Bending joints and surgical instruments

Abstract

The present application relates to a bending joint, wherein a first connection structure is provided at the end of a first joint component, and a second connection structure is provided at the end of a second joint component, wherein the first joint component is connected to the second connection structure of the second joint component for fixed-axis rotation via the first connection structure, a traction wire is movably connected to the first joint component and the second joint component for controlling the fixed-axis rotation of the first joint component and the second joint component, a compensation joint component is movably assembled between the first joint component and the second joint component, a traction compensation structure is provided on the compensation joint component, and the traction compensation structure is movably assembled with the traction wire for compensating for the change in the traction wire during the fixed-axis rotation of the first joint component and the second joint component. The traction compensation structure can resist the traction wire outwardly, so that the traction wire is tightened along the traction compensation structure, and the change in the traction wire during the fixed-axis rotation of the first joint component and the second joint component is compensated, so as to solve the problems such as the decrease in the stiffness of the bending joint and the inability to accurately maintain the position of the bending joint.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to bending joints and surgical instruments. Background Art

[0002] With the application and development of robot-related technologies, the application of medical surgical robots in clinical practice is becoming more and more popular. Minimally invasive surgical robot systems can reduce the physical labor of doctors during surgery through interventional treatment, while achieving the purpose of precise surgery, so that patients have less trauma, less blood loss, less postoperative infection, and faster postoperative recovery. The design quality of the surgical instruments used in the minimally invasive surgical robot system affects the success or failure of the minimally invasive surgical robot system. Well-designed surgical instruments can better help doctors complete surgical operations. Therefore, the performance of surgical instruments is a key factor affecting the performance level of the minimally invasive surgical robot system.

[0003] The actual surgical environment is very complex, so surgical instruments usually have bendable properties. When controlling the bending of surgical instruments, a common method is to use traction wires to control them. However, when surgical instruments use traction wires for bending control, the traction wires on the outside of the bend are prone to loosening, or the traction wires are stretched due to force, causing looseness. The loosening of the traction wires will cause the stiffness of the bending joints in the surgical instruments to decrease, and the control position will also be inaccurate, affecting the stable progress of the operation. Summary of the invention

[0004] Based on this, it is necessary to provide a bending joint and a surgical instrument to address the above-mentioned technical problems.

[0005] A bending joint, comprising:

[0006] A first joint component, wherein a first connection structure is disposed at an end of the first joint component;

[0007] A second joint component, wherein a second connection structure is disposed at an end of the second joint component, and the first joint component is connected to the second connection structure of the second joint component for fixed-axis rotation via the first connection structure;

[0008] A traction wire, which is movably connected to the first joint component and the second joint component and is used to control the fixed-axis rotation of the first joint component and the second joint component;

[0009] A compensation joint component, the compensation joint component is movably assembled between the first joint component and the second joint component, and a traction compensation structure is provided on the compensation joint component, and the traction compensation structure is movably assembled with the traction wire, and is used to compensate for the change of the traction wire during the fixed-axis rotation of the first joint component and the second joint component;

[0010] A limiting joint component is movably assembled between the first joint component and the second joint component, and is used to adapt and move on at least one of the first joint component and the second joint component as the fixed axis rotation between the first joint component and the second joint component is performed, and the compensation joint component adapts and moves relative to the limiting joint component as the fixed axis rotation between the first joint component and the second joint component is performed.

[0011] In one embodiment, the first joint component and the second joint component perform fixed-axis rotation along a rotation axis, and the compensation joint component is assembled between the first joint component and the second joint component along the rotation axis.

[0012] In one embodiment, a first movable structure is provided between the first joint component and the position-limiting joint component, and the position-limiting joint component is adapted to move relative to the first joint component through the first movable structure as the fixed axis between the first joint component and the second joint component rotates; and / or,

[0013] A second movable structure is provided between the second joint component and the limiting joint component, and the limiting joint component moves adaptively relative to the second joint component through the second movable structure as the fixed axis between the first joint component and the second joint component rotates; and / or,

[0014] A third movable structure is arranged between the compensation joint component and the limiting joint component. The compensation joint component is adapted to move relative to the limiting joint component through the third movable structure as the fixed axis rotation between the first joint component and the second joint component occurs.

[0015] In one embodiment, the first movable structure includes a first movable track and a first movable matching portion respectively located at the first joint component and the position-limiting joint component, and the first movable matching portion is movably assembled along the first movable track; the second movable structure includes a second movable track and a second movable matching portion respectively located at the second joint component and the position-limiting joint component, and the second movable matching portion is movably assembled along the second movable track;

[0016] At least one of the first movable structure and the second movable structure also includes a third movable track located on the limiting joint, and also includes a third movable matching part located on at least one of the first joint and the second joint, the third movable matching part is movably assembled relative to the limiting joint through the third movable track, the third movable matching part is located on the rotation axis between the first joint and the second joint, and at least one of the first movable track and the second movable track has an angle with the third movable track.

[0017] In one embodiment, the connection direction of the first joint component and the second joint component is axial, the first movable track extends along the axial direction, the second movable track extends along the axial direction, and the third movable track is perpendicular to the axial direction; the track extension line of the first movable track and the track extension line of the second movable track can pass through the midpoint of the third movable track when they coincide; the third movable structure includes at least one fourth movable matching part located on the compensation joint component, and the fourth movable matching part is movably assembled along the third movable track; or,

[0018] The third movable structure includes a fourth movable track located on the compensation joint component, and the third movable matching portion is movably assembled along the fourth movable track, and then indirectly movably assembled relative to the limiting joint component through the compensation joint component.

[0019] In one embodiment, the first movable structure comprises a fifth movable track and a fifth movable matching portion respectively located on the first joint component and the position-limiting joint component, and the fifth movable matching portion is movably assembled along the fifth movable track;

[0020] The second movable structure includes a movable rotating shaft and a rotating shaft hole respectively located at the second joint component and the position-limiting joint component. The second joint component and the position-limiting joint component are connected for fixed-axis rotation via the movable rotating shaft and the rotating shaft hole.

