A flexible joint, surgical instrument, and surgical robot

Abstract

The embodiment of the application provides a flexible joint, a surgical instrument and a surgical robot, and relates to the technical field of surgical instruments. The surgical robot comprises a master console, an operating hand and a surgical instrument. The surgical instrument comprises a flexible joint, a driving joint, a following joint, an instrument end, a first driving rope, a second driving rope, a following rope and a clamping assembly. The flexible joint comprises a first joint, an intermediate joint assembly, a second joint and a plurality of first driving ropes. One end of the intermediate joint assembly is movably connected with the first joint. The intermediate joint assembly is provided with a plurality of first fixing members. The second joint is movably connected with the other end of the intermediate joint assembly. Each first driving rope has at least a movable end. The movable ends of the first driving ropes are sequentially arranged in the intermediate joint assembly and the second joint. The first driving ropes are connected with the first fixing members. The first driving ropes are fixed to the intermediate joint assembly through the first fixing members, so that the fixation of the first driving ropes is more reliable.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical instruments, in particular to a flexible joint, a surgical instrument and a surgical robot. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed in the body cavity of a human body by using a laparoscope, a thoracoscope and other modern medical instruments and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain and fast recovery. However, in minimally invasive surgery, the minimally invasive instrument is greatly difficult to operate due to the limitation of the size of the incision, and the actions such as fatigue and tremor of the doctor during a long operation process are magnified, which becomes a key factor restricting the development of minimally invasive surgery technology. With the development of robot technology, a new technology in the field of minimally invasive medical treatment, minimally invasive surgery robot technology, which can overcome the shortcomings and inherit the advantages, has emerged as the times require.

[0003] A common minimally invasive surgery robot is composed of a doctor console, a patient-side cart and a display device. A surgeon operates an input device at the doctor console and transmits the input to a patient-side cart connected with a remotely operated surgical instrument. Based on the input of the surgeon at the doctor console, the remotely operated surgical instrument is actuated at the patient-side cart to operate on the patient, thereby generating a master-slave control relationship between the doctor console and the surgical instrument at the patient-side cart. Among them, the single-hole surgery robot has the advantages of less incision and faster postoperative recovery, and generally uses a flexible surgical instrument to enter the human body through one incision to carry out surgery. It can be seen that the flexible surgical instrument is crucial to the single-hole surgery robot.

[0004] The inventor found that the flexible joint in the existing surgical instrument is not fixed enough to the driving rope. SUMMARY

[0005] The purpose of the present application includes, for example, to provide a flexible joint, a surgical instrument and a surgical robot, which can fix the first driving rope more firmly.

[0006] Embodiments of the present application can be implemented as follows:

[0007] In a first aspect, the present application provides a flexible joint, comprising:

[0008] a first joint;

[0009] an intermediate joint assembly, one end of the intermediate joint assembly is movably connected with the first joint, and the intermediate joint assembly is provided with a plurality of first fixing members;

[0010] a second joint, the second joint is movably connected with the other end of the intermediate joint assembly;

[0011] A plurality of first driving ropes, the first driving rope having at least a movable end, the movable end of the first driving rope sequentially penetrating the intermediate joint assembly and the second joint, and the first driving rope being connected with the first fixed part.

[0012] In an optional embodiment, the intermediate joint assembly comprises a first intermediate joint and a second intermediate joint sequentially movably connected in the first direction, an end of the first intermediate joint away from the second intermediate joint being movably connected with the first joint, an end of the second intermediate joint away from the first intermediate joint being movably connected with the second joint, the second intermediate joint being provided with a plurality of first hole groups, the first hole group comprising a first through hole, a second through hole and a third through hole, the third through hole being provided with the first fixed part, the second joint also being provided with a plurality of first through holes, the movable end of the first driving rope sequentially penetrating the plurality of first through holes from the second intermediate joint in the first direction, and the other end sequentially penetrating the second through hole and the third through hole and being fixedly connected with the first fixed part.

[0013] In an optional embodiment, the intermediate joint assembly further comprises a third intermediate joint, a fourth intermediate joint and a fifth intermediate joint sequentially movably connected in the first direction, an end of the third intermediate joint away from the fourth intermediate joint being movably connected with the second intermediate joint, an end of the fifth intermediate joint away from the fourth intermediate joint being movably connected with the second joint, the third intermediate joint, the fourth intermediate joint and the fifth intermediate joint all being provided with the first through hole.

