Instrument joint group and surgical instrument comprising same

Abstract

The instrument joint group comprises at least two groups of joints, at least one group of driving ropes and at least one group of driven ropes, and each group of joints comprises two joints which are in rolling contact with each other; each group of driven ropes penetrate through a joint in parallel and are arranged on the two sides of a rolling contact point, each joint comprises a driven rope outlet, a driving rope outlet and a rolling arc, and the center connecting line of the two driven rope outlets forms a driven rope outlet line; in each group of joints, the ratio of the vertical distance between the rolling circle center of each joint and the driven rope outlet line to the diameter is not larger than 0.5. According to the instrument joint group and the surgical instrument comprising the same, the influence of the change of the active driving angle on the length of the passive rope is reduced, so that the length of the passive rope tends to a fixed value, the connection rigidity between the joint groups is improved, and the deviation between the passive driving angle and the active driving angle of the tail end joint is reduced, so that the driving precision is improved; therefore, the size of the active driving angle is not limited, and the adaptability and the flexibility are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an instrument joint assembly and a surgical instrument comprising the same. Background Art

[0002] With the advancement of science and technology, surgical robot technology has gradually matured and has been widely used. A surgical robot usually includes an operating device and a surgical instrument connected to the operating device. Specifically, the surgical instrument is connected to the driving device of the operating device to perform surgical operations. The surgical instrument includes a distal end instrument, which can perform surgical operations at different angles and directions, simulating joint movements to perform surgical operations.

[0003] like Figure 1 As shown, in order to achieve a wider field of view for the surgical robot, a larger operable space for the end effector and a more flexible degree of freedom of movement, in the prior art, the end instrument joint group mostly adopts a parallelogram structure (that is, the passive rope forms a parallelogram structure when connecting the joints). This structure can enable the parts on both sides of the parallelogram to maintain an approximately parallel spatial geometric relationship during movement.

[0004] At present, the active drive angle of the parallelogram of the surgical robot end instrument joint group with a parallelogram structure on the market is mostly controlled at about 30°, because due to the configuration problem, the driving accuracy of the parallelogram will decrease as the active drive angle increases. Figure 2 As shown in the figure, when the rolling joint radius R=0.8mm, when the active drive angle reaches 60 degrees, the deviation angle of the passive end joint relative to the active end joint is 10 degrees. This deviation of the passive end joint is reflected in the driving accuracy of the entire instrument joint group. And with the increase of the rolling joint radius and the increase of the active angle, the deviation of the passive angle will become larger. The deviation of the passive angle will not only make the driving accuracy of the parallelogram structure instrument joint group worse, but also cause the passive end to form a virtual position within this deviation angle, that is, there is no rigidity within this deviation angle. When the passive end is subjected to external load, the passive end will move in this virtual position. In order to avoid the occurrence of the above situation, the active drive angle of the existing parallelogram is limited so that it can only be controlled at about 30 degrees, and large-angle driving cannot be achieved. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the defects of poor driving accuracy and limited active driving angle of the terminal joint of the surgical robot in the prior art, and to provide an instrument joint group and a surgical instrument including the same.

[0006] The present invention solves the above technical problems through the following technical solutions:

[0007] A device joint group, comprising at least two groups of joints, at least one group of driving ropes and at least one group of passive ropes, each group of the joints comprising two joints in rolling contact with each other; when the rotation angle between all the joints is zero, the two passive ropes of each group of the passive ropes pass through all the joints and are arranged in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints, and the two ends of the passive ropes are respectively connected to the joints located at the two ends of the device joint group; the two driving ropes of each group of the driving ropes pass through the joints and are arranged on both sides of the rolling contact points of two adjacent joints, and one end of the driving rope is fixed to one of the driven joints; the joints comprise passive rope outlets for the passive ropes to pass through and rolling arcs, the center line of the two passive rope outlets of each group of the passive ropes passing through constitutes a passive rope outlet line, and the rolling arc comprises a rolling center; in each group of the joints, the ratio of the vertical distance between the rolling center of each joint and the passive rope outlet line to the diameter is not greater than 0.5.

