Coupling joint module and single-port continuum surgical instrument

Abstract

The present application provides a coupling joint module and a single-port continuum surgical instrument, relating to the technical field of medical instruments, the coupling joint module comprising two or more joint parts, a flexible traction skeleton and a rigid skeleton; the two or more joint parts are formed with a first channel and multiple second channels along their own axial direction, the joint parts comprise a first sub-joint, a second sub-joint and a third sub-joint and are formed with a first meshing portion and a second meshing portion; the flexible traction skeleton comprises a first rope member and a second rope member; the flexible traction skeleton of the present application is arranged between the multiple joint parts according to a predetermined rule, and by pulling different ropes in the second rope member, different joint parts can be accurately controlled to bend corresponding angles around corresponding directions at their own first meshing portion or second meshing portion. The simultaneous action of multiple joint parts can flexibly make the instrument present a variety of shapes to meet the use requirements of single-port surgical scenarios.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a coupling joint module and a single-hole continuum surgical instrument. Background Art

[0002] Compared with multi-port surgery, single-port surgery places higher demands on the freedom, flexibility, rigidity and stability of the instrument. The rigidity and load of ordinary single-port surgical instruments will weaken when in a bent state. In minimally invasive surgical scenarios, under the premise that the size, operating space and bending radius of the instrument are all constrained, it is a challenging problem to make the instrument have both high flexibility and high rigidity.

[0003] In related technologies, some variable-stiffness instruments typically feature an elbow joint to increase flexibility during operation. However, the bending of the elbow joint prevents the front end of the instrument from being flush with the insertion channel, limiting the operating space. Furthermore, the front end of the surgical instrument only has three degrees of freedom, lacking sufficient flexibility. To further adapt to the minimally invasive surgery scenarios of single-port surgery, existing single-port instruments have been optimized and improved based on traditional variable-stiffness surgical instruments, achieving instrument steering within the cannula through bending of the elbow and shoulder joints.

[0004] However, the current single-hole instrument joint bends in a U-shape. This structural design makes it occupy a large space, and the flexibility of the bending process is poor, making it difficult to apply to narrow cavities. The usage scenarios are limited and it is difficult to meet the use requirements of minimally invasive surgery scenarios with high requirements for stiffness and working space. Summary of the Invention

[0005] In response to the deficiencies in the relevant technologies, the present application provides a coupling joint module and a single-port continuum surgical instrument, which solves the problem that the flexibility of the single-port surgical instrument is limited due to defects in the joint design.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a coupled joint module, comprising two or more joint members, a flexible traction frame, and a rigid frame; the two or more joint members are formed with a first channel and a plurality of second channels extending therethrough along their own axial directions; the joint members include a first sub-joint, a second sub-joint, and a third sub-joint that are sequentially meshed, and adjacent sub-joints are formed with a first meshing portion and a second meshing portion, wherein a first intermediate portion of the first meshing portion, after being rotated about its own axial direction through a preset angle, is aligned with the second meshing portion;

[0008] The flexible traction skeleton includes a first rope member and a second rope member. The first rope member is configured to be pulled by the driving member and extend distally through a first channel to connect to the functional member. A plurality of ropes in the second rope member extend through a plurality of second channels to predetermined positions in two or more joint members to cause each joint member to bend around two intersecting directions in a spatial coordinate system at its first meshing portion and second meshing portion, respectively.

[0009] The rigid frame is constructed so as to be embedded in two adjacent ones of the first sub-joint, the second sub-joint and the third sub-joint to support the first meshing portion and the second meshing portion and restrict the deviation direction of the joint component during bending.

[0010] According to the first aspect of the embodiment of the present application, the first meshing portion has two opposite first meshing walls, which are formed by extending from the first abutting ends of the first sub-joint and the second sub-joint to the distal end, and both include an arc-shaped meshing surface and an inclined meshing plane; the first sub-joint and the second sub-joint can be bent around the first abutting end, and the bending interval has a preset mapping relationship with the bending angle of the arc-shaped meshing surface and the inclination angle of the meshing plane.

[0011] According to the first aspect of the embodiment of the present application, it also includes a first branch segment, a second branch segment and a third branch segment connected sequentially along the first direction, the first branch segment includes a joint part, the second branch segment includes a first hollow pipe inside and two joint parts installed at both ends of the first pipe and staggered with each other, and the third branch segment is connected to the third sub-joint in the second branch segment away from the first branch segment.

[0012] According to a first aspect of an embodiment of the present application, the second rope member includes a primary rope group, a secondary rope group and a tertiary rope group, the primary rope group is connected to the first branch segment, the secondary rope group extends parallel to the first end of the second branch segment to the second end, the tertiary rope group includes a first segment and a second segment, the first segment extends symmetrically from the first end of the second branch segment to the second end, and the second segment extends parallel to the driving member from the second end of the second branch segment.

[0013] According to the first aspect of the embodiment of the present application, the second sub-joint and the third sub-joint are adjacently formed with a second abutment end; the ropes in the first-level rope group and the third-level rope group are divided into two pairs, and the arrangement direction of the two ropes in the first pair of ropes in the spatial coordinate system is consistent with the extension direction of the first abutment end, and the arrangement direction of the two ropes in the second pair of ropes in the spatial coordinate system is consistent with the extension direction of the second abutment end.

[0014] According to the first aspect of the embodiment of the present application, the second meshing portion includes two opposite second meshing walls, the second sub-joint has a first meshing wall and a second meshing wall, and in the second sub-joint, the second intermediate body after the first meshing wall is rotated 90° around the axis of the joint part is consistent with the second meshing wall.

