Joint and surgical instrument arm

Abstract

The invention relates to a joint and a surgical instrument arm. The joint includes a first joint disc having a first convex surface; the second joint disc is provided with a second convex surface, and the second convex surface is in rolling contact with the first convex surface; the anti-slip mechanism is arranged between the first joint disc and the second joint disc; and the first convex surface and the second convex surface are continuous curved surfaces. Thus, on one hand, the first convex surface and the second convex surface can serve as rolling meshing surfaces to bear main loads between the first joint disc and the second joint disc; and on the other hand, the first convex surface and the second convex surface are convex surfaces, so that machining is facilitated, the machining precision is convenient to control, and the manufacturing difficulty is reduced. Besides, an anti-slip mechanism is arranged between the first joint disc and the second joint disc, so that the load generated by the slip of the first convex surface and the second convex surface can be borne, the slip of the first joint disc and the second joint disc during meshing is prevented, and the meshing precision of the first joint disc and the second joint disc is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of medical surgical equipment, and in particular to a joint and a surgical instrument arm. Background Art

[0002] The laparoscopic single-port surgical robot controls the multi-degree-of-freedom instrument arm to enable the end instrument and lens to accurately reach the surgical position along the required path, thereby performing minimally invasive laparoscopic surgery. The instrument arm is mainly composed of a rope-driven joint, in which the performance of the drive rope and the design of the joint disc determine the performance and cost of the instrument arm. In the related rope-driven rolling joint technology, the rolling joint adopts the meshing motion of the cycloid convex surface and the cycloid concave surface. However, the cycloid profile curve of this rolling joint is relatively complex, which is not only difficult to process, but also difficult to detect. Summary of the invention

[0003] Based on this, it is necessary to provide a joint and a surgical instrument arm to address at least one of the above problems.

[0004] In order to achieve the above objectives, in a first aspect, an embodiment of the present application provides a joint for a surgical instrument arm, the joint comprising:

[0005] a first articular disc having a first convex surface;

[0006] a second articular disc having a second convex surface, the second convex surface being in rolling contact with the first convex surface; and

[0007] An anti-slip mechanism, disposed between the first joint disc and the second joint disc;

[0008] Wherein, the first convex surface and the second convex surface are both continuous curved surfaces.

[0009] The joint provided by the embodiment of the present application is provided with a first convex surface and a second convex surface that are in rolling contact with each other on the first joint disc and the second joint disc. In this way, on the one hand, the first convex surface and the second convex surface can be used as rolling meshing surfaces to bear the main load between the first joint disc and the second joint disc; on the other hand, the first convex surface and the second convex surface are both convex surfaces, which is not only convenient for processing, but also convenient for controlling the processing accuracy, thereby reducing the difficulty of manufacturing. In addition, by providing an anti-skid mechanism between the first joint disc and the second joint disc, the load generated by the slipping of the first convex surface and the second convex surface can be borne, thereby preventing the first joint disc and the second joint disc from slipping when meshing, and ensuring the meshing accuracy of the first joint disc and the second joint disc.

[0010] In one embodiment, a first protrusion is provided on a surface of the first joint disc close to the second joint disc, and the first convex surface is provided on a surface of the first protrusion;

[0011] A second protrusion is provided on a surface of the second joint disc on one side close to the first joint disc, and the second convex surface is provided on a surface of the second protrusion.

[0012] In one embodiment, both the first convex surface and the second convex surface are arc surfaces.

[0013] In one embodiment, the first convex surface and the second convex surface are both elliptical arc surfaces.

[0014] In one embodiment, the first convex surface has a first meshing centerline, and the second convex surface has a second meshing centerline that can coincide with the first meshing centerline;

[0015] The first convex surface is symmetrical about the first meshing center line, and the second convex surface is symmetrical about the second meshing center line.

[0016] In one embodiment, the anti-slip mechanism comprises:

[0017] A first gear portion, disposed on a side of the first articular disc close to the second articular disc;

[0018] The second gear portion meshing with the first gear portion is arranged on a side of the second joint disc close to the first joint disc.

