A flexible arm device and a medical device having the flexible arm

Abstract

The present invention provides a flexible arm device and a medical device having the flexible arm. The flexible arm device includes a flexible arm, a support arm, a movable joint, a control rod, and a control mechanism. The flexible arm is provided with a first reset spring for resetting the flexible arm. The support arm is connected to the flexible arm. The movable joint is connected to one end of the support arm facing away from the flexible arm. The control rod is connected to the movable joint so that the control rod can move relative to the support arm. The movable joint is provided with a second reset spring for resetting the control rod. The control mechanism includes a control wire and a drive rod. The two ends of the drive rod are movably connected to the two sides of the movable joint. One end of the control wire is fixed to the edge of one side of the head of the flexible arm, and the other end is connected to the drive rod. The drive rod moves with the control rod and pulls the control wire to move, thereby driving the head of the flexible arm to bend in the corresponding direction, thereby realizing mechanical transmission between the control rod and the flexible arm. The control mechanism has the advantages of high operational sensitivity, simple and reliable structure, and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a flexible arm device and a medical device having the flexible arm. Background Art

[0002] Flexible arms are widely used in the medical field. The bending movement of the flexible arms can be used to deliver surgical instruments such as forceps and electric knives to the lesion site through the complex natural cavities in the human body, allowing doctors to perform precise and delicate operations.

[0003] However, most current flexible arms use electronic control for bending. For example, different control buttons are placed on the operating end of the flexible arm, and medical personnel use these buttons to send electrical control signals to a driver, which then controls the flexible arm to perform the corresponding bending motion. This method of controlling the flexible arm is not only costly, but also poses a safety risk of damage and failure of the electronic control components during surgery. It also suffers from poor sensitivity and difficulty in operation. Summary of the Invention

[0004] Therefore, in order to improve the control sensitivity of the flexible arm, reduce the manufacturing cost of the entire flexible arm device, and avoid the problem of inability to move due to damage to the electronic control components during surgery, the present invention provides a flexible arm device and medical equipment.

[0005] In a first aspect, the flexible arm device provided by the present invention adopts the following technical solutions:

[0006] A flexible arm device, comprising:

[0007] The flexible arm is composed of a plurality of universal joints connected in series, a first return spring is provided on the inner side thereof, and the two ends thereof are respectively a head and a tail;

[0008] a supporting arm, one end of which is connected to the tail of the flexible arm;

[0009] A movable joint, connected to an end of the support arm away from the flexible arm, and provided with a second return spring;

[0010] A control rod connected to an end of the movable joint away from the support arm, so that the control rod can move relative to the support arm;

[0011] The control mechanism includes a control line and a driving rod. The two ends of the driving rod are movably connected to the two sides of the movable joint so that the driving rod can move with the control rod. One end of the control line is fixed to the head edge of the flexible arm, and the other end is connected to the driving rod.

[0012] Optionally, the movable joint is a universal joint, and the control mechanism is provided in multiple groups and distributed along a circular array around the support arm.

[0013] Optionally, a first connecting head and a second connecting head are respectively provided at both ends of the driving rod, the ball joint on the ball joint is connected to a first connecting shaft, the first connecting shaft is connected to the support arm and can slide along the axial direction of the support arm, the ball joint on the second connecting head is connected to a second connecting shaft, the axis of the second connecting shaft is perpendicular to the axis of the first connecting shaft, and the second connecting shaft is fixedly connected to the control rod.

[0014] Optionally, the flexible arm device further includes a movable pulley, which is rotatably connected to the driving rod, and the end of the control line facing away from the flexible arm passes around the cylindrical surface of the fixed pulley and is then fixed to the support arm.

[0015] Optionally, the flexible arm device further comprises a fixed pulley, which is rotatably connected to the support arm, and the control line first passes around the cylindrical surface of the fixed pulley and then passes around the cylindrical surface of the movable pulley.

[0016] Optionally, the support arm includes an inner support rod, one end of which is connected to the tail of the flexible arm, and the inner support rod is provided with guide grooves the same number as the control lines, and the control lines are passed through the guide grooves.

[0017] Optionally, the support arm further includes an outer cylinder, which is sleeved on the inner support rod and shields the guide groove.