[0014] In an optional embodiment, the first joint can rotate relative to the first intermediate joint in the second direction, the third intermediate joint can rotate relative to the second intermediate joint in the second direction, the fifth intermediate joint can rotate relative to the fourth intermediate joint in the second direction, the second intermediate joint can rotate relative to the first intermediate joint in the third direction, the fourth intermediate joint can rotate relative to the third intermediate joint in the third direction, and the second joint can rotate relative to the fifth intermediate joint in the third direction.

[0015] In an optional embodiment, the fourth intermediate joint is further provided with a plurality of second hole groups, the second hole group comprising a fourth through hole and a fifth through hole extending in the first direction, the fifth intermediate joint and the second joint are both provided with a plurality of fourth through holes, the flexible joint further comprises a plurality of second fixed parts and a following rope, the second fixed part being arranged in the fifth through hole, one end of the following rope sequentially penetrating the plurality of fourth through holes from the fourth intermediate joint in the first direction, and the other end of the following rope being fixedly connected with the second fixed part.

[0016] In an optional embodiment, the plurality of first through holes on the second intermediate joint, the third intermediate joint, the fourth intermediate joint, the fifth intermediate joint and the second joint are arranged in a central symmetry, and the plurality of fourth through holes on the fourth intermediate joint, the fifth intermediate joint and the second joint are arranged in a central symmetry.

[0017] In an optional embodiment, the first joint, the first intermediate joint, the second intermediate joint, the third intermediate joint, the fourth intermediate joint, the fifth intermediate joint and the second joint are each provided with a plurality of sixth through holes arranged in a central symmetric manner, and the sixth through holes are used for the second driving steel wire rope to pass through.

[0018] In an optional embodiment, the first joint, the first intermediate joint, the second intermediate joint, the third intermediate joint, the fourth intermediate joint, the fifth intermediate joint and the second joint are each provided with four sixth through holes arranged in a rectangular manner.

[0019] In an optional embodiment, the intermediate joint assembly includes the first intermediate joint and the second intermediate joint connected in sequence in the first direction, the first end of the first intermediate joint away from the second intermediate joint is movably connected with the first joint, the first end of the second intermediate joint away from the first intermediate joint is movably connected with the second joint, the second joint and the second intermediate joint are provided with a plurality of first hole groups, each first hole group includes a first through hole and a second through hole extending in the first direction, the second intermediate joint is provided with a fixing groove for mounting the first fixing member, the first driving rope passes through the first fixing member and its two ends pass through the first through hole and the second through hole from the second intermediate joint respectively.

[0020] In a second aspect, the present application provides a surgical instrument, which includes a master joint, a slave joint, an instrument tip and a flexible joint according to any one of the preceding embodiments, and the master joint, the slave joint, the flexible joint and the instrument tip are connected in sequence.

[0021] In a third aspect, the present application provides a surgical robot, which includes a master console, an operating hand and a surgical instrument according to any one of the preceding embodiments, and the master console is connected with the operating hand, and the surgical instrument is detachably arranged on the operating hand.

[0022] The beneficial effects of the embodiments of the present application include, for example: the flexible joint, the surgical instrument and the surgical robot provided by the embodiments of the present application. The surgical robot includes a master console and an operating hand and a surgical instrument, the master console is connected with the operating hand, the operating hand is detachably assembled with the surgical instrument, the surgical instrument is used for performing minimally invasive surgical operation, and the surgical instrument includes a flexible joint, a master joint, a slave joint, an instrument tip, a first driving rope, a second driving rope, a slave rope and a clamping assembly. The flexible joint includes a first joint, an intermediate joint assembly, a second joint and a plurality of first driving ropes, one end of the intermediate joint assembly is movably connected with the first joint, the intermediate joint assembly is provided with a plurality of first fixing members, the other end of the intermediate joint assembly is movably connected with the second joint, each first driving rope has at least a movable end, the movable end of the first driving rope passes through the intermediate joint assembly and the second joint in sequence, the first driving rope is connected with the first fixing member, and the first driving rope is fixed at the intermediate joint assembly through the first fixing member, so that the fixation of the first driving rope is more reliable. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a surgical instrument provided in the first embodiment of the present invention;

[0025] Figure 2 for Figure 1 A larger image of a portion of point A in the middle;

[0026] Figure 3 This is a partial schematic diagram of location A from a first-person perspective.

[0027] Figure 4 for Figure 1 A larger image of the portion at point B in the middle;

[0028] Figure 5 This is a partial schematic diagram from a first-person perspective at position B.

[0029] Figure 6 This is a partial schematic diagram from a second-view perspective at position B.

[0030] Figure 7 This is a schematic diagram of the ends of the first driving rope and the follower rope;

[0031] Figure 8 This is a structural diagram of the first joint, intermediate joint, and second joint between the active joint and the follower joint from a first perspective.