[0019] In one embodiment, two first limiting surfaces are further provided on a side of the first joint disc close to the second joint disc, the two first limiting surfaces are respectively located on two opposite sides of the first convex surface, and the first limiting surfaces are used to limit the rotation angle of the first joint disc and / or the second joint disc;

[0020] And / or, two second limiting surfaces are also provided on the side of the second joint disc close to the first joint disc, and the two second limiting surfaces are respectively located on the opposite sides of the second convex surface, and the second limiting surfaces are used to limit the rotation angle of the first joint disc and / or the second joint disc.

[0021] In a first aspect, an embodiment of the present application provides a joint for a surgical instrument arm, the joint comprising:

[0022] a first articular disc and a second articular disc; and

[0023] An articulation mechanism is disposed between the first joint disc and the second joint disc, and the first joint disc and the second joint disc are both connected to the articulation mechanism;

[0024] The joint has a virtual elliptical rolling surface; one of the first joint disc and the second joint disc is configured to rotate relative to the other of the first joint disc and the second joint disc along the virtual elliptical rolling surface.

[0025] The joint provided in the embodiment of the present application is provided with an articulated structure between the first articular disc and the second articular disc, and one of the first articular disc and the second articular disc is made to rotate relative to the other along a virtual elliptical rolling surface. Thus, compared with the method of meshing the cycloid convex surface and the cycloid concave surface in the related art, when processing the articulated mechanism, no curved surface fitting is required, so the processing difficulty is lower, thereby reducing the manufacturing difficulty.

[0026] In one embodiment, the hinge mechanism includes a first connecting rod and a second connecting rod arranged opposite to each other;

[0027] The two ends of the first connecting rod are respectively hinged to the first joint disc and the second joint disc; the two ends of the second connecting rod are respectively hinged to the first joint disc and the second joint disc; the extension direction of the first connecting rod and the extension direction of the second connecting rod intersect each other.

[0028] In one embodiment, the first joint disc has a first virtual elliptical rolling surface, the second joint disc has a second virtual elliptical rolling surface, and the first virtual elliptical rolling surface and the second virtual elliptical rolling surface are virtually rolling meshed;

[0029] Among them, the first connecting rod has a first hinge point and a second hinge point arranged opposite to each other, the second connecting rod has a third hinge point and a fourth hinge point arranged opposite to each other, the first virtual elliptical rolling surface has a first focus and a second focus, and the second virtual elliptical rolling surface has a third focus and a fourth focus; the first hinge point coincides with the first focus, the second hinge point coincides with the third focus, the third hinge point coincides with the second focus, and the fourth hinge point coincides with the fourth focus.

[0030] In a third aspect, an embodiment of the present application provides a surgical instrument arm, which includes the joint in any one of the embodiments of the first aspect and the second aspect.

[0031] The surgical instrument arm provided in the embodiment of the present application can reduce the difficulty of manufacturing the joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0033] Figure 1 A schematic structural diagram of a surgical instrument arm provided in one embodiment of the present application.

[0034] Figure 2 A schematic diagram of the structure of a joint provided in one embodiment of the present application.

[0035] Figure 3 for Figure 2 Schematic diagram of the structure of the first articular disc of the joint shown.

[0036] Figure 4 for Figure 2 Schematic diagram of the structure of the second articular disc of the joint shown.

[0037] Figure 5 A schematic diagram of the structure of another joint provided in one embodiment of the present application.

[0038] Figure 6 for Figure 5 Schematic diagram of the structure of the first articular disc of the joint shown.

[0039] Figure 7 for Figure 5 Schematic diagram of the structure of the second articular disc of the joint shown.

[0040] Figure 8 A schematic structural diagram of a first joint disc of yet another joint provided in an embodiment of the present application.

[0041] Fig. 9 For Figure 8 A schematic structural diagram of a second joint disc that matches the first joint disc is shown.

[0042] Fig.10 This is a schematic structural diagram of a second articular disc of another joint provided in an embodiment of the present application.

[0043] Fig.11 A schematic diagram of the partial structure of yet another anti-slip mechanism for a joint provided in an embodiment of the present application.

[0044] Fig.12 This is a schematic structural diagram of a second articular disc of another joint provided in an embodiment of the present application.

