Multi-degree-of-freedom bending joint, surgical instrument, and control method

Abstract

The application provides a multi-degree-of-freedom bending joint, a surgical instrument and a control method, and belongs to the technical field of medical instruments, comprising a first joint part, a second joint part, a third joint part and two symmetrically arranged first driving parts and second driving parts, the multi-degree-of-freedom bending joint is provided with mutually cooperative inclined surface structures at the connecting ends of the adjacent two joint parts, the inclined surface structures of the adjacent two joint parts can be fitted in the curved state, and a large range of bending can be realized under the condition of only adopting two joint part structure designs. In addition, the first rotation axis and the second rotation axis of the multi-degree-of-freedom bending joint are vertically arranged, the bending range of the bending joint can break through the bending range in the traditional single plane under the driving of the first driving part and the second driving part, the bending on two different planes can be realized at the same time, the bending degree of freedom of the bending joint is improved, and efficient operation in surgery is facilitated.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and more specifically, relates to a multi-degree-of-freedom bending joint, surgical instruments and control methods. Background Technology

[0002] With the widespread application and rapid development of robotics-related technologies, the use of surgical robots in clinical practice is becoming increasingly common. Minimally invasive surgical robot systems can reduce the physical labor of surgeons during operations through interventional treatment, while achieving precise surgical goals, resulting in less trauma, less blood loss, fewer postoperative infections, and faster postoperative recovery for patients. One of the most important components of many energy surgical instruments is the distal end effector, which performs the surgical procedure; its dexterity, as an extremely important indicator, is receiving increasing attention.

[0003] Anastomosing devices are commonly used surgical instruments in minimally invasive surgical robotic systems. They are driven by a push rod to open and close the distal jaws, thus performing the anastomosis operation. Because the actual surgical environment is complex, the end of the anastomosing device needs to be equipped with a bending joint to adjust the direction and angle of the distal jaws. However, traditional bending joints suffer from insufficient bending angles and slow control response, hindering efficient operation during surgery. Summary of the Invention

[0004] The purpose of this application is to provide a multi-degree-of-freedom bending joint, surgical instruments and control methods, wherein the bending angle of the bending joint can be adjusted within a wide range and the control response is fast, which is conducive to achieving efficient operation in surgery.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a multi-degree-of-freedom bending joint, comprising:

[0006] First joint component;

[0007] The second joint component has a second through channel inside; the second joint component is rotatably connected to the first joint component via a first rotating shaft.

[0008] The third joint component has a third through channel inside; the third joint component is rotatably connected to the second joint component via a second rotating shaft; the second rotating shaft is perpendicular to the first rotating shaft; and...

[0009] Two symmetrically arranged first and second driving members are provided. The first driving member includes a first driving wire and a second driving wire connected to each other. The connecting ends of the first driving wire and the second driving wire are fixedly connected to the side of the first rotating shaft away from the second joint member. The first driving wire and the second driving wire pass through the second through channel and the third through channel and extend out of the third through channel. The first driving wire and the second driving wire abut against the surface of the second rotating shaft.

[0010] The second driving member includes a third driving wire and a fourth driving wire connected to each other. The connecting ends of the third driving wire and the fourth driving wire are fixedly connected to the side of the first rotating shaft away from the second joint member. The third driving wire and the fourth driving wire pass through the second through channel and the third through channel and extend out of the third through channel. The third driving wire and the fourth driving wire abut against the surface of the second rotating shaft.

[0011] The first drive wire, the second drive wire, the third drive wire, and the fourth drive wire can drive the first rotating shaft and / or the second rotating shaft to rotate under the drive of the drive mechanism.

[0012] Furthermore, the first joint member has a symmetrical first inclined surface at one end near the second joint member, the second joint member has a symmetrical second inclined surface at one end near the first joint member, the second joint member has a symmetrical third inclined surface at one end near the third joint member, and the third joint member has a symmetrical fourth inclined surface at one end near the second joint member.

[0013] In a bent state, the first inclined surface and the second inclined surface can fit together, and the third inclined surface and the fourth inclined surface can fit together.

