Flexible joint, flexible equipment, flexible device, mechanical arm and surgical robot

Abstract

The invention relates to the field of medical instruments, in particular to a flexible joint, flexible equipment, a flexible device, a mechanical arm and a surgical robot. The connector comprises an elastic main body, a first supporting part and a second supporting part, wherein the elastic main body comprises a first elastic part, a first connecting part and a contact part; the first elastic part is of a cylindrical spiral structure, and the two ends of the first elastic part are connected with the first supporting part and the second supporting part correspondingly. The moving point of the first elastic part at least corresponds to one first connecting part when rotating by 2 pi radian, the first connecting part corresponds to the contact part, and two ends of the first connecting part are respectively connected with the first elastic part and the contact part; the contact parts are located at the central axes of the first elastic parts, and when the first elastic parts are bent, the adjacent contact parts are in rolling connection. The mechanism has two bending degrees of freedom, and the control precision and stability are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a flexible joint, a flexible device, a flexible apparatus, a mechanical arm and a surgical robot. BACKGROUND

[0002] Single-port access surgery (SPAS), that is, surgery in which all instruments and cameras are accessed into the body through a relatively small single incision, is increasingly favored for its low-invasive or even non-invasive advantages. In the prior art, a mechanical arm is usually used to assist in achieving single-port access into the human body through the natural cavity of the human body. The end of the mechanical arm is provided with an end manipulator, such as a scalpel and a clamp. Since the natural cavity of the human body is curved, and the end manipulator often needs to be turned through a bending function when it is close to the target position, the mechanical arm needs multiple bending degrees of freedom.

[0003] Chinese invention patent with publication number CN112822971A discloses a joint, which includes a plurality of body parts, adjacent body parts are provided with body joint parts, adjacent body joint parts are connected in a rolling, hinged or pivoted manner; the body parts of the joint can be bent, and the body structure part limits the number of degrees of freedom, so that the joint has only one degree of freedom. It can be known in combination with common knowledge that the disclosed joint can be applied in single-port access surgery. The present application aims to provide an alternative to the joint disclosed in CN112822971A, and further provide a flexible joint with two degrees of freedom, so that the mechanical arm obtains multiple bending degrees of freedom. SUMMARY

[0004] In order to solve or at least partially solve the above technical problems, the present application provides a flexible joint, a flexible device, a flexible apparatus, a mechanical arm and a surgical robot.

[0005] The present application is implemented by the following solutions:

[0006] A flexible joint, comprising an elastic body, a first support part and a second support part, the elastic body comprising a first elastic part, a first connecting part and a plurality of contact parts;

[0007] The first elastic part is a cylindrical spiral structure, and the two ends of the first elastic part are connected to the first support part and the second support part, respectively;

[0008] The moving point of the first elastic part corresponds to at least one first connecting part for every 2π radian of rotation, the first connecting part corresponds to the contact part, and the two ends of the first connecting part are connected to the first elastic part and the contact part, respectively;

[0009] The contact portions are located at the central axis of the first elastic portion, and when the first elastic portion is bent, the adjacent contact portions rollingly contact each other.

[0010] As an option, when the flexible joint is in a natural state, the adjacent contact portions contact each other.

[0011] As an option, during the bending of the flexible joint, the central axis of the first elastic portion is bent, and the length remains unchanged.

[0012] As an option, the flexible joint is a single-cylinder spiral structure with the first elastic portion, and the moving point of the first elastic portion corresponds to one first connecting portion per 2π radian rotation.

[0013] As an option, the first elastic portion is locally convex at each 2π radian rotation of its moving point to form a first connecting portion, or the contact portion is locally convex to form a corresponding first connecting portion; in the radial direction of the first elastic portion, the width of the first elastic portion is greater than the length of the first connecting portion.

[0014] As an option, the elastic body further comprises a second elastic portion, the two ends of the second elastic portion are connected to the first support portion and the second support portion respectively, the second elastic portion is coaxially arranged with the first elastic portion and is staggered by π radian, forming a double-cylinder spiral structure, and the moving point of the first elastic portion corresponds to one first connecting portion per π radian rotation.

[0015] As an option, the elastic body further comprises a plurality of second connecting portions; the two ends of the second connecting portion are connected to the contact portion and the second elastic portion respectively, and the second connecting portion corresponding to the same contact portion and the first connecting portion are located on both sides of the contact portion and are arranged in parallel or in line.

[0016] As an option, the first connecting portion and the second connecting portion are perpendicular to the central axis.

[0017] As an option, the contact portion has a contact surface, and the adjacent contact portions rollingly contact each other through the contact surface, and the surface of the first connecting portion and the surface of the second connecting portion are smoothly connected with the contact surface respectively.

[0018] As an option, the contact surface is closed around and outwardly convex as a spherical surface, and the adjacent first connecting portions are arranged in parallel or vertically. In this option, the internal stress of the flexible joint is small, the first connecting portion bears small force, and the fatigue of the first connecting portion due to continuous bending is reduced.

[0019] As an option, the contact portion further has at least one tangent surface, the edge of the tangent surface is adjacent to the contact surface, and the tangent surface is parallel to the central axis. In this option, the occupation space of the contact portion is reduced, more space is left for the cable or other components that need to pass through the first elastic portion and the second elastic portion, and the risk of cable winding is also reduced.

[0020] As an option, the contact portion comprises first contact portions and second contact portions arranged alternately; the contact surface of the first contact portion adopts a first groove surface, which is high on both sides and low in the middle in a first direction; the contact surface of the second contact portion adopts a second groove surface, which is high on both sides and low in the middle in a second direction; the first direction and the second direction are perpendicular, and the middle part of the first groove surface and the middle part of the second groove surface are connected in rolling when the flexible joint is bent. In this option, the first contact portion and the second contact portion are cross in space, and both the first contact portion and the second contact portion are in a state of being low in the middle and high on both sides, and the contact positions of the two are in the low middle position, which is not easy to slip or separate when bent.

[0021] As an option, the first groove surface is a closed curved surface, the second groove surface is an unclosed curved surface, the second contact portion has two oppositely arranged second groove surfaces, and the two adjacent first connecting portions are arranged in parallel, and the two adjacent second connecting portions are arranged in parallel.

