Flexible arm device and medical device

Abstract

The present invention provides a flexible arm device and medical device, the flexible arm device comprising: a flexible arm, a support rod, a handle and a control mechanism, a return spring being provided on the inner side of the flexible arm, which can be used to return the flexible arm to its original position after movement, a support rod being connected between the flexible arm and the handle, a control mechanism being provided on the handle, the control mechanism comprising a first control line, a pressing contact, a first control wheel and a first elastic member, one end of the first control line being fixed to one side of the head of the flexible arm and the other end being fixed to the handle, the pressing contact being slidably connected to the handle, the first control wheel being rotatably connected to the pressing contact, and the first control line being in contact with the cylindrical surface of the pressing contact. The first elastic member can return the pressing contact to its original position after movement. The device realizes mechanical control of the flexible arm, has the advantages of good control sensitivity, simpler and more reliable structure and low cost, and avoids the problem of failure of the electronic control device to move due to damage during surgery, thereby ensuring safety during surgery.

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. 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 the user uses 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 expensive, 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, with a head and a tail at each end, and a return spring provided on the inner side thereof;

[0008] a support rod connected to the tail of the flexible arm;

[0009] a handle connected to the support rod;

[0010] A control mechanism is arranged on the handle, and the control mechanism includes a first control line, a push contact, a first control wheel and a first elastic member. One end of the first control line is fixed to one side of the head of the flexible arm, and the other end is fixed to the handle. The push contact is slidably connected to the handle, and the first control wheel is rotatably connected to the push contact. The first control line rests on the cylindrical surface of the first control wheel, and the first elastic member is used to reset the first push contact.

[0011] Optionally, the control mechanism also includes: a second control line and a follower wheel, the follower wheel is rotatably connected to the handle, one end of the second control line is fixed to one side of the head of the flexible arm and is arranged opposite to the first control line, and the other end is fixed on the cylindrical surface of the follower wheel.

[0012] Optionally, the control mechanism is provided with two groups, the two first control lines are respectively a lower control line and a right control line, the two second control lines are respectively an upper control line and a left control line, the upper control line, the lower control line, the left control line and the right control line are respectively connected to the upper side, lower side, left side and right side of the flexible arm head.

[0013] Optionally, a connecting piece is provided at one end of the support rod facing away from the flexible arm, and two spaced connecting plates are provided on the connecting piece. A connecting shaft is provided between the two connecting plates, and one end of the handle is rotatably arranged between the two connecting plates through the connecting shaft.

[0014] Optionally, the flexible arm device further includes two second elastic members, which are respectively located on the upper and lower sides of the connecting shaft, and two ends of the second elastic member are respectively connected to the connecting member and the handle.

[0015] Optionally, countersunk holes are provided on the sides of the connecting member and the handle that are close to each other, and the two ends of the second elastic member are respectively embedded in the countersunk holes on both sides.

[0016] Optionally, the two follower wheels are respectively located on the upper and lower sides of the connecting shaft, and two rotatable guide wheels are provided between the two connecting plates. The upper control line passes around the two guide wheels and is connected to the follower wheel on the lower side, and the left control line passes around the two guide wheels and is connected to the follower wheel on the upper side.

[0017] Optionally, the handle includes a body having a cavity provided on the body, the support rod is a hollow rod, the follower wheel and the first control wheel are both arranged in the cavity, and the first control line and the second control line are both passed through the inner side of the support rod and extend into the cavity.

[0018] Optionally, the handle further comprises a cover plate, which is connected to the body and seals the cavity.

[0019] Optionally, the main body is a U-shaped structure with an opening facing upward, with a connecting portion and a gripping portion on either side of the opening, the top of the connecting portion being connected to the connecting shaft, and the gripping portion being suitable for a user to grip.

[0020] Optionally, the two pressing contacts are arranged on the gripping portion with an interval therebetween.

[0021] Optionally, a plurality of guide wheels are provided in the cavity of the handle, and the first control line passes around the corresponding guide wheels and rests against the first control wheels.

[0022] Optionally, the handle further includes a gripping shell, which is sleeved on the gripping portion, and the outer shape of the gripping shell is an arc-shaped structure adapted to the gripping state of the user's hand.

[0023] Optionally, the handle further includes a pressing shell, which is sleeved on the pressing contact, and at least a portion of the pressing shell is located outside the gripping shell.