[0018] Optionally, the support arm further comprises a mounting tube, one end of the mounting tube is connected to a side of the outer cylinder away from the flexible arm, and the other end is connected to the movable joint;

[0019] The mounting tube is provided with mounting grooves having the same number as the control mechanism, the fixed pulley is rotatably connected in the mounting groove, the control line extends from the guide groove into the mounting tube, passes through the mounting groove, bypasses the fixed pulley, and then extends to the outside of the mounting tube.

[0020] Optionally, the support member further comprises a plurality of connecting wing plates connected to the mounting cylinder, the connecting wing plates are provided with mounting grooves along the axial direction of the outer cylinder, and the first connecting shaft is slidably embedded in the mounting grooves.

[0021] Optionally, the flexible arm device further comprises a handle connected to an end of the control rod facing away from the movable joint.

[0022] Optionally, the flexible arm device further includes a protective cover shell, which is connected to the support arm, the movable joint and the drive rod are both placed inside the protective cover shell, and at least part of the control rod is located outside the protective cover.

[0023] Optionally, a through hole is provided on the protective cover shell, the control rod passes through the through hole and extends to the outside of the protective cover shell, and the diameter of the through hole is larger than the diameter of the control rod.

[0024] Optionally, the protective cover comprises:

[0025] a cover body connected to the support arm, with an opening on one side facing away from the support arm;

[0026] The cover body is used to seal the opening of the cover body, and the through hole is provided on the cover body.

[0027] In a second aspect, the medical device provided by the present invention adopts the following technical solution:

[0028] A medical device, comprising the flexible arm device provided in any one of the above embodiments, further comprising:

[0029] an actuator connected to the head of the flexible arm;

[0030] The driving device is used to control the operation of the executing device.

[0031] Optionally, the execution device is a grasping forceps, the head of the flexible arm device is connected to a mounting cylinder, the grasping forceps is mounted on an end of the mounting cylinder away from the flexible arm, and the driving device is used to control the opening and closing action of the grasping forceps. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic diagram showing the structure of a medical device in an embodiment;

[0034] Figure 2 A partial exploded view showing the flexible arm structure in the embodiment;

[0035] Figure 3 Schematic diagram showing the partial structure of the control mechanism in the embodiment;

[0036] Figure 4 A partial cross-sectional view showing a control mechanism in an embodiment;

[0037] Figure 5 A partial cross-sectional view showing the connection relationship between the inner rod body and the outer cylinder body in the embodiment;

[0038] Figure 6 A partial exploded view showing the structure of the protective cover in the embodiment;

[0039] Figure 7 A partial exploded view showing the connection relationship between the control rod, the sliding control member and the handle in the embodiment;

[0040] Figure 8 A partial cross-sectional view showing the connection relationship between the control rod, the sliding control member and the handle in the embodiment;

[0041] Figure 9 A partial exploded view showing the connection relationship between the grasping forceps and the driving device in the embodiment;

[0042] Figure 10 A partial cross-sectional view showing the connection relationship between the grasping forceps and the driving device in the embodiment;

[0043] Description of reference numerals:

[0044] 100, flexible arm; 110, universal joint; 120, first return spring;

[0045] 200, support arm; 210, inner rod; 211, guide groove; 220, outer cylinder; 230, mounting cylinder; 231, mounting groove; 240, connecting wing plate; 241, mounting slide;

[0046] 300, movable joint; 310, second return spring;

[0047] 400, control lever; 410, limit step; 420, handle; 421, mounting hole; 430, fixing sleeve; 431, connecting fin plate; 432, screw;

[0048] 500, control mechanism; 510, control line; 520, drive rod; 521, first connector; 522, first connecting shaft; 523, second connector; 524, second connecting shaft; 525, fixing member; 530, movable pulley; 540, fixed pulley;

[0049] 600, protective cover; 610, cover body; 620, cover body; 621, through hole;

[0050] 700, grasping forceps; 701, control end;

[0051] 800, connecting tube;

[0052] 900, driving device; 910, driving member; 920, driving line; 930, third return spring; 940, sliding control member; 941, sliding sleeve; 942, driving rod; 9411, mounting cavity; 9412, limiting boss; 9413, clearance groove; 950, fourth return spring; 960, connecting end plate. DETAILED DESCRIPTION

[0053] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0054] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0057] This embodiment provides a medical device, which includes a flexible arm device, an actuator and a driving device 900. The actuator is connected to one end of the flexible arm device, and the driving device 900 is used to drive the action of the actuator.

