Wrist rotation device and medical system

Abstract

The present invention belongs to the technical field of medical devices, and discloses a wrist rotation device and a medical system. The wrist rotation device includes a device body and a support member, wherein the device body is an integrated structure, and a notch is arranged thereon to form a flexible hinge portion, and the device body can rotate around the flexible hinge portion; the support member is arranged in the notch, and the support member is constructed with a rotating surface, and the rotating surface can support the device body when the device body rotates. Compared with the wrist rotation device in the prior art that realizes rotation by connecting two joints through a rotating shaft, the device body in the present invention realizes bending through a flexible hinge portion, which is conducive to reducing the number of parts, reducing costs and the difficulty of the assembly process. By arranging a support member in the notch, it is possible to provide a supporting force when the device body is bent, thereby improving the stability of the wrist rotation device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a wrist rotation device and a medical system. Background Art

[0002] In laparoscopic surgery, traditional instruments are straight-cylindrical, with surgical tools installed at the end. Common surgical tools include grasping forceps, separating forceps, scissors, and electric hooks. Grasping forceps consist of a pair of relatively rotatable jaws used to grasp tissues or clamp blood vessels.

[0003] In existing instruments, apart from the freedom of opening and closing the jaws, the surgical tool at the end and the instrument shaft segment are relatively fixed. Although the doctor can manipulate the instrument to move the tool to the corresponding position, since the instrument can only rotate around the shaft segment itself, it is difficult to adjust the orientation of the surgical tool at the end relative to the instrument shaft segment. For example, in blood vessel closure, the surgical tool at the end needs to close the lumen along the transverse direction of the blood vessel. The surgical approach and the abdominal operation space often limit the activity space of the instrument shaft segment, making it difficult to flexibly adjust the direction of the surgical tool relative to the blood vessel or tissue.

[0004] To solve the above problems, wrist-turning instruments that can provide more degrees of freedom for the end tools have emerged in the industry. They can provide at least three degrees of freedom, including opening and closing, pitch, and yaw. They can be used for common surgical operations, such as cutting the mesentery, grasping tissue, and closing blood vessels. They provide more degrees of freedom and flexibility than traditional laparoscopic instruments.

[0005] The existing cable-driven wrist rotation device is formed by multiple articulated joints, with a large number of parts, complex structure, and complex assembly process. In addition, the cable that drives each joint movement needs to be guided by multiple pulley groups to achieve multi-degree-of-freedom driving to ensure the stability of the driving direction. In order to ensure the operating accuracy, the performance requirements of the parts material are high, and the cost is high. Summary of the invention

[0006] The object of the present invention is to provide a wrist rotation device and a medical system, which can solve the problems of the existing wrist rotation devices having a large number of parts and complex structures and assembly processes.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A wrist rotation device, comprising:

[0009] The instrument body is an integrated structure and is provided with a notch to form a flexible hinge portion, and the instrument body can rotate around the flexible hinge portion;

[0010] A support member is arranged in the notch, and the support member is configured with a revolving surface, and the revolving surface can support the instrument body when the instrument body rotates.

[0011] Wherein, the notches are arranged on opposite sides of the instrument body, and the portion of the instrument body located between the two notches forms the flexible hinge portion.

[0012] Wherein, a through hole connecting the two notches is arranged on the flexible hinge portion, the support member is passed through the through hole, and the opposite ends of the support member are respectively located in the two notches.

[0013] Wherein, the flexible hinged portion is a plate-like structure, the supporting member is a circular disc, and the axis of the circular disc coincides with the center line of the plate-like structure along the thickness direction.

[0014] Wherein, the inner wall of the through hole in contact with the disk is a plane.

[0015] Wherein, the instrument body is made of plastic material, and the support member is made of metal material.

[0016] Wherein, at least two flexible hinges are constructed on the instrument body, and the at least two flexible hinges include a first flexible hinge and a second flexible hinge, and the rotation axis of the first flexible hinge is perpendicular to and does not intersect with the rotation axis of the second flexible hinge.

[0017] Among them, one end of the instrument body is connected to the operating end, and at least a part of the operating end is integrally formed with the instrument body.

[0018] Among them, the wrist rotation device also includes a first driving rope, which is constructed with a first fixed portion, which is fixed to the device body and is located on the side of the first flexible hinge portion close to the operating end, and the first driving rope extends from the first fixed portion to the side away from the operating end.

