A flexible surgical robot

Abstract

The embodiment of the present application provides a flexible surgical robot, which belongs to the field of medical device technology. The flexible surgical robot includes a control cabinet, a multi-axis collaborative robot arm, a chassis and a plurality of telescopic arm units. The multi-axis collaborative robot arm is installed in the control cabinet and electrically connected to the control cabinet; the chassis is connected to the end of the multi-axis collaborative robot arm, and the plurality of telescopic arm units are distributed along the circumference of the chassis. Each telescopic arm unit includes a linear drive module, a traction structure and an end instrument module. The traction structure is arranged at the driving end of the linear drive module. The linear drive module is used to drive the traction structure to move along a first direction to approach or move away from the chassis. The traction structure is connected to the end instrument module and driven by a traction rope to drive the end instrument module to perform corresponding actions. The linear drive module, the traction structure and the end instrument module are distributed along the first direction. This flexible surgical robot has a simple structure and good stability, which provides the possibility for further miniaturization of surgical instruments.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular, to a flexible surgical robot. Background Art

[0002] At present, minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the size of the incision, the difficulty of minimally invasive instruments in minimally invasive surgery has greatly increased, and the fatigue and trembling of doctors during long operations will be magnified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology.

[0003] Among them, single-port surgical robots have the advantages of fewer incisions and faster recovery after surgery. Generally, flexible surgical instruments are used to enter the human body through one incision to perform surgery. It can be seen that flexible surgical instruments are crucial to single-port surgical robots. However, existing flexible surgical robots have problems such as complex structure, unreasonable joint structure setting, and large size. Summary of the invention

[0004] The embodiment of the present application provides a flexible surgical robot with a simple structure and good stability, which makes it possible to further miniaturize the surgical instrument and can improve the movement performance of the instrument.

[0005] An embodiment of the present application provides a flexible surgical robot, which includes a control cabinet, a multi-axis collaborative robotic arm, a chassis and multiple telescopic arm units. The multi-axis collaborative robotic arm is installed on the control cabinet and electrically connected to the control cabinet; the chassis is connected to the end of the multi-axis collaborative robotic arm, and the multiple telescopic arm units are distributed along the circumference of the chassis. Each telescopic arm unit includes a linear drive module, a traction structure and an end instrument module. The linear drive module is installed on the chassis, and the traction structure is arranged at the driving end of the linear drive module. The linear drive module is used to drive the traction structure to move along a first direction to approach or move away from the chassis. The traction structure is connected to the end instrument module and is driven by a traction rope to drive the end instrument module to perform corresponding actions. The linear drive module, the traction structure and the end instrument module are linearly distributed along the first direction.

[0006] In this solution, the chassis is connected to the end of the multi-axis collaborative robot arm, and multiple telescopic arm units are installed on the chassis along the circumferential direction. The multi-axis collaborative robot arm is installed on the control cabinet. The control cabinet can receive instructions from the doctor's active platform and control the multi-axis collaborative robot arm and the telescopic arm unit on the chassis to perform corresponding actions to achieve remote surgical operations. The multiple telescopic arm units on the chassis can move relatively independently to perform corresponding actions. Specifically, the linear drive module in each telescopic arm unit can drive the traction structure and the end instrument module to approach or move away from the chassis, and under the traction of the traction structure, the end instrument module performs the corresponding surgical action, with a simple structure and good stability. In addition, in the telescopic arm unit, the linear drive module, the traction structure and the end instrument module are linearly distributed along the first direction, so that the spatial layout of the telescopic arm unit on the chassis is more reasonable, which provides the possibility for further miniaturization of surgical instruments, and under the dual control of the linear drive module and the traction structure, the motion performance of the end instrument module can be improved.

[0007] In some embodiments, the number of telescopic arm units is set to three, and the three telescopic arm units can be a left instrument arm unit, a right instrument arm unit and a vision arm unit respectively. The three telescopic arm units are installed on the chassis at equal intervals along the circumferential direction.

[0008] In the above technical solution, the number of telescopic arm units is increased to three, namely a visual arm unit, a left instrument arm unit and a right instrument arm unit. The visual arm unit can be used to present the actual scene of the operation site in real time, which is beneficial for medical staff to remotely control the left instrument arm unit and / or the right instrument arm unit to perform corresponding surgical operations according to the actual scene during the operation. The operation of the medical staff is more convenient, reliable and more accurate.

[0009] In some embodiments, the end instrument module includes an instrument rod, an end base, a first flexible joint, an end upper arm, an end forearm, a rotating arm and an end effector in sequence. The instrument rod is connected to the pulling structure, the end base is connected to the end of the instrument rod, and the end effector is an end instrument or a lens; the first flexible joint includes one or more first serpentine joints, and any two adjacent serpentine joints can rotate relative to each other.

[0010] In the above technical solution, the instrument rod is connected to the traction structure, and the traction line in the traction structure passes through and is connected to the first flexible joint or the end effector on the front side of the end base. The first flexible joint includes one or more first serpentine joints, and the first serpentine joint can be rotated so that the end instrument module can perform a rotation action, thereby adjusting the cutting angle of the end effector, which is facilitating the execution of the corresponding surgical operation.

[0011] In some embodiments, the first flexible joint includes multiple first serpentine joints, the first serpentine joint has an inner hole, the inner hole is used for the traction rope of the traction structure to pass through, the first serpentine joint has a connecting groove and a connecting shaft on both sides of the axial direction, the connecting shaft is used to connect with the connecting groove of the adjacent first serpentine joint so that the first serpentine joint can rotate around the connecting shaft; both sides of the axial direction of the first serpentine joint have a rotation avoidance plane, the rotation avoidance plane includes a first avoidance plane and a second avoidance plane, the angle between the first avoidance plane and the second avoidance plane is α, α satisfies: 10°<α<40°.

[0012] In the above technical solution, the first flexible joint includes a plurality of first serpentine joints. Under the traction of the traction rope in the traction structure, two adjacent first serpentine joints can rotate relative to each other around the connecting axis of the corresponding first serpentine joint, so as to realize the rotation and angle adjustment of the terminal instrument module. Of course, both sides of the axial direction of the first serpentine joint have rotation avoidance planes, and the rotation avoidance planes can provide a yielding effect when the first serpentine joint rotates, so as to provide yielding space for the rotation of the first serpentine joint. In addition, by making the angle α between the first avoidance surface and the second avoidance surface satisfy: 10°<α<40°, the maximum rotation angle of the two adjacent first serpentine joints is 40°, and the minimum rotation angle is 10°.

