Surgical robotic arms, flexible arms, and flexible joints

Abstract

The present disclosure relates to surgical operation mechanical arm, flexible arm and flexible joint. The flexible joint (1) comprises two support sections (11) and a connecting section (12) connected between the two support sections (11), the connecting section (12) comprises a plurality of first segments (121) with contact auxiliary parts (122); wherein the contact auxiliary parts (122) are oppositely arranged on both sides of each first segment (121), and when the flexible joint (1) is in a bending state, the contact auxiliary parts (122) of adjacent first segments (121) contact each other; and wherein a plurality of cable through holes (5) for driving cables (6) to pass through are respectively arranged on each first segment (121) of the connecting section (12). Compared with the prior art, the flexible joint of the present disclosure has the advantages of not being easily misaligned and better reliability.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, and in particular to a surgical robotic arm, a flexible arm of the surgical robotic arm, and a flexible joint of the flexible arm. Background Technology

[0002] Single-port access surgery (SPAS), which involves all instruments and cameras entering the body through a relatively small single incision, is gaining popularity due to its low-invasiveness or even non-invasiveness.

[0003] In existing technologies, surgical robotic arms are often used to assist in single-port access surgery. Typically, a surgical robot includes a base, a positioning arm, and a surgical robotic arm. The base is relatively fixed in the operating room, while the positioning arm is mounted on the base. The positioning arm positions the surgical robotic arm relative to the patient's desired location. Various end effectors, such as scalpels and clamps, can be installed at the end of the surgical robotic arm. The surgical robotic arm then penetrates the patient's body at the port to perform surgical procedures at the surgical site.

[0004] It is evident that the design of surgical robotic arms is crucial for achieving single-port access surgery. To facilitate the smooth insertion of the end effector into the human body, surgical robotic arms require multiple degrees of bending freedom. Existing surgical robotic arms achieve these degrees of freedom through flexible joints. Various feasible structures exist for these flexible joints to achieve this functionality. For example, flexible joints with multiple "segments" can be designed, with a rotary axis hinged at each segment. These "segments" can be small-scale mechanical joints, such as ball joints, rotary joints, hinged joints, or rolling joints. However, mechanical joints are extremely complex, demanding high-quality materials at small scales, resulting in high manufacturing costs, poor reliability, and difficulties in cleaning and sterilization.

[0005] Several technical solutions for surgical robotic arms that do not rely on mechanical joints are disclosed in the prior art patent with publication number CN 107847280A. However, these surgical robotic arms still have problems such as complex structure, high cost, and difficulty in controlling the bending direction and degree.

[0006] According to prior art patent document US 2018 / 0242824A1, the robotic arm in the Intuitive Surgical Davinci SP system is constructed using discrete components with hinged joints. Similarly, according to prior art patent document WO2017 / 203231A1, the robotic arm in the Precision Robotics Micro-iges system is also constructed using discrete components with hinged joints. However, the manufacturing and assembly processes for these systems can be very expensive. Summary of the Invention

[0007] To solve, or at least partially solve, the above-mentioned technical problems, this disclosure provides a surgical robotic arm, a flexible arm of the surgical robotic arm, and a flexible joint of the flexible arm.

[0008] According to one aspect of this disclosure, a flexible joint is provided, which includes two support sections and a connecting section connecting the two support sections. The connecting section includes a plurality of first segments having contact auxiliary portions. The contact auxiliary portions are arranged opposite to each other on both sides of each first segment, and when the flexible joint is in a bent state, the contact auxiliary portions of adjacent first segments contact each other. In addition, each first segment of the connecting section is provided with a plurality of cable through holes for drive cables to pass through.

[0009] Optionally, multiple first segments are connected to each other in a spiral manner to form a spiral structure.

[0010] Optionally, the contact auxiliary parts of adjacent first segments may roll into contact with each other or mesh with each other.

[0011] Optionally, each contact aid is formed as a smooth protrusion toward the adjacent contact aid, and the top of the protrusion is in tangential contact with the adjacent contact aid.

[0012] Optionally, the contact auxiliary part has a circular or elliptical cross-section.

[0013] Alternatively, the contact auxiliary part may be constructed as a column or a cone.

[0014] Optionally, each contact auxiliary part is formed as a tooth-like structure that meshes with adjacent contact auxiliary parts, or has a polygonal cross-section.

[0015] Optionally, the axial centerline of the contact auxiliary part coincides with the circumferential centerline of the first segment.

[0016] Optionally, the line connecting at least one pair of cable through holes is perpendicular to the axial centerline of the contact auxiliary part.

[0017] Alternatively, the flexible joint can be integrally formed using 3D printing.

[0018] Optionally, the cable through-hole is designed to be open around the perimeter of the first segment.

[0019] According to another aspect of this disclosure, a flexible arm is provided, comprising: at least two flexible joints as described above; and a decoupling section disposed between two adjacent flexible joints and connected to respective support sections of the two adjacent flexible joints.

[0020] Optionally, a cable guide channel is provided in the decoupling section, which extends to a cable through hole provided in the support section of the flexible joint for the drive cable to pass through.

