Surgical effector with dexterous joints

Abstract

The application discloses a surgical actuator with dexterous joints, comprising a surgical tool, an execution mechanism, a connecting component and a driving component. The execution mechanism comprises a first mounting piece, a second mounting piece, a third mounting piece and a fourth mounting piece which are sequentially movably connected. The surgical tool is detachably fixedly installed at one end of the first mounting piece away from the second mounting piece. The fourth mounting piece is provided with a support tube at one end away from the third mounting piece. The connecting component is used for sequentially movably connecting the first mounting piece, the second mounting piece, the third mounting piece and the fourth mounting piece, so as to form three dexterous joints. The driving component is movably arranged in the execution mechanism and is fixedly connected to the execution mechanism, so as to control the execution mechanism. The driving component comprises a plurality of elastic rods and flexible tubes with different sizes. The application has five degrees of freedom, can perform large-angle bending surgery in a narrow cavity, has strong load capacity and can adapt to various surgical requirements.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical actuator with dexterous joints. Background Technology

[0002] Minimally invasive surgery has come to play an important role in surgical procedures due to its small incisions and rapid postoperative recovery. Modern minimally invasive surgery often utilizes surgical robots or actuators to perform more delicate procedures within narrow cavities.

[0003] Currently, among existing technologies, Chinese Patent No. CN106420059A discloses a flexible surgical tool system with a pre-positioned drive input. This surgical robot uses uniformly distributed spacers on a continuum mechanism to prevent structural bone from becoming unstable under pressure. The structural bone guide channel, sleeve structure, or multi-cavity structure maintains the structural bone's shape under stress. The structural bone utilizes elastic thin tubes or elastic rods; when using elastic thin tubes, rods can pass through the middle.

[0004] However, the above-mentioned existing technologies still have the following shortcomings:

[0005] 1. Insufficient number of degrees of freedom makes it difficult to design multi-degree-of-freedom motion in small-sized surgical actuators, i.e., it is difficult to design surgical actuators with multi-degree-of-freedom motion within the constraints of narrow cavities;

[0006] 2. Insufficient flexibility: Most existing surgical robots for narrow cavities are flexible robots, which are difficult to bend at large angles with a small bending radius.

[0007] 3. Insufficient load: Surgery in narrow cavities requires surgical actuators to be small in size and have multiple degrees of freedom. At the same time, in order to meet the needs of some surgical operations that require high load, high load characteristics are also required, which is quite difficult to achieve.

[0008] Therefore, the applicant believes there is a need for a surgical actuator that can operate flexibly within narrow cavities and has a large load capacity, so as to adapt to more surgical needs during the operation. Summary of the Invention

[0009] The present invention aims to at least partially solve one of the technical problems in the related art.

[0010] To achieve the above objectives, the present invention proposes a surgical actuator with dexterous joints, comprising:

[0011] Surgical instruments, including one or more combinations of various surgical instruments;

[0012] The actuator includes a first mounting component, a second mounting component, a third mounting component, and a fourth mounting component that are sequentially and movably connected. The surgical tool is detachably and fixedly mounted on the end of the first mounting component opposite to the second mounting component. The end of the fourth mounting component opposite to the third mounting component is provided with a support tube.

[0013] A connecting component is disposed between the first mounting component and the second mounting component, between the second mounting component and the third mounting component, and between the third mounting component and the fourth mounting component, so that the first mounting component, the second mounting component, the third mounting component, and the fourth mounting component can be movably connected in sequence.

[0014] A drive component is provided, which is inserted into the actuator and fixedly connected to the actuator to control the actuator. The drive component includes multiple elastic rods and flexible tubes of different sizes.

[0015] This invention proposes a multi-degree-of-freedom surgical actuator design under constrained dimensions. The instrument is small in size, can be used for single-port surgical operations, and is compatible with standard-sized channels. Because the actuator has multiple sequentially linked mounting components, it has 3 bending degrees of freedom, 1 rotational degree of freedom, and 1 forward and backward degree of freedom, achieving a total of 5 degrees of freedom. Furthermore, a single joint can achieve a large bending angle. Since the drive component is a joint-type mechanism driven by a flexible tube and elastic rod, it can drive a large load.