[0019] The middle part of the first driving rope is the first fixing part, a first threading hole is provided on the instrument body, the first fixing part is passed through the first threading hole, and two ends of the first driving rope extend out of the threading hole and are located on opposite sides of the first flexible hinge part.

[0020] Wherein, a limiting groove capable of accommodating the first driving rope is arranged on the supporting member corresponding to the first flexible hinged portion.

[0021] Wherein, the second flexible hinged portion is located between the first flexible hinged portion and the operating end;

[0022] The operating end includes a first jaw part and a second jaw part that are arranged opposite to each other, and the first jaw part and the second jaw part are arranged along the extension direction of the rotation axis of the first flexible hinge part. There is a gap between the first jaw part and the second jaw part, and the gap extends to the second flexible hinge part so that the first jaw part and the second jaw part can rotate around the rotation axis of the second flexible hinge part respectively.

[0023] Wherein, the wrist rotation device further comprises:

[0024] A second driving rope, the middle portion of which is configured as a second fixing portion, the second fixing portion sequentially passes through the first jaw portion and the instrument body and is fixed, the second fixing portion is located on a side of the second flexible hinge portion close to the operating end, and two ends of the second driving rope are respectively located on opposite sides of the second flexible hinge portion and extend to a side away from the operating end;

[0025] The third driving rope has a third fixing portion in the middle portion, and the third fixing portion passes through the second jaw portion and the instrument body in sequence and is fixed. The third fixing portion is located on a side of the second flexible hinge portion close to the operating end, and both ends of the third driving rope are respectively located on opposite sides of the second flexible hinge portion and extend to a side away from the operating end.

[0026] Wherein, a wiring groove is arranged on the instrument body.

[0027] A medical system comprises a robotic arm and the above-mentioned wrist rotation device, wherein the wrist rotation device is arranged at the end of the robotic arm.

[0028] Beneficial effects of the present invention:

[0029] Compared with the wrist rotation device in the prior art that realizes rotation by connecting two joints through a rotating shaft, the device body in the present invention realizes bending through a flexible hinge part, which is conducive to reducing the number of parts, reducing costs and assembly process difficulty. By arranging a support member in the notch, it can provide support force when the device body is bent, thereby improving the stability of the wrist rotation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the wrist rotation device provided by the present invention;

[0031] Figure 2 is a side view of the wrist rotation device provided by the present invention;

[0032] Figure 3 The present invention provides a cross-sectional view of the wrist rotation device Figure 1 ;

[0033] Figure 4 is a front view of the wrist rotation device provided by the present invention;

[0034] Figure 5 The present invention provides a cross-sectional view of the wrist rotation device Figure 2 .

[0035] In the figure:

[0036] 1. Instrument body; 11. First notch; 12. First flexible hinged part; 13. Second notch; 14. Second flexible hinged part; 15. First threading hole; 16. Second threading hole; 17. Third threading hole; 18. Wire routing groove; 21. First disc; 211. Limiting groove; 22. Second disc; 3. Operating end; 30. Gap; 31. First jaw; 32. Second jaw; 41. First drive rope; 42. Second drive rope; 43. Third drive rope. DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0038] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0039] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0040] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0041] This embodiment provides a wrist rotation instrument that can be used in medical systems such as surgical robots to assist medical personnel in performing surgery. Figure 1 As shown, the wrist rotation instrument includes an instrument body 1, one end of which is configured as a driving end for connecting to a driving mechanism, and the other end is connected to an operating end 3, which can perform surgical actions, such as grasping or separation, under the drive of the driving mechanism. The instrument body 1 needs to provide multiple degrees of freedom for the operating end 3 to make the operation of the operating end 3 more flexible and accurate.

[0042] Specifically, the instrument body 1 is an integrated structure. A notch is provided on the instrument body 1 to reduce the local material of the instrument body 1, thereby forming a flexible hinge portion, and the instrument body 1 can be bent at the flexible hinge portion, that is, the operating part can rotate around the flexible hinge portion to provide a degree of freedom. Compared with the prior art in which two joints are connected by a rotating shaft to achieve rotation, in this embodiment, the instrument body 1 is bent through a flexible hinge portion, which is conducive to reducing the number of parts, reducing costs and assembly process difficulty.

[0043] In order to improve the stability of the instrument body 1 when it is bent, the wrist rotation instrument further includes a support member, which is arranged in the notch and has a revolving surface, which can support the instrument body 1 when the instrument body 1 is bent to maintain the stability of the instrument body 1. When the instrument body 1 is bent around the flexible hinge, the instrument bodies 1 on both sides of the flexible hinge can bend under the guidance of the revolving surface to keep the instrument body 1 stable.