[0021] Optionally, the cable guide channel is arranged in a spiral shape on the surface of the decoupling section.

[0022] Optionally, the cable guide channel includes a spiral groove disposed on the outer surface of the decoupling section.

[0023] Optionally, the decoupling section can be constructed as a cylinder.

[0024] Optionally, the corresponding cable through holes between two adjacent flexible joints are staggered.

[0025] Optionally, the cable through-holes in the support sections of two adjacent flexible joints are positioned such that the two adjacent flexible joints bend in an S-shape within a plane.

[0026] Alternatively, when the outer surface of the decoupling section is unfolded into a plane, the cable guide channel forms an S-shaped curve on that plane.

[0027] Alternatively, the flexible arm can be 3D printed as a single piece.

[0028] According to another aspect of this disclosure, a surgical robotic arm is provided, comprising: a flexible arm as described above; an end effector for performing surgical operations; and a wrist joint, the two ends of which are respectively connected to the flexible arm and the end effector, wherein a control cable of the end effector is inserted from the flexible arm, passes through the wrist joint, and is connected to the end effector.

[0029] Optionally, the wrist joint includes: an end-effector for connection to an end effector; a flexible section comprising multiple second segments, the two ends of which are respectively connected to the end-effector and the flexible arm, wherein each second segment of the flexible section is provided with at least two pairs of cable through holes for a drive cable to pass through; and a resilient central frame passing through the center of the flexible section, the two ends of which are respectively connected to the end-effector and the flexible arm.

[0030] Alternatively, the flexible arm and wrist joint can be 3D printed as a single unit. Attached Figure Description

[0031] To more clearly illustrate the embodiments of this disclosure, the relevant accompanying drawings will be briefly described below. It should be understood that the drawings described below are only for illustrating some embodiments of this disclosure, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0032] Figure 1 This is a schematic diagram of a surgical robot used for robotic laparoscopic surgery;

[0033] Figure 2 This is a schematic diagram of the structure of a surgical robotic arm near the end effector.

[0034] Figure 3 This is a schematic diagram illustrating the movement principle of the flexible joints of a surgical robotic arm;

[0035] Figure 4 This is a schematic diagram of the flexible joint structure of another type of surgical robotic arm;

[0036] Figure 5 This is a schematic diagram of the flexible joint involved in the first embodiment of this disclosure when it is extended;

[0037] Figure 6 yes Figure 5 A schematic diagram of a flexible joint when bending is shown.

[0038] Figure 7 yes Figure 5 A schematic cross-sectional view of the first segment of the flexible joint shown;

[0039] Figure 8 This is a schematic diagram of the flexible joint involved in the second embodiment of this disclosure when it is extended;

[0040] Figure 9 This is a schematic diagram of the flexible joint in extension according to the third embodiment of this disclosure;

[0041] Figure 10 This is a top view schematic diagram of the contact auxiliary part in the flexible joint according to the fourth embodiment of this disclosure;

[0042] Figure 11 This is a schematic diagram of a flexible arm in extension according to the present disclosure;

[0043] Figure 12 yes Figure 11 A schematic diagram of the outer surface of the decoupling section of the flexible arm when it is deployed;

[0044] Figure 13 This is a schematic diagram of another flexible arm in extension according to this disclosure;

[0045] Figure 14 This is a schematic diagram of the surgical robotic arm in extension according to the present disclosure;

[0046] Figure 15 yes Figure 14 A schematic diagram of the surgical robotic arm when bent;

[0047] Figure 16 yes Figure 14 The diagram shows a magnified view of the surgical robotic arm at the wrist joint.

[0048] Figure label:

[0049] 1. Flexible joint; 11. Support section; 12. Connecting section; 121. First segment; 122. Contact auxiliary part; 1223. Contact auxiliary unit; 2. Flexible arm; 21. Decoupling section; 22. Cable guide channel; 3. Wrist joint; 31. Flexible section; 311. Second segment; 32. Central frame; 33. End connection section; 4. End manipulator; 5. Cable through hole; 6. Drive cable; L1. Axial centerline of the contact auxiliary part; L2. Circumferential centerline of the first segment; L3. Connection between a pair of cable through holes. Detailed Implementation

[0050] The present disclosure will now be described in detail with reference to the accompanying drawings. To more clearly illustrate the numerous improvements of the present disclosure to surgical robotic arms, the basic principles of the surgical robotic arm and the execution principles of the end effector will be explained below.

[0051] Figure 1 A typical surgical robot a100 for performing robotic laparoscopic surgery is schematically shown. The surgical robot a100 includes a base a101, a positioning arm a102, and a surgical robotic arm a103 connected to the base a101 via the positioning arm a102. An end effector a104 is disposed at the end of the surgical robotic arm a103. Figure 1 In the diagram, a pair of serrated clamps are shown as end effectors a104. The surgical robotic arm a103 allows the end effector a104 to move relative to the positioning arm a102, thus enabling surgical procedures to be performed inside a human or animal.