[0008] In this solution, the instrument joint group forms a parallelogram structure by arranging each group of passive ropes in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints, and each group of passive ropes and the joint group connected thereto form a parallelogram structure. The instrument joint group can reduce the influence of the change of the active drive angle on the length of the passive rope by adjusting the rolling arc of the joint and the position of the passive rope exit line, and making the ratio of the vertical distance from the rolling circle center to the passive rope exit line to the diameter not greater than 0.5, so that the length of the passive rope tends to a fixed value, and then when the two end joints of the instrument joint group are connected by the passive rope, the connection rigidity between the joint groups is improved, and the deviation between the passive drive angle and the active drive angle of the terminal joint is reduced, thereby improving the driving accuracy of the instrument joint group, so that the size of the active drive angle is not limited, that is, the surgical instrument can perform surgical operations in a larger active drive angle range, and improve adaptability and flexibility.

[0009] Preferably, in each group of the joints, the distance between the rolling center of at least one of the joints and the passive rope exit line is zero.

[0010] In this scheme, in each group of joints, the distance between the rolling center of at least one joint and the passive rope exit line is set to zero, that is, the rolling center and the passive rope exit line are on the same straight line, further reducing the influence of the change of the active drive angle on the passive rope length. When the distances between the rolling center of the two joints and the passive rope exit line are both zero, the length of the passive rope is a fixed value, eliminating the deviation between the passive drive angle and the active drive angle, and further improving the driving accuracy of the joint group of the instrument.

[0011] Preferably, in each group of the joints, the radii of the rolling arcs of the two joints are equal, and the lengths of the two passive rope exit lines corresponding to the two joints of each group of the passive ropes are equal.

[0012] In this solution, through the above arrangement, the shape of each group of joints is regular, which is easy to manufacture and is conducive to reducing the distance between the rolling circle center and the passive rope exit line. The lengths of the two passive rope exit lines corresponding to the two joints of each group of passive ropes are set to be equal, so that each passive rope exit of two adjacent joints forms an isosceles trapezoidal structure, which is conducive to making the rolling circle center and the passive rope exit line approach the same straight line.

[0013] Preferably, the instrument joint group includes a plurality of groups of passive ropes, and in the same joint, all passive rope exit lines corresponding to each group of passive ropes and the rolling center are arranged on the same plane.

[0014] In this solution, the joint group of the device can form multiple parallelogram structures through multiple passive ropes to achieve more flexible freedom of movement. When the joint group of the device has multiple sets of passive ropes, in the same joint, by setting all passive rope exit lines corresponding to each set of passive ropes and the rolling center on the same plane, it is ensured that the length of each set of passive ropes is not affected by the driving angle, thereby enhancing the freedom of movement and improving the overall driving accuracy.

[0015] Preferably, the passive rope outlet lines corresponding to different groups of passive ropes have different lengths.

[0016] In this solution, the above arrangement is adopted. Because the lengths of passive ropes of different groups are different, when the passive ropes of different groups pass through the joints, the distances from the passive rope outlets to the joint centers are different, which can adapt to different driving needs.

[0017] Preferably, the instrument joint group includes at least two different rotation directions, and the plurality of groups of passive ropes are configured to rotate along at least two different rotation directions.

[0018] In this solution, multiple groups of passive ropes are arranged in at least two different rotation directions, and can be driven in the form of a parallelogram structure in different rotation directions, thereby improving the flexibility of movement.

[0019] Preferably, the two driving ropes of each group of driving ropes are arranged in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints.

[0020] In this solution, each group of driving ropes adopts the above-mentioned arrangement, and the driving rope structure is regular, which is conducive to reducing the influence of the change of the active driving angle on the length of the passive rope.

[0021] Preferably, the joint further comprises a driving rope outlet for each group of driving ropes to pass through, and a center line connecting two driving rope outlets through which each group of driving ropes passes constitutes a driving rope outlet line;

[0022] In each group of the joints, the drive rope outlet line, the passive rope outlet line and the rolling center corresponding to each joint are arranged on the same plane.

[0023] In this scheme, in each group of joints, the driving rope exit line of each joint is set on the same plane together with the passive rope exit line and the rolling circle center, which is conducive to reducing the number of driving parameters of the driving rope (such as length, position, etc.) and reducing the complexity of driving calculation. Among them, setting the passive rope exit line and the rolling circle center of each joint on the same plane is conducive to improving the motion accuracy of the passive joint, making the operating angle of the passive joint theoretically equal to the operating angle of the active joint, and also eliminating the virtual position caused by the unequal operating angles of the active joint and the passive joint.