[0032] Figure 9 for Figure 8 An explosion diagram;

[0033] Figure 10 This is a structural diagram of the first joint, intermediate joint, and second joint between the active joint and the follower joint from a second perspective.

[0034] Figure 11 This is a schematic diagram of the structure of a surgical instrument provided in the second embodiment of the present invention;

[0035] Figure 12 for Figure 11 Enlarged view of the area at point C in the middle;

[0036] Figure 13 This is a partial schematic diagram of location C;

[0037] Figure 14 is Figure 11 Detail view at D in the middle;

[0038] Figure 15 Detail view at D position;

[0039] Figure 16 is Figure 15 top view.

[0040] Figure: 1 - surgical instrument; 10 - flexible joint; 11 - convex claw; 12 - first driving rope; 13 - follow-up rope; 14 - connecting part; 15 - tooth part; 16 - tooth groove; 17 - avoiding notch; 18 - sixth through hole; 100 - first joint; 200 - intermediate joint assembly; 210 - first intermediate joint; 220 - second intermediate joint; 221 - first through hole; 222 - second through hole; 223 - third through hole; 224 - first through hole; 225 - second through hole; 230 - third intermediate joint; 240 - fourth intermediate joint; 241 - fourth through hole; 242 - fifth through hole; 243 - third through hole; 250 - fifth intermediate joint; 300 - second joint; 400 - mounting hole; 20 - active joint; 30 - follow-up joint; 40 - instrument tip; 600 - connecting piece; 610 - connecting section; 620 - connecting shaft; 700 - shaft clamp; 60 - second driving rope; 70 - first fixing part; 80 - second fixing part; 90 - intermediate joint. DETAILED DESCRIPTION

[0041] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings for the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but only represents selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present application.

[0043] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0044] In the description of the present application, it should be noted that if the terms "upper", "lower", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present application is usually placed, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0045] In addition, if the terms "first", "second" and the like appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0046] It should be noted that the features in the embodiments of the present application can be combined with each other without conflict.

[0047] The specific structure of a flexible joint 10 and the corresponding technical effects brought by the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0048] First embodiment

[0049] The embodiments of the present application provide a surgical robot (not shown in the figure), which comprises a master console (not shown in the figure), an operating hand (not shown in the figure) and a surgical instrument 1, the master console is connected with the operating hand, the operating hand is detachably assembled with the surgical instrument 1, and the surgical instrument 1 is used for performing minimally invasive surgical operation.

[0050] Further, please refer to Figures 1-3 , the surgical instrument 1 comprises a flexible joint 10, a driving joint 20, a following joint 30, an instrument tip 40, a first driving rope 12, a second driving rope 60, a following rope 13, and a clamping assembly, the driving joint 20, the following joint 30, the flexible joint 10 and the instrument tip 40 are connected in sequence and in the form of a shaft, which is convenient for stretching into the surgical site of a patient.

[0051] In the present embodiment, the clamping assembly comprises an operating tube (not shown in the figure), an operating rod (not shown in the figure), and a clamp (not shown in the figure), the operating tube is sleeved outside the operating rod, the operating rod is arranged inside the driving joint 20, the following joint 30, the flexible joint 10 assembly and the instrument tip 40, and the clamp is arranged at the end of the operating rod which extends out of the instrument tip 40.

[0052] By driving the operating rod to stretch out of or retract into the operating tube, the opening and closing action of the clamp can be realized, so as to complete the operation of minimally invasive surgery. The operating tube can be a hose, and the operating rod can be a soft rod, so that a certain deformation of the operating tube and the operating tube can be generated, and the operating tube sleeved outside the operating rod can reduce the friction generated during the stretching and retracting process of the operating tube, and provide support thrust for the operating rod.

[0053] In the embodiment, the first driving ropes 12, the second driving ropes 60 and the follower ropes 13 are connected with the plurality of joints in the flexible joint 10, so as to drive the plurality of joints to rotate relatively, thereby realizing the reversing of the instrument end 40 connected with the flexible joint 10 and improving the operation performance of the surgical instrument 1.

[0054] Specifically, please continue to refer to Figure 1 , the flexible joint 10 comprises a first joint 100, an intermediate joint assembly 200, a second joint 300 and a plurality of first driving ropes 12, wherein one end of the intermediate joint assembly 200 is movably connected with the first joint 100, the intermediate joint assembly 200 is provided with a plurality of first fixing members 70, the second joint 300 is movably connected with the other end of the intermediate joint assembly 200, each of the first driving ropes 12 has at least a movable end, the movable ends of the first driving ropes 12 are sequentially arranged through the intermediate joint assembly 200 and the second joint 300, the first driving ropes 12 are connected with the first fixing members 70, and the first driving ropes 12 are fixed at the intermediate joint assembly 200 through the first fixing members 70, so that the fixation of the first driving ropes 12 is more reliable.