[0021] In one embodiment, a sixth movable track is provided on the compensation joint component, and the limiting joint component includes a first link and a second link, one end of the first link is rotatably connected to the first joint component, one end of the second link is rotatably connected to the second joint component, and the other end of the first link and the other end of the second link are relatively rotatably connected, wherein the other end of the first link and the other end of the second link are commonly connected with a sixth movable fitting part, and the sixth movable fitting part is movably assembled along the sixth movable track.

[0022] In one embodiment, the traction compensation structure is a limiting slide groove provided on the compensation joint component, and the traction wire is slidably assembled in the limiting slide groove;

[0023] And / or, the traction compensation structure is a limiting wire hole opened on the compensation joint component, and the traction wire is slidably assembled in the limiting wire hole.

[0024] In one embodiment, a roller is rotatably mounted on the traction compensation structure, the limiting slide groove is arranged on the outer edge of the roller, and the traction wire is slidably mounted in the limiting slide groove along the outer edge of the roller; and / or,

[0025] The traction compensation structure is elastically equipped with an elastic member, the limiting slide groove is provided on the elastic member, and the traction wire is slidably assembled in the limiting slide groove along the elastic member; and / or,

[0026] The shape of the limiting wire hole is a round hole or an elongated hole.

[0027] In one embodiment, the first joint has two first connection structures at both ends, the number of the second joint is two, and the second connection structures of the two second joints are respectively connected to the two first connection structures at both ends of the first joint for fixed-axis rotation; or,

[0028] There are multiple first joints and multiple second joints, and the multiple first joints and the multiple second joints are connected in sequence at intervals. The first connection structure of the adjacent first joints is connected to the second connection structure of the second joints for fixed-axis rotation.

[0029] A surgical instrument, characterized in that the surgical instrument comprises the bending joint.

[0030] In the above-mentioned bending joint and surgical instrument, since the compensating joint part is provided with a traction compensation structure, after the traction compensation structure is assembled with the traction wire, the traction compensation structure can resist the traction wire outward when a certain traction wire is in a relaxed state, so that the traction wire is tightened along the traction compensation structure, and then compensates for the change of the traction wire during the fixed-axis rotation of the first joint part and the second joint part, so that the traction wire controls the mutual rotation of the first joint part and the second joint part more stably, and solves the problems of decreased stiffness of the bending joint, inaccurate control position, and inability to accurately maintain the position of the bending joint. Moreover, since the traction compensation structure can resist the traction wire when the traction wire is in a relaxed state, so that the traction wire has a reasonable transition arc, it can prevent the traction wire from being excessively bent and increase the life of the traction wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic structural diagram of a bending joint provided for one embodiment of the present application.

[0032] Figure 2 For Figure 1 A three-dimensional exploded view of the bending joint shown.

[0033] Figure 3 A planar exploded schematic diagram of a bending joint provided for one embodiment of the present application.

[0034] Figure 4 A schematic structural diagram of a multi-unit bending joint provided for one embodiment of the present application.

[0035] Figure 5 A schematic diagram of the assembly of a traction wire on a bending joint provided in one embodiment of the present application.

[0036] Figure 6 For Figure 4 A three-dimensional exploded view of the bending joint shown.

[0037] Figure 7 and Figure 8 A schematic diagram of the principle of a bending joint provided for an embodiment of the present application.

[0038] Fig. 9 It is a schematic diagram of the principle of a bending joint in the prior art.

[0039] Fig.10 This is the influence line diagram of the joint rotation angle on the geometric path wire length.

[0040] Fig.11 and Fig.12 For Figure 1 The schematic diagram of the principle of the first deformation embodiment of the bending joint is shown.

[0041] Fig.13 and Fig.14 For Figure 1 A schematic diagram of the principle of a second deformation embodiment of the bending joint is shown.

[0042] Fig.15 and Fig.16 For Figure 1 The schematic diagram of the principle of the third deformation embodiment of the bending joint is shown.

[0043] Fig.17 and Fig.18 For Figure 1 The schematic diagram of the principle of the fourth deformation embodiment of the bending joint is shown.

[0044] Fig.19 An exploded schematic diagram of a bending joint provided in accordance with another embodiment of the present application.

[0045] Fig. 20 and Fig.21 For Fig.19 A three-dimensional schematic diagram of the compensating joint shown.

[0046] Fig. 22 and Fig.23 A schematic structural diagram of the traction compensation structure provided in the first embodiment of the present application.

[0047] Figure 24 to Figure 26 A schematic structural diagram of the traction compensation structure provided in the second embodiment of the present application.

[0048] Fig. 27 and Fig.28A schematic structural diagram of a traction compensation structure provided in the third embodiment of the present application.

[0049] Fig.29 and Fig.30 A schematic structural diagram of a traction compensation structure provided for the fourth embodiment of the present application.

[0050] Fig.31 and Fig.32 A schematic diagram of the working principle of the traction compensation structure provided in the fourth embodiment of the present application.

[0051] Fig.33 and Fig.34 A schematic structural diagram of a traction compensation structure provided in the fifth embodiment of the present application.

[0052] Fig.35 A schematic diagram of the working principle of the traction compensation structure provided in the fifth embodiment of the present application.

[0053] Fig.36 and Fig.37 A schematic diagram of the principle of a bending joint provided in yet another embodiment of the present application.

[0054] Fig.38 For Fig.36 A three-dimensional exploded view of the bending joint shown.

[0055] Fig.39 For Fig.36 A three-dimensional schematic diagram of the bending joint shown.

[0056] Fig.40 and Fig.41 For Fig.36 The schematic diagram of the structure of the compensation joint is shown.

