Flexible arm, instrument rod and surgical equipment

Abstract

The invention discloses a flexible arm, an instrument rod and surgical equipment, the flexible arm comprises a first joint, a second joint, a first restraining part and a second restraining part which are sequentially arranged along the axis from the far end to the near end, and a first restraining part and a second restraining part of the first restraining part are symmetrical about a second plane; a third restraining part and a fourth restraining part of the second restraining piece are symmetrical about a second plane; the first constraint part and the third constraint part are symmetrical about a first plane, and the second constraint part and the fourth constraint part are symmetrical about the first plane; the first restraining part, the second restraining part, the third restraining part and the fourth restraining part penetrate through the first joint in the direction parallel to the axis, deflect between the first joint and the second joint, penetrate through the first plane and penetrate through the second joint in the direction parallel to the axis. And the first restraining part, the second restraining part, the third restraining part and the fourth restraining part are spatially crossed between the first joint and the second joint. The S-shaped deformation generated when the flexible arm is bent can be effectively restrained.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a flexible arm, an instrument rod and a surgical device. Background Art

[0002] With the advancement of technology, laparoscopic surgery allows doctors to perform surgical treatment through smaller incisions, with shorter hospital stays, safer surgery, and faster recovery. In the field of modern medicine, it is called "surgery to preserve the quality of life."

[0003] In traditional laparoscopic technology, the long-rod surgical instruments used by doctors have only four degrees of freedom, far less than the six degrees of freedom of the object itself. In addition, doctors need a lot of training to overcome the influence of hand-eye coordination and uncertainty in movement direction and proportion. Therefore, the emergence of laparoscopic surgical robots has solved the difficulties of clinical operations.

[0004] The laparoscopic surgical robot has an instrument rod, which usually includes an instrument box, a flexible arm and a tool head connected in sequence, and a driving rope connected to a driving unit in the instrument box is inserted into the flexible arm. During the operation, the tool head and at least part of the flexible arm are inserted into the patient's body, and then the doctor retracts and releases the driving rope by operating the driving unit. After the driving rope is retracted and released, the flexible arm bends in the corresponding direction, and the tool head is driven to move during the bending process of the flexible arm. When the flexible arm is bent at a certain angle, the tool head is driven to move to a designated position. After the tool head moves to the designated position, the patient is operated by operating the tool head. In practice, when the flexible arm is bent, each component in the flexible arm will move sideways under the action of an external load to produce an S-shaped deformation. The appearance of the S-shaped deformation will cause the bending posture of the flexible arm to be unfixed when it bends in the corresponding direction, and finally cause the flexible arm to be unable to drive the tool head to move to the designated position, which seriously affects the smooth progress of the surgical operation. Summary of the invention

[0005] The purpose of the present application is to provide a flexible arm and an instrument rod, which can effectively restrain the S-shaped deformation generated by the flexible arm during the bending process.

[0006] The embodiment of the present application is implemented as follows:

[0007] In the first aspect, the present application provides a flexible arm, which includes a first joint and a second joint arranged in sequence along a vertical axis from a distal end to a proximal end, the first joint rotates around a first axis, the second joint rotates around a second axis, the first axis and the second axis are parallel and both are located in a first plane; the flexible arm also has a second plane orthogonal to the first plane; a first constraint member and a second constraint member, the first constraint member includes a first constraint portion and a second constraint portion, the first constraint portion and the second constraint portion are symmetrical about the second plane, the second constraint member includes a third constraint portion and a fourth constraint portion, the third constraint portion and the fourth constraint portion are symmetrical about the second plane Symmetrical; the first constraint part and the third constraint part are symmetrical about the first plane, and the second constraint part and the fourth constraint part are symmetrical about the first plane; the ends of the first constraint part and the second constraint part are fixed on the joints located at the farthest end or the closest end in the flexible arm; the first constraint part, the second constraint part, the third constraint part and the fourth constraint part pass through the first joint in a direction parallel to the vertical axis, deflect through the first plane between the first joint and the second joint, and pass through the second joint in a direction parallel to the vertical axis; the first constraint part, the second constraint part, the third constraint part and the fourth constraint part cross in space between the first joint and the second joint.

[0008] In one embodiment, the flexible arm also includes a third joint, and the first joint, the third joint and the second joint are connected in sequence from the distal end to the proximal end; the third joint rotates around a third axis, and the third axis is located in the second plane; the first constraint part, the second constraint part, the third constraint part and the fourth constraint part are deflected through the first plane at the third joint; the first constraint part, the second constraint part, the third constraint part and the fourth constraint part are spatially intersected at the third joint.

