Flexible multi-link device

Abstract

This disclosure relates to the field of medical devices, and discloses a flexible multi-link device, comprising: a first link; a second link rotatably connected to the first link; a connecting seat rotatably connected to the second link; a third link slidably connected to the connecting seat; and a traction mechanism rotatably connected to the first link, the third link, and the connecting seat, wherein the third link is used to slide relative to the connecting seat to drive the traction mechanism to traction the first link and the second link to rotate and bend. This flexible multi-link device can be inserted deep into the body for on-site cleaning of the endoscope lens without removing the endoscope from the body, saving time spent on cleaning during surgery and increasing surgical safety.

Description

Technical Field

[0001] This disclosure relates to the field of medical devices, and more particularly to a flexible multi-link device. Background Technology

[0002] During minimally invasive surgery, especially robotic-assisted minimally invasive surgery, surgical instruments or endoscopes inserted deep into the abdominal cavity may become contaminated with blood splattered during tissue cutting, obstructing the surgeon's view and affecting the normal progress of the operation. In such cases, the surgery needs to be interrupted, the contaminated surgical instruments or endoscopes removed, cleaned, and then reinserted into the abdominal cavity. However, this procedure significantly slows down the surgical process and may also lead to medical accidents, affecting the efficiency and reliability of the surgery. Summary of the Invention

[0003] To address the problems in the background art, some embodiments of this disclosure provide a flexible multi-link device, comprising: a first link; a second link rotatably connected to the first link; a connecting seat rotatably connected to the second link; a third link slidably connected to the connecting seat; and a traction mechanism rotatably connected to the first link, the third link, and the connecting seat, wherein the third link is used to slide relative to the connecting seat to drive the traction mechanism to traction the first link and the second link to rotate and bend.

[0004] During surgery, the endoscope can become contaminated with blood splattered from tissue structures, obstructing the surgeon's view and hindering the normal progress of the procedure. In some embodiments of this disclosure, a flexible connecting rod can penetrate deep into the abdominal cavity to wipe the endoscope inside, saving time spent on external wiping during the procedure. Attached Figure Description

[0005] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments of this disclosure will be briefly introduced below. The accompanying drawings described below only show some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on the content of the embodiments of this disclosure and these drawings without creative effort.

[0006] Figure 1 A structural schematic diagram showing the bending state of a flexible multi-link device according to some embodiments of the present disclosure is provided.

[0007] Figure 2 A structural schematic diagram showing the straightened state of a flexible multi-link device according to some embodiments of the present disclosure;

[0008] Figure 3A longitudinal cross-sectional structural schematic diagram of a bendable multi-link device according to some embodiments of the present disclosure is shown in a bent state.

[0009] Figure 4 A partial structural schematic diagram of a bendable multi-link device according to some embodiments of the present disclosure is shown in a bent state.

[0010] Figure 5 A partial structural schematic diagram of another flexible multi-link device in a bent state according to some embodiments of the present disclosure is shown.

[0011] Figure 6 As shown Figure 5 A partial structural schematic diagram of the flexible multi-link device in a bent state is shown.

[0012] Figure 7 As shown Figure 5 The diagram shows a partial structural schematic of the flexible multi-link device in its straightened state. Detailed Implementation

[0013] To make the technical problems solved by this disclosure, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely exemplary embodiments of this disclosure, and not all embodiments.

[0014] In the description of this disclosure, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0015] In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or posterior end, and the end closer to the surgical patient is defined as the distal end, distal or anterior end, or anterior end. Those skilled in the art will understand that embodiments of this disclosure can be used in the field of medical devices, as well as in other non-medical device fields.

[0016] Figure 1 and Figure 2 Schematic diagrams of the flexible multi-link device 100 according to some embodiments of the present disclosure are shown in a bent state and a straightened state, respectively. Figure 1 and Figure 2As shown, the flexible multi-link device 100 may include a first link 110, a second link 120, a connecting seat 130, and a third link 140. The first link 110 is rotatably connected to the second link 120, for example, by means of a pin. The second link 120 is rotatably connected to the connecting seat 130, for example, by means of a pin. The third link 140 is slidably connected to the connecting seat 130. For example, the connecting seat 130 has a groove, and at least a portion of the third link 140 is slidably disposed within the groove.

