Instrument joint set and surgical instrument comprising same

Abstract

The application discloses a kind of instrument joint groups and the surgical instrument comprising it, including sequentially rotating connection active end parts, connecting parts and passive end parts, and all rotate on the plane of at least one projection direction of instrument joint group;In each projection direction, instrument joint group is equipped with a pair of passive rope and a pair of driving rope;Each pair of passive rope respectively passes through active end parts, connecting parts and passive end parts along axial direction, is distributed in the two sides of rotating part;The radius ratio between the first distribution radius of first hole on active end parts and the second distribution radius of second hole on passive end parts is greater than or less than 1.The instrument joint group and the surgical instrument comprising it can compensate the angle deviation caused by the length change of driving rope or passive rope between joints during rotation, improve the angle accuracy of end joint;Or make passive end parts also obtain greater deviation angle under smaller driving angle, increase the activity angle of end joint.

Description

Technical Field

[0001] This invention relates to the technical field of surgical robots, and particularly to an instrument joint assembly and a surgical instrument including the same. Background Technology

[0002] With advancements in technology, surgical robot technology has matured and is now widely used. A surgical robot typically includes a manipulator and surgical instruments connected to it. Specifically, the surgical instruments are connected to the manipulator's drive mechanism to perform surgical procedures. The surgical instruments include distal end-effectors that can perform surgical maneuvers at different angles and directions, simulating joint movement to execute the procedures.

[0003] like Figure 1 and Figure 2 As shown, to achieve a wider field of view for surgical robots, greater operational space for end effectors, and more flexible degrees of freedom of movement, existing technologies often employ parallelogram structures for end effectors. This structure allows the parallelogram components to maintain a near-parallel spatial geometric relationship during movement. Its main features and principles are as follows: the active end component 2, connecting component 3, and passive end component 4 are connected by hinges or other methods to achieve flexible rotational freedom. Two passive ropes 5 of equal length pass through the three components, and their ends are fixedly connected to the active end component 2 and passive end component 4 by pressing or welding, respectively, ensuring that the two passive ropes 5 are parallel in their initial positions and maintain a certain preload. At this point, the two passive ropes 5, together with the active end component 2 and passive end component 4, form a parallelogram structure. One end of the drive rope 6 is fixedly connected to the connecting component 3 (or passive end component 4). When the connecting component 3 is driven by the drive rope 6 and rotates relative to the active end component 2, due to the geometric characteristics of the parallelogram, the active end component 2 and passive end component 4 always maintain a relatively parallel geometric relationship.

[0004] However, due to the change in the length of the rope between the joints during the movement, the passive end part 4 and the active end part 2 are not theoretically completely parallel, and their angular deviation will increase as the driving angle increases, which seriously affects the angular accuracy of the surgical robot's end joint (i.e., the passive end part 4).

[0005] Therefore, although existing technologies mostly employ parallel mechanisms based on parallelogram structures (such as...) Figure 3 and Figure 4 As shown in the diagram, however, in reality, the passive end component 4 and the active end component 2 are not perfectly parallel; the angle they form is a deviation angle. The reason is as follows: Figure 5As shown, taking the upward movement of the passive end joint (corresponding to the passive end part 4) as an example, the exposed segment 521 of the active end of the second passive rope 52 reaches a certain position due to traction and lengthens to a certain dimension. However, since the elastic deformation of the rope is negligible, its length remains constant. Theoretical calculations show that the shortened dimension of the exposed segment 522 is shorter than the lengthened dimension of the exposed segment 521, thus preventing the passive end part 4 from moving to a parallel position, resulting in an angular deviation between it and the active end part 2. With a certain design value α for the limiting angle (the limiting angle refers to the angle formed between the relative surfaces of the active end part 2 and the connecting part 3 at the connection point when the rotation angle of the connecting part 3 relative to the active end part 2 is zero), the theoretical deviation angle of the passive end part 4 varies with the driving angle as follows: Figure 6 As shown (negative values ​​represent outward deviation), by Figure 6 It is evident that, for instrument joint assemblies employing a parallelogram structure, within the driving angle range of 0° to α°, the deviation angle gradually increases with the increase of the driving angle, and the rate of increase (the rate of increase refers to the speed at which the deviation angle increases with the driving angle, i.e., the speed at which the deviation angle grows) also gradually increases. When the driving angle continues to gradually increase to near the limit angle, the deviation angle even exceeds 15°. This problem severely affects the rotational accuracy and movement flexibility of the instrument joint assembly, restricting and inconveniencing the operator's field of vision and operational freedom during surgery. It affects the safety and effectiveness of surgical instruments, and even impacts surgical efficiency and success rate. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the defects of poor angular accuracy and motion flexibility of the end joints of surgical robots in the prior art, and to provide an instrument joint assembly and a surgical instrument including the same.