[0013] In some embodiments, the number of inner holes is set to four, and the four inner holes are divided into a first inner hole group and a second inner hole group. The number of the first inner hole group and the second inner hole group are both two. The first inner hole group and the second inner hole group are located on opposite sides of the connecting shaft, and each inner hole penetrates the first serpentine joint axially.

[0014] In the above technical solution, the inner hole can be used for the traction rope of the traction structure to be arranged and passed through and connect two adjacent first serpentine joints, thereby improving the integrity of the first flexible joint, and by setting the number of inner holes in the first serpentine joint to four, the four inner holes are divided into a first inner hole group and a second inner hole group, so that under the driving action of the traction rope of the traction structure, the first serpentine joint can have angle adjustments in two relative directions.

[0015] In some embodiments, the connection axes of two adjacent first serpentine joints are staggered in the circumferential direction of the first serpentine joints.

[0016] In the above technical solution, by distributing the connecting axes of two adjacent first serpentine joints in a staggered manner in the circumferential direction of the first serpentine joints, the rotation of multiple first serpentine joints in the first flexible joint can be distributed in a circular shape, similar to a twist shape, so that the angle adjustment range of the first flexible joint is larger.

[0017] In some embodiments, a second flexible joint is provided between the terminal upper arm and the terminal forearm, and the second flexible joint includes multiple second serpentine joints, and the multiple second serpentine joints are sequentially distributed between the terminal upper arm and the terminal forearm, and the second serpentine joint has the same structure as the first serpentine joint.

[0018] In the above technical solution, by setting a second flexible joint between the terminal upper arm and the terminal forearm, the second flexible joint and the second flexible joint cooperate together to increase the angle adjustment range of the terminal instrument module, making the angle adjustment flexibility of the terminal instrument module stronger.

[0019] In some embodiments, the linear drive module is a multi-stage telescopic unit.

[0020] In the above technical solution, by adopting the linear drive module as a multi-stage telescopic unit, the telescopic stroke of the end instrument module is made longer, which can make up for the stroke of the multi-axis collaborative robot arm, making the application range of the flexible surgical robot wider.

[0021] In some embodiments, the linear drive module is a two-stage telescopic unit, which includes a motor base, a drive motor, a gear, a first pulley, a first transmission belt, a first moving platform, a second pulley, a second transmission belt, and a second moving platform. The motor base is installed on the chassis, and the drive motor is installed on the motor base. The driving end of the drive motor is meshed with the gear, which is coaxially connected to the first pulley. A first slider is provided on the first moving platform, and the first moving platform is connected to the first transmission belt through the first slider. The drive motor rotates to drive the first moving platform to move in a first direction. The second pulleys are respectively provided on the first moving platform and the second moving platform, and the second transmission belt is provided between the two second pulleys. A second slider is provided on the second moving platform, and the second slider is connected to the second transmission belt to drive the second moving platform to move in the first direction.

[0022] In the above technical solution, the linear drive module is adopted as a two-stage telescopic unit, the motor drives the gear to rotate, the gear is coaxially connected to the first pulley, the rotation of the first pulley drives the first transmission belt to move, since the first moving platform is connected to the first transmission belt through the first slider, the first transmission belt is provided with a first slider, thereby driving the first moving platform to move, and the second moving platform is provided with a second slider, the second slider is connected to the second transmission belt, when the motor is started, it can drive the first transmission belt to move, the first transmission belt can drive the second transmission belt to realize secondary transmission, and the movement of the second transmission belt drives the second moving platform to move, thereby realizing secondary telescopic.

[0023] In some embodiments, the linear drive module also includes a first guide column, the number of which is set to two, and the two first guide columns are arranged on the motor base, and the first guide column is used to guide the first mobile platform to move along the first direction; the first mobile platform is provided with a second guide column, the number of which is set to two, and the two second guide columns are used to guide the second mobile platform to move along the first direction on the first mobile platform, and the pulling structure is installed on the second mobile platform.

[0024] In the above technical solution, the first guide column can provide guidance for the movement of the first mobile platform, so that the movement of the first mobile platform is more stable. By arranging a second guide column on the first mobile platform, the second guide column can guide the second mobile platform to move along the first direction on the first mobile platform, and the pulling structure is installed on the second mobile platform, thereby realizing the two-level extension and retraction of the pulling structure, and the extension and retraction process has good stability and high precision.

[0025] Other features and advantages of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of the structure of a flexible surgical robot provided in some embodiments of the present application;

[0028] Figure 2 A schematic diagram of the structure of multiple telescopic arm units provided in some embodiments of the present application;

[0029] Figure 3 for Figure 2 A schematic diagram of the structure of the middle telescopic arm unit in an extended state;

[0030] Figure 4 for Figure 3 A schematic diagram of the structure of the end instrument module at the front end of the multiple telescopic arm units;

[0031] Figure 5 for Figure 4 A schematic diagram of the structure of the end instrument module in the middle vision arm unit;

[0032] Figure 6 A schematic structural diagram of an end instrument module at the front end of a single telescopic arm unit provided in some embodiments of the present application;

[0033] Figure 7 This is a structural schematic diagram of the state switching of the terminal instrument module in some embodiments of the present application;

[0034] Figure 8 for Figure 7 Schematic diagram of the structure of a single first serpentine joint;

[0035] Fig. 9 This is a schematic diagram of the structure of the state switching of the terminal instrument module in other embodiments of the present application;

[0036] Fig.10 for Fig. 9 Schematic diagram of the structure of a single first serpentine joint;

[0037] Fig.11 This is a schematic diagram of the structure of a single telescopic arm unit in some embodiments of the present application;

[0038] Fig.12 for Fig.11 Exploded diagram of the middle telescopic arm unit;

[0039] Fig.13 This is an exploded schematic diagram of a single telescopic arm unit from another angle in some embodiments of the present application;

[0040] Fig.14 A schematic diagram of a structure in which a telescopic arm unit is in a retracted state in some embodiments of the present application;

[0041] Fig.15 It is a structural schematic diagram of the telescopic arm unit 14 in an extended state;

[0042] Fig.16 This is a structural schematic diagram of another angle in which the telescopic arm unit is in a retracted state in some embodiments of the present application;

[0043] Fig.17 for Fig.16 A schematic diagram of the structure of the middle telescopic arm unit in an extended state;

[0044] Fig.18 A schematic diagram of a pulling structure provided in some embodiments of the present application;