[0045] Fig.13 for Figure 5 Schematic outline diagram of the first and second convex surfaces of the joint shown.

[0046] Fig.14 for Figure 5 Graph showing the relationship between the rotation angle and meshing error of the joint shown.

[0047] Fig.15 A schematic diagram of the structure of another joint provided in an embodiment of the present application.

[0048] Fig.16 for Fig.15Exploded diagram.

[0049] Fig.17 for Fig.15 Schematic diagram of the meshing of the joint shown.

[0050] Reference numerals:

[0051] 1. surgical instrument arm; 10. joint; 11. first joint disc; 111. first convex surface; 112. first protrusion; 113. first limiting surface; 114. first rope hole; 115. first axial hole; 12. second joint disc; 121. second convex surface; 122. second protrusion; 123. second limiting surface; 124. second rope hole; 125. second axial hole; 13. anti-slip mechanism; 131. first gear part; 132. second gear part; 13a. meshing teeth; 14. Articulated mechanism; 141. First connecting rod; 1411. First hinge point; 1412. Second hinge point; 142. Second connecting rod; 1421. Third hinge point; 1422. Fourth hinge point; 151. First virtual elliptical rolling surface; 1511. First focus; 1512. Second focus; 152. Second virtual elliptical rolling surface; 1521. Third focus; 1522. Fourth focus; 161. First frame; 162. Second frame; 20. Rod body. DETAILED DESCRIPTION

[0052] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0053] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0054] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0055] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0056] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0057] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0058] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" and the like specify the presence of stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, in this specification, the term "and / or" includes any and all combinations of the relevant listed items.

[0059] As described in the background art, in the related rope-driven rolling joint technology, the rolling joint adopts the meshing motion of the cycloid convex surface and the cycloid concave surface. However, the cycloid profile curve of this rolling joint is relatively complex, especially the cycloid concave surface, which is not only difficult to process, but also difficult to detect the accuracy of the cycloid concave surface after processing.

[0060] In view of this, an embodiment of the present application provides a joint and a surgical instrument arm that can reduce the difficulty of processing.

[0061] First, refer to Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present application provides a joint 10 for a surgical instrument arm 1 , wherein the joint 10 includes a first joint disc 11 , a second joint disc 12 and an anti-slip mechanism 13 .

[0062] The first joint disc 11 has a first convex surface 111. The second joint disc 12 has a second convex surface 121, wherein the first convex surface 111 and the second convex surface 121 are both continuous curved surfaces, and the second convex surface 121 is in rolling contact with the first convex surface 111. Here, "rolling contact" can also be understood as rolling engagement.

[0063] Further, the anti-slip mechanism 13 is disposed between the first joint disc 11 and the second joint disc 12. It is understandable that the anti-slip mechanism 13 may be a gear meshing mechanism or a friction mechanism, etc.

[0064] The joint 10 provided in the embodiment of the present application is provided with a first convex surface 111 and a second convex surface 121 that are in rolling contact with each other on the first joint disc 11 and the second joint disc 12. In this way, on the one hand, the first convex surface 111 and the second convex surface 121 can be used as rolling meshing surfaces to bear the main load between the first joint disc 11 and the second joint disc 12; on the other hand, the first convex surface 111 and the second convex surface 121 are both convex surfaces. Compared with the cycloid concave surface in the related art, the joint 10 of the present application does not require a fitting curve during processing, which is not only convenient for processing, but also convenient for detecting the processing accuracy of the convex surface after processing, thereby reducing the difficulty of manufacturing. In addition, by providing an anti-skid mechanism 13 between the first joint disc 11 and the second joint disc 12, the load generated by the slipping of the first convex surface 111 and the second convex surface 121 can be borne, thereby preventing the first joint disc 11 and the second joint disc 12 from slipping when meshing, and ensuring the meshing accuracy of the first joint disc 11 and the second joint disc 12.