[0016] Optionally, the actuator has three dexterous joints formed between the first mounting member, the second mounting member, the third mounting member, and the fourth mounting member. Each dexterous joint realizes one degree of bending freedom. The bending direction of the degree of freedom of the dexterous joint near the surgical tool end is orthogonal to the bending direction of the other two dexterous joints. The bending direction of the degree of freedom of the two dexterous joints away from the surgical tool end is the same. The actuator can realize a total of 5 degrees of freedom.

[0017] Furthermore, the first, second, third, and fourth mounting components are all provided with a clearance through hole in the middle, coaxial with the support tube, so that the drive connected to the surgical tool can pass through and connect to the surgical tool.

[0018] Furthermore, the driving component includes multiple sets of first flexible tubes for controlling the first mounting member and first elastic rods passing through them, multiple sets of second flexible tubes for controlling the second mounting member and second elastic rods passing through them, and multiple sets of third flexible tubes for controlling the third mounting member and third elastic rods passing through them.

[0019] The first elastic rod, the second elastic rod, and the third elastic rod are all disposed on the outside of the actuator at the positions of the first mounting part, the second mounting part, the third mounting part, and the fourth mounting part of the corresponding actuator.

[0020] Furthermore, the connecting component includes a first connector, a second connector, and a rotating shaft;

[0021] The first connector includes a first connecting rod, and the first connecting rod is provided with connecting ears at both ends, and the connecting ears are provided with a first connecting hole for inserting the rotating shaft;

[0022] The second connector includes two second links, with several connecting beams between the two second links. Each second link also has connecting ears at both ends, and the connecting ears have the first connecting holes.

[0023] Furthermore, both the first and second connecting rods are S-shaped, and the connecting beam in the second connecting member is located between the S-shaped corners of the two second connecting rods.

[0024] Furthermore, the first mounting member is provided with a first connecting leg group and a second connecting leg group for mounting connecting components at one end facing the second mounting member, both ends of the second mounting member, both ends of the third mounting member, and the fourth mounting member is provided with a second connecting hole for inserting a rotating shaft at one end facing the third mounting member.

[0025] The connection structure between adjacent mounting components includes two first connecting members rotatably connected to the first connecting leg assembly, and a second connecting member rotatably connected to the second connecting leg assembly, wherein the second connecting member is disposed between the two first connecting members.

[0026] Furthermore, the rotation direction of the connecting component between the first mounting component and the second mounting component is orthogonal to the rotation direction of the connecting component between the second mounting component and the third mounting component;

[0027] The rotation direction of the connecting component between the second mounting component and the third mounting component is the same as the rotation direction of the connecting component between the third mounting component and the fourth mounting component.

[0028] Furthermore, a fixing ear is integrally provided on two symmetrical sides of the first mounting member, and the fixing ear is provided with a first driving hole for fixing to the first elastic rod;

[0029] The second mounting component is provided with a second drive hole for fixed connection with the second elastic rod;

[0030] The third mounting component is provided with a third driving hole for fixed connection with the third elastic rod;

[0031] The fourth mounting component is provided with a fourth drive hole for the second elastic rod and the third elastic rod to pass through;

[0032] The first driving hole, the second driving hole, the third driving hole, and the fourth driving hole are all arranged in the same axial direction as the support tube.

[0033] Furthermore, the second, third, and fourth mounting components are all provided with clearance channels for the second and third elastic rods to extend to the outside of the actuator or to connect with the corresponding drive holes.

[0034] Furthermore, the second, third, and fourth mounting components are each provided with a set of limiting ears for fixing the first flexible tube, and each set of limiting ears is arranged opposite to the fixing ear, and each limiting ear is provided with a limiting hole for the first flexible tube to pass through.