[0015] According to the first aspect of the embodiment of the present application, the third sub-joint in the first branch segment is provided with a plurality of third channels and a fourth channel of the same depth to accommodate a plurality of first clamps to constrain the first end of the secondary rope group; the second end of the secondary rope group is provided with a second clamp and is limitedly connected to the first sub-joint in the second branch segment adjacent to the third branch segment.

[0016] According to the first aspect of the embodiment of the present application, the first meshing portion includes two pairs of first arcuate grooves, and the second meshing portion includes two pairs of second arcuate grooves, and the projections of the first arcuate grooves and the second arcuate grooves on the cross section of the joint along the first direction are orthogonal to each other; the rigid skeleton includes a plurality of first connecting rods and a plurality of first pins, and the first connecting rods are slidably engaged with the pairs of first arcuate grooves and the pairs of second arcuate grooves through the first pins.

[0017] According to the first aspect of the embodiment of the present application, the first sub-joint, the second sub-joint and the third sub-joint are all provided with a first pin hole, and the first pin is inserted into the first pin hole with an interference fit and is connected to the first connecting rod; second pin holes are opened at both ends of the first connecting rod to loosely fit with the first pin.

[0018] According to the first aspect of the embodiment of the present application, the first channel is coaxial with the central axis of more than two joint components, and its extension direction is consistent with the extension direction of multiple second channels; multiple second channels are distributed outside the first channel at intervals along the circumference of the joint component.

[0019] In the second aspect, an embodiment of the present application provides a single-port continuum surgical instrument, which includes a coupling joint module, a functional part, a driving part and a pipeline part; the functional part is integrated at the first end of the coupling joint module and engages and matches with the first branch section of the coupling joint module; the driving part is located at the distal end of the coupling joint module extending away from its first end along the first direction and includes a driving motor, a rope roller, a guide roller and a winding shaft, and at least a portion of the flexible traction skeleton is connected to the driving motor via the rope roller, the guide roller and the winding shaft; the pipeline part includes a first branch and a second branch that are coaxially nested and connected, and the first branch and the second branch are respectively connected to the driving part and the coupling joint module.

[0020] According to the second aspect of the embodiment of the present application, the functional part includes a base, a clamping part and a connecting rod part; the base is connected to the first-level rope group in the flexible traction skeleton and has a built-in accommodating cavity, and the side of the base adjacent to the coupling joint module has a protrusion and is engaged with the first branch segment through the protrusion, and the base is provided with a third pin hole passing through along its own thickness direction; the clamping part includes a first clamp and a second clamp that cooperate with each other to form a group, and the first clamp and the second clamp are pivotally connected with the third pin hole as a fixed axis; the first clamp and the second clamp respectively have a first connecting branch segment and a second connecting branch segment extending to the accommodating cavity, and the first connecting branch segment and the second connecting branch segment have a columnar extension branch segment on the side of the cavity wall facing away from the accommodating cavity; the connecting rod part is located in the accommodating cavity and is connected to the columnar extension branch segment, and the first rope part of the flexible traction skeleton extends to the inside of the accommodating cavity and is connected to the connecting rod part to control the deformation of the connecting rod part and involve the movement of the clamping part.

[0021] According to the second aspect of the embodiment of the present application, the connecting rod member has a parallelogram structure and includes two second connecting rods and two third connecting rods pivotally connected to the columnar extension branch segment; the two second connecting rods and the two third connecting rods are connected by two third clamps, and the two ropes in the first rope member are respectively connected to the two third clamps, and a limiting branch segment is provided at the bottom end of one of the two third clamps, and the limiting branch segment can be slidably embedded in the limiting groove at the bottom of the base.

[0022] The present invention provides a coupled joint module and a single-port continuum surgical instrument. Compared with related technologies, it has the following advantages:

[0023] In order to improve the flexibility of single-port continuum surgical instruments, the present application optimizes the design of the joints of the instrument. The coupling joint module includes more than two joint parts. In each joint part, the first sub-joint and the second sub-joint are formed with a first meshing part, and the second sub-joint and the third sub-joint are formed with a second meshing part. The flexible traction skeleton is arranged between the multiple joint parts according to a predetermined rule. Since the multiple ropes in the second rope member extend to the preset positions in more than two joint parts through multiple second channels, by pulling different ropes in the second rope member, different joint parts can be accurately controlled to bend corresponding angles around corresponding directions at their own first meshing parts or second meshing parts. During the bending process of the first meshing part and the second meshing part, each sub-joint is supported and constrained by the rigid skeleton to prevent lateral displacement and axial separation of the joint parts, thereby improving the stiffness of the instrument. The multiple joint parts in the entire coupling joint module act simultaneously, which can flexibly make the instrument present a variety of shapes to meet the usage requirements of single-port surgical scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 Schematic diagram of the structure of a single-hole continuum surgical instrument provided in an embodiment of the present application;

[0026] Figure 2 Schematic diagram of the structure of the coupling joint module provided in an embodiment of the present application;

[0027] Figure 3 is a schematic structural diagram of the first sub-joint in the first branch segment provided in an embodiment of the present application;

[0028] Figure 4 is a schematic structural diagram of the second sub-joint and the first connecting rod in the first branch segment provided in an embodiment of the present application;

[0029] Figure 5 is a schematic structural diagram of the third sub-joint in the first branch segment provided in an embodiment of the present application;

[0030] Figure 6 This is a partial structural diagram of the first branch segment and the second branch segment provided in an embodiment of the present application;

