A curved structure and medical device

Abstract

The embodiment of the present specification provides a bending structure and a medical device. The bending structure comprises a plurality of support pieces, a connecting piece and a rotating piece, the connecting piece is connected to the support piece, the two ends of the connecting piece respectively extend from the two side surfaces of the support piece in the thickness direction of the support piece, the two ends of the connecting piece are provided with a connecting structure, the rotating piece is provided with a first rotating shaft and a second rotating shaft; the included angle between the first rotating shaft and the second rotating shaft is greater than 0° and less than or equal to 180°; the plurality of support pieces and the rotating piece are arranged alternately, one rotating piece is arranged between any two adjacent support pieces; the first rotating shaft is rotationally connected with the connecting piece on the preceding support piece, and / or the second rotating shaft is rotationally connected with the connecting piece on the following support piece. The bending structure can be applied to the medical device.

Description

Technical Field

[0001] This specification relates to the field of medical device technology, and in particular to a bending structure and a medical device. Background Technology

[0002] For medical devices such as laparoscopes and endoscopes, in order to facilitate flexible surgical operations by operators through the distal actuators, the actuators generally need to be connected to a bending structure. The bending of the bending structure allows the actuators to have a certain degree of deflection freedom during operation, thus facilitating flexible operation. However, existing bending structures are complex and pose a risk of the components easily detaching after bending. Summary of the Invention

[0003] One embodiment of this specification provides a bending structure, which includes multiple support members, multiple connectors, and multiple rotating members. The connectors are connected to the support members, and both ends of the connectors extend from the two sides of the support members along the thickness direction. Each end of the connector is provided with a connecting structure. The rotating members are provided with a first rotating shaft and a second rotating shaft. The first rotating shaft and the second rotating shaft have an included angle greater than 0° and less than or equal to 180°. The multiple support members and the rotating members are arranged alternately, with one rotating member arranged between any two adjacent support members. The first rotating shaft of the rotating member is rotatably connected to the connecting structure of the connector on the preceding support member, and / or, the second rotating shaft of the rotating member is rotatably connected to the connecting structure of the connector on the following support member.

[0004] In some embodiments, the connection structure includes an arc-shaped groove, and the sides of the first rotating shaft and the second rotating shaft include a first arc surface, a first plane, a second arc surface, and a second plane connected sequentially in the circumferential direction. The first rotating shaft and the second rotating shaft can be disposed in the arc-shaped groove. The distance between the first plane and the second plane can be slightly smaller than the distance between the two ends of the arc-shaped groove. The first arc surface and the second arc surface are in contact with the inner surface of the arc-shaped groove.

[0005] In some embodiments, the rotating member is columnar, and the first rotating shaft and the second rotating shaft are both disposed on the side surface of the rotating member, and the distance between the first plane and the second plane is the same as the thickness of the rotating member.

[0006] In some embodiments, the support member is provided with two connectors; the two ends of the first rotating shaft are connected to the two connectors; or, the two ends of the second rotating shaft are respectively connected to the two connectors.

[0007] In some embodiments, the connector is detachably connected to the support.

[0008] In some embodiments, the support member includes a ring structure, and the connector is connected to the inner side of the ring structure.

[0009] In some embodiments, a through groove extends along the thickness direction of the support member on the inner side, and the connector can be inserted into and fixed in the through groove.

[0010] In some embodiments, the connector is provided with a first thickness segment, a second thickness segment and a third thickness segment in sequence along the length direction of the connector, the thickness of the first thickness segment and the third thickness segment are both greater than the thickness of the second thickness segment; the second thickness segment is inserted into the through groove, and the first thickness segment and the third thickness segment are respectively inserted on both sides of the support member along the thickness direction of the support member.

[0011] In some embodiments, the rotating member is provided with a through hole that extends through the rotating member along its thickness direction.

