Medical device and surgical robot

Abstract

The present application relates to a kind of medical equipment, comprising: instrument box;With the long axis of the instrument box connection;With the long axis connection end device;And set on the long axis folding assembly, the folding assembly includes: foldable snake bone, fixed to the long axis, and the long axis is divided into two segments shaft body, the foldable snake bone is set as bending, the distal end of the two segments shaft body is close to each other, and the long axis is in folded state;The foldable snake bone is also set as restoring original shape, the distal end of the two segments shaft body is far from each other, and the long axis is in straight state.The present application also relates to a kind of surgical robot.The present application can be adapted to specific model sterilizer, to improve the versatility of medical equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a medical device and a surgical robot. BACKGROUND

[0002] Minimally invasive surgery refers to a surgical procedure performed in the body cavity of a human body by using a laparoscope, a thoracoscope and other modern medical instruments and related equipment. Compared with the traditional surgical procedure, minimally invasive surgery has the advantages of small trauma, light pain and fast recovery.

[0003] With the progress of science and technology, minimally invasive surgical robot technology has gradually matured and is widely used. The minimally invasive surgical robot usually includes a master control console and a slave operating device. The master control console is used to send control commands to the slave operating device according to the operation of a doctor, so as to control the slave operating device. The slave operating device is used to respond to the control commands sent by the master control console and perform corresponding surgical operations.

[0004] The medical device includes surgical instruments, endoscopes and the like, and is connected with a driving device of the slave operating device, and is used to perform surgical operations. However, part of the medical device has a relatively long length, and cannot be matched with a sterilizer of a specific model, thereby resulting in poor versatility. SUMMARY

[0005] The main purpose of the present application is to provide a medical device and a surgical robot, which are matched with a sterilizer of a specific model, thereby improving the versatility of the medical device.

[0006] To achieve the above purpose, the present application provides a medical device, which comprises:

[0007] an instrument box;

[0008] a long shaft connected with the instrument box;

[0009] a terminal device connected with the long shaft; and

[0010] a folding assembly arranged on the long shaft, the folding assembly comprising:

[0011] a foldable snake bone fixed on the long shaft and dividing the long shaft into two shaft bodies, the foldable snake bone being arranged to bend to make the distal ends of the two shaft bodies close to each other, so that the long shaft is in a folded state; the foldable snake bone is also arranged to restore the original state to make the distal ends of the two shaft bodies away from each other, so that the long shaft is in an extended state.

[0012] Optionally, the folding assembly further comprises a limiting mechanism coverable to the foldable snake bone, the limiting mechanism being arranged to limit the folding of the foldable snake bone, so that the long shaft is in the extended state.

[0013] Optionally, the limiting mechanism comprises two limiting portions protruding from the long shaft and located on both sides of the foldable snake bone, and a moving tube sleeved on the long shaft and located between the two limiting portions, the moving tube being movable relative to the long shaft.

[0014] The moving tube is arranged to move to cover the foldable snake bone and limit the foldable snake bone from being bent; the moving tube is also arranged to move away from the foldable snake bone so that the foldable snake bone can be bent.

[0015] Optionally, the distance between the two limiting portions is greater than or equal to the sum of the length of the moving tube and the length of the foldable snake bone.

[0016] Optionally, the two limiting portions are a first limiting portion close to one side of the instrument box and a second limiting portion opposite to the first limiting portion and close to one side of the terminal device, the second limiting portion being arranged to support the moving tube sliding down based on gravity so that the moving tube covers the foldable snake bone.

[0017] Optionally, the limiting mechanism comprises a rotating portion fixed at one end to the long shaft and rotatable at the other end relative to the long shaft, the rotating portion being arranged to rotate in a first direction to cover the foldable snake bone and limit the foldable snake bone from being bent; the rotating portion is also arranged to rotate in a second direction opposite to the first direction to move away from the foldable snake bone so that the foldable snake bone can be bent.

[0018] Optionally, the rotating portion has a semicircular cross section and is adapted to the outer surface of the foldable snake bone.

[0019] Optionally, the distance between the foldable snake bone and the instrument box is less than the distance between the foldable snake bone and the terminal device.

[0020] Optionally, the foldable snake bone comprises a top unit fixedly connected to the long shaft close to one side of the instrument box, a bottom unit fixedly connected to the long shaft close to one side of the terminal device, a plurality of intermediate units connected in series at one end to the top unit and at the other end to the bottom unit, and a plurality of I-shaped shafts having wire passing channels connecting the units, each unit being provided with a wire passing hole at the position of the wire passing channel; the foldable assembly further comprises a fixed cable fixed at one end to the end of the top unit and at the other end to the end of the bottom unit, the fixed cable being arranged to cross through each wire passing hole and wire passing channel from the top unit to the bottom unit.

[0021] Optionally, the intermediate unit comprises a unit disc, two protrusions symmetrically distributed along the radial direction of the unit disc, and two matching portions symmetrically distributed along the radial direction of the unit disc, each of the protrusions and each of the matching portions respectively extend to two sides along the axial direction of the unit disc; the protrusion of one intermediate unit is movably connected with the matching portion of another intermediate unit.

[0022] Optionally, the matching portion comprises a matching body extending along the axial direction of the unit disc and a receiving groove recessed on the matching body, the protrusion comprises an extension body extending along the axial direction of the unit disc and a head protruding from the extension body, the receiving groove is arranged to accommodate the head so that the protrusion is movably connected with the corresponding matching portion; the matching body has a supporting surface on the side facing the protrusion, the protrusion is provided with a stop surface on one side of the head in contact with the supporting surface and a slope on the other side of the head; the slope of one intermediate unit is arranged to allow the foldable serpentine to rotate in a predetermined direction until the supporting surface of another intermediate unit is contacted; the stop surface of one intermediate unit is arranged to contact the supporting surface of another intermediate unit to limit the rotation of the foldable serpentine in the direction opposite to the predetermined direction.