[0022] As an option, the first groove surface and the second groove surface are respectively closed curved surfaces, and the two adjacent first connecting portions are arranged vertically, and the two adjacent second connecting portions are arranged vertically.

[0023] As an option, the contact portion comprises a flat plate portion and a convex portion located at the center of the flat plate portion, the plate surface of the flat plate portion is arranged perpendicularly to the central axis, the adjacent convex portions are connected in rolling when the flexible joint is bent, and the surface of the convex portion is a spherical surface; the threading hole passes through the flat plate portion and / or the convex portion.

[0024] As an option, each of the contact portions is respectively provided with a first threading hole, a second threading hole and a third threading hole; each of the first threading holes can pass through the cable to form a cylindrical spiral line structure, and the angle of rotation of the cable is an integer multiple of 2π radians; each of the second threading holes can pass through the cable to form a cylindrical spiral line structure, and the angle of rotation of the cable is an integer multiple of 2π radians; each of the third threading holes can pass through the cable to form a cylindrical spiral line structure, and the angle of rotation of the cable is an integer multiple of 2π radians.

[0025] As an option, the contact portion is further provided with fourth threading holes, each of the fourth threading holes is capable of allowing a cable to pass through to form a cylindrical spiral structure, and the angle of rotation of the cable is an integer multiple of 2π radians.

[0026] As an option, the first elastic portion and the second elastic portion are provided with a plurality of groups of threading holes, each group of the threading holes is coaxially arranged and penetrates from one end of the first elastic portion and the second elastic portion to the other end of the first elastic portion and the second elastic portion.

[0027] As an option, the first support portion has a first cable connection structure, and the second support portion has a cable passing structure.

[0028] As an option, the first support portion includes a first cylinder and a first support beam, the first support beam is arranged along the radial direction of the first cylinder, and the middle region of the first support beam and the contact portion adjacent thereto are in rolling contact when the flexible joint is bent; the second support portion includes a second cylinder and a second support beam, the second support beam is arranged along the radial direction of the second cylinder, and the middle region of the second support beam and the contact portion adjacent thereto are in rolling connection when the flexible joint is bent.

[0029] As an option, the flexible joint is integrally formed.

[0030] A flexible device includes a cable and the flexible joint of any one of the above, the cable is fixed on the first support portion, and the cable extends from the second support portion.

[0031] A flexible device includes an elastic joint and the flexible joint of any one of the above; the elastic joint adopts a spiral spring structure, the elastic joint is fixedly connected to an end of the second support portion away from the first elastic portion, and the elastic joint and the flexible joint are arranged in parallel.

[0032] A mechanical arm includes an end effector, a mechanical arm, and at least one flexible joint of any one of the above, wherein: the two ends of the flexible joint are respectively connected to the end effector and the mechanical arm, or each flexible joint is sequentially fixedly connected to form a flexible control module, and the two ends of the flexible control module are respectively connected to the end effector and the mechanical arm.

[0033] A surgical robot includes the mechanical arm described above.

[0034] Advantages:

[0035] This invention utilizes cables to control a flexible joint, enabling changes in the relative positions of its two ends. This allows robotic arms with flexible joints to achieve the bending freedom required for their applications. A segment is defined as each 2π radians of the first elastic part. By providing contact portions on the first elastic part, the risk of misalignment due to lack of support and guidance when two symmetrically arranged cables simultaneously apply the same torque to control the first elastic part to form a C-shape is avoided. This misalignment could lead to the first elastic part ultimately forming an S-shape and becoming uncontrollable. In other words, by providing contact portions at the central axis of the first elastic part, adjacent contact portions interact during bending, providing support and guidance, preventing misalignment during bending, achieving higher control precision, and improving stability.

[0036] In some designs, the contact surface is spherical, and when the flexible joint is in its natural state, adjacent contact parts are in contact, which restricts the degree of freedom of axial compression of the flexible joint and improves control accuracy and stability.

[0037] By placing the contact part at the center of the elastic body, the flexible joint can obtain two degrees of bending freedom, which is one more degree of freedom than the existing technology, thereby increasing the adjustable range. Attached Figure Description

[0038] To more clearly illustrate the embodiments of the present invention, the relevant accompanying drawings will be briefly described below. It should be understood that the drawings described below are only for illustrating some embodiments of the present invention, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0039] Figure 1 This is a schematic diagram of the flexible joint from one perspective in one embodiment of the present invention.

[0040] Figure 2 yes Figure 1 The cross-sectional view of the flexible joint shown.

[0041] Figure 3 yes Figure 1 A schematic diagram of the flexible joint from another perspective.

[0042] Figure 4 yes Figure 3 Enlarged view of part A.

[0043] Figure 5 This is a schematic diagram of the flexible joint from one perspective in one embodiment of the present invention.

[0044] Figure 6 yes Figure 5 A schematic diagram of the flexible joint from another perspective.

[0045] Figure 7 yes Figure 6 Enlarged view of part B.

[0046] Figure 8 yes Figure 5 The diagram shows the structure of the flexible joint.

[0047] Figure 9 yes Figure 5 The diagram shows the structure of the flexible joint.

[0048] Figure 10 This is a schematic diagram of the structure of a flexible joint according to an embodiment of the present invention from one perspective.

[0049] Figure 11 yes Figure 5 The contact part of the flexible joint shown Figure 10 Comparison diagram of the contact area of ​​the flexible joint shown.

[0050] Figure 12 This is a schematic diagram of the structure of a flexible joint according to an embodiment of the present invention from one perspective.

[0051] Figure 13 yes Figure 12 A schematic diagram of the flexible joint from another perspective.

[0052] Figure 14 This is a schematic diagram of the structure of a flexible joint according to an embodiment of the present invention from one perspective.

[0053] Figure 15 yes Figure 14 A schematic diagram of the flexible joint from another perspective.

[0054] Figure 16 yes Figure 14 The cross-sectional view of the flexible joint shown.

[0055] Figure 17 yes Figure 10 The contact part of the flexible joint shown Figure 14 The diagram shows a comparison of the structures of the contact area of ​​the flexible joint.