[0012] One embodiment of this specification provides a medical device, which includes a control structure, a transmission assembly, and a surgical instrument. The surgical instrument includes a bending portion and an execution portion. One end of the bending portion is connected to the actuator, and the other end of the bending portion is connected to the control structure. The control structure controls the bending of the bending portion and / or controls the execution portion to perform a preset operation through the transmission assembly. The bending portion includes any of the bending structures described above. Attached Figure Description

[0013] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:

[0014] Figure 1 These are exemplary structural diagrams of the bending structures shown in some embodiments of this specification;

[0015] Figure 2 This is a schematic diagram of an exemplary connection structure of a bent structure according to some embodiments of this specification;

[0016] Figure 3 This is a schematic diagram of an exemplary connection structure of the support member and the connector according to some embodiments of this specification;

[0017] Figure 4 This is an exemplary structural schematic diagram of a connector according to some embodiments of this specification;

[0018] Figure 5This is an exemplary structural schematic diagram of a rotating component according to some embodiments of this specification;

[0019] Figure 6 This is a schematic diagram illustrating an exemplary assembly process of a bent structure according to some embodiments of this specification;

[0020] Figure 7 This is a schematic diagram illustrating an exemplary assembly process of a bent structure according to some embodiments of this specification;

[0021] Figure 8 This is a schematic diagram illustrating an exemplary assembly process of a bent structure according to some embodiments of this specification;

[0022] Figure 9 These are exemplary structural diagrams of medical devices shown in some embodiments of this specification;

[0023] Figure 10 This is an exemplary structural schematic diagram of a surgical instrument according to some embodiments of this specification;

[0024] Figure 11 This is an exemplary structural schematic diagram of a curved portion according to some embodiments of this specification.

[0025] Reference numerals: 100, Bending structure; 110, Support; 112, Through groove; 130, Connector; 132, Connecting structure; 134, First thickness section; 136, Second thickness section; 138, Third thickness section; 150, Rotating component; 152, First rotating shaft; 154, Second rotating shaft; 156, Through hole; 200, Medical device; 210, Control structure; 230, Surgical instrument; 232, Execution unit; 234, Bending part; 234-1, External joint; 234-2, Internal joint. Detailed Implementation

[0026] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.

[0027] It should be understood that the terms “system,” “device,” “unit,” and / or “module” used herein are one way to distinguish different components, elements, parts, sections, or assemblies at different levels. However, if other terms can achieve the same purpose, they may be replaced by other expressions.

[0028] As indicated in this specification and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0029] This specification primarily describes a bending structure and a medical device. The medical device includes a control structure, a transmission assembly, and surgical instruments. The surgical instruments include a bending portion and an execution portion. One end of the bending portion is connected to the execution portion, and the other end is connected to the control structure. The control structure controls the bending of the bending portion and / or controls the execution portion to perform preset operations via the transmission assembly. The bending portion includes a bending structure designed to allow for multi-directional bending and deflection freedom, as well as rolling freedom, enabling the bending portion to cooperate with the execution portion to perform preset operations. The bending structure includes multiple support members, multiple connecting members, and multiple rotating members. Each rotating member has a first rotating shaft and a second rotating shaft, with an included angle greater than 0° and less than or equal to 180° between the first and second rotating shafts. Multiple supporting and rotating components are arranged alternately, with a rotating component positioned between any two supporting components. The first axis of rotation of the rotating component is rotatably connected to a connecting component on the preceding supporting component, and / or the second axis of rotation of the rotating component is rotatably connected to a connecting component on the following supporting component, thereby achieving the connection of the bending structure. The bending structure is simple in structure, and the various parts of the bending structure (such as the rotating component and the supporting component) can maintain a stable connection. In addition, the rotating component can rotate around the first axis or the second axis respectively, thereby achieving the deflection of the bending structure in different directions.

[0030] Figure 1 These are exemplary structural diagrams of the bending structures shown in some embodiments of this specification. Figure 2 This is a schematic diagram of an exemplary connection structure of a bent structure according to some embodiments of this specification. Figure 3 These are exemplary connection structure diagrams of support members and connectors shown in some embodiments of this specification. Figure 4 These are exemplary structural diagrams of connectors shown in some embodiments of this specification. Figure 5 This is an exemplary structural schematic diagram of a rotating component according to some embodiments of this specification. Please refer to... Figure 1 , Figure 2 and Figure 3 In some embodiments, the bending structure 100 may include a plurality of support members 110, a plurality of connectors 130, and a plurality of rotating members 150. The connectors 130 are connected to the support members 110 and are positioned along the thickness direction of the support members 110 (i.e.,...). Figure 2 and Figure 3 In the XY direction shown, both ends of the connector 130 extend from the two sides of the support 110 to facilitate connection between the connector 130 and the rotating member 150. For example, the two ends of the connector 130 can be respectively as follows: Figure 2 As shown, it extends from both sides of the support member 110 along the XY direction. Please refer to... Figure 3 and Figure 4 In some embodiments, both ends of the connector 130 may be provided with connecting structures 132, and the connector 130 can be rotatably connected to the rotating member 150 through the connecting structures 132. Please refer to... Figure 5 In some embodiments, the rotating member 150 may be provided with a first rotating shaft 152 and a second rotating shaft 154, and the first rotating shaft 152 and the second rotating shaft 154 have an included angle greater than 0° and less than or equal to 180°. In some embodiments, the first rotating shaft 152 and the second rotating shaft 154 are perpendicular. The rotating member 150 can rotate around the first rotating shaft 152 or the second rotating shaft 154, and multiple rotating members 150 can cooperate with each other to realize multi-angle deflection of the bending structure 100. For example, when the first rotating shaft 152 and the second rotating shaft 154 are perpendicular, the bending structure 100 can deflect in an orthogonal direction.