[0024] On the other hand, the medical device provided by the present invention adopts the following technical solution:

[0025] A medical device, comprising the flexible arm device provided in any one of the above embodiments, further comprising:

[0026] an execution component connected to the head of the flexible arm;

[0027] The driving mechanism is connected to the execution component and is used to drive the execution component to move.

[0028] Optionally, the actuator is a grasping forceps, and the driving mechanism is used to drive the grasping forceps to open or close; the medical device also includes a mounting tube, one end of which is fixed to the head of the flexible arm, and the grasping forceps is fixed to the end thereof facing away from the flexible arm.

[0029] Optionally, the driving mechanism includes:

[0030] a driving member slidably disposed in the mounting tube and connected to the grasping forceps;

[0031] a third elastic member, disposed in the mounting tube and located between the driving member and the flexible arm, for resetting the driving member;

[0032] a control shaft rotatably connected to the grip portion and having a second control wheel fixed thereon;

[0033] A third control line has one end connected to the driving member and the other end fixed to the cylindrical surface of the second control wheel.

[0034] Optionally, the driving mechanism further includes a control knob, which is fixedly connected to the control shaft and has an arc-shaped operating surface suitable for the user's thumb to fit on. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 A schematic structural diagram of a medical device provided in an embodiment of the present invention;

[0037] Figure 2 It is a partial exploded structural diagram of the flexible arm structure in the flexible arm device;

[0038] Figure 3 It is a structural diagram of the control mechanism in the handle;

[0039] Figure 4 A partial structural diagram of the connection between the press contact and the gripping portion;

[0040] Figure 5 This is a partial exploded structural diagram of the connection between the handle body and the cover;

[0041] Figure 6 This is a partial exploded structural diagram of the assembly relationship between the connector and the handle;

[0042] Figure 7 A partial exploded structural diagram showing the connection between the grip shell and the grip portion;

[0043] Figure 8 A partial exploded structural diagram showing the connection between the grasping forceps, mounting cylinder, control mechanism, and flexible arm;

[0044] Figure 9 A partial cross-sectional view showing the connection between the grasping forceps, the mounting cylinder, the control mechanism and the flexible arm;

[0045] Description of reference numerals:

[0046] 100, flexible arm; 110, universal joint; 120, return spring;

[0047] 200, support rod;

[0048] 300, connecting member; 310, connecting plate; 320, connecting shaft; 330, second elastic member; 340, guide wheel;

[0049] 400, control mechanism; 410, upper control line; 420, lower control line; 430, left control line; 440, right control line; 450, pressing contact; 460, first control wheel; 470, first elastic member; 471, slide rod; 480, follower wheel;

[0050] 500, handle; 510, body; 511, connection portion; 512, grip portion; 520, cover; 530, grip housing; 540, pressing housing; 550, guide wheel;

[0051] 600, Grasping Forceps;

[0052] 700, installing the cylinder;

[0053] 800 , driving mechanism; 810 , sliding member; 820 , third elastic member; 830 , third control line; 840 , second control wheel; 850 , control shaft; 860 , control knob. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] The embodiment of the present invention provides a medical device, Figures 1 to 9 As shown, the medical device includes a flexible arm device, an actuator and a driving mechanism 800. The actuator is installed on the flexible arm device, and the driving mechanism 800 can control the movement of the actuator.

[0059] The flexible arm device provided in this embodiment includes: a flexible arm 100 , a support rod 200 , a handle 500 and a control mechanism 400 .

[0060] like Figure 1 As shown, the flexible arm 100 is composed of a plurality of universal joints 110 connected in series. The number of universal joints 110 is not limited. For example, four universal joints 110 are provided in this embodiment. A return spring 120 is provided on the inner side of the flexible arm 100, which can be used to reset the flexible arm 100 after operation. The flexible arm 100 has a head and a tail at both ends, respectively. One end of the support rod 200 is connected to the tail of the flexible arm 100, and the other end is connected to the handle 500. The handle 500 is suitable for the user to hold, making it easier to operate the medical device.