[0007] The present invention solves the above-mentioned technical problems through the following technical solution:

[0008] A device joint assembly includes an active end part, a connecting part, and a passive end part that are rotatably connected in sequence, wherein the active end part, the connecting part, and the passive end part all rotate in a plane in at least one projection direction of the device joint assembly.

[0009] In each projection direction, the instrument joint assembly is provided with at least one pair of passive ropes and at least one pair of drive ropes; each pair of passive ropes includes two passive ropes, which pass through the active end part, the connecting part, and the passive end part axially, respectively, and both ends of each passive rope are fixed to the active end part and the passive end part, respectively, and the two passive ropes are distributed on both sides of the rotating part between the active end part, the connecting part, and the passive end part; each pair of drive ropes includes two drive ropes, which are distributed on both sides of the rotating part, and one end of each drive rope is fixed to the connecting part or the passive end part;

[0010] The active end component has at least one first hole for the passive rope to pass through axially, and the passive end component has at least one second hole for the passive rope to pass through axially. The vertical distance from the center of the first hole to the axis of the active end component is a first distribution radius, and the vertical distance from the center of the second hole to the axis of the passive end component is a second distribution radius. The ratio of the first distribution radius to the second distribution radius is greater than or less than 1.

[0011] In this design, the joint assembly of the surgical robot is driven by two drive ropes and pulled by a passive rope, causing the passive end component to rotate relative to the connecting component. Simultaneously, the connecting component rotates relative to the active end component, allowing the passive end component to rotate at different angles relative to the active end component to perform surgical operations. By using different distribution radii, the radius ratio can be greater than or less than 1. When the radius ratio is greater than 1, the two passive ropes, the active end component, and the passive end component form a trapezoidal structure, which can compensate for the angular deviation caused by changes in the length of the drive or passive ropes between the joints during rotation, bringing it close to or equal to the target angle, thereby improving the angular accuracy of the surgical robot's end joint. When the radius ratio is less than 1, the two passive ropes, the active end component, and the passive end component form an inverted trapezoidal structure, allowing the passive end component (representing the passive joint) to achieve a larger deviation angle at a smaller drive angle during rotation. This is beneficial for the connecting component to increase the activity angle of the passive end component even under specific constraints, thus improving the mobility of the end joint.

[0012] Preferably, the radius ratio is determined by the equation Sure;

[0013] Wherein, K is the radius ratio, α is the initial angle formed between the relative surfaces of the active end part and the connecting part at the connection point when the rotation angle of the connecting part relative to the active end part and the passive end part is zero, and the initial angle between the active end part and the connecting part is equal to the initial angle between the passive end part and the connecting part; It is the driving angle of the rotation of the connecting part relative to the active end part; The deviation angle of the axis of the passive end part relative to the axis of the active end part when the passive end part is rotated.

[0014] In this solution, the joint assembly of the device determines the radius ratio K using the aforementioned equation, ensuring that the angle of the passive end component is compensated to or close to the target angle, thus improving the accuracy of angle compensation. Specifically, the initial angle between the active end component and the connecting component is equal to the initial angle between the passive end component and the connecting component. This setting reduces the complexity of calculating and determining the K value, eliminating the need to consider the difference between the two initial angles and further compensate for the angle deviation, thereby improving the accuracy of the K value. A suitable deviation angle is selected based on the target angle. The K value is determined accordingly, and the two distribution radii are adjusted based on the K value so that the actual rotation angle generated by the passive end part is close to the target angle, thus improving the accuracy of angle compensation.

[0015] Preferably, the connecting part has a third hole relative to the first hole and a fourth hole relative to the second hole at both ends. The perpendicular distance from the center of the third hole to the axis of the connecting part is a third distribution radius, and the perpendicular distance from the center of the fourth hole to the axis of the connecting part is a fourth distribution radius.

[0016] The third distribution radius is equal to the first distribution radius, and / or the fourth distribution radius is equal to the second distribution radius.