[0056] Figure 18 This is a schematic diagram of the structure of a flexible joint according to an embodiment of the present invention from one perspective.

[0057] Figure 19 yes Figure 18 A schematic diagram of the flexible joint in the illustrated embodiment from another perspective.

[0058] Figure 20 yes Figure 18 A cross-sectional view of the flexible joint shown from one perspective.

[0059] Figure 21 is Figure 18 is a sectional view of the flexible joint shown in

[0060] Figure 22 is a structural schematic diagram of the flexible joint of an embodiment of the present application.

[0061] Figure 23 is Figure 22 is a structural schematic diagram of the contact portion of the flexible joint shown in

[0062] Figure 24 is a structural schematic diagram of the contact portion of the flexible joint of an embodiment of the present application.

[0063] Figure 25 is a structural schematic diagram of the flexible joint of an embodiment of the present application.

[0064] Figure 26 is Figure 25 is a sectional view of the flexible joint shown in

[0065] Figure 27 is Figure 26 is an enlarged view of the C portion of

[0066] Figure 28 is a structural schematic diagram of the flexible joint of an embodiment of the present application.

[0067] Figure 29 is Figure 28 is a partial structural diagram for embodying the relationship between the first contact portion and the second contact portion.

[0068] Figure 30 is a structural schematic diagram of the flexible device of an embodiment of the present application.

[0069] Figure 31 is a structural schematic diagram of the flexible device of an embodiment of the present application.

[0070] Figure 32 is a structural schematic diagram of the flexible device of an embodiment of the present application.

[0071] Figure 33 is a structural schematic diagram of the flexible device of an embodiment of the present application.

[0072] Reference Signs:

[0073] 1, first elastic part; 2, second elastic part; 3, contact part; 31, first contact part; 311, first groove surface; 32, second contact part; 321, second groove surface; 33, contact surface; 34, connecting curved surface; 35, tangent surface; 36, flat plate part; 37, convex part; 4, first connecting part; 5, second connecting part; 6, first supporting part; 61, first cylinder; 62, first supporting beam; 63, first cross beam; 64, first cable connecting structure; 7, second supporting part; 71, second cylinder; 72, second supporting beam; 73, second cross beam; 74, second cable connecting structure; 8, threading hole; 81, first threading hole; 82, second threading hole; 83, third threading hole; 84, fourth threading hole; 9, elastic joint; 91, first supporting structure; 92, second supporting structure; 93, first spiral part; 94, second spiral part; 95, protrusion; 10, elastic body. DETAILED DESCRIPTION

[0074] The application will be described in detail below with reference to the drawings.

[0075] The embodiment of the application provides a flexible joint, a flexible device, a flexible apparatus, a mechanical arm and a surgical robot. The flexible joint and the flexible device are introduced first, and then the flexible apparatus, the mechanical arm and the surgical robot are described.

[0076] The flexible device is used to connect two components, such as connecting the end manipulator of the mechanical arm and the mechanical arm, and realizing the change of the relative position between the two components by bending itself.

[0077] The flexible device includes the flexible joint and the cable, and the bending function of the flexible device is mainly realized by controlling the flexible joint by the cable and bending the flexible joint. The drawings are combined Figures 1-29 It is understood that the flexible joint is provided with the threading hole 8, the cable is fixed at one end of the flexible joint and extends out from the other end of the flexible joint after passing through the threading hole 8. The flexible joint has a plurality of groups of threading holes 8, and the number of groups of threading holes 8 corresponds to the number of cables. In application, the cable is pulled to drive the flexible joint to bend and deform, so that the bending function is realized, and the bending state of the flexible device is shown in FIG. 2. Figure 5 .

[0078] The drawings are combined Figures 1-29 It is understood that the flexible joint includes the elastic body 10, the first supporting part 6 and the second supporting part 7, the elastic body 10 includes the first elastic part 1, the first connecting part 4 and a plurality of contact parts 3. The parts of the flexible joint can be integrally formed and can be formed by a 3D printer.

[0079] The first elastic part 1 is a cylindrical spiral structure, which is a spiral spring structure with elasticity and can realize bending function. When the first elastic part 1 bends, the central axis thereof also bends. The middle part of the first elastic part 1 forms a hollow space, which can be used to set the contact part 3 and the first connecting part 4, and can also be used for the cable to pass through. The two ends of the first elastic part 1 are connected with the first support part 6 and the second support part 7 respectively. The first elastic part 1 is connected with other components through the two support parts, which improves the reliability and convenience of the connection.

[0080] The moving point of the first elastic part 1 corresponds to at least one first connecting part 4 for each rotation of 2π radian. The understanding of the "moving point" refers to the definition of the cylindrical spiral line, that is, a moving point on the cylindrical surface rotates around the axis of the cylinder at a constant speed, and moves along the axis of the cylinder at a constant speed. The trajectory of the moving point is a cylindrical spiral line. In the direction of the central axis of the first elastic part 1, the first connecting parts 4 are arranged at intervals, and there is a gap between adjacent first connecting parts 4 in the direction of the central axis.

[0081] Each first connecting part 4 corresponds to a contact part 3. Correspondingly, the first elastic part 1 corresponds to at least one contact part 3 for each rotation of 2π radian. The two ends of the first connecting part 4 are connected with the first elastic part 1 and the contact part 3 respectively. The contact part 3 is located at the central axis of the first elastic part 1, and when the first elastic part 1 bends, the adjacent contact parts 3 are connected in rolling connection, and the flexible joint has two bending degrees of freedom. The position of the rolling connection is in the area corresponding to the central axis and near the area, so that the compression amount of the flexible joint in the axial direction does not change or changes within the expected compression amount.

[0082] The threading hole 8 is arranged on the elastic body 10 near the edge, so as to control the bending of the flexible joint with smaller traction. Figures 1-4 、 Figures 10-17 and Figures 25-27 In the embodiment shown, the threading hole 8 is arranged on the first elastic part 1; Figures 5-9 The threading hole 8 is not shown in the embodiment, but in this embodiment, the threading hole 8 is also arranged on the first elastic part 1; Figures 18-24 In the embodiment shown, the threading hole 8 is arranged on the first elastic part 1 and the contact part 3. In specific applications, the cable for controlling the flexible joint passes through the first elastic part 1, and the cable for controlling the adjacent flexible joint passes through the contact part 3, so that the control of the two flexible joints does not interfere with each other.