[0024] Preferably, the joint also includes a driving rope outlet for each group of driving ropes to pass through; in each group of joints, each joint is provided with an avoidance groove at two oppositely arranged passive rope outlets and driving rope outlets which move away from or closer to each other as the joint rotates, the two avoidance grooves are oppositely arranged, and the inclination angle of the avoidance grooves is not less than the maximum rotation angle of the joint.

[0025] In the present scheme, the avoidance grooves provided above can prevent the driving rope and the passive rope from being scratched during rotation or affecting the driving accuracy due to friction resistance. At the same time, it can ensure that the position of the passive rope outlet or the driving rope outlet forming a parallelogram structure does not change with the movement of the joint, which is beneficial to ensure that the deviation between the passive driving angle and the active driving angle is reduced or eliminated.

[0026] A surgical instrument comprises the instrument joint group as described above.

[0027] In the present solution, the mobile phone instrument reduces the influence of the change of the active drive angle on the length of the passive rope by adopting the above-mentioned instrument joint group, so that the length of the passive rope tends to a fixed value, improves the connection rigidity between the joint groups, and reduces the deviation between the passive drive angle and the active drive angle of the terminal joint, thereby improving the driving accuracy of the instrument joint group, making the size of the active drive angle unrestricted, that is, the surgical instrument can perform surgical operations within a larger active drive angle range, thereby improving adaptability and flexibility.

[0028] The positive progressive effect of the present invention is that the instrument joint group and the surgical instrument including the same reduce the influence of the change of the active drive angle on the length of the passive rope, so that the length of the passive rope tends to a fixed value, improves the connection rigidity between the joint groups, reduces the deviation between the passive drive angle and the active drive angle of the terminal joint, thereby improving the driving accuracy of the instrument joint group, making the size of the active drive angle unrestricted, that is, the surgical instrument can perform surgical operations within a larger active drive angle range, thereby improving adaptability and flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural schematic diagram of an instrument joint group in the prior art that is a parallelogram structure and is in an initial position.

[0030] Figure 2 The figure is a relationship diagram of the passive deviation angle and the active drive angle in the instrument joint group with a parallelogram structure in the prior art.

[0031] Figure 3 It is a schematic diagram of the three-dimensional structure of the instrument joint assembly with a parallelogram structure during rotation according to an embodiment of the present invention.

[0032] Figure 4 It is a schematic diagram of the planar structure of the instrument joint assembly with a parallelogram structure during rotation according to an embodiment of the present invention.

[0033] Figure 5 Schematic diagram of the structure of the first group of joints of the instrument joint group during rotation in an embodiment of the present invention.

[0034] Figure 6 This is a structural schematic diagram of the instrument joint group when the rolling center of each joint and the passive rope exit line are on the same straight line in an embodiment of the present invention.

[0035] Figure 7 It is a schematic diagram of the three-dimensional structure of a single joint in an embodiment of the present invention.

[0036] Figure 8 It is a structural schematic diagram of an instrument joint assembly provided with an avoidance groove in an embodiment of the present invention.

[0037] Fig. 9 It is a schematic diagram of the structure in which an avoidance groove is provided on a single joint in an embodiment of the present invention.

[0038] Fig.10 Graph showing the relationship between drive accuracy and the position of the wire outlet in the instrument joint assembly having a parallelogram structure in an embodiment of the present invention.

[0039] Description of reference numerals:

[0040] Joint 100

[0041] Joint 1

[0042] Joint 2

[0043] Joint 3

[0044] Joint 4

[0045] Drive rope 5

[0046] Passive rope 6

[0047] Rolling arc 7

[0048] Rolling center 71

[0049] Rolling center plane 72

[0050] Rolling contact point 73

[0051] Passive rope outlet 9

[0052] Passive rope exit line bd, ce

[0053] Avoidance slot 10

[0054] Active drive angle 11

[0055] Passive drive angle 12

[0056] Rotation direction A

[0057] Rotation direction B DETAILED DESCRIPTION

[0058] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0059] This embodiment provides an instrument joint group for a surgical robot, which is installed at the end of a surgical instrument.