[0009] In one embodiment, the flexible arm also includes a fourth joint, and the first joint, the third joint, the second joint and the fourth joint are connected in sequence from the distal end to the proximal end; the fourth joint rotates around a fourth axis, and the fourth axis is parallel to the third axis and is located in the second plane; the flexible arm also includes a third constraint and a fourth constraint, and the third constraint includes a fifth constraint part and a sixth constraint part, and the fifth constraint part and the sixth constraint part are symmetrical about the first plane; the fourth constraint includes a seventh constraint part and an eighth constraint part, and the seventh constraint part and the eighth constraint part are symmetrical about the first plane; the fifth constraint part and the seventh constraint part are symmetrical about the second plane, and the sixth constraint part and the eighth constraint part are symmetrical about the second plane; the fifth constraint part, the sixth constraint part, the seventh constraint part and the eighth constraint part pass through the third joint in a direction parallel to the vertical axis, deflect at the second joint to pass through the second plane, and pass through the fourth joint in a direction parallel to the vertical axis; the fifth constraint part, the sixth constraint part, the seventh constraint part and the eighth constraint part intersect in space at the second joint.

[0010] In one embodiment, the first constraint portion, the second constraint portion, the third constraint portion and the fourth constraint portion pass through the fourth joint along a direction parallel to the vertical axis.

[0011] In one embodiment, the fifth constraint portion, the sixth constraint portion, the seventh constraint portion and the eighth constraint portion pass through the first joint along a direction parallel to the vertical axis.

[0012] In one embodiment, the first restraint member also includes a first connecting portion, and one end of the first restraint member is connected to one end of the second restraint member through the first connecting portion; the second restraint member also includes a second connecting portion, and one end of the third restraint member is connected to one end of the fourth restraint member through the second connecting portion.

[0013] In one embodiment, the first connecting portion and the second connecting portion are U-shaped structures.

[0014] In one embodiment, the other end of the first constraint portion is provided with a first terminal, and the other end of the second constraint portion is provided with a second terminal. The other end of the first constraint portion is fixed to the joint at the farthest end or the nearest end of the flexible arm through the first terminal, and the other end of the second constraint portion is fixed to the joint at the farthest end or the nearest end of the flexible arm through the second terminal.

[0015] A third terminal is provided at the other end of the third constraint part, and a fourth terminal is provided at the other end of the fourth constraint part. The other end of the third constraint part is fixed to the joint of the flexible arm at the farthest end or the nearest end through the third terminal, and the other end of the fourth constraint part is fixed to the joint of the flexible arm at the farthest end or the nearest end through the fourth terminal.

[0016] In one embodiment, the third restraint member also includes a third connecting portion, and one end of the fifth restraint member is connected to one end of the sixth restraint member through the third connecting portion; the fourth restraint member also includes a fourth connecting portion, and one end of the seventh restraint member is connected to one end of the eighth restraint member through the fourth connecting portion.

[0017] In one embodiment, the third connection portion and the fourth connection portion are U-shaped structures.

[0018] In one embodiment, the other end of the fifth constraint portion is provided with a fifth terminal, the other end of the sixth constraint portion is provided with a sixth terminal, the other end of the fifth constraint portion is fixed to the joint at the farthest end or the nearest end of the flexible arm through the fifth terminal, and the other end of the sixth constraint portion is fixed to the joint at the farthest end or the nearest end of the flexible arm through the sixth terminal;

[0019] The other end of the seventh constraint part is provided with a seventh terminal, and the other end of the eighth constraint part is provided with an eighth terminal. The other end of the seventh constraint part is fixed to the joint of the flexible arm located at the farthest end or the nearest end through the seventh terminal, and the other end of the eighth constraint part is fixed to the joint of the flexible arm located at the farthest end or the nearest end through the eighth terminal.

[0020] In one embodiment, the flexible arm further includes a plurality of driving ropes, wherein the proximal end of each driving rope is used to be connected to the instrument box, and the distal end of each driving rope is used to be connected to the flexible arm.

[0021] In a second aspect, the present application provides an instrument rod, which, in addition to the above-mentioned flexible arm, also includes an instrument box and a tool head, wherein the tool head, the flexible arm and the instrument box are connected in sequence from the distal end to the proximal end; wherein a plurality of drive wheels are provided in the instrument box, and each drive wheel is used to connect to a different drive rope.