[0014] Furthermore, a first limiting groove is provided on the contact portion of the first rotating shaft with the first driving wire, the second driving wire, the third driving wire, and the fourth driving wire.

[0015] Furthermore, a second limiting groove is provided on the contact portion of the second rotating shaft with the first driving wire, the second driving wire, the third driving wire, and the fourth driving wire.

[0016] Furthermore, a first connecting post is provided at the connection end of the first driving wire and the second driving wire, and the first connecting post is fixed on the first rotating shaft.

[0017] Furthermore, a second connecting post is provided at the connection end of the third drive wire and the fourth drive wire, and the second connecting post is fixed on the first rotating shaft.

[0018] Furthermore, the first joint component has a first through channel inside, and both the first rotating shaft and the second rotating shaft have through holes, which can be connected to the first through channel, the second through channel, and the third through channel.

[0019] Furthermore, it also includes two symmetrically arranged first screws. The first joint member has two symmetrical first shaft holes at one end near the second joint member, and the second joint member has two symmetrical second shaft holes at one end near the first joint member. The two ends of the first rotating shaft are respectively rotatably connected in the first shaft holes. The first screws pass through the first shaft holes and the second shaft holes to connect the first joint member and the second joint member into one unit.

[0020] Furthermore, it also includes two symmetrically arranged second screws. The second joint member has two symmetrical third shaft holes at one end near the third joint member. The third joint member has two symmetrical fourth shaft holes at one end near the second joint member. The two ends of the second rotating shaft are respectively rotatably connected in the third shaft holes. The second screws pass through the third shaft holes and the fourth shaft holes to connect the second joint member and the third joint member into one unit.

[0021] This application also provides a surgical instrument comprising a multi-degree-of-freedom bending joint as described in any of the preceding claims.

[0022] Furthermore, the surgical instrument is a stapler, comprising an interconnected instrument drive box, an instrument rod, a distal jaw, the multi-degree-of-freedom bending joint, and an internal thrust rod. The multi-degree-of-freedom bending joint is connected between the distal jaw and the instrument rod. The instrument drive box is connected to the first drive member and the second drive member, and is used to drive the multi-degree-of-freedom bending joint to achieve bending action.

[0023] This application also provides a method for controlling a multi-degree-of-freedom bending joint, including the following steps:

[0024] When the multi-degree-of-freedom bending joint is in its extended state, by simultaneously pulling down two drive wires located on the same side of the second rotation axis, the second rotation axis is rotated, thereby achieving a bending motion between the second and third joint components; and / or,

[0025] By simultaneously pulling down the two drive wires located on the same side of the first rotating shaft, the first rotating shaft is driven to rotate, thereby realizing the bending action between the first joint and the second joint.

[0026] Compared with the prior art, this application has the following technical effects:

[0027] The first and second rotation axes of a multi-degree-of-freedom bending joint of this application are arranged vertically. The first, second, third, and fourth drive wires can drive the first and / or second rotation axes to rotate under the drive of the drive mechanism. That is, under the drive of the first and second drive members, the bending range of the bending joint can break through the bending range of the traditional single plane and can simultaneously achieve bending on two different planes, thereby improving the bending degree of freedom of the bending joint and facilitating efficient operation during surgery.

[0028] Furthermore, the multi-degree-of-freedom bending joint of this application has a beveled structure that can cooperate with each other at the connection end of two adjacent joint members. In the bending state, the beveled structures of the two adjacent joint members can fit together, which can achieve a wide range of bending and faster control response with only a two-joint structure design. For example, the bending range can reach -90 to 90°. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom bending joint provided in an embodiment of this application;

[0031] Figure 2 A schematic diagram of a multi-degree-of-freedom bending joint in a first bending state is provided for an embodiment of this application;

[0032] Figure 3 This is a schematic diagram of a multi-degree-of-freedom bending joint in a second bending state, provided as an embodiment of this application.

