A control mechanism for a flexible robotic arm and a medical device

Abstract

The present application relates to the field of medical robotics, and more particularly to a control mechanism for a flexible robotic arm and a medical device. The control mechanism comprises a first swing control structure comprising a first swing line, a second swing line, a first screw, a second screw, and a first rotating screw. The distal ends of the two swing lines are fixed to the distal end of the first flexible arm. The proximal ends of the swing lines are connected to corresponding screws. The first screw and the second screw are disposed on either side of the first rotating screw. The first rotating screw is rotatably connected to the proximal end of the first flexible arm and has first and second threads with opposite rotation directions. The first and second threads respectively engage with the inner threads of the first and second screws. Rotation of the first rotating screw can cause one of the two swing lines to tighten and the other to release, thereby controlling the swing of the first flexible arm. The control mechanism has a simple structure, simple operation, and accurate swing control, which is conducive to the design of a simple, high-precision, and miniaturized surgical robot.

Description

Technical Field

[0001] The present application relates to the technical field of medical robots, and in particular to a control mechanism of a flexible robotic arm and a medical device. Background Art

[0002] With the advancement of minimally invasive surgery, surgical robots have become widely used in the medical field. Surgical robots are a new interdisciplinary research field that integrates medicine, biomechanics, mechanics, mechanical mechanics, materials science, computer graphics, computer vision, mathematical analysis, robotics, and other disciplines. They are currently a hot topic in robotics research both domestically and internationally. Surgical robots offer advantages over traditional medical staff in terms of patience, attentiveness, and physical fatigue, reducing errors, enhancing safety, simulating surgeries, and providing comprehensive care.

[0003] Using flexible robotic arms for surgery can significantly improve minimally invasive procedures. For example, the combination of electrocoagulation forceps and a flexible arm can be used in internal surgery for hemostasis and coagulation, improving surgical efficiency. However, current flexible robotic arms suffer from low control accuracy, complex operating structures, large size, and high cost. Summary of the Invention

[0004] The present application provides a control mechanism for a flexible robotic arm to improve the operational accuracy of the control mechanism of the flexible robotic arm, simplify, miniaturize and compact the control mechanism, facilitate remote surgery and reduce costs.

[0005] In one aspect, an embodiment of the present application provides a control mechanism for a flexible robotic arm, the control mechanism comprising a first swing control structure, the first swing control structure comprising a first swing line, a second swing line, a first screw, a second screw, and a first rotating screw;

[0006] The first swing line and the second swing line both pass through the first flexible arm and are symmetrically arranged about the axis of the first flexible arm; the distal ends of the first swing line and the second swing line are both fixed to the distal end of the first flexible arm; the proximal ends of the first swing line and the second swing line are respectively connected to the first screw piece and the second screw piece;

[0007] The first spiral piece and the second spiral piece are arranged on both sides of the first rotating screw;

[0008] The first rotating screw is rotatably connected to the proximal end of the first flexible arm, and the outer surface of the first rotating screw has a first thread and a second thread with opposite rotation directions; the first thread and the second thread are respectively matched with the inner thread of the first screw piece and the inner thread of the second screw piece;

[0009] The rotation of the first rotating screw can drive the first screw and the second screw to move in opposite directions, so as to tighten one of the first swing line and the second swing line and release the other, thereby controlling the swing of the first flexible arm.

[0010] In some optional embodiments, the first swing control structure further includes a first sleeve; the first sleeve has a first accommodating cavity for accommodating the first screw piece, the second screw piece and the first rotating screw;

[0011] The first rotating screw and the first sleeve rotate independently;

[0012] The outer surfaces of the first spiral piece and the second spiral piece are respectively provided with a first convex portion and a second convex portion; the first sleeve is respectively provided with a first guide groove and a second guide groove corresponding to the first convex portion and the second convex portion;

[0013] The first guide groove and the second guide groove are used to guide the first protrusion and the second protrusion to move along the extending direction of the first rotating screw.

[0014] In some optional embodiments, the first swing control structure further includes a first adjusting screw and a second adjusting screw, wherein the proximal ends of the first adjusting screw and the second adjusting screw are threadedly connected to the first screw piece and the second screw piece respectively;

[0015] The distal ends of the first adjusting screw and the second adjusting screw are connected to the proximal ends of the first swing line and the second swing line respectively;

[0016] The relative rotation of the first adjusting screw and the first screw can adjust the tightening degree of the first swing line; the relative rotation of the second adjusting screw and the second screw can adjust the tightening degree of the second swing line.

[0017] In some optional embodiments, the control structure further includes a first control wheel;

[0018] The first control wheel, the first flexible arm and the first sleeve are relatively fixed and rotate synchronously.

[0019] In some optional embodiments, the first swing control structure also includes a first connecting plate, the distal end of which is fixed to the first control wheel; a slot is provided at the proximal end of the first connecting plate, which is used to engage the first limiting step on the outside of the first rotating screw.

[0020] In some optional embodiments, the first swing control structure further includes a second control wheel;

[0021] The second control wheel is disposed at the proximal end of the first rotating screw and is used to control the rotation of the first rotating screw.

[0022] In some optional embodiments, the flexible robotic arm includes a second flexible arm, the second flexible arm passes through the first flexible arm, the first rotating screw is a hollow structure, and the second flexible arm passes through the hollow structure of the first rotating screw;

[0023] The control mechanism further includes a second swing control structure, which is disposed at the proximal end of the first swing control structure and has the same structure as the first swing control structure, and is used to control the swing of the second flexible arm.