[0017] In this scheme, when the third distribution radius is equal to the first distribution radius, the first exposed segment of the passive rope between the connecting part and the active end part is horizontal, which facilitates the determination of the first exposed segment based on the first distribution radius and the initial angle α, and makes it easier to calculate the K value. When the fourth distribution radius is equal to the second distribution radius, the second exposed segment of the passive rope between the connecting part and the passive end part is horizontal, which facilitates the determination of the second exposed segment based on the second distribution radius and the initial angle α, and makes it easier to calculate the K value. This reduces the complexity of the equation for determining the K value and improves the accuracy of angle compensation.

[0018] Preferably, each pair of drive ropes is symmetrically distributed relative to the rotating part.

[0019] In this design, each pair of drive ropes is symmetrically distributed relative to the rotating part, which makes it easier to accurately control the drive angle of the connecting parts or the passive end parts compared to an asymmetrical distribution.

[0020] Preferably, each pair of passive ropes is symmetrically distributed relative to the rotating part. In this design, the symmetrical distribution of each pair of passive ropes relative to the rotating part eliminates the difference in radius ratio distribution compared to an asymmetrical distribution, which helps to reduce angular deviation and improve the accuracy of angle compensation. Preferably, the instrument joint assembly has a pair of passive ropes and a pair of drive ropes in at least two different projection directions, and the radius ratios in the two projection directions are equal or unequal.

[0021] In this design, the joint assembly of the device achieves angle compensation in different projection directions by setting a pair of passive ropes and a pair of drive ropes in two different projection directions. When the radius ratios in the two different projection directions are equal, angle compensation can be performed sequentially in the different projection directions; when the radius ratios in the two different projection directions are unequal, angle compensation in both directions can be combined to achieve adjustment within a larger angle range and improve the degree of freedom of rotation.

[0022] Preferably, the two projection directions are perpendicular to each other.

[0023] In this scheme, the two projection directions are perpendicular to each other, which facilitates the arrangement of rotating components in the two projection directions.

[0024] Preferably, the rotating part includes at least one first rotating part between the active end part and the connecting part, and at least one second rotating part between the passive end part and the connecting part;

[0025] The first rotating part has two first rotating shafts in the projection direction at both ends along the axial direction, and the body of the first rotating part is connected to the active end part and the connecting part respectively through the two first rotating shafts; and / or, the second rotating part has two second rotating shafts in the projection direction at both ends along the axial direction, and the body of the second rotating part is connected to the passive end part and the connecting part respectively through the two second rotating shafts.

[0026] In this design, the active end component and the connecting component can rotate in two different projection directions through a first rotating part. When the number of first rotating parts is greater than one, the active end component and the connecting component can also rotate in more projection directions, achieving more flexible rotational degrees of freedom. Similarly, the passive end component and the connecting component can rotate in two different projection directions through a second rotating part. When the number of second rotating parts is greater than one, the passive end component and the connecting component can also rotate in more projection directions, achieving even more flexible rotational degrees of freedom.

[0027] Preferably, the two first rotation axes in the two projection directions are perpendicular to each other, and the two second rotation axes in the two projection directions are perpendicular to each other.

[0028] In this design, the joint assembly of the device adopts the aforementioned rotating part with two rotating axes. The two first rotating axes and the two second rotating axes are perpendicular to each other, which facilitates the arrangement of the two rotating axes and makes the rotating part easy to process and manufacture.

[0029] A surgical instrument comprising the instrument joint assembly as described above.

[0030] In this design, the surgical instrument adjusts the ratio of the radii of the passive ropes distributed on the active and passive end parts through the aforementioned joint assembly. When the radius ratio is greater than 1, the two passive ropes, the active end part, and the passive end part form a trapezoidal structure, which can compensate for the angular deviation caused by the change in length of the drive rope or passive rope between the joints during rotation, making it close to or equal to the target angle, thereby improving the angular accuracy of the surgical robot's end joint. When the radius ratio is less than 1, the two passive ropes, the active end part, and the passive end part form an inverted trapezoidal structure, which allows the passive end part (representing the passive joint) to obtain a larger deviation angle at a smaller drive angle during rotation. This is beneficial for the connecting parts to increase the activity angle of the passive end part even under specific restrictive environments, thus improving the motion flexibility of the end joint.