[0061] like Figure 2 As shown, the control mechanism 400 is disposed on the handle 500 and is used to control the movement of the flexible arm 100. Specifically, the control mechanism 400 includes a first control wire, a push contact 450, a first control wheel 460, and a first elastic member 470. One end of the first control wire is fixed to one side of the head of the flexible arm 100, for example, to the upper, lower, left, or right side of the head of the flexible arm 100. The end of the first control wire facing away from the flexible arm 100 is fixed to the handle 500. The push contact 450 is slidably connected to the handle 500, and the first control wheel 460 is rotatably connected to the push contact 450. The first control wire abuts against the cylindrical surface of the push contact 450. The first elastic member 470 is connected between the push contact 450 and the handle 500 to reset the push contact 450 after movement.

[0062] With the flexible arm device described above, during use, a user can press the pressing contact 450 on the handle 500 to drive the first control wheel 460 to move. The movement of the first control wheel 460 compresses the first control wire, causing the end of the first control wire to move toward the handle 500, thereby pulling the flexible arm 100 to bend in that direction, thereby achieving the user's purpose of manually controlling the swinging of the flexible arm 100. When the user releases the pressing contact 450, the pressing contact 450 returns to its original position under the action of the first elastic member 470, and the flexible arm 100 returns to its original position under the action of the return spring 120, while the first control wire remains in contact with the first control wheel 460. Therefore, by controlling the pressure applied to the pressing contact 450, the user can control the bending amplitude of the flexible arm 100, providing greater control sensitivity. Furthermore, compared to electronically driven flexible arm 100 systems, the structure is simpler and more reliable, reducing manufacturing costs and avoiding the problem of failure of the electronic control components during surgery, thereby ensuring safety during surgery.

[0063] In some embodiments, as Figure 3 As shown, the control mechanism 400 may further include a second control cable and a follower wheel 480. One end of the second control cable is also connected to one side of the head of the flexible arm 100 and is positioned opposite the first control cable. For example, if the end of the first control cable is connected to the bottom side of the flexible arm 100, the end of the second control cable may be connected to the top side of the head of the flexible arm 100. The follower wheel 480 is rotatably connected to the handle 500, and the end of the second control cable facing away from the flexible arm 100 is fixed to the cylindrical surface of the follower wheel 480.

[0064] In addition, it is worth mentioning that the above-mentioned control mechanism 400 is not limited to being set in one group, but can also be set in multiple groups, with different control mechanisms 400 respectively controlling the bending of the flexible arm 100 in different directions. Figure 3 and Figure 4 As shown, two groups of control mechanisms 400 are provided. In the two groups of control mechanisms 400, the two first control lines include: a lower control line 420 and a right control line 440, and the second control line includes an upper control line 410 and a left control line 430. The upper control line 410, the lower control line 420, the left control line 430 and the right control line 440 are respectively connected to the upper side, the lower side, the left side and the right side of the head of the flexible arm 100. Therefore, the bending action of the head of the flexible arm 100 downward and to the right can be controlled by two pressing contacts 450.

[0065] In some embodiments, a combination of 5 and Figure 6 As shown, the flexible arm device may further include a connector 300, which is disposed at the end of the support rod 200 facing away from the flexible arm 100. The connector 300 is provided with two parallel and spaced connecting plates 310, a connecting shaft 320 is provided between the two connecting plates 310, and the handle 500 is rotatably disposed between the two connecting plates 310 via the connecting shaft 320. In this way, the handle 500 can rotate relative to the support rod 200, and the user can adjust the angle of the handle 500 based on actual conditions during operation, thereby improving the convenience and comfort of operation.

[0066] The connection between the support rod 200 and the connecting member 300 can be integral or split. For example, the connecting member 300 is provided with a through hole, and the end of the support rod 200 is inserted into the through hole and fixed to the connecting frame.

[0067] Similarly, the connection between the connecting member 300 and the connecting plate 310 can be integrated or separated, for example, Figure 6As shown, the connecting plate 310 on one side and the connecting member 300 are an integrated structure, and the connecting plate 310 on the other side and the connecting member 300 are a split structure. The connecting plate 310 and the connecting member 300 are fixed with bolts, and the connecting shaft 320 is plugged and fixed on the two connecting plates 310 to facilitate connection and assembly with the handle 500.

[0068] Furthermore, a second elastic member 330 may be provided between the connecting member 300 and the handle 500. Figure 6 As shown, two second elastic members 330 are provided, and the two second elastic members 330 are respectively located on the upper and lower sides of the connecting shaft 320. The second elastic member 330 is located in the gap between the connecting member 300 and the handle 500, and the two ends of the second elastic member 330 are respectively connected between the connecting member 300 and the handle 500. The two second elastic members 330 can drive the handle 500 to reset after the handle 500 and the connecting member 300 rotate relative to each other.