[0052] Figure 2A schematic diagram of the structure of a surgical robotic arm near the end effector is shown to further facilitate understanding of the specific implementation process of the surgical robotic arm. As shown, the end effector a104 moves relative to the wrist b206 of the surgical robotic arm via a pitch joint b201 and a yaw joint b202. The pitch joint b201 allows the end effector a104 to rotate about a pitch axis b203, while the yaw joint b202 allows the end effector a104 to rotate about a yaw axis b204. Both the pitch joint b201 and the yaw joint b202 are driven by cables, and pulleys b205 can be used to manage and guide the drive cables.

[0053] Figure 3 This diagram illustrates a design in which each segment c305 of a flexible joint in a surgical robotic arm is arranged as a concentric ring or disc. In this design, the front end c301 of the flexible joint is used to connect to the end effector a104. The left drive cable c303 and the right drive cable c304 pass through the rear end c302 of the flexible joint, respectively, and pass through opposite sides of each segment c305, reaching the front end c301. The tension and relaxation of the left drive cable c303 and the right drive cable c304 give the flexible joint one degree of freedom. When the number of drive cables is increased to four, the flexible joint will have two degrees of freedom. However, in this design, misalignment of the segments c305 can easily lead to inaccurate control of the end effector. For example, in… Figure 3 In the middle, the left drive cable c303 and the right drive cable c304 have the same tension, but the front end c301 and the rear end c302 of the flexible joint are not collinear.

[0054] To address the misalignment issue, three drive cables can be used to limit the movement of the flexible joint. However, if each flexible joint requires an additional drive cable, the excessive number of drive cables will undoubtedly lead to a significant increase in system complexity and manufacturing costs. Alternatively, one could... Figure 4 As shown, the connecting section composed of various segments is formed into a spring d401, and the elasticity of the spring d401 is used to correct misalignment. However, when using a spring structure, if the elastic force of the spring d401 is set too large, more force needs to be provided on the drive cable to actuate the joint; if the elastic force of the spring d401 is set too small, the misalignment problem still cannot be effectively corrected.

[0055] In view of this, the present disclosure provides an improved flexible joint, a flexible arm including the flexible joint, and a surgical robotic arm including the flexible arm, which will be described below with reference to Figures 5 to 16 Their specific structure and working method are explained.

[0056] Flexible joints

[0057] (First Embodiment)

[0058] exist Figures 5 to 7 The first embodiment of the present disclosure is shown in the figure, wherein... Figure 5 This is a schematic diagram of the flexible joint when it is extended. Figure 6 This is a schematic diagram of the flexible joint when it is bent. Figure 7 This is a cross-sectional schematic diagram of the first segment of the flexible joint.

[0059] like Figure 5 and Figure 6 As shown, the flexible joint 1 according to the first embodiment of this disclosure includes two support sections 11 and a connecting section 12 connecting the two support sections 11. The connecting section 12 includes a plurality of first segments 121 having contact aids 122. The contact aids 122 are arranged opposite to each first segment 121 on both sides. When the flexible joint 1 is in position Figure 6 In the bent state shown, the contact aids 122 of two adjacent first segments 121 are in contact with each other. On each first segment 121 of the connecting section 12, a plurality of cable through holes 5 are respectively provided opposite to each other for the drive cable 6 to pass through. The plurality of cable through holes 5 may include at least one pair of cable through holes 5 arranged in pairs along the diameter of the first segment 121. Optionally, one cable through hole 5 may also be provided on each first segment 121 of the connecting section 12, such that when the drive cable 6 passing through the corresponding cable through hole 5 of these first segments 121 is tightened, the flexible joint 1 will bend toward the side where the cable through hole 5 is provided.

[0060] The support section 11 mentioned in the embodiments of this disclosure refers to the components disposed at both ends of the connecting section 12 to provide support. Generally, the support section 11 can have a certain rigidity to provide sufficient support. Cable through holes 5 can also be provided at corresponding positions in the support section 11 to allow the drive cable 6 to pass through more smoothly. In addition, a hollow hole can be formed in the central part of the support section 11 to facilitate the passage of various cables.

[0061] When the support segment 11 is rigid, the combination of the rigid support segment 11 and the flexible connecting segment 12 combines the advantages of both. That is, the rigid support segment 11 confines the movement of the flexible connecting segment 12 within the desired 2D space and provides structural rigidity under high effective loads. The flexible connecting segment 12 eliminates the dominance of nonlinear characteristic friction in the rigid support segment 11, allowing the force against the flexible joint 1 to be evenly distributed across each support segment 11, thus enabling the formation of a bending shape with constant curvature. This novel design achieves compliance through the use of a spring-like structure, where the torsional and bending forces can be more evenly distributed along the helical beam.

