Flexible robotic arm and surgical device

Abstract

The present invention discloses a flexible robotic arm and a surgical device. The flexible robotic arm in the embodiments of the present invention includes an execution end, a feeding component, and a flexible arm. The clamping mechanism can perform clamping. The feeding component includes a first connecting piece and a second connecting piece. The first connecting piece can move relative to the second connecting piece to perform a lifting action on clamped parts such as mucous membranes. The flexible arm can bend at least in two directions, so that the execution end can flexibly adjust its own posture. The flexible robotic arm in the embodiments of the present invention is applicable to surgical operations such as endoscopic mucosal cutting surgery, which can reduce the operation difficulty of doctors, improve the surgical efficiency, and reduce the time required for the surgery. The surgical device in the embodiments of the present invention includes the above-mentioned flexible robotic arm.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a flexible robotic arm and a surgical device. Background Art

[0002] Traditional endoscopic submucosal dissection (ESD) surgery is a surgical procedure for cutting diseased mucosa completed by a gastroenterologist with the help of a digestive endoscope. Currently, the flexible robotic arm of the endoscope has the disadvantage of insufficient degrees of freedom. The flexibility of the endoscope is low, increasing the difficulty of operation for doctors during surgery and prolonging the surgical time. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a flexible robotic arm that can improve the flexibility of the operation of the flexible robotic arm.

[0004] The present invention also provides a surgical device including the above flexible robotic arm.

[0005] The flexible robotic arm according to an embodiment of the first aspect of the present invention includes:

[0006] An execution end, the execution end includes a clamping mechanism, and the execution end is connected to a first driving rope, and the first driving rope is used to drive the clamping mechanism to perform a clamping action;

[0007] A feeding assembly, the feeding assembly includes a first connecting member and a second connecting member, the execution end is connected to the first connecting member, the first connecting member can move relative to the second connecting member, and the first connecting member is connected to a second driving rope, and the second driving rope is used to drive the first connecting member to move relative to the second connecting member;

[0008] A flexible arm, connected to the second connecting member, and the flexible arm can bend at least in two directions.

[0009] The flexible robotic arm according to an embodiment of the present invention has at least the following beneficial effects: the first connecting member can move relative to the second connecting member, the flexible arm can bend at least in two directions, the clamping mechanism can perform clamping, and it has at least four degrees of freedom, with good flexibility.

[0010] According to some embodiments of the present invention, the first connecting member is rotatably connected to the execution end, and the first driving rope can drive the execution end to rotate around the axis of the first driving rope.

[0011] According to some embodiments of the present invention, the flexible robotic arm further includes a first sleeve and a second sleeve. The interior of the second driving rope is hollow to form a first driving rope channel. The first sleeve is sleeved on the first driving rope, and the first sleeve passes through the first driving rope channel. The interior of both the feeding assembly and the flexible arm is hollow and communicates to form a second driving rope channel. The second sleeve is sleeved on the second driving rope, and the second sleeve passes through the second driving rope channel.

[0012] According to some embodiments of the present invention, the execution end further includes a pull rod and a mounting seat. The mounting seat is connected to the first driving rope. The clamping mechanism includes a clamping pliers and two connecting rods. The mounting seat is provided with a mounting groove. The clamping pliers are connected to the mounting seat. The connecting rods and the pull rod are located in the mounting groove. The two connecting rods are connected between the pull rod and the clamping pliers. One ends of the two connecting rods are respectively hinged to the two cutting blades of the clamping pliers, and the other ends of the two connecting rods are hinged to the pull rod. The pull rod is connected to the first driving rope.

[0013] According to some embodiments of the present invention, the first connecting member is provided with a sliding groove. The second connecting member includes two sliding portions, and the two sliding portions are in sliding contact with the groove walls of the sliding groove.

[0014] According to some embodiments of the present invention, the first connecting member is provided with a first limiting groove. The first limiting groove communicates with the sliding groove. The width of the first limiting groove is greater than the width of the sliding groove. One end of the second driving rope for connecting the first connecting member is connected with a limiting block. The limiting block is located in the first limiting groove. The width of the limiting block is greater than the width of the sliding groove.

[0015] According to some embodiments of the present invention, the flexible arm includes:

[0016] A first arm segment, which is connected to the second connecting member;

[0017] A second arm segment, which is connected to the first arm segment;

[0018] A third driving rope, and the first arm segment can be bent along a first direction under the drive of the third driving rope;

[0019] A fourth driving rope, and the second arm segment can be bent along a second direction under the drive of the fourth driving rope. The first direction is perpendicular to the second direction;

[0020] A joint connecting member, and the first arm segment and the second arm segment are respectively connected to two ends of the joint connecting member.

[0021] According to some embodiments of the present invention, the first arm segment and the second arm segment respectively include a plurality of bone joints arranged axially. Two symmetric first bosses are provided at one axial end of the bone joint, and a first groove is provided at the position corresponding to the first boss at the other axial end of the bone joint; there is a gap between adjacent bone joints, and the first bosses of the bone joint are received in the first grooves of the adjacent bone joints and are in contact with the groove walls of the first grooves. The line connecting the two first bosses of the bone joints of the first arm segment is in the same direction as the second direction, and the line connecting the two first bosses of the bone joints of the second arm segment is in the same direction as the first direction.

[0022] According to some embodiments of the present invention, the bone joint is provided with a central sleeve through hole and a plurality of first through holes. The second driving rope is threaded through the central sleeve through hole, and the third driving rope and the fourth driving rope are threaded through the first through holes.