[0060] like Figure 3-8As shown, the instrument joint group includes at least two groups of joints 100, at least one group of driving ropes 5 and at least one group of passive ropes 6, each group of joints 100 includes two joints 100 in rolling contact with each other; when the rotation angle between all the joints 100 is zero, the two passive ropes 6 of each group of passive ropes 6 pass through all the joints, and are arranged in parallel and symmetrically on both sides of the rolling contact point 73 of two adjacent joints, and the two ends of the passive ropes 6 are respectively connected to the joints 100 located at both ends of the instrument joint group; the two driving ropes 5 of each group of driving ropes 5 pass through the joints, and are arranged on both sides of the rolling contact point 73 of two adjacent joints, and one end of the driving rope 5 is fixed to one of the driven joints; the joint 100 includes a passive rope outlet 9 for the passive rope to pass through and a rolling arc 7, the center line of the two passive rope outlets 9 passed by each group of passive ropes 6 constitutes the passive rope outlet lines bd and ce, and the rolling arc 7 includes the rolling center 71.

[0061] In each group of joints, the ratio of the vertical distance between the rolling circle center 71 and the passive rope exit line of each joint to the diameter is not greater than 0.5 (the vertical distance between the rolling circle center 71 and the passive rope exit line is Figure 5 length of L9 in the figure).

[0062] Specifically, in this embodiment, the joint group of the instrument includes two groups of joints 100, a group of driving ropes 5 and a group of passive ropes 6, wherein joint 1 1 and joint 2 2 constitute a first group of joints, joint 3 3 and joint 4 4 constitute a second group of joints, each group of driving ropes includes two driving ropes 5, and each group of passive ropes includes two passive ropes 6. Figure 4 In the figure, the upper passive rope 6 and the lower passive rope 6 pass through four joints respectively, and are arranged parallel and symmetrically on both sides of each rolling contact point 73. When the four joints do not rotate relative to each other, that is, they are all in the zero angle position, the upper and lower passive ropes 6 and each joint form a parallelogram structure. After the two driving ropes pass through joint one, one end of each of them is fixed to joint two 2 (joint two 2 is a driven joint relative to joint one 1). Under the driving action of the driving rope 5, the passive rope 6 drives joint two 2 to roll relative to joint one 1, and the rotation angle formed is the active driving angle 11; joint two 2 and joint three 3 are fixedly connected by the middle connecting piece to maintain synchronous rotation; joint four 4 rolls relative to joint three 3, and the rotation angle formed is the passive driving angle 12.

[0063] In the first group of joints, the vertical distance between the rolling center 71 of joint 1 and the passive rope exit line bd is the first distance, and the vertical distance between the rolling center 71 of joint 2 and the passive rope exit line ce is the second distance, and the ratio of the first distance and the second distance to the diameter of the joint is not greater than 0.5. Similarly, in the second group of joints, the vertical distance between the rolling center 71 corresponding to joint 3 and joint 4 and the passive rope exit line is not greater than 0.5 to the diameter of the corresponding joint.

[0064] In surgical instruments with parallelogram structures, in order to improve the driving accuracy and reduce the deviation between the passive driving angle and the active driving angle, it is necessary to ensure that the passive rope length constituting the parallelogram is a fixed value in theory. The passive rope length of the parallelogram structure cannot be different at different driving angles because the theoretical passive rope length is different. Otherwise, the difference in the passive rope length will cause the active driving angle of the parallelogram to be unequal to the passive driving angle. However, for surgical instruments formed by rolling joints in series, since the contact point of the rolling joint changes on the arc of the rolling joint as the mating position changes, this will cause the theoretically required passive rope length of the parallelogram structure to become shorter, and the value of the shortening of the passive rope length will increase as the driving angle of the rolling joint increases. Therefore, if the actual passive rope length of the parallelogram structure is greater than the theoretical passive rope length, firstly, the active driving joint (the active driving joint in this embodiment is joint 2) and the passive driving joint (the active driving joint in this embodiment is joint 4) of the parallelogram structure will no longer be equal in motion angle, that is, the motion angle of the passive driving joint is smaller than the motion angle of the active driving joint, and secondly, as the driving angle of the parallelogram increases, the gap that can be generated between the joints also increases. The reflection on the equipment is that the driving accuracy and rigidity of the equipment deteriorate.