[0035] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0036] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0037] Figure 1 This is a schematic diagram of the overall structure of a surgical actuator with a dexterous joint according to the present invention;

[0038] Figure 2 This is a schematic diagram of the disassembled structure of the drive component of a surgical actuator with a dexterous joint according to the present invention;

[0039] Figure 3 This is a schematic diagram of the connection structure between the elastic rod and the flexible tube of a surgical actuator with a dexterous joint according to the present invention;

[0040] Figure 4 This is a schematic diagram of the actuator mechanism of a surgical actuator with a dexterous joint according to the present invention;

[0041] Figure 5 This is a schematic diagram of the motion of the actuator of a surgical actuator with a dexterous joint according to the present invention;

[0042] Figure 6 This is a schematic diagram of the large-angle bending motion of the actuator of a surgical actuator with a dexterous joint according to the present invention;

[0043] Figure 7This is a schematic diagram of the first mounting component of the actuator of a surgical actuator with a dexterous joint according to the present invention;

[0044] Figure 8 This is a schematic diagram of the structure of the second mounting component of the actuator of a surgical actuator with a dexterous joint according to the present invention;

[0045] Figure 9 This is a schematic diagram of the third mounting component of the actuator of a surgical actuator with a dexterous joint according to the present invention;

[0046] Figure 10 This is a schematic diagram of the fourth mounting component of the actuator of a surgical actuator with a dexterous joint according to the present invention;

[0047] Figure 11 This is a schematic diagram of the structure of the first connector of a surgical actuator with a dexterous joint according to the present invention;

[0048] Figure 12 This is a schematic diagram of the structure of the second connector of a surgical actuator with a dexterous joint according to the present invention.

[0049] Explanation of reference numerals in the attached figures:

[0050] 1. Surgical instrument; 2. Execution mechanism; 21. First mounting component; 211. Mounting platform; 212. Threaded hole; 213. Fixing ear; 214. First drive hole; 22. Second mounting component; 221. Second drive hole; 23. Third mounting component; 231. Third drive hole; 24. Fourth mounting component; 241. Mounting base; 242. Base frame; 243. Fourth drive hole; 25. Support tube; 26. Limiting ear; 27. Limiting hole; 3. Connecting component; 31. Rotating shaft; 32. First connecting component; 33. Second connecting component; 34. First connecting leg assembly; 35. Second connecting leg assembly; 36. First connecting hole; 37. Second connecting hole; 4. Drive component; 41. First elastic rod; 42. First flexible tube; 43. Second elastic rod; 44. Second flexible tube; 45. Third elastic rod; 46. Third flexible tube; 5. Clearance through hole; 6. Clearance channel. Detailed Implementation

[0051] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0052] This invention provides a surgical actuator with dexterous joints, as described below. Figures 1 to 12 To elaborate in detail.

[0053] A surgical actuator with dexterous joints, comprising:

[0054] Surgical instrument 1, comprising one or more combinations of various surgical instruments;

[0055] The actuator 2 includes a first mounting component 21, a second mounting component 22, a third mounting component 23 and a fourth mounting component 24 connected in sequence. The surgical tool 1 is detachably and fixedly installed on the first mounting component 21 at the end opposite to the second mounting component 22. The fourth mounting component 24 at the end opposite to the third mounting component 23 is provided with a support tube 25. The support tube 25 is a thin-walled tube, and its length meets the surgical requirements.

[0056] The connecting component 3 is disposed between the first mounting component 21 and the second mounting component 22, between the second mounting component 22 and the third mounting component 23, and between the third mounting component 23 and the fourth mounting component 24, so that the first mounting component 21, the second mounting component 22, the third mounting component 23 and the fourth mounting component 24 can be movably connected in sequence.

[0057] The drive component 4 is installed inside the actuator 2 and is fixedly connected to the actuator 2 to control the actuator 2. The drive component 4 includes multiple elastic rods and flexible tubes of different sizes.