[0023] According to some embodiments of the present invention, the bone joint at one end of the first arm segment is connected to the second connecting member, the third driving rope is connected to the second connecting member, the bone joint at one end of the second arm segment is connected to the joint connecting member, and the fourth driving rope is connected to the joint connecting member or the second connecting member.

[0024] According to some embodiments of the present invention, the second connecting member is provided with a fixing groove and a second through hole. The fixing groove is located on both sides of the second groove, the second through hole communicates with the fixing groove, and the third driving rope is threaded through the second through hole and fixed in the fixing groove.

[0025] According to some embodiments of the present invention, the joint connecting member includes a third connecting member and a fourth connecting member. The third connecting member is connected to the second arm segment, the fourth connecting member is connected to the first arm segment, and the third connecting member is connected to the fourth connecting member.

[0026] According to some embodiments of the present invention, the fourth connecting member is provided with a connecting hole. The third connecting member includes a plurality of second bosses. The second bosses are disposed in the connecting hole, and one side surface of the second boss is in contact with the inner wall of the connecting hole. The fourth connecting member includes a plurality of limiting boss portions. A plurality of second limiting grooves are provided on the third connecting member. The limiting boss portions are received in the second limiting grooves and are in contact with the groove walls of the second limiting grooves. The third connecting member and the fourth connecting member are correspondingly provided with through holes for the third driving rope to pass through.

[0027] According to some embodiments of the present invention, the second arm segment further includes a fifth connecting member located at an end away from the first arm segment. The fifth connecting member is provided with threading holes for the first driving rope, the second driving rope, the third driving rope, and the fourth driving rope to pass through respectively.

[0028] The joint connecting member includes a third connecting member and a fourth connecting member. The third connecting member is connected to the second arm segment, and the fourth connecting member is connected to the first arm segment. The third connecting member is provided with a connecting groove, and the first boss of the joint at the end of the second arm segment connected to the third connecting member is received in the connecting groove, and the first boss is in contact with the groove wall of the connecting groove. The fourth connecting member is provided with a connecting boss, and the first groove of the joint at the end of the first arm segment connected to the fourth connecting member is received in the connecting boss, and the connecting boss is in contact with the groove wall of the first groove. The third connecting member is connected to the fourth connecting member.

[0029] According to some embodiments of the present invention, the fourth connecting member is provided with a connecting hole, the third connecting member includes a plurality of second bosses disposed in the connecting hole, one side surface of the second boss is in contact with the inner wall of the connecting hole, the fourth connecting member includes a plurality of limiting boss portions, the third connecting member is provided with a plurality of second limiting grooves, and the limiting boss portions are received in the second limiting grooves, and the limiting boss portions are in contact with the groove walls of the second limiting grooves.

[0030] According to some embodiments of the present invention, the second arm segment further includes a fifth connecting member connected to the joint at the end of the second arm segment away from the first arm segment. There is a gap between the fifth connecting member and the joint. The fifth connecting member is provided with threading holes for the first driving rope, the second driving rope, the third driving rope, and the fourth driving rope to pass through.

[0031] According to some embodiments of the present invention, the fifth connecting member includes a third curved surface portion. Two symmetric third bosses are provided on the third curved surface portion. The concave direction of the third curved surface portion is opposite to the concave direction of the second curved surface portion. The third boss is received in the first groove of the joint at the end away from the first arm segment, and one end of the third boss is in contact with the groove wall of the first groove.

[0032] According to some embodiments of the present invention, the flexible robotic arm further includes a flexible tube. A connecting portion is further provided on the fifth connecting member relative to the distal end of the first arm segment. The flexible tube is sleeved on the connecting portion. The portions of the first driving rope, the second driving rope, the third driving rope, and the fourth driving rope that pass through the threading holes and exit the fifth connecting member are disposed in the lumen of the flexible tube.

[0033] The fifth connecting member is provided with a plurality of limiting through holes. The third driving rope passes through the limiting through holes. The threading holes at the position of the third driving rope on the side away from the joint include a plurality of limiting through holes. The third driving rope and the fourth driving rope respectively pass through the limiting through holes. Spring tubes are sleeved on the ends of the third driving rope and the fourth driving rope that are away from the joint.

[0034] The surgical device according to the second aspect embodiment of the present invention includes a driving mechanism and the flexible robotic arm according to any one of the embodiments of the first aspect of the present invention. The driving mechanism is connected to the first driving rope, the second driving rope, and the flexible arm.

[0035] The additional aspects and advantages of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention will be further described below in conjunction with the drawings and embodiments, where:

[0037] Figure 1 is a schematic diagram of a flexible robotic arm in an embodiment of the present invention;

[0038] Figure 2 For the present invention Figure 1 is a partial structural schematic diagram of the flexible robotic arm in an embodiment;

[0039] Figure 3 For the present invention Figure 1 is a schematic diagram of the clamping mechanism of the flexible robotic arm in an embodiment;

[0040] Figure 4 For the present invention Figure 1 is a schematic diagram of a partial structure of the flexible robotic arm in an embodiment;

[0041] Figure 5 For the present invention Figure 1 is a schematic diagram of the first connecting member of the flexible robotic arm in an embodiment;

[0042] Figure 6 For the present invention Figure 1 is a schematic diagram of the second connecting member of the flexible robotic arm in an embodiment;

[0043] Figure 7 The present invention Figure 1 Schematic diagram of the joint of the flexible robotic arm in the embodiment;

[0044] Figure 8 For the present invention Figure 1 Schematic diagram of the third connecting member of the flexible robotic arm in the embodiment;

[0045] Figure 9 For the present invention Figure 1 Schematic diagram of the fourth connecting member of the flexible robotic arm in the embodiment;

[0046] Figure 10 For the present invention Figure 1 Schematic diagram of the fifth connecting member of the flexible robotic arm in the embodiment.