[0045] Fig.19 for Fig.18 Explosion diagram of

[0046] Fig. 20 for Fig.18 A schematic diagram of the structure from another angle;

[0047] Fig.21 It is a schematic diagram of the length of the driving line before and after the end device is bent, using the traditional rotating shaft to retract and release the traction rope under an ideal state in the prior art;

[0048] Fig. 22 It is a schematic diagram of the length of the driving line before and after the end device is bent, using the traditional rotating shaft to retract and release the traction rope in the actual state of the prior art;

[0049] Fig.23 A schematic diagram of force transmission between an active traction unit and a passive traction unit in a traction structure provided in some embodiments of the present application;

[0050] Fig.24 A schematic diagram of a pulling structure realizing constant force pulling;

[0051] Fig.25 A schematic diagram of the structure of the connection between the driving member and the slider in the active traction unit provided in some embodiments of the present application;

[0052] Fig.26 A schematic diagram of the structure of a central pillar provided for some embodiments of the present application;

[0053] Fig. 27 for Fig.26 Explosion diagram of

[0054] Fig.28 for Fig.26 A front view of

[0055] Fig.29 Schematic diagram of the application of the flexible surgical robot provided in some embodiments of the present application in actual scenarios.

[0056] Icons: 100-telescopic arm unit; 101-left instrument arm unit; 102-right instrument arm unit; 103-visual arm unit; 10-linear drive module; 11-motor base; 12-drive motor; 13-gear; 140-first pulley; 141-first transmission belt; 142-first mobile platform; 150-second pulley; 151-second transmission belt; 152-second mobile platform; 153-first guide column; 154 - second guide column; 16 - linear drive box; 20 - pulling structure; 21 - base; 210 - receiving groove; 22 - passive traction unit; 220 - elastic member; 221 - driving disk; 2210 - hinged end; 2211 - first connection end; 2212 - second connection end; 222 - plug; 2220 - body; 2221 - protrusion; 223 - outer sleeve; 23 - active traction unit; 230 - driving member; 231 - slider ; 232-first pulley block; 233-hook; 234-hook portion; 24-traction rope; 240-first passive traction rope; 241-second passive traction rope; 242-active traction rope; 25-central support; 250-second pulley block; 251-pulley groove; 252-channel; 253-pin; 30-end instrument module; 31-instrument rod; 32-end base; 33-first flexible joint; 330-first snake bone Joint; 331-inner hole; 332-connecting groove; 333-connecting axis; 334-first avoidance surface; 335-second avoidance surface; 34-end upper arm; 35-second flexible joint; 36-end forearm; 37-rotating arm; 38-end effector; 39-binocular camera; 200-control cabinet; 201-roller; 300-multi-axis collaborative robotic arm; 400-chassis; X-first direction; 1000-flexible surgical robot. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0058] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0059] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0060] In the description of the embodiments of the present application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0061] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be fixedly connected, detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0062] Example

[0063] The present application embodiment provides a flexible surgical robot. Figures 1 to 27 The flexible surgical robot 1000 includes a control cabinet 200, a multi-axis collaborative robot arm 300, a chassis 400 and a plurality of telescopic arm units 100. The multi-axis collaborative robot arm 300 is installed on the control cabinet 200 and is electrically connected to the control cabinet 200. The chassis 400 is connected to the end of the multi-axis collaborative robot arm 300. The plurality of telescopic arm units 100 are distributed along the circumference of the chassis 400. Each telescopic arm unit 100 includes a linear drive module 10, a pulling structure 20 and an end instrument module 30. The linear drive module 10 is installed on the chassis 400. The pulling structure 20 is arranged at the driving end of the linear drive module 10. The linear drive module 10 is used to drive the pulling structure 20 to move along a first direction X to approach or move away from the chassis 400. The pulling structure 20 is connected to the end instrument module 30 and is driven by a traction rope to drive the end instrument module 30 to perform corresponding actions. The linear drive module 10, the pulling structure 20 and the end instrument module 30 are linearly distributed along the first direction X.

[0064] In this solution, the chassis 400 is connected to the end of the multi-axis collaborative robot arm 300, and multiple telescopic arm units 100 are distributed along the circumference of the chassis 400. The multi-axis collaborative robot arm 300 is installed on the control cabinet 200. The control cabinet 200 can receive instructions from the doctor's active platform and control the multi-axis collaborative robot arm 300 and the telescopic arm unit 100 on the chassis 400 to perform corresponding actions to achieve remote surgical operations. The multiple telescopic arm units 100 on the chassis 400 can move relatively independently to perform corresponding actions. Specifically, the linear drive module 10 in each telescopic arm unit 100 can drive the traction structure 20 and the end instrument module 30 to approach or move away from the chassis 400, and under the traction of the traction structure 20, the end instrument module 30 performs the corresponding surgical action. The structure is simple and the stability is good. Furthermore, in the telescopic arm unit 100, the linear drive module 10, the pulling structure 20 and the end instrument module 30 are linearly distributed along the first direction X, so that the spatial layout of the telescopic arm unit on the chassis 400 is more reasonable, which provides the possibility for further miniaturization of surgical instruments, and under the dual control of the linear drive module 10 and the pulling structure 20, the movement performance of the end instrument module 30 can be improved.

[0065] like Fig. 27 Shown is a schematic diagram of the flexible surgical robot in the present application applied to a surgical scene. Due to the compactness and lightweight of the flexible surgical robot, the total weight of the three arms is less than 5kg, so it can be carried on a lightweight collaborative robotic arm, occupying little space next to the operating bed. Moreover, compared with the existing circular arm single-port robot, it has more flexible access options. The single-port surgical robot in this solution has the advantage of being able to enter from the side of the human body at an elevated angle.

[0066] Among them, Figure 1 As shown, rollers 201 are provided at the four corners of the bottom of the control cabinet 200, and the rollers 201 are provided with brakes, and the rollers 201 are used to facilitate the transfer of the flexible surgical robot 1000. In addition, the number of telescopic arm units 100 can be two, three or four, etc., and the specific number of telescopic arm units 100 can be determined according to actual needs and application scenarios.