[0017] The flexible multi-link device 100 may further include a traction mechanism. The traction mechanism is rotatably connected to the first link 110, the third link 140, and the connecting seat 130, for example, by means of a pin connection. The third link 140 may slide relative to the connecting seat 130 to drive the traction mechanism to traction the first link 110 and the second link 120 to rotate and bend. Figure 1 As shown, in some embodiments, the first link 110 and the second link 120 are rotated and bent, which can form a U-shape with the third link 140, such as... Figure 1 As shown. It should be understood that the first link 110 and the second link 120 can also bend in a "J-shape", "V-shape" or irregular semi-enclosed structure with the third link 140, so that the distal end of the first link 110 bends towards the proximal end.

[0018] like Figure 1 As shown, in some embodiments, the flexible multi-link device 100 may further include a handle 170 and a locking lever 180. The handle 170 may be connected to a third link 140, pushing or pulling the third link 140 towards or away from the connecting seat 130. The locking lever 180 is disposed on the handle 170 and is used to lock the push-pull operation of the handle 170 on the third link 140. In some embodiments, the handle 170 may include a handle body 172 and a retaining ring 171 disposed at the end of the handle body 172. Figure 2As shown, in some embodiments, the retaining ring 171 may include retaining rings 171a and 171b, and the handle body 172 may include handle bodies 172a and 172b. Retaining rings 171a and 171b are fixedly disposed or integrally formed at the proximal ends of handle bodies 172a and 172b, respectively. The distal portion of handle body 172a is hinged to handle body 172b, and the proximal end of the third link 140 is connected to the distal end of handle body 172a, for example, by a fixed connection or a detachable connection. Retaining ring 171a at the proximal end of handle body 172a moves toward or away from retaining ring 171b at the proximal end of handle body 172b, and the distal end of handle body 172a pushes or pulls the third link 140 to bend or straighten the first link 110 and the second link 120. For example, an operator holding two buckles 171a and 171b can pull the third link 140 by decreasing the angle between the handle bodies 172a and 172b, or push the third link 140 by increasing the angle between the handle bodies 172a and 172b. Pushing or pulling the third link 140 can cause the first link 110 and the second link 120 to bend, for example, to form a U-shape, or to straighten, for example, to be approximately aligned with the third link 140.

[0019] In some embodiments, the locking lever 180 may be fixedly disposed on the handle body 172b for locking the angle between the handle bodies 172a and 172b, thereby controlling the distance of movement of the push-pull third link 140. In some embodiments, the locking lever 180 may include serrations, and the handle body 172a may include serrations that engage with the serrations on the locking lever 180 to lock the position of the handle body 172a. It should be understood that the serrations on the locking lever 180 may be arranged along at least one circumferential surface of the locking lever 180. For example, they may be arranged along the circumferential surface of the locking lever 180 away from the buckles 171a and 171b, or along the circumferential surface of the locking lever 180 close to the buckles 171a and 171b. In some embodiments, the handle bodies 172a and 172b are provided with through channels, through which at least a portion of the locking lever 180 can pass and penetrate the handle bodies 172a and 172b. The portion of the locking lever 180 penetrating the handle body 172a can be used to lock with the handle body 172a. For example, the inner surface of the through-channel of the handle body 172a, corresponding to the serrated circumferential surface of the locking rod 180, has serrations. These serrations on the inner surface of the through-channel engage with the serrations on the locking rod 180 to lock the locking rod 180. In some embodiments, the locking rod 180 may be disposed adjacent to the handle bodies 172a and 172b, with mutually engaging serrations on the opposing circumferential surfaces of the locking rod 180 and the handle body 172a, to lock the position of the handle body 172a when it rotates relative to the handle body 172b. The handle 170 and the locking rod 180 facilitate the operator's operation of the flexible multi-link device. In some embodiments, the serrations on the locking rod 180 may be unidirectional serrations, allowing the handle body 172a to rotate towards the handle body 172b while restricting its rotation away from the handle body 172b.