[0022] In one embodiment, the instrument rod further comprises a straight tube, and the tool head, the flexible arm, the straight tube and the instrument box are sequentially connected from the distal end to the proximal end.

[0023] On the third aspect, the present application provides a surgical device, which, in addition to the above-mentioned instrument rod, also includes a main body, in which a plurality of driving elements are provided, each driving element is connected one-to-one with a driving wheel in the instrument box, and each driving element is used to drive the connected driving wheel to rotate.

[0024] The beneficial effects of this application compared with the prior art are:

[0025] In the above technical scheme, the first joint and the second joint with the same rotation direction in the flexible arm are coupled by setting the first constraint member and the second constraint member. At the same time, by setting the first constraint member and the second constraint member and making the first constraint member and the second constraint member be inserted into the first joint and the second joint in a specific insertion manner, the S-shaped deformation caused by the lateral movement of the first joint and the second joint in the flexible arm when the flexible arm is bent is alleviated; further, by alleviating the S-shaped deformation phenomenon caused by the bending of the flexible arm, the flexible arm can bend in the corresponding direction with a fixed bending posture, thereby driving the tool head to move to the specified position, thereby improving the accuracy of surgical control and allowing the surgical operation to proceed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 This is a schematic diagram of the structure of the instrument rod shown in this application;

[0028] Figure 2 A schematic diagram of the instrument box shown in this application;

[0029] Figure 3 Schematic diagram of the installation of the restraint member shown in this application Figure 1 ;

[0030] Figure 4The structure of the flexible arm shown in this application is shown in FIG. Figure 1 ;

[0031] Figure 5 Schematic diagram of the installation of the restraint member shown in this application Figure 2 ;

[0032] Figure 6 This is a schematic diagram of the flexible arm when the flexible arm is observed in a direction perpendicular to the second plane shown in the present application;

[0033] Figure 7 This is a schematic diagram of the bending of the flexible arm shown in this application;

[0034] Figure 8 This is a schematic diagram of the flexible arm when the flexible arm is observed in a direction perpendicular to the first plane shown in the present application;

[0035] Fig. 9 The structure of the flexible arm shown in this application is shown in FIG. Figure 2 ;

[0036] Fig.10 The structure of the flexible arm shown in this application is shown in FIG. Figure 3 ;

[0037] Fig.11 A schematic diagram of a first disc shown in the present application;

[0038] Fig.12 A schematic diagram of a second disc shown in the present application;

[0039] Fig.13 A schematic diagram of a third disc shown in the present application;

[0040] Fig.14 A schematic diagram of a fourth disc shown in the present application;

[0041] Fig.15 A schematic diagram of the fifth disc shown in this application;

[0042] Fig.16 The structure of the flexible arm shown in this application is shown in FIG. Figure 4 ;

[0043] Fig.17 Schematic diagram of the installation of the restraint member shown in this application Figure 3 ;

[0044] Fig.18 Schematic diagram of the installation of the restraint member shown in this application Figure 4 ;

[0045] Fig.19 For this application Fig.18 Bottom schematic diagram of the middle flexible arm;

[0046] Fig. 20 This is a schematic diagram of the installation of the drive rope shown in this application;

[0047] Fig.21 This is a schematic diagram of the first driving wheel and the second driving wheel shown in this application.

[0048] Reference numerals:

[0049] 10-instrument box; 20-straight tube; 30-flexible arm; 31-first joint; 32-second joint; 33-vertical axis; 34-first constraint; 35-second constraint; 36-third joint; 37-fourth joint; 38-third constraint; 39-fourth constraint; 40-tool head; 100-instrument rod; 110-driving wheel; 101-first driving wheel; 102-second driving wheel; 121-first driving rope; 122-second driving rope; 123-third driving rope; 124-fourth driving rope; 311-first axis; 312-second axis; 331-first plane; 332-second plane; 341-first constraint part; 342-second constraint part; 351-third constraint part; 352-fourth constraint part; 361-third axis; 371-fourth axis; 381-fifth constraint part; 382-sixth constraint part; 391-seventh constraint part; 392-eighth constraint part; 510-first disk; 520-second disk; 530-third disk; 540-fourth disk; 550-fifth disk. DETAILED DESCRIPTION

[0050] The terms “first”, “second”, “third”, etc. are only used for distinguishing descriptions and do not indicate the order of arrangement, nor can they be understood as indicating or implying relative importance.