[0067] In some embodiments, Figure 2As shown, the number of telescopic arm units 100 is set to three, and the three telescopic arm units can be respectively a left instrument arm unit 101, a right instrument arm unit 102 and a visual arm unit 103, and the three telescopic arm units are installed on the chassis 400 at equal intervals along the circumferential direction. By setting the number of telescopic arm units 100 to three, and the three telescopic arm units 100 being respectively a visual arm unit 103, a left instrument arm unit 101 and a right instrument arm unit 102, the visual arm unit 103 can be used to present the actual scene of the surgical site in real time, which is conducive to the medical staff to remotely control the left instrument arm unit 101 and / or the right instrument arm unit 102 to perform the corresponding surgical operation according to the actual scene during the operation, and the operation of the medical staff is more convenient, reliable and more accurate.

[0068] Among them, the visual arm unit 103, it can be understood that the end of the telescopic arm unit 100 is equipped with a visual module, such as a binocular camera 39, so as to transmit the actual impact to the display of the doctor's main control platform, so that the medical staff can remotely control the other two telescopic arm units 100 to perform corresponding surgical operations. As for the left instrument arm unit 101 and the right instrument arm unit 102, it can be understood that the ends of the left instrument arm unit 101 and the right instrument arm unit 102 are equipped with instrument parts corresponding to the surgical operations.

[0069] In some embodiments, see Figures 4 to 6 The end instrument module 30 includes an instrument rod 31, an end base 32, a first flexible joint 33, an end upper arm 34, an end forearm 36, a rotating arm 37 and an end effector 38 in sequence. The instrument rod 31 is connected to the pulling structure 20, the end base 32 is connected to the end of the instrument rod 31, and the end effector 38 is an end instrument or a lens; the first flexible joint 33 includes one or more first serpentine joints 330, and any two adjacent serpentine joints can rotate with each other. The instrument rod 31 is connected to the pulling structure 20, and the traction line in the pulling structure 20 passes through and is connected to the first flexible joint 33 or the end effector 38 on the front side of the end base 32, and the first flexible joint 33 includes one or more first serpentine joints 330. The first serpentine joints 330 can be rotated, so that the end instrument module 30 can perform a rotation action, thereby adjusting the cutting angle of the end effector 38, which is conducive to performing the corresponding surgical operation.

[0070] In some embodiments, see Figure 7 and Figure 8The first flexible joint 33 includes a plurality of first serpentine joints 330, each of which has an inner hole 331 for passing the traction rope of the pulling structure 20, and each of the first serpentine joints 330 has a connecting groove 332 and a connecting shaft 333 on both sides of the axial direction, and the connecting shaft 333 is used to connect with the connecting groove 332 of the adjacent first serpentine joint 330 so that the first serpentine joint 330 can rotate around the connecting shaft 333; each of the first serpentine joints 330 has a rotation avoidance plane on both sides of the axial direction, and the rotation avoidance plane includes a first avoidance plane 334 and a second avoidance plane 335, and the angle between the first avoidance plane 334 and the second avoidance plane 335 is α, and α satisfies: 10°<α<40°.

[0071] The first flexible joint 33 includes a plurality of first serpentine joints 330. Under the traction of the traction rope in the pulling structure 20, two adjacent first serpentine joints 330 can rotate relative to each other around the corresponding connecting shaft 333 of the first serpentine joint 330, so as to realize the rotation and angle adjustment of the terminal instrument module. Of course, both sides of the axial direction of the first serpentine joint 330 have a rotation avoidance plane, which can provide a yielding effect when the first serpentine joint 330 rotates, so as to provide a yielding space for the rotation of the first serpentine joint 330. In addition, by satisfying the angle α between the first avoidance surface 334 and the second avoidance surface 335: 10°<α<40°, the maximum rotation angle of the two adjacent first serpentine joints 330 is 40°, and the minimum rotation angle is 10°.

[0072] In some embodiments, Figure 8 As shown, the number of inner holes 331 is set to four, and the four inner holes 331 are divided into a first inner hole group and a second inner hole group. The number of the first inner hole group and the second inner hole group are both two, and the first inner hole group and the second inner hole group are located on opposite sides of the connecting shaft 333, and each inner hole 331 axially penetrates the first snake bone joint 330. The inner hole 331 can be used for the traction rope of the traction structure 20 to arrange and pass through and connect two adjacent first snake bone joints 330, thereby improving the integrity of the first flexible joint 33, and by setting the number of inner holes 331 in the first snake bone joint 330 to four, and the four inner holes 331 are divided into the first inner hole group and the second inner hole group, under the driving action of the traction rope of the traction structure 20, the first snake bone joint 330 can have angle adjustment in two relative directions.

[0073] The connection axes 333 of two adjacent first serpentine joints 330 are distributed in the same axial direction in the circumferential direction of the first serpentine joints 330 , or may be distributed in a staggered manner.

[0074] In some embodiments, see Fig. 9 and Fig.10, the connecting shafts 333 of two adjacent first serpentine joints 330 are staggered in the circumferential direction of the first serpentine joints 330. By staggering the connecting shafts 333 of two adjacent first serpentine joints 330 in the circumferential direction of the first serpentine joints 330, the rotation of multiple first serpentine joints 330 in the first flexible joints 33 can be distributed in a ring shape, similar to a twist shape, so that the angle adjustment range of the first flexible joints 33 is larger.

[0075] In some embodiments, please refer to Figure 6 A second flexible joint 35 is provided between the end upper arm 34 and the end forearm 36. The second flexible joint 35 includes a plurality of second serpentine joints, which are sequentially distributed between the end upper arm 34 and the end forearm 36. The second serpentine joint has the same structure as the first serpentine joint 330. By providing the second flexible joint 35 between the end upper arm 34 and the end forearm 36, the second flexible joint 35 and the second flexible joint 35 cooperate with each other, which can increase the angle adjustment range of the end instrument module 30, making the angle adjustment flexibility of the end instrument module 30 stronger.

[0076] The linear drive module 10 may be a single-stage telescopic unit or a multi-stage telescopic unit.

[0077] In some embodiments, the linear drive module 10 is a multi-stage telescopic unit.

[0078] In the above technical solution, by adopting the linear drive module 10 as a multi-stage telescopic unit, the telescopic stroke of the end instrument module 30 is made longer, which can make up for the stroke of the multi-axis collaborative robot arm 300, making the application range of the flexible surgical robot 1000 wider.