[0031] Figure 7 This is a schematic structural diagram of two joint components in the first branch segment and the second branch segment provided in an embodiment of the present application;

[0032] Figure 8 is a schematic structural diagram of a joint component adjacent to the third branch segment in the second branch segment provided by an embodiment of the present application;

[0033] Figure 9 This is a schematic diagram of the assembly of the first sub-joint and the second sub-joint under the action of the rigid skeleton provided in an embodiment of the present application;

[0034] Figure 10 is a schematic diagram of a first meshing wall surface in a joint component provided in an embodiment of the present application;

[0035] Figure 11 is a structural diagram of the second branch segment provided in an embodiment of the present application;

[0036] Figure 12 is a three-dimensional schematic diagram of the functional components provided in the embodiment of the present application;

[0037] Figure 13 It is a bottom view of the functional component provided in the embodiment of the present application;

[0038] Figure 14 is a schematic diagram of a connecting rod member in an open state of a clamping member provided in an embodiment of the present application;

[0039] Figure 15 is a schematic diagram of a connecting rod member in a closed state of a clamping member provided in an embodiment of the present application;

[0040] Figure 16 This is a partial structural diagram of the driving component provided in an embodiment of the present application.

[0041] Description of the drawings: first channel A; second channel B; first meshing portion C; first meshing wall C1; arc-shaped meshing surface C11; meshing plane C12; first arc-shaped groove C2; ​​second meshing portion D; second meshing wall D1; second arc-shaped groove D2; first clamp E; second clamp F; first pin hole G; second pin hole H; accommodating cavity I; third pin hole J; third clamp K; limiting branch section K1; first direction X; joint member 1; first sub-joint 11; second sub-joint 12; third sub-joint 13; third channel 131; fourth channel 132; flexible traction skeleton 2; first rope member 21; second rope member 22; first-level rope group 221; second-level rope group 222; third-level rope group 223; rigid frame 3; first connecting rod 31; first pin 32; first branch section 4; second branch section 5; first pipe 51; third branch section 6; second pipe 61; pipe connector 62; functional part 7; base 71; limiting groove 711; clamping member 72; first clamp 721; second clamp 722; columnar extension branch section 723; connecting rod member 73; second connecting rod 731; third connecting rod 732; driving member 8; rope roller 81; guide roller 82; winding shaft 83; pipe member 9; first branch pipe 91; second branch pipe 92. DETAILED DESCRIPTION

[0042] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0043] The embodiment of the present application solves the problem of limited flexibility in the application of single-port surgical instruments due to defects in the joint design by providing a coupling joint module and a single-port continuum surgical instrument, so that the instrument has a larger bending angle, flexibility and stability in a single-port operation scenario.

[0044] The technical solution in the embodiments of the present application is to solve the above technical problems, and the overall idea is as follows:

[0045] Compared with multi-port surgery, single-port surgery places higher requirements on the freedom, flexibility, rigidity and stability of the instrument. The rigidity and load of ordinary single-port surgical instruments will weaken when they are bent. In minimally invasive surgical scenarios, the size, operating space and bending radius of the instrument are all constrained. It is a challenging problem to make the instrument have both high flexibility and high rigidity.

[0046] In the related art, some variable stiffness instruments increase the flexibility of the instrument execution process by setting an elbow joint. However, the bending of the elbow joint makes it impossible for the front end of the instrument to be flush with the insertion channel, which limits the operating space. At the same time, the front end of the surgical instrument only has three degrees of freedom and lacks sufficient flexibility. In order to adapt to the minimally invasive surgical scenario of single-port surgery, some current single-port instruments are optimized and improved based on traditional variable stiffness surgical instruments, and the steering of the instrument inserted into the cannula is achieved by bending the elbow joint and shoulder joint. However, the current single-port instrument joint bends in a mouth shape. This structural design makes it occupy a large space, and the flexibility of the bending process is poor. It is difficult to apply to narrow cavities, and the use scenarios are limited. It is difficult to meet the use requirements of minimally invasive surgical scenarios with high requirements for stiffness and working space.

[0047] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0048] The following first introduces a coupling joint module provided in an embodiment of the present application.

[0049] In some embodiments, please refer to Figure 2 and Figure 7 , an embodiment of the present application provides a coupling joint module, which includes more than two joint parts 1, a flexible traction skeleton 2 and a rigid skeleton 3; the more than two joint parts 1 are formed with a first channel A and multiple second channels B along their own axes; the joint parts 1 include a first sub-joint 11, a second sub-joint 12 and a third sub-joint 13 that are sequentially meshed, and the two adjacent ones are formed with a first meshing part C and a second meshing part D, and the first intermediate body of the first meshing part C after rotating around its own axis through a preset angle is consistent with the second meshing part D.

[0050] Please refer to Figure 6 and Figure 7 The first meshing portion C is formed by the combination of the first sub-joint 11 and the second sub-joint 12, and the second meshing portion D is formed by the combination of the second sub-joint 12 and the third sub-joint 13; it can be understood that in a joint part 1, the first meshing portion C and the second meshing portion D can correspond to the same structural shape and have angle differences, thereby ensuring that the first meshing portion C and the second meshing portion D can bend the same angle in different directions.

[0051] For details, please refer to Figure 2 、 Figure 3 、 Figure 4 and Figure 5 The flexible traction skeleton 2 includes a first rope member 21 and a second rope member 22. The first rope member 21 is constructed so that it is pulled by the driving member 8 and extends to the distal end through the first channel A to connect the functional member 7. The multiple ropes in the second rope member 22 extend to preset positions in more than two joint members 1 through multiple second channels B to involve each joint member 1 to bend around two intersecting directions in the spatial coordinate system at its own first meshing portion C and second meshing portion D respectively.