[0058] This invention proposes a multi-degree-of-freedom surgical actuator design under constrained dimensions. The instrument is small in size, can be used for single-port surgical operations, and is compatible with standard-sized channels. Since the actuator 2 has multiple sequentially linked mounting components, it has 3 bending degrees of freedom, 1 rotational degree of freedom, and 1 forward and backward degree of freedom, achieving a total of 5 degrees of freedom. Furthermore, a single joint can achieve a large bending angle. Since the drive component 4 is a joint-type mechanism based on flexible tubes and elastic rods, it can drive a large load.

[0059] Among them, the actuator 2 has three dexterous joints formed between the first mounting part 21, the second mounting part 22, the third mounting part 23 and the fourth mounting part 24. Each dexterous joint realizes one degree of bending freedom. The bending direction of the degree of freedom of the dexterous joint near the end of the surgical tool 1 is orthogonal to the bending direction of the other two dexterous joints. The bending direction of the degree of freedom of the two dexterous joints away from the end of the surgical tool 1 is the same. At the same time, the entire actuator can realize its own axial rotation and axial movement. Therefore, the actuator 2 can realize a total of 5 degrees of freedom.

[0060] To control the surgical tool 1, a drive connection is required. If the drive connection of the surgical tool 1 is located outside the actuator 2, interference may occur between the drive of the surgical tool 1 and the various mounting parts or connecting components 3 when the actuator 2 is bent. Therefore, the drive of the surgical tool 1 needs to pass through the actuator 2 to connect with the surgical tool 1. Thus, the first mounting part 21, the second mounting part 22, the third mounting part 23 and the fourth mounting part 24 are all provided with clearance holes 5 coaxial with the support tube 25 in the middle, so that the drive connected to the surgical tool 1 can pass through and connect with the surgical tool 1.

[0061] To control the various components of the actuator 2, the drive components include multiple sets of first flexible tubes 42 for controlling the first mounting member 21 and the first elastic rods 41 passing through them (two sets are provided in this embodiment); multiple sets of second flexible tubes 44 for controlling the second mounting member 22 and the second elastic rods 43 passing through them (two sets are provided in this embodiment); and multiple sets of third flexible tubes 46 for controlling the third mounting member 23 and the third elastic rods 45 passing through them (two sets are provided in this embodiment). The multiple sets of elastic rods corresponding to each mounting member are symmetrically arranged on the outside of the actuator 2, ensuring that when controlling each mounting member, when the elastic rod on one side is pulled, the elastic rod on the symmetrical side can provide the same length extension drive.

[0062] The elastic rod is an elastic element with a rod shape, which is prone to deformation and recovery. In some embodiments, it is an elastic rod, while in others, it can be a flexible wire. To increase the load capacity of the elastic rod, a spherical end is provided at the fixed connection end between the elastic rod and each mounting component of the actuator 2, increasing the tensile strength of the connection portion between the elastic rod and the actuator 2 when under tension. Regarding the design of the drive component 4, the frictional force is small when each elastic rod slides within its corresponding flexible tube. When tension is applied to each elastic rod, the frictional resistance is negligible, which is advantageous for achieving large loads at the end of the drive mechanism.

[0063] Furthermore, considering that a drive for controlling the surgical tool 1 is already installed inside the actuator 2, if the drive component 4 is also installed inside the actuator 2, it may affect the shape of the surgical drive. Also, since the drive component 4 is mainly used to control the angle adjustment of each mounting component, the structure of the drive component 4 located inside the actuator 2 will interfere with the connecting components 3 at each flexible joint when controlling the rotation of each mounting component. After multiple tests, in order to avoid this interference, the first elastic rod 41, the second elastic rod 43, and the third elastic rod 45 are all set on the outside of the actuator 2 at the positions of the first mounting component 21, the second mounting component 22, the third mounting component 23, and the fourth mounting component 24 of the actuator 2, so that each elastic rod is on the outside of the actuator 2. Since the elastic rod itself is easy to deform and easy to recover from deformation, it will not cause resistance or obstruction to the angle adjustment between the mounting components.