[0079] In some embodiments, see Figures 11 to 17The linear drive module 10 is a two-stage telescopic unit. The linear drive module 10 includes a motor base 11, a drive motor 12, a gear 13, a first pulley 140, a first transmission belt 141, a first mobile platform 142, a second pulley 150, a second transmission belt 151 and a second mobile platform 152. The chassis 400 is installed on the chassis 400. The drive motor 12 is installed on the motor base 11. The drive end of the drive motor 12 is meshed with the gear 13, which is coaxially connected with the first pulley 140. The first mobile platform 142 is provided with There is a first slider, and the first mobile platform 142 is connected to the first transmission belt 141 through the first slider. The driving motor 12 rotates to drive the first mobile platform 142 to move along the first direction X. The second pulley 150 is respectively arranged on the first mobile platform 142 and the second mobile platform 152. The second transmission belt 151 is arranged between the two second pulleys 150. The second mobile platform 152 is provided with a second slider, and the second slider is connected to the second transmission belt 151 to drive the second mobile platform 152 to move along the first direction X.

[0080] By adopting the linear drive module 10 as a two-stage telescopic unit, the motor drives the gear 13 to rotate, and the gear 13 is coaxially connected to the first pulley 140. The rotation of the first pulley 140 drives the first transmission belt 141 to move. Since the first mobile platform 142 is connected to the first transmission belt 141 through the first slider, the first transmission belt 141 is provided with a first slider, thereby driving the first mobile platform 142 to move, and the second mobile platform 152 is provided with a second slider, and the second slider is connected to the second transmission belt 151. When the motor is started, it can drive the first transmission belt 141 to move, and the first transmission belt 141 can drive the second transmission belt 151 to realize secondary transmission. The movement of the second transmission belt 151 drives the second mobile platform 152 to move, thereby realizing secondary telescopic movement.

[0081] In some embodiments, please refer to Figures 11 to 17 The linear drive module 10 also includes a first guide column 153, the number of which is set to two, and the two first guide columns 153 are arranged on the motor base 11, and the first guide column 153 is used to guide the first movable platform 142 to move along the first direction X; the first movable platform 142 is provided with a second guide column 154, the number of which is set to two, and the two second guide columns 154 are used to guide the second movable platform 152 to move along the first direction X on the first movable platform 142, and the pulling structure 20 is installed on the second movable platform 152.

[0082] The first guide column 153 can provide guidance for the movement of the first mobile platform 142, so that the movement of the first mobile platform 142 is more stable. By providing a second guide column 154 on the first mobile platform 142, the second guide column 154 can guide the second mobile platform 152 to move along the first direction X on the first mobile platform 142, and the pulling structure 20 is installed on the second mobile platform 152, thereby realizing the two-level extension and retraction of the pulling structure 20, and the extension and retraction process has good stability and high precision.

[0083] Among them, the linear drive module 10 also includes a linear drive box 16, which is covered on the motor base 11 and covers the drive motor 12, the gear 13, the first pulley 140 and part of the first transmission belt 141. The linear drive box 16 can cover the drive motor 12 on the motor base 11, so that the overall aesthetics of the linear drive module 10 is stronger, and due to the covering effect of the linear drive box 16, it can play a dust-proof and sterile function.

[0084] In some embodiments, see Figures 18 to 28 The pulling structure 20 includes a base 21 and a pulling mechanism, the pulling mechanism is arranged on the base 21, the pulling mechanism includes a passive traction unit 22, an active traction unit 23 and a traction rope 24, the traction rope 24 is connected between the passive traction unit 22 and the active traction unit 23, the passive traction unit 22 and the active traction unit 23 cooperate with each other to drive the terminal instrument module to perform corresponding actions; wherein, the passive traction unit 22 includes an elastic member 220 and a driving disk 221, the base 21 has a receiving groove 210 extending along the first direction X, the elastic member 220 is arranged in the receiving groove 210; the driving disk 221 has a hinge end 2210, a first connection end 2211 and a second connection end 2212 distributed in a triangular shape, and the driving disk 221 is rotatably installed on the base 21 close to the terminal instrument module through the hinge end 2210 block; along the first direction X, the first connection end 2211 is closer to the elastic member 220 than the second connection end 2212, and the side of the elastic member 220 close to the driving disk 221 is limited to the end wall of the accommodating groove 210, and the traction rope 24 includes a first passive traction rope 240 and a second passive traction rope 241, one end of the first passive traction rope 240 is connected to the side of the elastic member 220 away from the driving disk 221, and the other end is connected to the first connection end 2211, one end of the second passive traction rope 241 is connected to the second connection end 2212, and the other end is connected to the corresponding part of the terminal instrument module, and the terminal instrument module is located on the side of the driving disk 221 away from the base 21; the active traction unit 23 is used to actively pull the passive traction rope 24 to drive the driving disk 221 to rotate and cause the elastic member 220 to be compressed or relaxed.

[0085] In this solution, the active traction unit 23 actively pulls the passive traction unit 22, so that the driving disk 221 is rotated correspondingly through the second passive traction rope 241, and then the first passive traction rope 240 is used to transmit the elastic member 220 so that the elastic member 220 can be compressed or actively relaxed. In this solution, the driving disk 221 is set in transition between the first passive traction rope 240 and the second passive traction rope 241, and the connection position of the first passive traction rope 240 and the second passive traction rope 241 on the driving disk 221 is specially set, that is, the driving disk 221 has a hinge end 2210, a first connection end 2211 and a first connection end 2212 distributed in a triangular shape. Two connecting ends 2212, one end of the first passive traction rope 240 is connected to the side of the elastic member 220 away from the driving disk 221, and the other end is connected to the first connecting end 2211, one end of the second passive traction rope 241 is connected to the second connecting end 2212, and the other end of the second passive traction rope 241 is connected to the corresponding part of the terminal instrument module. When the second passive traction rope 241 is pulled by the active traction unit 23 and pulls the driving disk 221 to rotate, the driving disk 221 can always be pulled by an approximately constant force during the rotation process, that is, the tension exerted on the second passive traction rope 241 during the traction process is relatively constant.

[0086] In some embodiments, Fig.23 As shown, the active traction unit 23 includes a driving member 230 and a slider 231. The base 21 has a slide groove extending along the first direction X. The slider 231 is slidably set in the slide groove. The traction rope 24 also includes an active traction rope 242. One end of the active traction rope 242 is connected to the slider 231, and the other end is connected to the corresponding part of the terminal instrument module. The driving member 230 is used to drive the slider 231 to move along the first direction X to pull the second passive traction rope 241 to drive the driving disk 221 to rotate, so that the elastic member 220 is compressed or relaxed. Through the slide groove extending along the first direction X in the base 21, the driving member 230 drives the slider 231 to slide in the slide groove of the base 21 along the first direction X. After the slider 231 slides and drives the active traction rope 242 to act on the corresponding part of the terminal instrument module, the second passive traction rope 241 drives the driving disk 221 to rotate accordingly. Under the action of the first passive traction rope 240, the elastic member 220 is compressed or relaxed, thereby completing the control of one degree of freedom. The process is precisely controlled, and the tension exerted on the second passive traction rope 241 during the traction process is relatively constant, so as to ensure that the flexible surgical robot has higher control accuracy and better stability, and can more intuitively feedback force to the operator.