[0020] In some embodiments, the flexible multi-link device may further include a reset mechanism. At least another portion of the locking lever 180 is connected to the reset mechanism, which is used to allow the handle body 172a to rotate away from the handle body 172b when the locking lever 180 is unlocked from the handle body 172a. In some embodiments, the reset mechanism may include an elastic element and a reset link. One end of the elastic element is fixedly disposed on the handle body 172b, and the other end abuts against the locking lever 180. One end of the reset link is hinged to the handle body 172b, and the other end is a locking end for engaging with the locking lever 180. In some embodiments, the locking lever 180 may include a locking section and a connecting section. At least a portion of the locking section is provided with serrations, which are used to engage with corresponding serrations on the handle body 172a to achieve locking. At least a portion of the locking section near the connecting section includes a bend for abutting against the handle body 172a to limit further rotation of the handle body 172a towards the handle body 172b. One end of the connecting section is fixedly connected to the locking section, and the other end is a free end used to engage with the reset link. It should be understood that the free end of the connecting section may have an engaging groove, and the engaging end of the reset link may have a protrusion that matches the engaging groove. For example, the cross-section of the engaging groove may be semi-circular, and the protrusion may be cylindrical. It should also be understood that the free end of the connecting section may have a guide surface, for example, the guide surface may be curved. The operator operates the buckles 171a and 171b to rotate the handle body 172a towards the handle body 172b until the handle body 172a abuts against the angle of the locking rod 180, thereby restricting the rotation of the handle body 172a. By rotating the reset link toward the free end of the connecting section, the protrusion at the engaging end of the reset link slides along the guide surface of the free end of the connecting section until it engages with the engaging groove, thereby compressing the elastic element and causing the locking section to rotate away from the retaining rings 171a and 171b, so that the serrations on the locking rod 180 separate from the serrations on the handle body 172a, thereby unlocking the handle body 172a and allowing it to rotate away from the handle body 172b.

[0021] Figure 3 A longitudinal cross-sectional structural schematic diagram is shown for a bent state of a flexible multi-link device 100 according to some embodiments of the present disclosure. In some embodiments, such as Figure 2 and Figure 3 As shown, the handle 170 may further include a handle body 172c. The handle body 172c is fixedly connected to or integrally formed with the distal end of the handle body 172b. In some embodiments, such as Figure 3As shown, the flexible multi-link device 100 may further include a fourth link 190. The distal end of the fourth link 190 may be fixedly or detachably connected to the connecting seat 130, and the proximal end may be fixedly or rotatably connected to the distal end of the handle body 172c. The fourth link 190 includes a hollow passage, through which the proximal end of the third link 140 passes and is connected to the handle body 172a.

[0022] In some embodiments, the proximal end of the fourth link 190 is rotatably connected to the distal end of the handle body 172c. For example, as Figure 3 As shown, the distal end of the handle body 172c may include a rotatable member 173. The rotatable member 173 is rotatably fitted onto the distal end of the handle body 172c in a circumferential direction. The proximal end of the fourth link 190 is detachably fixedly connected to the rotatable member 173. The handle body 172c may include an axially arranged through hole, through which the proximal end of the third link 140 passes and connects to the handle body 172a. When the rotatable member 173 rotates circumferentially, it drives the fourth link 190 to rotate, thereby causing the flexible multi-link device 100 to rotate. The rotation of the fourth link 190 can cause the first link 110 and the second link 120 to rotate in the bending direction. This allows for flexible adjustment of the bending direction of the front end of the flexible multi-link device 100.

[0023] In some embodiments, such as Figure 3 As shown, the rotatable component 173 may include a fixed portion 1731 and a connecting portion 1732. The proximal end of the fixed portion 1731 is fixedly connected to the distal end of the handle body 172c, and the distal end of the fixed portion 1731 is rotatably connected to the proximal end of the connecting portion 1732. The distal end of the connecting portion 1732 is detachably connected to the proximal end of the fourth link 190. When the connecting portion 1732 rotates relative to the fixed portion 1731, it can drive the fourth link 190, which is fixedly connected to the connecting portion 1732, to rotate, thereby causing the first link 110 and the second link 120 to rotate in the bending direction.