[0031] The positive and progressive effects of this invention are as follows: the joint assembly of the device and the surgical instruments including it, by adjusting the ratio of the radii of the passive ropes distributed on the active end part and the passive end part, when the radius ratio is greater than 1, the two passive ropes, the active end part, and the passive end part form a trapezoidal structure, which can compensate for the angular deviation caused by the change in length of the drive rope or passive rope between the joints during rotation, making it close to or equal to the target angle, thereby improving the angular accuracy of the end joint of the surgical robot; when the radius ratio is less than 1, the two passive ropes, the active end part, and the passive end part form an inverted trapezoidal structure, which allows the passive end part (representing the passive joint) to obtain a larger deviation angle at a smaller drive angle during rotation, which is beneficial for the connecting parts to increase the activity angle of the passive end part even under specific restrictive environments, that is, to improve the motion flexibility of the end joint. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the joint assembly of the existing device, which is a parallelogram structure and is in its initial position. Figure 1 .

[0033] Figure 2 This is a schematic diagram of the parallelogram-shaped joint assembly of a device in the prior art, showing its structure during rotation. Figure 1 .

[0034] Figure 3 This is a schematic diagram of the structure of the joint assembly of the existing device, which is a parallelogram structure and is in its initial position. Figure 2 .

[0035] Figure 4 This is a schematic diagram of the ideal rotation angle of the joint assembly of a device in the prior art, which is a parallelogram structure.

[0036] Figure 5 This is a schematic diagram of the actual rotation angle of the joint assembly of a device in the prior art, which is a parallelogram structure.

[0037] Figure 6 This is a curve showing the theoretical deviation angle of the joint assembly of the device in the prior art as a function of the driving angle.

[0038] Figure 7 This is a schematic diagram of the structure of the instrument joint assembly in the initial position in Embodiment 1 of the present invention.

[0039] Figure 8 This is a schematic diagram of the structure of the joint assembly of the device in Embodiment 1 of the present invention during rotation.

[0040] Figure 9 This is a three-dimensional structural diagram of the joint assembly of the device in the initial position in Embodiment 1 of the present invention.

[0041] Figure 10 This is a three-dimensional structural diagram of the joint assembly of the device in Embodiment 1 of the present invention in one projection direction.

[0042] Explanation of reference numerals in the attached figures:

[0043] Instrumental joint group 1

[0044] Active end component 2

[0045] First hole 21

[0046] First distribution radius R1

[0047] Connecting part 3

[0048] Third hole 31

[0049] Fourth hole 32

[0050] Passive end component 4

[0051] Second hole 41

[0052] Second distribution radius R2

[0053] Projection directions A and B

[0054] Passive rope 5

[0055] First passive rope 51

[0056] Second passive rope 52

[0057] Active end exposed line segment 521

[0058] Passive exposed line segment 522

[0059] The first exposed line segment at the initial position

[0060] The second exposed line segment at the initial position

[0061] The first exposed line segment during rotation

[0062] The second exposed line segment during rotation

[0063] Drive rope 6

[0064] First drive rope 61

[0065] Second drive rope 62

[0066] Rotating part 7

[0067] First rotating part 71

[0068] First rotating shaft 711

[0069] Second rotating part 72

[0070] Second rotating shaft 721 Detailed Implementation

[0071] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0072] Example 1

[0073] This embodiment provides an instrument joint assembly 1 for use in a surgical robot, mounted on the end of a surgical instrument, such as... Figure 7-10 As shown, the joint assembly 1 of the device includes an active end part 2, a connecting part 3 and a passive end part 4 that are rotatably connected in sequence, and the active end part 2, the connecting part 3 and the passive end part 4 all rotate on a plane in at least one projection direction of the joint assembly 1.

[0074] In each projection direction, the instrument joint assembly 1 is provided with at least one pair of passive ropes 5 and at least one pair of drive ropes 6; each pair of passive ropes 5 includes two passive ropes 5, which pass through the active end part 2, the connecting part 3 and the passive end part 4 respectively along the axial direction, and the two ends of each passive rope 5 are fixed to the active end part 2 and the passive end part 4 respectively, and the two passive ropes 5 are distributed on both sides of the rotating part 7 between the active end part 2, the connecting part 3 and the passive end part 4; each pair of drive ropes 6 includes two drive ropes 6, which are distributed on both sides of the rotating part 7, and one end of each drive rope 6 is fixed to the connecting part 3 or the passive end part 4.

[0075] The active end part 2 has at least one first hole 21 for the passive rope 5 to pass through along the axial direction, and the passive end part 4 has at least one second hole 41 for the passive rope 5 to pass through along the axial direction. The vertical distance from the center of the first hole 21 to the axis of the active end part 2 is the first distribution radius R1, and the vertical distance from the center of the second hole 41 to the axis of the passive end part 4 is the second distribution radius R2. The radius ratio K of the first distribution radius R1 to the second distribution radius R2 is greater than or less than 1.