[0033] Figure 4 A schematic diagram of a multi-degree-of-freedom bending joint in a third bending state is provided for an embodiment of this application;

[0034] Figure 5 for Figure 1 A schematic diagram of the cross-sectional structure;

[0035] Figure 6 for Figure 1 A schematic diagram of the exploded structure;

[0036] Figure 7 for Figure 1 A partial diagram of the split structure;

[0037] Figure 8This is a schematic diagram of the structure of a stapler provided in an embodiment of this application.

[0038] The following are the labeling elements in the figure:

[0039] 1. First joint component; 2. Second joint component; 3. First rotating shaft; 4. Third joint component; 5. Second rotating shaft; 6. First driving component; 7. Second driving component; 8. First connecting post; 9. Second connecting post; 10. Through hole; 11. First screw; 12. Second screw; 101. First through pipe; 102. First inclined surface; 103. First shaft hole; 201. Second through channel; 202. Second inclined surface; 203. Third inclined surface; 204. Second shaft hole; 205. Third shaft hole; 301. First limiting groove; 401. Third through channel; 402. Fourth inclined surface; 403. Fourth shaft hole; 501. Second limiting groove; 601. First driving wire; 602. Second driving wire; 701. Third driving wire; 702. Fourth driving wire; 100. Instrument driving box; 200. Instrument rod; 300. Distal jaw; 400. Multi-degree-of-freedom bending joint. Detailed Implementation

[0040] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0041] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0042] It should be understood that the terms "length", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0043] Furthermore, the terms "first," "second," "third," "fourth," and "fifth" 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. Therefore, a feature defined with "first," "second," "third," "fourth," or "fifth" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0044] Please refer to the following: Figures 1 to 7 The present application will now describe a multi-degree-of-freedom bending joint provided in the embodiments of this application.

[0045] In one embodiment of this application, a multi-degree-of-freedom bending joint includes a first joint member 1, a second joint member 2, a third joint member 4, and two symmetrically arranged first driving members 6 and second driving members 7. The second joint member 2 has a second through-channel 201 inside; the second joint member 2 is rotatably connected to the first joint member 1 via a first rotating shaft 3; the third joint member 4 has a third through-channel 401 inside; the third joint member 4 is rotatably connected to the second joint member 2 via a second rotating shaft 5; the second rotating shaft 5 is perpendicular to the first rotating shaft 3; the first driving member 6 includes a first driving wire 601 and a second driving wire 602 connected to each other, the connecting ends of the first driving wire 601 and the second driving wire 602 being fixedly connected to the side of the first rotating shaft 3 away from the second joint member 2; the first driving wire 601 and the second driving wire 602 pass through the second through-channel 201. 01. A third through-channel 401 extends out of the third through-channel 401; a first drive wire 601 and a second drive wire 602 abut against the surface of the second rotating shaft 5; the second drive member 7 includes a third drive wire 701 and a fourth drive wire 702 connected to each other, the connecting ends of the third drive wire 701 and the fourth drive wire 702 are fixedly connected to the side of the first rotating shaft 3 away from the second joint member 2; the third drive wire 701 and the fourth drive wire 702 pass through the second through-channel 201 and the third through-channel 401 and extend out of the third through-channel 401; the third drive wire 701 and the fourth drive wire 702 abut against the surface of the second rotating shaft 5. The first drive wire 601, the second drive wire 602, the third drive wire 701 and the fourth drive wire 702 can drive the first rotating shaft 3 and / or the second rotating shaft 5 to rotate under the drive of the drive mechanism.

[0046] Furthermore, in this embodiment, the first joint member 1 has a symmetrical first inclined surface 102 at one end near the second joint member 2, the second joint member 2 has a symmetrical second inclined surface 202 at one end near the first joint member 1, the second joint member 2 has a symmetrical third inclined surface 203 at one end near the third joint member 4, and the third joint member 4 has a symmetrical fourth inclined surface 402 at one end near the second joint member 2. In a bent state, the first inclined surface 102 and the second inclined surface 202 can fit together, and the third inclined surface 203 and the fourth inclined surface 402 can fit together. In this way, a wide range of bending and faster control response can be achieved with only a two-joint structure design, for example, the bending range can reach -90 to 90°.