[0023] Optionally, the receiving groove of the matching body has a groove wall arranged to limit the radial movement of the corresponding protrusion along the unit disc.

[0024] Optionally, the medical device further comprises a first set of driving cables and a second set of driving cables, one end of each of the driving cables being connected with the terminal device and the other end being connected with the instrument box, each unit is further provided with a first set of cable holes and a second set of cable holes arranged oppositely, the first set of cable holes are arranged for the first set of driving cables to extend to the terminal device, and the second set of cable holes are arranged for the second set of driving cables to extend to the terminal device; when the foldable serpentine is bent, the first set of driving cables are in a tension state and the second set of driving cables are in a released state.

[0025] Optionally, the first set of cable holes and the second set of cable holes form a matrix shape.

[0026] Optionally, each unit is provided with a wiring channel in the middle, and the cross section of the wiring channel is in the shape of a runway.

[0027] To achieve the above objectives, the present invention also provides a surgical robot, the surgical robot including a main console and a slave operating device communicatively connected to the main console, the slave operating device being used to respond to control commands sent by the main console and perform corresponding surgical operations; the slave operating device including a base, a robotic arm connected to the base, and a medical device as described above detachably coupled to a drive device at the end of the robotic arm.

[0028] The medical device and surgical robot provided by this invention utilize a foldable serpentine frame along a long axis, dividing the long axis into two segments. When the foldable serpentine frame is bent, the distal ends of the two segments approach each other, keeping the long axis folded. When the foldable serpentine frame returns to its original shape, the distal ends of the two segments move away from each other, keeping the long axis straight. Thus, the folding mechanism bends the long axis, shortening the length of the medical device and allowing it to be adapted to specific models of sterilizers, thereby improving its versatility. Attached Figure Description

[0029] Figure 1 A schematic diagram of the structure of an embodiment of the main control console of the surgical robot provided in this application;

[0030] Figure 2 A schematic diagram of the structure of an embodiment of the operating device of the surgical robot provided in this application;

[0031] Figure 3 This is a schematic diagram of the structure of one embodiment of the medical device of this application;

[0032] Figure 4 This is a schematic diagram of another embodiment of the medical device of this application;

[0033] Figure 5 for Figure 4 A schematic diagram of a traditional Chinese medicine device in a folded state;

[0034] Figure 6 The folding component provided in the first embodiment of this application is in a bendable state;

[0035] Figure 7 The folding component in the first embodiment provided in this application is in a state that cannot be bent;

[0036] Figure 8 A dynamic change diagram of the folding component in the second embodiment provided in this application, from an inflexible state to a bendable state;

[0037] Figure 9 for Figure 6 An explosion diagram of the foldable snake skeleton;

[0038] Figure 10 forFigure 9 Part structure diagram of the application;

[0039] Figure 11 Part structure diagram of the application; Figure 9 Structure diagram of the application after assembling the foldable serpentine and the fixed cable;

[0040] Figure 12 Part structure diagram of the application; Figure 9 Structure diagram of an embodiment of the intermediate unit in the application;

[0041] Figure 13 Structure diagram of the application when the foldable serpentine is in the bending state;

[0042] Figure 14 Part structure diagram of the application; Figure 10 Part structure diagram of the application;

[0043] Figure 15 Structure diagram of the application when the foldable serpentine is in the bending state;

[0044] Figure 16 Part structure diagram of the application; Figure 13 Part structure diagram of the application; Figure 15 Structure diagram of the application after assembling the foldable serpentine and the fixed cable when in the bending state;

[0045] Figure 17 Part structure diagram of the application; Figure 11 Top view angle diagram of the application;

[0046] Figure 18 Part structure diagram of the application; Figure 17 Part structure diagram of the application after removing the driving cable;

[0047] Figure 19 Structure diagram of an embodiment of the joint assembly of the application;

[0048] Figure 20 Structure diagram of an embodiment of the inner tube and the outer tube in the application;

[0049] Figure 21 Structure diagram of an embodiment of the joint assembly of the application;

[0050] Figure 22 Assembly structure diagram of the constraint cable group, the intermediate driving cable group and the inner tube of the application;

[0051] Figure 23 Part structure diagram of the application; Figure 19 Part structure diagram of the application;

[0052] The implementation, functional features and advantages of the application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0053] Clearly, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those of ordinary skill in the art without creative efforts should belong to the protection scope of the present application.

[0054] It should be noted that all the direction indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture (as shown in the drawings), and if the certain posture changes, the direction indications also change accordingly.

[0055] In the present application, unless otherwise explicitly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense, for example, "fixation" can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be direct connection, or indirect connection through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0056] In addition, the description such as "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that the technical solutions can be realized by those of ordinary skill in the art, and when the combination of technical solutions appears contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist, and is not within the protection scope of the present application.

[0057] For example, Figure 1As shown, this application provides a surgical robot, which includes a main console 10 and a slave operating device 20 communicatively connected to the main console 10. The main console 10 is located on the operator's side and is used to send control commands to the slave operating device 20 and display images acquired by the slave operating device 20 according to the operator's operations. The operator can observe a three-dimensional image of the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional image of the patient's body, the operator can control the slave operating device 20 to perform related operations (such as performing surgery or acquiring images of the patient's body) with an immersive feeling. The main console 10 includes a display device, armrests, a control system, an input device 11, and an observation device 12. The display device is used to display the images acquired by the imaging system. The armrests are used to support the operator's arms and / or hands to make the operator more comfortable in operating the input device 11. The observation device 12 is used to observe the images displayed by the display device. Depending on actual needs, the armrests can be omitted; or the observation device 12 can be omitted, in which case direct observation is possible. The operator controls the movement of the medical device on the slave operating device 20 through the operation input device 11. After the control system of the main console 10 processes the input signal of the input device 11, it sends a control command to the slave operating device 20. The slave operating device 20 responds to the control command of the main console 10 and performs the corresponding operation. In some embodiments, the control system can also be set in the slave operating device 20, for example, in the base of the slave operating device 20.