[0076] Specifically, in this embodiment, the passive end component 4 corresponds to the distal joint during surgery. The active end component 2, the connecting component 3, and the passive end component 4 all rotate in the planes of the two projection directions A and B of the instrument joint assembly 1. That is, the trapezoidal structure of this embodiment is adopted in both projection directions A and B. The specific form of the trapezoidal structure is: a pair of passive ropes 5 including as follows Figure 7The first passive rope 51 located above and the second passive rope 52 located below are shown. The two ends of the two passive ropes 5 are fixed to the active end part 2 and the passive end part 4 respectively by crimping or welding. Because the first distribution radius R1 of the first hole 21 on the active end part 2 and the second distribution radius R2 of the second hole 41 on the passive end part 4 are unequal, when the two passive ropes 5 pass through, they form a trapezoidal structure with the active end part 2 and the passive end part 4, rather than a parallelogram structure. When the ratio K of the first distribution radius R1 to the second distribution radius R2 is greater than 1, it is a positive trapezoidal structure; when the ratio K of the first distribution radius R1 to the second distribution radius R2 is less than 1, it is an inverted trapezoidal structure. This embodiment uses a positive trapezoidal structure. In other embodiments, if it is desired that the passive end part (representing the passive joint) can obtain a larger deviation angle under a smaller angle of drive, an inverted trapezoidal structure can also be used. Furthermore, depending on the needs of the surgical procedure, the three parts of the instrument joint assembly 1 can rotate in only one projection plane or in multiple projection planes to achieve greater rotational freedom. Each projection direction can have the aforementioned trapezoidal structure.

[0077] In this embodiment, the two passive ropes 5 maintain a certain preload in the initial position (also called the zero position, i.e., when the rotation angle of the connecting part 3 relative to the active end part 2 and the passive end part 4 is zero). A pair of drive ropes 6 includes a first drive rope 61 located above and a second drive rope 62 located below (as shown in the image). Figure 1 (The drive rope 6 shown is the same as in the prior art). Two drive ropes 6 are distributed on both sides of the drive part 7. One end of the two drive ropes 6 is fixed to the connecting part 3 by means of crimping or welding, and the other end of the two drive ropes 6 is connected to the drive device of the surgical robot (not shown in the figure). In other embodiments, the end of the drive rope 6 used for fixed connection with the connecting part 3 can also be fixed to the passive end part 4.

[0078] The surgical robot's instrument joint assembly 1 is driven by two drive ropes 6 and pulled by passive ropes 5, causing the passive end part 4 to rotate relative to the connecting part 3. Simultaneously, the connecting part 3 rotates relative to the active end part 2, thus enabling the passive end part 4 to rotate at different angles relative to the active end part 2 to perform surgical operations. By employing different distribution radii, the radius ratio K is made greater than or less than 1. When the radius ratio is greater than 1, the two passive ropes 5, the active end part 2, and the passive end part 4 form a positive trapezoid, i.e., R1 is greater than R2. This positive trapezoidal structure can compensate for the angular deviation caused by the change in length of the drive ropes 6 or passive ropes 5 between the joints during rotation, making it close to or equal to the target angle, thereby improving the angular accuracy of the surgical robot's end joint. When the radius ratio is less than 1, the two passive ropes 5, together with the active end part 2 and the passive end part 4, form an inverted trapezoidal structure, i.e., R1 is less than R2. This inverted trapezoidal structure allows the passive end part (representing the passive joint) to obtain a larger deviation angle at a smaller driving angle during rotation. This is beneficial for the connecting part 3 to increase the activity angle of the passive end part 4 even under specific restrictive environments (i.e., the connecting part 3 can only rotate within a small angle range under certain specific restrictive environments), thus improving the mobility of the end joint.

[0079] In this embodiment, the radius ratio K is given by the equation Sure.

[0080] Where K is the radius ratio, α is the initial angle formed between the relative surfaces of the active end part 2 and the connecting part 3 at the connection point when the rotation angle of the connecting part 3 relative to the active end part 2 and the passive end part 4 is zero, and the initial angle between the active end part 2 and the connecting part 3 is equal to the initial angle between the passive end part 4 and the connecting part 3. It is the driving angle of the rotation of the connecting part 3 relative to the active end part 2; The deviation angle of the axis of the passive end part 4 relative to the axis of the active end part 2 when the passive end part 4 is rotated.