[0024] In some optional embodiments, the flexible robotic arm further comprises an electrocoagulation forceps, the electrocoagulation forceps being disposed at the distal end of the flexible robotic arm, the electrocoagulation forceps comprising a first clamp head and a second clamp head, the second clamp head being hingedly connected to the first clamp head, and the control mechanism further comprising a clamp head control structure;

[0025] The clamp head control structure is arranged at the proximal end of the flexible robotic arm; the clamp head control structure includes a control rope and a rotation control shaft,

[0026] The distal end of the control rope is connected to the proximal end of the second clamp head; the proximal end of the control rope is fixed to the rotation control shaft; the rotation of the rotation control shaft can cause the control rope to rotate synchronously, thereby driving the electrocoagulation forceps to rotate.

[0027] In some optional embodiments, the clamp head control structure further includes a third sleeve and a screw rod with threads matching each other; the distal end of the third sleeve is fixed to the proximal end of the rotation control shaft;

[0028] The rotation of the screw drives the third sleeve to move along the axial direction of the screw, thereby driving the control rope to push or pull the second clamp head to control the opening and closing of the second clamp head relative to the first clamp head.

[0029] In some optional embodiments, a first conductive ring and a first spring pin are provided in the third sleeve.

[0030] The first conductive ring is fixed to the inner wall of the third sleeve and is electrically connected to an external power supply;

[0031] One end of the first spring pin is disposed on the rotation control shaft and electrically connected to the control rope, and the other end is always in contact with the first conductive ring.

[0032] In some optional embodiments, the clamp head control structure further includes a wire, a second conductive ring and a second spring pin.

[0033] The distal end of the guide wire is connected to the proximal end of the first clamp head; the proximal end of the guide wire is fixed to the rotation control shaft;

[0034] The second conductive ring is fixed to the inner side of the outer wall of the third sleeve and is electrically connected to an external power supply;

[0035] One end of the second spring pin is fixed on the rotation control shaft and electrically connected to the wire, and the other end is always in contact with the second conductive ring.

[0036] On the other hand, an embodiment of the present application provides a medical device, comprising the above-mentioned control mechanism, and further comprising a flexible robotic arm, wherein the flexible robotic arm comprises a first flexible arm and a second flexible arm;

[0037] The second flexible arm includes a first swing section and a second swing section connected to each other;

[0038] The first swing section is located inside the first flexible arm and swings along with the first flexible arm; the second swing section extends from the far end of the first flexible arm and swings under the control of the control mechanism.

[0039] In some optional embodiments, a top sleeve is fixedly provided at the distal end of the first flexible arm, and a limit block is fixedly provided at the proximal end of the second swinging section;

[0040] The top sleeve has a second accommodating cavity for accommodating the limiting block, allows the limiting block to rotate in the second accommodating cavity, and limits the movement of the limiting block in the axial direction.

[0041] In some optional embodiments, the flexible robotic arm further includes electrocoagulation forceps.

[0042] On the one hand, the present application controls the movement of the outer spiral blade of the rotating screw by setting the rotating screw at the proximal end of the flexible arm, and then controls the movement of the proximal end of the swing line connected to the spiral blade to drive the swing of the flexible arm; the control structure of the flexible robotic arm can be simplified, miniaturized and compacted, and the cost can be reduced; by setting the drive structure and the control mechanism integrated, remote surgery can be facilitated.

[0043] On the other hand, in the present application, a plurality of flexible arms are provided, and the control structures of the plurality of flexible arms are arranged in sequence along the axial direction, which can reduce the volume of the control mechanism and simplify the design.

[0044] On the other hand, the present application uses a wire and a control rope to independently control the power on and off of the two clamp heads in the electrocoagulation forceps, thereby improving the safety of the use of the electrocoagulation forceps. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0046] Figure 1 This is a schematic diagram of the overall structure of a flexible arm in a flexible robotic arm provided in an embodiment of the present application;

[0047] Figure 2 This is a schematic diagram of the internal structure of a flexible arm provided in an embodiment of the present application;

[0048] Figure 3 This is a schematic diagram of the control principle swing of the first flexible arm provided in an embodiment of the present application;

[0049] Figure 4 is a schematic diagram of the swing of the first flexible arm provided in an embodiment of the present application;

[0050] Figure 5 1 is a structural diagram of a first swing control structure in a control mechanism of a flexible robotic arm provided in an embodiment of the present application;

[0051] Figure 6 is a structural diagram of a control mechanism of a flexible robotic arm provided in an embodiment of the present application, including a second swing control structure;

[0052] Figure 7 This is a schematic structural diagram of a flexible robotic arm provided in an embodiment of the present application;

[0053] Figure 8 This is a schematic structural diagram of an electrocoagulation forceps in a flexible robotic arm provided in an embodiment of the present application;

[0054] Figure 9 This is a schematic diagram of the internal structure of an electrocoagulation forceps provided in an embodiment of the present application;

[0055] Figure 10 This is a structural schematic diagram of a clamp head control structure in a control mechanism of a flexible robotic arm provided in an embodiment of the present application.