[0031] In some embodiments, multiple support members 110 and rotating members 150 are arranged alternately, with a rotating member 150 positioned between any two adjacent support members 110. The connection between adjacent support members 110 and rotating members 150 is achieved through the connection of connecting members 130 and rotating members 150, thereby achieving the overall connection of the curved structure 100. In some embodiments, the first pivot 152 of the rotating member 150 is rotatably connected to the connecting structure 132 of the connecting member 130 on the preceding support member 110, and / or, the second pivot 154 of the rotating member 150 may be rotatably connected to the connecting structure 132 of the connecting member 130 on the following support member 110. For example, for rotating members 150 located at the beginning and / or end of the curved structure 100, the rotating member 150 may only have its first pivot 152 or second pivot 154 rotatably connected to the connecting member 130 on the adjacent (e.g., preceding or following) support member 110. For example, for the rotating member 150 located in the middle of the curved structure 100, the first rotating shaft 152 of the rotating member 150 can be rotatably connected to the connecting structure 132 of the connecting member 130 on the front support member 110, and the second rotating shaft 154 of the rotating member 150 can be rotatably connected to the connecting structure 132 of the connecting member 130 on the rear support member 110.

[0032] The support member 110 mainly serves as a skeletal support. Through the rotatable connection between the rotating member 150 and the connecting member 130, the angle between the rotating member 150 and the support member 110 can be adjusted to achieve the deflection between the rotating member 150 and the support member 110, thereby achieving the deflection of the bending structure 100.

[0033] In some embodiments, the support 110 may include a ring-shaped structure, such as Figure 3 As shown. The ring-shaped support 110 facilitates its own rolling and is less prone to collisions with surrounding objects due to its sharp edges, resulting in smoother rolling of the curved structure 100. Simultaneously, the hollow design of the ring structure facilitates the passage of other components, such as wiring and transmission components for medical devices.

[0034] In some embodiments, the connector 130 may be connected to the inner side of the annular structure to prevent the connector 130 from colliding with surrounding objects when the curved structure 100 rolls, thereby affecting the smoothness of the rolling of the curved structure 100 and improving the safety of the curved structure 100.

[0035] In some embodiments, the support member 110 and the connector 130 can be detachably connected. This detachable connection facilitates the assembly of the bending structure 100 and also allows for easy removal and replacement of the connector 130 and support member 110. When some connectors 130 and / or support members 110 of the bending structure 100 fail, the corresponding connectors 130 and / or support members 110 can be removed and new connectors 130 and / or support members 110 can be installed, thus replacing the connectors 130 and / or support members 110.

[0036] In some embodiments, the inner upper edge of the support member 110 Figure 2 and Figure 3 The XY direction extends through a slot 112, and the connector 130 can be snapped into and fixed within the slot 112, thereby achieving the snap-fit ​​connection between the connector 130 and the support member 110. In some embodiments, the opening width of the slot 112 may be the same as or approximately the same as the width of the connector 130, so that the connector 130 can be snapped into the slot 112 for fixation.

[0037] In other embodiments, the support member 110 and the connector 130 may also adopt other detachable connection methods, such as mortise and tenon structure, screw connection, magnetic connection, adhesive, etc.