[0062] The first segment 121 provided on the connecting section 12 is a key feature for realizing the bending movement of the flexible joint 1. For example... Figure 6 As shown, after a pair of drive cables 6 pass through the cable through holes 5 provided on the support section 11 on one side, each first segment 121, and the support section 11 on the other side, the drive cables 6 are fixed relative to each first segment 121, and the bending movement of the connecting section 12 can be driven by the drive cables 6. Specifically, when the first side ( Figure 6 Tighten the drive cable 6 on the lower side (in the middle), while loosening the second side (in the middle). Figure 6 When the drive cable 6 (on the upper side) is connected, the connecting section 12 bends towards the drive cable 6 on the first side. This operation gives the flexible joint 1 a degree of freedom of movement in the plane defined by the pair of drive cables 6. Compared to the prior art using mechanical joints, the first segment 121 used in this disclosure significantly reduces the complexity of the device.

[0063] In one embodiment, the first segment 121 of the flexible joint 1 can be a helical segment, that is, multiple first segments 121 are connected to each other in a helical manner to form a helical structure similar to a spring. This structure can further prevent misalignment of the connecting segments 12. Moreover, since the first segments 121 are connected to each other, the flexible joint 1 has fewer parts and is easier to manufacture and assemble. In addition, using helical connecting segments 12 allows torsional and bending forces to be distributed more evenly across the first segments 121, thereby providing better compliance. Alternatively, the first segments 121 can also be designed as follows: Figure 3 The design of the concentric rings or discs shown can still basically achieve the technical objectives of this disclosure.

[0064] In the aforementioned flexible joint 1, one of the key points is the contact auxiliary part 122. For example... Figure 5 , Figure 6As shown, each contact auxiliary part 122 includes a plurality of contact auxiliary units 1223 arranged opposite to each first segment 121. Typically, each contact auxiliary part 122 can be configured with a separate left and right pair of contact auxiliary units 1223, but more contact auxiliary units 1223 are also feasible. When the flexible joint 1 is in a bent state, the opposing contact auxiliary units 1223 of adjacent first segments 121 contact each other, thereby effectively limiting the bending direction of the connecting segment 12.

[0065] In one embodiment, the cable through-hole 5 can be designed to be open around the periphery of the first segment 121. That is, the periphery of the cable through-hole 5 is not closed, but open, as shown below. Figure 13 As shown at reference numeral 1. Thus, an open cable guide channel is formed in the flexible joint 1, thereby increasing the cable torque arm when the cable is pulled and increasing the payload of the instrument arm. Therefore, less force is required to bend the flexible joint, thus providing a larger payload for the instrument arm.

[0066] Figure 7 yes Figure 5 The diagram shows a cross-sectional view of the first segment 121 of the flexible joint 1. As shown, the first segment 121 has a circular cross-section with a circular central hole formed in its center, and contact auxiliary parts 122 are provided on both sides of the hole along the diametrical direction. The axial center line L1 of the contact auxiliary parts 122 overlaps with the circumferential center line L2 of the first segment 121, that is, a straight line passing through the center of the cross-section of the first segment 121. In addition, in the cable through holes 5, the line L3 connecting at least one pair of cable through holes 5 can be perpendicular to the axial center line L1 of the contact auxiliary parts 122. In this case, the force-bearing surface of the contact auxiliary parts 122 will be consistent with the bending direction of the connecting section 12, thus providing better stability.

[0067] It is understandable that, with the contact auxiliary part 122 provided, it is possible to prevent situations such as... Figure 3 The misalignment of the joint movement is shown. Furthermore, the contact assist unit 122 itself only provides contact assistance and does not increase the motion resistance of the connecting section 12; therefore, the drive cable 6 only needs to provide a very small force to actuate the flexible joint 1. Due to the provision of the contact assist unit 1223, the first segment 121 can use a softer helical segment, thereby further reducing the driving force required by the drive cable 6. The motion accuracy of the flexible joint 1 is also improved under the constraint of the elastic restoring force of the connecting section 12.

[0068] exist Figure 3In the flexible joint shown, the first segment 121 uses a concentric ring or disc. In this case, three or more drive cables 6 are often required to ensure the motion accuracy of the flexible joint 1 and prevent misalignment. However, in the embodiment of this disclosure, since a contact auxiliary part 122 is provided, the motion of the connecting segment 12 is restricted to one degree of freedom. Therefore, only one pair of drive cables 6 is needed to prevent misalignment and reduce the structural complexity of the flexible joint 1.

[0069] Flexible joints can be produced using traditional subtractive manufacturing and additive manufacturing techniques. Subtractive manufacturing involves removing areas from a single piece of material, such as creating specific patterns and grooves in a tubular structure to make it flexible. Additive manufacturing, on the other hand, builds flexible joints by adding material layer by layer. Off-the-shelf helical springs can also be used to construct flexible joints.

[0070] Optionally, the flexible joint 1 of this disclosure can be integrally formed using 3D printing. In particular, when employing a helical structure resembling a spring, since the entire flexible joint 1 is a connected whole, compared to traditional manufacturing methods, integral molding of the flexible joint 1 avoids generating a large amount of waste and eliminates the need for assembling individual parts, offering advantages in cost and efficiency. Compared to existing Intuitive Surgical Davinci SP systems and Precision Robotics Micro-iges systems, the 3D printing technology used in this disclosure can integrally produce the joint, thus saving manufacturing and assembly costs. For example, for flexible joints produced using subtractive manufacturing techniques, horizontal slots are typically formed on the outer surface of the tubular structure using laser cutting technology, and compliance relies on the bending of the beam-like material; therefore, the slotted tubular structure has a very short design life. In contrast, the flexible joint 1 with a helical beam produced by 3D printing has a relatively longer fatigue life. In 3D printing, the various parts of the flexible joint 1, such as the support section 11, the first segment 121, and the contact auxiliary part 122, can be formed using the same or different materials.