[0052] In one example, the first channel A is coaxial with the central axis of more than two joint components 1, and its extension direction is consistent with the extension direction of multiple second channels B; multiple second channels B are distributed outside the first channel A at intervals along the circumference of the joint component 1.

[0053] Please refer to Figure 3 、 Figure 4 and Figure 5 It can be understood that a central through hole is provided inside the first sub-joint 11, the second sub-joint 12 and the third sub-joint 13. Thus, the joint component 1 formed by the first sub-joint 11, the second sub-joint 12 and the third sub-joint 13 is formed with a central through hole, and the first channel A formed in the coupling joint module formed by multiple joint components 1 is the central channel. The first channel A can be used to pass the first rope component 21 to connect the driving component 8 and the functional component 7.

[0054] It should be noted that since the coupling joint module includes multiple joint parts 1, the coupling joint module realizes bending at multiple positions through the first meshing part C and the second meshing part D in each joint part 1, and the multiple ropes in the second rope member 22 have different extension connection positions in the multiple second channels B, thereby driving the first meshing part C or the second meshing part D in the joint part 1 at the corresponding position to bend.

[0055] It should also be noted that the rigid skeleton 3 is constructed so that it is embedded in two adjacent ones of the first sub-joint 11, the second sub-joint 12, and the third sub-joint 13 to support the first meshing portion C and the second meshing portion D and constrain the offset direction of the joint component 1 during bending. It is understandable that since each joint component 1 includes the first sub-joint 11, the second sub-joint 12, and the third sub-joint 13, and the first meshing portion C and the second meshing portion D are formed between the first sub-joint 11 and the second sub-joint 12, and since the first meshing portion C and the second meshing portion D bear the function of bending the joint component 1 in different directions, the present application installs the rigid skeleton 3 inside the joint component 1 to ensure that the joint component 1 can maintain a high rigidity during the bending process.

[0056] The above is a specific implementation method of a coupling joint module provided in an embodiment of the present application. The flexible traction skeleton 2 is arranged between multiple joint parts 1 according to a predetermined rule. Since multiple ropes in the second rope member 22 extend to preset positions in more than two joint parts 1 through multiple second channels B, by pulling different ropes in the second rope member 22, different joint parts 1 can be accurately controlled to bend corresponding angles around corresponding directions at their own first meshing parts C or second meshing parts D. During the bending process of the first meshing part C and the second meshing part D, each sub-joint is supported and constrained by the rigid skeleton 3 to prevent lateral displacement and axial separation of the joint part 1, thereby improving the stiffness of the instrument; multiple joint parts 1 in the entire coupling joint module act simultaneously, which can flexibly make the instrument present a variety of shapes to meet the usage requirements of single-port surgery scenarios.

[0057] In one example, a portion of the rope passing through the first channel A is provided with a tube to reduce friction between the ropes.

[0058] In some optional embodiments, the first meshing portion C and the second meshing portion D in the same joint component 1 have different stretching ratios along the first direction X, so that the first meshing portion C and the second meshing portion D can bend at different angles in different directions.

[0059] In other optional embodiments, the first meshing portion C and the second meshing portion D in the same joint component 1 may also correspond to different structural shapes.

[0060] In some embodiments, please refer to Figure 7 The first meshing portion C has two opposite first meshing walls C1, and the two first meshing walls C1 are formed by extending distally from the first abutting ends of the first sub-joint 11 and the second sub-joint 12, and both include an arc-shaped meshing surface C11 and an inclined meshing plane C12; the first sub-joint 11 and the second sub-joint 12 can be bent around the first abutting end, and the bending interval has a preset mapping relationship with the bending angle of the arc-shaped meshing surface C11 and the inclination angle of the meshing plane C12.

[0061] It can be understood that the first sub-joint 11 and the second sub-joint 12 abut against each other at the first abutting end, and the two paired first meshing walls C1 form a clamping cavity. In the first meshing portion C, please refer to Figure 7 and Figure 10 Since the first meshing wall surface C1 includes the arc-shaped meshing surface C11 and the inclined meshing plane C12, the aforementioned clamping cavity can provide sufficient rotation space for the first sub-joint 11 and the second sub-joint 12.

[0062] In some embodiments, the second meshing portion D includes two opposite second meshing walls D1, the second sub-joint 12 has a first meshing wall C1 and a second meshing wall D1, and the first meshing wall C1 in the second sub-joint 12 is consistent with the second meshing wall D1 after rotating axially around the joint part 1 at a certain angle.

[0063] It can be understood that the second sub-joint 12 is between the first sub-joint 11 and the third sub-joint 13, and the second sub-joint 12 has both a first meshing wall C1 and a second meshing wall D1. The first meshing wall C1 can be consistent with the second meshing wall D1 after rotation, that is, the first meshing wall C1 and the second meshing wall D1 in the joint component 1 have the same structure and are in different postures in the spatial coordinate system, thereby ensuring that the first meshing part C and the second meshing part D in each joint component 1 can rotate in different directions through consistent angles.

[0064] In one example, the second intermediate portion of the first meshing wall C1 in the second sub-joint 12 coincides with the second meshing wall D1 after the first meshing wall C1 rotates 90° around the axis of the joint component 1. Thus, the first meshing portion can coincide with the second meshing portion after a 90° rotation around its own axis, meaning that the two bending planes corresponding to the two directions in which the joint component 1 can bend are orthogonal to each other.