[0038] In some embodiments, a support member 110 may be provided with two connectors 130. In some embodiments, the two connectors 130 may be symmetrically distributed about the center line of the support member 110. One end of the two connectors 130 may be connected to the two ends of the first rotating shaft 152 of the front rotating member 150, and / or, the other end of the two connectors 130 may be connected to the two ends of the second rotating shaft 154 of the rear rotating member 150. The two connectors 130 may provide fulcrums for the first rotating shaft 152 and / or the second rotating shaft 154, thereby fixing the first rotating shaft 152 and / or the second rotating shaft 154, allowing the rotating member 150 to rotate around the first rotating shaft 152 and / or the second rotating shaft 154, thereby achieving the deflection of the bending structure 100.

[0039] Connector 130 is primarily used to connect support 110 and rotating member 150. In some embodiments, along the length of connector 130 (i.e., along the thickness direction of support 110 and / or rotating member 150), Figure 2 , Figure 3 (As shown in the XY direction), the connector 130 may be provided with a first thickness segment 134, a second thickness segment 136, and a third thickness segment 138 in sequence. In some embodiments, the thickness of the first thickness segment 134 and the third thickness segment 138 may both be greater than the thickness of the second thickness segment 136, and the second thickness segment 136 may be inserted into the through groove 112. When the second thickness segment 136 abuts against the bottom of the through groove 112, the thicker first thickness segment 134 and the third thickness segment 138 may respectively be engaged on the two sides of the through groove 112 on the support member 110 along the XY direction. Therefore, the length of the second thickness segment 136 may be the same as or approximately the same as the thickness of the support member 110, thereby achieving the engagement of the connector 130 with the through groove 112 in the XY direction. In some embodiments, the connecting structures 132 at both ends of the connector 130 may be located on the first thickness segment 134 and the third thickness segment 138, respectively.

[0040] Please refer to Figure 3 and Figure 4In some embodiments, the connecting structures 132 disposed at both ends of the connector 130 may include arc-shaped grooves. An arc-shaped groove can be understood as a groove whose cross-sectional shape perpendicular to the axial direction of the groove is arc-shaped (i.e., an arc greater than 180°). The first rotating shaft 152 and the second rotating shaft 154 can be disposed within the arc-shaped grooves, and the first rotating shaft 152 and the second rotating shaft 154 can rotate smoothly within the arc-shaped grooves to achieve a rotational connection between the rotating member 150 and the connector 130. Furthermore, the arc-shaped grooves can effectively prevent the first rotating shaft 152 and the second rotating shaft 154 from dislodging, thereby ensuring a stable connection between the connecting structure 132 and the first rotating shaft 152 and the second rotating shaft 154. Through the cooperation of the arc-shaped grooves with the first rotating shaft 152 and / or the second rotating shaft 154, a rotational connection between the connector 130 and the rotating member 150 is achieved. In some embodiments, the arc of the arc-shaped cross-section perpendicular to the axial direction of the groove can be 190° to 250°.

[0041] In some embodiments, the diameters of the first rotating shaft 152 and the second rotating shaft 154 may match the diameter of the arc-shaped groove of the connecting structure 132 (for example, the diameters of the first rotating shaft 152 and the second rotating shaft 154 may be the same as or approximately the same as the diameter of the arc-shaped groove, or the diameters of the first rotating shaft 152 and the second rotating shaft 154 may be slightly smaller than the diameter of the arc-shaped groove, etc.), and the outer surfaces of the first rotating shaft 152 and the second rotating shaft 154 may fit against the inner surface of the arc-shaped groove.

[0042] In some embodiments, the side surfaces of the first rotating shaft 152 and the second rotating shaft 154 may include a first arc surface, a first plane, a second arc surface, and a second plane connected sequentially in the circumferential direction. The distance 'a' between the first plane and the second plane (e.g., ...) Figure 5 The thickness of the rotating member 150 (as shown) can be the same as that of the rotating member 150. In other embodiments, the distance 'a' between the first plane and the second plane can also be greater than or less than the thickness of the rotating member 150, as long as the first rotating shaft 152 and the second rotating shaft 154 can be stably rotatably connected to the connecting member 130.

[0043] In some embodiments, the distance a between the first plane and the second plane (e.g., ...) Figure 5 (As shown) can be slightly smaller than the distance b between the two ends of the curved groove (e.g.) Figure 4As shown, the first and second rotating shafts 152 and 154 can be easily inserted into the curved groove. The first and second curved surfaces can fit against the inner surface of the curved groove, so that after the first and second rotating shafts 152 and 154 are installed into the curved groove of the connecting structure 132, they can rotate within the curved groove and are not easily dislodged. Through the structural design of the curved groove and the rotating shafts (including the first and second rotating shafts 152 and 154), the assembly of the curved structure 100 is very convenient and quick, and the connection structure is stable after assembly. In some embodiments, the distance between the first and second planes can be slightly smaller than the distance between the two ends of the curved groove, and the diameters of the first and second curved surfaces can be substantially the same as the diameter of the curved groove.