[0044] In order to enable the instrument body 1 to rotate forward and reverse around the flexible hinge part, notches are provided on opposite sides of the instrument body 1, and the part of the instrument body 1 located between the two notches forms a flexible hinge part so that the flexible hinge part can bend toward the notches on both sides respectively.

[0045] In this embodiment, the flexible hinge is a plate-like structure with a small size in the thickness direction, so that the flexible hinge has a certain elasticity and can be bent and deformed to realize the rotation of the operating end 3. The center line of the plate-like structure in the thickness direction is the rotation axis.

[0046] Furthermore, a through hole connecting the two notches is provided on the flexible hinged portion, the support member is inserted into the through hole, and the opposite ends of the support member are respectively located in the two notches, and the portion of the support member located in each notch is constructed with a rotating surface to support the instrument body 1 when the instrument body 1 rotates forward and reversely around the rotation axis.

[0047] Specifically, Figure 1 and Figure 2 As shown, in this embodiment, two flexible hinges are provided on the instrument body 1, namely, a first flexible hinge 12 and a second flexible hinge 14. First notches 11 are provided on opposite sides of the instrument body 1, and a first flexible hinge 12 is formed between the two first notches 11. The first flexible hinge 12 can rotate around the rotation axis a to achieve the pitch adjustment of the operating end 3, and a first support is connected to the first flexible hinge 12. Two second notches 13 arranged opposite to each other are also provided on the instrument body 1, and a second flexible hinge 14 is formed between the two second notches 13. The second flexible hinge 14 can rotate around the rotation axis b to achieve the yaw of the operating end 3, and a second support is connected to the second flexible hinge 14. Among them, the rotation axis a is perpendicular to the rotation axis b and does not intersect. The wrist rotation instrument of this structure can achieve two degrees of freedom of pitch and yaw through the instrument body 1 of the integrated structure, with a simple structure, a small number of parts, and a simple assembly process.

[0048] In other embodiments, three, four or more flexible hinges may be provided, and the rotation axes of the multiple flexible hinges may be arranged at an angle to provide more degrees of freedom.

[0049] Specifically, the first support member is a first disk 21, and the circumferential side wall of the first disk 21 is a revolving surface. The second support member is a second disk 22, and the circumferential side wall of the second disk 22 is a revolving surface. By setting the support member as a disk, the instrument body 1 can be supported by the revolving surface during rotation, whether it is forward rotation or reverse rotation, and avoid interference with the rotation of the instrument body 1, thereby improving the structural stability. In addition, the size of the disk along its axial direction is small, which can reduce the size of the through hole for mounting the disk, which is conducive to improving the strength of the instrument body 1.

[0050] In this embodiment, the first disc 21 and the second disc 22 can be fixed to the instrument body 1 by tightly fitting with the corresponding through holes, so as to avoid adding additional fasteners, thereby further simplifying the structure.

[0051] Because the instrument body 1 will move relative to the rotating surface of the support when bending, in order to reduce friction, the inner wall of the through hole that contacts the first disk 21 or the second disk 22 is a plane, so that the inner wall of the through hole is in linear contact with the first disk 21 or the second disk 22, so as to reduce the contact area between the support and the through hole, thereby reducing friction.

[0052] In other embodiments, the inner wall of the through hole in contact with the support member may also be a curved surface, but the curvature of the curved surface is smaller than the curvature of the circumferential side wall of the first disk 21 or the second disk 22, so that the curved surface is close to linear contact with the first disk 21 or the second disk 22.

[0053] Furthermore, in order to prevent the first disk 21 or the second disk 22 from interfering with the rotation of the instrument body 1, the axis of the first disk 21 coincides with the rotation axis a, and the axis of the second disk 22 coincides with the rotation axis b.

[0054] In order to enable the instrument body 1 to be bent smoothly, the instrument body 1 is made of a plastic material, so that the instrument body 1 has a certain elasticity, can be deformed and bent smoothly, and can automatically return to the initial state after the external force is removed.

[0055] In order to improve the supporting effect of the supporting member on the instrument body 1, the supporting member is made of a metal material so that the supporting member has better strength and rigidity to provide a better supporting effect.