[0056] The meanings of the numbers in the accompanying drawings are:

[0057] 11-first flexible arm, 111-top sleeve, 12-second flexible arm, 121-first swing section, 122-second swing section, 123-limiting block;

[0058] 2 - electrocoagulation forceps, 21 - first forceps head, 22 - second forceps head, 23 - sheath, 231 - groove, 24 - fixing plate, 241 - first fixing plate, 242 - second fixing plate, 25 - hinge joint, 26 - terminal; 271 - first pin; 272 - second pin, 273 - third pin, 274 - fourth pin, 275 - fifth pin;

[0059] 31A-first swing control structure, 311A-first swing line, 312A-second swing line; 313A-first screw, 3131A-first adjustment screw, 3132A-first protrusion; 314A-second screw; 315A-first control wheel; 316A-first connecting plate; 317A-first rotation screw, 3171A-second control wheel, 3172A-first limiting step; 318A-first sleeve, 3181A-upper sleeve, 3182A-lower sleeve; 31B-second swing control structure, 311B-third cycloid, 312B-fourth cycloid, 315B-third control wheel, 3171B-fourth control wheel; 32-clamp head control structure, 321-control rope, 322-guide wire, 323-rotation control shaft, 3231-fifth control wheel, 324-third sleeve; 3241-circular snap ring, 326-screw rod, 3261-sixth control wheel, 327-first conductive ring, 328-first spring pin; 329-second conductive ring, 3210-second spring pin; 33-support structure, 331-pendant assembly, 3311-first pendant, 3312-second pendant, 3313-third pendant, 3314-fourth pendant, 3315-fifth pendant, 3316-sixth pendant, 33161-spring buckle; 332-mounting seat, 3321-plug, 3322-first wire, 3323-second wire, 3324-lock tongue, 3325-locking bar. DETAILED DESCRIPTION

[0060] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0061] "One embodiment" or "embodiment" referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. In the description of the present invention, it is to be understood that the terms "first", "second", "third" and "fourth" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units that are inherent to these processes, methods, products or devices.

[0062] In the operational description of this application, it needs to be understood that "proximal end" and "distal end" respectively represent the distance from the operator, the end close to the operator is the "proximal end", and the end away from the operator is the "distal end", and "up", "down", "left" and "right" respectively correspond to the relative positions of the structure in the corresponding diagram.

[0063] The following describes a flexible robotic arm provided by this application. Figures 1 to 4 The flexible arm (not numbered in the figure) in the flexible robotic arm includes a first flexible arm 11 and a second flexible arm 12 , and the second flexible arm 12 passes through the first flexible arm 11 .

[0064] The first swing segment 121 in the second flexible arm 12 is located inside the first flexible arm 11 , and the proximal end of the second swing segment 122 is connected to the distal end of the first swing segment 121 and is located outside the first flexible arm 11 .

[0065] The flexible arm is typically cut from a single piece, with different cutting patterns used at different locations to achieve different functions for each section. Specifically, the first swinging section 121 is designed as a tubular hollow structure, which can swing freely in a certain direction, so that the first swinging section 121 can swing along with the first flexible arm 11. The second swinging section 122 is designed as a hinged structure, which can deflect under the control of the swing line.

[0066] A limit block 123 is provided at the proximal end of the second swing section 122 in the second flexible arm 12; the proximal end of the limit block 123 abuts against the distal end of the tube wall of the first flexible arm 11, and the limit block 123 is welded and fixed to the second flexible arm 12, which can limit the second flexible arm 12 from sliding into the inside of the first flexible arm 11.

[0067] The distal end of the first flexible arm 11 is provided with a top sleeve 111, which is used to limit the axial movement of the limit block 123. The top sleeve 111 is fixed to the distal end of the first flexible arm 11 by welding.

[0068] The top sleeve 111 and the limiting block 123 are structurally matched to allow the second flexible arm 12 and the first flexible arm 11 to rotate relative to each other but not to move axially.

[0069] For example, the distal inner surface of the top sleeve 111 abuts against the distal end surface of the stop block 123, preventing the stop block 123 from moving distally; the distal end of the tube wall of the first flexible arm 11 abuts against the proximal end of the stop block 123, thereby limiting the proximal movement of the stop block 123. The distal inner surface, sidewall, and distal end surface of the top sleeve 111 together form a space for accommodating the stop block 123, allowing the stop block 123 to rotate within the space, thereby causing relative rotation between the second flexible arm 12 and the first flexible arm 11.

[0070] The proximal ends of the flexible arms are controlled by two groups of cycloids to respectively control the swinging of the first flexible arm 11 and the second flexible arm 12 .

[0071] The first set of cycloids, namely the first oscillating wire 311A ​​and the second oscillating wire 312A, penetrates the interior of the first flexible arm 11, and the distal ends of the first oscillating wire 311A ​​and the second oscillating wire 312A are welded and fixed to the distal inner surface of the first flexible arm 11. The swing of the first flexible arm 11 is controlled by pulling and releasing the first oscillating wire 311A ​​and the second oscillating wire 312A. For example, pulling the first oscillating wire 311A ​​and releasing the second oscillating wire 312A controls the swing of the first flexible arm 11. Figure 3 The first flexible arm 11 is shown to be deflected to the left. Similarly, the first swing line 311A ​​is released and the second swing line 312A is pulled to control the first flexible arm 11 to deflect to the right.

[0072] The second set of cycloids, namely the third swing line 311B and the fourth swing line 312B, are used to control the swing of the second flexible arm 12. The connection method and the swing control method are the same as those of the first set of cycloids, which will not be described in detail here.

[0073] In the above embodiment, each flexible arm has a set of cycloids, each set of cycloids including two symmetrically arranged swing lines, thereby enabling each flexible arm to swing in both directions. In some optional embodiments, each flexible arm has an additional set of cycloids, that is, two sets of cycloids are provided, for a total of four swing lines, and these four swing lines are symmetrically arranged about the axis of the flexible arm, thereby enabling each flexible arm to swing in four directions: up and down and left and right.

[0074] In some optional embodiments, the first flexible arm 11 and the second flexible arm 12 can be integrally cut and formed from a stainless steel tube.