[0065] Therefore, in this embodiment, the instrument joint group can reduce the influence of the change of the active drive angle 11 on the length of the passive rope by adjusting the rolling arc 7 of the joint and the position of the passive rope exit lines bd and ce, and making the ratio of the vertical distance between the rolling center 71 and the passive rope exit lines bd and ce to the diameter of the joint not greater than 0.5, so that the length of the passive rope 6 tends to a fixed value, and then when the two end joints of the instrument joint group are connected by the passive rope 6, the connection rigidity between the joint groups is improved, and the deviation between the passive drive angle 12 of the terminal joint and the active drive angle 11 is reduced, thereby improving the driving accuracy of the instrument joint group, so that the size of the active drive angle is not limited, that is, the surgical instrument can perform surgical operations within a larger active drive angle range, thereby improving adaptability and flexibility.

[0066] Preferably, in each group of joints, the distance between the rolling center 71 of at least one joint and the passive rope exit line is zero. At this time, the rolling center and the passive rope exit line are on the same straight line, further reducing the influence of the change of the active drive angle on the passive rope length. Furthermore, when the distance between the rolling center of the two joints and the passive rope exit line is zero, that is, when the rolling center of the two joints and the passive rope exit line are on the same straight line, the length of the passive rope is a fixed value, eliminating the deviation between the passive drive angle 12 and the active drive angle 11, and further improving the driving accuracy of the joint group of the instrument.

[0067] Among them, in each group of joints, the radii of the rolling arcs 7 of the two joints are equal, and the lengths of the two passive rope exit lines corresponding to the two joints of each group of passive ropes are equal. Through the above settings, the shape of each group of joints is regular, which is easy to manufacture and is conducive to reducing the distance between the rolling center and the passive rope exit line. Among them, the lengths of the two passive rope exit lines corresponding to the two joints of each group of passive ropes are set to be equal, so that each passive rope exit of two adjacent joints forms an isosceles trapezoidal structure, which is conducive to making the rolling center and the passive rope exit line approach the same straight line.

[0068] The principle of the above setting is that Figure 4 As shown, the length L of each passive rope is: L=L1+L2+L3+L4+L5. Since L4=L8, and L1+L3+L5 is a constant a, so L=L2+L8+a.

[0069] like Figure 5 As shown, the active drive angle θ=θ1=2*θ2, L6=2R, bd and ce are the lines connecting the outlets of joint 1 and joint 2, respectively, L7 is the line connecting the midpoints of bd and ce, and L9 is the line connecting the rolling circle center and the midpoint of ce, that is, L9 is the distance between the rolling circle center and the passive rope outlet line in the same joint. According to the calculation formula of the side length of the triangle, L7=2R-2*L9*SIN(θ / 2). Because the line connecting the passive rope outlet line cbde is an isosceles trapezoid, L2+L8=2*L7, so L=a+4R-4*L9*SIN(θ / 2) is obtained.

[0070] Therefore, in each group of joints, when the distance L9 between the rolling center of each joint and the passive rope exit line is zero (that is, the rolling center and the passive rope exit line are on the same straight line), the passive rope length L = a + 4R, which is a fixed value, and the passive rope length is not affected by the change of the active drive angle θ.

[0071] In this embodiment, the radius R1 of the rolling arc of joint 1 is equal to the radius R2 of the rolling arc of joint 2, both of which are R; the radius R3 of the rolling arc of joint 3 is equal to the radius R4 of the rolling arc of joint 4, both of which are R. However, in other embodiments, due to manufacturing errors or other factors, R1 and R2 may not be equal, and there is a certain deviation between the two. However, according to the above principle, as long as the value of L9 can be reduced, the passive rope length L can also be made to approach or equal to a fixed value, and the driving accuracy of the instrument joint group can also be improved. Similarly, in other embodiments, R3 and R4 may not be equal, or R3 and R4 may be equal, but not equal to R1 and R2.

[0072] In this embodiment, the length of the passive rope outlet line bd of the joint 1 is equal to the length of the passive rope outlet line ce of the joint 2, so that the connecting line cbde forms an isosceles trapezoid, thereby obtaining L2+L8=2*L7. However, in other embodiments, even if the length of the passive rope outlet line bd of the joint 1 is not equal to the length of the passive rope outlet line ce of the joint 2, the trapezoid formed by the connecting line cbde is not isosceles, and there is a certain proportional relationship between L7 and L2+L8. At this time, as long as the value of L9 can be reduced, the passive rope length L can be made to approach or equal to a fixed value, and the driving accuracy of the instrument joint group can also be improved. However, in this embodiment, the lengths of the two passive rope outlet lines are equal, and the shape is more regular, which is convenient for calculation and manufacturing.