[0058] Among them, combined Figures 1 to 8 As shown, the flexible arm device provided in this embodiment includes a flexible arm 100 , a support arm 200 , a movable joint 300 , a control rod 400 and a control mechanism 500 .

[0059] like Figure 2As shown, the flexible arm 100 is composed of multiple universal joints 110 connected in series. A first return spring 120 is installed inside the flexible arm 100, which can reset the flexible arm 100 after movement. The flexible arm 100 has a head and a tail at either end. The actuator is connected to the head of the flexible arm 100. One end of the support arm 200 is connected to the tail of the flexible arm 100. The movable joint 300 is connected to the end of the support arm 200 facing away from the flexible arm 100. The control rod 400 is connected to the movable joint 300, allowing the control rod 400 to move relative to the support arm 200. The movable joint 300 is equipped with a second return spring 310 to reset the control rod 400 after movement. The control mechanism 500 is connected between the control rod 400 and the flexible arm 100, allowing the head of the flexible arm 100 to bend in response to the movement of the control rod 400.

[0060] Specifically, combined with Figure 3 and Figure 4 As shown, the control mechanism 500 includes a control line 510 and a driving rod 520. The two ends of the driving rod 520 are movably connected to the two sides of the movable joint 300, so that the control rod 400 can drive the driving rod 520 to move when it moves relative to the support arm 200. The control line 510 is arranged along the axial direction of the support arm 200. One end of the control line 510 is fixed to the edge of one side of the head of the flexible arm 100, and the other end is connected to the driving rod 520, so that the driving rod 520 pulls the control line 510 to move when it moves, thereby using the control line 510 to pull the head of the flexible arm 100 to bend in the corresponding direction.

[0061] Through the above-mentioned flexible arm device, medical staff can control the bending movement of the head of the flexible arm 100 by operating the movement of the control rod 400. The control of the flexible arm 100 by the control rod 400 is realized by mechanical transmission, thereby avoiding the problems existing in controlling the bending movement of the flexible arm 100 by using electronic control devices. It has the advantages of high operational sensitivity, simple and reliable structure, and low cost.

[0062] In addition, it can be understood that there is no specific limit to the number of the control mechanisms 500 mentioned above, and only one group can be provided. In this case, the control rod 400 is hinged to the support arm 200 through the movable joint 300, and the two ends of the driving rod 520 are respectively hinged to the two sides of the movable joint 300, that is, the control rod 400 can only rotate in one direction relative to the support arm 200, and drive the flexible arm 100 to perform a unidirectional bending action through a control mechanism 500.

[0063] Of course, the number of control mechanisms 500 can also be set to multiple groups, for example, Figure 4As shown, four control mechanisms 500 are provided and distributed in a circular array around the movable joint 300. Four control lines 510 are fixed to the upper, lower, left, and right edges of the head of the flexible arm 100. The movable joint 300 is a universal joint, and the second return spring 310 is placed inside the universal joint, allowing the control rod 400 to bend in any direction relative to the support arm 200. Furthermore, the driving rod 520 is provided with a first connector 521 and a second connector 523 at each end. The first connector is connected to a first connecting shaft 522 by a ball joint, and the second connector 523 is connected to a second connecting shaft 524 by a ball joint. The axes of the first and second connecting shafts 522, 524 are perpendicular to each other. The first connecting shaft 522 is connected to the support arm 200 and can slide along the axis of the support arm 200. The second connecting shaft 524 is connected to the control rod 400, allowing the driving rod 520 to move with the control rod 400. In this way, medical personnel can control the bending movement of the head of the flexible arm 100 in any direction by rotating the control rod 400 in any direction.

[0064] Combine Figure 3 and Figure 4 As shown, in some embodiments, the control mechanism 500 may further include a movable pulley 530. In this case, a fixing member 525 is provided on the driving rod 520, and the movable pulley 530 is rotatably connected to the mounting member through the fixing member 525. The control line 510 is fixed to the support arm 200 after passing around the movable pulley 530 at one end away from the flexible arm 100, so that the movable pulley 530 follows the movement of the driving rod 520, and the movable pulley 530 is used to pull the control line 510 to move.