[0065] In some embodiments, please refer to Figure 1 and Figure 2 The coupling joint module also includes a first branch segment 4, a second branch segment 5 and a third branch segment 6 connected sequentially along the first direction X. The first branch segment 4 includes a joint component 1, the second branch segment 5 includes a first hollow pipe 51 and two joint components 1 installed at both ends of the first pipe 51 and staggered with each other. The third branch segment 6 is connected to the third sub-joint 13 in the second branch segment 5 away from the first branch segment 4.

[0066] It can be understood that the hollow central cavity inside the first pipe 51 constitutes a part of the first channel A; the first branch segment 4 includes a joint component 1 and can be bent in two preset directions; the second branch segment 5 includes two joint components 1 and the two joint components 1 are staggered and symmetrically arranged at both ends of the first pipe 51, and the two joint components 1 cooperate to bend.

[0067] In some embodiments, please refer to Figure 6 、 Figure 7 、 Figure 8 and Figure 11The second rope member 22 includes a primary rope group 221, a secondary rope group 222 and a tertiary rope group 223. The primary rope group 221 is connected to the first branch segment 4, the secondary rope group 222 extends parallel to the first end of the second branch segment 5 to the second end, and the tertiary rope group 223 includes a first section and a second section. The first section extends symmetrically from the first end of the second branch segment 5 to the second end, and the second section extends parallel to the driving member 8 from the second end of the second branch segment 5.

[0068] It should be noted that the multiple ropes in the second rope member 22 extend to preset positions in more than two joint members 1 through multiple second channels B, and the first-level rope group 221 is connected to the first branch segment 4 to control the bending of the joint member 1 of the first branch segment 4 by involving the first-level rope group 221; it can be understood that in the second rope group 22, only the first-level rope group 221 extends and is connected to the first branch segment 4, and the multiple second channels B are independent of each other. Based on this, the first-level rope group 221 is independently connected to the first branch segment 4.

[0069] It should also be noted that the secondary rope group 222 and the tertiary rope group 223 only extend along the first direction X to the second branch segment 5 but do not continue to extend to the first branch segment 4; wherein, the secondary rope group 222 is only used to constrain the first pipe 51 and the two joint components 1 in the second branch segment 5, so that the first pipe 51 and the two joint components 1 located at both ends of the first pipe 51 and staggered with each other form a whole.

[0070] It should be emphasized that the three-level rope group 223 is divided into a first section and a second section. The first section extends symmetrically from the first end of the second branch segment 5 to the second end, and since the two joint parts 1 at both ends of the first pipe 51 are staggered and symmetrically arranged, based on this, the two joint parts 1 in the second branch segment 5 can be linked under the action of the first section in the three-level rope group 223; further, the part of the three-level rope group 223 that leaves the first section, that is, the second section, extends parallel to the second end of the second branch segment 5 toward the driving member 8, and the driving member 8 can control the two ends of the second branch segment 5 to bend synchronously by pulling the three-level rope group 223, so that the second branch segment 5 is formed into a parallelogram joint structure.

[0071] In some embodiments, please refer to Figure 2 、 Figure 6 and Figure 7 The joint parts 1 in the first branch segment 4 and the second branch segment 5 can have the same size; the stretching dimensions of the joint parts 1 in the first branch segment 4 and the second branch segment 5 along the first direction X can also be different, so that the bending ranges of the joint parts 1 in the first branch segment 4 and the second branch segment 5 are different, thereby adapting to different scene requirements.

[0072] In one example, in the joint component 1 in the first branch segment 4, the maximum bending angle corresponding to the first meshing portion C and the second meshing portion D is 90°, and in the joint component 1 in the second branch segment 5, the maximum bending angle corresponding to the first meshing portion C and the second meshing portion D is 60°.

[0073] In some embodiments, the second sub-joint 12 and the third sub-joint 13 are adjacently formed with a second abutment end; the ropes in the first-level rope group 221 and the third-level rope group 223 are divided into two pairs, and the arrangement direction of the two ropes in the first pair of ropes in the spatial coordinate system is consistent with the extension direction of the first abutment end, and the arrangement direction of the two ropes in the second pair of ropes in the spatial coordinate system is consistent with the extension direction of the second abutment end.

[0074] It can be understood that the first-level rope group 221 is used to involve the joint part 1 in the first branch segment 4 to bend along different directions, and the third-level rope group 223 is used to involve the joint part 1 in the second branch segment 5 to bend along different directions; in the joint part 1, the first sub-joint 11 and the second sub-joint 12 are formed with a first abutment end, and the second sub-joint 12 and the third sub-joint 13 are adjacently formed with a second abutment end; the first abutment end is located in the first meshing portion C, and the second abutment end is located in the second meshing portion D.

[0075] For further information, please refer to Figure 7 , the two bending directions corresponding to the joint 1 correspond to the extension directions of the first abutment end and the second abutment end; on the one hand, the two ropes in the aforementioned first pair of ropes are used to pull and control the bending of the second sub-joint 12 and the third sub-joint 13. Accordingly, in this application, the two ropes in the aforementioned first pair of ropes are arranged at intervals and the spacing arrangement direction is consistent with the extension direction of the first abutment end; on the other hand, the two ropes in the aforementioned second pair of ropes are used to pull the first sub-joint 11 and the second sub-joint 12 to bend. Therefore, the two ropes in the second pair of ropes are arranged at intervals and the spacing arrangement direction is consistent with the extension direction of the second abutment end.