[0073] like Figure 6 As shown, in the same group of joints, the distances between the rolling centers of the two joints and the passive rope exit lines are both zero. At this time, the two rolling centers are respectively on the same straight line with the corresponding passive rope exit lines, and L7 is just at the median position of the isosceles trapezoid.

[0074] The instrument joint group may also include multiple groups of passive ropes, for example Figure 7 As shown, in the same joint 100, all passive rope exit lines corresponding to each group of passive ropes 6 and the rolling center 71 are arranged on the same plane, that is, all are on the plane 72 where the rolling center is located. The instrument joint group can form multiple parallelogram structures through multiple passive ropes to achieve more flexible freedom of movement. When the instrument joint group has multiple groups of passive ropes, in the same joint, by arranging all passive rope exit lines corresponding to each group of passive ropes and the rolling center on the same plane, it is ensured that the length of each group of passive ropes is not affected by the driving angle, thereby enhancing the freedom of movement and improving the overall driving accuracy.

[0075] Among them, the lengths of the passive rope outlet lines corresponding to different groups of passive ropes 6 can be equal or different. When the lengths of the passive rope outlet lines corresponding to different groups of passive ropes 6 are different, because the lengths of different groups of passive ropes are different, when different groups of passive ropes pass through the joints, the distances from the passive rope outlet to the center of the joint are different, which can adapt to different driving needs.

[0076] Wherein, the instrument joint group includes at least two different rotation directions, and the plurality of passive ropes are configured to rotate along at least two different rotation directions. Figure 8 As shown, the rotation direction of the instrument joint group includes rotation direction A and rotation direction B, and the two rotation directions A and B are perpendicular to each other. In such a structure, multiple groups of passive ropes are set in at least two different rotation directions, and can be driven in the form of a parallelogram structure in different rotation directions, thereby improving the flexibility of movement.

[0077] Among them, Figure 8As shown, the two driving ropes of each driving rope group are arranged in parallel and / or symmetrically on both sides of the rolling contact point of two adjacent joints. Such a structure has a regular driving rope structure, which is conducive to reducing the influence of the change of the active driving angle on the length of the passive rope.

[0078] The joint further includes a driving rope outlet (not shown in the figure) for each group of driving ropes to pass through, and the center line of the two driving rope outlets through which each group of driving ropes passes constitutes a driving rope outlet line; in each group of joints, the driving rope outlet line, the passive rope outlet line and the rolling center corresponding to each joint are set on the same plane. In each group of joints, setting the driving rope outlet line of each joint together with the passive rope outlet line and the rolling center on the same plane is conducive to reducing the number of driving parameters of the driving rope (such as length, position, etc.) and reducing the complexity of driving calculation; if the driving rope outlet line is not on the same plane as the passive rope outlet line and the rolling center, when calculating the driving rotation angle difference of the driving joint acted by the driving rope to the passive joint, since they are not on the same plane, the length change of the driving rope and the degree of its position deviation from the plane need to be converted accordingly, thereby increasing the complexity of calculation and not easy to control. Among them, setting the passive rope exit line and the rolling center corresponding to each joint on the same plane is beneficial to improving the passive joint movement accuracy, making the operating angle of the passive joint theoretically equal to the operating angle of the active joint, and also eliminating the virtual position caused by the unequal operating angles of the active joint and the passive joint.

[0079] like Figure 8 and Fig. 9 As shown, the joint also includes a driving rope outlet for each group of driving ropes to pass through; in each group of joints, each joint is provided with an avoidance groove 10 at two passive rope outlets 9 and a driving rope outlet that are arranged opposite to each other and move away from or close to each other as the joint rotates. The two avoidance grooves 10 are arranged opposite to each other, and the inclined setting angle of the avoidance groove is not less than the maximum rotation angle of the joint. The avoidance grooves arranged as above can prevent the driving rope and the passive rope from being scratched during the rotation process or affecting the driving accuracy due to friction resistance. At the same time, it can ensure that the position of the passive rope outlet or the driving rope outlet forming a parallelogram structure does not change with the movement of the joint, which is conducive to ensuring that the deviation between the passive driving angle and the active driving angle is reduced or eliminated.