[0047] Reference numerals:

[0048] Execution end 100, pull rod 110, mounting base 120, mounting groove 121, clamping pliers 130, connecting rod 140, feeding assembly 200, first connecting member 210, first limiting groove 211, limiting block 212, sliding groove 213, first sleeve through hole 214, second connecting member 220, second sleeve through hole 221, sliding part 222, second groove 223, fixing groove 224, second through hole 225, first arm segment 300, joint 310, first curved surface part 311, first boss 312, second curved surface part 313, first groove 314, first through hole 315, central sleeve through hole 316, fourth connecting member 320, fifth sleeve through hole 321, connecting hole 322, fifth through hole 323, limiting boss part 324, connecting boss 325, second arm segment 400, third through hole 415, third sleeve through hole 416, third connecting member 420, connecting groove 421, fourth sleeve through hole 422, fourth through hole 423, second boss 424, second limiting groove 425, fifth connecting member 430, sixth sleeve through hole 431, limiting through hole 432, third boss 433, connecting part 434, third curved surface part 435, first driving rope 500, first sleeve 510, second driving rope 600, second sleeve 610, third driving rope 700, spring tube 710, fourth driving rope 720, joint connecting member 800, flexible arm 900. Detailed description of the specific implementation

[0049] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0050] In the description of the present invention, it should be understood that for the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc., it is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0051] In the description of the present invention, the meaning of "a plurality of" is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number. If there is a description of first and second, it is only for the purpose of distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0052] In the description of the present invention, unless otherwise clearly defined, words such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above words in the present invention in combination with the specific content of the technical solution.

[0053] In the description of the present invention, the description with reference to terms such as "an embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0054] Referring to Figure 1 and Figure 2 , in an embodiment of the present invention, a flexible robotic arm is proposed, which includes an execution end 100, a feeding assembly 200, and a flexible arm 900. The execution end 100 includes a clamping mechanism. The execution end 100 is connected to a first driving rope 500, and the first driving rope 500 is used to drive the clamping mechanism to perform a clamping action. The feeding assembly 200 includes a first connecting member 210 and a second connecting member 220. The execution end 100 is connected to the first connecting member 210, the first connecting member 210 is connected to the second connecting member 220, and the first connecting member 210 can move relative to the second connecting member 220. The first connecting member 210 is connected to a second driving rope 600, and the second driving rope 600 is used to drive the first connecting member 210 to move relative to the second connecting member 220. The flexible arm 900 is connected to the second connecting member 220, and the flexible arm 900 can bend at least in two directions.

[0055] Among them, the clamping mechanism can be structures such as tweezers and pliers with clamping functions. The driving rope in the embodiments of the present application is a rope-like or filamentous structure with a certain flexibility and can move along the axial direction and rotate around the axial direction under the drive of the driving member. The driving rope can be made of a steel alloy material with a certain flexibility, and the driving rope can transmit the pulling force or pushing force of the driving member. For example, when the driving member is a cylinder, the cylinder pushes or pulls the driving rope, and the driving rope can also correspondingly push and pull the mechanical structure connected thereto. When the driving member is a motor, the motor drives the driving rope to rotate, and the driving rope can also drive the mechanical mechanism connected to the driving rope to rotate accordingly. The driving members in the embodiments of the present application include, but are not limited to, various elements such as motors, cylinders, and hydraulic cylinders. It can be understood that the driving rope has a certain flexibility, so it can undergo a certain degree of bending deformation under the action of an external force.

[0056] The flexible arm 900 can be a joint mechanism composed of multiple parts hinged together, and it realizes bending through hinged rotation, such as various snake bone mechanisms. The joint mechanism realizes bending in different directions through hinged joints in different directions. For example, the flexible 900 includes three arm segments, each arm segment is a snake bone mechanism, but the directions in which the snake bones in the three arm segments can bend are different, so that the flexible arm 900 can bend as a whole in three directions.

[0057] The first connecting member 210 and the second connecting member 220 can be connected by a sliding connection method so that the first connecting member 210 can move relative to the second connecting member 220. For example: a slide rail is provided inside the first connecting member 210, and a slide groove is provided on the second connecting member 220. The slide rail slides in the slide groove, and relative movement occurs between the first connecting member 210 and the second connecting member 220. The first connecting member 210 and the second connecting member 220 can also be connected by a threaded connection. For example: the inside of the first connecting member 210 is hollow and provided with internal threads, and the outer surface of the second connecting member 220 is provided with external threads. By rotating the first connecting member 210 or the second connecting member 220, relative movement occurs between the first connecting member 210 and the second connecting member 220. The relative movement between the first connecting member 210 and the second connecting member 220 can change the position of the execution end 100 connected to the first connecting member 210, extending or shortening the flexible robotic arm.