[0076] In summary, the first pair of ropes is used to control the bending of the second sub-joint 12 and the third sub-joint 13, and the second pair of ropes is used to control the bending of the first sub-joint 11 and the second sub-joint 12. Figure 7 The first pair of ropes is passed through the widest position of the cavity corresponding to the top and bottom of the second meshing part D, and the second pair of ropes is passed through the widest position of the cavity in the first meshing part C, and the first pair of ropes and the second pair of ropes divided into the first-level rope group 221 and the third-level rope group 223 are both passed through the corresponding second channels B.

[0077] In one example, if Figure 5 、 Figure 6 and Figure 8 As shown, please combine Figure 2The third sub-joint 13 in the first branch segment 4 is provided with a plurality of third channels 131 and a fourth channel 132 of the same depth to accommodate a plurality of first clamps E to constrain the first end of the secondary rope group 222; the second end of the secondary rope group 222 is sleeved with a second clamp F and is limitedly connected to the first sub-joint 11 in the second branch segment 5 adjacent to the third branch segment 6.

[0078] It can be understood that the first end and the second end of the secondary rope group 222 are fixed by the first clamp E and the second clamp F respectively. Since the third sub-joint 13 in the first branch segment 4 is adjacent to the second branch segment 5, the second end of the secondary rope group 222 is adjacent to the third branch segment 6. The secondary rope group 222 passes through its corresponding second channel B and extends in parallel, and is only used to constrain the second branch segment 5.

[0079] In one example, the third branch 6 includes a second pipe 61 and a pipe connector 62 , and the walls of the first pipe 51 and the second pipe 61 are provided with a plurality of through holes to observe the working status of the ropes passing through the first pipe 51 and the second pipe 61 .

[0080] In another example, the outer surface of the rope passing through the second pipe 61 is sheathed with a tubular member to reduce friction. The tubular member may be a stainless steel tube.

[0081] In some embodiments, please refer to Figure 3 and Figure 7 The first meshing part C includes two pairs of first arc-shaped grooves C2, and the second meshing part D includes two pairs of second arc-shaped grooves D2. The projections of the first arc-shaped grooves C2 and the second arc-shaped grooves D2 on the cross section of the joint part 1 along the first direction X are orthogonal to each other; it can be understood that the distribution position and posture of the first arc-shaped grooves C2 and the second arc-shaped grooves D2 in the spatial coordinate system are set based on the bending requirements in the first meshing part C and the second meshing part D; since the projections of the first arc-shaped grooves C2 and the second arc-shaped grooves D2 on the cross section of the joint part 1 along the first direction X are orthogonal to each other, accordingly, the bending direction of the first meshing part C and the bending direction of the second meshing part D intersect vertically.

[0082] In some embodiments, please refer to Figure 4 and Figure 9 The rigid frame 3 includes a plurality of first connecting rods 31 and a plurality of first pins 32 . The first connecting rods 31 are slidably engaged with the paired first arc-shaped grooves C2 and the paired second arc-shaped grooves D2 through the first pins 32 .

[0083] It can be understood that a pair of first arc grooves C2 includes two first arc grooves C2, each first engaging portion C has a total of 4 first arc grooves C2, and a first connecting rod 31 is set in one arc groove C2; ​​the moving trajectory of the first connecting rod 31 in the first arc groove C2 does not interfere with the first channel A, and the moving trajectory of the first connecting rod 31 in the second arc groove D2 does not interfere with the first channel A, and the first connecting rod 31 is installed by sliding engagement through the first pin 32.

[0084] Based on this, the rigid skeleton 3 is installed by sliding engagement to ensure that each joint part 1 can bend accordingly under the pull of the rope; the meshing joint group composed of the first connecting rod 31 and the first pin 32 has greater rigidity, which can prevent lateral displacement and longitudinal separation of the first meshing part C and the second meshing part D during the bending process.

[0085] In some embodiments, please refer to Figure 3 、 Figure 4 and Figure 5 The first sub-joint 11, the second sub-joint 12 and the third sub-joint 13 are all provided with a first pin hole G, and second pin holes H are opened at both ends of the first connecting rod 31 to fit with the first pin 32 in a clearance manner; the first pin 32 is inserted into the first pin hole G with an interference fit and is connected to the first connecting rod 31, thereby preventing the first connecting rod 31 from detaching.

[0086] In one example, for the second pin holes H at both ends of the first connecting rod 31, one second pin hole H is a circular hole, and the other second pin hole H is a notch. The diameters of the circular hole and the notch are both larger than the first pin 32 to prevent the first connecting rod 31 and the first pin 32 from getting stuck when the first meshing portion C and the second meshing portion D are bent significantly.

[0087] In some embodiments, please refer to Figure 1 and Figure 16 , an embodiment of the present application provides a single-hole continuum surgical instrument, which includes a coupling joint module, a functional part 7, a driving part 8 and a pipe part 9; wherein the functional part 7 is integrated at the first end of the coupling joint module and engages and matches with the first branch section 4 of the coupling joint module; the driving part 8 is located at the distal end of the coupling joint module extending away from its first end along the first direction X and includes a driving motor, a rope roller 81, a guide roller 82 and a winding shaft 83, and at least a portion of the flexible traction skeleton 2 is connected to the driving motor via the rope roller 81, the guide roller 82 and the winding shaft 83; the pipe part 9 includes a first branch pipe 91 and a second branch pipe 92 coaxially nested and connected, and the first branch pipe 91 and the second branch pipe 92 are respectively connected to the driving part 8 and the coupling joint module.