[0065] In one embodiment, referring to Figure 3 and Figure 4As shown, a first protrusion 112 is provided on a side surface of the first joint disc 11 close to the second joint disc 12, and the first convex surface 111 is provided on the surface of the first protrusion 112. Further, the first convex surface 111 is provided on the top surface of the first protrusion 112. In addition, a second protrusion 122 is provided on a side surface of the second joint disc 12 close to the first joint disc 11, and the second convex surface 121 is provided on the surface of the second protrusion 122. Further, the second convex surface 121 is provided on the top surface of the second protrusion 122.

[0066] In this way, when the first joint disc 11 and the second joint disc 12 are in rolling contact, the rolling contact is mainly through the first protrusion 112 and the second protrusion 122 . Therefore, the load between the first joint disc 11 and the second joint disc 12 is mainly borne by the first protrusion 112 and the second protrusion 122 .

[0067] It is understandable that the number of the first protrusions 112 may be two, and the two first protrusions 112 are symmetrically arranged along the center of the first joint disc 11 . The number of the second protrusions 122 may be two, and the two second protrusions 122 are symmetrically arranged along the center of the second joint disc 12 .

[0068] In one embodiment, referring to Figure 2 and Figure 3 As shown, the first convex surface 111 and the second convex surface 121 are both arc surfaces. Here, it should be noted that the arc surface means that the longitudinal cross-section shape of the first convex surface 111 and the second convex surface 121 is an arc shape.

[0069] Furthermore, the radii of the first convex surface 111 and the second convex surface 121 are equal. In this way, it can be ensured that when the first joint disc 11 and the second joint disc 12 are in rolling engagement, no matter how much the joint 10 rotates within the rotation range, the distance between the center of the first joint disc 11 and the center of the second joint disc 12 remains unchanged, thereby ensuring the activity accuracy of the joint 10, that is, the engagement center distance of the first joint disc 11 and the second joint disc 12 remains unchanged.

[0070] In one embodiment, the maximum rolling engagement angle of the first joint disc 11 and the second joint disc 12 is ±60°. In a preferred embodiment, the maximum rolling engagement angle of the first joint disc 11 and the second joint disc 12 is ±45°.

[0071] Here, the rolling engagement angle refers to a rotation angle of the first joint disk 11 (or the second joint disk 12 ) relative to the second joint disk 12 (or the first joint disk 11 ).

[0072] Further, if the maximum rolling engagement angle of the first joint disc 11 and the second joint disc 12 is ±45°, the arc angle of the first convex surface 111 is 90°, and the arc angle of the second convex surface 121 is 90°.

[0073] In one example, the radius of the first convex surface 111 may be between 0.8 mm and 1.6 mm. For example, the radius of the first convex surface 111 may be 0.8 mm, 1 mm, 1.1 mm, 1.2 mm, 1.3 mm, 1.5 mm, or 1.6 mm. The radius of the second convex surface 121 is equal to the radius of the first convex surface 111, which will not be described in detail.

[0074] In one embodiment, referring to Figure 5 , Figure 6 and Figure 7 As shown, the first convex surface 111 and the second convex surface 121 are both elliptical arc surfaces. Here, it should be noted that the elliptical arc surface means that the longitudinal cross-section shape of the first convex surface 111 and the second convex surface 121 is an elliptical arc shape.

[0075] By configuring the first convex surface 111 and the second convex surface 121 as elliptical arc surfaces, the bearing capacity of the first convex surface 111 and the second convex surface 121 can be improved.

[0076] In one embodiment, referring to Figure 6 and Figure 7 As shown, the first convex surface 111 has a first meshing center line a, and the second convex surface 121 has a second meshing center line b that can overlap with the first meshing center line a. The first convex surface 111 is symmetrical about the first meshing center line a, and the second convex surface 121 is symmetrical about the second meshing center line b. In this way, it can be ensured that the value of the maximum positive angle of the rolling meshing of the first joint disc 11 and the second joint disc 12 is equal to the value of the maximum negative angle of the rolling meshing of the first joint disc 11 and the second joint disc 12.

[0077] Specifically, when the first joint disc 11 and the second joint disc 12 are in the initial state, the first meshing center line a and the second meshing center line b coincide. Assuming that the second joint disc 12 remains fixed, the maximum angle of the first joint disc 11 rotating clockwise (equivalent to the maximum positive angle) is equal to the maximum angle of the first joint disc 11 rotating counterclockwise (equivalent to the maximum negative angle).