[0055] It should be noted that the first joint 100 and the second joint 300 are respectively a joint head and a joint tail, wherein the first joint 100 is fixedly connected with the instrument end 40, and the second joint 300 is fixedly connected with the follower joint 30. Specifically, in the embodiment, the first joint 100 and the second joint 300 are provided with the lugs 11, the first joint 100 is clamped and matched with the instrument end 40 through the lugs 11, and the second joint 300 is clamped and matched with the follower joint 30 through the lugs 11.

[0056] It should be noted that the centers of the first joint 100, the intermediate joint assembly 200 and the second joint 300 are all provided with through holes for the operation tube to pass through.

[0057] Further, please refer to Figures 4-5 , the intermediate joint assembly 200 comprises a first intermediate joint 210 and a second intermediate joint 220 movably connected in sequence along a first direction, wherein one end of the first intermediate joint 210 away from the second intermediate joint 220 is movably connected with the first joint 100, one end of the second intermediate joint 220 away from the first intermediate joint 210 is movably connected with the second joint 300, the second intermediate joint 220 is provided with a plurality of first hole groups, each of the first hole groups comprises a first through hole 221, a second through hole 222 and a third through hole 223, the first fixing member 70 is arranged in the third through hole 223, and the second joint 300 is also provided with a plurality of first through holes 221, wherein the movable ends of the first driving ropes 12 are sequentially arranged through the plurality of first through holes 221 from the second intermediate joint 220 along the first direction, and the other ends of the first driving ropes 12 are sequentially arranged through the second through hole 222 and the third through hole 223 and fixedly connected with the first fixing member 70.

[0058] It should be noted that the plurality of first driving ropes 12 and the plurality of first hole groups are one-to-one corresponding, wherein the first fixing member 70 is a pipe clamp, the pipe clamp is cylindrical and each pipe clamp is fixedly installed in the third through hole 223, and the plurality of first hole groups are uniformly distributed on the second intermediate joint 220. Specifically, in the embodiment, the number of first hole groups is four, that is, the number of first driving ropes 12 is also four, of course, in some other embodiments, the number of first driving ropes 12 can also be other numbers, which are not limited here, as long as the first driving rope 12 can realize the rotation of each joint of the surgical instrument 1 in a certain direction after passing through the driving joint 20 and being connected with the rotating shaft.

[0059] When one first driving rope 12 passes through one first hole group, one end of the first driving rope 12, that is, the movable end of the first driving rope 12 passes through the first through hole 221 of the second intermediate joint 220 and the third through hole 223 of the second joint 300 in the first direction, that is, the direction in which the second intermediate joint 220 is close to the second joint 300, until it passes through the driving joint 20, and the other end of the first driving rope 12 passes through the second through hole 222 on the side of the second intermediate joint 220 close to the first intermediate joint 210, and then passes into the third through hole 223 from the side of the second intermediate joint 220 away from the first intermediate joint 210 and is fixedly connected with the first fixing member 70.

[0060] In other words, when the first driving rope 12 passes through the first through hole 221, the second through hole 222 and the third through hole 223 provided on the second intermediate joint 220, the first driving rope 12 can form two first and last connected and substantially U-shaped states, wherein the opening of the "U" formed by the first driving rope 12 between the first through hole 221 and the second through hole 222 faces the same direction as the first intermediate joint 210 close to the second intermediate joint 220. It can be understood that the "U" structure can enable the first driving rope 12 to lap on the side of the second intermediate joint 220 close to the first intermediate joint 210, improve the connection strength of the first driving rope 12 with the second intermediate joint 220, and the opening of the "U" formed by the first driving rope 12 between the second through hole 222 and the third through hole 223 faces the same direction as the first intermediate joint 210 away from the second intermediate joint 220. The two first driving steel wire ropes forming two "U" structures can be more stably fixed on the second intermediate joint 220, and the fixation of the first driving steel wire rope can be more reliable.

[0061] Please continue to refer to Figure 1 , and in combination with Figures 6-7Further, the intermediate joint assembly 200 further comprises a third intermediate joint 230, a fourth intermediate joint 240 and a fifth intermediate joint 250 connected in sequence along the first direction, an end of the third intermediate joint 230 away from the fourth intermediate joint 240 is movably connected with the second intermediate joint 220, and an end of the fifth intermediate joint 250 away from the fourth intermediate joint 240 is movably connected with the second joint 300. It can be understood that the intermediate joint assembly 200 in the embodiment has five joints, which can make the flexibility of the surgical instrument 1 stronger when bending.

