one joint connector pair is realized through meshing motion of the meshing mechanisms, the meshing precision of the meshing mechanisms is improved, and high bending precision of the S-shaped joint can be realized. A surgical instrument and an endoscope comprise the S-shaped joints, so that the tail end of the instrument or an imaging system can reach the expected position and posture.

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. Bionic robots take into account the advantages of biology and robots, making their research and application more and more extensive. Among them, there are more and more researches on snake-like robots. From the first underwater snake-like robot developed by Japan in the early days to China's first snake-like robot developed by China National University of Defense Technology, this field is constantly developing and growing. [0003] 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 s...

AI Technical Summary

Problems solved by technology

However, the device is limited by the structure of the joint and the distribution of the transmission steel wire, so it cannot achieve large-scale bending of the joint, and it cannot prove its spatial torsion characteristics.

[0005] (2) Poor bearing capacity and low motion accuracy

Patent US 6817974 B2 proposes an arc-shaped serpentine joint, which can realize spatial torsional movement through different arrangements, but only relies on the connecting part between the two arc-shaped end faces during the bending and torsion process. The front end of the supporting joint has a poor load-bearing capacity. Although the tooth-shaped fit is mentioned, it uses the tooth-shaped as the support of the connecting part. When it moves to the limit position, the load-bearing capacity is still poor; and when it moves to a certain position At this time, rely on the tension of the steel wire to achieve the static of the joint, the precision is low

Images