[0083] The above describes the flexible joint as a whole. It can be known that the bending is realized by the elastic body 10 arranged between the first support part 6 and the second support part 7, and the elastic stiffness and the elastic strength are improved by the contact part 3 arranged in the center of the first elastic part 1, which ensures the stability of the first elastic part 1 when bending. Next, the first support part 6, the second support part 7 and the elastic body 10 will be introduced in detail.

[0084] In some embodiments, such as Figures 5 to 17 as well as Figures 22 to 29 In the illustrated embodiment, the first support portion 6 includes a first cylindrical body 61 and a first support beam 62. The two ends of the first support beam 62 are connected to the inner walls of the first cylindrical body 61. The first support beam 62 is arranged radially along the first cylindrical body 61 and parallel to each of the first connecting portions 4, thus improving the rigidity and stability of the first support portion 6. The middle region of the first support beam 62 is provided with a curved surface that matches the adjacent contact portion. When the flexible joint bends, the middle region of the first support beam 62 and its adjacent contact portion 3 are rolled together, preventing the contact portion 3 from axially moving upwards and outwards, thereby ensuring the control accuracy of the bending angle and the reliability of the flexible joint. The first support portion 6 has a first cable connection structure 64 for connecting cables or for cables to pass through, such as... Figure 1 , 14 As shown in 19 and 26, the first cable connection structure 64 can be a hole provided on the first cylinder 61, or other structures that can connect cables or allow cables to pass through.

[0085] In other embodiments, the option of not providing a first support beam 62 on the first cylinder 61 is also within the scope of protection of this invention.

[0086] In other embodiments, such as Figure 1 and Figure 2 In the embodiment shown, the first support portion 6 replaces the first cylinder 61 and the first support beam 62 with a cylindrical structure.

[0087] In other embodiments, such as Figures 18-21 In the illustrated embodiment, to further improve the elastic strength and stiffness of the flexible joint, the first support beam 62 is replaced with a first crossbeam 63, the four ends of which are connected to the inner wall of the first cylinder 61; a hole is provided in the central area of ​​the first crossbeam 63 for cables to pass through. Holes for cables to pass through or be fixed are provided on both the first cylinder 61 and the first crossbeam 63. Alternatively, as an alternative, a hole may be provided on only one of the first cylinder 61 and the first crossbeam 63 to connect the cable.

[0088] In some embodiments, such as Figures 5 to 17 as well as Figures 22 to 29In the shown embodiment, the second support part 7 comprises a second cylinder 71 and a second support beam 72, the two ends of the second support beam 72 are connected to the inner wall of the second cylinder 71, the second support beam 72 is arranged along the radial direction of the second cylinder 71, parallel to the first connecting part 4, which improves the rigidity and stability of the second support part 7. The middle region of the second support beam 72 is provided with a curved surface matched with the adjacent contact part 3, when the flexible joint is bent, the middle region of the second support beam 72 and the contact part 3 adjacent thereto are in rolling connection, thereby ensuring the control accuracy of the bending angle and the reliability of the flexible joint. The second support part 7 has a second cable connection structure 74 for connecting the cable or only for the cable to pass through, such as Figure 1 、 13 , 15, 21, the second cable connection structure 74 can be a hole provided on the second cylinder 71.

[0089] In other embodiments, the second cylinder 71 is not provided with the second support beam 72, which is also within the protection scope of the present application.

[0090] In other embodiments, as shown in Figure 1 and Figure 2 , the second support part 7 as a whole adopts a cylindrical structure to replace the second cylinder 71 and the second support beam 72, which is also within the protection scope of the present application.

[0091] In other embodiments, as shown in Figures 18-21 , in order to further improve the elastic strength and elastic rigidity of the flexible joint, the second support beam 72 is replaced by a second cross beam 73, the four ends of the second cross beam 73 are connected to the inner wall of the second support part 7; the central region of the second cross beam 73 is provided with a hole for the cable to pass through. The second cylinder 71 and the second cross beam 73 are respectively provided with holes for the cable to pass through or fixed, of course, as an alternative means, only one of the second cylinder 71 and the second cross beam 73 is provided with a hole to fix the cable, which is also within the protection scope of the present application.

[0092] The number of elastic parts can be single or two. In some embodiments, as shown in Figures 1-4In the shown embodiment, the flexible joint is a single-cylinder helical structure with a first elastic part 1, which requires a smaller torque for bending, thus the flexible joint is more flexible. In the shown embodiment, the dynamic point of the first elastic part 1 corresponds to one first connecting part 4 and one contact part 3 for each 2π radian rotation. The first connecting part 4 has a block structure, and in the radial direction of the flexible joint, the length of the first connecting part 4 is smaller than the width of the first elastic part 1, so as to improve the rigidity of the single-cylinder helical structure of the elastic part, and avoid the case that the single-cylinder helical structure is too flexible and bends slightly under some force. Of course, as an alternative, the first connecting part 4 can also have a rod structure, such as a circular rod, a square rod, or a special-shaped rod. In various single-cylinder helical structure flexible joints, the first connecting part 4 is preferably arranged perpendicular to the central axis, and the first connecting parts 4 are parallel to each other.

[0093] In other embodiments, such as the embodiment shown in Figures 5-29 In the shown embodiment, the flexible joint is a double-cylinder helical structure with a first elastic part 1 and a second elastic part 2, and the flexible joint of the double-cylinder helical structure has high elastic stiffness, stable bending performance, and good reset ability after bending. The two ends of the second elastic part 2 are connected to the first support part 6 and the second support part 7, respectively. The second elastic part 2 has the same rotational direction as the first elastic part 1. The second elastic part 2 is coaxially arranged with the first elastic part 1 and is staggered by π radian. The second elastic part 2 also has a hollow space, and the hollow spaces of the two elastic parts coincide. Preferably, the first elastic part 1 and the second elastic part 2 have the same parameters of the cylindrical helical structure, and of course, the parameters (such as width and thickness) of the two elastic parts can be different.