[0058] like Figure 2 As shown, the operating device 20 is located on the patient's side for performing surgical procedures. The operating device 20 includes a base 25, a robotic arm 21 mounted on the base, a drive unit 22 located at the end of the robotic arm, and one or more medical devices 30 detachably coupled to the drive unit 22. A portion of the medical device 30 can be inserted into the body through an incision in the patient. The medical device 30 can be a surgical instrument such as an electrocautery device, forceps, stapler, or ultrasonic scalpel for performing surgical procedures, or it can be a camera (e.g., an endoscope) or other surgical instruments for acquiring images. In some embodiments, the cannula 23 may be omitted, for example, in surgical procedures that do not require air injection. In some embodiments, the base 25 may also be omitted, and the robotic arm 21 of the operating device 20 may be mounted on a wall, ceiling, or operating table.

[0059] Surgical robots typically also include an imaging system (not shown) that allows the operator to view the surgical site from outside the patient's body. This imaging system typically includes video image acquisition capabilities (e.g., a medical device with image acquisition capabilities) and one or more video display devices for displaying the acquired images. Generally, the medical device 30 with image acquisition capabilities includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's body. These one or more imaging sensors may be placed at the distal end of the medical device 30 with image acquisition capabilities, and the signals generated by these sensors may be transmitted via cable or wirelessly for processing and display on the video display device.

[0060] like Figure 3 As shown, in one embodiment, the medical device 30 includes an instrument case 31, a long shaft 32 connected to the instrument case 31, and an end effector 33 connected to the long shaft 32. In some embodiments, a joint assembly 34 is further provided between the long shaft 32 and the end effector 33, and multiple cables pass through the joint assembly 34. The instrument case 31 is detachably mounted on the drive device, and the instrument case 31 contains a transmission device (not shown). The transmission device includes multiple transmission units (e.g., winches), which are connected to the joint assembly 34 and the end effector 33 via multiple cables. The multiple transmission units are respectively coupled to and driven by multiple drive units (e.g., motors) of the drive device. The drive units receive control commands from the control system and, according to the control commands, drive the transmission units to move, thereby driving the joint assembly 34 and the end effector 33 to move. The control system can be located in the main control console 10 or in the slave operating device 20. For example, the drive units release or tighten the cables by driving the transmission units to rotate, thereby enabling motion control of the joint assembly 34 and the end effector 33. The end effector 33, via the joint assembly 34, can perform movements with multiple Cartesian degrees of freedom, such as translation (including lateral and / or longitudinal translation), pitch, and yaw. It is understood that translation and pitch, or translation and yaw, can move independently or simultaneously. The end effector 33 is used to perform surgical procedures. Depending on the needs of the surgical procedure, the end effector 33 can be an electrocautery device, forceps, stapler, scissors, ultrasonic scalpel, camera, imaging device, etc., where the camera or imaging device is used to acquire images of the inside of the human body.

[0061] Folding assembly

[0062] like Figure 3 and Figure 4As shown, in an embodiment, the medical device further comprises a folding assembly 35 arranged on the long shaft 32. The folding assembly 35 can be arranged at a middle position of the long shaft 32, or arranged at a position close to the instrument box 31, or arranged at a position close to the end device 33. Among them, Figure 3 As shown, the medical device 30 is a surgical instrument, Figure 4 As shown, the medical device 30 is an endoscope. That is, the folding assembly 35 can be applied to both the endoscope and the surgical instrument. As shown, Figure 5 As shown, the medical device 30 is bent by the folding assembly 35, so that the length of the medical device 30 is shortened, thereby making the medical device 30 adaptable to a specific type of sterilizer, and improving the versatility.

[0063] Specifically, in an embodiment, as shown, Figure 6As shown, the folding assembly 35 further can include a foldable snake bone 50 fixed on the long shaft 32. The foldable snake bone 50 divides the long shaft 32 into two shaft bodies, i.e., two ends of the foldable snake bone 50 are connected with the two shaft bodies respectively. The two shaft bodies can be a first shaft body 321 and a second shaft body 322, which are located on two sides of the foldable snake bone 50 respectively. The length of the first shaft body 321 can be greater than, equal to, or less than the length of the second shaft body 322. Optionally, the distance between the foldable snake bone 50 and the instrument box 31 is less than the distance between the foldable snake bone 50 and the end device 33. In this way, the length of the medical device 30 can be shortened as much as possible, so that the medical device 30 occupies a smaller space in a sterilizer of a specific model, thereby improving the utilization rate of the sterilizer. It can be understood that in other embodiments, the number of foldable snake bones on the long shaft 32 is not limited to one, but can also be two or more. In this case, the foldable snake bone 50 can divide the long shaft 32 into multiple shaft bodies, and the number of shaft bodies depends on the number of foldable snake bones 50. When the foldable snake bone 50 is bent, the distal ends of the two shaft bodies are close to each other, i.e., the end device 33 and the instrument are close to each other, and the long shaft 32 is in a folded state. In this way, the length of the medical device 30 is shortened, so that the medical device 30 can be adapted to a sterilizer of a specific model. It can be understood that the bending of the foldable snake bone 50 can be achieved by manual operation, or by electric drive. When the foldable snake bone 50 is restored to its original state, the distal ends of the two shaft bodies are away from each other, i.e., the end device 33 and the instrument are away from each other, and the long shaft 32 is in a straight state. In this way, the medical device 30 can be restored to the state when it performs a surgical operation. It can be understood that the restoration of the foldable snake bone 50 to its original state can be achieved by manual operation, or by electric drive, or by a specific mechanical structure design to automatically restore.