[0047] In this embodiment, both the first driving member 6 and the second driving member 7 have a U-shaped structure. The first driving member 6 can be a one-piece molded structure or it can be formed by connecting the first driving wire 601 and the second driving wire 602. Similarly, the second driving member 7 can be a one-piece molded structure or it can be formed by connecting the third driving wire 701 and the fourth driving wire 702.

[0048] In this embodiment, the chamfer angles of the first inclined surface 102, the second inclined surface 202, the third inclined surface 203, and the fourth inclined surface 402 are all 45°. This allows the bending range of two adjacent joint components to reach -90° to 90°, satisfying the requirement for large bending angles. Alternatively, the chamfer angles of the first inclined surface 102, the second inclined surface 202, the third inclined surface 203, and the fourth inclined surface 402 can be less than 45°, achieving a bending range greater than -90° to 90°, i.e., a larger bending angle range. However, this increases control difficulty and makes driving more challenging. Furthermore, in practical applications, a large bending angle of -90° to 90° meets application requirements. Therefore, preferably, the chamfer angles of the first inclined surface 102, the second inclined surface 202, the third inclined surface 203, and the fourth inclined surface 402 are all 45°.

[0049] This application also provides a control method for a multi-degree-of-freedom bending joint: a structural schematic diagram of a multi-degree-of-freedom bending joint in the extended state according to an embodiment of this application is shown below. Figure 1 As shown, at this time, the first drive wire 601 and the second drive wire 602 are pulled downwards simultaneously. The downward pulling force F1 forms a torque relative to the vertical axis of the first joint 1 in the direction of the first drive member 6. In addition, there is friction between the first drive member 6 and the second rotating shaft 5. Under the combined action of the two, the second rotating shaft 5 rotates, and there is no relative rotation between the first joint 1 and the second joint 2. However, the first joint 1 and the second joint 2 as a whole bend and rotate around the second rotating shaft 5, reaching the first bending state, as shown. Figure 2As shown. Similarly, if the third drive wire 701 and the fourth drive wire 702 are pulled downwards simultaneously, the downward pulling force F2 forms a torque relative to the vertical axis of the first joint 1 in the direction of the second drive member 7. In addition, there is friction between the second drive member 7 and the second rotating shaft 5. Under the combined action of the two, the second rotating shaft 5 rotates, and there is no relative rotation between the first joint 1 and the second joint 2. The first joint 1 and the second joint 2 rotate in opposite directions around the second rotating shaft 5 (i.e., relative to the second joint 5). Figure 2 The bending rotation (in the opposite direction of bending) allows the rotation angle between the second joint 2 and the third joint 4 to reach -90 to 90°.

[0050] In one embodiment of this application, when a multi-degree-of-freedom bending joint is in an extended state, the second drive wire 602 and the fourth drive wire 702 are simultaneously pulled downwards. Under the action of the pulling force, the first rotating shaft 3 rotates, the second joint member 2 and the third joint member 4 do not rotate relative to each other, while the first joint member 1 bends around the first rotating shaft 3, reaching a second bending state, such as... Figure 3 As shown. Similarly, if the first drive wire 601 and the third drive wire 701 are pulled downwards simultaneously, the first rotating shaft 3 will rotate in the opposite direction (i.e., relative to the direction of rotation) under the action of the pulling force. Figure 3 The bending rotation (in the opposite direction of bending) does not cause relative rotation between the second joint 2 and the third joint 4, while the first joint 1 bends and rotates in the opposite direction around the first rotation axis 3. In this way, the rotation angle between the first joint 1 and the second joint 2 can reach -90 to 90°.