[0051] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0052] In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "up", "down", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the products of the present application are usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0053] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "installed", "connected" and "connected" 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, and it can be the internal connection of two elements.

[0054] Explanation of terminology: The term "snake bone" used in this article refers to the supporting component of the instrument joint. Since this component can not only provide support, but also rotate / deflect as needed, it is similar to the function of a snake's spine.

[0055] The terms "distal" and "proximal" used in this article are directional words, which are commonly used terms in the field of interventional medical devices, where "distal" refers to the end away from the device body during the operation, and "proximal" refers to the end close to the device body during the operation.

[0056] As used herein, "coupling" may be understood as a dynamic connection between two objects.

[0057] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings.

[0058] Embodiment 1:

[0059] This embodiment provides a surgical robot, which includes a control end and a surgical device, and the surgical device includes a body and an instrument rod 100. The instrument rod 100 in this embodiment includes an instrument box 10, a flexible arm 30 and a tool head 40, and the tool head 40, the flexible arm 30 and the instrument box 10 are connected in sequence from the distal end to the proximal end. Of course, it can be understood that if Figure 1 As shown, the instrument rod 100 may also include a straight tube 20, in which a tool head 40, a flexible arm 30, a straight tube 20 and an instrument box 10 are sequentially connected from the distal end to the proximal end. Exemplarily, the tool head 40 may be a surgical tool for performing surgical operations, such as an electric cauterizer, a clamp, a stapler, a shear, an imaging device (such as an endoscope or an ultrasound probe), and the like.

[0060] A plurality of driving ropes are arranged in the flexible arm 30, the proximal end of each driving rope is connected to the instrument box 10, and the distal end of each driving rope is connected to the flexible arm 30. Figure 2 As shown, a plurality of driving wheels 110 are provided in the instrument box 10, and each driving wheel 110 is used to be connected to a different driving rope. A plurality of driving elements are provided in the body of the surgical device, and each driving element is connected to the driving wheel 110 in the instrument box 10 in a one-to-one correspondence, and each driving element is used to drive the connected driving wheel 110 to rotate.

[0061] When performing surgery on a patient, the doctor sends a control command to the surgical equipment through the control end. After receiving the control command, the surgical equipment controls the driving element in the body to operate. After the driving element operates, it drives the driving wheel 110 in the instrument box 10 to operate. After the driving wheel 110 operates, the driving rope connected thereto moves toward the proximal end or the distal end. After the driving rope moves, the joints in the flexible arm 30 rotate. After the joints in the flexible arm 30 rotate, the flexible arm 30 bends in the corresponding direction. During the bending process of the flexible arm 30, the tool head 40 is driven to move. When the flexible arm 30 bends a certain angle, it drives the tool head 40 to move to the specified position. After the tool head 40 moves to the specified position, the patient can be operated by operating the tool head 40.

[0062] However, in practice, when the flexible arm 30 bends, the joints within the flexible arm 30 will move laterally under the action of external loads to produce S-shaped deformation. The appearance of the S-shaped deformation will cause the bending posture of the flexible arm 30 to be unstable when it bends in the corresponding direction, which will ultimately cause the flexible arm 30 to be unable to drive the tool head 40 to move to the specified position, seriously affecting the smooth progress of the surgical operation.

[0063] In order to solve the above problems, this embodiment provides a flexible arm 30 structure. The structure of the flexible arm 30 in this application is explained in detail below:

[0064] In this embodiment, Figure 3 As shown, the flexible arm 30 includes a first joint 31 and a second joint 32 arranged from the distal end to the proximal end along a vertical axis 33. The first joint 31 and the second joint 32 are both snake bones. The first joint 31 rotates around the first axis 311, and the second joint 32 rotates around the second axis 312. The first axis 311 and the second axis 312 are parallel and both located in a first plane 331. The flexible arm 30 also has a second plane 332 that is orthogonal to the first plane 331, and the vertical axis 33 is the intersection of the first plane 331 and the second plane 332.