[0062] The third intermediate joint 230, the fourth intermediate joint 240 and the fifth intermediate joint 250 are all provided with a first through hole 221. It can be understood that since the movable end of the first driving rope 12 needs to pass through the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 in sequence, and then be connected with the driving joint 20 and the rotating shaft, in order to ensure that the first driving rope 12 can more efficiently drive the bending movement of each joint under the action of the rotating shaft, in the embodiment, the plurality of first through holes 221 on the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are correspondingly arranged, so as to ensure that the plurality of first through holes 221 through which the single first driving rope 12 passes in the first direction are coaxial.

[0063] Further, the first joint 100 can rotate relative to the first intermediate joint 210 along a second direction, the third intermediate joint 230 can rotate relative to the second intermediate joint 220 along the second direction, the fifth intermediate joint 250 can rotate relative to the fourth intermediate joint 240 along the second direction, the second intermediate joint 220 can rotate relative to the first intermediate joint 210 along a third direction, the fourth intermediate joint 240 can rotate relative to the third intermediate joint 230 along the third direction, and the second joint 300 can rotate relative to the fifth intermediate joint 250 along the third direction. It should be noted that the movement of any three adjacent joints in the intermediate joint assembly 200 in two different directions can effectively improve the rotation flexibility of the surgical instrument 1, and thus adapt to more surgical scenarios.

[0064] Further, the rotation axis of the second direction and the rotation axis of the third direction form an angle, specifically, in the embodiment, the rotation axis of the second direction and the rotation axis of the third direction are perpendicular to each other, so as to Figure 1 For reference, the second direction movement can be clockwise or counterclockwise rotation (which can also be understood as yaw movement), and the third direction movement can be pitch movement.

[0065] Further, in the embodiment, the fourth intermediate joint 240 is further provided with a plurality of second hole groups, each of the second hole groups comprises a fourth through hole 241 and a fifth through hole 242 extending along the first direction, the fifth intermediate joint 250 and the second joint 300 are each provided with a plurality of fourth through holes 241, and the flexible joint 10 further comprises a plurality of second fixing members 80 and a following rope 13, the second fixing member 80 is arranged in the fifth through hole 242, and one end of the following rope 13 sequentially passes through the plurality of fourth through holes 241 of the fourth intermediate joint 240 along the first direction, and the other end of the following rope 13 is fixedly connected with the second fixing member 80.

[0066] It should be noted that, in the embodiment, the second fixing member 80 is also a pipe clamp, which is fixed in the fifth through hole 242 and used for fixing the following rope 13.

[0067] It can be understood that, the following rope 13 passes through the fourth through hole 241 and the fifth through hole 242 as described above, and is fixedly connected in the second fixing member 80 located in the fifth through hole 242, so as to form a structure substantially in the shape of “U”, wherein the opening of the “U” shape faces the same direction as the fourth intermediate joint 240 away from the third intermediate joint 230. That is, the following rope 13 can be fixed to the fourth intermediate joint 240 under the fixation of the second fixing member 80, and the body of the following rope 13 can also be overlapped on the side of the fourth intermediate joint 240 close to the third intermediate joint 230, so as to realize more reliable fixation of the following rope 13.

[0068] It should be noted that, in order to ensure that each following rope 13 can efficiently drive the flexible joint 10 to bend under the action of external driving, the plurality of fourth through holes 241 on the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 correspond to each other, so as to ensure that each following rope 13 is coaxial when sequentially passing through the fourth through holes 241 on the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300.

[0069] Further, in the embodiment, the plurality of first through holes 221 on the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are arranged in a central symmetry, and the plurality of fourth through holes 241 on the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are arranged in a central symmetry. It should be noted that, in the embodiment, the plurality of fourth through holes 241 or the plurality of first through holes 221 on the joint are arranged in a central symmetry relative to the center of the joint.

[0070] It can be understood that, since the plurality of first through holes 221 on the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are arranged in central symmetry. Therefore, when solving the driving equation, the influence of the layout angle of the first driving rope 12 can be weakened, multiple solutions can be avoided, the computing power of the control system can be saved, and the driving control is facilitated.

[0071] Similarly, since the plurality of fourth through holes 241 on the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are arranged in central symmetry. The influence of the layout angle of the second driving rope 60 can also be weakened, multiple solutions can be avoided, the computing power of the control system can be saved, and the driving control is facilitated.