[0080] like Fig.10 As shown, when the rolling joint radius R=0.8mm and the active drive angle is 60°, the change range of the parallelogram passive rope length of the instrument joint group of this embodiment. From the graph, it can be concluded that the distance between the exit line of the parallelogram passive rope and the center of the rolling circle is positively correlated with the drive accuracy. When the distance between the exit line of the drive rope and the center of the rolling circle is 0, the parallelogram passive drive angle is equal to the active drive angle.

[0081] This embodiment also provides a surgical instrument, which includes the above-mentioned instrument joint group. By adopting the above-mentioned instrument joint group, the mobile instrument reduces the influence of the change of the active drive angle on the length of the passive rope, so that the length of the passive rope tends to a fixed value, improves the connection rigidity between the joint groups, reduces the deviation between the passive drive angle and the active drive angle of the terminal joint, thereby improving the driving accuracy of the instrument joint group, making the size of the active drive angle unrestricted, that is, the surgical instrument can perform surgical operations in a larger active drive angle range, and improves adaptability and flexibility.

[0082] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. An instrument joint group, the instrument joint group comprises at least two groups of joints, at least one group of driving ropes and at least one group of passive ropes, each group of the joints comprises two joints in rolling contact with each other; when the rotation angle between all the joints is zero, the two passive ropes of each group of the passive ropes pass through all the joints, and are arranged in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints, and the two ends of the passive ropes are respectively connected to the joints located at the two ends of the instrument joint group; the two driving ropes of each group of the driving ropes pass through the joints, and are arranged on both sides of the rolling contact points of two adjacent joints, and one end of the driving rope is fixed to one of the driven joints; the joints comprise a passive rope outlet and a rolling arc for the passive rope to pass through, the center line of the two passive rope outlets of each group of the passive ropes passing through constitutes a passive rope outlet line, and the rolling arc comprises a rolling center; It is characterized in that In each group of joints, the ratio of the vertical distance between the rolling center of each joint and the passive rope exit line to the diameter is not greater than 0.

5.

2. The instrument joint assembly according to claim 1, It is characterized in that In each group of the joints, the distance between the rolling center of at least one of the joints and the passive rope exit line is zero.

3. The instrument joint assembly according to claim 1, It is characterized in that In each group of the joints, the radii of the rolling arcs of the two joints are equal, and the lengths of the two passive rope exit lines corresponding to the two joints of each group of the passive ropes are equal.

4. The instrument joint assembly according to claim 1, It is characterized in that The instrument joint group includes a plurality of groups of passive ropes. In the same joint, all passive rope exit lines corresponding to each group of passive ropes and the rolling center are arranged on the same plane.

5. The instrument joint assembly according to claim 4, It is characterized in that The passive rope outlet lines corresponding to different groups of passive ropes have different lengths.

6. The instrument joint assembly according to claim 4, It is characterized in that The instrument joint group includes at least two different rotation directions, and the multiple groups of passive ropes are configured to rotate along at least two different rotation directions.

7. The instrument joint assembly according to any one of claims 1 to 6, It is characterized in that The two driving ropes of each group of driving ropes are arranged in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints.

8. The instrument joint assembly according to claim 7, It is characterized in that The joint further comprises a driving rope outlet for each group of driving ropes to pass through, and a center line connecting two driving rope outlets through which each group of driving ropes passes constitutes a driving rope outlet line; In each group of the joints, the drive rope outlet line, the passive rope outlet line and the rolling center corresponding to each joint are arranged on the same plane.

9. The instrument joint assembly according to claim 1, It is characterized in that The joint further comprises a drive rope outlet for each set of the drive ropes to pass through; In each group of joints, each joint is provided with avoidance grooves at two oppositely arranged passive rope outlets and driving rope outlets which move away from or closer to each other as the joints rotate. The two avoidance grooves are arranged opposite to each other, and the inclination angle of the avoidance grooves is not less than the maximum rotation angle of the joint.

10. A surgical instrument, It is characterized in that The surgical instrument comprises an instrument joint assembly as described in any one of claims 1-9.

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