Flexible robotic arm mechanism for MRI-compatible minimally invasive surgical robots

Abstract

This invention discloses a flexible robotic arm mechanism for a magnetic resonance-compatible minimally invasive surgical robot, comprising a base mounted on the minimally invasive surgical robot; a support member including a first support arm and a second support arm, the first end of the first support arm being mounted on the base, and the extension line of the side of the first end of the first support arm defining a first straight line; the first end of the plane containing the second support arm being connected to the second end of the plane containing the first support arm and forming a second straight line at the intersection; the active end of the drive mechanism being mounted on the base, the driven end of the drive mechanism opposite to the base being connected to the second end of the second support arm, and the surgical instrument being mounted on the driven end defining the operating straight line; the operating straight line, the extension lines of the first straight line and the second straight line intersect at a convergence point near the surgical position, such that when the drive mechanism drives the first support arm, the second support arm and the surgical instrument to move at multiple angles relative to the base, the spatial position of the convergence point remains unchanged and the operating straight line shifts with the convergence point as the fulcrum.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of surgical devices, in particular to a flexible body mechanical arm mechanism for a nuclear magnetic compatible minimally invasive surgical robot. BACKGROUND

[0002] With the development of medical technology, minimally invasive surgery has the advantages of small trauma and fast recovery and is favored. The remote center of motion (RCM) mechanism is an important part of minimally invasive surgery. The remote center of motion mechanism can realize a fixed point, i.e. the RCM point, which coincides with or is located near the lesion position, so as to accurately realize the surgical operation on the lesion position, remove the lesion position, and ensure the safety and accuracy of the experiment, and realize the surgical operation under a smaller incision.

[0003] In the related art, the remote center of motion mechanism generally adopts a parallelogram mechanism, and the RCM point is realized by two parallelogram mechanisms. However, the structure of the parallelogram mechanism is complex, occupies a large space, and is inconvenient to operate. SUMMARY

[0004] In view of the above technical problems, the present application provides a flexible body mechanical arm mechanism for a nuclear magnetic compatible minimally invasive surgical robot, which at least partially solves the above technical problems, realizes the improvement of the degree of freedom while reducing the space size of the robot, and is convenient to operate and has high flexibility.

[0005] The present application provides a flexible body mechanical arm mechanism for a nuclear magnetic compatible minimally invasive surgical robot, which comprises:

[0006] a base configured to be installed on a minimally invasive surgical robot;

[0007] a support made of an elastic material and comprising:

[0008] a first support arm, a first end of the first support arm being installed on the base, and an extension line of a side edge of the first end of the first support arm defining a first straight line L1; and

[0009] a second support arm, a first end of a plane of the second support arm being connected with a second end of a plane of the first support arm and forming a second straight line L2 at an intersection; and

[0010] a driving mechanism, a driving end of the driving mechanism being installed on the base, a driven end of the driving mechanism opposite to the base being connected with a second end of the second support arm, a surgical instrument suitable for operating a surgical position of a surgical target being installed on the driven end, and the driven end defining an operating straight line L3;

[0011] The operation straight line L3, the first straight line L1 and the extension line of the second straight line L2 intersect at a convergence point O near the surgical position, so that the spatial position of the convergence point O is unchanged and the operation straight line is offset with the convergence point O as the fulcrum in the case that the driving mechanism drives the first support arm, the second support arm and the surgical instrument to have multi-angle movement relative to the base.

[0012] According to an embodiment of the present disclosure, the included angle range of the first support arm and the second support arm is greater than 0 and less than or equal to 90 degrees.

[0013] According to an embodiment of the present disclosure, the support further comprises a plurality of corrugated plates, and the plurality of corrugated plates are mounted to the first support arm and the second support arm.

[0014] According to an embodiment of the present disclosure, two side walls of each of the corrugated plates form a triangle with the first support arm or the second support arm, and the extension line of a third straight line intersecting two sides of each of the corrugated plates passes through the convergence point O.