[0094] As shown in Figure 16 The inner edges of the first elastic part 1 and the second elastic part 2 form a convex structure in the direction of the central axis, which can be used to enhance the connection strength between the elastic part and the connecting part. Of course, in other embodiments, such as the embodiments shown in Figures 1-15 and Figures 17-29 In the shown embodiment, the first elastic part 1 and the second elastic part 2 can have a uniform thickness structure.

[0095] In some embodiments, such as the embodiment shown in Figures 5-29 In the shown embodiment, the flexible joint of the double-cylinder helical structure further includes a second connecting part 5 corresponding to the contact part 3, and the two ends of the second connecting part 5 are connected to the contact part 3 and the second elastic part 2, respectively. Correspondingly, the dynamic point of the second elastic part 2 corresponds to one second connecting part 5 for each π radian rotation, wherein the "dynamic point" is defined with reference to the cylindrical helical line.

[0096] The second connecting parts 5 are arranged at intervals in the direction of the central axis of the first elastic part 1 (or the second elastic part 2), and preferably at equal intervals. The second connecting part 5 can have a block structure, for example, the second elastic part 2 has a relatively large width, so that the second elastic part 2 or the contact part 3 partially protrudes to form the second connecting part 5 in the case of a small hollow space, which corresponds to a larger spring coefficient after conversion into a spring. Alternatively, the second connecting part 5 can also have a rod structure, and both regular rods and special-shaped rods can be used.

[0097] In some flexible joints of the double-cylinder spiral structure, for example, Figures 5-29 In the embodiment shown, the second connecting part 5 and the first connecting part 4 corresponding to the same contact part 3 are arranged in parallel and located on both sides of the contact part 3, and preferably the first connecting part 4 and the second connecting part 5 are symmetrical structures relative to the contact part 3. The contact part 3 connects the first elastic part 1 and the second elastic part 2 through the first connecting part 4 and the second connecting part 5, which improves the stability and reliability of the flexible joint. In other flexible joints of the double-cylinder spiral structure, the second connecting part 5 and the first connecting part 4 are not parallel, or the flexible joint does not have the second connecting part 5, and the contact part 3 is not directly connected to the second elastic part 2, which is also within the protection scope of the present application.

[0098] Figures 1-17 and Figures 22-27 In the embodiment shown, the adjacent first connecting parts 4 are arranged in parallel, and the adjacent second connecting parts 5 are arranged in parallel. Figures 18-21 、 Figure 28 and Figure 29 In the embodiment shown, the adjacent first connecting parts 4 are arranged vertically, and the adjacent second connecting parts 5 are arranged vertically.

[0099] In some embodiments, for example, in the embodiment shown, Figures 5-29 In the embodiment shown, the first connecting part 4 and the second connecting part 5 of the flexible joint of the double-cylinder spiral structure are perpendicular to the central axis, which can better disperse the stress. In other embodiments, the first connecting part 4 and the second connecting part 5 have a non-perpendicular positional relationship with the central axis, which is also within the protection scope of the present application.

[0100] The flexible joint is defined as an independent product in a natural state when it does not bear external forces from other physical components. In some embodiments, when the flexible joint is in a natural state, the adjacent contact parts 3 are in contact with each other, that is, the gap between the adjacent contact parts 3 is zero, and the contact surface 33 is a spherical surface. During the bending process of the flexible joint, the central axis of the first elastic part 1 bends and the length remains unchanged, which makes it easier to calculate the pose and more convenient to control. In this embodiment, the axial compression of the flexible joint is constrained, and the length of the central axis remains unchanged when the flexible joint is arbitrarily bent, so that the bending accuracy of the flexible joint is higher and the stability performance is better.

[0101] In each flexible joint, the contact portion 3 has a contact surface 33, and the adjacent contact portion 3 is connected by rolling through the contact surface 33. The surface of the first connecting portion 4 and the surface of the second connecting portion 5 are respectively connected smoothly with the contact surface 33. In combination Figures 1-24 It is understood that the contact surface 33 can be a convexly arranged curved surface, in combination Figures 25-29 It is understood that the contact surface 33 can also be a concavely arranged curved surface.

[0102] In each flexible joint, when the contact surface 33 is arranged as a spherical surface, the length of the central axis of the flexible joint in the bending process is constant, the flexible joint does not exist axial compression, and the pose in bending is easier to calculate and control. In the radial direction of the flexible joint, different embodiments can be derived by different proportions of the contact surface 33 in the contact portion 3. For example, Figure 11 As shown in (a), the contact portion 3 of the embodiment is Figures 5-9 As shown in (b), the contact portion 3 of the embodiment is Figure 10 As shown in (b), the contact portion 3 of the embodiment is Figure 11 As shown in the horizontal direction of the figure, Figures 5-9 In the embodiment corresponding to the contact surface 33, the proportion is larger, Figure 10 In the embodiment corresponding to the contact surface 33, the proportion is smaller.

[0103] In some embodiments, as shown in Figures 1-9 , Figure 28 and Figure 29 the contact surface 33 is closed around and adopts an outwardly convex or concavely spherical surface, and the bending angle of these embodiments is larger. Wherein, “closed around” means that the surface around is enclosed and connected.

[0104] In other embodiments, such as Figures 10-17 and Figures 22-27 the contact surface 33 adopts a non-closed curved surface, wherein, Figures 10-17The contact portion 3 in this embodiment also has at least one cut surface 35, the edge of which is adjacent to the contact surface 33, and the cut surface 35 is parallel to the central axis. The definition of "cut surface 35" here is similar to cutting off a portion of the contact portion 3 with a plane; therefore, this plane is defined as "cut surface 35," not because a portion of the contact surface is actually removed using a tool during the manufacturing process. In embodiments with cut surface 35, the contact portion 3 occupies a smaller area in the aforementioned hollow space, freeing up space for components that cooperate with flexible joints. For example, when two flexible joints are connected together, the hollow space of one of the flexible joints can allow a camera or medical device cable to pass through. The smaller the space occupied by the contact portion 3, the larger the hollow space, making it easier for cameras and cables to pass through.