[0044] Figures 6-8 This is a schematic diagram illustrating an exemplary assembly process of a bent structure according to some embodiments of this specification. Please refer to... Figures 6-8 In some embodiments, since the arc angle corresponding to the superior arc groove is greater than 180°, the opening size of the superior arc groove is smaller than the diameter corresponding to the superior arc groove. That is, the opening size of the superior arc groove is smaller than the farthest distance between the first arc surface and the second arc surface of the first rotating shaft 152 and the second rotating shaft 154 (i.e., the diameter corresponding to the first arc surface and the second arc surface). In order to make it easy for the first rotating shaft 152 or the second rotating shaft 154 to be inserted into the superior arc groove of the connecting structure 132, in some embodiments, the thickness direction of the rotating member 150 and the length direction of the connecting member 130 (e.g., ...) are... Figure 6 When the X and Y directions shown are perpendicular to each other (e.g.) Figure 6 As shown), the first rotating shaft 152 or the second rotating shaft 154 can just enter the curved groove at one end of the connecting member 130. After the first rotating shaft 152 and the second rotating shaft 154 enter the curved groove, the rotating member 150 will be rotated (as shown). Figure 7 As shown), since the opening size of the superior arc-shaped groove is smaller than the diameter corresponding to the first and second arc surfaces, the first rotating shaft 152 or the second rotating shaft 154 cannot be dislodged from the opening of the superior arc-shaped groove. This ensures that the components of the bending structure 100 remain tightly connected and do not detach during bending, thus improving the stability of the bending structure 100. In some embodiments, the connection process between the connecting structure 132 at the other end of the connector 130 and another rotating component 150 (e.g., ...) Figure 7 and Figure 8 (As shown) The above process can be referred to, and will not be repeated here.

[0045] In some embodiments, the connecting structure 132 may further include a mounting hole. The first rotating shaft 152 and the second rotating shaft 154 can extend into the mounting hole and can rotate axially along the mounting hole. In some embodiments, an elastic ring (such as a rubber ring) may be provided between the first rotating shaft 152 and the mounting hole and / or between the second rotating shaft 144 and the mounting hole. The elastic ring allows the first rotating shaft 152 and / or the second rotating shaft 144 to be stably connected to the mounting hole while still being able to rotate within the mounting hole. In other embodiments, a bearing may be provided between the first rotating shaft 152 and the mounting hole and / or between the second rotating shaft 144 and the mounting hole.

[0046] Multiple rotating parts 150 can rotate in coordination to achieve multi-directional deflection of the bending structure 100. Please refer to... Figure 5 In some embodiments, the rotating member 150 may be columnar, and the first rotating shaft 152 and the second rotating shaft 154 may both be disposed on the side surface of the rotating member 150. The two ends of the first rotating shaft 152 and the two ends of the second rotating shaft 154 may extend from the side surface of the rotating member 150, respectively. In some embodiments, the intersection point of the first rotating shaft 152 and the second rotating shaft 154 may be located at the center of the rotating member 150, so that the rotating member 150 can maintain balance when rotating, is not prone to shaking, and improves the working stability of the bending structure 100.

[0047] In some embodiments, for a single rotating member 150, at least one end of the first rotating shaft 152 can be connected to the preceding connecting member 130 (for example, when a support member 110 is provided with two connecting members 130, the two ends of the first rotating shaft 152 can be respectively connected to the two connecting members 130 on the preceding support member 110). Alternatively, at least one end (such as both ends) of the second rotating shaft 154 can be respectively connected to the following connecting member 130 (for example, when a support member 110 is provided with two connecting members 130, the two ends of the second rotating shaft 152 can be respectively connected to the two connecting members 130 on the following support member 110). The above connection methods can realize the connection of the bending structure 100.