[0081] The principle behind the above equation is: K is the ratio of the first distribution radius R1 to the second distribution radius R2, i.e., K = R1 / R2; when the joint assembly is in the zero position, the hard limit angle of joint rotation is α (this hard limit angle is the initial included angle), because Therefore:

[0082] ;

[0083] Similarly ;

[0084] Total length of line segments exposed at joints for:

[0085] ;

[0086] When the connecting part 3 of the joint assembly 1 of the device is driven to form an angle with the active end part 2 At that time, the changed result can be obtained.

[0087] ;

[0088] Since the length of the second passive rope 52 remains unchanged before and after rotation, that is, the length of the line segment exposed at the joint remains unchanged. Unchanged, therefore:

[0089] ;

[0090] From the geometric relationships after rotation, we obtain:

[0091] ;

[0092] Therefore:

[0093] ;

[0094] Furthermore, the rotation angle of the passive end part 4 relative to the connecting part 3 can be obtained from the geometric relationship after rotation. , It is the angle formed between the passive end part 4 and the connecting part 3 at the connection point when the passive end part 4 is rotated. Ultimately, it is the deviation angle of the passive end part 4 relative to the active end part 2. ,

[0095] By combining the above equations, the deviation angle can be obtained. Same as the hard limit angle (i.e., initial angle) α of the part, parameter K, and drive angle. Relationship between them:

[0096]

[0097] Based on this The equation can be transformed to obtain the equation for the above K value.

[0098] In other embodiments, the initial angle between the active end part 2 and the connecting part 3 (e.g., α1), and the initial angle between the passive end part 4 and the connecting part 3 (e.g., α2), α1 and α2 may be slightly different and not necessarily completely equal. However, this setting is not as good as setting the two initial angles to be equal as in this embodiment. This helps reduce the complexity of the equation and makes it easier to calculate the K value close to the target angle. In other embodiments, the above equation may not be used to obtain the K value. A reasonable K value can also be obtained by gradually adjusting the size of the first distribution radius R1 and the second distribution radius R2. However, this is not as good as the device joint assembly 1 in this embodiment, which determines the radius ratio K through the above equation, so that the angle of the passive end part 4 is compensated to or closer to the target angle, thus improving the accuracy of angle compensation. Wherein, the initial angle between the active end part 2 and the connecting part 3 is equal to the initial angle between the passive end part 4 and the connecting part 3. Using this setting reduces the complexity of calculating and determining the K value, without needing to consider the difference between the two initial angles and the need to further supplement the angle deviation, thereby improving the accuracy of the K value. Select an appropriate deviation angle according to the target angle. The K value is determined accordingly, and the two distribution radii are adjusted based on the K value so that the actual rotation angle generated by the passive end part 4 is close to the target angle, thus improving the accuracy of angle compensation.

[0099] Among them, driving angle The range is 0°-30°. By determining the K value through the driving angle within this range, the theoretical angle deviation can be reduced, further improving the accuracy of angle compensation.

[0100] The connecting part 3 has a third hole 31 at both ends relative to the first hole 21 and a fourth hole 32 relative to the second hole 41. The vertical distance from the center of the third hole 31 to the axis of the connecting part 3 is the third distribution radius, and the vertical distance from the center of the fourth hole 32 to the axis of the connecting part 3 is the fourth distribution radius. The third distribution radius is equal to the first distribution radius R1, and the fourth distribution radius is equal to the second distribution radius R2.

[0101] When the third distribution radius is equal to the first distribution radius R1, the passive rope 5 is in the first exposed segment between the connecting part 3 and the active end part 2. It is horizontal, which facilitates the determination of the first exposed line segment based on the first distribution radius R1 and the initial angle α. This facilitates the calculation of the K value; when the fourth distribution radius is equal to the second distribution radius R2, the passive rope 5 is in the second exposed segment between the connecting part 3 and the passive end part 4. It is horizontal, which facilitates the determination of the second exposed line segment based on the second distribution radius R2 and the initial angle α. This makes it easier to calculate the K value, thereby reducing the complexity of the equations for determining the K value and improving the accuracy of angle compensation.