[0069] The connection method of the third elastic member 820, the connecting member 300 and the handle 500 is not limited. For example, Figure 3 and Figure 6 As shown, countersunk holes are provided on the sides of the connecting member 300 and the handle 500 that are close to each other, and the two ends of the third elastic member 820 are respectively embedded in the countersunk holes on both sides.

[0070] In some embodiments, as Figure 3 As shown, the two follower wheels 480 can be located on the upper and lower sides of the connecting shaft 320 respectively. At this time, two rotatable guide wheels 340 can be set between the two connecting plates 310. The two guide wheels 340 are arranged at intervals up and down. The upper control line 410 passes around the two guide wheels 340 in sequence from top to bottom and is connected to the follower wheel 480 on the lower side. The left control line 430 passes around the two guide wheels 340 in sequence from bottom to top and is connected to the follower wheel 480 on the upper side.

[0071] In some embodiments, as Figure 5 As shown, the handle 500 includes a main body 510 and a cover plate 520. The main body 510 has a cavity, and the cover plate 520 is detachably connected to the main body 510 and shields the cavity. At this time, the support rod 200 is a hollow rod, and each first control line and each second control line can be passed through the inner side of the support rod 200 and extend into the cavity of the main body 510 after passing through the support rod 200. Correspondingly, the first control wheel 460 and the follower wheel 480 are also arranged in the cavity and connected to the first control line and the second control line respectively. In this way, the first control line and the second control line can be shielded to prevent the control lines from leaking out and affecting the control of the flexible arm 100, and accordingly improve the overall aesthetics of the flexible arm device. In addition, the detachable cover plate 520 also facilitates the connection and installation of various components in the cavity.

[0072] Furthermore, in some embodiments, Figure 5 As shown, the main body 510 can also be a U-shaped structure with the opening facing upward. In this case, the main body 510 has a connecting portion 511 and a gripping portion 512 on both sides of the opening. A connecting hole is provided at the top of the connecting portion 511, which is rotatably connected to the connecting shaft 320 through the connecting hole. The gap between the gripping portion 512 and the connecting portion 511 is suitable for the user's fingers to pass through, so that the gripping portion 512 is suitable for the user to hold and operate.

[0073] Accordingly, the two push contacts 450 are connected to the top of the grip portion 512, and the two push contacts 450 are spaced apart from each other. In this way, the user can place the index finger and middle finger on the two push contacts 450, respectively, which not only makes it easier for the user to grip the handle 500, but also makes it easier for the user to control the movement of the two push contacts 450 while gripping the handle 500. The two follower wheels 480 are connected to the top of the connecting portion 511 to facilitate connection with the upper control line 410 and the left control line 430.

[0074] It is worth mentioning that, in order to accommodate the U-shaped structure of the handle 500 and allow the lower control line 420 and the right control line 440 to pass through the U-shaped cavity and connect to the first control wheel 460, multiple guide wheels 550 may be provided in the cavity, so that the lower control line 420 and the right control line 440 can pass through the corresponding guide wheels 550 in sequence before connecting to the first control wheel 460. The number and position of the guide wheels 550 are not specifically limited. For example, a guide wheel 550 is provided at each corner of the cavity to guide the direction of the control line.

[0075] In some embodiments, the handle 500 may further include a grip housing 530, Figure 1 and Figure 7 As shown, the gripping shell 530 is sleeved on the gripping portion 512 , and the outer shape of the gripping shell 530 is an arc-shaped structure adapted to the user's hand when gripping, so as to improve the user's comfort when gripping.

[0076] In some embodiments, the handle 500 may further include a pressing housing 540, Figure 1 and Figure 7 As shown, the number of pressing shells 540 is consistent with the number of pressing contacts 450, the pressing shells 540 are mounted on the pressing contacts 450, and the pressing shells 540 are at least partially located on the outside of the holding shell 530, and the end of the pressing shell 540 located on the outside of the holding shell 530 is an arc-shaped surface adapted to the user's fingers, thereby improving the user's comfort during the pressing process.