[0064] As Figure 6 and Figure 7As shown, in an embodiment, the folding assembly 35 further comprises a limiting mechanism 36 which can be covered on the foldable serpentine 50. The limiting mechanism 36 is not always covered on the foldable serpentine 50, but can be covered on the foldable serpentine 50 by sliding, moving or rotating, etc., to limit the bending of the foldable serpentine 50, so that the long shaft 32 is in the straightened state. When the limiting mechanism 36 is moved away from the foldable serpentine 50, that is, not covering the foldable serpentine 50, the foldable serpentine 50 is in the bendable state, in other words, the foldable serpentine 50 can freely bend, so that the long shaft 32 can be in the folded state.

[0065] As shown, Figure 6 and Figure 7 In the first embodiment, the limiting mechanism 36 comprises two limiting portions arranged oppositely, and a moving tube 360 located between the two limiting portions. The limiting portions are protruded along the radial direction of the long shaft 32, further, the limiting portions can be protruded along the radial direction and circumferential direction of the long shaft 32, or can be protruded along the radial direction and part of the circumferential direction of the long shaft 32. The two limiting portions are located on opposite sides of the foldable serpentine 50, and the distance d between the two limiting portions is greater than or equal to the sum of the length L1 of the moving tube 360 and the length L2 of the foldable serpentine 50. In this way, the moving tube 360 can completely cover the foldable serpentine 50 to prevent the foldable serpentine 50 from being bent undesirably, thereby improving the safety of the medical device 30; or the foldable serpentine 50 can be in a completely uncovered state, so that the foldable serpentine 50 can freely bend to save space, and further adapt to a specific model of sterilizer.

[0066] Further, the two limiting portions can be a first limiting portion 361 close to the instrument box 31, and a second limiting portion 362 opposite to the first limiting portion 361 and close to the end device 33. The second limiting portion 362 is arranged to support the moving tube 360 which slides down based on gravity, so that the moving tube 360 covers the foldable serpentine 50.

[0067] The movable tube 360 ​​is sleeved on the long axis 32 and located between the two limiting portions. The diameter of the movable tube 360 ​​is larger than the diameter of the long axis 32 and the diameter of the foldable snake bone 50, so that it can move relative to the long axis 32 or the foldable snake bone 50. The movable tube 360 ​​is configured to move to cover the foldable snake bone 50, thereby restricting the bending of the foldable snake bone 50; the movable tube 360 ​​is also configured to move away from the foldable snake bone 50, thereby allowing the foldable snake bone 50 to be bent. In other embodiments, the limiting portions can be omitted. For example, the diameter of the movable tube 360 ​​can be larger than the diameter of the long axis 32, but slightly larger than the diameter of the foldable snake bone 50, so that the movable tube 360 ​​and the foldable snake bone 50 are interference-fitted, that is, the movable tube 360 ​​cannot move to cover the foldable snake bone 50 without being subjected to external force or driving force.

[0068] When the medical device 30 needs to perform a surgical procedure, since the end device 33 extends into the patient's body and the instrument box 31 is outside the patient's body and is engaged with the drive device, the moving tube 360 ​​can naturally slide down under the influence of gravity. When it comes into contact with the second limiting part 362, the movement of the moving tube 360 ​​is restricted by the blocking effect of the second limiting part 362. This allows the moving tube 360 ​​to cover the foldable snake bone 50, thereby preventing the foldable snake bone 50 from bending undesirably and ensuring the safety of the medical device 30.

[0069] like Figure 8 As shown, in the second embodiment, the limiting mechanism 36 includes a rotating part 370, one end of which is fixed to the long shaft 32 and the other end of which is rotatable relative to the long shaft 32. Specifically, one end of the rotating part 370 can be fixed to the side of the first shaft section 321 or the side of the second shaft section 322. In other embodiments, it can also be fixed to the end of the foldable snake bone 50. The rotating part 370 is configured to rotate in a first direction M to cover the foldable snake bone 50, thereby restricting the bending of the foldable snake bone 50. The rotating part 370 is also configured to rotate in a second direction N opposite to the first direction M to move away from the foldable snake bone 50, thereby allowing the foldable snake bone 50 to be bent.

[0070] Based on the design of the specific structure of the foldable serpentine bone 50, the foldable serpentine bone 50 can be arranged to rotate only in one direction, and specific schemes will be described below, which are not expanded here. The rotating part 370 can be a non-closed cylinder, for example, a semi-cylindrical shape, specifically, the cross section of the rotating part 370 is semicircular, and the semi-cylindrical shape of the rotating part 370 can be adapted to the outer surface of the foldable serpentine bone 50. The rotating part 370 can be in interference fit with the foldable serpentine bone 50, or can be connected by snap fit and the like. It can be understood that when the foldable serpentine bone 50 can only rotate in one direction, the rotating part 370 should be arranged on the side of the foldable serpentine bone 50 in the direction of rotation. As shown in Figure 8 (1) indicates that the rotating part 370 is located on the upper side of the foldable serpentine bone 50, and the foldable serpentine bone 50 can only rotate upward, and cannot rotate downward, at this time, the rotating part 370 covers the foldable serpentine bone 50, which can prevent the foldable serpentine bone 50 from being bent, so as to be suitable for transportation and operation of surgical procedures; (2) indicates that when the foldable serpentine bone 50 needs to be bent, the free end of the rotating part 370 can be lifted to rotate in the second direction N to expose the foldable serpentine bone 50; (3) indicates that based on the state shown in (2), it can be rotated horizontally by 180° to make the rotating part 370 continue to rotate in the second direction N; (4) indicates that based on the state shown in (3), the rotating part 370 continues to rotate in the second direction N until the rotating part 370 covers the long shaft 32, at this time, the foldable serpentine bone 50 can be bent to reduce the volume of the medical device 30.