[0065] Furthermore, the control mechanism 500 may also include a fixed pulley 540, which is rotatably connected to the support arm 200. At this time, the control line 510 first passes around the fixed pulley 540 and then passes around the movable pulley 530. This arrangement prevents the control line 510 from sliding friction with the support arm 200 or the drive rod 520 when moving, thereby reducing wear on the control line 510 and increasing its service life. It can also change the moving direction of the control line 510, making the arrangement of the control line 510 more compact.

[0066] It is worth mentioning that the support arm 200 mentioned above can also be in any form, for example, Figure 5 As shown, in some embodiments, the support arm 200 may include an inner rod body 210, one end of the inner rod body 210 is fixed to the tail of the flexible arm 100, and the inner rod body 210 is provided with guide grooves 211 the same number as the control lines 510. The control lines 510 are passed through each guide groove 211, and the guide grooves 211 can be used to guide the moving direction of the control lines 510 to avoid position deviation of the control lines 510.

[0067] Furthermore, the support arm 200 may also include an outer cylinder 220, which is sleeved on the inner rod body 210. The outer cylinder 220 is used to shield each guide groove 211, thereby protecting the internal control line 510 and making the outer side of the support arm 200 smooth and tidy as a whole, with good aesthetics, and also convenient for medical staff to hold the support arm 200.

[0068] Combine Figure 3 and Figure 4 As shown, the support arm 200 may further include a mounting tube 230, one end of which is sleeved on the end of the outer cylinder 220 on the side facing away from the flexible arm 100, and the other end of which is connected to the movable joint 300. The mounting tube 230 is provided with mounting slots 231, the same number as the number of the control mechanisms 500. The fixed pulley 540 in each control mechanism 500 is disposed in the corresponding mounting slot 231, so that the control line 510 extends from the guide slot 211 and enters the mounting tube 230. Then, it passes through the mounting slot 231, bypasses the fixed pulley 540, and extends to the outside of the mounting tube 230 to connect with the movable pulley 530.

[0069] In addition, the first connecting shaft 522 can be connected to any position of the support arm 200, as long as the first connecting shaft 522 can slide on the support. Figure 3 As shown, in some embodiments, the support arm 200 may further include connecting wing plates 240, which are arranged in groups of two and are connected in parallel and at intervals to the outside of the mounting tube 230. Each connecting wing plate 240 is provided with a mounting groove 241 along the axial direction of the support arm 200, and both ends of the first connecting shaft 522 are respectively embedded in the groove to realize the movement of the first connecting shaft 522.

[0070] Combine Figure 1 and Figure 4 As shown, in some embodiments, the flexible arm device may further include a protective cover 600, which is connected to the support arm 200, so that the mounting cylinder 230, the movable joint 300, and each driving rod 520 are all located inside the protective cover 600 to protect each key movable component. A through hole 621 is provided on the protective cover 600, and the end of the control rod 400 away from the movable joint 300 extends from the through hole 621, which facilitates the medical staff to operate the control rod 400. In addition, the inner diameter of the through hole 621 is larger than the diameter of the control rod 400, so that the control rod 400 can rotate in any direction within the through hole 621. The size of the through hole 621 can also limit the range of motion of the control rod 400 to prevent the control rod 400 from moving too much and breaking the control line 510 or damaging the flexible arm 100.

[0071] The protective cover 600 can be an integrated structure or a split structure. For example, Figure 6As shown, in some embodiments, the protective cover shell 600 includes a cover body 610 and a cover body 620. One end of the cover body 610 is sleeved on the outer cylinder 220 and the other end is open. The cover body 620 seals the open end of the cover body 610, and a through hole 621 is opened on the cover body 610 to facilitate the installation and disassembly of the protective cover shell 600.

[0072] In some embodiments, the flexible arm device may further include a handle 420 connected to the end of the control rod 400 away from the movable joint 300. The handle 420 is suitable for medical personnel to hold, thereby improving the comfort of medical personnel when operating the control rod 400.

[0073] It is worth mentioning that the shape of the handle 420 is not limited, as long as it is suitable for medical staff to hold, and the handle 420 and the control rod 400 can be connected in an integral manner or in a split manner. Figure 1 、 Figure 7 and Figure 8 As shown, in some embodiments, the handle 420 is a spherical shell structure, the spherical shape is suitable for holding by the palm of the medical staff, and the handle 420 is composed of two symmetrical hemispherical shells, which are relatively buckled to form the spherical handle 420.