[0077] The above-mentioned gripping shell 530 and the gripping portion 512 can be connected in one piece or in a separate piece. For example, Figure 7As shown, the gripping housing 530 is composed of two symmetrical shells that snap onto the gripping portion 512 to facilitate the connection and assembly of the gripping housing 530 and the gripping portion 512. The gripping housing 530 is provided with two through slots, and the two pressing housings 540 extend through the corresponding through slots to the outside of the gripping housing 530.

[0078] The medical device provided in this embodiment, by using the above-mentioned flexible arm device, can better drive the actuator to move in the natural cavity of the patient's body.

[0079] The above-mentioned execution component can be an endoscope, an electric knife or a grasping forceps 600, for example, Figure 8 and Figure 9 As shown, when the actuator is a grasping forceps 600 , the medical device further includes a mounting tube 700 , one end of which is sleeved and fixed on the head of the flexible arm 100 , and the grasping forceps 600 is mounted on a side of the mounting tube 700 away from the flexible arm 100 .

[0080] At this time, the driving mechanism 800 includes: a driving member 810 , a third elastic member 820 , a control shaft 850 , a second control wheel 840 and a third control wire 830 .

[0081] Specifically, combined Figure 3 、 Figure 8 and Figure 9 As shown, the driving member 810 is a disc structure that is slidably connected to the mounting tube 700. A connecting rod is provided on the driving member 810 to connect to the grasping forceps 600, thereby controlling the opening and closing of the grasping forceps 600 by sliding the driving member 810 within the mounting tube 700. A third elastic member 820 is disposed between the driving member 810 and the flexible arm 100, and one end of a third control wire 830 is fixed to the driving member 810. A control shaft 850 is rotatably connected to the handle 500, and a second control wheel 840 is fixed to the control shaft 850. The end of the third control wire 830 facing away from the flexible arm 100 is fixed to the cylindrical surface of the second control wheel 840. Thus, the third control line 830 can be pulled to move by rotating the second control wheel 840, causing the driving member 810 to slide toward the side of the flexible arm 100. At this time, the grasping forceps 600 is closed. After releasing the second control wheel 840, the driving member 810 is reset under the action of the third elastic member 820, and the grasping forceps 600 is opened. The second control wheel 840 is also reset under the pulling of the third control line 830, thereby realizing the control of the grasping forceps 600.

[0082] The positions of the control shaft 850 and the second control wheel 840 on the handle 500 are not limited. For example, Figure 3 As shown, the control shaft 850 is provided at the top of the grip portion 512 . When the user is gripping the device, he or she can use the thumb to rotate the second control wheel 840 , thereby improving the convenience of operation.

[0083] In some embodiments, the drive mechanism 800 may further include a control knob 860, such as Figure 7 As shown, the control knob 860 is fixed to one end of the control shaft 850. A clearance groove is provided on the top of the grip housing 530, and the control knob 860 is rotatably embedded in the clearance groove, so that the control knob 860 is located outside the grip housing 530. Furthermore, the grip housing 530 is provided with a curved operating surface suitable for the user's thumb to fit, allowing the user to more easily turn the second control wheel 840.

[0084] 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: A flexible arm (100) is composed of a plurality of universal joints (110) connected in series, with a head and a tail at each end, and a return spring (120) provided on the inner side thereof; The support rod (200) is a hollow rod connected to the tail of the flexible arm (100); A handle (500) is connected to the support rod (200); the handle (500) comprises a body (510), the body (510) is a U-shaped structure with an opening facing upward, the body (510) has a U-shaped cavity, and two sides of the opening are respectively a connecting portion (511) and a gripping portion (512), and the gripping portion (512) is suitable for a user to grip; A control mechanism (400) is provided on the handle (500), the control mechanism (400) comprising a first control line, a pressing contact (450), a first control wheel (460), a first elastic member (470), a second control line, a follower wheel (480) and a plurality of guide wheels, the first control wheel (460), the first elastic member (470) and the plurality of guide wheels being provided in the cavity, one end of the first control line being fixed to one side of the head of the flexible arm (100), the other end passing through the support rod (200), bypassing the plurality of guide wheels and the first control wheel (460) and then being fixed to the handle (500), The pressing contact (450) is slidably connected to the holding portion (512), the first control wheel (460) is rotatably connected to the pressing contact (450), the first control line abuts against the cylindrical surface of the first control wheel (460), the first elastic member (470) is used to reset the pressing contact (450), the follower wheel (480) is rotatably connected to the connecting portion (511), one end of the second control line is fixed to one side of the head of the flexible arm (100) and is arranged opposite to the first control line, and the other end passes through the support rod (200) and is fixed to the cylindrical surface of the follower wheel (480); An execution component connected to the head of the flexible arm (100); A driving mechanism (800) is connected to the actuator and is used to drive the actuator to move. The driving mechanism (800) includes a control shaft (850), a third control line (830) and a control knob (860). The control shaft (850) is rotatably connected to the gripping portion (512). A second control wheel (840) is fixed to the control shaft (850). One end of the third control line (830) is connected to the actuator, and the other end passes through the flexible arm (100) and the support rod (200) and is fixed to the cylindrical surface of the second control wheel (840). The control knob (860) is fixedly connected to the control shaft (850).