[0071] As shown in Figure 9 In an embodiment, the foldable serpentine bone 50 includes a top unit 52, a plurality of intermediate units 53 and a bottom unit 54 connected in sequence by an I-beam 51, wherein the number of intermediate units 53 can be reasonably arranged according to actual needs, for example, the number of intermediate units 53 can be 3, 4, 5 or 6, etc., depending on the angle at which the foldable serpentine bone 50 needs to be bent. The top unit 52 is located on the side close to the instrument box 31 and is fixedly connected with the long shaft 32, the bottom unit 54 is located on the side close to the end device 33 and is fixedly connected with the long shaft 32, and the plurality of intermediate units 53 are connected in series with each other, one end of which is connected with the top unit 52 and the other end of which is connected with the bottom unit 54. As shown in Figure 10As shown, each of the I-beams 51 comprises a body 510, and a first insertion portion 511 and a second insertion portion 512 located at opposite ends of the body 510; the plurality of intermediate units 53 are provided with insertion holes 530 cooperating with the first insertion portions 511 and the second insertion portions 512. It can be understood that one side of the top unit 52 and the bottom unit 54 corresponding to the I-beam 51 can be provided with only one insertion hole 530. In order to further improve the connection strength between the units and prevent the units from being scattered, the body 510 is provided with a wire passing channel 513 along the length direction, and each unit is correspondingly provided with a wire passing hole 500 at the position of the wire passing channel 513; as shown Figure 11 As shown, the folding assembly 35 further comprises a fixed cable 60, one end of which is fixed to the end of the top unit 52 and the other end of which is fixed to the end of the bottom unit 54, the fixed cable 60 passes through the wire passing holes 500, the wire passing channels 513, the wire passing holes 500 and the wire passing channels 513 in sequence from the top unit 52, and thus passes through each wire passing hole 500 and wire passing channel 513 in a cross manner and terminates at the bottom unit 54, thereby connecting the units.

[0072] As shown Figure 12 In an embodiment, as shown, the intermediate unit 53 comprises a unit disc 540, two protruding portions 531 symmetrically distributed along the radial direction of the unit disc 540, and two cooperating portions 532 symmetrically distributed along the radial direction of the unit disc 540. Each of the protruding portions and each of the cooperating portions extends to two sides along the axial direction O of the unit disc 540, as shown Figure 13 As shown, the protruding portion of one intermediate unit 53 is arranged to be movably connected with the cooperating portion of another intermediate unit 53. The two adjacent units form a rotatable joint, the protruding portion and the cooperating portion have a rotation axis X at the joint, and the rotatable joint can rotate in two directions about the rotation axis. That is, the foldable snake bone 50 has one degree of freedom.

[0073] As shown Figure 14 In an embodiment, as shown, the cooperating portion comprises a cooperating body 521 extending from the axial direction O of the unit disc 540 and a receiving groove 522 recessed on the cooperating body, and the protruding portion comprises an extension body 534 extending from the axial direction O of the unit disc 540 and a head portion 535 protruding from the extension body 534. The extension direction of the cooperating body and the extension body 534 on the same unit disc 540 is opposite, the shape of the receiving groove is matched with the shape of the head portion 535, so as to accommodate the head portion 535, when the head portion 535 is clamped into the receiving groove, the protruding portion and the corresponding cooperating portion can be movably connected, so as to enable the rotatable joint to rotate in two directions about the rotation axis.

[0074] Further, one unit of the fitting body has a supporting surface 520 facing one side of the protruding part of the other unit, the protruding part is provided with a stop surface 536 in contact with the supporting surface 520 on one side of the head 535, and is provided with an inclined surface 537 on the other side of the head 535. It can be understood that the supporting surface 520 is divided into two symmetrical supporting surfaces 520 by the accommodating groove; the stop surface 536 and the inclined surface 537 are divided into two asymmetrical surfaces by the head 535, wherein the shape and size of the stop surface 536 and the supporting surface 520 can be the same or partially the same, the inclined surface 537 can be a plane cut along the inclined line of the stop surface 536, that is, there is a moving space between the inclined surface 537 of one unit and the supporting surface 520 of the other unit, so that the two units can rotate relative to each other; there is basically no moving space between the stop surface 536 of one unit and the supporting surface 520 of the other unit, so that one unit can only rotate in one direction, that is, in the direction with the inclined surface 537, and cannot rotate in the other direction, that is, in the direction without the inclined surface 537. Through the arrangement of the stop surface 536, the medical device 30 can be folded in only one direction, avoiding damage to the cables or other structures inside the medical device 30 due to repeated folding in two directions, thereby improving the service life of the medical device 30. In addition, one-way folding is easier to operate and control than two-way folding, improving the user experience.

[0075] As shown in Figure 15 , the inclined surface 537 of one unit is arranged to allow the foldable snake bone 50 to rotate in a predetermined direction A until it stops rotating by abutting against the supporting surface 520 of the other unit; based on the arrangement of the stop surface 536, the foldable snake bone 50 can be limited to rotate in another direction B opposite to the predetermined direction by abutting against the supporting surface 520 of the other unit.

[0076] Further, as shown in Figure 14 , in an embodiment, the accommodating groove of the fitting body has a groove wall 523, which can be located close to the inner side of the unit disc 540 or close to the outer side of the unit disc 540. Through the arrangement of the groove wall 523, the movement of the protruding part clamped in the accommodating groove along the radial direction of the unit disc 540 can be limited. In this way, the connection strength between each unit is further improved, so that loosening of each unit can be prevented.

[0077] As shown in Figure 16 and Figure 17As shown, in one embodiment, the medical device 30 further includes a first set of drive cables 37 and a second set of drive cables 38, one end of which is connected to the end device 33 and the other end of which is connected to the instrument box 31. The first set of drive cables 37 and the second set of drive cables 38 are arranged opposite to each other in the foldable snake skeleton 50. When the foldable snake skeleton 50 rotates in a predetermined direction, one set of drive cables tightens and the other set of drive cables releases. Furthermore, the first set of drive cables 37 and the second set of drive cables 38 are symmetrically distributed in the foldable snake skeleton 50, thus not affecting the bending of the foldable snake skeleton 50 and avoiding interference with the bending of the medical device 30.