[0075] Due to the complex control structure, difficult installation and large size of flexible robotic arms, especially when there are multiple flexible arms, the design of the control mechanism is even more difficult, which affects the miniaturization, simplification, operating comfort and operating accuracy of surgical robots that include flexible robotic arms.

[0076] Based on the above problems, an embodiment of the present application provides a control mechanism for a flexible robotic arm, which controls the movement of the outer screw blade of the rotating screw by arranging a rotating screw at the proximal end of the flexible arm, and then controls the movement of the proximal end of the swing line connected to the screw blade to drive the swing of the flexible arm; the control structure of the flexible robotic arm can be simplified, miniaturized and compacted, and the cost can be reduced; by integrating the driving structure with the control mechanism, remote surgery can be facilitated.

[0077] Figure 5-10 This is a control mechanism for a flexible robotic arm provided by an embodiment of the present application. Figure 5-10 ,The control mechanism of the flexible robotic arm is introduced in detail below.

[0078] The control mechanism includes a first swing control structure 31A, which is used to control the swing of the first flexible arm 11 .

[0079] The first swing control structure 31A includes a first swing line 311A, a second swing line 312A, a first screw 313A, a second screw 314A, a first control wheel 315A, a first connecting plate 316A, a first rotating screw 317A and a first sleeve 318A.

[0080] A first control wheel 315A is fixed to the proximal end of the first flexible arm 11 . A wire passing hole is provided in the first control wheel 315A. The wire passing hole is used to pass the first swing wire 311A ​​and the second swing wire 312A.

[0081] Specifically, the first flexible arm 11 includes a bendable snake-bone portion and an inflexible portion (located at the proximal end of the first flexible arm 11 ); the first swing control structure 31A is disposed outside the inflexible portion.

[0082] For example, the first control wheel 315A is a nut sleeve fixedly connected to the proximal end of the first flexible arm 11 .

[0083] It should be noted that the first control wheel 315A may adopt other annular structures.

[0084] The proximal ends of the first swing wire 311A ​​and the second swing wire 312A are connected to the first screw piece 313A and the second screw piece 314A, respectively.

[0085] In some optional embodiments, a first adjusting screw 3131A and a second adjusting screw (not shown in the figures) are respectively provided at the distal ends of the first screw piece 313A and the second screw piece 314A.

[0086] Specifically, the proximal end of the first swing wire 311A ​​passes through a wire hole in the first control wheel 315A and is then connected to the distal end of the first adjustment screw 3131A. The threaded connection between the first adjustment screw 3131A and the first screw 313A facilitates installation and removal of the first swing wire 311A ​​and adjusts the tension of the first swing wire 311A.

[0087] Similarly, the second swing line 312A is indirectly connected to the distal end of the second screw piece 314A via the second adjusting screw.

[0088] In some optional embodiments, the proximal end of the oscillation wire is directly connected to the distal end of the spiral blade.

[0089] The distal end of the first connecting plate 316A is fixed to the proximal end of the first control wheel 315A, and the first connecting plate 316A extends axially along the first flexible arm 11. The first connecting plate 316A is disposed outside the first rotation screw 317A, and its distal end is fixed to the first control wheel 315A. The proximal end of the first connecting plate 316A is provided with a slot for engaging with a first limiting step 3172A on the outside of the first rotation screw 317A.

[0090] Specifically, the first screw 313A and the second screw 314A are both arranged outside the first rotating screw 317A, and the distal end of the first rotating screw 317A is rotationally connected to the proximal end of the first connecting plate 316A; the proximal end of the first rotating screw 317A is fixed with a second control wheel 3171A.

[0091] Specifically, the proximal end of the first rotating screw 317A is provided with a threaded portion; a first limiting step 3172A is provided at the distal end of the threaded portion of the first rotating screw 317A. A locking slot is provided at the proximal end of the first connecting plate 316A; the first limiting step 3172A cooperates with the locking slot of the first connecting plate 316A to confirm that the first rotating screw 317A and the first connecting plate 316A are properly installed during installation.

[0092] Specifically, the outer surface of the first rotating screw 317A has a double thread, ie, a first thread and a second thread, and the rotation directions of the first thread and the second thread are opposite.

[0093] The internal thread of the first screw piece 313A is threadedly engaged with the first thread, and the internal thread of the second screw piece 314A is threadedly engaged with the second thread. For example, the thread groove in the double thread of the first rotating screw 317A is threadedly engaged with the thread protrusion in the internal thread of the first screw piece 313A and the second screw piece 314A.

[0094] A first protrusion 3132A is provided on an outer side surface of the first spiral piece 313A; a second protrusion (not shown) is provided on an outer side surface of the second spiral piece 314A.

[0095] The first sleeve 318A is fixed to the outer side of the first connecting plate 316A.

[0096] In some optional embodiments, the distal end of the first sleeve 318A is directly fixed to the proximal end of the first control wheel 315A.

[0097] The first sleeve 318A has a first accommodating cavity for accommodating the first screw 313A, the second screw 314A, the first connecting plate 316A, and the first rotating screw 317A. The first sleeve 318A is used to ensure that the first screw 313A and the second screw 314A are tightly fitted with the first rotating screw 317A, respectively, to prevent them from disengaging during relative movement. In some optional embodiments, for ease of assembly, the first sleeve 318A includes an upper sleeve 3181A and a lower sleeve 3182A. Specifically, the upper sleeve 3181A and the lower sleeve 3182A are both fixed to the outer side of the first connecting plate 316A by screws. The upper sleeve 3181A and the lower sleeve 3182A are fastened together by screws, wherein the screws are arranged at the ends of the upper sleeve 3181A and the lower sleeve 3182A, the upper sleeve 3181A is provided with a through hole (not numbered in the figure) for installing the screw, and the lower sleeve 3182A is provided with a bottom hole (not numbered in the figure) for installing the screw.