[0074] A mounting hole 421 is provided on the handle 420, and the end of the control rod 400 extends into the inside of the handle 420 through the mounting hole 421, and the end of the control rod 400 located on the inside of the handle 420 is connected to a fixing sleeve 430, and two symmetrically distributed connecting fins 431 are provided on the outer wall of the fixing sleeve 430. The connecting fins 431 are connected to one of the hemispherical shells by screws 432, thereby realizing the connection and fixation between the control rod 400 and the handle 420.

[0075] In addition, the execution device provided in this embodiment can be an endoscope, an electric knife or a grasping forceps 700. Figure 1 、 Figure 9 and Figure 10 As shown, the actuator is a gripper 700 having a control end 701, which can be opened or closed by moving the control end 701. A connecting tube 800 is provided at the head of the flexible arm 100, and the gripper 700 is connected to the end of the connecting tube 800 facing away from the flexible arm 100. A driving device 900 is connected to the control end 701 to control the opening and closing of the gripper 700 by driving the control end 701.

[0076] Specifically, combined with Figures 7 to 10As shown, the drive device 900 includes a drive member 910, a third return spring 930, a drive wire 920, and a sliding control member 940. The drive member 910 is slidably disposed within the connecting tube 800, with one end of the drive member 910 extending from the connecting tube 800 and connected to the control end 701 of the grasping forceps 700. The third return spring 930 is located within the connecting tube 800, with both ends of the third return spring 930 respectively connected to the drive member 910 and the flexible arm assembly, thereby resetting the drive member 910 after movement. The sliding control member 940 is slidably connected to the control rod 400 and is located on the side of the handle 420 near the grasping forceps 700. The ends of the drive wire 920 are respectively connected to the drive member 910 and the sliding control member 940.

[0077] During use, medical personnel pull the sliding control member 940 toward the handle 420. The sliding control member 940, through the driving member 910, pulls the driving member 910 to move, causing the grasping forceps 700 to close. After releasing the sliding control member 940, the third return spring 930 resets the driving member 910, causing the grasping forceps 700 to open. During operation, medical personnel grasp the handle 420 with their hands and use their fingers to pull the sliding control member 940. By controlling the pulling force on the sliding control member 940, the degree of opening and closing of the grasping forceps 700 can be controlled. Compared with a scissor-type structure, it is easier to operate, less likely to fatigue the medical personnel's hands, and more comfortable, ensuring the medical personnel's control precision of the grasping forceps 700 and safety during surgery.

[0078] In some embodiments, as Figure 7 and Figure 8 As shown, the sliding control member 940 includes a sliding sleeve 941 and a driving rod 942. The sliding sleeve 941 is mounted on the control rod 400, allowing the sliding sleeve 941 to move on the control rod 400. The driving rod 942 is connected to the outer wall of the driving rod 942 and is arranged in the radial direction of the sliding sleeve 941. Medical personnel can use their fingers to hook on the driving rod 942 to control the movement of the driving rod 942, making operation simpler and more convenient.

[0079] The driving rod 942 and the sliding sleeve 941 can be connected integrally or separately, and there is no limit on the number of driving rods 942. For example, in some embodiments, two driving rods 942 are provided and symmetrically arranged on both sides of the sliding sleeve 941. The two driving rods 942 are integrally connected to the sliding sleeve 941, making it easier for medical personnel to hook them onto the two driving rods 942, making it more comfortable and labor-saving to control the movement of the driving rods 942.

[0080] Combine Figure 4 、 Figure 8 and Figure 10As shown, in some embodiments, the inner rod body 210 and the control rod 400 can both be hollow structures, and the driving wire 920 can pass through the flexible arm 100, the inner side of the inner rod body 210, the mounting cylinder 230, the inner side of the movable joint 300 and the inner side of the control rod 400 in sequence and then be connected to the sliding sleeve 941, thereby avoiding exposure of the driving wire 920 and protecting the driving wire 920.