[0105] refer to Figure 17 Further understanding of the different proportions of the contact surface 33 to the contact portion 3 and the feasible ways of the contact portion 3 when a tangential surface 35 is provided. Figure 17 In the middle, part (a) is Figure 10 and Figure 11 The corresponding contact portion 3 of the flexible joint, part (b) is Figures 14-16 The corresponding contact portion 3 of the flexible joint, with the dashed line in the figure used to distinguish the contact surface 33 and the connecting surface 34, wherein the contact surface 33 is spherical, and the connecting surface 34 is a slightly concave, smooth surface used to connect the first connecting portion 4 or the second connecting portion 5. Figure 17 As shown, in the horizontal direction, Figures 14-16 The lateral dimension of the corresponding flexible joint contact surface 33 is approximately one-third of the lateral dimension of the contact portion 3. Figure 10 and Figure 11 The corresponding lateral dimension of the contact surface 33 is significantly smaller than one-third of the lateral dimension of the contact portion 3. Furthermore, Figure 10 and Figure 11 In the corresponding flexible joint, the contact surface 33 is a spherical surface with closed sides. Figures 14-16 In the corresponding flexible joint, the two sides of the contact surface 33 are respectively provided with a tangent 35, and the two contact surfaces 33 are located at... Figure 17 The upper and lower parts of the middle (b) section, i.e., the contact surface 33, are non-closed spherical surfaces.

[0106] Figures 1-17 In the corresponding embodiments, each contact portion 3 of the same flexible joint adopts the same structure and arrangement. Figures 18-24 In the corresponding embodiments, the contact portions 3 of the same flexible joint adopt a structure that is generally the same, but the positions and arrangements of the threading holes are different. Figures 25-27 In the corresponding embodiments, each contact portion 3 of the same flexible joint is implemented using two different structures. Figure 28 and Figure 29In corresponding embodiments, the structures of the contact portions 3 are the same as a whole, but the arrangement manners are different.

[0107] Figures 25-29 In corresponding embodiments, the flexible joint is partly provided with the first contact portions 31 and partly provided with the second contact portions 32, and the first contact portions 31 and the second contact portions 32 are arranged alternately; the contact surface 33 of the first contact portion 31 is provided with a first groove surface 311, which is high on both sides and low in the middle in a first direction (indicated by the line with a bidirectional arrow in FIG. 3A) ; the contact surface 33 of the second contact portion 32 is provided with a second groove surface 321, which is high on both sides and low in the middle in a second direction; the first direction is perpendicular to the second direction, and the middle of the first groove surface 311 and the middle of the second groove surface 321 are connected in rolling when the flexible joint is bent. Figure 26 Figure 29 The forms of the first groove surface 311 and the second groove surface 321 can be different when the positional relationship between the adjacent first connecting portions 4 and the adjacent second connecting portions 5 is different.

[0108] In corresponding embodiments, the first groove surface 311 is a closed curved surface, the second groove surface 321 is an unclosed curved surface, the second contact portion 32 is provided with two oppositely arranged second groove surfaces 321, and the adjacent two first connecting portions 4 are arranged in parallel, and the adjacent two second connecting portions 5 are arranged in parallel. Figures 25-27 Figure 28 Figure 29 In corresponding embodiments, the first groove surface 311 and the second groove surface 321 are both closed curved surfaces, and the adjacent two first connecting portions 4 are arranged perpendicularly, and the adjacent two second connecting portions 5 are arranged perpendicularly.

[0109] In some embodiments, as shown in FIG. 3D, the contact portion 3 comprises a flat plate portion 36 and a convex portion 37 located at the center of the flat plate portion 36, the plate surface of the flat plate portion 36 is arranged perpendicularly to the central axis, one convex portion 37 is arranged at each of the two plate surfaces of the flat plate portion 36, the contact surface 33 is located on the convex portion 37, and the convex portion 37 is a spherical surface. When the flexible joint is bent, the adjacent convex portions 37 are connected in rolling, and the surface of the convex portion 37 can be a spherical surface or other curved surface. The threading hole 8 passes through at least one of the flat plate portion 36 and the convex portion 37. Figures 22 to 24 The flexible device is controlled in bending degree by at least three cables. The threading holes 8 are arranged uniformly on the contact portion 3. It should be noted that "uniformly arranged" means that the three or four threading holes 8 on the same contact portion 3 are uniformly distributed in the circumferential direction of a virtual circle.

[0110] In the flexible joint with a single-cylinder spiral structure, as shown in FIG. 4A, the contact portion 3 comprises a flat plate portion 36 and a convex portion 37 located at the center of the flat plate portion 36, the plate surface of the flat plate portion 36 is arranged perpendicularly to the central axis, one convex portion 37 is arranged at each of the two plate surfaces of the flat plate portion 36, the contact surface 33 is located on the convex portion 37, and the convex portion 37 is a spherical surface. When the flexible joint is bent, the adjacent convex portions 37 are connected in rolling, and the surface of the convex portion 37 can be a spherical surface or other curved surface. The threading hole 8 passes through at least one of the flat plate portion 36 and the convex portion 37.

[0111] Figure 4 ​​​​As shown in the figure, four groups of threading holes 8 (first threading hole 81, second threading hole 82, third threading hole 83 and fourth threading hole 84 respectively) are arranged on the first elastic part 1, and each group of threading holes 8 is coaxially arranged.

[0112] In some flexible joints with partial double-cylindrical spiral structure, as shown in the figure, Figure 12 four groups of threading holes 8 (first threading hole 81, second threading hole 82, third threading hole 83 and fourth threading hole 84 respectively) are arranged on the first elastic part 1 and the second elastic part 2, and each group of threading holes 8 is coaxially arranged and penetrates from one end of the first elastic part 1 and the second elastic part 2 to the other end.