[0064] In order to fix and connect the various elastic rods and flexible tubes of the drive component 4 and avoid the misalignment of the positions of the elastic rods, a fixing ear 213 is integrally provided on the two symmetrical sides of the first mounting component 21. The fixing ear 213 is provided with a first drive hole 214 for fixing to the first elastic rod 41.

[0065] The second mounting component 22 is provided with a second drive hole 221 for fixed connection with the second elastic rod 43;

[0066] The third mounting component 23 is provided with a third drive hole 231 for fixed connection with the third elastic rod 45;

[0067] The fourth mounting component 24 is provided with a fourth drive hole 243 for the second elastic rod 43 and the third elastic rod 45 to pass through;

[0068] The first driving hole 214, the second driving hole 221, the third driving hole 231 and the fourth driving hole 243 are all arranged in the same axial direction as the support tube 25.

[0069] The second mounting component 22, the third mounting component 23, and the fourth mounting component 24 are each provided with a set of limiting ears 26 for fixing the first flexible tube 42, and each set of limiting ears 26 is arranged opposite to the fixing ear 213. Each limiting ear 26 is provided with a limiting hole 27 for the first flexible tube 42 to pass through.

[0070] Furthermore, in order to facilitate the insertion of each elastic rod into each drive hole, and to allow it to extend to the outside of the actuator 2 after passing through the drive hole, the second mounting member 22, the third mounting member 23, and the fourth mounting member 24 are all provided with clearance channels 6 for the second elastic rod 43 and the third elastic rod 45 to extend to the outside of the actuator 2 or to connect with the corresponding drive hole.

[0071] As previously stated, actuator 2 achieves five degrees of freedom, with each dexterous joint possessing one bending degree of freedom, and the entire assembly exhibiting axial rotational and translational degrees of freedom. When the first dexterous joint is pulled by a unilateral elastic rod, and the other elastic rod applies the same length of driving force, the joint rotates, the amount of rotation depending on the amount of pulling force of the elastic rod. When the second dexterous joint is pulled by a unilateral elastic rod, and the other elastic rod applies the same length of driving force, the joint rotates, the amount of rotation depending on the amount of pulling force of the elastic rod. When the third dexterous joint is pulled by a unilateral elastic rod, and the other elastic rod applies the same length of driving force, the joint rotates, the amount of rotation depending on the amount of pulling force of the elastic rod. Figure 5 The diagram shown illustrates the bending of the three dexterous joints of actuator 2. Figure 6 The maximum angle of bending of the second and third dexterous joints is demonstrated.

[0072] Furthermore, in order to achieve the connection between the various mounting components, a first connecting leg assembly 34 and a second connecting leg assembly 35 for mounting the connecting component 3 are provided at the end of the first mounting component 21 facing the second mounting component 22, at both ends of the second mounting component 22, at both ends of the third mounting component 23, and at the end of the fourth mounting component 24 facing the third mounting component 23.

[0073] The connection structure between adjacent mounting components includes two first connecting members 32 rotatably connected to the first connecting leg assembly 34, and a second connecting member 33 rotatably connected to the second connecting leg assembly 35. The second connecting member 33 is disposed between the two first connecting members 32. Furthermore, the rotation direction of the connecting component 3 between the first mounting member 21 and the second mounting member 22 is orthogonal to the rotation direction of the connecting component 3 between the second mounting member 22 and the third mounting member 23; the rotation direction of the connecting component 3 between the second mounting member 22 and the third mounting member 23 is in the same direction as the rotation direction of the connecting component 3 between the third mounting member 23 and the fourth mounting member 24, thereby ensuring that the rotation direction of the degree of freedom of the flexible joint between the second mounting member 22 and the first mounting member 21 is orthogonal to the rotation direction of the other flexible joint degrees of freedom.

[0074] The following is a detailed description of the structure of each mounting component and the connection relationship between the drive component 4 and each mounting component.