[0071] (Second Embodiment)

[0072] For the contact auxiliary part 122 of the flexible joint 1, as long as the contact auxiliary units 1223 on adjacent first segments 121 can contact each other when the connecting section 12 bends, thereby restricting the bending degree of freedom of the connecting section 12, the technical objective of this disclosure can be achieved. Therefore, the contact auxiliary part 122 can be provided in a variety of feasible shapes and types.

[0073] For example, the contact auxiliary portion 122 can be configured such that adjacent contact auxiliary units 1223 can mesh with each other, particularly as a toothed structure that meshes with each other, such as... Figure 8 As shown, the Figure 8 A schematic diagram of the flexible joint 1 according to the second embodiment of this disclosure in its extended state is shown. Through the interlocking structure, the degrees of freedom of movement of the connecting segment 12 can be restricted while simultaneously allowing it to bend. The toothed structure further prevents deformation of individual first segments 121. Alternatively, instead of a toothed structure, the cross-section of a single contact auxiliary unit 1223 can be set as a regular polygon with four or more sides. It can be understood that, in addition to... Figure 8 In addition to the toothed structure shown that meshes along the circumferential direction of the contact auxiliary portion 122, a structure that meshes with each other in the axial direction of the contact auxiliary portion 122 can also be adopted, which can better prevent individual first segments 121 from slipping out of the connecting section 12.

[0074] (Third Embodiment)

[0075] In one embodiment, the contact aids 122 of adjacent first segments 121 can roll into contact with each other. Compared to toothed structures, the resistance of the contact aids 122 that use rolling contact changes almost linearly with the bending curve of the connecting segment 12, so the bending movement of the connecting segment 12 will be smoother, and the output power requirement of the drive cable 6 can also be reduced.

[0076] When using a rolling contact contact aid 122, the contact aid 122 can also have various forms. For example, each contact aid 122 can be formed as a smooth protrusion in the direction of the adjacent contact aid 122, and the tip of the protrusion makes tangential contact with the adjacent contact aid 122. In this case, the contact aid 122 can have, for example... Figure 5 The circular cross-section shown, or as Figure 9 The elliptical cross-section shown, in which Figure 9 This is a schematic diagram of the flexible joint in extension according to the third embodiment of this disclosure.

[0077] Figure 9The elliptical cross-section of the contact assist unit 1223 shown has a smaller dimension in the direction parallel to the longitudinal axis of the flexible joint 1 and a larger dimension in the direction perpendicular to the longitudinal axis. In this case, the bending amplitude of the flexible joint 1 is smaller, thus allowing for more precise adjustment of various movements of the end effector 4 connected to the flexible joint 1. Alternatively, the contact assist unit 1223 may also use an elliptical cross-section with a larger dimension in the direction parallel to the longitudinal axis of the flexible joint 1 and a smaller dimension in the direction perpendicular to the longitudinal axis. In this case, the bending amplitude of the flexible joint 1 is larger, enabling the expansion of the operating range of, for example, the end effector 4 connected to the flexible joint 1.

[0078] (Fourth Embodiment)

[0079] Figure 10 This is a top view schematic diagram of the contact aid 122 in the flexible joint according to the fourth embodiment of this disclosure. The contact aid 122 has the following... Figure 5 The circular cross-section shown is different from the one depicted. Figure 5 The column shown has at least some of the contact auxiliary units 1223 in the contact auxiliary portion 122 configured as cones. That is, the diameter of one contact auxiliary portion 122 gradually increases along its axial direction, while the diameter of the adjacent contact auxiliary portion 122 in contact with it gradually decreases along the same direction.

[0080] The shapes such as cylinders and cones mentioned in this disclosure are not strictly defined in a geometric sense. In everyday life, people often refer to similar shapes collectively as these shapes. For the purposes of this disclosure, any shape that can achieve the technical objective of this application can be considered as a "cylinder" or "cone" as described in the claims of this application. In fact, in order to ensure the overall smoothness of the edges of the flexible joint 1 and to prevent protruding edges from scratching the inside of the human body, the outer surface of the contact auxiliary part 122 can be set to have a certain curvature, so that its end face is no longer a completely flat plane, and therefore it is not a cylinder or cone in the strict sense. However, these changes in details should not be considered as departing from the protection scope of the claims of this application.

[0081] When a cylindrical contact auxiliary unit 1223 is used, the resistance generated by the contact auxiliary part 122 to the bending motion during the bending process of the connecting section 12 remains basically constant as the degree of bending of the connecting section 12 increases. Therefore, the driving power of the drive cable 6 is easier to control. In contrast, when a conical contact auxiliary unit 1223 is used, the shapes of two adjacent contact auxiliary units 1223 can match each other, thereby better preventing the first segment 121 from slipping and misaligning in the axial direction of the cone, and further improving the working stability of the flexible joint 1.