[0058] In the flexible robotic arm according to the embodiments of the present invention, the first connecting member 210 can move relative to the second connecting member 220. The flexible arm 900 can bend at least in two directions, and the clamping mechanism can perform clamping. The flexible robotic arm has at least four degrees of freedom and has good flexibility. The flexible robotic arm according to the embodiments of the present invention is applicable to surgical operations such as endoscopic mucosal cutting surgery. After the clamping mechanism performs clamping, the first connecting member 210 can move relative to the second connecting member 220 to perform a lifting action on the clamped mucosa and other parts. The flexible arm 900 can bend, so the position of the execution end 100 can be flexibly adjusted, reducing the operation difficulty of the doctor, improving the surgical efficiency, and reducing the time required for the surgery.

[0059] In some embodiments of the present invention, the first connecting member 210 is rotatably connected to the execution end 100, and the first drive rope 500 can drive the execution end 100 to rotate around the axis of the first drive rope 500. The driving member can drive the first drive rope 500 to rotate around the axis, and the first connecting member 210 is rotatably connected to the execution end 100. As a result, the execution end 100 connected to the first drive rope 500 will also rotate accordingly. With the rotation of the execution end 100, the clamping mechanism on the execution end 100 can perform clamping from different angles, increasing the flexibility of the execution end 100 and making it more convenient to adjust the clamping angle of the clamping mechanism on the execution end 100.

[0060] Refer to Figure 1 , in some embodiments of the present invention, the flexible robotic arm further includes a first sleeve 510 and a second sleeve 610. The inside of the second drive rope 600 is hollow to form a first drive rope 500 channel. The first sleeve 510 is sleeved on the first drive rope 500, and the first sleeve 510 is inserted into the first drive rope 500 channel. The inside of the feeding assembly 200 and the flexible arm 900 are both hollow and communicate to form a second drive rope 600 channel. The second sleeve 610 is sleeved on the second drive rope 600, and the second sleeve 610 is inserted into the second drive rope 600 channel. The second drive rope 600 is sleeved outside the first drive rope 500, saving the space occupied by the flexible robotic arm and simplifying the structure of the flexible robotic arm. The first sleeve 510 and the second sleeve 610 respectively protect the first drive rope 500 and the second drive rope 600 and prevent interference with other components of the flexible robotic arm.

[0061] Refer to Figure 3 and Figure 4, in some embodiments of the present invention, the execution end 100 further includes a pull rod 110 and a mounting seat 120. The mounting seat 120 is connected to the first drive rope 500. The clamping mechanism includes a clamping pliers 130 and two connecting rods 140. The mounting seat 120 is provided with a mounting groove 121. The clamping pliers 130 are connected to the mounting seat 120. The connecting rods 140 and the pull rod 110 are located in the mounting groove 121. The two connecting rods 140 are connected between the pull rod 110 and the clamping pliers 130. One ends of the two connecting rods 140 are respectively hinged to the two cutting blades of the clamping pliers 130, and the other ends of the two connecting rods 140 are hinged to the pull rod 110. The pull rod 110 is connected to the first drive rope 500. By pulling the pull rod 110 through the first drive rope 500, the pull rod 110 drives the connecting rods 140, and the connecting rods 140 drive the cutting blades of the clamping pliers 130 to clamp. The structure is simple and easy to implement. In some embodiments of the present invention, the pull rod 110 is a T-shaped pull rod. The T-shaped pull rod can be held by structures such as holes or grooves with a width smaller than the width of the T-shaped pull rod. Therefore, by arranging the first drive rope 500 in a hole or groove with a width smaller than the width of the T-shaped pull rod, the T-shaped pull rod can be held, making the clamping of the clamping pliers 130 more stable.

[0062] Referring to Figure 5 and Figure 6 , in some embodiments of the present invention, the first connecting member 210 is provided with a sliding groove 213. The second connecting member 220 includes two sliding portions 222. The two sliding portions 222 are in sliding contact with the groove walls of the sliding groove 213. The second drive rope 600 drives the sliding portions 222 to slide in the sliding groove 213, thereby changing the relative position between the first connecting member 210 and the second connecting member 220. For example, referring to Figure 1 , Figure 5 and Figure 6 , when the second drive rope 600 drives the sliding portions 222 to slide forward in the sliding groove 213, the length of the entire flexible robotic arm increases, and the execution end 100 can reach a farther position. When the second drive rope 600 drives the sliding portions 222 to slide backward in the sliding groove 213, the length of the entire flexible robotic arm decreases, and the execution end 100 can drive the clamping mechanism to perform a lifting action.

[0063] Among them, the setting method of the second drive rope 600 can be that the first connecting member 210 is provided with a first sleeve through hole 214, and the second connecting member 220 is provided with a second sleeve through hole 221. The first drive rope 500 is threaded through the first sleeve through hole 214, and the second drive rope 600 is threaded through the second sleeve through hole 221. Thus, the first drive rope 500 and the second drive rope 600 can drive the flexible robotic arm to move from the inside of the flexible robotic arm, reducing the size of the flexible robotic arm and making it more suitable for the flexible robotic arm to operate in a narrow space.

[0064] Referring to Figure 1 and Figure 5, in some embodiments of the present invention, the first connecting member 210 is provided with a first limiting groove 211. The first limiting groove 211 communicates with the sliding groove 213. The width of the first limiting groove 211 is greater than the width of the sliding groove 213. One end of the second driving rope 600 connected to the first connecting member 210 is connected with a limiting block 212. The limiting block 212 is located in the first limiting groove 211. The width of the limiting block 212 is greater than the width of the sliding groove 213. The limiting block 212 increases the force-bearing surface between the second driving rope 600 and the first connecting member 210, preventing the second driving rope 600 from being pulled and broken. In addition, the limiting block 212 is in the limiting groove. Since the width of the limiting block 212 is greater than the width of the sliding groove 213, the limiting block 212 cannot enter the sliding groove 213 and is abutted by the groove wall at one end of the sliding groove 213. Thus, the second driving rope 600 can pull the first connecting member 210 in the direction close to the second connecting member 220.