[0072] Further, in the embodiment, the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are provided with a plurality of sixth through holes 18 arranged in central symmetry, wherein the sixth through holes 18 are provided for the second driving rope 60.

[0073] It should be noted that, the second driving rope 60 is sequentially threaded through the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250, the second joint 300, the driven joint 30 and the driving joint 20 from the instrument tip 40 along the first direction, and then connected with the external rotating shaft, so that the surgical instrument 1 composed of the driving joint 20, the driven joint 30, the flexible joint 10 and the instrument tip 40 bends and rotates.

[0074] It should be noted that, in the embodiment, for any one of the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300, the plurality of sixth through holes 18 thereof are arranged in central symmetry about the center of the joint.

[0075] Further, the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are provided with four sixth through holes 18, and the four sixth through holes 18 are arranged in a rectangular shape.

[0076] Please refer to Figure 16Specifically, in the embodiment, for the second intermediate joint 220, the interval between any two adjacent sixth through holes 18 in the circumferential direction is equal, in other words, the included angle between the second driving ropes 60 arranged on the coaxially arranged sixth through holes 18 in the first direction is 90°.

[0077] It can be understood that, in the embodiment, the plurality of first driving ropes 12, the plurality of second driving ropes 60 and the plurality of follow-up ropes 13 are respectively arranged in a central symmetry, and when solving the driving equation, the influence of the rope layout angle can be weakened, multiple solutions can be avoided, the computing power of the control system can be saved, and the driving control is facilitated.

[0078] It can be understood that, in the embodiment, the surgical instrument 1 drives the surgical instrument 1 to perform the pitch movement or the yaw movement under the action of the plurality of first driving ropes 12, the second driving ropes 60 and the follow-up ropes 13.

[0079] Please refer to Figure 8 Further, in the embodiment, the first joint 100, the intermediate joint 90 and the second joint 300 are sequentially arranged between the follow-up joint 30 and the driving joint 20, and the number of the intermediate joint 90 is one, and of course, in another embodiment, the number of the intermediate joint 90 can be multiple, which is not limited herein. It should be noted that the first joint 100, the intermediate joint 90 and the second joint 300 between the follow-up joint 30 and the driving joint 20 are also provided with the first through hole 221 and the sixth through hole 18 for the first driving rope 12 and the second driving rope 60.

[0080] It should be noted that, in the embodiment, the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 in the flexible joint 10 are all disc-shaped, and similarly, the first joint 100, the intermediate joint 90 and the second joint 300 between the follow-up joint 30 and the driving joint 20 are also disc-shaped.

[0081] Further, in the embodiment, the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250 and the second joint 300 are all provided with the connecting part 14, and the two connecting parts 14 of the adjacent two joints are movably connected, and the connecting parts 14 of the adjacent two joints are respectively the protruding tooth part 15 and the recessed tooth groove 16.

[0082] It should be noted that in the embodiment, two connecting portions 14 are arranged on each side of any joint in the intermediate joint assembly 200, and the arrangement direction of the two connecting portions 14 on one side is perpendicular to the arrangement direction of the two connecting portions 14 on the other side. For example, the arrangement direction of the two connecting portions 14 arranged on the side of the first intermediate joint 210 close to the first joint 100 is perpendicular to the arrangement direction of the two connecting portions 14 arranged on the side of the first intermediate joint 210 close to the second intermediate joint 220. Specifically, the connecting portion 14 on the side of the first intermediate joint 210 close to the first joint 100 is a convex tooth portion 15, and the connecting portion 14 on the other side is a concave tooth groove 16.

[0083] It can be easily understood that, since the two adjacent joints are in tooth contact, the contact between the two adjacent joints is linear contact, which can effectively reduce the contact friction between the two adjacent joints, facilitate accurate control of the rotation angle of the joint, thereby improving the control accuracy of the flexible joint 10 assembly; and the rotation angle between the two adjacent joints can also be increased, thereby improving the reliability of the transmission of the flexible joint 10 assembly, and significantly improving the surgical effect.

[0084] Further, the surgical instrument 1 further comprises a connecting piece 600 and a shaft clamp 700. The connecting piece 600 is connected between two adjacent joints, and the shaft clamp 700 is used to be sleeved outside the operation tube and abut against the connecting piece 600 to fix the connecting piece 600, so that the two adjacent joints are stably connected.