[0051] In a multi-degree-of-freedom bending joint according to an embodiment of this application, when it is in the straightened state, the first drive wire 601 and the second drive wire 602 are pulled downwards simultaneously, causing the first joint member 1 and the second joint member 2 to bend and rotate around the second rotation axis 5 as a whole; then, the second drive wire 601 and the fourth drive wire 701 are pulled downwards simultaneously, causing the first joint member 1 to bend and rotate around the first rotation axis 3, reaching a third bending state, such as... Figure 4 As shown.

[0052] In an embodiment of this application, the first rotation axis 3 and the second rotation axis 5 of a multi-degree-of-freedom bending joint are arranged vertically. The first drive wire 601, the second drive wire 602, the third drive wire 701 and the fourth drive wire 702 can drive the first rotation axis 3 and / or the second rotation axis 5 to rotate under the drive of the drive mechanism. That is, under the drive of the first drive member 6 and the second drive member 7, the bending range of the bending joint can break through the bending range of the traditional single plane. It can simultaneously achieve bending on two different planes, improve the bending degree of freedom of the bending joint, and facilitate efficient operation in surgery.

[0053] Furthermore, in an embodiment of this application, a multi-degree-of-freedom bending joint is provided with a beveled structure that can cooperate with each other at the connection end of two adjacent joint members. In the bending state, the beveled structures of the two adjacent joint members can fit together, which can achieve a wide range of bending and faster control response with only a two-joint structure design. For example, the bending range can reach -90 to 90°.

[0054] Furthermore, in this embodiment, a first limiting groove 301 is provided at the contact portion of the first rotating shaft 3 with the first driving wire 601, the second driving wire 602, the third driving wire 701, and the fourth driving wire 702. The first limiting groove 301 prevents relative displacement between the driving wire and the first rotating shaft 3 on the surface of the first rotating shaft 3 during rotation, improving the accuracy of drive control. On the other hand, the first limiting groove 301 also increases the contact friction between the driving wire and the first rotating shaft 3, better driving the first rotating shaft 3 to rotate, thereby achieving bending motion between joints and further improving the accuracy of drive control. In addition, a patterned structure that can further increase friction can be provided within the first limiting groove 301 to enhance the contact friction between the first limiting groove 301 and the driving wire.

[0055] Furthermore, in this embodiment, a second limiting groove 501 is provided at the contact portion of the second rotating shaft 5 with the first driving wire 601, the second driving wire 602, the third driving wire 701, and the fourth driving wire 702. The second limiting groove 501 prevents relative displacement between the driving wires and the second rotating shaft 5 on the surface of the second rotating shaft 5 during rotation, improving the accuracy of drive control. On the other hand, the second limiting groove 501 also increases the contact friction between the driving wires and the second rotating shaft 5, better driving the second rotating shaft 5 to rotate, thereby achieving bending motion between joints and further improving the accuracy of drive control. In addition, a patterned structure that can further increase friction can be provided within the second limiting groove 501 to enhance the contact friction between the second limiting groove 501 and the driving wire.

[0056] Furthermore, in this embodiment of the application, a first connecting post 8 is provided at the connection end of the first driving wire 601 and the second driving wire 602, and the first connecting post 8 is fixed on the first rotating shaft 3. When the first driving wire 601 and the second driving wire 602 are driven, the first connecting post 8 can be driven to rotate relative to each other, thereby driving the first rotating shaft 3 to rotate relative to each other. The first driving member 6 with a U-shaped structure in this embodiment of the application passes through the first connecting post 8 and is snapped into the first connecting post 8, so that the first driving member 6 and the first connecting post 8 are connected as a whole.

[0057] Furthermore, in this embodiment, a second connecting post 9 is provided at the connection end of the third driving wire 701 and the fourth driving wire 702, and the second connecting post 9 is fixed on the first rotating shaft 3. When the third driving wire 701 and the fourth driving wire 702 are driven, the second connecting post 9 can be driven to rotate relative to each other, thereby driving the first rotating shaft 3 to rotate relative to each other. The second driving member 7, which has a U-shaped structure, passes through the first connecting post 9 and is engaged in the second connecting post 9, so that the second driving member 7 and the second connecting post 9 are connected as a whole.