[0065] The flexible arm 30 also has a first constraint 34 and a second constraint 35, the first constraint 34 includes a first constraint portion 341 and a second constraint portion 342, the first constraint portion 341 and the second constraint portion 342 are symmetrical about the second plane 332, the second constraint 35 includes a third constraint portion 351 and a fourth constraint portion 352, the third constraint portion 351 and the fourth constraint portion 352 are symmetrical about the second plane 332; the first constraint portion 341 and the third constraint portion 351 are symmetrical about the first plane 331, the second constraint portion 342 and the fourth constraint portion 352 are symmetrical about the second plane 332; The first constraint portion 341, the second constraint portion 342, the third constraint portion 351 and the fourth constraint portion 352 are symmetrical about the first plane 331; the first constraint portion 341, the second constraint portion 342, the third constraint portion 351 and the fourth constraint portion 352 pass through the first joint 31 in a direction parallel to the vertical axis 33, deflect between the first joint 31 and the second joint 32 and pass through the first plane 331, and pass through the second joint 32 in a direction parallel to the vertical axis 33; the first constraint portion 341, the second constraint portion 342, the third constraint portion 351 and the fourth constraint portion 352 intersect in space between the first joint 31 and the second joint 32. Figure 3 In order to facilitate the display of the specific composition of the first constraint member 34 and the second constraint member 35, the first joint 31 and the second joint 32 in the flexible arm 30 are omitted.

[0066] The ends of the first constraint 34 and the second constraint 35 are fixed on the joints of the flexible arm 30 located at the farthest end or the closest end; that is, the ends of the first constraint part 341, the second constraint part 342, the third constraint part 351 and the fourth constraint part 352 are fixed on the joints of the flexible arm 30 located at the farthest end or the closest end; wherein, the flexible arm 30 may only include the first joint 31 and the second joint 32, in which case the joint located at the farthest end of the flexible arm 30 is the first joint 31, and the joint located at the closest end of the flexible arm 30 is the second joint 32; or, the flexible arm 30 includes other joints in addition to the first joint 31 and the second joint 32, in which case the joints located at the farthest end and the closest end of the flexible arm 30 are the remaining joints except the first joint 31 and the second joint 32.

[0067] The first joint 31 and the second joint 32 may be directly connected, or the first joint 31 and the second joint 32 may be connected via a connecting member such as a pipe.

[0068] The principle of the first restraining member 34 and the second restraining member 35 restraining the S-shaped deformation is explained below:

[0069] When the first joint 31 rotates leftward around the first axis 311 and the second joint 32 rotates leftward around the second axis 312, the flexible arm 30 rotates leftward according to Figure 3The flexible arm 30 bends leftward in the direction of P1; when the flexible arm 30 bends leftward, the lengths of the first constraint portion 341 and the second constraint portion 342 between the first joint 31 and the second joint 32 remain unchanged, the shortening amount of the first constraint portion 341 and the second constraint portion 342 in the first joint 31 is k1, and the elongation amount of the first constraint portion 341 and the second constraint portion 342 in the second joint 32 is k2; because the first joint 31 and the second joint 32 rotate in a pure rolling manner without relative sliding, when the flexible arm 30 bends, k1=k2, and the lengths of the first constraint portion 341 and the second constraint portion 342 remain unchanged, that is, the length of the first constraint member 34 remains unchanged.

[0070] Similarly, when the flexible arm 30 bends to the left, the lengths of the third constraint portion 351 and the fourth constraint portion 352 between the first joint 31 and the second joint 32 remain unchanged, the elongation of the third constraint portion 351 and the fourth constraint portion 352 in the first joint 31 is k3, and the shortening of the third constraint portion 351 and the fourth constraint portion 352 in the second joint 32 is k4; because the first joint 31 and the second joint 32 both rotate in a pure rolling manner without relative sliding, k3=k4 when the flexible arm 30 bends, and the lengths of the third constraint portion 351 and the fourth constraint portion 352 remain unchanged, that is, the length of the second constraint member 35 remains unchanged.

[0071] Similarly, when the first joint 31 rotates rightward around the first axis 311 and the second joint 32 rotates rightward around the second axis 312, the flexible arm 30 rotates rightward according to Figure 3 The flexible arm 30 bends rightward in the direction of P2; when the flexible arm 30 bends rightward, the lengths of the first constraint portion 341 and the second constraint portion 342 between the first joint 31 and the second joint 32 remain unchanged, the elongation of the first constraint portion 341 and the second constraint portion 342 in the first joint 31 is k1, and the shortening of the first constraint portion 341 and the second constraint portion 342 in the second joint 32 is k2; because the first joint 31 and the second joint 32 rotate in a pure rolling manner without relative sliding, when the flexible arm 30 bends, k1=k2, and the lengths of the first constraint portion 341 and the second constraint portion 342 remain unchanged, that is, the length of the first constraint member 34 remains unchanged.