[0048] In some embodiments, the included angle between the first rotating shaft 152 and the second rotating shaft 154 can be greater than 0° and less than or equal to 180°. The included angle between the first rotating shaft 152 and the second rotating shaft 154 allows the bending structure 100 to bend and deflect in multiple directions and angles when the multiple rotating members 150 rotate around the first rotating shaft 152 or the second rotating shaft 154 respectively, thus improving the flexibility of the bending structure 100. In some embodiments, the included angle between the first rotating shaft 152 and the second rotating shaft 154 can be 90°, such as... Figure 5 As shown. In other embodiments, the included angle between the first rotating shaft 152 and the second rotating shaft 154 can be various angles such as 60°, 75°, and 110°.

[0049] Please refer to Figure 5 In some embodiments, the rotating member 150 may also be provided with a through hole 156, which extends through the rotating member 150 along its thickness direction. The through hole 156 can be used to provide passageways and mounting positions for other components. For example, when the bending structure 100 is applied to the outer joint of a medical device, the through hole 156 can be used to allow transmission components (e.g., traction cables) to pass through. When the bending structure 100 is applied to the inner joint of a medical device, the through hole 156 can be used to allow signal lines, power lines, actuators, etc. to pass through, and the rotating member 150 can protect these signal lines, power lines, actuators, etc. In some embodiments, the number of through holes 156 can be multiple, and different through holes 156 can have different sizes, so that different types of wires and actuators on the medical device can pass through different through holes 156 respectively.

[0050] To prevent damage caused by excessive rotation angle of the rotating component 150, in some embodiments, the bending structure 100 may also be provided with a limiting structure. In some embodiments, the limiting structure may be detachable. Therefore, during the assembly of the bending structure 100, the rotating component 150 can be installed to the connecting component 130 first, and then the limiting structure can be installed, thereby achieving a limiting effect without hindering the installation of the rotating component 150. For example, the limiting structure may be a limiting screw, which can be installed on the connecting component 130. When the rotating component 150 rotates to abut against the limiting screw on the connecting component 130, the rotating component 150 reaches a preset maximum rotation angle and cannot continue to rotate in the original direction, thus achieving a limiting effect.

[0051] In some embodiments, the limiting structure may also include limiting protrusions disposed on the support member 110. The limiting protrusions may be disposed on one or both sides of the support member 110 along the XY direction. In some embodiments, the number of limiting protrusions may be one, two, or more. When the rotating member 150 rotates to a preset angle, the limiting protrusions on the support member 110 may abut against adjacent support members 110 or the limiting protrusions on adjacent support members 110, thereby preventing the rotating member 150 from continuing to rotate in the original direction, achieving a limiting effect.

[0052] The beneficial effects that the bending structure disclosed in this specification may bring include, but are not limited to: (1) the cooperation between the first and second rotating shafts and the connecting structure realizes the bending function of the bending structure, while reducing the structural complexity of the bending structure and reducing the possibility of the first or second rotating shaft detaching from the connecting structure; (2) the superior arc-shaped groove design of the connecting structure allows the rotating part and the connecting part to rotate relative to each other and are not easy to fall off, thereby making the bending structure tightly connected and not easy to fall off during deflection and rolling, while reducing the installation difficulty of the rotating part and the connecting part; (3) the first and second rotating shafts have a preset included angle, which allows the bending structure to bend and deflect in multiple directions and at multiple angles, improving the flexibility of the bending structure; (4) the detachable connection structure between the connecting part and the support part reduces the installation difficulty of the bending structure. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced can be any one or a combination of the above, or any other possible beneficial effects.

[0053] Figure 9 These are exemplary structural diagrams of medical devices shown in some embodiments of this specification. Figure 10 These are exemplary structural schematic diagrams of surgical instruments shown in some embodiments of this specification. Figure 11 This is a schematic diagram of an exemplary structure of a bent portion according to some embodiments of this specification. For example... Figure 9 , Figure 10 and Figure 11 As shown, the medical device 200 mainly includes a control structure 210, a transmission assembly (not shown), and a surgical instrument 230. The control structure 210 can control the surgical instrument 230 to perform preset operations through the transmission assembly. The preset operations can be determined based on the specific structure of the surgical instrument. For example, when the surgical instrument 230 is a forceps, the preset operation could be a clamping operation of the forceps; when the surgical instrument 230 is a pair of scissors, the preset operation could be a cutting operation of the scissors.