[0082] It is understandable that, when adopting such Figure 9 When the elliptical cross-section is shown, at least some of the contact auxiliary units 1223 in the contact auxiliary part 122 can also be constructed as elliptical cylinders or elliptical cones as needed. Compared to a cylinder, when the contact auxiliary unit 1223 of the flexible joint 1 is set as an elliptical cylinder, the resistance generated by the contact auxiliary part 122 to the connecting section 12 when it is bent to various degrees can be precisely adjusted according to the designed curvature, so as to better adapt it to the output characteristics of the drive power of the drive cable 6. In addition, the difference between an elliptical cone and an elliptical cylinder is similar to the difference between a cone and a cylinder, so it will not be described again here.

[0083] Flexible Arm

[0084] Figure 11 This is a schematic diagram of a flexible arm in extension according to the present disclosure. Figure 12 yes Figure 11 The diagram shows the outer surface of the decoupling section of the flexible arm when deployed. As shown, the flexible arm 2 includes a flexible joint 1 and a decoupling section 21. The decoupling section 21 is disposed between two adjacent flexible joints 1 and is connected to the support section 11 of each of the two flexible joints 1. Here, the flexible joint 1 can be the flexible joint described in the first to fourth embodiments above.

[0085] When two or more flexible joints 1 are connected in series, in order to control the distal flexible joint 1, a drive cable 6 for controlling the distal flexible joint 1 needs to pass through the proximal flexible joint 1. That is, there is a coupling relationship between the proximal and distal flexible joints 1. Therefore, when controlling the distal flexible joint 1 via the drive cable 6, the force applied to the drive cable 6 will also act on the proximal flexible joint 1, forcing it to deform. Especially when the flexible arm 2 itself forms an S-shaped bend, the direction of deformation is opposite to the bending direction of the proximal flexible joint 1, which can easily cause adverse effects.

[0086] to this end, Figure 11 The flexible arm 2 shown decouples the distal flexible joint 1 and the proximal flexible joint 1 by means of the decoupling section 21, which can reduce or even eliminate the influence of the drive cable 6 of the distal flexible joint 1 on the proximal flexible joint 1. Therefore, the flexible arm 2 provided by the embodiments of this disclosure not only has the advantage of simple structure, but is also easier to control.

[0087] exist Figure 11In the illustrated embodiment, a cable guide channel 22 is provided on the decoupling section 21, extending to a cable through-hole 5 provided on the support section 11 of the flexible joint 1, for the drive cable 6 to pass through. The cable guide channel 22 can be used to guide the arrangement of the drive cable 6, thus playing an important role in the decoupling operation of the decoupling section 21. Optionally, the cable guide channel 22 can be formed as a spiral groove on the outer surface of the decoupling section 21. One or more circumferentially closed pipes can also be spirally arranged on the decoupling section 21 to serve as the cable guide channel 22. The spiral groove and the circumferentially closed pipes can be used individually or in combination. The spiral groove design has lower cost and makes the installation and maintenance of the drive cable 6 simpler and more convenient.

[0088] The coupling between the distal flexible joint 1 and the proximal flexible joint 1 is mainly due to the transmission of force between the two flexible joints 1 by the drive cable 6. By spirally arranging the cable guide channel 22 on the outer surface of the decoupling section 21, this force can be dispersed to the decoupling section 21 itself, thereby decoupling the two flexible joints 1. It can be understood that when the cable guide channel 22 is arranged on the outer surface of the decoupling section 21, the decoupling section 21 can be constructed as a cylinder to facilitate the arrangement of the cable guide channel 22.

[0089] The decoupling section 21 can be a rigid section, and its material can be the same as that of the support section 11. The decoupling section 21 can even be integrally formed with the support section 11. Therefore, the decoupling section 21 can provide good support in the flexible arm 2, allowing the flexible arm 2 to bend according to the user's wishes. Furthermore, the entire flexible arm 2 can be integrally formed by 3D printing. When the entire flexible arm 2 is manufactured in one piece, there is no need to assemble the flexible joint 1 and the decoupling section 21 sequentially. This not only reduces the complexity of the flexible arm 2 and improves its reliability, but also results in a one-piece flexible arm 2 with superior mechanical properties and a longer service life. In 3D printing, the same or different materials can be used to form the various parts of the flexible arm 2, such as the flexible joint 1 and the decoupling section 21.