[0024] In some embodiments, such as Figure 3 As shown, the rotatable component 173 may further include a bending indicator structure 1733 fixedly disposed on the connecting portion 1732. The bending indicator structure 1733 can be used to indicate the bending direction of the first link 110 and the second link 120. For example, the position of the bending indicator structure 1733 may be opposite to or in the same direction as the bending direction of the first link 110 and the second link 120. It should be understood that the bending indicator structure 1733 may include, but is not limited to, notches, scales, markings, or screws for fixing the fourth link 190. For example, as... Figure 3As shown, the bending indicator structure 1733 is a screw provided on the connecting portion 1732, used to abut against the proximal portion of the fourth link 190 to fix the fourth link 190. An opening for engaging the screw 1733 may be provided on the fourth link 190. When the distal portion of the flexible multi-link device 100 extends into the body, the connecting portion 1732 can be rotated, and the bending direction of the front end of the flexible multi-link device 100 can be determined based on the position of the bending indicator structure 1733, thereby improving control accuracy. For example, when the bending indicator structure 1733 is positioned opposite to the bending direction of the first link 110 and the second link 120, it can be determined that the bending direction of the front end of the flexible multi-link device 100 is opposite to the setting direction of the bending indicator structure 1733. When the bending indicator structure 1733 is positioned in the same direction as the bending direction of the first link 110 and the second link 120, it can be determined that the bending direction of the front end of the flexible multi-link device 100 is the same as the setting direction of the bending indicator structure 1733. The bending indicator structure 1733 allows the operator to quickly adjust the bending direction of the front end of the flexible multi-link device 100 to facilitate the rapid wiping of the endoscope lens.

[0025] It should be understood that in some embodiments, the distal end of the handle body 172c may also be detachably connected to the proximal end of the fourth link 190, for example, by threaded connection, snap-fit, etc., and the proximal end of the third link 140 passes through the fourth link and through the through hole and snaps into the handle body 172a.

[0026] Figure 4 A partial structural schematic diagram of a bendable multi-link device 100 according to some embodiments of the present disclosure is shown in a bent state. Figure 4 As shown, the flexible multi-link device 100 may include a first link 110, a second link 120, and a third link 140. In some embodiments, the first link 110 includes a rod body 111 and a mounting base 112, with the rod body 111 fixedly connected to the mounting base 112. In some embodiments, the rod body 111 and the mounting base 112 are detachably connected. For example, one end of the rod body 111 of the first link 110 has an external thread, and the inner side of the mounting base 112 has an internal thread that mates with the external thread. Alternatively, the first link 110 may be an integral structure, with the rod body 111 and the mounting base 112 being integrally formed. In some embodiments, the rod body 111 of the first link 110 includes a protrusion located at the end away from the traction mechanism. For example, the protrusion may be spherical, facilitating the placement of wiping gauze or other wiping tools without damaging tissues within the body.

[0027] Mounting base 112 is rotatably connected to second link 120, for example, by a pin, forming a first rotating part. Second link 120 is rotatably connected to connecting base 130, for example, by a pin, forming a second rotating part. Third link 140 is slidably connected to connecting base 130. For example, connecting base 130 has a groove, and third link 140 is slidably disposed within the groove.

[0028] The flexible multi-link device 100 may further include a traction mechanism. The traction mechanism is rotatably connected to the mounting base 112, the third link 140, and the connecting base 130, for example, via a pin connection. The third link 140 can slide relative to the connecting base 130 to drive the traction mechanism to traction the first link 110 and the second link 120 to rotate, bend, or straighten. In some embodiments, the first link 110 and the second link 120 rotate and bend to form a U-shape with the third link 140, such as... Figure 1 As shown. In some embodiments, the first link 110 and the second link 120 are rotated and extended, forming a straight line with the third link 140, as shown. Figure 2 As shown.

[0029] In some embodiments, such as Figure 4 As shown, the traction mechanism may include a first traction rod 150 and a second traction rod 160. The second traction rod 160 is rotatably connected to a first connecting rod 110 (e.g., mounting base 112) and a connecting base 130, respectively, and the first traction rod 150 is rotatably connected to a third connecting rod 140 and the second traction rod 160, respectively. The second traction rod 160 may include a rod body with an angle, a first connecting portion 161 located at one end of the rod body, a second connecting portion 162 located at the angle of the rod body, and a third connecting portion 163 located at the other end of the rod body. In some embodiments, the first connecting portion 161 of the second traction rod 160 is rotatably connected to the mounting base 112, forming a third rotating portion, and the third rotating portion can move around the first rotating portion as the center. The third connecting portion 163 of the second traction rod 160 is rotatably connected to the connecting base 130. In some embodiments, the first end of the first traction rod 150 is connected to the third connecting rod 140, and the second end of the first traction rod 150 is connected to the second connecting portion 162 of the second traction rod 160. In some embodiments, the connection point of the first connecting portion 161 is closer to the end of the first connecting rod 110 than the connection point between the first connecting rod 110 and the second connecting rod 120. In some embodiments, the connection point between the second connecting rod 120 and the connecting seat 130 is closer to the end of the connecting seat 130 than the connection point of the third connecting portion 163, and the connection point of the third connecting portion 163 is closer to the end of the connecting seat 130 than the connection point between the first traction rod 150 and the third connecting rod 140. Thus, the first connecting rod 110 and the second connecting rod 120 can rotate to form a U-shape and a straight line with the third connecting rod 140.