2. The flexible arm device according to claim 1, characterized in that: The control mechanism (400) is provided with two groups, the two first control lines are respectively a lower control line (420) and a right control line (440), and the two second control lines are respectively an upper control line (410) and a left control line (430), and the upper control line (410), the lower control line (420), the left control line (430) and the right control line (440) are respectively connected to the upper side, the lower side, the left side and the right side of the head of the flexible arm (100).

3. The flexible arm device according to claim 2, characterized in that: A connecting piece (300) is provided at one end of the support rod (200) facing away from the flexible arm (100), and two spaced connecting plates (310) are provided on the connecting piece (300). A connecting shaft (320) is provided between the two connecting plates (310), and one end of the handle (500) is rotatably arranged between the two connecting plates (310) via the connecting shaft (320).

4. The flexible arm device according to claim 3, characterized in that: The flexible arm device further comprises two second elastic members (330), the two second elastic members (330) being respectively located on the upper and lower sides of the connecting shaft (320), and the two ends of the second elastic member (330) being respectively connected to the connecting member (300) and the handle (500).

5. The flexible arm device according to claim 4, characterized in that: Countersunk holes are provided on the sides of the connecting member (300) and the handle (500) that are close to each other, and the two ends of the second elastic member (330) are respectively embedded in the countersunk holes on both sides.

6. The flexible arm device according to claim 4, characterized in that: The two follower wheels (480) are respectively located on the upper and lower sides of the connecting shaft (320). Two rotatable guide wheels (340) are further provided between the two connecting plates (310). The upper control line (410) passes around the two guide wheels (340) and is connected to the follower wheel (480) on the lower side. The left control line (430) passes around the two guide wheels (340) and is connected to the follower wheel (480) on the upper side.

7. The flexible arm device according to claim 1, characterized in that: The handle (500) further comprises a cover plate (520), wherein the cover plate (520) is connected to the body (510) and seals the cavity.

8. The flexible arm device according to claim 3, characterized in that: The top end of the connecting portion (511) is connected to the connecting shaft (320).

9. The flexible arm device according to claim 2, characterized in that: The two pressing contacts (450) are arranged on the gripping portion (512) at intervals in the upper and lower directions.

10. The flexible arm device according to claim 1, wherein: The handle (500) further comprises a gripping shell (530), wherein the gripping shell (530) is sleeved on the gripping portion (512), and the outer shape of the gripping shell (530) is an arc-shaped structure adapted to the gripping state of a user's hand.

11. The flexible arm device according to claim 10, characterized in that: The handle (500) further comprises a pressing shell (540), wherein the pressing shell (540) is sleeved on the pressing contact (450), and at least a portion of the pressing shell (540) is located outside the holding shell (530).

12. A medical device, characterized in that: The flexible arm device comprises the flexible arm device according to any one of claims 1-11.

13. The medical device according to claim 12, characterized in that The execution component is a grasping forceps (600), and the driving mechanism (800) is used to drive the grasping forceps (600) to open or close; The medical device further comprises a mounting tube (700), one end of which is fixed to the head of the flexible arm (100), and the grasping forceps (600) is fixed to one end thereof facing away from the flexible arm (100).

14. The medical device according to claim 13, characterized in that The driving mechanism (800) further includes: A driving member (810) is slidably disposed in the mounting cylinder (700) and connected to the grasping forceps (600); A third elastic member (820) is disposed in the mounting cylinder (700), located between the driving member (810) and the flexible arm (100), and is used for resetting the driving member (810); One end of the third control line (830) is connected to the driving member (810).

15. The medical device according to claim 14, characterized in that The control knob (860) is provided with a curved operating surface suitable for the user's thumb to fit into.

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