[0065] In some embodiments of the present invention, the flexible arm 900 includes a first arm segment 300, a second arm segment 400, a third driving rope 700, a fourth driving rope 720 and a joint connecting member 800. The first arm segment 300 is connected to the second connecting member 220; the second arm segment 400 is connected to the first arm segment 300; the first arm segment 300 can be bent along a first direction driven by the third driving rope 700; the second arm segment 400 can be bent along a second direction driven by the fourth driving rope 720, and the first direction is perpendicular to the second direction; the first arm segment 300 and the second arm segment 400 are respectively connected to both ends of the joint connecting member 800.

[0066] Referring to Figure 2 , the first direction is Figure 2 the left-right direction shown in Figure 2 , the second direction is the up-down direction shown in

[0067] Referring to Figure 2 and referring to Figure 7, in some embodiments of the present invention, the first arm segment 300 and the second arm segment 400 respectively include a plurality of bone joints 310 arranged axially. At one axial end of the bone joint 310, two symmetric first bosses 312 are provided, and at the corresponding position of the first bosses 312 at the other axial end of the bone joint 310, a first groove 314 is provided. There is a gap between adjacent bone joints 310, thereby providing space for relative rotation between adjacent bone joints, so that the first arm segment 300 and the second arm segment 400 are bent as a whole.

[0068] The line connecting the two first bosses 312 of the bone joint 310 of the first arm segment 300 is in the same direction as the second direction, and the line connecting the two first bosses 312 of the bone joint 310 of the second arm segment 400 is in the same direction as the first direction. For example, referring to Figure 2 and Figure 7 , the first direction is the up-down direction, the second direction is the left-right direction. The two first bosses 312 of the bone joint 310 of the first arm segment 300 are arranged in the up-down direction. The third drive rope 700 is threaded through the upper and lower sides of the bone joint and is connected to the bone joint at the front end of the first arm segment 300 or the execution end 100. The two first bosses 312 of the bone joint 310 of the second arm segment 400 are arranged in the left-right direction. The fourth drive rope 720 is threaded through the left and right sides of the bone joint 310 and is connected to the bone joint 310 at the front end of the second arm segment 400 or the joint connecting member 800. Therefore, through the traction of the third drive rope 700, the bone joint 310 of the first arm segment 300 can be inclined in the left-right direction, so that the first arm segment 300 is bent in the left-right direction. Through the traction of the fourth drive rope 720, the bone joint 310 of the second arm segment 400 can be inclined in the up-down direction, so that the second arm segment 400 is bent in the up-down direction. Thus, the bending directions of the first arm segment 300 and the second arm segment 400 are perpendicular to each other. Two adjacent bone joints 310 are arranged such that the first boss 312 of one bone joint 310 is received in the first groove 314 of another bone joint 310, and one end of the first boss 312 is in contact with the groove wall of the first groove 314 of another bone joint 310.

[0069] Referring to Figure 1 and Figure 7, the joint 310 includes a first curved surface portion 311 and a second curved surface portion 313. The first curved surface portion 311 and the second curved surface portion 313 are respectively located at both ends of the joint 310. The first curved surface portion 311 is provided with two symmetric first bosses 312. The second curved surface portion 313 is provided with a first groove 314 at a position opposite to the first boss 312. The first curved surface portion 311 is recessed from both sides of the first boss 312 towards the middle of the joint to form a curved surface. The second curved surface portion 313 is recessed from both sides of the first groove 314 towards the middle of the joint to form a curved surface. Thus, the recessed directions of the first curved surface portion 311 and the second curved surface portion 313 are opposite. Among two adjacent joints 310, the recessed direction of the first curved surface portion 311 of the latter joint 310 is opposite to the recessed direction of the second curved surface portion 313 of the former joint 310. Thus, there is a gap between two adjacent joints 310, and the two joints 310 are connected by the first boss 312 and the first groove 314.

[0070] One side of the first boss 312 of the third driving rope 700 can be pushed forward or pulled back under the drive of the driving member. There is a gap between two adjacent joints 310. Thus, the joint 310 connected to the third driving rope 700 will tilt towards this side, and transmit the pulling force or pushing force to the next joint. Thus, the next joint will also tilt towards this side. Finally, the joints in the first arm segment 300 will bend towards the side where the third driving rope 700 applies an external force.

[0071] Refer to Figure 1 and Figure 7 , the flexible robotic arm is provided with two third driving ropes 700 and two fourth driving ropes 720. One of the two third driving ropes 700 sequentially passes through the first boss 312 of the second arm segment 400 and the first arm segment 300. Pull one of the two third driving ropes 700, and the second arm segment 400 will bend towards the side where this third driving rope 700 is located; the other two fourth driving ropes 720 sequentially pass through the first boss 312 on the second arm segment 400 and the first arm segment 300. Pull one of the two fourth driving ropes 720, and the first arm segment 300 will bend towards the side where this third driving rope 700 is located. The longer the third driving rope 700 is pulled back, the greater the bending degree of the first arm segment 300; the longer the fourth driving rope 720 is pulled back, the greater the bending degree of the second arm segment 400. The first arm segment 300 and the second arm segment 400 composed of multiple joints 310 can achieve small-angle bending through the gap cooperation between two adjacent joints 310, which is more flexible than other bending methods such as hinged joints and is more suitable for operation in a narrow space.