[0098] The first sleeve 318A is provided with a first guide groove and a second guide groove (not numbered in the figure) for respectively guiding the first protrusion 3132A and the second protrusion to move along the extending direction of the first rotating screw 317A.

[0099] By rotating the first rotating screw 317A, under the guidance of the first guide groove and the second guide groove, the first screw 313A and the second screw 314A can be controlled to move in opposite directions along the axial direction of the first rotating screw 317A, which can drive one of the first swing line 311A ​​and the second swing line 312A to tighten and the other to release, thereby driving the first flexible arm 11 to swing.

[0100] By rotating the first control wheel 315A, the first flexible arm 11 and the first swing control structure 31A can be controlled to rotate synchronously. Specifically, the first control wheel 315A, the first connecting plate 316A, and the first sleeve 318A are relatively fixed. When an external force drives the first sleeve 318A to rotate, the first sleeve 318A drives the first screw 313A and the second screw 314A to rotate synchronously, thereby achieving rotation of the entire first swing control structure.

[0101] In some optional embodiments, the first control wheel 315A, the first rotating screw 317A and the second control wheel 3171A are all hollow structures for passing through the second flexible arm 12 .

[0102] In some optional embodiments, the control mechanism further includes a second swing control structure 31B, and the second swing control structure 31B is used to control the swing of the second flexible arm 12.

[0103] The structure of the second swing control structure 31B is the same as that of the first swing control structure 31A, and is briefly described below.

[0104] The second swing control structure 31B is arranged at the proximal end of the second flexible arm 12, and the second swing control structure 31B includes a third cycloid 311B, a fourth cycloid 312B, a third screw, a fourth screw, a third control wheel 315B, a second connecting plate, a second rotating screw, a fourth control wheel 3171B and a second sleeve.

[0105] The third control wheel is fixed to the proximal end of the second flexible arm 12 , and a wire passing hole is provided in the third control wheel.

[0106] The outer sides of the third spiral piece and the fourth spiral piece are respectively provided with a third convex portion and a fourth convex portion;

[0107] The third cycloid 311B and the fourth cycloid 312B pass through the thread holes in the third control wheel and are fixed to the third screw and the fourth screw respectively.

[0108] The second connecting plate is fixed to the third control wheel and is rotationally connected to the distal end of the second rotating screw.

[0109] The outer side of the second rotating screw is provided with a double thread; the third screw leaf and the fourth screw leaf are provided on the outer side of the second rotating screw;

[0110] The third control wheel 315B is fixed to the proximal end of the second flexible arm 12; and the fourth control wheel 3171B is fixed to the proximal end of the second rotating screw.

[0111] The second sleeve is provided with a third guide groove and a fourth guide groove, and the third guide groove and the fourth guide groove are used to guide the movement of the third convex part and the fourth convex part respectively.

[0112] By rotating the second rotating screw, under the guidance of the third guide groove and the fourth guide groove, the third screw and the fourth screw can be controlled to move in opposite directions along the axial direction of the second rotating screw, which can drive one of the third swing line and the fourth swing line to tighten and the other to release, so as to drive the swing of the second flexible arm.

[0113] The above-mentioned first swing line, second swing line, third swing line and fourth swing line are all symmetrically arranged about the axis of the flexible robotic arm. Combined with the overall rotation of the flexible arm and the swing control mechanism, the first flexible arm and the second flexible arm can be deflected in both directions at various rotation angles, allowing flexible surgery.

[0114] In some embodiments, the flexible robotic arm further comprises an electrocoagulation forceps 2, which is disposed at the distal end of the flexible arm and is used to perform surgical operations. Figure 7-Figure 9 The distal end of the second flexible arm 12 is provided with an electric coagulation forceps 2 .

[0115] The electrocoagulation forceps 2 and the second flexible arm 12 rotate relative to each other.

[0116] In some optional embodiments, a sheath 23 is provided at the proximal end of the coagulation forceps 2, and the sheath 23 is used to connect the second flexible arm 12 and the coagulation forceps 2. A groove 231 is provided at the proximal end of the sheath 23; the proximal end of the sheath 23 abuts against the distal end face of the second flexible arm 12.

[0117] The electrocoagulation forceps 2 also includes a fixing plate 24, which is used to fix the second flexible arm 12 and the sheath 23 in the axial direction. Specifically, the fixing plate 24 includes a first fixing plate 241 and a second fixing plate 242, wherein the distal ends of the first fixing plate 241 and the second fixing plate 242 are provided with protrusions to match the groove 231 of the sheath 23. Openings are provided at positions corresponding to the first fixing plate 241 and the second flexible arm 12, and the first pin 271 is inserted into the opening to position and fix the first fixing plate 241 to the distal outer side of the second flexible arm 12. The first fixing plate 241 is welded to the distal outer side of the second flexible arm 12. The connection method of the second fixing plate 242 to the second flexible arm 12 is similar to that of the first fixing plate 241.

[0118] One end of the fixing piece 24 is fixed to the second flexible arm 12 , and the convex portion of the other end cooperates with the groove 231 on the sheath tube 23 , thereby achieving relative rotation of the sheath tube 23 and the second flexible arm 12 around the axial direction.

[0119] The electrocoagulation forceps 2 further includes a first forceps head 21 and a second forceps head 22 .