[0090] The corresponding cable through-holes 5 between two adjacent flexible joints 1 can be staggered. Here, "corresponding cable through-holes 5" refers to the cable through-holes 5 in two adjacent flexible joints 1 through which the same drive cable 6 passes. When they are staggered, the drive cable 6 is easier to configure as a spiral. Figure 11In the illustrated embodiment, the cable through-holes 5 corresponding to two adjacent flexible joints 1 are staggered by 360 degrees. That is, the drive cable 6, which enters from the cable through-hole 5 of one flexible joint 1, exits from the cable through-hole 5 of the other flexible joint 1 after wrapping around the decoupling section 21 for a full turn, so that the two flexible joints 1 are still arranged in the same straight line. Figure 12 As shown, when Figure 11 When the surface of the decoupling section 21 shown is unfolded into a plane, the cable guide channel 22 forms an S-shaped curve on the plane. A typical spiral cable guide channel 22 is approximately a straight line on the unfolded plane. When the cable guide channel 22 forms an S-shaped curve on the unfolded plane, the curvature along the S-shaped curve changes, thus increasing the resistance of the surface of the cable guide channel 22 to the drive cable 6, thereby further improving the decoupling capability of the decoupling section 21.

[0091] exist Figure 13 In the illustrated embodiment, another flexible arm according to this disclosure has a generally S-shaped profile when extended. Here, the positions of the cable through-holes 5 in the support sections 11 of two adjacent flexible joints 1 are configured such that the offset angle of the corresponding cable through-holes 5 is approximately 180 degrees. That is, the drive cable 6, which enters from the cable through-hole 5 of one flexible joint 1, exits from the cable through-hole 5 of the other flexible joint 1 after winding around the decoupling section 21 for half a turn, thereby causing the two flexible joints 1 to bend in an S-shape in one plane. Optionally, the cable through-holes 5 in the support sections 11 of two adjacent flexible joints 1 can also be offset by angles other than 180 degrees and 360 degrees, such as 90 degrees or 45 degrees. In this case, the distal flexible joint 1 and the proximal flexible joint 1 are not coplanar.

[0092] For single-port access surgery, since all surgical instruments enter the body through only a single working channel, it is difficult to achieve coordinated operation in a confined workspace. When the flexible arm 2 is bent in an S-shape in a plane, or when the distal flexible joint 1 and the proximal flexible joint 1 are not on the same plane, the end effector 4 mounted at the distal end of the flexible arm 2 can work better in a confined workspace.

[0093] Surgical robotic arms

[0094] Figure 14 This is a schematic diagram of the surgical robotic arm in extension according to the present disclosure. Figure 15 This is a schematic diagram of the surgical robotic arm when it is bent. Figure 16This is a partially enlarged schematic diagram of the surgical robotic arm at its wrist joint. As shown, the surgical robotic arm includes: a flexible arm 2; an end effector 4 for performing surgical operations, i.e., providing the main functions of a surgical instrument; and a wrist joint 3, with its two ends connected to the flexible arm 2 and the end effector 4, respectively. The control cable of the end effector 4 enters from the flexible arm 2, passes through the wrist joint 3, and connects to the end effector 4. The flexible arm 2 can be of the type described above.

[0095] The end effector 4 may include clamps, laser scalpels, and endoscopes. To enhance the flexibility of the end effector 4, the wrist joint 3 may have multiple degrees of freedom of movement. Since the wrist joint 3 is located at the end of the surgical robotic arm, it is less susceptible to interference from the drive cables 6 of other joints. Thanks to the excellent control performance of the end effector 4 and the flexible arm 2, the surgical robotic arm provided by this disclosure can precisely and efficiently perform various operations in single-port surgical procedures.

[0096] exist Figure 16 In the embodiment shown, the wrist joint 3 includes: an end-connecting segment 33 for connecting an end effector 4; a flexible segment 31 including multiple second segments 311, with both ends of the flexible segment 31 connected to the end-connecting segment 33 and the flexible arm 2, respectively; and a central skeleton 32 passing through the center of the flexible segment 31, with both ends of the central skeleton 32 connected to the end-connecting segment 33 and the flexible arm 2, respectively.

[0097] Similar to the supporting section 11, the end connecting section 33 can also possess a certain degree of rigidity to provide support. The shape, structure, and material of the second section 311 can be the same as or different from the first section 121. That is, the second section 311 can be made of, for example... Figure 3 The concentric ring or disc structure shown, or the spiral segment structure formed by connecting multiple segments in a spiral manner, or the structure as shown... Figures 5 to 10 The structure shown includes a contact auxiliary part 122. At least two pairs of cable through holes 5 are respectively provided opposite to each second segment 311 of the flexible section 31 for the drive cable 6 to pass through. The at least two pairs of cable through holes 5 provide the flexible section 31 with degrees of freedom of movement in two directions, enabling the end effector 4 to operate flexibly.

[0098] Optionally, the central frame 32 passing through the center of the flexible segment 31 can be elastic. Since the central frame 32 is located in the flexible segment 31 near the distal end, the driving force requirement for the drive cable 6 is not high. After adding the elastic central frame 32, the elastic restoring force of the central frame 32 can be used to prevent the flexible segment 31 from misaligning, while ensuring the degree of freedom of movement of the flexible segment 31, thereby further improving the reliability of the surgical robotic arm.

[0099] In one embodiment, the flexible arm 2 and wrist joint 3 (at least partially, its end effector 33) of the surgical robotic arm can also be integrally formed by 3D printing. In practical use, assembly can be completed simply by attaching the movable part of the separate end effector 4 and the drive cable 6 to the main components of the 3D-printed surgical robotic arm. Therefore, using 3D printing can improve manufacturing efficiency, extend service life, and reduce costs. In 3D printing, the various parts of the surgical robotic arm, such as the flexible joint 1, decoupling segment 2, flexible segment 31, central skeleton 32, and end effector 33, can be formed using the same or different materials.