[0102] In other embodiments, the third distribution radius may not be equal to the first distribution radius R1, and the fourth distribution radius may not be equal to the second distribution radius R2, i.e., the first exposed line segment. Second exposed line segment If it is not horizontal, then calculate. and At that time, it was not based on the above calculation. and The equation is not the correct one; it requires conversion or other calculation methods. and While the value of K is used for compensation, this method is not convenient for calculating the K value and does not improve the accuracy of angle compensation. Therefore, setting the third distribution radius to equal the first distribution radius R1 and the fourth distribution radius to equal the second distribution radius R2 facilitates the calculation of the K value; thus reducing the complexity of the equation for determining the K value and improving the accuracy of angle compensation.

[0103] In this configuration, each pair of drive ropes 6 and / or each pair of driven ropes 5 are symmetrically distributed relative to the rotating part 7. This symmetrical distribution of each pair of drive ropes 6 and / or each pair of driven ropes 5, compared to an asymmetrical distribution, eliminates the difference in radius ratios, which helps reduce angular deviation and improve the accuracy of angular compensation.

[0104] In this embodiment, the two drive ropes 6 are located inside the two passive ropes 5. In other embodiments, the two drive ropes 6 can also be located outside the two passive ropes 5. Both arrangements allow the connecting part 3 and the passive end part 4 to rotate relative to the active end part 2 through the traction of the two drive ropes 6.

[0105] In this embodiment, the joint assembly 1 is equipped with a pair of passive ropes 5 and a pair of drive ropes 6 in two different projection directions A and B. The radius ratio K in the two projection directions A and B may be equal or unequal. By providing a pair of passive ropes 5 and a pair of drive ropes 6 in both different projection directions, the joint assembly 1 achieves angle compensation in different projection directions. When the radius ratio in the two different projection directions is equal, angle compensation can be performed sequentially in the different projection directions; when the radius ratio in the two different projection directions is unequal, angle compensation in both directions can be combined to achieve adjustment within a larger angle range and improve the degree of freedom of rotation.

[0106] The two projection directions are perpendicular to each other. This perpendicular relationship facilitates the arrangement of the seven rotating parts along the two projection directions.

[0107] like Figure 9 and Figure 10The rotating part 7 includes at least one first rotating part 71 between the active end part 2 and the connecting part 3, and at least one second rotating part 72 between the passive end part 4 and the connecting part 3; the first rotating part 71 includes two first rotating shafts 711 in the projection direction at both ends along the axial direction, and the body of the first rotating part 71 is connected to the active end part 2 and the connecting part 3 respectively through the two first rotating shafts 711; the second rotating part 72 includes two second rotating shafts 721 in the projection direction at both ends along the axial direction, and the body of the second rotating part 72 is connected to the passive end part 4 and the connecting part 3 respectively through the two second rotating shafts 721.

[0108] The active end component 2 and the connecting component 3 can rotate in two different projection directions through a first rotating part 71. When the number of first rotating parts 71 is greater than one, the active end component 2 and the connecting component 3 can also rotate in more projection directions, achieving more flexible rotational degrees of freedom. The passive end component 4 and the connecting component 3 can rotate in two different projection directions through a second rotating part 72. When the number of second rotating parts 72 is greater than one, the passive end component 4 and the connecting component 3 can also rotate in more projection directions, achieving more flexible rotational degrees of freedom.

[0109] In this structure, the two first rotating shafts 711 are perpendicular to each other in the two projection directions A and B, and the two second rotating shafts 721 are also perpendicular to each other in the two projection directions A and B. This mutual perpendicular relationship makes it easy to arrange the two rotating shafts and also makes the rotating part easy to process and manufacture.

[0110] In other embodiments, if the two projection directions A and B are not perpendicular to each other, the two first rotation axes 711 and the two second rotation axes 721 may also not be perpendicular to each other, but may adopt other angular relationships according to the needs of rotation. Alternatively, when multiple first rotation parts are interconnected or multiple second rotation parts are interconnected, two or more first rotation axes 711 can achieve rotation at more angles, and two or more second rotation axes 721 can also achieve rotation at more angles, thereby increasing the degree of freedom of rotation. Alternatively, other rotation forms can be used to achieve rotation between various parts, for example, using ball bearings to achieve rotation at any angle, further improving the degree of freedom of rotation.