[0030] When the flexible multi-link device 100 changes from a straight state to a bent state, for example from... Figure 2 The extended state of the multi-link device 100 shown becomes as follows Figure 1 The bending state of the multi-link device 100 shown pulls the third link 140, which in turn pulls the first traction rod 150. The first traction rod 150 then pulls the second connecting part 162, causing the third rotating part to rotate around the first rotating part. This results in the second traction rod 160 pulling the second link 120 and the first link 110 (mounting base 112 and rod body 111) to rotate, forming... Figure 1 The bending state shown.

[0031] When the flexible linkage 100 changes from a bent state to a straight state, for example from... Figure 1 The bending state of the multi-link device 100 shown becomes as follows Figure 2 In the extended state of the multi-link device 100 shown, the third link 140 is pushed, which in turn pushes the first traction rod 150 to move. The first traction rod 150, through the second connecting part 162, pushes the second traction rod 160, causing the third rotating part to rotate around the first rotating part. This results in the second traction rod 160 pushing the second link 120 and the first link 110 (mounting base 112 and rod body 111) to rotate, forming... Figure 2 The straightened state shown.

[0032] In some embodiments, Figure 5 and Figure 6 Partial structural schematic diagrams of the flexible multi-link device 200 in a bent state according to some embodiments of the present disclosure are shown. Figure 5 As shown, the traction mechanism may include a first traction rod 250 and a second traction rod 260. In some embodiments, such as Figure 5 and Figure 6As shown, the first connecting rod 210 may include a rod body 211 and a mounting base 212. The rod body 211 and the mounting base 212 may be fixedly connected, detachably connected, or integrally formed. The second traction rod 260 is rotatably connected to the first connecting rod 210 (e.g., mounting base 212) and the connecting base 230, respectively, and the first traction rod 250 is rotatably connected to the third connecting rod 240 and the second connecting rod 220, respectively. The first end of the second traction rod 260 is rotatably connected to the first connecting rod 210 (e.g., mounting base 212), and the second end of the second traction rod 260 is rotatably connected to the connecting base 230. In some embodiments, the first end of the first traction rod 250 is rotatably connected to the third connecting rod 240, and the second end of the first traction rod 250 is rotatably connected to the second end of the second connecting rod 220. In some embodiments, the connection point of the first end of the second traction rod 260 is closer to the end of the first connecting rod 210 than the connection point between the first connecting rod 210 and the second connecting rod 220. In some embodiments, the connection point between the first traction rod 250 and the second connecting rod 220 is closer to the distal end of the connecting seat 230 than the connection point between the second connecting rod 220 and the connecting seat 230. The connection point between the second connecting rod 220 and the connecting seat 230 is closer to the distal end of the connecting seat 230 than the connection point between the second traction rod 260 and the connecting seat 230. The connection point between the second traction rod 260 and the connecting seat 230 is closer to the distal end of the connecting seat 230 than the connection point between the first traction rod 250 and the third connecting rod 240. In some embodiments, the mounting seat 212 is rotatably connected to the second connecting rod 220, for example, by a pin, forming a first rotating portion. The second connecting rod 220 is rotatably connected to the connecting seat 230, for example, by a pin, forming a second rotating portion. The second end of the first traction rod 250 is rotatably connected to the second end of the second connecting rod 220, forming a third rotating portion, and the third rotating portion can move about the second rotating portion as the center. In this way, the first link 210 and the second link 220 can rotate to form a U-shape and a straight line with the third link 240.