[0072] In some embodiments of the present invention, the joint 310 is provided with a central sleeve through-hole 316 and a plurality of first through-holes 315. The second driving rope 600 is threaded through the central sleeve through-hole 316, and the third driving rope 700 and the fourth driving rope 720 are threaded through the first through-holes 315. Thus, the second driving rope 600, the third driving rope 700, and the fourth driving rope 720 can drive the flexible robotic arm to move from the inside of the flexible robotic arm, reducing the size of the flexible robotic arm and making it more suitable for the flexible robotic arm to operate in a narrow space.

[0073] In some embodiments of the present invention, the joint 310 at one end of the first arm segment 300 is connected to the second connecting member 220, the third driving rope 700 is connected to the second connecting member 220, the joint 310 at one end of the second arm segment 400 is connected to the joint connecting member 800, and the fourth driving rope 720 is connected to the joint connecting member 800 or the second connecting member 220.

[0074] The third driving rope 700 is connected to the second connecting member 220. For example, referring to Figure 6 , on the end of the second connecting member 220 connected to the joint 310, there are a second groove 223, a fixing groove 224, and a second through-hole 225. The two sides of the second groove 223 are recessed towards the other end of the second connecting member 220 to form a curved surface. The first boss 312 of the joint 310 at one end of the first arm segment 300 is received in the second groove 223, and one end of the first boss 312 is in contact with the groove wall of the second groove 223. The fixing groove 224 is located on both sides of the second groove 223, and the second through-hole 225 communicates with the fixing groove 224. The third driving rope 700 is threaded through the second through-hole 225 and fixed in the fixing groove 224. The two sides of the second groove 223 are recessed towards the other end of the second connecting member 220 to form a curved surface, and the two sides of the first boss 312 are recessed towards the middle of the joint to form a curved surface. There is a gap between the joint 310 and the second connecting member 220, so that the second connecting member 220 can also be tilted under the drive of the third driving rope 700.

[0075] The fourth driving rope 720 is connected to the joint connecting member 800 or the second connecting member 220 can adopt the same setting method as the above-mentioned third driving rope 700 connected to the second connecting member 220. Among them, both the third driving rope 700 and the fourth driving rope 720 are connected to the second connecting member 220. The thrust or pull of the fourth driving rope 720 acts on the first arm segment 300 first, which is more conducive to the overall bending of the flexible arm 900.

[0076] Referring to Figure 1, in some embodiments of the present invention, both ends of the joint connector 800 are curved surfaces, and there is a gap between the joint connector 800 and the connected joint 310. Thus, the joint connector 800 can also be tilted under the drive of the third drive rope 700 or the fourth drive rope 720, so that the entire flexible robotic arm is bent as a whole.

[0077] Referring to Figure 1 and Figure 8 , in some embodiments of the present invention, the joint connector 800 includes a third connector 420 and a fourth connector 320. The third connector 420 is connected to the first arm segment 300, the fourth connector 320 is connected to the first arm segment 300, and the third connector 420 is connected to the fourth connector 320. The first arm segment 300 and the second arm segment 400 are respectively connected to the fourth connector 320 and the third connector 420, and then connected through the third connector 420 and the fourth connector 320, which is more convenient for the separate assembly of the first arm segment 300 and the second arm segment 400.

[0078] In some embodiments of the present invention, the third connector 420 is provided with a connection groove 421. The first boss 312 of the joint 310 at one end of the second arm segment 400 is received in the connection groove 421, and the first boss 312 fits against the groove wall of the connection groove 421. Thus, the joint 310 can be held by the groove wall of the connection groove 421 and is fixed in the connection groove 421. The third connector 420 in some embodiments of the present invention is also provided with a fourth sleeve through hole 422 and a fourth through hole 423. The second drive rope 600 is passed through the fourth sleeve through hole 422, and the third drive rope 700 and the fourth drive rope 720 are passed through the fourth through hole 423 to reduce the size of the flexible robotic arm and make it more suitable for operation in a narrow space.

[0079] The fourth connector 320 is provided with a connection boss 325. The first groove 314 of the joint 310 at the end of the first arm segment 300 connected to the fourth connector 320 is received in the connection boss 325, and the connection boss 325 fits against the groove wall of the first groove 314. The third connector 420 is connected to the fourth connector 320. The first arm segment 300 can be tilted relative to the fourth connector 320, the second arm segment 400 can be tilted relative to the third connector 420, and there are no connection structures such as welding and bolts between the first arm segment 300 and the fourth connector 320, and between the second arm segment 400 and the third connector 420, having good flexibility, so as to be able to adapt to the overall bending of the flexible robotic arm.

[0080] In some embodiments of the present invention, the fourth connecting member 320 is provided with a fifth sleeve through-hole 321 and a fifth through-hole 323. The second driving rope 600 is passed through the fifth sleeve through-hole 321, and the third driving rope 700 and the fourth driving rope 720 are passed through the fifth through-hole 323, so as to reduce the size of the flexible robotic arm and make it more suitable for the flexible robotic arm to operate in a narrow space.