[0111] Example 2

[0112] This embodiment provides a surgical instrument for use in a surgical robot. The surgical instrument includes an instrument joint assembly 1 as described in Embodiment 1. Through the instrument joint assembly 1, the surgical instrument adjusts the ratio of the radii of the passive ropes 5 distributed on the active end part 2 and the passive end part 4. When the radius ratio is greater than 1, the two passive ropes 5, together with the active end part 2 and the passive end part 4, form a trapezoidal structure, which can compensate for the angular deviation caused by the change in length of the drive rope 6 or the passive rope 5 between the joints during rotation, making it close to or equal to the target angle, thereby improving the angular accuracy of the surgical robot's end joint. When the radius ratio is less than 1, the two passive ropes 5, together with the active end part 2 and the passive end part 4, form an inverted trapezoidal structure, which allows the passive end part 4 (representing the passive joint) to obtain a larger deviation angle at a smaller drive angle during rotation. This is beneficial for the connecting part 3 to increase the activity angle of the passive end part even under specific restrictive environments, i.e., increasing the activity angle of the end joint.

[0113] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A device joint assembly, comprising an active end part, a connecting part, and a passive end part rotatably connected in sequence, wherein the active end part, the connecting part, and the passive end part all rotate in a plane in at least one projection direction of the device joint assembly; In each projection direction, the instrument joint assembly is provided with at least one pair of passive ropes and at least one pair of drive ropes; each pair of passive ropes includes two passive ropes, which pass through the active end part, the connecting part, and the passive end part axially, respectively, and both ends of each passive rope are fixed to the active end part and the passive end part, respectively, and the two passive ropes are distributed on both sides of the rotating part between the active end part, the connecting part, and the passive end part; each pair of drive ropes includes two drive ropes, which are distributed on both sides of the rotating part, and one end of each drive rope is fixed to the connecting part or the passive end part; Its features are, The active end component has at least one first hole for the passive rope to pass through axially, and the passive end component has at least one second hole for the passive rope to pass through axially. The vertical distance from the center of the first hole to the axis of the active end component is a first distribution radius, and the vertical distance from the center of the second hole to the axis of the passive end component is a second distribution radius. The ratio of the first distribution radius to the second distribution radius is greater than or less than 1.

2. The joint assembly of the device as described in claim 1, characterized in that, The radius ratio is given by the equation Sure; Wherein, K is the radius ratio, α is the initial angle formed between the relative surfaces of the active end part and the connecting part at the connection point when the rotation angle of the connecting part relative to the active end part and the passive end part is zero, and the initial angle between the active end part and the connecting part is equal to the initial angle between the passive end part and the connecting part. It is the driving angle of the rotation of the connecting part relative to the active end part; The deviation angle of the axis of the passive end part relative to the axis of the active end part when the passive end part is rotated.

3. The joint assembly of the device as described in claim 1, characterized in that, The connecting part has a third hole at both ends, corresponding to the first hole, and a fourth hole, corresponding to the second hole. The perpendicular distance from the center of the third hole to the axis of the connecting part is a third distribution radius, and the perpendicular distance from the center of the fourth hole to the axis of the connecting part is a fourth distribution radius. The third distribution radius is equal to the first distribution radius, and / or the fourth distribution radius is equal to the second distribution radius.

4. The joint assembly of the device as described in claim 1, characterized in that, Each pair of drive ropes is symmetrically distributed relative to the rotating part.

5. The joint assembly of the device as described in claim 1, characterized in that, Each pair of passive ropes is symmetrically distributed relative to the rotating part.

6. The joint assembly of the device as described in claim 1, characterized in that, The joint assembly of the device is provided with a pair of passive ropes and a pair of drive ropes in at least two different projection directions, and the ratio of the radii in the two projection directions is equal or unequal.

7. The joint assembly of the device as described in claim 6, characterized in that, The two projection directions are perpendicular to each other.

8. The instrument joint assembly as described in claim 6, characterized in that, The rotating part includes at least one first rotating part between the active end part and the connecting part, and at least one second rotating part between the passive end part and the connecting part; The first rotating part has two first rotating shafts in the projection direction at both ends along the axial direction, and the body of the first rotating part is connected to the active end part and the connecting part respectively through the two first rotating shafts; and / or, the second rotating part has two second rotating shafts in the projection direction at both ends along the axial direction, and the body of the second rotating part is connected to the passive end part and the connecting part respectively through the two second rotating shafts.

9. The joint assembly of the device as described in claim 8, characterized in that, The two first rotation axes in the two projection directions are perpendicular to each other, and the two second rotation axes in the two projection directions are perpendicular to each other.

10. A surgical instrument, characterized in that, The surgical instrument includes the instrument joint assembly as described in any one of claims 1-9.

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