[0075] Specifically, the first mounting component 21 includes a mounting platform 211 for detachable and fixed connection with the surgical tool 1. A clearance through hole 5 is provided through the mounting platform 211, and a threaded hole 212 is provided on the side of the clearance through hole 5 facing the top surface of the mounting platform 211, so that the surgical tool 1 is detachably and fixedly connected to the mounting platform 211. Two fixing ears 213 are symmetrically arranged on both sides of the threaded hole 212 on the mounting platform 211. Each fixing ear 213 is provided with a first driving hole 214 for fixed connection with the driving component 4, and the two first driving holes 214 are symmetrically arranged.

[0076] The mounting platform 211 is provided with a first connecting leg assembly 34 and a second connecting leg assembly 35 for mounting the connecting component 3 at one end facing the second mounting component 22. The first connecting leg assembly 34 and the second connecting leg assembly 35 are respectively located on the two sides directly opposite to the mounting platform 211.

[0077] The second mounting component 22 and the third mounting component 23 have the same main structure, but differ in the orientation of the first connecting leg group 34 and the second connecting leg group 35 of the two mounting components.

[0078] The main structures of the second mounting component 22 and the third mounting component 23 both include a main frame. The main frame includes an upper layer, a middle layer and a lower layer integrally connected along the axial direction of the clearance through hole 5. The middle layer has two symmetrical sides integrally provided with limiting ears 26. The limiting ears 26 are provided with limiting holes 27 for flexible tubes to pass through. The upper layer, the middle layer and the lower layer are symmetrically provided with multiple sets of driving holes for elastic rods to pass through or be fixedly connected about the clearance through hole 5. The multiple sets of driving holes on the second mounting component 22 are referred to as the second driving holes 221, and the multiple sets of driving holes on the third mounting component 23 are referred to as the third driving holes 231. The second driving holes 221 or the third driving holes 231 and the limiting holes 27 are respectively located on different sides of the main frame.

[0079] The upper and lower layers are provided with a first connecting leg group 34 and a second connecting leg group 35 in the direction away from the middle layer. The first connecting leg group 34 and the second connecting leg group 35 in the same layer are respectively located on opposite sides of the same layer.

[0080] In the second mounting component 22, the upper first connecting leg assembly 34 is positioned on the same side as the second connecting leg assembly 35 of the first mounting component 21, and the upper second connecting leg assembly 35 is positioned on the same side as the first connecting leg assembly 34 of the first mounting component 21. The lower first connecting leg assembly 34 and the lower second connecting leg assembly 35 are positioned at positions that correspond to the upper first connecting leg assembly 34 and the upper second connecting leg assembly 35, rotated 90° horizontally in the same direction. This arrangement ensures that the rotation direction of the flexible joint formed between the first mounting component 21 and the second mounting component 22 is orthogonal to the rotation direction of other flexible joints.

[0081] In the third mounting component 23, the upper first connecting leg assembly 34 and the lower second connecting leg assembly 35 of the second mounting component 22 are arranged on the same side, the upper second connecting leg assembly 35 and the lower first connecting leg assembly 34 of the second mounting component 22 are arranged on the same side, and the lower first connecting leg assembly 34 and the lower second connecting leg assembly 35 are arranged in the same way as the lower first connecting leg assembly 34 and the lower second connecting leg assembly 35 of the second mounting component 22.

[0082] The fourth mounting component 24 includes a fixed base that is connected to the support tube 25. The fixed base has a base frame 242 at one end facing the third mounting component 23. Both the fixed base and the base frame 242 are coaxially arranged with the clearance through hole 5. The base frame 242 includes a top layer and a bottom layer that are integrally connected. The bottom layer is fixedly connected to the fixed base. The bottom layer has multiple sets of fourth driving holes 243 that pass through the fixed base at positions symmetrical about the clearance through hole 5. The two sides of the bottom layer that face each other and do not have fourth driving holes 243 are integrally provided with limit ears 26. Limit ears 26 are also provided with limit holes 27.