[0078] like Figure 18 As shown, each unit also has a first set of cable holes 550 and a second set of cable holes 560 arranged opposite to each other. The first set of cable holes 550 is configured to allow the first set of drive cables 37 to pass through and extend to the end device 33, and the second set of cable holes 560 is configured to allow the second set of drive cables 38 to pass through and extend to the end device 33. When the foldable snake bone 50 bends in the predetermined direction, the first set of drive cables 37 is in a taut state, and the second set of drive cables 38 is in a released state. It is understood that the cable wound on a winch in the instrument box 31 has a redundancy. When the foldable snake bone 50 rotates in the predetermined direction, the redundancy of the cable can be released, thereby preventing undesirable rotation of the end device 33 at the distal end of the medical device 30. Specifically, the end device 33 can be kept parallel to the axis of the long axis 32. In this way, the end device 33 is less likely to be bumped when the medical device 30 is placed in a sterilizer for sterilization.

[0079] Furthermore, such as Figure 18 As shown, in one embodiment, the first set of cable holes 550 and the second set of cable holes 560 form a matrix shape. This ensures that the first set of drive cables 37 and the second set of drive cables 38 also form a matrix shape when passing through the foldable snake-like structure 50. This prevents the first set of drive cables 37 and the second set of drive cables 38 from tilting when passing through the foldable snake-like structure 50, and thus avoids interference with the bending of the medical device 30 when the foldable snake-like structure 50 bends.

[0080] Furthermore, such as Figure 18As shown, in one embodiment, a wiring channel 570 is provided in the middle of each unit. The wiring channel 570 is used for the cables and other related structures of the medical device 30 to extend from the instrument box 31 through the wiring channel 570 to the end device 33. The cross-section of the wiring channel 570 is racetrack-shaped, which provides more space for the cables and other structures to pass through compared to rectangular or circular shapes. In other embodiments, the cross-section of the wiring channel 570 can also be other reasonable shapes, such as irregular shapes.

[0081] Joint assembly

[0082] like Figure 19 As shown, in one embodiment, the joint assembly 34 includes a parallel joint 341 and a wrist joint 342 connected to the parallel joint 341. The proximal end of the parallel joint 341 is connected to the distal end of the long axis 32, the distal end of the parallel joint 341 is connected to the proximal end of the wrist joint 342, and the distal end of the wrist joint 342 is connected to the end effector 33. The wrist joint 342 is used to perform pitch and / or yaw movements. The parallel joint 341 further includes a proximal joint 311 connected to the long axis 32, an intermediate segment 312 connected to the proximal joint 311, and a distal joint 313 connected to the intermediate segment 312 and the end effector 33, respectively. The medical device 30 also includes a top drive cable assembly 42 with one end connected to the instrument case 31 and the other end connected to the wrist joint 342, and an intermediate drive cable assembly 44 with one end connected to the instrument case 31 and the other end connected to the distal joint 313. It is understood that the other end of the top drive cable assembly 42 is fixed to the distal end of the wrist joint 342, and the other end of the intermediate drive cable assembly 44 is fixed to the distal end of the distal joint 313. Of course, in other embodiments, the top drive cable assembly 42 and the intermediate drive cable assembly 44 can also be located in other suitable positions. When the top drive cable assembly 42 and the intermediate drive cable assembly 44 are actuated, the proximal joint 311 and the distal joint 313 rotate in opposite directions. This ensures that the distal end device 33 of the medical device 30 can maintain its current posture during translation, increasing the range of motion of the end device 33 of the medical device 30, thereby meeting the surgical needs of expanding the field of vision in specific scenarios.

[0083] like Figure 19As shown, in an embodiment, the intermediate segment 312 comprises an inner tube 320 connected to the proximal joint 311 at one end and to the distal joint 313 at the other end. The inner tube 320 can be fixedly connected to the proximal joint 311 and the distal joint 313, or detachably connected to the proximal joint 311 and the distal joint 313. When the inner tube 320 is detachably connected to the proximal joint 311 and the distal joint 313, the proximal joint 311 and the distal joint 313 can be provided with alignment structures on the side close to the inner tube 320. The inner tube 320 is provided with grooves corresponding to the alignment structures, so as to guide the alignment of the inner tube 320 and the proximal joint 311 and the distal joint 313, thereby enabling the intermediate driving cable group 44 and / or the top driving cable group 42 to extend through the parallel joint 341 in the correct direction.

[0084] Further, the inner tube 320 is provided with a plurality of spiral walkways 324 extending along the axial direction of the long shaft 32. The number of the spiral walkways 324 depends on the number of driving cables in the intermediate driving cable group 44. In the embodiment, the number of the spiral walkways 324 is four. The plurality of spiral walkways 324 are independent of each other, i.e., the distance between any two adjacent spiral walkways 324 can be equal or unequal, but they are independent of each other and do not interfere with each other. In this way, the driving cables extending through the spiral walkways 324 do not interfere with each other, thereby improving the service life of the driving cables. In addition, since the driving cables do not interfere with each other, the control accuracy of the medical device 30 can be ensured.

[0085] In an embodiment, the spiral walkways 324 are located on the outer surface of the inner tube 320. As shown, Figure 20 As shown, in an embodiment, the joint assembly 34 further comprises an outer tube 343 sleeved on the inner tube 320. The outer tube 343 can be fixedly connected to the inner tube 320, or abuttingly connected to the proximal joint 311 and the distal joint 313. Specifically, as shown, Figure 19As shown, the proximal joint 311 and the distal joint 313 are provided with abutting portions 310 on one side of the inner tube 320 or the outer tube 343. When the outer tube 343 is sleeved on the inner tube 320, the two ends of the outer tube 343 abut against the abutting portions 310 of the proximal joint 311 and the distal joint 313 respectively, so as to realize the fixed connection of the outer tube 343 and the parallel joint 341. The gap between the outer tube 343 and the inner tube 320 can limit the intermediate driving cable group 44 from slipping off the spiral walkway 324 when the outer tube 343 contacts the intermediate driving cable group 44, thereby improving the control accuracy of the medical device 30. In addition, the outer tube 343 shields the intermediate driving cable group 44 at the inner tube 320, avoiding cable exposure and improving the appearance. In other embodiments, the spiral walkway 324 can also be located in the wall of the inner tube 320, so that the outer tube 343 can be omitted.