[0072] Similarly, when the flexible arm 30 bends to the right, the lengths of the third constraint portion 351 and the fourth constraint portion 352 between the first joint 31 and the second joint 32 remain unchanged, the shortening amount of the third constraint portion 351 and the fourth constraint portion 352 in the first joint 31 is k3, and the extension amount of the third constraint portion 351 and the fourth constraint portion 352 in the second joint 32 is k4; because the first joint 31 and the second joint 32 both rotate in a pure rolling manner without relative sliding, k3=k4 when the flexible arm 30 bends, and the lengths of the third constraint portion 351 and the fourth constraint portion 352 remain unchanged, that is, the length of the second constraint member 35 remains unchanged.

[0073] When the flexible arm 30 bends, if the first joint 31 or the second joint 32 moves laterally to produce an S-shaped deformation, the length of the first restraint 34 and the second restraint 35 will change. In this embodiment, when the flexible arm 30 bends, the length of the first restraint 34 and the second restraint 35 remains unchanged, thereby constraining the S-shaped deformation of the first joint 31 and the second joint 32 when the flexible arm 30 bends.

[0074] From the above content, it can be seen that in the present embodiment, the first joint 31 and the second joint 32 having the same rotation direction in the flexible arm 30 are coupled by setting the first constraint member 34 and the second constraint member 35. At the same time, by setting the first constraint member 34 and the second constraint member 35, and making the first constraint member 34 and the second constraint member 35 penetrate into the first joint 31 and the second joint 32 in a specific penetration manner, the S-shaped deformation caused by the lateral movement of the first joint 31 and the second joint 32 in the flexible arm 30 when the flexible arm 30 is bent is alleviated; further, by alleviating the S-shaped deformation phenomenon caused by the bending of the flexible arm 30, the flexible arm 30 can bend in the corresponding direction with a fixed bending posture, thereby driving the tool head 40 to move to the specified position, thereby improving the accuracy of surgical control and enabling the surgical operation to proceed smoothly.

[0075] Embodiment 2:

[0076] like Figure 4 and Figure 5 As shown, in this embodiment, the flexible arm 30 further includes a third joint 36 and a fourth joint 37, and the first joint 31, the third joint 36, the second joint 32 and the fourth joint 37 are connected in sequence from the distal end to the proximal end; the first joint 31 rotates around the first axis 311, the second joint 32 rotates around the second axis 312, the third joint 36 rotates around the third axis 361, and the fourth joint 37 rotates around the fourth axis 371. The first axis 311 is parallel to the second axis 312 and both are located in the first plane 331, and the fourth axis 371 is parallel to the third axis 361 and both are located in the second plane 332. Among them, the rotation axes of two adjacent joints are arranged alternately in an orthogonal manner, for example, the first axis 311 is orthogonal to the third axis 361, the third axis 361 is orthogonal to the second axis 312, and the second axis 312 is orthogonal to the fourth axis 371. Furthermore, in this embodiment, the first axis 311 is parallel to the second axis 312 , and the fourth axis 371 is parallel to the third axis 361 . It can be seen that the rotation axes of the joints in the flexible arm 30 are arranged in an ABAB manner.

[0077] When the flexible arm 30 includes the above-mentioned four joints, the flexible arm 30 still includes a first constraint member 34 and a second constraint member 35. The first constraint portion 341 and the second constraint portion 342 of the first constraint member 34 are still arranged in the first joint 31 and the second joint 32 in the manner of the above-mentioned embodiment 1. The third constraint portion 351 and the fourth constraint portion 352 of the second constraint member 35 are still arranged in the first joint 31 and the second joint 32 in the manner of the above-mentioned embodiment. However, the difference is that in this embodiment, the above-mentioned four constraint portions are deflected through the first plane 331 at the third joint 36 and intersect in space at the third joint 36. The role of the above-mentioned four constraint portions is still to constrain the S-shaped deformation caused by the lateral movement of the first joint 31 and the second joint 32 when the flexible arm 30 is bent. At the same time, in this embodiment, Figure 4 and Figure 5 As shown, the above four constraints can pass through the fourth joint 37 along a direction parallel to the vertical axis 33 .