[0113] In some flexible joints with partial double-cylindrical spiral structure, as shown in the figure, Figures 18-24 four groups of threading holes 8 (first threading hole 81, second threading hole 82, third threading hole 83 and fourth threading hole 84 respectively) are arranged on the first elastic part 1 and the second elastic part 2, and each group of threading holes 8 is coaxially arranged and penetrates from one end of the first elastic part 1 and the second elastic part 2 to the other end. Figures 18-24 After the flexible joint shown in the figure is applied to the flexible device shown in the figure, Figure 30 as shown in the figure, the cables passing through the first threading hole 81, the second threading hole 82, the third threading hole 83 and the fourth threading hole 84 on the lower half of the contact part 3 of the flexible device will be guided to the edge of the first support part 6 and further used as control cables of the flexible joint in the upper half of the flexible device to control the bending degree change of the flexible joint. Figures 30-32

[0114] The above describes the flexible joint and the flexible device, and the following further describes the flexible device, the mechanical arm and the surgical robot based on the flexible joint.

[0115] The flexible device provided by the embodiment of the present application comprises an elastic joint and any one of the flexible joints described above, wherein the elastic joint adopts a spiral spring structure, as shown in the figure, Figures 33 the elastic joint can be realized by using any one of the flexible joints described above, the corresponding cable of the elastic joint and the corresponding cable of the flexible joint are controlled independently, and then the flexible device is equivalent to a device comprising a plurality of flexible joints; and as shown in the figure, Figures 30-32 ​As shown, the elastic joint can also adopt a structure other than the flexible joint provided by the embodiments of the present application. The elastic joint is fixedly connected with the second support part 7 or the first support part 6, and the elastic joint and the flexible joint are arranged in parallel.

[0116] As described above, Figures 30-32 The device with two flexible joints is shown in the middle, and the two flexible joints respectively adopt a double-cylinder spiral structure, and respectively have a first elastic part 1, a second elastic part 2, a contact part 3, a first connecting part 4, a second connecting part 5, a first support part 6 and a second support part 7. Next, the structure of the device will be described in combination with Figure 30 Further description.

[0117] Figures 5-9 In the shown flexible device, in the direction of the central axis, any two adjacent first connecting parts 4 are arranged in parallel, and any two adjacent second connecting parts 5 are arranged in parallel, wherein the contact part 3 of the upper half of the flexible joint is arranged in the same direction as the first connecting part 4, and the contact part 3 of the lower half of the flexible joint is arranged in the same direction as the second connecting part 5. Figure 24 As shown in the shown embodiment, the contact part 3 adopts a structure formed by locally protruding on both sides of a sphere, and the contact part 3 of the lower half is as Figures 31 As shown.

[0118] Figures 5-9 In the shown flexible device, in the direction of the central axis, any two adjacent first connecting parts 4 are arranged in parallel, and any two adjacent second connecting parts 5 are arranged in parallel, wherein the contact part 3 of the upper half of the flexible joint is arranged in the same direction as the first connecting part 4, and the contact part 3 of the lower half of the flexible joint is arranged in the same direction as the second connecting part 5. Figure 23 As shown in the shown embodiment, the contact part 3 adopts a structure formed by locally protruding on both sides of a sphere, and the contact part 3 of the lower half is as Figure 32 As shown.

[0119] Figures 18-21 In the shown flexible device, the relationship between the contact part 3, the first connecting part 4 and the second connecting part 5 of the upper half of the flexible joint is the same as Figure 33 , and the contact part 3 of the lower half adopts a structure formed by locally protruding on both sides of a sphere.

[0120] As described above, the elastic joint can also adopt other kinds of joints with one degree of freedom in the prior art. For example, the elastic joint can also adopt a structure as Figure 33The structure shown in the lower half, wherein the elastic joint 9 comprises a first support structure 91, a second support structure 92, a first spiral part 93, a second spiral part 94 and a bump 95, the first spiral part 93 and the second spiral part 94 adopt a cylindrical spiral structure as a whole, the two ends of the first spiral part 93 are connected with the first support structure 91 and the second support structure 92 respectively, and the two ends of the second spiral part 94 are connected with the first support structure 91 and the second support structure 92 respectively. The first spiral part 93 and the second spiral part 94 locally protrude in the axial direction to form the bump 95, the moving point of the first spiral part 93 and the second spiral part 94 corresponds to a group of bumps 95 every 180° rotation, the two bumps 95 of the same group protrude in two opposite directions, and the bumps 95 of adjacent groups abut against each other. The elastic joint finally forms two rows of bumps 95.

[0121] Figures 14-17 In the schematic flexible device, the flexible joint of the upper half adopts a double-cylindrical spiral structure, and has a first elastic part 1, a second elastic part 2, a contact part 3, a first connecting part 4, a second connecting part 5, a first support part 6 and a second support part 7, wherein the structure of the contact part 3 is the same as that of the contact part 3 shown in the embodiment. Figures 30-32 The contact part 3 of the embodiment.

[0122] The embodiment of the present application provides a mechanical arm, which comprises an end effector, a mechanical arm and at least one flexible joint disclosed in any of the above embodiments, and each flexible joint is independently controlled by a corresponding cable. Wherein, the end effector adopts an existing end effector.

[0123] In some embodiments, the mechanical arm is provided with only one flexible joint, and the two ends of the flexible joint are connected with the end effector and the mechanical arm respectively.

[0124] In other embodiments, the mechanical arm is provided with a plurality of flexible joints, and the flexible joints are sequentially fixedly connected to form a flexible control module (refer to the flexible device and the flexible control module described above ​ ), and the two ends of the flexible control module are connected with the end effector and the mechanical arm respectively.

[0125] The embodiment of the present application also provides a surgical robot, which comprises the above-mentioned mechanical arm.

[0126] Finally, although the present application has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the present application is not limited to such disclosed embodiments. On the contrary, the present application is intended to cover any and all modifications, variations, changes, or equivalents that fall within the spirit and scope of the present application. Furthermore, although various embodiments of the present application have been described, it should be understood that the aspects of the present application can include only some of the described embodiments. Accordingly, the present application should not be seen as limited by the foregoing description, but should be understood by the scope of the appended claims.

Claims

1. A flexible joint, characterized in that, It includes an elastic body, a first support portion and a second support portion, wherein the elastic body includes a first elastic portion, a plurality of first connecting portions and a plurality of contact portions; The first elastic part is a cylindrical spiral structure, and the two ends of the first elastic part are respectively connected to the first support part and the second support part; For every 2π radians rotated by the moving point of the first elastic part, there is at least one first connecting part. The first connecting part corresponds to the contact part, and the two ends of the first connecting part are respectively connected to the first elastic part and the contact part. The contact portion is located at the central axis of the first elastic portion, and when the first elastic portion bends, the adjacent contact portions roll into contact.