[0058] Furthermore, in this embodiment, the first joint 1 is provided with a first through channel 101, and both the first rotating shaft 3 and the second rotating shaft 5 are provided with through holes 10, which can communicate with the first through channel 101, the second through channel 201, and the third through channel 401. This allows other components to be installed inside the bending joint. For example, for a stapler, the first through channel 101, the second through channel 201, the third through channel 401, and the through hole 10 can serve as mounting channels for a thrust rod. The cross-sectional shape of the first through channel 101, the second through channel 201, the third through channel 401, and the through hole 10 is not limited; they can be circular, square, or other regular or irregular cross-sectional structures. This embodiment provides a cylindrical through channel and a circular through hole 10, as shown in the attached figure. Figure 1-7 As shown.

[0059] Furthermore, the multi-degree-of-freedom bending joint in this embodiment also includes two symmetrically arranged first screws 11. The first joint member 1 has two symmetrical first shaft holes 103 at its end near the second joint member 2, and the second joint member 2 has two symmetrical second shaft holes 204 at its end near the first joint member 1. Both ends of the first rotating shaft 3 are rotatably connected within the first shaft holes 103. The first screws 11 pass through the first shaft holes 103 and the second shaft holes 204 to connect the first joint member 1 and the second joint member 2 into a single unit. This screw connection structure is simple in design and easy to install. It should be noted that other connection methods can also be used between the first joint member 1 and the second joint member 2, as long as they allow the first joint member 1 and the second joint member 2 to rotate around the first rotating shaft 3.

[0060] Furthermore, the multi-degree-of-freedom bending joint in this embodiment also includes two symmetrically arranged second screws 12. The second joint member 2 has two symmetrical third shaft holes 205 at its end near the third joint member 4, and the third joint member 4 has two symmetrical fourth shaft holes 403 at its end near the second joint member 2. Both ends of the second rotating shaft 5 are rotatably connected within the third shaft holes 205. The second screws 12 pass through the third shaft holes 205 and the fourth shaft holes 403 to connect the second joint member 2 and the third joint member 4 into a single unit. This screw connection structure is simple in design and easy to install. It should be noted that other connection methods can also be used between the second joint member 2 and the third joint member 4, as long as they allow the second joint member 2 and the third joint member 4 to rotate around the second rotating shaft 5.

[0061] This application also provides a surgical instrument, including the multi-degree-of-freedom bending joint described above. Specifically, the surgical instrument can be a stapler, with the structure as follows: Figure 8 As shown, the device includes an interconnected instrument drive box 100, an instrument rod 200, a distal jaw 300, a multi-degree-of-freedom bending joint 400, and an internal thrust rod (not shown in the figure). The multi-degree-of-freedom bending joint 400 is connected between the distal jaw 300 and the instrument rod 200. The instrument drive box 100 is connected to the first drive member 6 and the second drive member 7 to drive the multi-degree-of-freedom bending joint 400 to achieve bending action.

[0062] The instrument drive box 100, instrument rod 200, distal jaw 300, internal thrust rod structure, and their interconnections are all part of the existing stapler structure and will not be described in detail here. The improvement of this application is to connect the multi-degree-of-freedom bending joint 400 designed in this application to the existing stapler structure. The conventional bending joint on the existing stapler can be replaced by the multi-degree-of-freedom bending joint 400 designed in this application. For example, the existing stapler structure can be found in CN116763381 A.