[0033] Figure 7 Partial structural schematic diagrams of the flexible multi-link device 200 in its straightened state according to some embodiments of the present disclosure are shown. When the flexible link device 200 changes from a straightened state to a bent state, for example from... Figure 7 The extended state of the multi-link device 200 shown becomes as follows Figure 5 and Figure 6 The bending state of the multi-link device 200 shown pushes the third link 240, which in turn pushes the first traction rod 250 to move. The first traction rod 250 then pushes the second link 220 to rotate, causing the third rotating part to rotate around the second rotating part. This results in the second traction rod 260 pushing the second link 220 and the first link 210 (mounting base 212 and rod body 211) to rotate, forming... Figure 5 and Figure 6 The bending state shown.

[0034] When the flexible multi-link device 200 changes from a bent state to a straight state, for example from... Figure 5 and Figure 6 The bending state of the multi-link device 200 shown becomes as follows Figure 7 In the extended state of the multi-link device 200, the third link 240 is pulled, which in turn pulls the first traction rod 250. The first traction rod 250 then pulls the second link 220 to rotate, causing the third rotating part to rotate around the second rotating part. This results in the second traction rod 260 pulling the second link 220 and the first link 210 (mounting base 212 and rod body 211) to rotate, forming... Figure 7 The straightened state shown.

[0035] In some embodiments, the operator can push or pull the third link 140 (or 240) by manipulating the proximal handle 170 of the flexible multi-link device 100 (or 200), thereby switching the flexible multi-link device 100 (or 200) between a bent and straight state. Furthermore, the operator can lock the pushing and pulling operation of the third link 140 (or 240) using the locking lever 180 to hold the first link 110, second link 120, and third link 140 of the flexible multi-link device 100 (or 200) in a specific bent state, facilitating various operations using the flexible multi-link device 100 (or 200). For example, during surgery, an endoscope inserted into the body may become contaminated with human tissue or fluids, obstructing the surgeon's view and hindering the normal progress of the surgery. The conventional solution is to withdraw the endoscope, wipe it clean, and then reinsert it. However, this takes a long time and increases the risks of the surgery. The flexible multi-link device 100 (or 200) according to the embodiments of this disclosure can be inserted into the body to wipe the endoscope lens on-site without having to remove the endoscope from the body, saving the time of wiping it out of the body during the operation and increasing the safety of the operation.

[0036] In some embodiments, the bending direction of the flexible multi-link device 100 can be adjusted. For example, rotating the rotatable member 173 (see...) Figure 3The fourth link 190 can be rotated, thereby causing the connecting seat 130 or 230, the second link 120 or 220, and the first link 110 or 210 to rotate, which in turn causes the first link 110 or 210 and the second link 120 or 220 to bend in different directions. In embodiments used in surgery, the flexible multi-link device 100 or 200 can be inserted deep into the body during surgery to bend and wipe the endoscope lens inside the body. The fourth link 190 can be rotated (e.g., rotating the rotatable member 173) according to the position of the endoscope to adjust the end position of the first link 110, so as to quickly locate the position of the endoscope lens, save operation time during surgery, and reduce the risk of surgical accidents caused by delays.

[0037] In the description of this disclosure, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "coupling" should be interpreted broadly. For example, they can refer to fixed connections or detachable connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art can understand the specific meaning of the above terms in this disclosure according to the specific circumstances. In this disclosure, the end closer to the operator (e.g., a doctor) is defined as the proximal end, proximal or rear end, or rear portion, and the end closer to the surgical patient is defined as the distal end, distal or front end, or anterior portion. Those skilled in the art will understand that the embodiments of this disclosure can be used in medical devices or surgical robots, as well as other non-medical devices.