[0088] It can be understood that the rope passes through the guide roller 82 before being connected to the winding shaft 83. The guide roller 82 is adjacent to the corresponding winding shaft 83, thereby ensuring that the rope can be smoothly guided and connected to the winding shaft 83. The drive motor can drive the winding shaft 83 to rotate, thereby driving the corresponding joint part 1 to bend; the first branch pipe 91 and the second branch pipe 92 are nested with each other to facilitate the disassembly of the first branch pipe 91 and the second branch pipe 92, and then check the rope status in the pipe part 9.

[0089] In some embodiments, please refer to Figure 12 The functional part 7 includes a base 71, a clamping part 72 and a connecting rod part 73; the base 71 is connected to the first-level rope group 221 in the flexible traction frame 2 and has a built-in accommodating cavity I. The base 71 has a protrusion on the side adjacent to the coupling joint module and engages with the first branch segment 4 through the protrusion. The base 71 is provided with a third pin hole J passing through along its own thickness direction; the clamping part 72 includes a first clamp 721 and a second clamp 722 that cooperate with each other to form a group.

[0090] It can be understood that the first clamp 721 and the second clamp 722 are pivotally connected with the third pin hole J as the fixed axis; the first clamp 721 and the second clamp 722 respectively have a first connecting branch segment and a second connecting branch segment extending to the accommodating cavity, and the first connecting branch segment and the second connecting branch segment have a columnar extension branch segment 723 on the side of the cavity wall facing away from the accommodating cavity I; the connecting rod member 73 is located in the accommodating cavity I and is connected to the columnar extension branch segment 723, and the first rope member 21 of the flexible traction skeleton 2 extends to the inside of the accommodating cavity I and is connected to the connecting rod member 73 to control the deformation of the connecting rod member 73 and involve the movement of the clamping member 72.

[0091] In some embodiments, please refer to Figure 12 、 Figure 13 、 Figure 14 and Figure 15 The connecting rod member 73 has a parallelogram structure and includes two second connecting rods 731 and two third connecting rods 732 pivotally connected to the columnar extension branch section 723. It can be understood that the columnar extension branch section 723 can serve as a fulcrum for the pivoting of the second connecting rod 731 and the third connecting rod 732; the two second connecting rods 731 and the two third connecting rods 732 are connected by two third clamps K, and the two ropes in the first rope member 21 are respectively connected to the two third clamps K. A limiting branch section K1 is provided at the bottom end of one of the two third clamps K, and the limiting branch section K1 can be slidably embedded in the limiting groove 711 at the bottom of the base 71. It can be understood that by setting the limiting branch section K1, the deformation trajectory of the connecting rod member 73 can be controlled.

[0092] In an embodiment of the present application, two third clamps K are suspended in the accommodating cavity I, and the top heights of the two third clamps K are different, and the two ropes in the first rope member 21 are staggered in the accommodating cavity I; by pulling the rope in the first rope member 21, the parallelogram structure corresponding to the connecting rod member 73 can be adjusted, and then the rotation of the first clamp 721 and the second clamp 722 can be controlled to adjust the working state of the functional part 7.

[0093] In some optional embodiments, the functional part 7 may also include one of a shearing part, a suturing part and an electrocoagulation part to achieve different functions.

[0094] In summary, compared with the prior art, this application has the following beneficial effects:

[0095] 1. The flexible traction skeleton 2 in the present application is arranged between multiple joint parts 1 according to a predetermined pattern. Since multiple ropes in the second rope member 22 extend to preset positions in more than two joint parts 1 through multiple second channels B, by pulling different ropes in the second rope member 22, different joint parts 1 can be accurately controlled to bend corresponding angles around corresponding directions at their own first meshing parts C or second meshing parts D. It can be used for various narrow cavity surgeries and has the characteristics of high flexibility and high rigidity.

[0096] 2. In the present application, the two joint parts 1 in the second branch segment 5 can be linked under the action of the first section in the three-level rope group 223; the driving part 8 can control the two ends of the second branch segment 5 to bend synchronously by pulling the three-level rope group 223, so that the second branch segment 5 is formed into a parallelogram joint structure. The parallelogram joint structure has a larger bending angle under single-hole operation, which makes the instrument have better flexibility and a larger operating space.

[0097] 3. The meshing joint group composed of the first connecting rod 31 and the first pin 32 in the present application has greater rigidity. During the bending process of the first meshing part C and the second meshing part D, each sub-joint is supported and constrained by the rigid skeleton 3, preventing the lateral displacement and axial separation of the joint part 1, thereby improving the rigidity of the instrument under force; under tension or compression, the joint part 1 has the characteristics of no lateral displacement and longitudinal separation, has better stability, and is suitable for surgical scenarios under large load conditions.

[0098] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0099] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A coupling joint module, characterized in that: include: Two or more joint parts are formed with a first channel and multiple second channels along their own axial direction; The joint component includes a first sub-joint, a second sub-joint, and a third sub-joint that are meshed in sequence, and two adjacent sub-joints are formed with a first meshing portion and a second meshing portion, and a first intermediate portion of the first meshing portion after rotating around its own axis through a preset angle is aligned with the second meshing portion; A flexible traction skeleton includes a first rope member and a second rope member, wherein the first rope member is configured to be pulled by a driving member and extend distally through the first channel to connect to a functional member, and a plurality of ropes in the second rope member extend through a plurality of the second channels to predetermined positions in the two or more joint members, thereby causing each of the joint members to bend around two intersecting directions in a spatial coordinate system at the first meshing portion and the second meshing portion thereof; and The rigid skeleton is constructed so as to be embedded in two adjacent ones of the first sub-joint, the second sub-joint and the third sub-joint to support the first meshing portion and the second meshing portion and constrain the offset direction of the joint component during bending.