[0057] Fig.42 A schematic diagram of the structure of a surgical instrument provided in one embodiment of the present application. DETAILED DESCRIPTION

[0058] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0059] If the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0061] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0063] See also Figures 1 to 8As shown, a bending joint 100 provided in one embodiment of the present application comprises a first joint component 1000, a second joint component 2000, a traction wire 4000 and a compensating joint component 3000. A first connecting structure 1100 is arranged at the end of the first joint component 1000, and a second connecting structure 1200 is arranged at the end of the second joint component 2000. The first joint component 1000 is rotatably connected to the second connecting structure 1200 of the second joint component 2000 via the first connecting structure 1100. The traction wire 4000 is movably connected to the first joint component 1000 and the second joint component 2000. The traction wire 4000 is used to control the axial rotation of the first joint component 1000 and the second joint component 2000. The compensating joint component 3000 is movably assembled in the first joint component 1000. A traction compensation structure 3100 is provided on the compensation joint 3000 between the joint 1000 and the second joint 2000. The traction compensation structure 3100 is movably assembled with the traction wire 4000. The function of the traction compensation structure 3100 is to compensate for the change of the traction wire 4000 during the fixed-axis rotation of the first joint 1000 and the second joint 2000. That is, in the process of the traction wire 4000 controlling the fixed-axis rotation between the first joint 1000 and the second joint 2000, once the traction wire 4000 becomes loose, the traction compensation structure 3100 can compensate for the loose length of the traction wire 4000, so that the traction wire 4000 can control the first joint 1000 and the second joint 2000 to rotate relative to each other more stably.

[0064] The first joint component 1000 or the second joint component 2000 can be a single body structure or a split structure. For example, when the first joint component 1000 is a single body structure and the second joint component 2000 is a split structure composed of two parts, this structural method can make the assembly structure of the entire bending joint 100 simpler. At the same time, it can also enable the bending joint 100 to have a smooth outer surface, no pins, and no rivets or laser welding. This is beneficial to avoid accidental scratches on human tissue during surgery and the assembly is simple and reliable.

[0065] See also Figure 1 As shown, limited to Figure 1 The direction from top to bottom is the first joint component 1000, the second joint component 2000 and the two ends of the compensation joint component 3000, and continue to refer to Figure 1As shown, at this time, the first joint component 1000, the second joint component 2000 and the compensating joint component 3000 are in a bent state, and the bending direction along the first joint component 1000, the second joint component 2000 and the compensating joint component 3000 is limited to the axial direction of the bending joint 100. Of course, when the first joint component 1000, the second joint component 2000 and the compensating joint component 3000 are in a non-bent straight state, the direction from top to bottom is the axial direction of the bending joint 100. Therefore, the axial direction of the bending joint 100 is not completely limited to a straight trajectory. With the mutual movement of the first joint component 1000, the second joint component 2000 and the compensating joint component 3000, the axial direction of the bending joint 100 is a straight trajectory when it is in a straight state, but the axial direction of the bending joint 100 will become a curved trajectory when it is in a bent state.

[0066] The first connection structure 1100 of the first joint component 1000 and the second connection structure 1200 of the second joint component 2000 may adopt a variety of assembly structures, for example, see Figure 2 As shown, the first connecting structure 1100 can be adopted as an axial hole and the second connecting structure 1200 can be adopted as a rotating shaft. In addition, the first connecting structure 1100 can be adopted as a rotating shaft and the second connecting structure 1200 can be adopted as an axial hole, or the first connecting structure 1100 and the second connecting structure 1200 can be adopted as other hinged structures that can realize the fixed-axis rotation of the first joint component 1000 and the second joint component 2000, which is not limited here.

[0067] The number of traction wires 4000 can be adaptively constructed according to the number of bending directions of the bending joint 100. For example, when the bending joint 100 has only one rotation direction, at least two traction wires 4000 can be used to pull the bending joint 100 to rotate forward and reversely. When the bending joint 100 has two rotation directions, at least four traction wires 4000 can be used to pull the bending joint 100 to rotate forward and reversely along the two rotation directions respectively. The traction wires 4000 can be movably connected to the first joint component 1000 and the second joint component 2000 through openings, hanging rings and other structures on the first joint component 1000 and the second joint component 2000. Those skilled in the art can construct them according to needs and are not limited here.

[0068] Correspondingly, the number of traction compensation structures 3100 on the compensation joint 3000 can also be matched according to the number of traction wires 4000. For example, the traction compensation structures 3100 are symmetrically arranged on both sides of the compensation joint 3000. The traction compensation structures 3100 on both sides are used to compensate for the change in the traction wires 4000 on both sides during the fixed-axis rotation of the first joint 1000 and the second joint 2000. When the number of traction wires 4000 is four, there can be two compensation joints 3000, and the four traction compensation structures 3100 on the two compensation joints 3000 are matched with the four traction wires 4000. Those skilled in the art can match the compensation joints 3000 and the traction wires 4000 according to needs, and there is no limitation here.

[0069] The compensating joint component 3000 can be movably assembled at a reasonable position between the first joint component 1000 and the second joint component 2000. For example, in one embodiment, the first joint component 1000 and the second joint component 2000 implement fixed-axis rotation along the rotation axis. The fixed-axis rotation method can be as follows: Figure 2 The matching method of the rotating shaft and the axial hole shown in the figure, or other rotation methods can also be adopted, at this time, the compensation joint component 3000 can be assembled between the first joint component 1000 and the second joint component 2000 by fixed-axis rotation along the rotation axis. When the first joint component 1000 and the second joint component 2000 rotate relative to each other, the compensation joint component 3000 can be fixed-axis rotation along the rotation axis. The compensation joint component 3000 and the traction wire 4000 are subjected to mutual forces, so the compensation joint component 3000 will rotate accordingly in the matching direction as the traction wire 4000 bends, so as to compensate for the change in the slack traction wire 4000, so that the traction wire 4000 is tightened.

[0070] It should be noted that the bending joint 100 composed of the first joint component 1000, the second joint component 2000 and the compensation joint component 3000 may be the entire bending joint 100 or a unit of the bending joint 100. For example, see Figures 4 to 6 As shown, in one embodiment, the two ends of the first joint component 1000 may have two first connection structures 1100, and the number of the second joint components 2000 is two. Therefore, the second connection structures 1200 of the two second joint components 2000 are respectively connected to the two first connection structures 1100 at both ends of the first joint component 1000 for fixed-axis rotation, forming a bending joint 100 constructed by a first joint component 1000 and two second joint components 2000, wherein the first joint component 1000 and each second joint component 2000 are assembled with a compensating joint component 3000 in the same manner. The specific assembly method is described in the previous text and will not be repeated here.