[0087] The driving member 230 may be a variety of driving mechanisms, for example, the driving member 230 may be an electric push rod, a screw nut sub-mechanism, a cylinder, a hydraulic cylinder or a synchronous belt mechanism. In this embodiment, the driving member 230 is selected as an electric push rod. In addition, a hook 233 is connected to the end of the driving member 230, and correspondingly, the slider 231 is L-shaped, and a hanging portion 234 is formed correspondingly at one end of the slider 231 close to the hook 233, and the hook 233 is hung and fixed to the hanging portion 234. A fastening groove for the active traction rope 242 to extend into is provided inside the slider 231, and a fastening screw is provided on one side of the fastening groove on the slider 231, and the fastening screw is pressed against the active traction rope 242 to achieve the fixation of the active traction rope 242 and the slider 231.

[0088] like Fig.21 and Fig. 22 As shown, it is a principle diagram and a defect diagram of the conventional rotating shaft retracting and releasing traction rope to drive the end instrument in the prior art. Fig.21 The figure shows the length of the driving line before and after the bending of the end instrument using the traditional rotating shaft to retract the traction rope under ideal conditions. The radius of the rotating shaft A is R. In the bendable part of the end instrument, the length of the left traction rope is L1, the length of the right traction rope is L2, the length of the bendable part of the end instrument is L, and the distance between the traction ropes on both sides is 2r. When the rotating shaft rotates, the bending angle of the end instrument is θ, and in the bendable part of the end instrument, the length of the left traction rope is L1', and the length of the right traction rope is L2'. The specific calculation process of the traction wire length is: before bending, L1+L2=2Rθ. After bending, L1'+L2'=(R+r)θ+(Rr)θ=2Rθ; L1+L2=L1`+L2`.

[0089] Fig. 22 The figure shows the length of the driving line before and after the bending of the end instrument using the traditional rotating shaft to retract the traction rope in the actual state. The radius of the rotating shaft A is R. In the bendable part of the end instrument, the length of the left traction rope is L1, the length of the right traction rope is L2, the length of the bendable part of the end instrument is L, and the distance between the traction ropes on both sides is 2r. When the rotating shaft rotates, the bending angle of the end instrument is θ, and in the bendable part of the end instrument, the length of the left traction rope is L1', and the length of the right traction rope is L2'. In the actual state, the right traction rope is stretched due to the large tension, and a ΔL deformation occurs, resulting in the relaxation of the released steel wire S, which causes a gap in the control of the end of the instrument after bending. The specific calculation process of the traction wire length is: before bending, L1+L2=2Rθ. After bending, L1'+L2'+ΔL=(R+r)θ+(Rr)θ+ΔL, L1+L2≠L1`+L2`+ΔL.

[0090] go through Fig.21 and Fig. 22Analysis shows that the traditional roller-driven pay-off side usually over-pays off the line, resulting in low line tension and relaxation, which affects the stability and control accuracy of the end device; the traction rope is assembled on the rotating shaft through pre-tightening force. During actual operation, the traction rope tension is unknown, and the bilateral traction force can only be inferred through the rotating shaft torque, which is not convenient for force control.

[0091] The specific calculation process for achieving constant force pulling in the pulling structure 20 in this solution is:

[0092] like Fig.24 As shown, the left figure shows the initial state of the driving disk 221, and the right figure shows the pulling state of the driving disk 221. In the figure, o is the rotation center of the hinged end 2210 of the driving disk 221, and the driving disk 221 is subjected to a downward spring tension F1. The torque of F1 relative to the hinged end 2210o is d1, and the distance between the force point of F1 and o is L1. The angle between the line connecting the first connecting end 2211 of the driving disk 221 and o and the horizontal is θ1; the second passive traction rope 241 is pulled to the right by the outside world, and the traction force F2 is applied to the driving disk 221 through the second connecting end 2212 of the driving disk 221. The torque of F2 relative to the rotating shaft o is d2, and the angle between the line connecting the second connecting end 2212 of the driving disk 221 and o and the horizontal is θ2.

[0093] After the driving disk 221 in the right figure rotates, F1, F2, d1, d2, θ1, θ2 become F1`, F2`, d1`, d2`, θ1`, θ2`.

[0094] Initial posture:

[0095] Geometric relationship: d1 = L1·sinθ1; d2 = L2·sinθ2;

[0096] Angular momentum balance: F1·d1=F2·d2;

[0097] Substituting the geometric relationship, we can obtain F1·L1·sinθ1=F2·L2·sinθ2

[0098] After traction rotation:

[0099] Geometric relationship: d1`=L1·sinθ1`; d2`=L2·sinθ2`;

[0100] Angular momentum balance: F1`·d1`=F2`·d2`;

[0101] Substituting the geometric relationship, we can obtain F1`·L1·sinθ1`=F2`·L2·sinθ2`

[0102] Change of rightward pulling force ΔF before and after rotation:

[0103] ΔF=F2`-F2=(F1`·L1·sinθ1`) / (L2·sinθ2`)-(F1·L1·sinθ1) / (L2·sinθ2), where it is assumed that θ1≈θ1`, F1`=α·F1, sinθ2`=β·sinθ2;

[0104] After the rotation, the spring compression increases, F1`>F1, so α>1; from the geometric relationship, we can know that sinθ2>sinθ2, so β>1;

[0105] After substitution, we get ΔF = (F1·L1·sinθ1) / (L2·sinθ2)·(α / β-1);

[0106] Therefore, when a=β, the tension change ΔF is zero.

[0107] Therefore, according to the above calculation, it can be known that compared with the traction method of the traditional rotating shaft to retract and release the traction rope, the length of the traction rope on both sides of the present scheme has no direct relationship (not 1:1) between the length of the traction rope to be retracted and the length of the traction rope to be released. In the present scheme, if the passive traction unit is the line-release side, the constant force traction structure on the opposite side ensures that the traction end is taut throughout the line release; if the active traction unit is the line-release side, the line release distance is controllable and will not cause excessive relaxation due to excessive line release; it can be known that the tension at the second passive traction rope 241 in the present scheme is constant, and the active traction rope 242 is axially connected to the driving member 230 through the first pulley group 232, and the force transmission is more transparent, and the instrument control force can be more intuitively fed back to the operator.