[0085] For the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint 230, the fourth intermediate joint 240, the fifth intermediate joint 250, and the second joint 300, or for any joint in the first joint 100, the intermediate joint 90, and the second joint 300 in the driven joint 30 and the active joint 20, an installation hole 400 is formed in each joint. For example, the first joint 100, the intermediate joint 90, and the second joint 300 in the driven joint 30 and the active joint 20 will be taken as an example, please refer to Figure 9 The connecting piece 600 comprises a connecting section 610 and two connecting shafts 620 arranged at both ends of the connecting section 610. For any two adjacent joints, the two connecting shafts 620 of the connecting piece 600 are respectively rotatably connected with the installation holes 400 on the two adjacent joints.

[0086] Further, in order to increase the rotation angle between two adjacent joints and prevent interference between two adjacent joints during rotation, a clearance gap 17 is arranged at any adjacent joint of the first joint 100, the first intermediate joint 210, the second intermediate joint 220, the third intermediate joint, the fourth intermediate joint 240, the fifth intermediate joint 250, and the second joint 300, or the first joint 100, the intermediate joint, and the second joint 300 in the driven joint 30 and the active joint 20, and the side wall of the clearance gap 17 of two adjacent joints and the rotation axis between the two adjacent joints form a clearance angle, which is 45°-20° in the embodiment, please refer to Figure 10 .

[0087] In summary, the embodiment of the present application provides a flexible joint 10, a surgical instrument 1, and a surgical robot. The surgical robot includes a master console and an operating hand and the surgical instrument 1, the master console is connected with the operating hand, the operating hand is detachably assembled with the surgical instrument 1, the surgical instrument 1 is used for performing minimally invasive surgery, and the surgical instrument 1 includes the flexible joint 10, the active joint 20, the driven joint 30, the instrument tip 40, the first driving rope 12, the second driving rope 60, the driven rope 13, and the clamping assembly. The flexible joint 10 includes the first joint 100, the intermediate joint assembly 200, the second joint 300, and a plurality of first driving ropes 12, wherein one end of the intermediate joint assembly 200 is movably connected with the first joint 100, the intermediate joint assembly 200 is provided with a plurality of first fixing members 70, the second joint 300 is movably connected with the other end of the intermediate joint assembly 200, each first driving rope 12 has at least a movable end, the movable end of the first driving rope 12 is sequentially arranged in the intermediate joint assembly 200 and the second joint 300, the first driving rope 12 is connected with the first fixing member 70, and the first driving rope 12 is fixed to the intermediate joint assembly 200 through the first fixing member 70, so that the fixation of the first driving rope 12 is more reliable.

[0088] Second embodiment

[0089] For the sake of brevity, the parts not mentioned in the embodiment are referred to the content of the first embodiment.

[0090] Please refer to Figures 11-16The intermediate joint assembly 200 in the embodiment comprises a first intermediate joint 210 and a second intermediate joint 220 connected in sequence in the first direction, the first intermediate joint 210 is movably connected with the first joint 100 at one end away from the second intermediate joint 220, and the second intermediate joint 220 is movably connected with the second joint 300 at one end away from the first intermediate joint 210, wherein the second joint 300 and the second intermediate joint 220 are provided with a plurality of first hole groups, wherein the first hole groups comprise a first through hole 224 and a second through hole 225 extending in the first direction, the second intermediate joint 220 is provided with a fixing groove (not shown in the figure) for mounting the first fixing member 70, the fixing groove is located between the first through hole 224 and the second through hole 225, and the first driving rope 12 passes through the first fixing member 70 and is respectively arranged at both ends of the first driving rope 12 from the second intermediate joint 220 through the first through hole 224 and the second through hole 225. The first fixing member 70 is a pipe clamp, and in the embodiment, the pipe clamp is fixed to the middle part of the first driving rope 12.

[0091] It should be noted that the third intermediate joint 230, the fourth intermediate joint 240 and the fifth intermediate joint 250 are also provided in the embodiment. The third intermediate joint 230, the fourth intermediate joint 240 and the fifth intermediate joint 250 are all provided with the first hole groups and correspond one by one, so as to ensure that the first through hole 224 and the second through hole 225 in each first driving rope 12 are coaxial.

[0092] It can be understood that in the first embodiment, the first fixing member 70 is mounted in the third through hole 223, so that a corresponding stepped hole needs to be arranged, which may, to a certain extent, cause the problem of excessive size of the second intermediate joint 220. In the embodiment, the first driving rope 12 is fixed in the second intermediate joint 220 by the first fixing member 70 arranged in the fixing groove, which can solve the above problem.