[0071] Continue reading Figure 4As shown, the two rotation axes of the two second joint components 2000 rotatably connected to the two ends of the first joint component 1000 are respectively the first rotation axis 1000a and the second rotation axis 1000b. The first rotation axis 1000a and the second rotation axis 1000b have an angle. Therefore, the two second joint components 2000 at the two ends of the first joint component 1000 can rotate relative to the first joint component 1000 in different directions, so that the bending joint 100 has a flexible rotation effect. In a specific embodiment, the first rotation axis 1000a and the second rotation axis 1000b can be perpendicular to each other, so that the bending joint 100 has two rotation directions that are perpendicular to each other.

[0072] Moreover, the number of the first joint component 1000 and the second joint component 2000 can be multiple, and the multiple first joint components 1000 and the second joint components 2000 are connected one by one in sequence along the axial direction, and the first connection structure 1100 of the adjacent first joint component 1000 is connected with the second connection structure 1200 of the second joint component 2000 by fixed-axis rotation, and each adjacent first joint component 1000 and each second joint component 2000 are assembled with a compensating joint component 3000 in the same manner. The specific assembly method is described in the previous text and will not be elaborated here. The technicians in this field can choose the appropriate length requirement to construct the bending joint 100.

[0073] The rotation axis between the adjacent first joint component 1000 and the second joint component 2000 has an angle, so the bending joint 100 can rotate in different directions at different axial positions, making the rotation effect of the bending joint 100 more flexible. In a specific embodiment, the rotation axis between the adjacent first joint component 1000 and the second joint component 2000 can be perpendicular to each other, or different rotation axes can also be adaptively constructed according to the rotation requirements of the bending joint 100. Technical personnel in this field can set it according to needs, and there is no limitation here.

[0074] refer to Figure 7 and Figure 8As shown, when controlling the axial movement of the traction wire 4000, the bending control of the bending joint 100 can be achieved. Among them, when the bending joint 100 of the surgical instrument is under bending control, the outer traction wire 4000 is prone to slack, or the traction wire 4000 is stretched due to force and causes slack. Since the traction compensation structure 3100 is provided on the compensation joint member 3000, after the traction compensation structure 3100 is movably assembled with the traction wire 4000, correspondingly, the traction compensation structure 3100 can resist the traction wire 4000 outward when a certain traction wire 4000 is in a slack state, so that the traction wire 4000 is tightened along the traction compensation structure 3100, thereby compensating for the change amount of the traction wire 4000 during the fixed-axis rotation of the first joint member 1000 and the second joint member 2000. For example, when the traction wire 4000 is bent, the length change of the inner traction wire 4000 is greater than that of the outer traction wire 4000, improving the joint control accuracy, making the traction wire 4000 more stable when controlling the relative rotation of the first joint member 1000 and the second joint member 2000, and solving the problems of the decrease in the stiffness of the bending joint 100, inaccurate control position, and inability to accurately maintain the position of the bending joint 100. Moreover, since the traction compensation structure 3100 can resist the traction wire 4000 when the traction wire 4000 is in a slack state, making the traction wire 4000 have a reasonable transition arc, the traction wire 4000 can be avoided from being excessively bent, and the service life of the traction wire 4000 is improved.

[0075] Assume that when the bending joint 100 is in the zero position before rotation, the lengths of the traction wires 4000 on the left and right sides of the bending joint 100 are L1 and L2 respectively, where L1 = L2. Refer to Figure 8 As shown, when the bending joint 100 rotates, when the bending joint 100 bends to the left by an angle θ, the length of the traction wire 4000 on the right (outer side) of the bending joint 100 becomes L1', and the length change amount △s1 = 丨L1' - L1丨. The length of the traction wire 4000 on the left (inner side) of the bending joint 100 becomes L2', and the length change amount △s2 = 丨L2 - L2'丨. The difference in the length change amounts of the inner and outer wires f(θ) = △s1 - △s2.

[0076] In contrast, refer to Fig. 9 As shown, if the change amount of the compensation joint member 3000 is not used to compensate the traction wire 4000, when the bending unit bends to the left by an angle θ, the length of the traction wire 4000 on the right (outer side) of the bending joint 100 becomes L1'', and the length change amount △s1' = 丨L1'' - L1丨. The length of the traction wire 4000 on the left (inner side) of the bending joint 100 becomes L2'', and the length change amount △s2' = 丨L2 - L2''丨. The difference in the length change amounts of the inner and outer wires f(θ)' = △s1' - △s2' < 0.

[0077] Generally, we expect f(θ) to be near 0, so that the path length changes of the inner and outer traction wires 4000 can be as similar as possible, so that the outer traction wire 4000 is not easy to relax when the bending joint 100 is bent, thereby ensuring good joint stiffness and control accuracy. Fig.10 It can be seen from the curve that the existence of the compensating joint part 3000 can significantly improve the problem that the length change of the inner traction wire 4000 is too large and the length change of the outer traction wire 4000 is too small in the joint part without compensation 3000, especially at large bending angles, the difference in the length change of the inner and outer traction wires 4000 can be greatly improved, thereby improving the joint stiffness and control accuracy.

[0078] Continue to refer Figure 2 and Figure 6 As shown, the bending joint 100 may also include a limiting joint component 5000, which is movably assembled between the first joint component 1000 and the second joint component 2000. The limiting joint component 5000 is used to adapt and move on at least one of the first joint component 1000 and the second joint component 2000 along with the fixed-axis rotation between the first joint component 1000 and the second joint component 2000, and the compensation joint component 3000 adapts and moves relative to the limiting joint component 5000 along with the fixed-axis rotation between the first joint component 1000 and the second joint component 2000.

[0079] The trajectory of the adaptive movement of the limiting joint component 5000 relative to the first joint component 1000 and the second joint component 2000 can be achieved through a variety of structural forms. For example, the limiting joint component 5000, the first joint component 1000 and the second joint component 2000 can cooperate to construct sliding holes, sliding grooves, sliding rails, etc. for relative limited sliding, and at the same time, sliders, sliding columns, etc. that can slide with structures such as sliding holes, sliding grooves, sliding rails, etc. are constructed. Technical personnel in this field can set them according to needs.