[0108] It should be noted that after the pulling structure 20 times of use, the traction ropes 24 on both sides will become loose, and the slack of the first passive traction rope 240 and / or the second passive traction rope 241 can be compensated by the stroke of the elastic member 220, and the active traction rope 242 in the active traction unit 23 can be compensated by the force control of the active traction unit, thereby extending the service life of the device. In addition, the distribution of the hinge end 2210, the first connection end 2211 and the second connection end 2212 on the driving disk 221 can be a right triangle, an obtuse triangle, etc.

[0109] In this embodiment, the hinged end 2210, the first connection end 2211 and the second connection end 2212 are distributed in an obtuse triangle on the driving disk 221, and the connection line between the first connection end 2211 and the hinged end 2210 and the connection line between the first connection end 2211 and the second connection end 2212 are distributed at an obtuse angle. The driving disk 221 has an initial state and a pulling state. When the driving disk 221 is in the initial state, the elastic member 220 accumulates initial elastic potential energy, and the distance between the second connection end 2212 and the base 21 is L1; when the driving disk 221 is in the pulling state, the elastic potential energy accumulated by the elastic member 220 increases, and the distance between the second connection end 2212 and the base 21 is L2, satisfying: L2>L1. The vertical distance between the second passive traction rope 241 and the hinged end 2210 is relatively close, and it is relatively difficult to pull the driving disk 221 to rotate. When the driving disk 221 is in the pulling state, the second passive traction rope 241 pulls the driving disk 221 to rotate until the vertical distance between the second connecting end 2212 and the base 21 becomes larger, and it is relatively easier to pull the driving disk 221 to rotate. However, at this time, after the elastic member 220 is gradually compressed, the reset force provided by the elastic member 220 increases, so that the pulling force of the second passive traction rope 241 is almost constant during the entire pulling process, so that the control accuracy of the flexible surgical robot is higher, the stability is good, and the force feedback to the operator is safer and more precise.

[0110] In some embodiments, Fig.19 As shown, the passive traction unit 22 also includes a plug 222, which includes a body 2220 and a protrusion 2221. The body 2220 is located outside the elastic member 220, and the protrusion 2221 extends into the elastic member 220 and is coaxially arranged with the elastic member 220. The elastic member 220 and the driving disk 221 are connected to the protrusion 2221 through a first passive traction rope 240. By arranging the plug 222 at the end of the elastic member 220, the protrusion 2221 of the plug 222 can be inserted into the inner hole of the elastic member 220, and the first passive traction rope 240 is connected to the protrusion 2221, so that the force point of the first passive traction rope 240 is located in the axial direction of the elastic member 220 during the process of compressing the elastic member 220, avoiding the phenomenon of eccentric force transmission, ensuring the uniform force transmission of the first passive traction rope 240 during the traction process and the uniform compression or relaxation of the elastic member 220, and correspondingly extending the service life of the elastic member 220.

[0111] Wherein, the elastic member 220 can be a spring, which has a simple structure, is easy to obtain, has a low cost, and is easy to implement. In addition, the outer side of the spring member can also be sleeved with a metal outer sleeve 223, and the outer sleeve 223 can reduce friction.

[0112] In some embodiments, Fig.19As shown, the active traction unit 23 also includes a first pulley group 232. The first pulley group 232 and the driving disk 221 are located on the same side of the base 21. The first pulley group 232 includes a pulley frame and a first pulley. The first pulley is rotatably mounted on the base 21 through the pulley frame. The first pulley is used to guide the end of the active traction rope 242 that is away from the end. Since the terminal instrument module is located on one side of the base 21, the first pulley group 232 is provided on the side of the base 21 close to the terminal instrument module. The first pulley on the first pulley group 232 is mounted on the base 21 through the pulley frame. The first pulley can guide the end of the active traction rope 242 that is away from the end, so as to guide the active traction rope 242 to converge into the instrument rod in the terminal instrument module, reduce the friction and wear of the active traction rope 242 during the traction process, and make the force transmission between the active traction unit 23 and the passive traction unit 22 smoother and more reliable.

[0113] Among them, the number of pulling mechanisms can be set to one group or to multiple groups. For example, the number of pulling mechanisms can be set to three groups, four groups or six groups, etc., depending on the actual situation.

[0114] In some embodiments, Fig.19 As shown, the number of pulling mechanisms is set to multiple groups, and the multiple groups of pulling mechanisms are fan-shaped and evenly spaced on the base 21. By setting the number of pulling mechanisms to multiple groups, the multiple groups of pulling mechanisms can jointly realize multiple degrees of freedom control on the end instrument module, making the control of the end instrument module more precise and the steering range wider.

[0115] In this embodiment, the number of the pulling mechanisms is set to six groups, and the six groups of pulling mechanisms are distributed in a fan shape on the base 21, and the arcs between any two adjacent pulling mechanisms on the base 21 are equal.

[0116] In some embodiments, Fig.19 As shown, the pulling structure further includes a central pillar 25, which is fixed to one side of the base 21 having the driving disk 221, and is used to converge multiple pulling ropes 24 in the pulling mechanism that are away from the base 21. By providing the central pillar 25, the central pillar 25 converges multiple pulling ropes 24 in the pulling mechanism that are away from the base 21, and plays a guiding role. After being converged through the central pillar 25, the pulling ropes 24 in multiple groups of pulling mechanisms pass through the instrument rod together along a preset direction and enter the terminal instrument module to connect with the corresponding parts.

[0117] In some embodiments, Figure 26 to Figure 28As shown, a plurality of second pulley groups 250 are disposed in the central pillar 25. The plurality of second pulley groups 250 are distributed axially and / or axially spaced in the central pillar 25. The plurality of second pulley groups 250 cooperate with each other to converge the plurality of traction ropes 24 in the pulling mechanism that are away from the base 21, so as to guide the plurality of traction ropes 24 to be connected to the corresponding parts of the terminal instrument module along the first direction X. By arranging multiple sets of second pulley groups 250 inside the central pillar 25, the multiple sets of second pulley groups 250 are used to converge the ends of the active traction rope 242 and the second passive traction rope 241 away from the base 21 and provide guidance, so that the corresponding active traction rope 242 and the second passive traction rope 241 in the multiple sets of traction mechanisms can be routed along a predetermined route and then connected to the corresponding part of the terminal instrument module, thereby reducing the probability of line confusion, and the second pulley group 250 can guide the active traction rope 242 and the second passive traction rope 241, reduce the friction and wear of the active traction rope 242 and the second passive traction rope 241 during traction or being pulled, so that the force transmission between the active traction unit 23 and the passive traction unit 22 is smoother.