[0078] In one example, the semi-major axis of the first convex surface 111 may be between 1.2 mm and 1.6 mm, the semi-minor axis may be between 0.8 mm and 1.2 mm, and the focal length may be between 1.8 mm and 2.1 mm.

[0079] In one embodiment, the anti-slip mechanism 13 includes a first gear portion 131 and a second gear portion 132 meshing with the first gear portion 131. The first gear portion 131 is disposed on a side of the first joint disc 11 close to the second joint disc 12. The second gear portion 132 is disposed on a side of the second joint disc 12 close to the first joint disc 11.

[0080] In this way, the first convex surface 111 and the second convex surface 121 can be prevented from slipping by the mutual engagement of the first gear portion 131 and the second gear portion 132 .

[0081] In the embodiment of the present application, there are two first gear parts 131 symmetrically arranged relative to the center of the first joint disc 11 . There are two second gear parts 132 symmetrically arranged relative to the center of the second joint disc 12 .

[0082] It can be understood that the first gear portion 131 and the second gear portion 132 each include a plurality of meshing teeth 13a. The meshing teeth 13a of the first gear portion 131 and the meshing teeth 13a of the second gear portion 132 mesh with each other.

[0083] In one example, referring to Figure 7 and Figure 8 As shown, the meshing teeth 13 a are involute teeth. By setting the meshing teeth 13 a as involute teeth, the strength of the meshing teeth 13 a can be improved, thereby improving the load-bearing capacity of the first gear portion 131 and the second gear portion 132.

[0084] In another example, referring to Fig.10 As shown, the meshing teeth 13a are single arc gears. By setting the meshing teeth 13a as single arc gears, the load-bearing capacity of the first gear portion 131 and the second gear portion 132 can be further improved.

[0085] In yet another example, referring to Fig.11 As shown, the meshing teeth 13a are double arc gears. By setting the meshing teeth 13a as double arc gears, the load-bearing capacity of the first gear portion 131 and the second gear portion 132 can be further improved.

[0086] In yet another example, referring to Fig.12 As shown, the meshing teeth 13a are herringbone helical gears. By setting the meshing teeth 13a as herringbone helical gears, the load-bearing capacity of the first gear portion 131 and the second gear portion 132 can be further improved.

[0087] In one embodiment, two first limiting surfaces 113 are further provided on the side of the first joint disc 11 close to the second joint disc 12. The two first limiting surfaces 113 are respectively located on the opposite sides of the first convex surface 111. The first limiting surfaces 113 are used to limit the rotation angle of the first joint disc 11 and / or the second joint disc 12.

[0088] By setting the first limiting surface 113 , on the one hand, the rotation angle of the first joint disc 11 and / or the second joint disc 12 can be limited, and on the other hand, the operator can be assisted in determining the rotation angle of the first joint disc 11 and / or the second joint disc 12 .

[0089] In one embodiment, two second limiting surfaces 123 are further provided on the side of the second joint disc 12 close to the first joint disc 11. The two second limiting surfaces 123 are respectively located on the opposite sides of the second convex surface 121. The second limiting surfaces 123 are used to limit the rotation angle of the first joint disc 11 and / or the second joint disc 12.

[0090] By setting the second limiting surface 123 , on the one hand, the rotation angle of the first joint disc 11 and / or the second joint disc 12 can be limited, and on the other hand, the operator can be assisted in determining the rotation angle of the first joint disc 11 and / or the second joint disc 12 .

[0091] It is understandable that, referring to Fig. 9 As shown, in one example, the second limiting surface 123 can be arranged on a side surface of the second joint disc 12 close to the first joint disc 11. Fig.12 As shown, in another example, a limiting protrusion (not shown) is provided on the surface of one side of the second articular disc 12 close to the first articular disc 11, and the second limiting surface 123 is provided on the limiting protrusion. The setting mode of the first limiting surface 113 and the setting mode of the second limiting surface 123 can be the same, and the embodiments of the present application will not be repeated here.