2. The coupling joint module according to claim 1, wherein: The first meshing portion has two opposite first meshing walls, which are formed by extending distally from the first abutting ends of the first sub-joint and the second sub-joint, and both include an arc-shaped meshing surface and an inclined meshing plane; the first sub-joint and the second sub-joint can be bent around the first abutting end, and the bending interval has a preset mapping relationship with the bending angle of the arc-shaped meshing surface and the inclination angle of the meshing plane.

3. The coupling joint module according to claim 2, wherein: The invention also includes a first branch segment, a second branch segment, and a third branch segment sequentially connected along a first direction, wherein the first branch segment includes one joint component, the second branch segment includes a first hollow pipe and two joint components installed at both ends of the first pipe and staggered with each other, and the third branch segment is connected to a third sub-joint of the second branch segment that is away from the first branch segment; and / or, The second rope member includes a primary rope group, a secondary rope group and a tertiary rope group, the primary rope group is connected to the first branch segment, the secondary rope group extends parallel to the first end of the second branch segment, and the tertiary rope group includes a first segment and a second segment, the first segment extends symmetrically from the first end of the second branch segment to the second end, and the second segment extends parallel to the driving member from the second end of the second branch segment.

4. The coupling joint module according to claim 3, wherein: The second sub-joint and the third sub-joint are adjacently formed with a second abutment end; the ropes in the first-level rope group and the third-level rope group are divided into two pairs, the arrangement direction of the two ropes in the first pair of ropes in the spatial coordinate system is consistent with the extension direction of the first abutment end, and the arrangement direction of the two ropes in the second pair of ropes in the spatial coordinate system is consistent with the extension direction of the second abutment end; and / or, The second engaging portion includes two opposite second engaging walls, and the second sub-joint has a first engaging wall and a second engaging wall. In the second sub-joint, the second intermediate body of the first engaging wall after rotating 90° around the axis of the joint part is consistent with the second engaging wall.

5. The coupling joint module according to claim 3, wherein: The third sub-joint in the first branch segment is provided with a plurality of third channels and a fourth channel of the same depth to accommodate a plurality of first clamps to constrain the first end of the secondary rope group; the second end of the secondary rope group is sleeved with a second clamp and is limitedly connected to the first sub-joint in the second branch segment adjacent to the third branch segment.

6. The coupling joint module according to claim 1 or 2, characterized in that: The first engaging portion includes two pairs of first arc-shaped grooves, and the second engaging portion includes two pairs of second arc-shaped grooves, and the projections of the first arc-shaped grooves and the second arc-shaped grooves on the cross-section of the joint along the first direction are orthogonal to each other; the rigid skeleton includes multiple first connecting rods and multiple first pins, and the first connecting rods are slidably engaged with the pairs of the first arc-shaped grooves and the pairs of the second arc-shaped grooves through the first pins.

7. The coupling joint module according to claim 6, wherein: The first sub-joint, the second sub-joint and the third sub-joint are all provided with a first pin hole, the first pin is inserted into the first pin hole with an interference fit and is connected to the first connecting rod; second pin holes are opened at both ends of the first connecting rod to loosely fit with the first pin; and / or, The first channel is coaxial with the central axis of the two or more joint components, and its extension direction is consistent with the extension direction of the plurality of second channels; the plurality of second channels are distributed outside the first channel at intervals along the circumference of the joint component.

8. A single-port continuum surgical instrument, characterized in that: include: The coupling joint module is the coupling joint module according to any one of claims 1 to 7; A functional component is integrated into the first end of the coupling joint module and is engaged and matched with the first branch section of the coupling joint module; a driving member located at a distal end of the coupling joint module extending away from the first end thereof in a first direction and comprising a driving motor, a rope roller, a guide roller, and a winding shaft, wherein at least a portion of the flexible traction skeleton is connected to the driving motor via the rope roller, the guide roller, and the winding shaft; and The pipeline component includes a first branch pipe and a second branch pipe that are coaxially nested and connected, and the first branch pipe and the second branch pipe are respectively connected to the driving component and the coupling joint module.

9. The single-port continuous surgical instrument according to claim 8, characterized in that: The functional parts include: A base, connected to the primary rope group in the flexible traction frame and having a built-in accommodating cavity, wherein the base has a raised portion on a side adjacent to the coupling joint module and engages with the first branch segment through the raised portion, and a third pin hole is formed through the base along its thickness direction; A clamping member, comprising a first clamp and a second clamp that cooperate with each other to form a group, wherein the first clamp and the second clamp are pivotally connected with the third pin hole as a fixed axis; the first clamp and the second clamp respectively have a first connecting branch segment and a second connecting branch segment extending to the accommodating cavity, and the first connecting branch segment and the second connecting branch segment have a columnar extending branch segment on a side facing away from the cavity wall of the accommodating cavity; and A connecting rod is located in the accommodating cavity and connected to the columnar extension branch. The first rope member of the flexible traction skeleton extends into the accommodating cavity and is connected to the connecting rod to control the deformation of the connecting rod and involve the movement of the clamping member.

10. The single-port continuous surgical instrument according to claim 9, characterized in that: The connecting rod member has a parallelogram structure and includes two second connecting rods and two third connecting rods pivotally connected to the columnar extension branch section; the two second connecting rods and the two third connecting rods are connected by two third clamps, and the two ropes in the first rope member are respectively connected to the two third clamps. A limiting branch section is provided at the bottom end of one of the two third clamps, and the limiting branch section can be slidably embedded in the limiting groove at the bottom of the base.

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