[0038] Note that the above are merely exemplary embodiments and technical principles of this disclosure. Those skilled in the art will understand that this disclosure is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of this disclosure. Therefore, although this disclosure has been described in detail through the above embodiments, this disclosure is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of this disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A flexible multi-link device, characterized in that, include: First link; The second link is rotatably connected to the first link; The connecting seat is rotatably connected to the second connecting rod; The third link is slidably connected to the connecting seat; A traction mechanism includes a first traction rod and a second traction rod, the second traction rod being rotatably connected to the first connecting rod and the connecting seat respectively, and the first traction rod being rotatably connected to the third connecting rod and the second traction rod respectively, or the first traction rod being rotatably connected to the third connecting rod and the second connecting rod respectively, wherein the third connecting rod is used to slide relative to the connecting seat to drive the traction mechanism to traction the first connecting rod and the second connecting rod to rotate, bend or straighten; The handle includes a first handle body and a second handle body, the first handle body and the second handle body are hinged together, the first handle body is connected to the third link and is used to push and pull the third link; A locking lever is provided on the second handle body and is used to lock the connection with the first handle body to lock the angle between the first handle body and the second handle body; A reset mechanism includes an elastic element and a reset link. One end of the elastic element is fixedly mounted on the second handle body, and the other end of the elastic element abuts against the locking rod. One end of the reset link is hinged to the second handle body, and the other end of the reset link is a locking end for engaging with the locking rod. The reset mechanism is used to cause the first handle body to rotate away from the second handle body when the locking rod is unlocked from the first handle body. A fourth link, the distal end of which is fixedly connected to the connecting seat, and the proximal end of which is rotatably connected to the handle; a third link passes through the fourth link and is connected to the handle; and A rotatable component is rotatably fitted around the distal end of the handle in a circumferential direction, and the distal end of the rotatable component is detachably connected to the proximal end of the fourth link.

2. The flexible multi-link device according to claim 1, characterized in that, The third link is used to slide relative to the connecting seat to drive the traction mechanism to pull the first link and the second link to rotate and bend, forming a U-shape with the third link.

3. The flexible multi-link device according to claim 1, characterized in that, When the first traction rod is rotatably connected to the third connecting rod and the second traction rod respectively, the second traction rod includes: A rod with an angled section; The first connecting part is located at one end of the rod; The second connecting part is located at the bend of the rod; and The third connecting part is located at the other end of the rod.

4. The flexible multi-link device according to claim 3, characterized in that, The first connecting part of the second traction rod is rotatably connected to the first connecting rod, and the third connecting part of the second traction rod is rotatably connected to the connecting seat.

5. The flexible multi-link device according to claim 3, characterized in that, The first end of the first traction rod is rotatably connected to the third connecting rod, and the second end of the first traction rod is rotatably connected to the second connecting part of the second traction rod.

6. The flexible multi-link device according to claim 3, characterized in that, The connection point of the first connecting part is closer to the end of the first connecting rod than the connection point between the first connecting rod and the second connecting rod.

7. The flexible multi-link device according to claim 3, characterized in that, The connection point between the second link and the connecting seat is closer to the end of the connecting seat than the connection point of the third connecting part, and the connection point of the third connecting part is closer to the end of the connecting seat than the connection point between the first traction rod and the third link.

8. The flexible multi-link device according to claim 1, characterized in that, When the first traction rod is rotatably connected to the third link and the second link respectively, the connection point between the second traction rod and the first link is closer to the end of the first link than the connection point between the first link and the second link.

9. The flexible multi-link device according to claim 1, characterized in that, When the first traction rod is rotatably connected to the third link and the second link respectively, the connection point between the first traction rod and the second link is closer to the end of the connecting seat than the connection point between the second link and the connecting seat.

10. The flexible multi-link device according to claim 1, characterized in that, When the first traction rod is rotatably connected to the third link and the second link respectively, the connection point between the second link and the connecting seat is closer to the end of the connecting seat than the connection point between the second traction rod and the connecting seat.

11. The flexible multi-link device according to any one of claims 1-10, characterized in that, The first connecting rod is an integral structure, or the first connecting rod includes a rod body and a mounting base, wherein the rod body is fixedly connected to the mounting base; and / or The first link includes a protrusion located at the end remote from the traction mechanism.

12. The flexible multi-link device according to claim 1, characterized in that, The rotatable component includes a fixed part and a connecting part. The proximal end of the fixed part is fixedly connected to the distal end of the handle, the distal end of the fixed part is rotatably connected to the proximal end of the connecting part, and the distal end of the connecting part is detachably connected to the proximal end of the fourth link.

13. The flexible multi-link device according to claim 12, characterized in that, The rotatable component also includes a bending indicator structure disposed on the connecting portion, the bending indicator structure being used to indicate the bending direction of the first link and the second link.

14. The flexible multi-link device according to claim 13, characterized in that, The bending indicator structure includes a notch, scale, marking, or screws for securing the fourth link.

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