[0092] It should be noted that, refer to Figure 6 and Figure 7 As shown, in one example, the first gear portion 131 can be arranged on the outside of the first protrusion 112, that is, the first gear portion 131 is arranged on the side of the first protrusion 112 away from the center of the first joint disc 11. The second gear portion 132 can be arranged on the outside of the second protrusion 122, that is, the second gear portion 132 is arranged on the side of the second protrusion 122 away from the center of the second joint disc 12. Figure 8 and Fig. 9 As shown, in another example, the first gear portion 131 can be arranged on the inner side of the first protrusion 112, that is, the first gear portion 131 is arranged on the side of the first protrusion 112 close to the center of the first joint disc 11. The second gear portion 132 can be arranged on the inner side of the second protrusion 122, that is, the second gear portion 132 is arranged on the side of the second protrusion 122 close to the center of the second joint disc 12.

[0093] In one embodiment, the material of the first joint disk 11 can be alloy steel, ceramic, etc. Further, the material of the first joint disk 11 can be 630 stainless steel. The meshing teeth 13a can be processed by wire cutting, electric spark cutting, milling, etc.

[0094] It can be understood that the first joint disc 11 is also provided with a first rope hole 114 and a first shaft hole 115, and the second joint disc 12 is also provided with a second rope hole 124 and a second shaft hole 125. The number of the first rope hole 114 and the second rope hole 124 can be multiple, and the first rope hole 114 and the second rope hole 124 are used to pass the drive rope and / or the restraint rope. The first shaft hole 115 is set at the center of the first joint disc 11, and the second shaft hole 125 is set at the center of the second joint disc 12. The first shaft hole 115 and the second shaft hole 125 are used to pass the cable and / or the drive rope.

[0095] The present application embodiment tests the joint 10 in which the first convex surface 111 and the second convex surface 121 are both elliptical arc surfaces. For details, please refer to Fig.13 and Fig.14 As shown, Fig.13 The elliptical contour lines representing the first convex surface 111 and the second convex surface 121, Fig.14 The relationship between the rotation angle and the meshing radius is shown in the figure. Fig.14 It can be seen that at the 0 degree position, the meshing radius of the elliptical arc surface is 1.2 mm, and at the ±45° position, the meshing radius of the elliptical arc surface increases to 1.33 mm. At the ±45° position, the meshing center distance increases from the initial 2.4 mm to 2.5 mm, which will cause the length of the drive rope to increase. However, considering the processing error and the error caused by the drive rope not being in the center of the rope hole, the meshing error of 0.1 mm is small and can be accepted. Furthermore, considering that when the joint 10 deflects to a larger angle, the tension of the drive rope is greater and the elongation is greater, the increase in the meshing center distance is conducive to improving the rigidity of the instrument arm.

[0096] First, refer to Fig.15 and Fig.16 As shown, the embodiment of the present application provides a joint 10 for a surgical instrument arm 1, the joint 10 includes a first joint disc 11, a second joint disc 12 and an articulation mechanism 14. The articulation mechanism 14 is disposed between the first joint disc 11 and the second joint disc 12, and the first joint disc 11 and the second joint disc 12 are both connected to the articulation mechanism 14.

[0097] Furthermore, the joint 10 has a virtual elliptical rolling surface; one of the first joint disc 11 and the second joint disc 12 is configured to rotate relative to the other of the first joint disc 11 and the second joint disc 12 along the virtual elliptical rolling surface.

[0098] Here, it should be noted that when the joint 10 is moving, the articulated mechanism 14 realizes the relative rotation of the first joint disc 11 and the second joint disc 12. Further, when the first joint disc 11 rotates, it can be considered to roll on a virtual elliptical rolling surface, and when the second joint disc 12 rotates, it can be considered to roll on a virtual elliptical rolling surface.

[0099] The joint 10 provided in the embodiment of the present application is provided with an articulation mechanism 14 between the first articular disc 11 and the second articular disc 12, and one of the first articular disc 11 and the second articular disc 12 is made to rotate relative to the other along a virtual elliptical rolling surface. Thus, compared with the method of meshing the cycloid convex surface and the cycloid concave surface in the related art, when processing the articulation mechanism 14, no curved surface fitting is required, so the processing difficulty is lower, thereby reducing the manufacturing difficulty.