[0078] However, in this embodiment, when the flexible arm 30 is bent, the third joint 36 and the fourth joint 37 are also prone to move sideways to produce an S-shaped deformation. Therefore, in order to constrain the S-shaped deformation of the third joint 36 and the fourth joint 37 when the flexible arm 30 is bent, the flexible arm 30 in this embodiment further includes a third constraint member 38 and a fourth constraint member 39. Figure 4 and Figure 5 As shown, the third constraint member 38 includes a fifth constraint portion 381 and a sixth constraint portion 382, ​​and the fifth constraint portion 381 and the sixth constraint portion 382 are symmetrical about the first plane 331; the fourth constraint member 39 includes a seventh constraint portion 391 and an eighth constraint portion 392, and the seventh constraint portion 391 and the eighth constraint portion 392 are symmetrical about the first plane 331; the fifth constraint portion 381 and the seventh constraint portion 391 are symmetrical about the second plane 332, and the sixth constraint portion 382 and the eighth constraint portion 392 are symmetrical about the second plane 332; the fifth constraint portion 381, the sixth constraint portion 382, ​​the seventh constraint portion 391 and the eighth constraint portion 392 pass through the third joint 36 in a direction parallel to the vertical axis 33, deflect at the second joint 32 to pass through the second plane 332, and pass through the fourth joint 37 in a direction parallel to the vertical axis 33; the fifth constraint portion 381, the sixth constraint portion 382, ​​the seventh constraint portion 391 and the eighth constraint portion 392 intersect in space at the second joint 32. In this embodiment, as Figure 5 As shown, the fifth constraint portion 381, the sixth constraint portion 382, ​​the seventh constraint portion 391 and the eighth constraint portion 392 can pass through the first joint 31 in a direction parallel to the vertical axis 33. Figure 5In order to facilitate the display of the composition of the first constraint member 34, the second constraint member 35, the third constraint member 38 and the fourth constraint member 39, some components in the first joint 31, the second joint 32, the third joint 36 and the fourth joint 37 are omitted.

[0079] The principle of the first restraining member 34, the second restraining member 35, the third restraining member 38 and the fourth restraining member 39 restraining the S-shaped deformation is explained below:

[0080] like Figure 6 , which is a schematic diagram of the flexible arm 30 when the flexible arm 30 is observed in a direction perpendicular to the second plane 332. Figure 6 The middle fold line abcde represents both the first constraint portion 341 and the second constraint portion 342 , and the fold line fghjk represents both the third constraint portion 351 and the fourth constraint portion 352 .

[0081] When the first joint 31 rotates rightward around the first axis 311 and the second joint 32 rotates rightward around the second axis 312, the flexible arm 30 rotates rightward according to Figure 7 The flexible arm 30 bends to the right in the direction shown; when the flexible arm 30 bends to the right, the lengths of the first constraint portion 341 and the second constraint portion 342 in the third joint 36 and the fourth joint 37 remain unchanged, the elongation of the first constraint portion 341 and the second constraint portion 342 in the first joint 31 is k1, and the shortening of the first constraint portion 341 and the second constraint portion 342 in the second joint 32 is k2; because the first joint 31 and the second joint 32 rotate in a pure rolling manner without relative sliding, k1=k2 when the flexible arm 30 bends, and the lengths of the first constraint portion 341 and the second constraint portion 342 remain unchanged, that is, the length of the first constraint member 34 remains unchanged.

[0082] Similarly, when the flexible arm 30 bends to the right, the lengths of the third constraint portion 351 and the fourth constraint portion 352 in the third joint 36 and the fourth joint 37 remain unchanged, the shortening amount of the third constraint portion 351 and the fourth constraint portion 352 in the first joint 31 is k3, and the extension amount of the third constraint portion 351 and the fourth constraint portion 352 in the second joint 32 is k4; because the first joint 31 and the second joint 32 both rotate in a pure rolling manner without relative sliding, k3=k4 when the flexible arm 30 bends, and the lengths of the third constraint portion 351 and the fourth constraint portion 352 remain unchanged, that is, the length of the second constraint member 35 remains unchanged.

[0083] When the first joint 31 rotates to the left around the first axis 311 and the second joint 32 rotates to the left around the second axis 312, the flexible arm 30 bends to the left; when the flexible arm 30 bends to the left, the lengths of the first constraint portion 341 and the second constraint portion 342 in the third joint 36 and the fourth joint 37 remain unchanged, the shortening amount of the first constraint portion 341 and the second constraint portion 342 in the first joint 31 is k1, and the extension amount of the first constraint portion 341 and the second constraint portion 342 in the second joint 32 is k2; because the first joint 31 and the second joint 32 both rotate in a pure rolling manner without relative sliding, when the flexible arm 30 bends, k1=k2, and the lengths of the first constraint portion 341 and the second constraint portion 342 remain unchanged, that is, the length of the first constraint member 34 remains unchanged.