[0086] Further, as shown in Figure 20 The side wall of the inner tube 320 is provided with a plurality of water passing holes 325, which communicate the inside and outside of the joint assembly 34, so as to realize the cleaning and disinfection of the medical device 30. It can be understood that in an embodiment, when the medical device 30 has the outer tube 343, the outer tube 343 is also provided with a plurality of water passing holes 326, and the water passing holes 325 of the inner tube 320 and the water passing holes 326 of the outer tube 343 are correspondingly arranged or spaced.

[0087] As shown in Figure 21 In an embodiment, the proximal joint 311 and the distal joint 313 each have opposite first side A and second side B. The intermediate driving cable group 44 extends in the spiral walkway 324 of the inner tube 320 from the first side A of the proximal joint 311 to the second side B of the distal joint 313, and the second side B is different from the first side A. That is, the spiral walkway 324 has an angle range, such as greater than 0° and less than 360°. Alternatively, the angle of the spiral walkway 324 is 180°, and at this time, the starting point and the terminal point of each driving cable in the intermediate driving cable group 44 on the inner tube 320 are projected along the cross section of the inner tube 320 to pass half a circle. By changing the direction of each driving cable in the intermediate driving cable group 44 on the inner tube 320, the translation function of the parallel joint 341 can be realized, so that the end device 33 keeps the current posture and translates.

[0088] As shown in Figure 22As shown, in one embodiment, the medical device 30 further includes a constraint cable assembly 45 connecting the proximal joint 311 and the distal joint 313. The constraint cable assembly 45 and the intermediate drive cable assembly 44 are located on the inner and outer sides of the inner tube 320, respectively. Additionally, the top drive cable assembly 42 is also located on the inner side of the inner tube 320. That is, except for the intermediate drive cable assembly 44, which extends spirally at the location of the inner tube 320, the top drive cable assembly 42 and the constraint cable assembly 45 both extend linearly along the axial direction of the long axis 32 within the joint assembly 34. The separation provided by the inner tube 320 ensures that each cable is independent and does not interfere with the others. This not only enables the translational function of the parallel joint 341 but also ensures the control precision of the medical device 30. Furthermore, it improves the installation efficiency of the medical device 30.

[0089] In this embodiment, the constraint cable group 45 is a constant-length cable. A constant-length cable means that the total length of the parallel joint 341 in the proximal joint 311 and the distal joint 313 remains basically unchanged during movement. Specifically, the constraint cable group 45 includes: a first constant-length cable, a second constant-length cable, a third constant-length cable, and a fourth constant-length cable. These two pairs of constant-length cables respectively control the translation of the end effector 33 in two degrees of freedom directions.

[0090] like Figure 23 As shown, in one embodiment, both the proximal joint 311 and the distal joint 313 include multiple connecting discs 315 sequentially connected to the inner tube 320, and multiple I-beams 51 with wiring channels 515 connecting the connecting discs 315. Each connecting disc 315 has multiple wiring holes 551 along its circumference, forming an approximately square or circular shape. Each connecting disc 315 has a central hole 552 in its center. In this embodiment, the wiring holes 551 are located circumferentially on the connecting disc 315, thus not occupying the lateral space of the connecting disc 315, allowing for a larger central hole space, thereby providing a channel for various cables and optical fibers involved in the medical device 30. For example, when the medical device 30 is an endoscope, this central hole can accommodate more optical fibers, thereby improving the lighting effect; when the medical device 30 is various energy devices, it can improve fluid flow, pressure, and usage effects. Optionally, the cross-section of the central hole can be petal-shaped, which further increases the usable space.

[0091] The specific structures of the plurality of connecting plates 315 are generally the same, with slight differences, and the specific differences depend on their positions in the parallel joints 341. For example, since the constraint cable set 45 needs to be fixed to the ends of the proximal joint 311 and the distal joint 313, the corresponding connecting plates 315 are recessed with accommodation portions (not shown in the figure) for fixing the ends of the constraint cable set 45 at the corresponding positions. The connecting plates 315 located between the proximal joint 311 and the distal joint 313 do not need the accommodation portions. The I-beam 51 has the same structure as the I-beam 51 of the foldable snake bone 50 described above, and will not be described again here.

[0092] Further, as shown in Figure 23 each connecting plate 315 is provided with the wire hole 551 at the position of the wire channel 515, and the corresponding driving cable, such as the top end driving cable, is crossed through each wire hole and the wire channel 515 in sequence from the wrist joint 342 and terminated at the instrument box 31, thereby realizing the connection of each connecting plate 315.

[0093] Further, as shown in Figure 23 the connecting plate 315 includes a disc body 351, two protruding portions 352 symmetrically distributed along the radial direction of the disc body 351, and two matching portions 353 symmetrically distributed along the radial direction of the disc body 351. The protruding portion 352 and the matching portion 353 on each connecting plate 315 are opposite along the extension direction of the disc body 351, and the protruding portion 352 of one connecting plate 315 is arranged to be movably connected with the matching portion 353 of another connecting plate 315. The two adjacent connecting plates 315 constitute a rotatable joint, and the jointing portion of the protruding portion 352 and the matching portion 353 has a rotation axis (not shown in the figure), and the rotatable joint can rotate in two directions around the rotation axis.