[0015] According to an embodiment of the present disclosure, the plurality of corrugated plates near the first end of the first support arm are located on the inner side of the first support arm, and the plurality of corrugated plates near the second end of the first support arm are located on the outer side of the first support arm.

[0016] According to an embodiment of the present disclosure, the plurality of corrugated plates on the second support arm are arranged on the outer side of the second support arm.

[0017] According to an embodiment of the present disclosure, the driving mechanism comprises:

[0018] a driving assembly mounted to the base;

[0019] a connecting assembly, a first end of the connecting assembly being connected to the driving assembly; and

[0020] an adapter rotatably mounted at a second end of the connecting assembly, the surgical instrument and a second end of the second support arm being connected to the adapter, under the driving of the driving assembly, the connecting assembly moves relative to the base, and the operation straight line always passes through the convergence point O.

[0021] According to an embodiment of the present disclosure, the driving assembly comprises:

[0022] a support mounted to the base;

[0023] two first bevel gears rotatably mounted to the support opposite to each other, and the rotation axes of the two first bevel gears are located on a fourth straight line;

[0024] A second bevel gear is engaged between the two first bevel gears and has a rotation axis perpendicular to the fourth straight line;

[0025] When the two first bevel gears rotate in the same direction, the second bevel gear revolves around the fourth straight line relative to the support, and when the two first bevel gears rotate in opposite directions, the second bevel gear rotates around its rotation axis.

[0026] According to an embodiment of the present disclosure, the first end of the connecting assembly is connected to the rotation axis of the second bevel gear, so that the length of the connecting assembly changes and the second end of the connecting assembly can rotate relative to the adapter during the revolution or rotation of the second bevel gear.

[0027] According to an embodiment of the present disclosure, the connecting assembly comprises:

[0028] A fixed connecting rod, a first end of the fixed connecting rod being mounted to the second bevel gear; and

[0029] A telescopic connecting rod, a first end of the telescopic connecting rod being slidably mounted to a second end of the fixed connecting rod, and a second end of the telescopic connecting rod being rotatably mounted to the adapter.

[0030] The flexible body mechanical arm mechanism for the nuclear magnetic compatible minimally invasive surgery robot is installed on the minimally invasive surgery robot through a base, and a driving mechanism drives a support made of an elastic material, so that the spatial position of the intersection point O of the extended lines of the operating straight line L3, the first straight line L1 and the second straight line L2 near the surgery position is unchanged and the operating straight line is offset with the intersection point as a fulcrum, a larger attitude change is realized, the degree of freedom is improved, the spatial size of the robot is reduced, the operation is convenient, and the flexibility is high. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 is a three-dimensional schematic view of the flexible body mechanical arm mechanism according to an embodiment of the present disclosure;

[0032] Figure 2 is a three-dimensional schematic view of a surgical instrument of the flexible body mechanical arm mechanism according to an embodiment of the present disclosure;

[0033] Figure 3 is a three-dimensional schematic view of a driving assembly of the flexible body mechanical arm mechanism according to an embodiment of the present disclosure;

[0034] Figure 4 is a three-dimensional schematic view of a connecting assembly of the flexible body mechanical arm mechanism according to an embodiment of the present disclosure;

[0035] Figure 5 is a front and back comparison diagram of the flexible body mechanical arm mechanism according to the embodiment of the present application under the action of the first external force;

[0036] Figure 6 is a front and back comparison diagram of the flexible body mechanical arm mechanism according to the embodiment of the present application under the action of the second external force; and

[0037] Figure 7 is a front and back comparison diagram of the flexible body mechanical arm mechanism according to the embodiment of the present application under the action of the third external force.