[0054] The control structure 210 is primarily used to provide an operating platform for the operator to control the surgical instrument 230, enabling the instrument 230 to perform corresponding preset operations, such as deflection, rolling, opening, and closing. In some embodiments, the control structure 210 may include, for example, Figure 9 The control handle is shown. In other embodiments, the control structure 210 may also include a remote control terminal device (e.g., a computer, a remote control, etc.).

[0055] In some embodiments, the transmission assembly primarily provides power to the surgical instrument 230 for performing operations. In some embodiments, the transmission assembly can transmit power and motion from the control structure 210 to the surgical instrument 230. In some embodiments, the transmission assembly may include, but is not limited to, transmission structures such as gear structures, pulley and traction cable structures.

[0056] In some embodiments, the surgical instrument 230 can perform corresponding operations in response to the transmission of a transmission assembly. In some embodiments, the surgical instrument 230 may include an actuator 232 and a bending portion 234, one end of the bending portion 234 being connected to the actuator 232 and the other end of the bending portion 234 being connected to a control structure 210. The control structure 210 can control the bending of the bending portion 234 via the transmission assembly (e.g., Figure 10 and Figure 11 (as shown) and / or control the actuator 232 to perform preset operations (e.g., opening, closing, rolling, etc.). In some embodiments, when the control structure 210 controls the bending portion 234 to bend, the bending portion 234 will cause the actuator 232 to deflect in the corresponding direction. In some embodiments, when the control structure 210 controls the actuator 232 to roll, the bending portion 234 will roll accordingly.

[0057] Please refer to Figure 11 In some embodiments, the bending portion 234 may include an outer joint 234-1 and an inner joint 234-2. The outer joint 234-1 is sleeved on the outer joint 234-2, and the end of the outer joint 234-1 near the actuator 232 is connected to the end of the inner joint 234-2 near the actuator 232.

[0058] The control structure 210 can control the bending portion 234 to bend, thereby causing the actuator 232 to deflect. At this time, the outer joint 234-1 bends, and the inner joint 234-2 bends accordingly following the outer joint 234-1. The control structure 210 can control the inner joint 234-2 to roll (i.e., the inner joint 234-2 rotates relative to the axis of the outer joint 234-1), thereby causing the actuator 232 to roll (i.e., the actuator 232 rotates relative to the axis of the outer joint 234-1). In some embodiments, when the inner joint 234-2 rolls, the outer joint 234-1 can remain stationary and not roll, that is, the inner joint 234-2 rotates relative to the outer joint 234-1. At this time, the inner joint 234-2 can be rotatably connected to the outer joint 234-1, for example, the inner joint 234-2 and the outer joint 234-1 can be connected by a bearing.

[0059] In some embodiments, the outer joint 234-1 and / or inner joint 234-2 of the curved portion 234 may include a curved structure, wherein details of the curved structure can be referred to the relevant drawings of the curved structure 100 described above (e.g., Figure 1-8 (and description). Please refer to... Figure 10 , Figure 10 The diagram shows the inner joint 234-2 including the bending structure 100. The bending structure is designed to allow the bending portion 234 to bend and deflect in different directions, while the design of the outer joint 234-1 and the inner joint 234-2 allows the actuator 232 to roll (i.e., the actuator 232 rotates relative to the axis of the outer joint 234-1). In some embodiments, such as... Figure 10 and Figure 11 As shown, the outer joint 234-1 may include multiple universal joints connected in sequence to achieve a bending function, and the inner joint 234-2 may include a bending structure 100 to achieve a bending function.

[0060] The beneficial effects that the medical device disclosed in this specification may bring include, but are not limited to: (1) the internal and / or external joints adopt a bending structure, which not only realizes the bending function of the bending part, but also reduces the structural complexity of the bending part, improves the connection stability of the bending part, and makes the bending part less likely to detach during rotation; (2) the setting of the external and internal joints of the bending part allows the actuator to deflect and roll simultaneously, improving the flexibility of the actuator; (3) the connection between the connector and the rotating part and the support part is simple, the assembly is convenient, and the replacement difficulty is low. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced can be any one or a combination of the above, or any other possible beneficial effects.

[0061] The basic concepts have been described above. Obviously, for those skilled in the art, the detailed disclosure above is merely illustrative and does not constitute a limitation of this specification. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are suggested in this specification and therefore remain within the spirit and scope of the exemplary embodiments described herein.