[0083] The top layer has a first connecting leg group 34 and a second connecting leg group 35 on the side facing the third mounting component 23. The first connecting leg group 34 and the second connecting leg group 35 of the fourth mounting component 24 are positioned in the same positions as the first connecting leg group 34 and the second connecting leg group 35 on the upper layer of the three mounting components.

[0084] The upper, middle and lower layers of the second mounting component 22 and the third mounting component 23, as well as the bottom and top layers of the fourth mounting component 24, are all provided with clearance channels 6 to allow the second elastic rod 43 and the third elastic rod 45 to be led out to the outside of the actuator 2.

[0085] The first flexible tube 42 passes through the limiting holes 27 on each mounting component on the same side to the fixing lug 213 of the second mounting component 22, and the first elastic rod 41 passes through the first flexible tube 42 and is fixedly connected to the first driving hole 214 on the first mounting component 21.

[0086] The second flexible tube 44 passes through the support tube 25. The second elastic rod 43 passes through the second flexible tube 44, then through the fourth drive hole 243, and then through the clearance channel 6 on the fourth mounting member 24 to the outside of the actuator 2. The second elastic rod 43 is connected to the second drive hole 221 of the second mounting member 22 on the outside of the actuator 2. When the second elastic rod 43 passes through the second drive hole 221 of the third mounting member 23, it passes through the hole and then through the clearance channel 6 of the third mounting member 23 to the outside of the actuator 2, maintaining its wiring arrangement on the outside of the actuator 2 until it passes through the clearance channels 6 of the bottom and middle layers of the second mounting member 22 and connects to the second drive hole 221.

[0087] The third flexible tube 46 is inserted into the support tube 25. The third elastic rod 45 passes through the third flexible tube 46, then through the fourth drive hole 243, and then through the clearance channel 6 on the fourth mounting member 24 to the outside of the actuator 2. The third elastic rod 45 is fixedly connected to the third drive hole 231 of the third mounting member 23 on the outside of the actuator 2.

[0088] To connect the various mounting components, a connecting component 3 is required to provide a rotatable connection between them. The connecting component 3 includes a first connecting member 32, a second connecting member 33, and a rotating shaft 31.

[0089] The first connector 32 includes a first connecting rod, and the first connecting rod is provided with connecting ears at both ends, and the connecting ears are provided with a first connecting hole 36 for inserting the rotating shaft 31.

[0090] The second connector 33 includes two second links, with several connecting beams between the two second links. Each second link also has connecting ears at both ends, and the connecting ears have first connecting holes 36.

[0091] In order to facilitate the connection of the connecting component 3, the ends of the first connecting leg group 34 and the second connecting leg group 35 on each mounting component are provided with second connecting holes 37 for inserting the rotating shaft 31.

[0092] The connection structure between adjacent mounting components includes two first connecting members 32 rotatably connected to the first connecting leg assembly 34, and a second connecting member 33 rotatably connected to the second connecting leg assembly 35, with the second connecting member 33 disposed between the two first connecting members 32.

[0093] Furthermore, considering the possibility of interference with other components when the connecting component 3 bends at the joint position, both the first link and the second link are set as S-shaped, and the connecting beam in the second connector 33 is set between the S-shaped corners of the two second links.