[0081] Referring to Figure 1 、 Figure 8 and Figure 9 , in some embodiments of the present invention, the third connecting member 420 includes a plurality of second bosses 424. The second bosses 424 are arranged in the connecting hole 322, and one side surface of the second boss 424 is attached to the inner wall of the connecting hole 322. The fourth connecting member 320 includes a plurality of limiting boss portions 324. A plurality of second limiting grooves 425 are provided on the third connecting member 420, and the limiting boss portions 324 are received in the second limiting grooves 425, and the limiting boss portions 324 are attached to the groove walls of the second limiting grooves 425.

[0082] Wherein, one side surface of the second boss 424 is attached to the inner wall of the connecting hole 322, and the limiting boss portion 324 is attached to the groove wall of the second limiting groove 425, so that the third connecting member 420 and the fourth connecting member 320 are abutted against each other and connected together, and there is no connection structure such as welding or bolts between them, having a certain flexibility and being able to adapt to the bending of the first arm segment 300 or the second arm segment 400.

[0083] In some embodiments of the present invention, the second arm segment 400 further includes a fifth connecting member 430. The fifth connecting member 430 is connected to the joint 310 at one end of the second arm segment 400 away from the first arm segment 300, and there is a gap between the fifth connecting member 430 and the joint 310. For example, referring to Figure 1 and Figure 10 , the fifth connecting member 430 includes a third curved surface portion 435. Two symmetrical third bosses 433 are provided at one end of the fifth connecting member 430. The two sides of the third boss 433 are recessed towards the other end of the fifth connecting member 430 to form a curved surface. The third boss 433 is received in the first groove 314 of the joint 310 at the end away from the first arm segment 300, and one end of the third boss 433 is attached to the groove wall of the first groove 314. The recessed direction of the third curved surface portion 435 is opposite to the recessed direction of the second curved surface portion 313, so that there is a gap between the fifth connecting member 430 and the joint 310, and thus the joint 310 connected to the fifth connecting member 430 can tilt towards the side where an external force is applied to the third driving rope 700.

[0084] In some embodiments of the present invention, the fifth connecting member 430 is provided with a rope passing hole for passing the first driving rope 500, the second driving rope 600, the third driving rope 700 and the fourth driving rope 720. The rope passing hole includes a sixth sleeve passing hole 431 and a plurality of limiting through holes 432. The second driving rope 600 is passed through the sixth sleeve passing hole 431, and the third driving rope 700 and the fourth driving rope 720 are passed through the limiting through holes 432, so as to reduce the size of the flexible robotic arm and make it more suitable for the flexible robotic arm to operate in a narrow space. Specifically, in implementation, the sixth sleeve passing hole 431 is opened in the middle of the fifth connecting member 430, and four limiting through holes 432 are opened around the sixth sleeve passing hole 431. The four limiting through holes 432 are respectively opened at positions of the fifth connecting member 430 corresponding to the third boss 433 and the first groove 314, so as to facilitate the passing of the third driving rope 700 and the fourth driving rope 720.

[0085] In some embodiments of the present invention, the flexible robotic arm further includes a flexible tube (not shown in the figure). The fifth connecting member 430 is further provided with a connecting portion 434 at the distal end relative to the first arm segment 300. The connecting portion 434 is located at the other end relative to the end where the third boss 433 is located. The flexible tube is sleeved on the connecting portion 434, and the first driving rope 500, the second driving rope 600, the third driving rope 700 and the fourth driving rope 720 are arranged in the lumen of the flexible tube. The flexible tube is a pipeline structure with a certain flexibility and can be bent. The flexible tube can be made of a flexible plastic material or alloy material. The flexible tube can prevent the first driving rope 500, the second driving rope 600, the third driving rope 700 and the fourth driving rope 720 from contacting the outside.

[0086] In some embodiments of the present invention, the connecting portion 434 is provided with a plurality of contact grooves, and the flexible tube is connected to the connecting portion 434 through the contact grooves and the connecting portion 434. The connection manner in which the flexible tube is connected to the connecting portion 434 through the contact grooves and the connecting portion 434 can be a screwing connection, a clamping connection or the like.

[0087] Referring to Figure 2 , in some embodiments of the present invention, a spring tube 710 is sleeved on the third driving rope 700 at a position on the side of the limiting through hole 432 away from the joint 310. The spring tube 710 increases the width of the third driving rope 700 on one side of the limiting through hole 432. The spring tube 710 has elasticity. After the third driving rope 700 on one side of the limiting through hole 432 enters the limiting through hole 432, the spring tube 710 is compressed and abuts against the fifth connecting member 430, which can prevent the third driving rope 700 from continuing to enter the limiting through hole 432, thereby having a limiting effect on the third driving rope 700.

[0088] An embodiment of the present invention further provides a surgical device, which includes a driving mechanism and the flexible robotic arm of any of the above embodiments. The driving mechanism is connected to a first driving rope 500, a second driving rope 600, and a flexible arm 900, so as to drive the first driving rope 500 to drive the execution end 100 to perform clamping, drive the second driving rope 600 to drive the first connecting member 210 to move relative to the second connecting member 220, realize the feeding movement of the execution end 100, and drive the flexible arm to perform a bending movement to realize the swinging of the execution end 100. Thus, the position of the execution end 100 can be flexibly adjusted to adapt to different clamping requirements. In some embodiments, the driving mechanism can also drive the first driving rope 500 to drive the execution end 100 to rotate around the axis of the first driving rope, so as to be able to flexibly adjust the clamping angle of the clamping mechanism and further improve the flexibility of the operation.