[0100] Finally, although this disclosure has been described in detail with reference to only a limited number of embodiments, it should be readily understood that this disclosure is not limited to such embodiments. Rather, this disclosure can be modified to incorporate any number of variations, alterations, substitutions, or equivalent arrangements not previously described but commensurate with the spirit and scope of this disclosure. Furthermore, while various embodiments of this disclosure have been described, it should be understood that aspects of this disclosure may include only some of the described embodiments. Therefore, this disclosure should not be considered limited by the foregoing description but only by the scope of the appended claims.

Claims

1. A flexible arm, characterized in that, include: At least two flexible joints (1); as well as Decoupling section (21) is provided between two adjacent flexible joints (1) and is connected to the support section (11) of each of the two adjacent flexible joints (1); Each of the flexible joints (1) includes two support sections (11) and a connecting section (12) connecting the two support sections (11), the connecting section (12) including a plurality of first segments (121) having contact aids (122); The contact aids (122) are arranged opposite each other on both sides of each first segment (121), and when the flexible joint (1) is in a bent state, the contact aids (122) of adjacent first segments (121) contact each other; and In each of the first segments (121) of the connection section (12), a plurality of cable through holes (5) are provided for the drive cable (6) to pass through; Each of the contact auxiliary parts (122) of the adjacent first segments (121) is formed as a toothed structure that meshes with the adjacent contact auxiliary parts (122), or has a cross-section of a regular polygon with 4 or more sides and abuts against each other. The cable through-hole (5) is designed to be open around the periphery of the first segment (121); A cable guide channel (22) is provided on the decoupling section (21), and the cable guide channel (22) extends to a cable through hole (5) provided on the support section (11) of the flexible joint (1) for the drive cable (6) to pass through; The cable guide channel (22) includes a spiral groove disposed on the outer surface of the decoupling section (21); When the outer surface of the decoupling section (21) unfolds into a plane, the cable guide channel (22) forms an S-shaped curve on the plane.

2. The flexible arm according to claim 1, characterized in that, The plurality of first segments (121) are connected to each other in a spiral manner to form a spiral structure.

3. The flexible arm according to claim 1, characterized in that, Each of the contact aids (122) is formed as a smooth protrusion toward the adjacent contact aid (122), and the top of the protrusion is in tangential contact with the adjacent contact aid (122).

4. The flexible arm according to claim 3, characterized in that, The contact aid (122) has a circular or elliptical cross-section.

5. The flexible arm according to claim 4, characterized in that, The contact auxiliary part (122) is constructed as a column or a cone.

6. The flexible arm according to claim 1, characterized in that, The axial centerline of the contact auxiliary part (122) coincides with the circumferential centerline of the first segment (121).

7. The flexible arm according to claim 1, characterized in that, The line connecting at least one pair of cable through holes (5) is perpendicular to the axial center line of the contact auxiliary part (122).

8. The flexible arm according to any one of claims 1 to 7, characterized in that, The flexible joint (1) is integrally formed by 3D printing.

9. The flexible arm according to claim 8, characterized in that, The cable guide channel (22) is spirally arranged on the surface of the decoupling section (21).

10. The flexible arm according to claim 1, characterized in that, The decoupling section (21) is constructed as a cylinder.

11. The flexible arm according to claim 1, characterized in that, The cable through holes (5) between two adjacent flexible joints (1) are staggered.

12. The flexible arm according to claim 11, characterized in that, The cable through-holes (5) in the support section (11) of the two adjacent flexible joints (1) are positioned such that the two adjacent flexible joints (1) bend in an S-shape in a plane.

13. The flexible arm according to any one of claims 1 to 12, characterized in that, The flexible arm (2) is integrally formed by 3D printing.

14. A surgical robotic arm, comprising: The flexible arm (2) according to any one of claims 1 to 13; End effector (4) for performing surgical procedures; as well as A wrist joint (3), the two ends of which are respectively connected to the flexible arm (2) and the end effector (4). The control cable of the end effector (4) is connected to the flexible arm (2), passes through the wrist joint (3), and is connected to the end effector (4).

15. The surgical robotic arm according to claim 14, characterized in that, The wrist joint (3) includes: An end connector (33) is provided for connection to the end manipulator (4); A flexible section (31), comprising multiple second segments (311), the two ends of which are respectively connected to the end connecting section (33) and the flexible arm (2), wherein each second segment (311) of the flexible section (31) is provided with at least two pairs of cable through holes (5) for the drive cable (6) to pass through; and A flexible central frame (32) passes through the center of the flexible section (31), and the two ends of the central frame (32) are respectively connected to the end connecting section (33) and the flexible arm (2).

16. The surgical robotic arm according to claim 14 or 15, characterized in that, The flexible arm (2) and the wrist joint (3) are integrally formed by 3D printing.

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