[0063] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A multi-degree-of-freedom bending joint, characterized in that, include: First joint component; The second joint component has a second through channel inside; The second joint component is rotatably connected to the first joint component via a first rotating shaft; The third joint component has a third through channel inside; the third joint component is rotatably connected to the second joint component via a second rotating shaft; the second rotating shaft is perpendicular to the first rotating shaft; and... Two symmetrically arranged first and second driving members are provided. The first driving member includes a first driving wire and a second driving wire connected to each other. The connecting ends of the first driving wire and the second driving wire are fixedly connected to the side of the first rotating shaft away from the second joint member. The first driving wire and the second driving wire pass through the second through channel and the third through channel and extend out of the third through channel. The first driving wire and the second driving wire abut against the surface of the second rotating shaft. The second driving member includes a third driving wire and a fourth driving wire connected to each other. The connecting ends of the third driving wire and the fourth driving wire are fixedly connected to the side of the first rotating shaft away from the second joint member. The third driving wire and the fourth driving wire pass through the second through channel and the third through channel and extend out of the third through channel. The third driving wire and the fourth driving wire abut against the surface of the second rotating shaft. The first drive wire, the second drive wire, the third drive wire, and the fourth drive wire can drive the first rotating shaft and / or the second rotating shaft to rotate under the drive of the drive mechanism; The first joint member has a symmetrical first inclined surface at the end near the second joint member, the second joint member has a symmetrical second inclined surface at the end near the first joint member, the second joint member has a symmetrical third inclined surface at the end near the third joint member, and the third joint member has a symmetrical fourth inclined surface at the end near the second joint member. In a bent state, the first inclined surface and the second inclined surface can fit together, and the third inclined surface and the fourth inclined surface can fit together; A first limiting groove is provided on the contact portion of the first rotating shaft with the first driving wire, the second driving wire, the third driving wire, and the fourth driving wire; A second limiting groove is provided on the second rotating shaft at the contact point with the first driving wire, the second driving wire, the third driving wire, and the fourth driving wire.

2. A multi-degree-of-freedom bending joint as described in claim 1, characterized in that, A first connecting post is provided at the connection end of the first drive wire and the second drive wire, and the first connecting post is fixed on the first rotating shaft; and / or, A second connecting post is provided at the connection end of the third drive wire and the fourth drive wire, and the second connecting post is fixed on the first rotating shaft.

3. A multi-degree-of-freedom bending joint as described in claim 1, characterized in that, The first joint component has a first through channel inside, and both the first rotating shaft and the second rotating shaft have through holes, which can be connected to the first through channel, the second through channel and the third through channel.

4. A multi-degree-of-freedom bending joint as described in any one of claims 1-3, characterized in that, It also includes two symmetrically arranged first screws. The first joint member has two symmetrical first shaft holes at one end near the second joint member. The second joint member has two symmetrical second shaft holes at one end near the first joint member. The two ends of the first rotating shaft are respectively rotatably connected in the first shaft holes. The first screws pass through the first shaft holes and the second shaft holes to connect the first joint member and the second joint member into one unit.

5. A multi-degree-of-freedom bending joint as described in any one of claims 1-3, characterized in that, It also includes two symmetrically arranged second screws. The second joint member has two symmetrical third shaft holes at one end near the third joint member. The third joint member has two symmetrical fourth shaft holes at one end near the second joint member. The two ends of the second rotating shaft are respectively rotatably connected in the third shaft holes. The second screws pass through the third shaft holes and the fourth shaft holes to connect the second joint member and the third joint member into one unit.

6. A surgical instrument, characterized in that, Including a multi-degree-of-freedom bending joint as described in any one of claims 1-5.

7. A surgical instrument as described in claim 6, characterized in that, The surgical instrument is a stapler, comprising an interconnected instrument drive box, an instrument rod, a distal jaw, the multi-degree-of-freedom bending joint, and an internal thrust rod. The multi-degree-of-freedom bending joint is connected between the distal jaw and the instrument rod. The instrument drive box is connected to the first drive member and the second drive member, and is used to drive the multi-degree-of-freedom bending joint to achieve bending action.

8. A method for controlling a multi-degree-of-freedom bending joint as described in any one of claims 1-5, characterized in that, Includes the following steps: When the multi-degree-of-freedom bending joint is in its extended state, by simultaneously pulling down two drive wires located on the same side of the second rotation axis, the second rotation axis is rotated, thereby achieving a bending motion between the second and third joint components; and / or, By simultaneously pulling down the two drive wires located on the same side of the first rotating shaft, the first rotating shaft is driven to rotate, thereby realizing the bending action between the first joint and the second joint.

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