[0120] The proximal end of the first clamp head 21 is fixed inside the sheath 23 ; the distal end of the first clamp head 21 passes through the sheath 23 .

[0121] Specifically, a second pin 272 is inserted between the first clamp head 21 and the inner side of the sheath tube 23 to ensure a tight fit and fixation between the first clamp head 21 and the sheath tube 23 .

[0122] The electrocoagulation forceps 2 further includes a hinge joint 25, one end of which is provided with a third pin 273, which enables a rotational connection between the hinge joint 25 and the distal end of the sheath 23. The other end of the hinge joint 25 is provided with a fourth pin 274, which enables a rotational connection between the hinge joint 25 and the proximal end of the second forceps head 21.

[0123] A connection terminal 26 is provided at the proximal end of the second clamp head 21 .

[0124] A fifth pin 275 is provided at the distal end of the wiring terminal 26 , and a rotational connection is achieved between the distal end of the wiring terminal 26 and the proximal end of the second clamp head 21 through the fifth pin 275 .

[0125] The proximal end of the terminal block 26 is fixed to the control rope 321 .

[0126] The control cord 321 moves along the axial direction, driving the second clamp head 22 at the distal end of the terminal 26 to open and close relative to the first clamp head 21. The control cord 321 rotates about the axial direction, driving the second clamp head 22 to rotate, thereby controlling the relative rotation of the entire electrocoagulation forceps 2 and the second flexible arm 12.

[0127] In order to facilitate the control of the electrocoagulation forceps 2 , in some optional embodiments, the control structure 3 further includes a forceps head control structure.

[0128] In some optional embodiments, the clamp head control structure includes the above-mentioned control rope 321, the wire 322, the rotation control shaft 323 and the fifth control wheel 3231.

[0129] The distal end of the control rope 321 is connected to the proximal end of the electrocoagulation forceps 2 ; the proximal end of the control rope 321 is fixed to the rotation control shaft 323 .

[0130] The rotation control shaft 323 is used to control the rotation of the control rope 321 to drive the electrocoagulation forceps 2 to rotate.

[0131] The fifth control wheel 3231 is sleeved on the outer side of the rotation control shaft 323 and is used to rotate the rotation control shaft 323 to drive the control rope 321 to rotate. In this way, the distal electrocoagulation forceps head 2 can be driven to rotate synchronously.

[0132] Specifically, a non-circular through hole is provided at the center of the fifth control wheel 3231, and the cross-sectional shape of the rotation control shaft 323 matches the non-circular through hole. The rotation control shaft 323 passes through the non-circular through hole, and the rotation control shaft 323 and the fifth control wheel 3231 can move relative to each other along the axial direction.

[0133] In some optional embodiments, the clamp head control structure further includes a third sleeve 324 and a screw rod 326;

[0134] The distal end of the third sleeve 324 is fixed to the proximal end of the rotation control shaft 323. The proximal end of the third sleeve 324 is provided with a thread groove;

[0135] The surface thread of the screw rod 326 is threadedly matched with the thread groove of the third sleeve 324;

[0136] Specifically, a sixth control wheel 3261 is provided at the proximal end of the screw rod 326 , and the sixth control wheel 3261 is used to control the rotation of the screw rod 326 .

[0137] The rotation of the screw rod 326 drives the third sleeve 324 to move along the axial direction of the screw rod 326, thereby driving the control rope 321 fixed on the rotation control shaft 323 to move along the axial direction of the screw rod 326. The second clamp head 22 opens and closes relative to the first clamp head 11 under the push or pull of the control rope 321.

[0138] In some optional embodiments, a first conductive ring 327 and a first spring pin 328 are disposed in the third sleeve 324.

[0139] The first conductive ring 327 is fixed to the inner wall of the third sleeve 324;

[0140] One end of the first spring pin 328 is disposed on the rotation control shaft 323 and electrically connected to the end of the control rope 321 ; the other end is used to abut against the first conductive ring 327 during the rotation of the rotation control shaft 323 .

[0141] Specifically, the proximal end of the control rope 321 is fixed to the rotation control shaft 323, and the distal end of the control rope 321 is welded and fixed to the fixed end of the first spring needle 328; the movable end of the first spring needle 328 always abuts against the inner side of the first conductive ring 327 during the process of rotating with the control rope 321.

[0142] Specifically, the proximal end of the rotation control shaft 323 is radially engaged with the distal end of the third sleeve 324 and rotates axially relative to each other. For example, a circular groove is provided on the outer side surface of the proximal end of the rotation control shaft 323, and a circular retaining ring 3241 is provided on the distal end of the third sleeve 324. The circular retaining ring 3241 mates with the circular groove to enable left and right movement of the third sleeve 324, thereby driving left and right movement of the rotation control shaft 323. The rotation control shaft 323 can also rotate independently along the axial direction relative to the third sleeve 324.

[0143] In some optional embodiments, the clamp head control structure further includes a wire 322, a second conductive ring 329, and a second spring pin 3210. The distal end of the wire 322 is connected to the first clamp head 21. The proximal end of the wire 322 is fixed to the rotation control shaft 323.

[0144] The second conductive ring 329 is fixed to the inner side of the outer wall of the third sleeve 324 and is sequentially arranged with the first conductive ring 327 along the axial direction of the third sleeve 324;

[0145] One end of the second spring pin 3210 is fixed to the rotation control shaft 323 and electrically connected to the wire 322 ; the other end is used to abut against the second conductive ring 329 during the rotation of the rotation control shaft 323 .