[0094] Further, as shown in Figure 23As shown, in an embodiment, the matching part 353 comprises a matching body 331 extending axially from the disc body 351 and a receiving groove 332 recessed on the matching body 331, the protruding part 352 has a head part (not shown in the figure) clamped into the receiving groove 332, the shape of the receiving groove 332 is matched with the shape of the head part so as to accommodate the head part, when the head part is clamped into the receiving groove, the protruding part 352 and the corresponding matching part 353 are movably connected, so that the rotary joint can rotate in two directions around the rotary axis. In an embodiment, the receiving groove 332 of the matching body 331 has a groove wall 333, which can be located close to the inner side of the connecting disc 315 or close to the outer side of the connecting disc 315. By arranging the groove wall 333, the radial movement of the protruding part 352 clamped into the receiving groove 332 along the connecting disc 315 can be limited. In this way, the connection strength between the connecting discs 315 is further improved, so that the loosening of the connecting discs 315 can be prevented.

[0095] The above description is only optional embodiments of the present application, and does not limit the patent scope of the present application, any equivalent structural transformation made according to the inventive concept of the present application, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A medical device, characterized by The medical device comprises: an instrument box; a long shaft connected with the instrument box; a terminal device connected with the long shaft; and a folding assembly arranged on the long shaft, the folding assembly comprising: a foldable snake bone fixed on the long shaft and dividing the long shaft into two shaft bodies, the foldable snake bone being arranged to bend to make the distal ends of the two shaft bodies close to each other and make the long shaft in a folded state, and the foldable snake bone being arranged to restore to make the distal ends of the two shaft bodies away from each other and make the long shaft in an unfolded state; the folding assembly further comprising a limiting mechanism coverable on the foldable snake bone, the limiting mechanism being arranged to limit the foldable snake bone from bending and make the long shaft in the unfolded state; the limiting mechanism comprising two limiting parts protruding on the long shaft and located on both sides of the foldable snake bone, and a moving tube sleeved on the long shaft and located between the two limiting parts, the moving tube being movable relative to the long shaft; the moving tube being arranged to move to cover the foldable snake bone and limit the foldable snake bone from bending, and the moving tube being arranged to move to be away from the foldable snake bone and make the foldable snake bone bendable; the two limiting parts being respectively a first limiting part close to the instrument box and a second limiting part opposite to the first limiting part and close to the terminal device, the second limiting part being arranged to support the moving tube sliding based on gravity and make the moving tube cover the foldable snake bone.

2. The medical device of claim 1, wherein, The distance between the two limiting parts is greater than or equal to the sum of the length of the moving tube and the length of the foldable snake bone.

3. The medical device of claim 1, wherein, The distance between the foldable snake bone and the instrument box is less than the distance between the foldable snake bone and the terminal device.

4. The medical device of claim 1, wherein, The foldable snake bone comprises a top unit close to the instrument box and fixedly connected with the long shaft, a bottom unit close to the terminal device and fixedly connected with the long shaft, a plurality of intermediate units connected with each other and having one end connected with the top unit and the other end connected with the bottom unit, and a plurality of I-shaped shafts having wire passing channels and connecting the units, each unit being provided with a wire passing hole at the position of the wire passing channel; the folding assembly further comprises a fixed cable having one end fixed to the end of the top unit and the other end fixed to the end of the bottom unit, the fixed cable being arranged to cross through each wire passing hole and wire passing channel from the top unit to the bottom unit.

5. The medical device of claim 4, wherein, The intermediate unit comprises a unit disc, two protruding parts symmetrically distributed along the radial direction of the unit disc, and two matching parts symmetrically distributed along the radial direction of the unit disc, each protruding part and each matching part extending to two sides along the axial direction of the unit disc, and the protruding part of one intermediate unit being arranged to be movably connected with the matching part of another intermediate unit.

6. The medical device of claim 5, wherein, The matching part comprises a matching body extending axially from the unit disc and a receiving groove recessed on the matching body, the protruding part comprises an extending body extending axially from the unit disc and a head protruding from the extending body, the receiving groove is arranged to accommodate the head, so that the protruding part is movably connected with the corresponding matching part; the matching body has a supporting surface on the side facing the protruding part, the protruding part is provided with a stop surface on one side of the head in contact with the supporting surface, and is provided with an inclined surface on the other side of the head; the inclined surface of one of the intermediate units is arranged to allow the foldable serpentine to rotate in a predetermined direction until the supporting surface of another intermediate unit is contacted; the stop surface of one of the intermediate units is arranged to contact the supporting surface of another intermediate unit to limit the rotation of the foldable serpentine in the direction opposite to the predetermined direction.

7. The medical device of claim 6, wherein, The receiving groove of the matching body has a groove wall arranged to limit the radial movement of the corresponding protruding part along the unit disc.

8. The medical device of claim 4, wherein, The medical device further comprises a first set of drive cables and a second set of drive cables connected to the end device at one end and to the instrument box at the other end, and each unit is further provided with oppositely arranged first and second sets of cable holes, the first set of cable holes being arranged for the first set of drive cables to extend to the end device, and the second set of cable holes being arranged for the second set of drive cables to extend to the end device. When the foldable serpentine is bent, the first set of drive cables is in a tensioned state, and the second set of drive cables is in a released state.

9. The medical device of claim 8, wherein, The first and second sets of cable holes form a matrix shape.

10. The medical device of claim 4, wherein, The intermediate part of each unit is provided with a wiring channel, and the cross section of the wiring channel is in the shape of a runway.

11. A surgical robot, characterized by The surgical robot comprises a master control console and a slave operating device in communication connection with the master control console, the slave operating device is used to perform corresponding surgical operations in response to the control commands sent by the master control console; the slave operating device comprises a base, a mechanical arm connected to the base, and a medical device as claimed in any one of claims 1 to 10 detachably connected to the driving device at the end of the mechanical arm.

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