[0056] Furthermore, at least part of the operating end 3 and the instrument body 1 are integrally formed, which is beneficial to further reduce the number of parts of the wrist rotation instrument, thereby further reducing costs and simplifying the assembly process.

[0057] like Figure 2 and Figure 3 As shown, the operating end 3 is a clamp, including two clamp parts that are opposite and spaced apart, namely, a first clamp part 31 and a second clamp part 32. Each clamp part is connected to the second flexible hinge part 14, so that each clamp part can swing relative to the instrument body 1 around the rotation axis b, so that the two clamp parts are closed or opened, and the operating end 3 is opened and closed. Among them, the arrangement direction of the two clamp parts is parallel to the rotation axis a. This arrangement makes the wrist instrument more in line with the manual operation rules during operation. The rotation axis b is perpendicular to the rotation axis a, so that when the instrument body 1 rotates around the rotation axis a, the clamp can be tilted up and down, when the instrument body 1 rotates around the rotation axis b, the clamp can be deflected, and when the clamp parts rotate around the rotation axis b, the clamp can be opened and closed.

[0058] Specifically, a gap 30 is provided between the two jaws, and the gap 30 extends to the second flexible hinge portion 14, so that the second flexible hinge portion 14 is divided into two parts, so that the two jaws can rotate independently.

[0059] In order to realize the pitch, deflection and opening and closing of the wrist instrument, the wrist instrument also includes a driving rope assembly, which has a force application point fixedly connected to the instrument body 1, and the force application point is located on the side of the corresponding flexible hinge close to the distal end of the wrist rotation instrument, wherein the distal end refers to the end of the wrist rotation instrument away from the medical staff, and the distal end in the present invention is the operating end 3. By applying a pulling force toward the proximal end of the wrist rotation instrument to the force application point, the instrument body 1 can be driven to rotate around the flexible hinge, thereby realizing pitch, deflection and opening and closing. Among them, the proximal end refers to the end of the wrist rotation instrument close to the medical staff, and the proximal end in the present invention is the driving end.

[0060] Specifically, Figure 2 and Figure 3 As shown, the driving rope assembly includes a first driving rope 41, and a first fixing portion is configured on the first driving rope 41. The first fixing portion is connected to the instrument body 1 and is located on the side of the first flexible hinge 12 close to the operating end 3. One end of the first driving rope 41 extends from the first fixing portion to one side of the mounting end. By pulling one end of the first driving rope 41, a pulling force can be applied to the instrument body 1, so that the part of the instrument body 1 located on the side of the first flexible hinge 12 close to the operating end 3 can rotate around the rotation axis a.

[0061] In order to enable the part of the instrument body 1 located at the side of the first flexible hinge 12 close to the operating end 3 to rotate forward and reverse around the rotation axis a, the middle part of the first drive rope 41 is the first fixed part, and the two ends of the first drive rope 41 can extend to one side of the installation end respectively, and the two ends of the first drive rope 41 are respectively located at the opposite sides of the first flexible hinge 12. Figure 2 When the left part of the first flexible hinge 12 is pulled, the part of the instrument body 1 located on the side close to the operating end 3 can rotate clockwise around the rotation axis a; when the first driving rope 41 is pulled Figure 2 When the part on the right side is in the middle, the part of the instrument body 1 located on the side of the first flexible hinge part 12 close to the operating end 3 can rotate in the counterclockwise direction around the rotation axis a.

[0062] To facilitate the connection between the first driving rope 41 and the instrument body 1, as shown in FIG. Figure 1 and Figure 3 As shown, a first threading hole 15 is provided on the instrument body 1, and the first threading hole 15 is located on the side of the first flexible hinged portion 12 close to the operating end 3. The first fixing portion is passed through the first threading hole 15 so that the two ends of the first driving rope 41 extend out from the two sides of the first flexible hinged portion 12 respectively.

[0063] It should be noted that the first driving rope 41 can be a continuous rope or two ropes. When the first driving rope 41 includes two ropes, one end of each rope is fixedly disposed in the first threading hole 15 to form a first fixing portion.

[0064] Optionally, the first fixing portion can be bonded and fixed to the first threading hole 15; or a knot is formed at the first fixing portion, and the size of the knot is larger than the inner diameter of the first threading hole 15, so that the knot is pressed against the inner wall of the first threading hole 15 to avoid detachment from the first threading hole 15; or the first driving rope 41 is provided with knots at both ends of the first fixing portion, and the two knots are respectively pressed against the end faces of the first threading hole 15 to prevent the first fixing portion from moving relative to the first threading hole 15.