[0118] Each set of second pulley blocks 250 is positioned at a corresponding position of the central pillar 25 through a pin 253. A channel 252 is provided along the axial direction of one side of the central pillar 25 for the traction rope 24 to pass through. The central pillar 25 is provided with a plurality of pulley grooves 251 for the corresponding second pulley blocks 250 to be installed. The pulley grooves 251 are communicated with the channel 252. Each set of second pulley blocks 250 is correspondingly installed in the pulley grooves 251 of the central pillar 25, and at least part of the wheel surface of the second pulley block 250 is located in the channel 252 to converge and guide the traction rope 24 passing through.

[0119] In some embodiments, the pulling structure further includes a shell, which is disposed on the base 21, and the shell is detachably connected to the base 21. By arranging the shell on the outside of the base 21, the shell can cover the base 21 and the actuator on the base 21, thereby ensuring the overall airtightness and aesthetics of the pulling mechanism. In addition, the shell is detachably connected to the base 21, which makes it relatively convenient to assemble and disassemble the pulling structure 20, and also facilitates the subsequent maintenance of various parts of the pulling structure.

[0120] The shell and the base 21 are combined into what can be called a driving device box 280. The shell can shield the base 21 and at least part of the central pillar 25 on the base 21. The active traction unit 23 can also include a driving box, which is detachably connected to the driving device box, and the driving member 230 in each pulling mechanism is installed in the driving box, and the driving end of the driving member 230 is connected to the slider 231 in the driving device box.

[0121] It should be noted that, in the absence of conflict, the features in the embodiments of this application may be combined with each other.

[0122] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A flexible surgical robot, characterized in that: It comprises a control cabinet, a multi-axis collaborative robot arm, a chassis and a plurality of telescopic arm units, wherein the multi-axis collaborative robot arm is mounted on the control cabinet and electrically connected to the control cabinet; the chassis is connected to the end of the multi-axis collaborative robot arm, and the plurality of telescopic arm units are distributed along the circumference of the chassis, and each of the telescopic arm units comprises a linear drive module, a pulling structure and an end instrument module, wherein the linear drive module is mounted on the chassis, and the pulling structure is arranged at the driving end of the linear drive module, and the linear drive module is used to drive the pulling structure to move along a first direction to approach or move away from the chassis, and the pulling structure is connected to the end instrument module and driven by a traction rope to drive the end instrument module to perform corresponding actions, and the linear drive module, the pulling structure and the end instrument module are linearly distributed along the first direction; The pulling structure includes a base and a pulling mechanism, wherein the pulling mechanism is arranged on the base, and the pulling mechanism includes a passive pulling unit, an active pulling unit and a pulling rope, wherein the pulling rope is connected between the passive pulling unit and the active pulling unit, and the passive pulling unit and the active pulling unit cooperate with each other to drive the terminal instrument module to perform corresponding actions; Wherein, the passive traction unit comprises an elastic member and a driving disk, the base has a receiving groove extending along a first direction, and the elastic member is arranged in the receiving groove; the driving disk has a hinged end, a first connection end and a second connection end distributed in a triangular shape, and the driving disk is rotatably mounted on the side of the base close to the terminal instrument module through the hinged end; along the first direction, the first connection end is closer to the elastic member than the second connection end, and the side of the elastic member close to the driving disk is limited to the end wall of the receiving groove, the traction rope comprises a first passive traction rope and a second passive traction rope, one end of the first passive traction rope is connected to the side of the elastic member away from the driving disk, and the other end is connected to the first connection end, one end of the second passive traction rope is connected to the second connection end, and the other end is connected to the corresponding part of the terminal instrument module, and the terminal instrument module is located on the side of the driving disk away from the base; the active traction unit is used to actively pull the second passive traction rope to drive the driving disk to rotate and compress or relax the elastic member.

2. The flexible surgical robot according to claim 1, characterized in that: The number of the telescopic arm units is set to three, namely a left instrument arm unit, a right instrument arm unit and a vision arm unit. The three telescopic arm units are installed on the chassis at equal intervals along the circumferential direction.

3. The flexible surgical robot according to claim 1, characterized in that: The end instrument module includes an instrument rod, an end base, a first flexible joint, an end upper arm, an end forearm, a rotating arm and an end effector in sequence. The instrument rod is connected to the pulling structure, the end base is connected to the end of the instrument rod, and the end effector is an end instrument or a lens; the first flexible joint includes one or more first serpentine joints, and any two adjacent serpentine joints can rotate with each other.

4. The flexible surgical robot according to claim 3, characterized in that: The first flexible joint includes a plurality of the first serpentine joints, the first serpentine joint has an inner hole, the inner hole is used for the traction rope of the traction structure to pass through, the first serpentine joint has a connecting groove and a connecting shaft on both sides of the axial direction respectively, the connecting shaft is used to connect with the connecting groove of the adjacent first serpentine joint so that the first serpentine joint can rotate around the connecting shaft; the first serpentine joint has a rotation avoidance plane on both sides of the axial direction, the rotation avoidance plane includes a first avoidance plane and a second avoidance plane, the angle between the first avoidance plane and the second avoidance plane is α, and α satisfies: 10°<α<40°.

5. The flexible surgical robot according to claim 4, characterized in that: The number of the inner holes is set to four, and the four inner holes are divided into a first inner hole group and a second inner hole group. The number of the first inner hole group and the second inner hole group are both two. The first inner hole group and the second inner hole group are located on opposite sides of the connecting shaft, and each of the inner holes axially penetrates the first serpentine joint.

6. The flexible surgical robot according to claim 4, characterized in that: The connection axes of two adjacent first serpentine joints are staggered in the circumferential direction of the first serpentine joints.

7. The flexible surgical robot according to claim 3, characterized in that: A second flexible joint is arranged between the terminal upper arm and the terminal forearm, and the second flexible joint includes a plurality of second serpentine joints, and the plurality of second serpentine joints are sequentially distributed between the terminal upper arm and the terminal forearm, and the second serpentine joint has the same structure as the first serpentine joint.

8. The flexible surgical robot according to claim 1, characterized in that: The linear drive module is a multi-stage telescopic unit.

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