2. The flexible joint as described in claim 1, characterized in that, When the flexible joint is in its natural state, adjacent contact portions are in contact with each other.

3. The flexible joint as described in claim 1, characterized in that, During the bending process of the flexible joint, the central axis of the first elastic part bends, while its length remains unchanged.

4. The flexible joint as described in claim 1, characterized in that, The flexible joint is a single cylindrical helical structure with the first elastic part, and the moving point of the first elastic part corresponds to one first connecting part for every 2π radians of rotation.

5. The flexible joint as described in claim 4, characterized in that, The first elastic part protrudes locally at every 2π radians of its moving point to form a first connecting part, or the contact part protrudes locally to form a corresponding first connecting part; in the radial direction of the first elastic part, the width of the first elastic part is greater than the length of the first connecting part.

6. The flexible joint as described in claim 1, characterized in that, The elastic body further includes a second elastic part, the two ends of which are respectively connected to the first support part and the second support part. The second elastic part is coaxially arranged with the first elastic part and offset by π arcs to form a double cylindrical spiral structure. The moving point of the first elastic part corresponds to one first connecting part for every π arc rotation.

7. The flexible joint as described in claim 6, characterized in that, The elastic body also includes several second connecting parts; The two ends of the second connecting portion are respectively connected to the contact portion and the second elastic portion. The second connecting portion and the first connecting portion corresponding to the same contact portion are located on both sides of the contact portion and are arranged in parallel or collinear order.

8. The flexible joint as described in claim 7, characterized in that, The first connecting portion and the second connecting portion are perpendicular to the central axis.

9. The flexible joint as described in claim 7, characterized in that, The contact portion has a contact surface, and adjacent contact portions roll into contact through the contact surface. The surfaces of the first connecting portion and the second connecting portion are smoothly connected to the contact surface, respectively.

10. The flexible joint as described in claim 9, characterized in that, The contact surface is closed on all four sides and is a spherical surface that convex outwards. Adjacent first connecting portions are arranged parallel or perpendicularly; or, the contact portion also has at least one cut surface, the edge of which is adjacent to the contact surface and the cut surface is parallel to the central axis.

11. The flexible joint as described in claim 9, characterized in that, The contact portion includes alternating first contact portions and second contact portions; The contact surface of the first contact portion adopts a first groove surface, and in the first direction, the first groove surface is high on both sides and low in the middle; The contact surface of the second contact portion adopts a second groove surface, and in the second direction, the second groove surface is high on both sides and low in the middle; Wherein, the first direction and the second direction are perpendicular, and when the flexible joint bends, the middle portion of the first groove surface and the middle portion of the second groove surface roll into contact.

12. The flexible joint as described in claim 11, characterized in that, The first groove surface is a closed curved surface, the second groove surface is a non-closed curved surface, the second contact portion has two oppositely arranged second groove surfaces, and two adjacent first connecting portions are arranged in parallel, and two adjacent second connecting portions are arranged in parallel; or, the first groove surface and the second groove surface are both closed curved surfaces, and two adjacent first connecting portions are arranged perpendicularly, and two adjacent second connecting portions are arranged perpendicularly.

13. The flexible joint as described in claim 6, characterized in that, The contact portion includes a flat plate portion and a protruding portion located at the center of the flat plate portion. The plate surface of the flat plate portion is perpendicular to the central axis. When the flexible joint bends, the adjacent protruding portions roll into contact. The surface of the protruding portion is spherical. The elastic body has a thread hole through which the thread hole passes through the flat plate portion and / or the protruding portion.

14. The flexible joint as described in claim 6, characterized in that, Each of the contact portions is provided with a first wire hole, a second wire hole, and a third wire hole; Each of the first through holes allows a cable to pass through to form a cylindrical helical structure, and the angle of rotation of the cable is an integer multiple of 2π radians; Each of the second through holes allows a cable to pass through to form a cylindrical helical structure, and the angle of rotation of the cable is an integer multiple of 2π radians; Each of the third through holes allows a cable to pass through to form a cylindrical helical structure, and the angle of rotation of the cable is an integer multiple of 2π radians; The contact portion is also provided with a fourth wire-passing hole, each of which allows the cable to pass through to form a cylindrical helical structure, and the angle of the cable rotation is an integer multiple of 2π radians.

15. The flexible joint as described in claim 6, characterized in that, The first elastic part and the second elastic part are provided with a plurality of sets of thread holes, each set of thread holes being coaxially arranged and passing through one end of the first elastic part and the second elastic part to the other end of the first elastic part and the second elastic part.

16. The flexible joint according to any one of claims 1-15, characterized in that, The first support portion has a first cable connection structure, and the second support portion has a cable passing structure; The first support includes a first cylinder and a first support beam. The first support beam is arranged radially along the first cylinder. When the flexible joint bends, the middle region of the first support beam and its adjacent contact portion roll into contact. The second support includes a second cylinder and a second support beam. The second support beam is arranged radially along the second cylinder. When the flexible joint bends, the middle region of the second support beam and its adjacent contact portion are rolled together. The flexible joint is integrally molded.

17. A flexible device, characterized in that, Includes a cable and a flexible joint as described in any one of claims 1-16, wherein the cable is fixed to the first support and extends from the second support.

18. A flexible device, characterized in that, Including elastic joints and flexible joints as described in any one of claims 1-16; The elastic joint adopts a helical spring structure. The elastic joint is fixedly connected to the end of the second support portion away from the first elastic portion, and the elastic joint and the flexible joint are coaxially arranged.

19. A robotic arm, characterized in that, Includes an end effector, a robotic arm, and at least one flexible joint as described in any one of claims 1-16, wherein: The two ends of the flexible joint are respectively connected to the end effector and the robotic arm, or the flexible joints are sequentially fixedly connected to form a flexible control module, and the two ends of the flexible control module are respectively connected to the end effector and the robotic arm.

20. A surgical robot, characterized in that, Including the robotic arm as described in claim 19.

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