[0081] Correspondingly, the drive device 900 may further include a connecting end plate 960, which abuts against the end of the control rod 400 located inside the handle 420. The end of the drive wire 920 facing away from the drive member 910 is fixed to the connecting end plate, so that the drive wire 920 can be pulled to move by moving the connecting end plate 960. One end of the sliding sleeve 941 is inserted into the mounting hole 421, and the end of the sliding sleeve 941 that extends into the handle 420 is sleeved on the fixed sleeve 430. The diameter of the connecting end plate 960 is larger than the outer diameter of the fixed sleeve 430, so that the end of the sliding sleeve 941 can abut against the connecting end plate 960, thereby driving the connecting end plate 960 to move when the drive rod 942 is pulled.

[0082] And, combined with Figure 7 As shown, the sliding sleeve 941 is provided with a clearance groove 9413 , the number of which is consistent with the number of the connecting fins 431 , and the connecting fins 431 can be slidably embedded in the clearance groove 9413 to avoid affecting the movement of the sliding sleeve 941 .

[0083] Furthermore, a fourth reset spring 950 is provided between the sliding sleeve 941 and the control rod 400. The fourth reset spring 950 is used to reset the sliding sleeve 941, ensuring that the sliding sleeve 941 is reset after the medical staff releases the driving rod 942, so that the connecting end plate 960 can also be smoothly reset under the drive of the third reset spring 930.

[0084] Specifically, if Figure 8 As shown, a mounting cavity 9411 is provided between the sliding sleeve 941 and the control rod 400, the fourth return spring 950 is located in the mounting cavity 9411 and is sleeved on the control rod 400, and a limiting boss 9412 is provided on the inner wall of the sliding sleeve 941. One end of the fourth return spring 950 abuts against the limiting boss 9412 and the other end abuts against the fixed sleeve 430, thereby internally protecting the fourth return spring 950 and using the control rod 400 to guide the deformation of the fourth return spring 950.

[0085] In order to prevent the sliding sleeve 941 from falling out of the handle 420 under the elastic force of the fourth return spring 950, a limiting step 410 is further provided on the control rod 400. The end of the sliding sleeve 941 facing away from the handle 420 abuts against the limiting step 410, thereby limiting the position of the sliding sleeve 941 and ensuring that the sliding sleeve 941 will not fall out of the handle 420.

[0086] The medical device provided by the embodiment of the present invention utilizes a control rod 400 to drive the driving rod 520 to move, and then utilizes a movable pulley 530 on the driving rod 520 and a fixed pulley 540 on the support arm 200 to drive the control line 510 to move, causing the head of the flexible arm 100 to bend in the corresponding direction, thereby achieving mechanical transmission between the control rod 400 and the flexible arm 100, and improving the operational sensitivity and stability of the bending movement of the flexible arm 100. In addition, the control rod 400 and the support arm 200 are universally connected, and through the cooperation of multiple control mechanisms 500, the bending movement of the head of the flexible arm 100 in any direction can be controlled, which is more convenient for medical personnel to use during surgery. In addition, the spherical handle 420 at the end of the control rod 400 cooperates with the sliding control part 940. Medical staff can hold the handle 420 with their palms, and then hook two fingers on the two driving rods 942 respectively. By pulling the driving rods 942 with two fingers, the opening and closing movements of the grasping forceps 700 can be controlled. The hand is more comfortable during use and is less prone to fatigue, which ensures the control accuracy of the grasping forceps 700 during surgery and improves safety during surgery.

[0087] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications derived therefrom remain within the scope of protection of the present invention.

Claims

1. A flexible arm device, characterized in that: include: The flexible arm (100) is composed of a plurality of universal joints (110) connected in series, and a first return spring (120) is provided on the inner side thereof, with a head portion and a tail portion at both ends thereof; A support arm (200), one end of which is connected to the tail of the flexible arm (100); a movable joint (300), connected to one end of the support arm (200) facing away from the flexible arm (100), and provided with a second return spring (310); a control rod (400) connected to an end of the movable joint (300) facing away from the support arm (200), so that the control rod (400) can move relative to the support arm (200); A control mechanism (500) comprising a control line (510) and a driving rod (520), wherein both ends of the driving rod (520) are movably connected to both sides of the movable joint (300) so that the driving rod (520) can move along with the control rod (400), and one end of the control line (510) is fixed to the edge of the head of the flexible arm (100), and the other end is connected to the driving rod (520); The driving rod (520) is provided with a first connecting head (521) and a second connecting head (523) at both ends, respectively; the movable joint (300) is connected to a first connecting shaft (522) by a ball hinge; the first connecting shaft (522) is connected to the support arm (200) and can slide along the axial direction of the support arm (200); the second connecting head (523) is connected to a second connecting shaft (524) by a ball hinge; the axis of the second connecting shaft (524) is perpendicular to the axis of the first connecting shaft (522); the second connecting shaft (524) is fixedly connected to the control rod (400); The flexible arm device further comprises a movable pulley (530), wherein the movable pulley (530) is rotatably connected to the driving rod (520), and an end of the control line (510) facing away from the flexible arm (100) passes around the cylindrical surface of the movable pulley (530) and is then fixed to the support arm (200).