[0080] See also Figure 2 As shown, a first movable structure is arranged between the first joint component 1000 and the limiting joint component 5000. The limiting joint component 5000 adapts and moves relative to the first joint component 1000 through the first movable structure as the fixed axis rotation between the first joint component 1000 and the second joint component 2000. The first movable structure may include a first movable track 1300a and a first movable matching part 1300b respectively located on the first joint component 1000 and the limiting joint component 5000. The first movable matching part 1300b is movably assembled along the first movable track 1300a.

[0081] A second movable structure is provided between the second joint component 2000 and the position-limiting joint component 5000. The position-limiting joint component 5000 moves relative to the second joint component 2000 through the second movable structure as the fixed axis rotation between the first joint component 1000 and the second joint component 2000 is performed. Figure 2 As shown, the second movable structure may include a second movable track 1300c and a second movable matching portion 1300d respectively located at the second joint component 2000 and the limiting joint component 5000, and the second movable matching portion 1300d is movably assembled along the second movable track 1300c.

[0082] The first movable structure may specifically include a first movable track 1300a located on the first joint component 1000 and a first movable matching part 1300b located on the limiting joint component 5000, and the limiting joint component 5000 moves relative to the first joint component 1000. The second movable structure may specifically include a second movable track 1300c located on the second joint component 2000 and a second movable matching part 1300d located on the limiting joint component 5000, and the limiting joint component 5000 moves relative to the second joint component 2000.

[0083] In addition, at least one of the first joint component 1000 and the second joint component 2000 can be moved relative to the position-limiting joint component 5000. For example, see Fig.11 and Fig.12 As shown, the second movable track 1300c and the second movable matching portion 1300d in the second movable structure are exchanged, so that the second movable matching portion 1300d is located on the second joint component 2000, and the second movable track 1300c is located on the limiting joint component 5000, or further, refer to Fig.13 and Fig.14 As shown, the first movable track 1300a and the first movable matching portion 1300b in the first movable structure are also swapped, so that the first movable matching portion 1300b is located on the first joint component 1000 and the first movable track 1300a is located on the limiting joint component 5000.

[0084] At least one of the first movable structure and the second movable structure also includes a third movable track 1300e located on the limiting joint 5000, and at least one of the first movable structure and the second movable structure also includes a third movable matching part 1300f located on at least one of the first joint 1000 and the second joint 2000. The third movable matching part 1300f is movably assembled relative to the limiting joint 5000 through the third movable track 1300e. The third movable matching part 1300f is located on the rotation axis between the first joint 1000 and the second joint 2000, and at least one of the first movable track 1300a and the second movable track 1300c has an angle with the third movable track 1300e.

[0085] That is to say, the third movable track 1300e and the third movable matching part 1300f can be included in the first movable structure to assist the adaptive movement of the limiting joint component 5000 relative to the first joint component 1000, or the third movable track 1300e and the third movable matching part 1300f can also be included in the second movable structure to assist the adaptive movement of the limiting joint component 5000 relative to the second joint component 2000. Regardless of whether the third movable track 1300e and the third movable matching part 1300f belong to the first movable structure or the second movable structure, they are both dedicated to coordinating the flexible operation between the first joint component 1000, the second joint component 2000 and the limiting joint component 5000.

[0086] The third movable matching part 1300f is movably assembled along the third movable track 1300e, and the third movable matching part 1300f is located on the rotation axis between the first joint 1000 and the second joint 2000. At least one of the first movable track 1300a and the second movable track 1300c has an angle with the third movable track 1300e. Therefore, when the first joint 1000 and the second joint 2000 rotate around a fixed axis, once the first joint 1000 and the second joint 2000 rotate to the extreme position, the first movable matching part 1300b can adaptably move along the first movable track 1300a, and the second movable matching part 1300d can adaptably move along the third movable track The second movable track 1300c moves, thereby further increasing the limit angle of fixed-axis rotation of the first joint component 1000 and the second joint component 2000. During the increase of the limit rotation angle between the first joint component 1000 and the second joint component 2000, the third movable matching part 1300f will also move along the third movable track 1300e, and then a flexible adaptive movement trajectory is constructed through three sliding pairs. The three sliding pairs can determine the movement posture of the limiting joint component 5000. The limiting joint component 5000 is symmetrical with respect to the first joint component 1000 and the second joint component 2000, and the symmetry plane of the limiting joint component 5000 is located on the angular bisector of the bending angle of the bending joint 100.

[0087] In one embodiment, the direction of connection between the first joint component 1000 and the second joint component 2000 is axial, that is, Figure 1In the up-down direction, the first movable track 1300a extends along the axial direction, the second movable track 1300c extends along the axial direction, and the third movable track 1300e is perpendicular to the axial direction. In a specific embodiment, the track extension line of the first movable track 1300a and the track extension line of the second movable track 1300c can pass through the midpoint of the third movable track 1300e when they overlap, that is, the track extension line of the first movable track 1300a and the track extension line of the second movable track 1300c pass through the rotation connection position of the first joint component 1000 and the second joint component 2000. Also refer to Figure 7 and Figure 8 As shown, the axial distance of the limiting joint component 5000 is S, the bending radius of the thrust rod and the bending joint 100 is R, the distance from the center of the third movable matching part 1300f to the center of the third movable track 1300e is t, and the bending angle of the first joint component 1000 and the second joint component 2000 is θ, satisfying t=(R*1 / cos(θ / 2))-R=S / 2*tan(θ / 2), so it can be seen that R=(S*sin(θ / 2)) / 2(1-cos(θ / 2)). It can be seen from the formula that when the bending angle θ of the joint bending is a fixed value, the bending radius R is proportional to the axial distance S of the limiting joint component 5000. Therefore, the larger the value of S, the larger the minimum bending radius R. In this way, by controlling the axial distance S of the limiting joint component 5000, a large bending radius snake bone joint that meets the requirements can be designed. Moreover, α+β=θ can also make the angle distribution of α and β more flexible, so that the bending angle of the thrust rod when turning becomes controllable. Among them, when the angles of α and β are flexibly distributed according to α+β=θ, the symmetry plane of the limiting joint 5000 is not located on the angular bisector of the bending angle of the bending joint 100. Technical personnel in this field can set it according to needs, and no limitation is made here.