[0100] In one embodiment, the hinge mechanism 14 includes a first connecting rod 141 and a second connecting rod 142 that are arranged opposite to each other. The two ends of the first connecting rod 141 are respectively hinged to the first joint disc 11 and the second joint disc 12. The two ends of the second connecting rod 142 are respectively hinged to the first joint disc 11 and the second joint disc 12. The extension direction of the first connecting rod 141 and the extension direction of the second connecting rod 142 intersect each other. Further, the first connecting rod 141 and the second connecting rod 142 are respectively located on both sides of the center of the first joint disc 11, and are respectively located on both sides of the center of the second joint disc 12.

[0101] By providing the first connecting rod 141 and the second connecting rod 142 , the structure of the hinge mechanism 14 can be made simpler, which is convenient for manufacturing and reduces the cost.

[0102] In one embodiment, a first frame 161 is provided on a side surface of the first joint disc 11 close to the second joint disc 12, and a second frame 162 is provided on a side surface of the second joint disc 12 close to the first joint disc 11. Both ends of the first connecting rod 141 are hinged to the first frame 161 and the second frame 162 respectively, and both ends of the second connecting rod 142 are hinged to the first frame 161 and the second frame 162 respectively.

[0103] Furthermore, both ends of the first connecting rod 141 and both ends of the second connecting rod 142 may be provided with hinge shafts, and the first frame 161 and the second frame 162 may be provided with hinge holes, and the hinge shafts are passed through the hinge holes.

[0104] In one embodiment, referring to Fig.17 As shown, the first joint disc 11 has a first virtual elliptical rolling surface 151, and the second joint disc 12 has a second virtual elliptical rolling surface 152, and the first virtual elliptical rolling surface 151 and the second virtual elliptical rolling surface 152 are virtually rollingly engaged. It should be noted that, assuming that the second joint disc 12 remains stationary, when the first joint disc 11 rotates, it can be considered that the first joint disc 11 rolls on the second virtual elliptical rolling surface 152. Assuming that the first joint disc 11 remains stationary, when the second joint disc 12 rotates, it can be considered that the second joint disc 12 rolls on the first virtual elliptical rolling surface 151.

[0105] Specifically, the first connecting rod 141 has a first hinge point 1411 and a second hinge point 1412 that are relatively arranged, the second connecting rod 142 has a third hinge point 1421 and a fourth hinge point 1422 that are relatively arranged, the first virtual elliptical rolling surface 151 has a first focus 1511 and a second focus 1512, and the second virtual elliptical rolling surface 152 has a third focus 1521 and a fourth focus 1522. The first hinge point 1411 coincides with the first focus 1511, the second hinge point 1412 coincides with the third focus 1521, the third hinge point 1421 coincides with the second focus 1512, and the fourth hinge point 1422 coincides with the fourth focus 1522. In this way, when the first joint disc 11 moves relative to the second joint disc 12, it can be ensured that the first joint disc 11 rolls on the second virtual elliptical rolling surface 152. When the second joint disc 12 moves relative to the first joint disc 11, it can be ensured that the second joint disc 12 rolls on the first virtual elliptical rolling surface 151.

[0106] It should be noted that the other structures of the joint 10 in the embodiment of the present application may be the same as the other structures of the joint 10 in any embodiment of the first aspect, and the embodiments of the present application will not be repeated here.

[0107] Thirdly, refer to Figure 1 As shown, an embodiment of the present application provides a surgical instrument arm 1, which includes the joint 10 in any one of the embodiments of the first aspect and the second aspect.

[0108] Specifically, the surgical instrument arm 1 may include a rod body 20, and the joint 10 is connected to the rod body 20. It can be understood that there may be multiple joints 10, and multiple joints 10 may be connected in sequence.

[0109] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0110] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features of the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A joint for a surgical instrument arm (1), characterized in that: include: A first joint disc (11) having a first convex surface (111); a second articular disc (12) having a second convex surface (121), wherein the second convex surface (121) is in rolling contact with the first convex surface (111); and An anti-slip mechanism (13) is arranged between the first joint disc (11) and the second joint disc (12); Wherein, the first convex surface (111) and the second convex surface (121) are both continuous curved surfaces.