[0146] Specifically, the fixed end (i.e., one end) of the second spring pin 3210 is fixed to the rotation control shaft 323, and the movable end (i.e., the other end) of the second spring pin 3210 abuts against the second conductive ring 329. As the movable end of the second spring pin 3210 rotates with the control rope 321, it always abuts against the inner side of the second conductive ring 329.

[0147] Specifically, the control rope 321 and the wire 322 need to be insulated from the surrounding environment when conducting current, so the outer surfaces of the control rope 321 and the wire 322 need to be insulated and plastic-coated.

[0148] In some optional embodiments, the above-mentioned wire 322 needs to be longer than the control rope 321, and the wire 322 should remain relaxed during the pulling process of the control rope 321, so that when one end of the wire 322 moves with the control rope 321, the other end is still not under force, thereby avoiding the wire 322 being tightened and causing the control rope 321 to be unable to be pulled.

[0149] The control mechanism is provided with a clamp head control structure, which can control the rotation and opening and closing of the electrocoagulation forceps; the clamp head control structure is arranged along the axial direction, which is conducive to the miniaturization of the control mechanism and the simplification of operation.

[0150] In some optional embodiments, the control mechanism further includes a support structure 33 , which is disposed on the same side of the first swing control structure 31A, the second swing control structure 31B and the clamp control structure, for supporting each control structure.

[0151] The supporting structure 33 includes a hanger assembly 331 and a mounting seat 332 .

[0152] The proximal end of the mounting base 332 is provided with a plug 3321, a first electric wire 3322 and a second electric wire 3323. The plug 3321 includes a first plug 33211 and a second plug 33212.

[0153] The first plug 33211 is connected to one end of the first wire 3322 , the other end of which is connected to the first conductive ring 327 . The second plug 33212 is connected to one end of the second wire 3323 , the other end of which is connected to the second conductive ring 329 .

[0154] Thus, the first plug 33211 electrically connects the second pliers 22 to an external power source via the first wire 3322, the first conductive ring 327, the first spring pin 328, and the control cord 321. The second plug 33212 electrically connects the first pliers 21 to an external power source via the second wire 3323, the second conductive ring 329, the second spring pin 3210, and the wire 322.

[0155] The hanging component 331 is disposed on the mounting base 332 and is used to fix each control structure on the mounting base 332 .

[0156] The hanger assembly 331 includes a first hanger 3311 , a second hanger 3312 , a third hanger 3313 , a fourth hanger 3314 , a fifth hanger 3315 and a sixth hanger 3316 .

[0157] Specifically, the first pendant 3311 is disposed at the distal end of the first control wheel 315A. The second pendant 3312 is disposed between the proximal end of the second control wheel 3171A and the distal end of the third control wheel 315B. The third pendant 3313 is disposed between the proximal end of the fourth control wheel 3171B and the distal end of the fifth control wheel 3231. The fourth pendant 3314 is disposed at the proximal end of the fifth control wheel 3231. The fifth pendant 3315 is connected to the proximal end of the third sleeve 324, and the sixth pendant 3316 is disposed at the proximal end of the sixth control wheel 3261.

[0158] For example, the sixth pendant 3316 is provided with a circular through-hole. A fixed shaft is disposed inside the through-hole of the sixth control wheel 3261. The fixed shaft extends axially, and a bearing is disposed at the proximal end of the fixed shaft. The bearing is sleeved inside the circular through-hole of the sixth pendant 3316. This reduces the resistance of the sixth pendant 3316 to the rotation of the sixth control wheel 3261 during rotation. The fifth pendant 3315 is provided with a non-circular through-hole that matches the outer shape of the proximal end of the third sleeve 324. The structures of the other pendants are similar to those of the sixth pendant 3316 and are not further described here.

[0159] In some optional embodiments, the proximal end of the screw 326 passes through the sixth control wheel 3261 and is fixed to the sixth pendant 3316 by a spring buckle 33161 to prevent the screw 326 from slipping out of the sixth pendant 3316 during rotation.

[0160] In some optional embodiments, the first control wheel 315A, the second control wheel 3171A, the third control wheel 315B, the fourth control wheel 3171B, the fifth control wheel 3231 and the sixth control wheel 3261 can all be designed to be gear-shaped, which can be used to connect to driving motors and other driving devices for remote electric control to realize intelligently controlled medical robots.

[0161] In some optional embodiments, the mounting seat 332 includes a locking tongue 3324 and a locking bar 3325 , wherein the locking bar 3325 extends axially, and the locking tongue 3324 is fixed to the locking bar 3325 , and the locking tongue 3324 is used to lock the control wheel.

[0162] Specifically, a lock tongue 3324 can be designed under each of the above-mentioned control wheels; when not in use, the tip of the lock tongue 3324 will be inserted into the key slot of the control wheel, forming interference, keeping the control wheel fixed, and preventing it from rotating in unexpected situations; during use, pushing the locking bar 3325 will drive the lock tongue 3324 to rotate and unlock, so that the rotation of the control wheel can be controlled normally.

[0163] The control mechanism is provided with a support structure 33, which can support each controllable structure and control the opening and closing of the control wheel in each control structure, thereby improving the safety of the control mechanism.