[0088] A third movable structure is provided between the compensation joint component 3000 and the limiting joint component 5000. The compensation joint component 3000 is adapted to move relative to the limiting joint component 5000 through the third movable structure as the fixed axis rotation between the first joint component 1000 and the second joint component 2000 occurs. Figure 2As shown, in addition to the compensation joint component 3000 being rotatably assembled between the first joint component 1000 and the second joint component 2000 along the rotation axis, the third movable structure may include at least one fourth movable matching part 1300h located on the compensation joint component 3000, and the fourth movable matching part 1300h is movably assembled along the third movable track 1300e, so that when the first joint component 1000 and the second joint component 2000 are rotated relative to each other, as the limiting joint component 5000 adapts and moves, the compensation joint component 3000 can also utilize the fourth movable matching part 1300h to adapt and move relative to the limiting joint component 5000, thereby ensuring that the movements among the first joint component 1000, the second joint component 2000, the compensation joint component 3000 and the limiting joint component 5000 are flexible and smooth without any interference in movement.

[0089] See also Figures 15 to 21 As shown, or in another embodiment, the first joint component 1000 and the second joint component 2000 can also be indirectly movably assembled through the compensation joint component 3000 and the limiting joint component 5000 to form a flexible and smooth rotation structure. For example, the third movable structure can also include a fourth movable track 1300g located on the compensation joint component 3000, and the third movable matching part 1300f is movably assembled along the fourth movable track 1300g. The fourth movable track 1300g and the third movable track 1300e have an angle, for example, they are perpendicular to each other. Since the compensation joint component 3000 and the limiting joint component 5000 are movably assembled, the first joint component 1000 and the second joint component 2000 can be indirectly movably assembled relative to the limiting joint component 5000 through the compensation joint component 3000. The indirect assembly utilizes the movable assembly of the third movable matching part 1300f and the fourth movable track 1300g, and the movable assembly of the fourth movable matching part 1300h and the third movable track 1300e.

[0090] Continue reading Fig.15 and Fig.16As shown, in addition to using three sliding pairs to construct the moving track, the moving track can also be constructed by one sliding pair and one rotating pair. For example, in one embodiment, the first movable structure includes the fifth movable track 1300i and the fifth movable matching part 1300j respectively located at the first joint 1000 and the limiting joint 5000, and the fifth movable matching part 1300j is movably assembled along the fifth movable track 1300i. The second movable structure includes the movable shaft 1300k and the rotating shaft hole 1300m respectively located at the second joint 2000 and the limiting joint 5000, and the second joint 2000 and the limiting joint 5000 are connected by the movable shaft 1300k and the rotating shaft hole 1300m. It can be seen that the first movable structure and the second movable structure only contain the sliding pair composed of the fifth movable track 1300i and the fifth movable matching part 1300j and the rotating pair composed of the movable shaft 1300k and the rotating shaft hole 1300m.

[0091] Similarly, continue to refer to Fig.15 and Fig.16 As shown, the first movable structure may specifically include a fifth movable track 1300i located on the first joint component 1000 and a fifth movable matching portion 1300j located on the position-limiting joint component 5000. The position-limiting joint component 5000 moves relative to the first joint component 1000, or refer to Fig.17 and Fig.18 As shown, the fifth movable track 1300i and the fifth movable matching part 1300j in the first movable structure can also be swapped so that the fifth movable matching part 1300j is located on the first joint component 1000 and the first movable track 1300a is located on the limiting joint component 5000.

[0092] See also Figures 22 to 35 As shown, the traction compensation structure 3100 of the compensation joint 3000 can be in various structural forms, such as Fig. 22 and Fig.23 As shown, the traction compensation structure 3100 is a limiting slide groove provided on the compensation joint part 3000, and the traction wire 4000 is slidably assembled in the limiting slide groove, and the limiting slide groove can be constructed into a matching groove type according to the assembly with the traction wire 4000, such as an arc groove, etc. The limiting slide groove can constrain the path of the traction wire 4000 to prevent it from accidentally escaping from the compensation, and the limiting slide groove can improve the situation that when the traction wire 4000 is bent, the length change of the traction wire 4000 located on the inside is greater than the length change of the traction wire 4000 located on the outside, thereby improving the joint control accuracy.

[0093] See also Figure 24 to Figure 26As shown, the traction compensation structure 3100 can be rotatably mounted with a roller 3200, a limiting slide groove is provided at the outer edge of the roller 3200, and the traction wire 4000 is slidably mounted in the limiting slide groove along the outer edge of the roller 3200. The roller 3200 can make the transition of the traction wire 4000 smoother and the friction resistance smaller, thereby reducing the dry friction between the traction wire 4000 and the compensation joint 3000 and prolonging the life of the traction wire 4000.

[0094] See also Fig. 27 and Fig.28 As shown, the traction compensation structure 3100 can be elastically equipped with an elastic member 3300, a limiting slide groove is provided on the elastic member 3300, and the traction wire 4000 is slidably assembled in the limiting slide groove along the elastic member 3300. The cross-sectional shape of the limiting slide groove can be a slide groove structure that prevents slippage, such as a dovetail groove and a T-slot. The elastic member 3300 can include a spring and a slider, and the slider is connected to the spring. By utilizing the elastic effect of the spring, the slider can elastically and dynamically adaptively compensate for the length of the traction wire 4000, so that the length of the traction wire 4000 can be automatically compensated according to the load conditions in actual movement. When the compensation length of the traction wire 4000 is more accurate, the bending joint can have better control accuracy. Further, a guide pulley can be provided on the slider to improve the sliding smoothness of the traction wire 4000, which is not limited here.