[0038] Reference numerals

[0039] 1, base;

[0040] 2, support;

[0041] 21, first support arm;

[0042] 22, second support arm;

[0043] 23, corrugated plate;

[0044] 3, surgical instrument;

[0045] 4, driving mechanism;

[0046] 41, driving assembly;

[0047] 411, support;

[0048] 412, first bevel gear;

[0049] 413, second bevel gear;

[0050] 414, connecting shaft;

[0051] 415, driving piece;

[0052] 42, connecting assembly;

[0053] 421, fixed connecting rod;

[0054] 422, telescopic connecting rod;

[0055] 423, elbow;

[0056] 43, adapter. DETAILED DESCRIPTION

[0057] In order to make the objectives, technical solutions and advantages of the present application clearer, the present application is further described in detail below with reference to specific embodiments and the accompanying drawings.

[0058] The present invention is described herein with respect to structural embodiments and methods. It should be understood that this is not intended to limit the invention to the specific disclosed embodiments; the invention can be practiced using other features, elements, methods, and embodiments. Similar elements in different embodiments are typically designated with similar numbers.

[0059] The terms “comprising,” “including,” etc., as used herein indicate the presence of the described features, steps, operations, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components. All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification and not in an idealized or overly rigid way.

[0060] In this document, unless otherwise specified, directional terms such as "up," "down," "left," "right," "inner," and "outer" are used to indicate orientation or positional relationships based on the accompanying drawings, and are only for the convenience of describing the invention, and do not indicate or imply that the device, element, or component referred to must have a specific orientation, or be constructed or operated in a specific orientation. It should be understood that when the absolute position of the described object changes, the relative positional relationships they represent may also change accordingly. Therefore, these directional terms should not be construed as limiting the invention.

[0061] When using expressions such as "at least one of A, B, and C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C. Similarly, when using expressions such as "at least one of A, B, or C," the meaning should generally be interpreted according to the understanding of someone skilled in the art. For example, "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C.

[0062] With the development of medical technology, minimally invasive surgery has progressed rapidly. The Remote Center of Motion (RCM) mechanism is a crucial component of minimally invasive surgery. The RCM mechanism establishes a fixed point, which coincides with or is near the lesion location. This allows for precise surgical manipulation of the lesion, ensuring its removal and guaranteeing safety and accuracy. It also enables surgical procedures with smaller incisions. However, current RCM mechanisms typically employ parallelogram structures, using two parallelograms to achieve the RCM. This requires numerous links and joints, resulting in complex installation, large space requirements, and poor operational convenience.

[0063] This invention proposes a flexible robotic arm mechanism for use in MRI-compatible minimally invasive surgical robots, such as... Figure 1 As shown, the flexible robotic arm mechanism includes a base 1, a support member 2, and a drive mechanism 4. The base 1 is configured to be mounted on a minimally invasive surgical robot; the support member 2 is made of an elastic material and includes a first support arm 21 and a second support arm 22. The first end of the first support arm 21 is mounted on the base 1, and the extension line of the side of the first end of the first support arm 21 defines a first straight line L1; the first end of the plane containing the second support arm 22 connects to the second end of the plane containing the first support arm 21, forming a second straight line L2 at the intersection; the active end of the drive mechanism 4 is mounted on the base 1, and the driven end of the drive mechanism 4 opposite to the base 1 connects to the second support arm 22. The second end is connected to a surgical instrument 3, which is suitable for operating on the surgical location (lesion location) of the surgical target. The driven end is installed on the driven end, which defines the operation line L3. The operation line L3, the extension of the first line L1 and the second line L2 intersect at a convergence point O near the surgical location. This ensures that when the drive mechanism 4 drives the first support arm 21, the second support arm 22 and the surgical instrument 3 to move at multiple angles relative to the base 1, the spatial position of the convergence point O remains unchanged and the operation line deviates with the convergence point O as the fulcrum. The convergence point O is the RCM point.

[0064] In one exemplary embodiment, such as Figure 1 As shown, support 2 is made of an elastic material, capable of deforming under stress and returning to its original shape after the external force is removed. Support 2 is non-ferromagnetic, making it suitable for use in NMR environments. The material of support 2 can be engineering plastics, such as polypropylene (PP), polyoxymethylene (POM), ABS plastic, etc.