[0164] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0165] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0166] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program instructing the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0167] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A control mechanism for a flexible robotic arm, the flexible robotic arm comprising a first flexible arm, characterized in that: The control mechanism includes a first swing control structure, the first swing control structure includes a first swing line, a second swing line, a first screw, a second screw and a first rotating screw; The first swing line and the second swing line both pass through the first flexible arm and are symmetrically arranged about the axis of the first flexible arm; the distal ends of the first swing line and the second swing line are both fixed to the distal end of the first flexible arm; the proximal ends of the first swing line and the second swing line are respectively connected to the first screw piece and the second screw piece; The first spiral piece and the second spiral piece are arranged on both sides of the first rotating screw; The first rotating screw is rotatably connected to the proximal end of the first flexible arm, and the outer surface of the first rotating screw has a first thread and a second thread with opposite rotation directions; the first thread and the second thread are respectively matched with the inner thread of the first screw piece and the inner thread of the second screw piece; The rotation of the first rotating screw can drive the first screw piece and the second screw piece to move in opposite directions, so as to tighten one of the first swing line and the second swing line and release the other, thereby controlling the swing of the first flexible arm; The first swing control structure further includes a first sleeve and a first control wheel. The first sleeve has a first accommodating cavity for accommodating the first screw piece, the second screw piece, and the first rotating screw. The first rotating screw and the first sleeve rotate independently. The first control wheel, the first flexible arm, and the first sleeve are relatively fixed and rotate synchronously. The first swing control structure further includes a second control wheel; the second control wheel is disposed at the proximal end of the first rotating screw and is used to control the rotation of the first rotating screw.

2. The control mechanism according to claim 1, characterized in that: The outer surfaces of the first spiral piece and the second spiral piece are respectively provided with a first convex portion and a second convex portion; the first sleeve is respectively provided with a first guide groove and a second guide groove corresponding to the first convex portion and the second convex portion; The first guide groove and the second guide groove are used to guide the first protrusion and the second protrusion to move along the extending direction of the first rotating screw.

3. The control mechanism according to claim 1, characterized in that: The first swing control structure further includes a first adjusting screw and a second adjusting screw, wherein the proximal ends of the first adjusting screw and the second adjusting screw are respectively threadedly connected to the first screw piece and the second screw piece; The distal ends of the first adjusting screw and the second adjusting screw are connected to the proximal ends of the first swing line and the second swing line respectively; The relative rotation of the first adjusting screw and the first screw can adjust the tightening degree of the first swing line; the relative rotation of the second adjusting screw and the second screw can adjust the tightening degree of the second swing line.

4. The control mechanism according to claim 1, characterized in that: The first swing control structure further includes a first connecting plate, the distal end of which is fixed to the first control wheel; a slot is provided at the proximal end of the first connecting plate, and the slot is used to engage with a first limiting step on the outer side of the first rotating screw.

5. The control mechanism according to any one of claims 1 to 4, wherein the flexible mechanical arm comprises a second flexible arm, the second flexible arm passing through the first flexible arm, wherein: The first rotating screw is a hollow structure, and the second flexible arm passes through the hollow structure of the first rotating screw; The control mechanism further includes a second swing control structure, which is disposed at the proximal end of the first swing control structure and has the same structure as the first swing control structure, and is used to control the swing of the second flexible arm.

6. The control mechanism according to claim 1, wherein the flexible robotic arm further comprises an electrocoagulation forceps, the electrocoagulation forceps being arranged at the distal end of the flexible robotic arm, the electrocoagulation forceps comprising a first forceps head and a second forceps head, the second forceps head being hinged to the first forceps head, and characterized in that: The control mechanism further includes a clamp head control structure; the clamp head control structure is arranged at the proximal end of the flexible robotic arm; The clamp head control structure includes a control rope and a rotation control shaft, The distal end of the control rope is connected to the proximal end of the second clamp head; the proximal end of the control rope is fixed to the rotation control shaft; the rotation of the rotation control shaft can cause the control rope to rotate synchronously, thereby driving the electrocoagulation forceps to rotate.

7. The control mechanism according to claim 6, characterized in that: The clamp head control structure further includes a third sleeve and a screw rod with threads matching each other; the distal end of the third sleeve is fixed to the proximal end of the rotation control shaft; The rotation of the screw drives the third sleeve to move along the axial direction of the screw, thereby driving the control rope to push or pull the second clamp head to control the opening and closing of the second clamp head relative to the first clamp head.

8. The control mechanism according to claim 7, characterized in that: A first conductive ring and a first spring pin are provided in the third sleeve. The first conductive ring is fixed to the inner wall of the third sleeve and is electrically connected to an external power supply. One end of the first spring pin is provided on the rotation control shaft and is electrically connected to the control rope, and the other end is always in contact with the first conductive ring.

9. The control mechanism according to claim 8, characterized in that: The clamp head control structure further includes a wire, a second conductive ring and a second spring pin, wherein the distal end of the wire is connected to the proximal end of the first clamp head; the proximal end of the wire is fixed to the rotation control shaft; The second conductive ring is fixed to the inner side of the outer wall of the third sleeve and is electrically connected to an external power supply; One end of the second spring pin is fixed on the rotation control shaft and electrically connected to the wire, and the other end is always in contact with the second conductive ring.

10. A medical device comprising the control mechanism according to any one of claims 1 to 9, characterized in that: Also included is a flexible robotic arm, the flexible robotic arm including a first flexible arm and a second flexible arm; The second flexible arm includes a first swing section and a second swing section connected to each other; The first swing section is located inside the first flexible arm and swings along with the first flexible arm; the second swing section extends from the far end of the first flexible arm and swings under the control of the control mechanism.

11. The medical device according to claim 10, characterized in that A top sleeve is fixedly provided at the distal end of the first flexible arm, and a limit block is fixedly provided at the proximal end of the second swinging section; The top sleeve has a second accommodating cavity for accommodating the limiting block, allows the limiting block to rotate in the second accommodating cavity, and limits the movement of the limiting block in the axial direction.

12. The medical device according to claim 10, characterized in that The flexible robotic arm also includes electrocoagulation forceps.

Images