[0065] In order to enable the deflection and opening and closing of the clamp to be driven independently, such as Figure 2-Figure 5 As shown, the drive rope assembly also includes a second drive rope 42 and a third drive rope 43. A second fixing portion is configured on the second drive rope 42, and the second fixing portion passes through the first jaw portion 31 and the instrument body 1 in a direction parallel to the rotation axis a, and the second fixing portion is located on the side of the rotation axis b away from the installation end, and the second fixing portion is fixed to the instrument body 1, and the two ends of the second drive rope 42 are respectively located on both sides of the second flexible hinge portion 14 and extend in the direction of the installation end. A third fixing portion is configured on the third drive rope 43, and the third fixing portion passes through the second jaw portion 32 and the instrument body 1 in a direction parallel to the rotation axis a, and is located on the side of the rotation axis b away from the installation end, and the third fixing portion is fixed to the instrument body 1, and the two ends of the third drive rope 43 are respectively located on both sides of the second flexible hinge portion 14 and extend in the direction of the installation end.

[0066] When the clamp needs to be driven to deflect, the second drive rope 42 and the third drive rope 43 located on the same side of the second flexible hinged portion 14 are pulled to simultaneously tighten the second drive rope 42 and the third drive rope 43 on the same side, thereby deflecting the clamp. At this time, since the second drive rope 42 on the same side being pulled is connected to the first jaw portion 31 (or the instrument body 1), and the third drive rope 43 is connected to the second jaw portion 32 (or the instrument body 1), the first jaw portion 31 and the second jaw portion 32 can be deflected synchronously, that is, the first jaw portion 31 and the second jaw portion 32 do not move relative to each other, and the clamp will not open or close. After the second drive rope 42 and the third drive rope 43 are released, the instrument body 1 automatically resets.

[0067] When the clamp needs to be driven to open, the second driving rope 42 and the third driving rope 43 located on both sides of the second flexible hinge 14 are pulled, so that the first clamp and the second clamp are rotated around the rotation axis b respectively and away from each other, so as to realize the opening of the clamp. At this time, since the parts of the instrument body 1 located on both sides of the second flexible hinge 14 are subjected to the same force, the entire clamp will not deflect. After the second driving rope 42 and the third driving rope 43 are released, the instrument body 1 is automatically reset.

[0068] Specifically, the wrist rotation instrument also includes a second threading hole 16 and a third threading hole 17. The second threading hole 16 passes through the first jaw 31 and the instrument body 1 in sequence, and the second threading hole 16 is used to cooperate with the second drive rope 42; the third threading hole 17 passes through the second jaw 32 and the instrument body 1 in sequence, and the third threading hole 17 is used to cooperate with the third drive rope 43.

[0069] In order to prevent the first driving rope 41 from becoming loose and getting entangled or slipping when the pitch angle is large, a limiting groove 211 is provided on the circumferential side wall of the first disk 21. The limiting groove 211 can accommodate at least part of the first driving rope 41 during the pitch and tilt of the wrist rotation device to limit the first driving rope 41 and prevent the first driving rope 41 from getting entangled.

[0070] Optionally, the depth of the limiting groove 211 may be smaller than the diameter of the first drive rope 41 , as long as it can accommodate part of the first drive rope 41 in the radial direction to provide a limiting effect for the first drive rope 41 .

[0071] In order to facilitate the winding assembly of the first driving rope 41, the second driving rope 42 and the third driving rope 43, so that the first driving rope 41, the second driving rope 42 and the third driving rope 43 can be connected to the driving mechanism, and to ensure that the first driving rope 41, the second driving rope 42 and the third driving rope 43 can move according to the required trajectory during the operation of the wrist rotation device, a wiring groove 18 is provided on the device body 1, and the first driving rope 41, the second driving rope 42 and the third driving rope 43 located outside the gap are all accommodated in the wiring groove 18.

[0072] Furthermore, the wiring groove 18 is a substantially straight groove, so that the first driving rope 41, the second driving rope 42 and the third driving rope 43 can extend in a straight line as much as possible to avoid bending of the driving rope, thereby avoiding driving force loss caused by bending of the driving rope.