[0095] See also Figure 29 to Figure 32 As shown, the traction compensation structure 3100 is a limiting wire hole opened on the compensation joint 3000, and the traction wire 4000 is slidably assembled in the limiting wire hole. The limiting wire hole can be in the shape of a round hole, or refer to Figure 33 to Figure 35 As shown, the shape of the limiting wire hole can be a long strip hole. By adjusting the size of the limiting wire hole, the length change of the inner traction wire 4000 can be appropriately reduced or increased, so that the length control of the traction wire 4000 can be more flexible.

[0096] See also Figure 36 to Figure 41As shown, in one embodiment, a sixth movable track 1300n is provided on the compensation joint component 3000, and the limiting joint component 5000 includes a first link 1300v and a second link 1300w, one end of the first link 1300v is rotatably connected to the first joint component 1000, one end of the second link 1300w is rotatably connected to the second joint component 2000, the other end of the first link 1300v and the other end of the second link 1300w are relatively rotatably connected, wherein the other end of the first link 1300v and the other end of the second link 1300w are commonly connected with a sixth movable matching part 1300x, and the sixth movable matching part 1300x is movably assembled along the sixth movable track 1300n, and the lengths of the first link 1300v and the second link 1300w can be equal, so that the symmetry plane of the compensation joint component 3000 can be located on the angular bisector of the bending angle of the bending joint 100, so that the angle change of the traction wire 4000 is more uniform, thereby improving the joint control accuracy.

[0097] See also Fig.42 As shown, the present application also proposes a push knife drive assembly, which includes a bending joint 100, a thrust rod and a push knife member, a first internal channel running through both ends is opened inside the first joint member 1000, a second internal channel running through both ends is opened inside the second joint member 2000, an internal limiting channel running through both ends is opened inside the limiting joint member 5000, the internal limiting channel connects the first internal channel and the second internal channel as the first joint member 1000 and the second joint member 2000 rotate along the fixed axis, at least a portion of the thrust rod is a bendable section, the thrust rod is arranged in the first internal channel, the internal limiting channel and the second internal channel of the bending joint 100, and the push knife member is connected to the distal end of the thrust rod.

[0098] Continue reading Figure 1 As shown, for the bending joint 100, the first internal channel is a channel that passes through the first joint component 1000 in the axial direction, the second internal channel is a channel that passes through the second joint component 2000 in the axial direction, and the internal limiting channel is a channel that passes through the limiting joint component 5000 in the axial direction, wherein the specific channel structures of the first internal channel, the second internal channel and the internal limiting channel are not limited, for example, the internal structure of any one of the first internal channel, the second internal channel and the internal limiting channel can be a circular radial cross-section, a square radial cross-section, and other regular or irregular radial cross-sections, etc., which are not limited here, as long as the matching thrust rod can be passed through the first internal channel, the second internal channel and the internal limiting channel to realize push-pull drive actions, technical personnel in this field can make specific limitations according to actual needs.

[0099] When the first joint component 1000 and the second joint component 2000 rotate relative to the fixed axis, a gap will occur between the first joint component 1000 and the second joint component 2000. Figure 1 As shown, when the first joint component 1000 and the second joint component 2000 are oriented toward Figure 1 When the first joint 1000 and the second joint 2000 rotate to the left, a larger gap will appear on the right side of the first joint 1000 and the second joint 2000. Correspondingly, when the first joint 1000 and the second joint 2000 rotate toward the right, a larger gap will appear on the left side of the first joint 1000 and the second joint 2000. Once the thrust rod performs a push-pull driving action in the first internal channel and the second internal channel of the first joint 1000 and the second joint 2000, the bendable section of the thrust rod will be easily squeezed out from the gap between the first joint 1000 and the second joint 2000. As the gap increases, the extrusion effect will become worse, resulting in obvious bulging.

[0100] Therefore, a matching limiting joint component 5000 is constructed between the first joint component 1000 and the second joint component 2000. The limiting joint component 5000 can adapt and move on at least one of the first joint component 1000 and the second joint component 2000 along with the fixed-axis rotation between the first joint component 1000 and the second joint component 2000. The trajectory of the adaptive movement of the limiting joint component 5000 on the first joint component 1000 and the second joint component 2000 can be a regular trajectory such as a straight trajectory, a curved trajectory, etc., or it can also be constructed as an irregular trajectory according to actual movement requirements, and it can also be a single trajectory or a complex trajectory formed by a combination of multiple trajectories. In short, the purpose of the adaptive movement of the limiting joint component 5000 on the first joint component 1000 and the second joint component 2000 is to ensure that the first joint component 1000 and the second joint component 2000 can stably perform the expected fixed-axis rotation without affecting the flexibility and stability of the rotation between the first joint component 1000 and the second joint component 2000 due to the introduction of the limiting joint component 5000.

[0101] Therefore, when the thrust rod is passed through the first internal channel, the second internal channel and the internal limiting channel, the gap between the first joint component 1000 and the second joint component 2000 can be blocked by the internal limiting channel of the limiting joint component 5000, thereby suppressing the extrusion of the bendable section of the thrust rod from the first joint component 1000 and the second joint component 2000, fundamentally solving the problem of bulging during the rotation of the bending joint 100, and enabling the thrust rod to stably and effectively perform push-pull driving actions, and control the distal jaw 200 to perform flexible opening and closing actions.

[0102] Since the first joint component 1000 and the second joint component 2000 have the first internal channel and the second internal channel respectively, in one embodiment, the limiting joint component 5000 is located inside the first joint component 1000 and the second joint component 2000, so when the limiting joint component 5000 is under pressure, the pressure can be transmitted to the first joint component 1000 and the second joint component 2000, and the first joint component 1000 and the second joint component 2000 can withstand tension without separation, so that the connection reliability can be guaranteed and safety problems caused by breakage will not occur. In addition, the limiting joint component 5000 can also be constructed on the outside of at least one of the first joint component 1000 and the second joint component 2000, and those skilled in the art can construct the internal and external assembly relationship between the adjacent first joint component 1000, the second joint component 2000 and the limiting joint component 5000 according to the needs, which is not limited here.