[0065] In one exemplary embodiment, such as Figure 1As shown, the support member 2 includes a first support arm 21 and a second support arm 22, both of which are plate-type structures. The first end of the first support arm 21 is embedded in the base and integrally formed with it. The equivalent straight lines of the first support arm 21, the second support arm 22, and the drive mechanism 4 form a triangle. The extensions of the first straight line L1, the second straight line L2, and the operating straight line L3 intersect at a convergence point O near the surgical position. Thus, the equivalent straight lines of the first support arm 21, the second support arm 22, and the drive mechanism 4, as well as the first straight line L1, the second straight line L2, and the operating straight line L3, form a tetrahedral structure. The included angle between the first support arm 21 and the second support arm 22 is greater than 0 and less than or equal to 90 degrees, for example, 15 degrees, 30 degrees, 45 degrees, 60 degrees, 75 degrees, or 90 degrees. The included angle between the first support arm 21 and the second support arm 22 can also be an obtuse angle. When the angle between the first support arm 21 and the second support arm 22 is greater than 0 and less than or equal to 90 degrees, the accuracy of the operating line of the surgical instrument 3, which is limited by the driven end, is high when it deviates from the convergence point O. The surgical instrument 3 can be a puncture needle, a DBS electrode, a biopsy needle, etc. When the angle between the first support arm 21 and the second support arm 22 is between 0 and 90 degrees, the accuracy of the surgical instrument 3 with the convergence point O as the fulcrum is even higher.

[0066] In one exemplary embodiment, such as Figure 1 and Figure 2 As shown, the support member 2 also includes multiple corrugated plates 23, which are installed on the first support arm 21 and the second support arm 22. The multiple corrugated plates 23 are integrally formed with the first support arm 21 and the second support arm 22.

[0067] In one exemplary embodiment, such as Figure 1 As shown, the two sidewalls of each corrugated plate 23 form a triangle with the first support arm 21 or the second support arm 22, which enhances the rigidity of the support member 2 and improves its load-bearing capacity. Furthermore, the extension of the third straight line where the two sides of each corrugated plate 23 intersect passes through the convergence point O. Even when the auxiliary support member 2 restricts the surgical instrument 3 to move at multiple angles relative to the base 1, the spatial position of the convergence point O remains unchanged, and the operating straight line deviates with the convergence point O as the fulcrum.

[0068] In one exemplary embodiment, such as Figure 1 As shown, a plurality of corrugated plates 23 near the first end of the first support arm 21 are located on the inner side of the first support arm 21, and a plurality of corrugated plates 23 near the second end of the first support arm 21 are located on the outer side of the first support arm 21.

[0069] According to the embodiments of this disclosure, during the movement of the drive mechanism 4 driving the support member 2 and the surgical instrument 3, the first support arm 21 and the second support arm 22 deform, and the corrugated plate 23 can disperse the external force on the first support arm 21 and improve the load-bearing capacity of the first support arm 21.

[0070] In one exemplary embodiment, such as Figure 1 As shown, multiple corrugated plates 23 located on the outer side of the second support arm 22 are provided, and the corrugated plates 23 improve the load-bearing capacity of the second support arm 22.

[0071] In one exemplary embodiment, such as Figure 1 As shown, the drive mechanism 4 includes a drive assembly 41, a connecting assembly 42, and an adapter 43. The drive assembly 41 is mounted on the base 1 and is located at the active end of the drive mechanism 4. The first end of the connecting assembly 42 is connected to the drive assembly 41. The adapter 43 is rotatably mounted on the second end of the connecting assembly 42 and is located at the driven end of the drive mechanism 4. The second ends of the surgical instrument 3 and the second support arm 22 are connected to the adapter 43. Driven by the drive assembly 41, the connecting assembly 42 moves relative to the base 1, and the operating line always passes through the convergence point O. During the process of the drive mechanism 4 driving the support member 2 and the surgical instrument 3 through the connecting assembly 42 and the adapter 43, the first support arm 21 and the second support arm 22 undergo elastic deformation to generate support and constraint forces on the connecting assembly 42 and the adapter 43, so that the operating line L3 passing through the adapter 43 always deviates from the convergence point O as the fulcrum. In this way, the relative positions of the operating end of the surgical instrument 3, the convergence point O, the lesion position, or the surgical position remain unchanged, but the equivalent straight line of the surgical instrument 3 can be deflected with the convergence point O as the fulcrum, thereby changing the operating angle.