2. The joint according to claim 1, characterized in that A first protrusion (112) is provided on a surface of one side of the first joint disc (11) close to the second joint disc (12), and the first convex surface (111) is provided on a surface of the first protrusion (112); A second protrusion (122) is provided on a surface of one side of the second joint disc (12) close to the first joint disc (11), and the second convex surface (121) is provided on the surface of the second protrusion (122).

3. The joint according to claim 1, characterized in that The first convex surface (111) and the second convex surface (121) are both arc surfaces.

4. The joint according to claim 1, characterized in that The first convex surface (111) and the second convex surface (121) are both elliptical arc surfaces.

5. The joint according to claim 4, characterized in that The first convex surface (111) has a first meshing center line, and the second convex surface (121) has a second meshing center line that can coincide with the first meshing center line; The first convex surface (111) is symmetrical about the first meshing center line, and the second convex surface (121) is symmetrical about the second meshing center line.

6. The joint according to any one of claims 1 to 5, characterized in that The anti-slip mechanism (13) comprises: A first gear portion (131) is arranged on a side of the first joint disc (11) close to the second joint disc (12); The second gear portion (132) meshing with the first gear portion (131) is arranged on a side of the second joint disc (12) close to the first joint disc (11).

7. The joint according to any one of claims 1 to 5, characterized in that Two first limiting surfaces (113) are also arranged on a side of the first joint disc (11) close to the second joint disc (12), the two first limiting surfaces (113) are respectively located on two opposite sides of the first convex surface (111), and the first limiting surfaces (113) are used to limit the rotation angle of the first joint disc (11) and / or the second joint disc (12); And / or, two second limiting surfaces (123) are also provided on a side of the second joint disc (12) close to the first joint disc (11), and the two second limiting surfaces (123) are respectively located on two opposite sides of the second convex surface (121), and the second limiting surfaces (123) are used to limit the rotation angle of the first joint disc (11) and / or the second joint disc (12).

8. A joint for a surgical instrument arm (1), characterized in that: include: A first articular disc (11) and a second articular disc (12); as well as An articulated mechanism (14) is arranged between the first joint disc (11) and the second joint disc (12), and the first joint disc (11) and the second joint disc (12) are both connected to the articulated mechanism (14); Wherein, the joint (10) has a virtual elliptical rolling surface; and one of the first joint disc (11) and the second joint disc (12) is configured to rotate relative to the other of the first joint disc (11) and the second joint disc (12) along the virtual elliptical rolling surface.

9. The joint according to claim 8, characterized in that The hinge mechanism (14) comprises a first connecting rod (141) and a second connecting rod (142) which are arranged opposite to each other; The two ends of the first connecting rod (141) are respectively hinged to the first joint disc (11) and the second joint disc (12); the two ends of the second connecting rod (142) are respectively hinged to the first joint disc (11) and the second joint disc (12); the extension direction of the first connecting rod (141) and the extension direction of the second connecting rod (142) intersect each other.

10. The joint according to claim 9, characterized in that The first joint disc (11) has a first virtual elliptical rolling surface (151), and the second joint disc (12) has a second virtual elliptical rolling surface (152), and the first virtual elliptical rolling surface (151) and the second virtual elliptical rolling surface (152) are in virtual rolling engagement; In which, the first connecting rod (141) has a first hinge point (1411) and a second hinge point (1412) which are arranged opposite to each other, the second connecting rod (142) has a third hinge point (1421) and a fourth hinge point (1422) which are arranged opposite to each other, the first virtual elliptical rolling surface (151) has a first focus (1511) and a second focus (1512), and the second virtual elliptical rolling surface (152) has a third focus (1521) and a fourth focus (1522); the first hinge point (1411) coincides with the first focus (1511), the second hinge point (1412) coincides with the third focus (1521), the third hinge point (1421) coincides with the second focus (1512), and the fourth hinge point (1422) coincides with the fourth focus (1522).

11. A surgical instrument arm, characterized in that: Comprising a joint (10) as claimed in any one of claims 1 to 10.

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