[0103] See also Fig.42 As shown, the present application provides a surgical instrument, in particular a stapler, the surgical instrument includes a push blade drive assembly, a distal jaw, an instrument rod 300, an instrument drive box 400 and a staple cartridge box 500, the instrument drive box 400 provides power, according to Fig.42 In the distal and proximal directions shown, the instrument drive box 400 is connected to the proximal end of the instrument rod 300, the bending joint of the push knife drive assembly is connected to the distal end of the instrument rod 300, and the distal jaws and the nail magazine box 500 are connected through the bending joint. The push knife drive assembly is used to control the opening and closing of the distal jaws and the movement of the nail magazine box 500. Those skilled in the art can set it according to needs and it is not limited here. Since the specific structure, functional principle and technical effect of the bending joint and the push knife drive assembly are all described in detail above, they will not be repeated here.

[0104] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0105] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A bending joint, characterized in that: The bending joint comprises: A first joint component, wherein a first connection structure is disposed at an end of the first joint component; A second joint component, wherein a second connection structure is disposed at an end of the second joint component, and the first joint component is connected to the second connection structure of the second joint component for fixed-axis rotation via the first connection structure; A traction wire, which is movably connected to the first joint component and the second joint component and is used to control the fixed-axis rotation of the first joint component and the second joint component; A compensation joint component, the compensation joint component is movably assembled between the first joint component and the second joint component, and a traction compensation structure is provided on the compensation joint component, and the traction compensation structure is movably assembled with the traction wire, and is used to compensate for the change of the traction wire during the fixed-axis rotation of the first joint component and the second joint component; A limiting joint component is movably assembled between the first joint component and the second joint component, and is used to adapt and move on at least one of the first joint component and the second joint component as the fixed axis rotation between the first joint component and the second joint component is performed, and the compensation joint component adapts and moves relative to the limiting joint component as the fixed axis rotation between the first joint component and the second joint component is performed.

2. The bending joint according to claim 1, characterized in that: The first joint component and the second joint component perform fixed-axis rotation along a rotation axis, and the compensation joint component is assembled between the first joint component and the second joint component for fixed-axis rotation along the rotation axis.

3. The bending joint according to claim 1, characterized in that: A first movable structure is disposed between the first joint component and the position-limiting joint component, and the position-limiting joint component is adapted to move relative to the first joint component through the first movable structure as the fixed axis between the first joint component and the second joint component rotates; and / or, A second movable structure is provided between the second joint component and the position-limiting joint component, and the position-limiting joint component is adapted to move relative to the second joint component through the second movable structure as the fixed axis between the first joint component and the second joint component rotates; and / or, A third movable structure is arranged between the compensation joint component and the limiting joint component. The compensation joint component is adapted to move relative to the limiting joint component through the third movable structure as the fixed axis rotation between the first joint component and the second joint component occurs.

4. The bending joint according to claim 3, characterized in that: The first movable structure comprises a first movable track and a first movable matching part respectively located at the first joint component and the position-limiting joint component, and the first movable matching part is movably assembled along the first movable track; the second movable structure comprises a second movable track and a second movable matching part respectively located at the second joint component and the position-limiting joint component, and the second movable matching part is movably assembled along the second movable track; At least one of the first movable structure and the second movable structure also includes a third movable track located on the limiting joint, and also includes a third movable matching part located on at least one of the first joint and the second joint, the third movable matching part is movably assembled relative to the limiting joint through the third movable track, the third movable matching part is located on the rotation axis between the first joint and the second joint, and at least one of the first movable track and the second movable track has an angle with the third movable track.

5. The bending joint according to claim 4, characterized in that: The connection direction of the first joint component and the second joint component is axial, the first movable track extends along the axial direction, the second movable track extends along the axial direction, and the third movable track is perpendicular to the axial direction; the track extension line of the first movable track and the track extension line of the second movable track can pass through the midpoint of the third movable track when they coincide; the third movable structure includes at least one fourth movable matching part located on the compensation joint component, and the fourth movable matching part is movably assembled along the third movable track; or, The third movable structure includes a fourth movable track located on the compensation joint component, and the third movable matching portion is movably assembled along the fourth movable track, and then indirectly movably assembled relative to the limiting joint component through the compensation joint component.

6. The bending joint according to claim 3, characterized in that: The first movable structure comprises a fifth movable track and a fifth movable matching portion respectively located on the first joint component and the position-limiting joint component, and the fifth movable matching portion is movably assembled along the fifth movable track; The second movable structure includes a movable rotating shaft and a rotating shaft hole respectively located at the second joint component and the limiting joint component, and the second joint component and the limiting joint component are connected for fixed-axis rotation via the movable rotating shaft and the rotating shaft hole.

7. The bending joint according to claim 1, characterized in that: A sixth movable track is arranged on the compensation joint component, and the limiting joint component includes a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably connected to the first joint component, one end of the second connecting rod is rotatably connected to the second joint component, the other end of the first connecting rod and the other end of the second connecting rod are relatively rotatably connected, wherein the other end of the first connecting rod and the other end of the second connecting rod are commonly connected with a sixth movable matching part, and the sixth movable matching part is movably assembled along the sixth movable track.

8. The bending joint according to claim 1, characterized in that: The traction compensation structure is a limiting slide groove provided on the compensation joint component, and the traction wire is slidably assembled in the limiting slide groove; And / or, the traction compensation structure is a limiting wire hole opened on the compensation joint component, and the traction wire is slidably assembled in the limiting wire hole.

9. The bending joint according to claim 8, characterized in that: A roller is rotatably mounted on the traction compensation structure, the limiting slide groove is arranged on the outer edge of the roller, and the traction wire is slidably mounted in the limiting slide groove along the outer edge of the roller; and / or, The traction compensation structure is elastically equipped with an elastic member, the limiting slide groove is provided on the elastic member, and the traction wire is slidably assembled in the limiting slide groove along the elastic member; and / or, The shape of the limiting wire hole is a round hole or an elongated hole.

10. A surgical instrument, characterized in that: The surgical instrument comprises: A bending joint as claimed in any one of claims 1 to 9.

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