[0072] In one exemplary embodiment, such as Figure 1 and Figure 3As shown, the drive assembly 41 includes a support 411, two first bevel gears 412, and a second bevel gear 413. The support 411 is mounted on the base 1. The two first bevel gears 412 are rotatably mounted on the support 411, with their rotation axes located on a fourth straight line. Each of the two first bevel gears 412 is driven by a separate motor. The second bevel gear 413 is meshed between the two first bevel gears 412, and its rotation axis is perpendicular to the fourth straight line. The two first bevel gears 412 and the second bevel gear 413 are connected by a T-shaped connecting shaft 414, whose two shafts extend along the fourth straight line and the axis of the second bevel gear 413, respectively. When the two first bevel gears 412 rotate in the same direction, the second bevel gear 413 revolves around the fourth straight line relative to the support 411. When the two first bevel gears 412 rotate in opposite directions, the second bevel gear 413 rotates around its own rotation axis.

[0073] In one exemplary embodiment, such as Figure 1 and Figure 3 As shown, the first end of the connecting component 42 is connected to the rotating shaft of the second bevel gear 413, so that the length of the connecting component 42 changes as the first end of the connecting component 42 revolves or rotates with the second bevel gear 413, and the second end of the connecting component 42 can rotate relative to the adapter 43.

[0074] According to an embodiment of this disclosure, two motors are activated, driving two first bevel gears 412 to rotate. When the two first bevel gears 412 rotate in the same direction, the second bevel gear 413 revolves around the fourth straight line relative to the support 411. When the two first bevel gears 412 rotate in opposite directions, the second bevel gear 413 rotates around its own axis of rotation. The first end of the connecting assembly 42 follows the second bevel gear 413 in its revolution or rotation. Simultaneously, due to the constraints of the first support arm 21 and the second support arm 22, the length of the connecting assembly 42 changes, and the second end of the connecting assembly 42 can rotate relative to the adapter 43, thereby driving the surgical instrument 3 mounted on the adapter 43 to move. The support member 2 deforms, causing the drive mechanism 4 to drive the first support arm 21, the second support arm 22, and the surgical instrument 3 to move at multiple angles relative to the base 1. The spatial position of the convergence point O remains unchanged, and the operating straight line shifts with the convergence point O as the fulcrum, achieving a large posture transformation. This increases the degree of freedom while reducing the robot's spatial size, making it convenient to operate and highly flexible.

[0075] In one exemplary embodiment, such as Figure 1 and Figure 4As shown, the connecting assembly 42 includes a fixed connecting rod 421 and a telescopic connecting rod 422. The first end of the fixed connecting rod 421 is mounted on the second bevel gear 413, and the cross section of the fixed connecting rod 421 is quadrilateral. The first end of the telescopic connecting rod 422 is slidably mounted on the second end of the fixed connecting rod 421, and the second end of the telescopic connecting rod 422 is rotatably mounted on the adapter 43 through a ceramic radial joint bearing.

[0076] According to the embodiments of this disclosure, during the movement of the surgical instrument 3 driven by the drive mechanism 4, the support member 2 deforms, the distance between the second end of the second support arm 22 and the base 1 changes, the telescopic link 422 slides along the inner wall of the fixed link 421, the length of the connecting component 42 is adjusted, and it rotates relative to the adapter 43. This allows the drive mechanism 4 to drive the first support arm 21, the second support arm 22 and the surgical instrument 3 to move at multiple angles relative to the base 1, while the spatial position of the convergence point O remains unchanged and the operating line deviates with the convergence point O as the fulcrum. This increases the degree of freedom while reducing the spatial size of the robot.