[0073] This embodiment also provides a medical system, including a robotic arm and the above-mentioned wrist rotation device, wherein the wrist rotation device is arranged at the end of the robotic arm.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A wrist rotation device, characterized in that: include: An instrument body (1), wherein the instrument body (1) is an integrated structure, one end of the instrument body (1) is connected to an operating end (3), a notch is provided on the instrument body (1) to form at least two flexible hinged parts, the at least two flexible hinged parts include a first flexible hinged part (12) and a second flexible hinged part (14), a rotation axis a of the first flexible hinged part (12) and a rotation axis b of the second flexible hinged part (14) are perpendicular and do not intersect, the first flexible hinged part (12) can rotate around the rotation axis a to achieve the pitch of the operating end (3); the second flexible hinged part (14) can rotate around the rotation axis b to achieve the yaw of the operating end (3); The operating end (3) comprises two jaws that are arranged opposite to each other and spaced apart, the two jaws are connected to the second flexible hinge (14), a gap (30) is provided between the two jaws and extends to the second flexible hinge (14), so that the two jaws can swing around the rotation axis b respectively to achieve closing or opening of the two jaws; A support member is arranged in the notch, and the support member is configured with a revolving surface, and the revolving surface can support the instrument body (1) when the instrument body (1) rotates.

2. The wrist rotation device according to claim 1, characterized in that: The notches are arranged on opposite sides of the instrument body (1), and the portion of the instrument body (1) located between the two notches forms the flexible hinge portion.

3. The wrist rotation device according to claim 2, characterized in that: The flexible hinge portion is provided with a through hole connecting the two notches, the support member is passed through the through hole, and the opposite ends of the support member are respectively located in the two notches.

4. The wrist rotation device according to claim 3, characterized in that: The flexible hinged portion is a plate-like structure, the supporting member is a circular disc, and the axis of the circular disc coincides with the center line of the plate-like structure along the thickness direction.

5. The wrist rotation device according to claim 4, characterized in that: The inner wall of the through hole in contact with the disk is a plane.

6. The wrist rotation device according to claim 1, characterized in that: The instrument body (1) is made of plastic material, and the support component is made of metal material.

7. The wrist rotation device according to any one of claims 1 to 6, characterized in that: At least a portion of the operating end (3) is integrally formed with the instrument body (1).

8. The wrist rotation device according to claim 7, characterized in that: The wrist rotation device further comprises a first driving rope (41), the first driving rope (41) being configured with a first fixing portion, the first fixing portion being fixed to the device body (1) and being located on a side of the first flexible hinge portion (12) close to the operating end (3), the first driving rope (41) extending from the first fixing portion to a side away from the operating end (3).

9. The wrist rotation device according to claim 8, characterized in that: The middle part of the first driving rope (41) is the first fixing part, and a first threading hole (15) is provided on the instrument body (1). The first fixing part is passed through the first threading hole (15), and both ends of the first driving rope (41) extend out of the first threading hole (15) and are located on opposite sides of the first flexible hinge part (12).

10. The wrist rotation device according to claim 8, characterized in that: The support member corresponding to the first flexible hinged portion (12) is provided with a limiting groove (211) capable of accommodating the first driving rope (41).

11. The wrist rotation device according to claim 7, characterized in that: The second flexible hinge portion (14) is located between the first flexible hinge portion (12) and the operating end (3); The two jaws are respectively a first jaw (31) and a second jaw (32), and the first jaw (31) and the second jaw (32) are arranged along the extension direction of the rotation axis of the first flexible hinge part (12).

12. The wrist rotation device according to claim 11, characterized in that: The wrist rotation device also includes: A second driving rope (42), the middle portion of which is configured as a second fixing portion, the second fixing portion sequentially passes through the first clamp portion (31) and the instrument body (1) and is fixed, the second fixing portion is located on a side of the second flexible hinge portion (14) close to the operating end (3), and two ends of the second driving rope (42) are respectively located on opposite sides of the second flexible hinge portion (14) and extend to a side away from the operating end (3); The third driving rope (43) has a third fixing portion in the middle portion, and the third fixing portion passes through the second clamp portion (32) and the instrument body (1) in sequence and is fixed. The third fixing portion is located on a side of the second flexible hinge portion (14) close to the operating end (3). The two ends of the third driving rope (43) are respectively located on opposite sides of the second flexible hinge portion (14) and extend to a side away from the operating end (3).

13. The wrist rotation device according to claim 12, characterized in that: The device body (1) is provided with a wiring groove (18).

14. A medical system comprising a robotic arm, characterized in that: It also includes a wrist rotation device as described in any one of claims 1 to 13, wherein the wrist rotation device is arranged at the end of the robotic arm.

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