2. The flexible arm device according to claim 1, characterized in that: The movable joint (300) is a universal joint, and the control mechanism (500) is provided in multiple groups and distributed along a circular array around the support arm (200).

3. The flexible arm device according to claim 1, characterized in that: The flexible arm device further comprises a fixed pulley (540), the fixed pulley (540) being rotatably connected to the support arm (200), and the control line (510) first passes around the cylindrical surface of the fixed pulley (540) and then passes around the cylindrical surface of the movable pulley (530).

4. The flexible arm device according to claim 3, characterized in that: The support arm (200) comprises an inner support rod, one end of which is connected to the tail of the flexible arm (100), and the inner support rod is provided with guide grooves (211) the same number as the number of the control lines (510), and the control lines (510) are passed through the guide grooves (211).

5. The flexible arm device according to claim 4, characterized in that: The support arm (200) further comprises an outer cylinder (220), wherein the outer cylinder (220) is sleeved on the inner support rod and shields the guide groove (211).

6. The flexible arm device according to claim 5, characterized in that: The support arm (200) further comprises a mounting cylinder (230), one end of the mounting cylinder (230) being connected to a side of the outer cylinder (220) facing away from the flexible arm (100), and the other end being connected to the movable joint (300); The mounting tube (230) is provided with mounting grooves (231) the same number as the control mechanism (500), the fixed pulley (540) is rotatably connected in the mounting groove (231), and the control line (510) extends from the guide groove (211) into the mounting tube (230), passes through the mounting groove (231), bypasses the fixed pulley (540), and then extends to the outside of the mounting tube (230).

7. The flexible arm device according to claim 6, characterized in that: The support arm (200) further comprises a plurality of connecting wing plates (240) connected to the mounting cylinder (230), wherein the connecting wing plates (240) are provided with mounting slots (241) along the axial direction of the outer cylinder (220), and the first connecting shaft (522) is slidably embedded in the mounting slots (241).

8. The flexible arm device according to any one of claims 1 to 7, characterized in that: The flexible arm device further comprises a handle (420), wherein the handle (420) is connected to an end of the control rod (400) facing away from the movable joint (300).

9. The flexible arm device according to any one of claims 1 to 7, characterized in that: The flexible arm device further comprises a protective cover (600), wherein the protective cover (600) is connected to the support arm (200), the movable joint (300) and the driving rod (520) are both placed inside the protective cover (600), and at least a portion of the control rod (400) is located outside the protective cover.

10. The flexible arm device according to claim 9, characterized in that: The protective cover shell (600) is provided with a through hole (621), the control rod (400) passes through the through hole (621) and extends to the outside of the protective cover shell (600), and the diameter of the through hole (621) is greater than the diameter of the control rod (400).

11. The flexible arm device according to claim 10, characterized in that: The protective cover (600) comprises: a cover body (610) connected to the support arm (200), with an opening on one side facing away from the support arm (200); The cover body (620) covers the opening of the cover body (610), and the through hole (621) is provided on the cover body (620).

12. A medical device, characterized in that: The flexible arm device according to any one of claims 1 to 11, further comprising: an execution device connected to the head of the flexible arm (100); The driving device (900) is used to control the operation of the execution device.

13. The medical device according to claim 12, characterized in that The execution device is a grasping forceps (700), the head of the flexible arm device is connected to a mounting cylinder (230), the grasping forceps (700) is mounted on an end of the mounting cylinder (230) away from the flexible arm (100), and the driving device (900) is used to control the opening and closing action of the grasping forceps (700).

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