[0093] Similarly, in the embodiment, the fourth intermediate joint 240 is also provided with a plurality of second hole groups, wherein the second hole groups comprise a third through hole 243, and the flexible joint 10 in the embodiment further comprises a plurality of following ropes 13 and second fixing members 80, each second fixing member 80 is arranged in the third through hole 243 of the fourth intermediate joint 240. It should be noted that the fifth intermediate joint 250 and the second joint 300 are both provided with a plurality of third through holes 243 for passing through the following rope 13, which correspond to the fourth intermediate joint 240.

[0094] The above merely illustrates the specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A flexible joint, characterized by Comprise: A first joint; An intermediate joint assembly, one end of which is movably connected with the first joint, the intermediate joint assembly being provided with a plurality of first fixing members; A second joint, the other end of the intermediate joint assembly being movably connected with the second joint; A plurality of first driving ropes, each of which has at least one movable end, the movable end of each first driving rope being sequentially threaded through the intermediate joint assembly and the second joint, and the first driving rope being connected with the first fixing member; The intermediate joint assembly comprises a first intermediate joint and a second intermediate joint which are sequentially movably connected in a first direction, one end of the first intermediate joint away from the second intermediate joint being movably connected with the first joint, the other end of the second intermediate joint away from the first intermediate joint being movably connected with the second joint, the second intermediate joint being provided with a plurality of first hole groups, each of which corresponds to one of the first driving ropes, each first hole group comprising a first through hole, a second through hole and a third through hole, the third through hole being provided with the first fixing member, the second joint also being provided with a plurality of first through holes, the movable end of each first driving rope being sequentially threaded through the plurality of first through holes in the second intermediate joint in the first direction, and the other end of each first driving rope being sequentially threaded through the second through hole and the third through hole and being fixedly connected with the first fixing member.

2. The flexible joint according to claim 1, characterized in that: The intermediate joint assembly further comprises a third intermediate joint, a fourth intermediate joint and a fifth intermediate joint which are sequentially movably connected in the first direction, one end of the third intermediate joint away from the fourth intermediate joint being movably connected with the second intermediate joint, the other end of the fifth intermediate joint away from the fourth intermediate joint being movably connected with the second joint, each of the third intermediate joint, the fourth intermediate joint and the fifth intermediate joint being provided with a first through hole.

3. The flexible joint according to claim 2, characterized in that: The first joint can rotate relative to the first intermediate joint in a second direction, the third intermediate joint can rotate relative to the second intermediate joint in the second direction, the fifth intermediate joint can rotate relative to the fourth intermediate joint in the second direction, the second intermediate joint can rotate relative to the first intermediate joint in a third direction, the fourth intermediate joint can rotate relative to the third intermediate joint in the third direction, and the second joint can rotate relative to the fifth intermediate joint in the third direction.

4. The flexible joint according to claim 2, characterized in that: The fourth intermediate joint is further provided with a plurality of second hole groups, each of which comprises a fourth through hole and a fifth through hole extending in the first direction, the fifth intermediate joint and the second joint are each provided with a plurality of fourth through holes, the flexible joint further comprises a plurality of second fixing members and a following rope, the second fixing members being arranged in the fifth through holes, and one end of the following rope being sequentially threaded through the plurality of fourth through holes in the fourth intermediate joint in the first direction, the other end of the following rope being fixedly connected with the second fixing members.

5. The flexible joint of claim 4, wherein: the first through holes on the second intermediate joint, the third intermediate joint, the fourth intermediate joint, the fifth intermediate joint and the second joint are arranged in a central symmetry, and the fourth through holes on the fourth intermediate joint, the fifth intermediate joint and the second joint are arranged in a central symmetry.

6. The flexible joint of claim 4, wherein: the first joint, the first intermediate joint, the second intermediate joint, the third intermediate joint, the fourth intermediate joint, the fifth intermediate joint and the second joint are provided with a plurality of sixth through holes arranged in a central symmetry, and the sixth through holes are used for the second driving steel wire rope.

7. The flexible joint of claim 6, wherein: the first joint, the first intermediate joint, the second intermediate joint, the third intermediate joint, the fourth intermediate joint, the fifth intermediate joint and the second joint are provided with four sixth through holes, and the four sixth through holes are arranged in a rectangle.

8. A surgical instrument, characterized by The surgical instrument of claim 8, wherein the surgical instrument comprises a master joint, a slave joint, an instrument tip and the flexible joint of any one of claims 1-7, the master joint, the slave joint, the flexible joint and the instrument tip are connected in sequence.

9. A surgical robot, characterized by The surgical instrument of claim 8, wherein the surgical instrument comprises a master console, an operating hand and the surgical instrument, the master console is connected with the operating hand, and the surgical instrument is detachably arranged on the operating hand.

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