[0077] In one exemplary embodiment, such as Figure 1 and Figure 4 As shown, the connecting assembly 42 also includes an elbow 423, which is installed at the first end of the fixed connecting rod 421. The end of the elbow 423 away from the fixed connecting rod 421 is installed on the second bevel gear 413, which reduces the probability of the fixed connecting rod 421 colliding with the support 411.

[0078] According to the flexible robotic arm mechanism for MRI-compatible minimally invasive surgical robots provided in this embodiment, the flexible robotic arm mechanism is mounted on the minimally invasive surgical robot via a base 1, such as... Figure 5 , Figure 6 and Figure 7 As shown, the drive mechanism 4 applies external forces to the support member 3 to the left, up, and down respectively. The drive mechanism 4 drives the support member 2 made of elastic material, so that when the first support arm 21, the second support arm 22, and the surgical instrument 3 move at multiple angles relative to the base 1, the spatial position of the convergence point O near the surgical position where the extensions of the operation line L3, the first line L1, and the second line L2 intersect remains unchanged, and the operation line deviates with the convergence point O as the fulcrum, thus achieving a large posture change. While increasing the degree of freedom, the spatial size of the robot is reduced, making it convenient to operate and highly flexible.

[0079] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flexible body manipulator mechanism for a nuclear magnetic compatible minimally invasive surgery robot, characterized by, The utility model relates to a kind of surgical robot, comprising: Base (1) is configured to be installed in minimally invasive surgery robot; Support (2) is made of elastic material, and it includes: First support arm (21), the first end of the first support arm (21) is installed on the base (1), and the extension line of the side of the first end of the first support arm (21) defines first straight line (L1);And Second support arm (22), the first end of the plane where the second support arm (22) is located is connected with the second end of the plane where the first support arm (21) is located and forms second straight line (L2) at intersection site;And Driving mechanism (4), the driving mechanism (4) is installed on the base (1), and the driving mechanism (4) is connected with the second end of the second support arm (22) on the side opposite to the base (1), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm (22), and the second end of the second support arm (22) is connected with the second end of the second support arm ( ​ 2. The flexible body robotic arm mechanism of claim 1, wherein, ​ 3. The flexible body robotic arm mechanism of claim 1, wherein, ​ 4. The flexible body robotic arm mechanism of claim 3, wherein, ​ 5. The flexible body robotic arm mechanism of claim 3, wherein, ​ 6. The flexible body robotic arm mechanism of claim 3, wherein, ​ 7. The flexible body robotic arm mechanism according to any one of claims 1-6, wherein, ​ ​ ​ ​ 8. The flexible body robotic arm mechanism of claim 7, wherein, The driving assembly (41) comprises: a support (411) mounted on the base (1); two first bevel gears (412) rotatably mounted on the support (411) opposite to each other, rotation axes of the two first bevel gears (412) being located on a fourth straight line; a second bevel gear (413) meshingly arranged between the two first bevel gears (412), and a rotation axis of the second bevel gear (413) being perpendicular to the fourth straight line; wherein, when the two first bevel gears (412) rotate in the same direction, the second bevel gear (413) revolves around the fourth straight line relative to the support (411), and when the two first bevel gears (412) rotate in opposite directions, the second bevel gear (413) rotates around the rotation axis of the second bevel gear (413).

9. The flexible body robotic arm mechanism of claim 8, wherein, A first end of the connecting assembly (42) is connected to a rotation shaft of the second bevel gear (413), so that during the revolution or rotation of the second bevel gear (413), the length of the connecting assembly (42) changes and a second end of the connecting assembly (42) can rotate relative to the adapter (43).

10. The flexible body robotic arm mechanism of claim 9, wherein, The connecting assembly (42) comprises: a fixed connecting rod (421), a first end of the fixed connecting rod (421) being mounted on the second bevel gear (413); and a telescopic connecting rod (422), a first end of the telescopic connecting rod (422) being slidably mounted on a second end of the fixed connecting rod (421), and a second end of the telescopic connecting rod (422) being rotatably mounted on the adapter (43).

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