[0062] Furthermore, this specification uses specific terms to describe embodiments thereof. For example, "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of this specification. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Moreover, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0063] Although some inventive embodiments that are currently considered useful have been discussed in the foregoing disclosure by way of various examples, it should be understood that such details are for illustrative purposes only, and the appended claims are not limited to the disclosed embodiments. Rather, the claims are intended to cover all modifications and equivalent combinations that conform to the substance and scope of the embodiments in this specification.

[0064] Similarly, it should be noted that, in order to simplify the description disclosed herein and thus aid in the understanding of one or more embodiments of the invention, the foregoing description of embodiments in this specification may sometimes combine multiple features into a single embodiment, drawing, or description thereof. However, this method of disclosure does not imply that the subject matter of this specification requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of a single embodiment disclosed above.

[0065] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ general methods of digit preservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this specification are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0066] For each patent, patent application, patent application publication, and other material, such as articles, books, specifications, publications, and documents, referenced in this specification, the entire contents of which are incorporated herein by reference. This excludes historical application documents that are inconsistent with or conflict with the content of this specification, as well as documents that limit the broadest scope of the claims in this specification (currently or subsequently appended to this specification). It should be noted that in the event of any inconsistency or conflict between the descriptions, definitions, and / or terminology used in the supplementary materials to this specification and the content of this specification, the descriptions, definitions, and / or terminology used in this specification shall prevail.

[0067] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.

Claims

1. A bending structure, characterized in that, It includes multiple support members, multiple connectors, and multiple rotating members. The support members are connected to the connectors. The two ends of the connectors extend from the two sides of the support members along the thickness direction, and each end of the connector is provided with a connecting structure. The rotating members are provided with a first rotating shaft and a second rotating shaft. The first rotating shaft and the second rotating shaft have an included angle greater than 0° and less than 180°. The plurality of support members and the rotating member are arranged alternately, with one rotating member arranged between any two adjacent support members; the first axis of rotation of the rotating member is rotatably connected to the connecting structure of the connecting member on the preceding support member, and / or the second axis of rotation of the rotating member is rotatably connected to the connecting structure of the connecting member on the following support member; The connecting structure includes a curved groove. The sides of the first and second rotating shafts include a first arc surface, a first plane, a second arc surface, and a second plane connected sequentially along the circumferential direction. The first and second rotating shafts can be disposed within the curved groove. The distance between the first plane and the second plane is less than the distance between the two ends of the curved groove. The first and second arc surfaces are in contact with the inner surface of the curved groove. The opening size of the curved groove is less than the farthest distance between the first and second arc surfaces of the first and second rotating shafts. The bending structure also includes a limiting structure, which includes a limiting protrusion disposed on one or both sides of the support member along the thickness direction. When the rotating member rotates to a preset angle, the limiting protrusion on the support member abuts against an adjacent support member or another limiting protrusion on the adjacent support member. The support member is provided with two connecting members, and the two connecting members are detachably connected to the support member. The support member includes a ring structure, and two connectors are connected to the inner side of the ring structure; The inner side of the support member is provided with two through slots extending along the thickness direction of the support member, and the two connectors can be inserted into and fixed in the corresponding through slots. The connector is provided with a first thickness segment, a second thickness segment and a third thickness segment in sequence along its length direction. The thickness of the first thickness segment and the third thickness segment is greater than the thickness of the second thickness segment. The second thickness segment is inserted into the through groove, and the first thickness segment and the third thickness segment are respectively inserted into the two sides of the support member along its thickness direction.

2. The bending structure according to claim 1, characterized in that, The rotating component is columnar, and the first and second rotating shafts are both disposed on the side surface of the rotating component. The distance between the first plane and the second plane is the same as the thickness of the rotating component.

3. The bending structure according to claim 2, characterized in that, The two ends of the first rotating shaft are respectively connected to the two connecting members; Alternatively, the two ends of the second shaft are respectively connected to the two connecting members.

4. The bending structure according to claim 1, characterized in that, The rotating component is provided with a through hole, which penetrates the rotating component along its thickness direction.

5. A medical device, characterized in that, The device includes a control structure, a transmission assembly, and a surgical instrument. The surgical instrument includes a bending portion and an execution portion. One end of the bending portion is connected to the execution portion, and the other end of the bending portion is connected to the control structure. The control structure controls the bending of the bending portion and / or controls the execution portion to perform a preset operation through the transmission assembly. The curved portion includes the curved structure according to any one of claims 1-4.

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