[0094] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0095] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0096] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A surgical effector having a dexterous joint, characterized by, include: Surgical instruments, including one or more combinations of various surgical instruments; The actuator includes a first mounting component, a second mounting component, a third mounting component, and a fourth mounting component that are sequentially and movably connected. The surgical tool is detachably and fixedly mounted on the end of the first mounting component opposite to the second mounting component. The end of the fourth mounting component opposite to the third mounting component is provided with a support tube. The actuator forms three flexible joints between the first, second, third, and fourth mounting components, and each flexible joint realizes one degree of bending freedom. A connecting component is disposed between the first mounting component and the second mounting component, between the second mounting component and the third mounting component, and between the third mounting component and the fourth mounting component, so that the first mounting component, the second mounting component, the third mounting component, and the fourth mounting component can be movably connected in sequence. The connecting components include a first connector, a second connector, and a rotating shaft; The first connector includes a first connecting rod, and the first connecting rod is provided with connecting ears at both ends, and the connecting ears are provided with a first connecting hole for inserting the rotating shaft; The second connector includes two second links, with several connecting beams between the two second links. Each second link also has connecting ears at both ends, and the connecting ears have the first connecting holes. Both the first link and the second link are S-shaped, and the connecting beam in the second connector is located between the S-shaped corners of the two second links; The first mounting member is provided with a first connecting leg group and a second connecting leg group for mounting connecting components at one end facing the second mounting member, both ends of the second mounting member, both ends of the third mounting member, and the fourth mounting member is provided with a second connecting hole for inserting a rotating shaft at one end facing the third mounting member. The connection structure between adjacent mounting components includes two first connecting members rotatably connected to the first connecting leg assembly, and a second connecting member rotatably connected to the second connecting leg assembly, wherein the second connecting member is disposed between the two first connecting members; A drive component is provided, which is inserted into the actuator and fixedly connected to the actuator to control the actuator. The drive component includes multiple elastic rods and flexible tubes of different sizes.

2. A surgical effector with a dexterous joint as claimed in claim 1 characterized in that, The bending direction of the dexterous joint at the end closer to the surgical tool is orthogonal to the bending direction of the other two dexterous joints, while the bending direction of the two dexterous joints at the end farther from the surgical tool is the same. The actuator can perform a total of 5 degrees of freedom.

3. A surgical actuator with dexterous joints as described in claim 1, characterized in that, The first, second, third, and fourth mounting components each have a clearance through hole in the middle that is coaxial with the support tube, so that the drive connected to the surgical tool can pass through and connect to the surgical tool.

4. A surgical actuator with dexterous joints as described in claim 1, characterized in that, The driving component includes multiple sets of first flexible tubes for controlling the first mounting component and first elastic rods passing through them, multiple sets of second flexible tubes for controlling the second mounting component and second elastic rods passing through them, and multiple sets of third flexible tubes for controlling the third mounting component and third elastic rods passing through them. The first elastic rod, the second elastic rod, and the third elastic rod are all disposed on the outside of the actuator at the positions of the first mounting part, the second mounting part, the third mounting part, and the fourth mounting part of the corresponding actuator.

5. A surgical actuator with dexterous joints as described in claim 4, characterized in that, The elastic rod is fixedly connected to each mounting component of the actuator, and one end is provided with a spherical end.

6. A surgical actuator with dexterous joints as described in claim 1, characterized in that, The rotation direction of the connecting component between the first mounting component and the second mounting component is orthogonal to the rotation direction of the connecting component between the second mounting component and the third mounting component. The rotation direction of the connecting component between the second mounting component and the third mounting component is the same as the rotation direction of the connecting component between the third mounting component and the fourth mounting component.

7. A surgical actuator with dexterous joints as described in claim 4, characterized in that, The first mounting component has a fixing ear integrally provided on two symmetrical sides, and the fixing ear is provided with a first driving hole for fixing to the first elastic rod; The second mounting component is provided with a second drive hole for fixed connection with the second elastic rod; The third mounting component is provided with a third driving hole for fixed connection with the third elastic rod; The fourth mounting component is provided with a fourth drive hole for the second elastic rod and the third elastic rod to pass through; The first driving hole, the second driving hole, the third driving hole, and the fourth driving hole are all arranged in the same axial direction as the support tube.

8. A surgical actuator with dexterous joints as described in claim 7, characterized in that, The second, third, and fourth mounting components are all provided with clearance channels for the second and third elastic rods to extend to the outside of the actuator or to connect with the corresponding drive holes.

9. A surgical actuator with dexterous joints as described in claim 8, characterized in that, The second, third, and fourth mounting components are each provided with a set of limiting ears for fixing the first flexible tube, and each set of limiting ears is arranged opposite to the fixing ear. Each limiting ear is provided with a limiting hole for the first flexible tube to pass through.

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