[0089] The flexible robotic arm of the embodiment of the present invention and the surgical device having the flexible robotic arm are applicable to surgical operations such as endoscopic mucosal cutting surgery, can assist in the operation, reduce the operation difficulty of doctors, improve the surgical efficiency, and thus reduce the time required for the surgery.

[0090] The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the above embodiments, and various changes can be made without departing from the gist of the present invention within the knowledge scope of those of ordinary skill in the art. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. Flexible robotic arm, characterized in that, Comprising: An execution end, the execution end includes a clamping mechanism, the execution end is connected with a first driving rope, and the first driving rope is used to drive the clamping mechanism to perform a clamping action; A feeding component, the feeding component includes a first connecting piece and a second connecting piece, the execution end is rotatably connected with the first connecting piece, the first driving rope can drive the execution end to rotate around the axis of the first driving rope, the first connecting piece is provided with a sliding groove, the second connecting piece includes two sliding parts, and the two sliding parts are in sliding contact with the groove walls of the sliding groove. The first connecting piece can move relative to the second connecting piece, and the first connecting piece is connected with a second driving rope, and the second driving rope is used to drive the first connecting piece to move relative to the second connecting piece, so as to increase or decrease the length of the flexible robotic arm; A flexible arm, connected to the second connecting piece, and the flexible arm can bend at least in two directions.

2. The flexible robotic arm according to claim 1, wherein The flexible robotic arm further includes a first sleeve and a second sleeve. The inside of the second driving rope is hollow to form a first driving rope channel. The first sleeve is sleeved on the first driving rope, and the first sleeve penetrates through the first driving rope channel. The inside of the feeding component and the flexible arm are both hollow and communicate to form a second driving rope channel. The second sleeve is sleeved on the second driving rope, and the second sleeve penetrates through the second driving rope channel.

3. The flexible robotic arm according to claim 1, wherein, The first connecting piece is provided with a first limiting groove, the first limiting groove communicates with the sliding groove, the width of the first limiting groove is greater than the width of the sliding groove, one end of the second driving rope for connecting the first connecting piece is connected with a limiting block, the limiting block is located in the first limiting groove, and the width of the limiting block is greater than the width of the sliding groove.

4. The flexible robotic arm according to any one of claims 1 to 3, characterized in that, The flexible arm includes: A first arm segment, the first arm segment is connected with the second connecting piece; A second arm segment, the second arm segment is connected with the first arm segment; A third driving rope, the first arm segment can bend along a first direction under the drive of the third driving rope; A fourth driving rope, the second arm segment can bend along a second direction under the drive of the fourth driving rope, and the first direction is perpendicular to the second direction; A joint connecting piece, the first arm segment and the second arm segment are respectively connected to two ends of the joint connecting piece.

5. The flexible robotic arm according to claim 4, wherein, The first arm segment and the second arm segment respectively include a plurality of articular segments arranged axially. One end of each articular segment in the axial direction is provided with two symmetric first convex platforms, and the other end of each articular segment in the axial direction is provided with a first groove corresponding to the position of the first convex platform; there is a gap between adjacent articular segments, and the first convex platform of each articular segment is received in the first groove of the adjacent articular segment and fits with the groove wall of the first groove. The connection line between the two first convex platforms of the articular segments of the first arm segment is consistent with the second direction, and the connection line between the two first convex platforms of the articular segments of the second arm segment is consistent with the first direction.

6. The flexible robotic arm according to claim 5, characterized in that, The joint at one end of the first arm segment is connected to the second connecting member, the third driving rope is connected to the second connecting member, the joint at one end of the second arm segment is connected to the joint connecting member, and the fourth driving rope is connected to the joint connecting member or the second connecting member.

7. The flexible robotic arm according to claim 5, wherein The joint connecting member includes a third connecting member and a fourth connecting member. The third connecting member is connected to the second arm segment, the fourth connecting member is connected to the first arm segment, and the third connecting member is connected to the fourth connecting member.

8. The flexible robotic arm according to claim 7, characterized in that, The fourth connecting member is provided with a connection hole. The third connecting member includes a plurality of second bosses, and the second bosses are disposed in the connection hole. One side surface of the second boss is in contact with the inner wall of the connection hole. The fourth connecting member includes a plurality of limiting boss portions, and a plurality of second limiting grooves are provided on the third connecting member. The limiting boss portions are received in the second limiting grooves, and the limiting boss portions are in contact with the groove walls of the second limiting grooves. The third connecting member and the fourth connecting member are correspondingly provided with through holes for the third driving rope to pass through.

9. The flexible robotic arm according to claim 5, characterized in that, The second arm segment further includes a fifth connecting member. The fifth connecting member is connected to the joint at the end of the second arm segment away from the first arm segment. There is a gap between the fifth connecting member and the joint. The fifth connecting member is provided with a rope passing hole for the first driving rope, the second driving rope, the third driving rope, and the fourth driving rope to pass through.

10. The flexible robotic arm according to claim 9, wherein, The rope passing hole includes a plurality of limiting through holes. The third driving rope and the fourth driving rope are respectively passed through the limiting through holes. A spring tube is sleeved at one end of the third driving rope and the fourth driving rope away from the joint.

11. Surgical device, characterized in that, It includes a driving mechanism and the flexible robotic arm according to any one of claims 1 to 10. The driving mechanism is connected to the first driving rope, the second driving rope, and the flexible arm.

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