[0084] Similarly, when the flexible arm 30 bends to the left, the lengths of the third constraint portion 351 and the fourth constraint portion 352 in the third joint 36 and the fourth joint 37 remain unchanged, the elongation of the third constraint portion 351 and the fourth constraint portion 352 in the first joint 31 is k3, and the shortening of the third constraint portion 351 and the fourth constraint portion 352 in the second joint 32 is k4; because the first joint 31 and the second joint 32 both rotate in a pure rolling manner without relative sliding, k3=k4 when the flexible arm 30 bends, and the lengths of the third constraint portion 351 and the fourth constraint portion 352 remain unchanged, that is, the length of the second constraint member 35 remains unchanged.

[0085] When the flexible arm 30 bends, if the first joint 31 or the second joint 32 moves laterally to produce an S-shaped deformation, the length of the first restraint 34 and the second restraint 35 will change. In this embodiment, when the flexible arm 30 bends, the length of the first restraint 34 and the second restraint 35 remains unchanged, thereby constraining the S-shaped deformation of the first joint 31 and the second joint 32 when the flexible arm 30 bends.

[0086] like Figure 8 , which is a schematic diagram of the flexible arm 30 when the flexible arm 30 is observed in a direction perpendicular to the first plane 331. Figure 8 The middle fold line lmnop represents both the fifth constraint portion 381 and the sixth constraint portion 382 , and the fold line qrstu represents both the seventh constraint portion 391 and the eighth constraint portion 392 .

[0087] When the third joint 36 rotates rightward around the first axis 311 and the fourth joint 37 rotates rightward around the second axis 312, the flexible arm 30 rotates rightward according to Figure 8The flexible arm 30 bends rightward in the direction shown by P4; when the flexible arm 30 bends rightward, the lengths of the fifth constraint portion 381 and the sixth constraint portion 382 in the first joint 31 and the second joint 32 remain unchanged, the elongation of the fifth constraint portion 381 and the sixth constraint portion 382 in the third joint 36 is k5, and the shortening of the fifth constraint portion 381 and the sixth constraint portion 382 in the fourth joint 37 is k6; because the third joint 36 and the fourth joint 37 both rotate in a pure rolling manner without relative sliding, when the flexible arm 30 bends, k5=k6, and the lengths of the fifth constraint portion 381 and the sixth constraint portion 382 remain unchanged, that is, the length of the third constraint member 38 remains unchanged.

[0088] Similarly, when the flexible arm 30 bends to the right, the lengths of the seventh constraint portion 391 and the eighth constraint portion 392 in the first joint 31 and the second joint 32 remain unchanged, the shortening amount of the seventh constraint portion 391 and the eighth constraint portion 392 in the third joint 36 is k7, and the extension amount of the seventh constraint portion 391 and the eighth constraint portion 392 in the fourth joint 37 is k8; because the third joint 36 and the fourth joint 37 both rotate in a pure rolling manner without relative sliding, k7=k8 when the flexible arm 30 bends, and the lengths of the seventh constraint portion 391 and the eighth constraint portion 392 remain unchanged, that is, the length of the fourth constraint member 39 remains unchanged.

[0089] When the first joint 31 rotates leftward around the first axis 311 and the second joint 32 rotates leftward around the second axis 312, the flexible arm 30 rotates leftward according to Figure 8 The flexible arm 30 bends leftward in the direction indicated by P3; when the flexible arm 30 bends leftward, the lengths of the fifth constraint portion 381 and the sixth constraint portion 382 in the first joint 31 and the second joint 32 remain unchanged, the shortening amount of the fifth constraint portion 381 and the sixth constraint portion 382 in the third joint 36 is k5, and the extension amount of the fifth constraint portion 381 and the sixth constraint portion 382 in the fourth joint 37 is k6; because the third joint 36 and the fourth joint 37 rotate in a pure rolling manner without relative sliding, when the flexible arm 30 bends, k5=k6, and the lengths of the fifth constraint portion 381 and the sixth constraint portion 382 remain unchanged, that is, the length of the third constraint member 38 remains unchanged.

[0090] Similarly, when the flexible arm 30 bends to the left, the lengths of the seventh constraint portion 391 and the eighth constraint portion 392 in the first joint 31 and the second joint 32 remain unchanged, the elongation of the seventh constraint portion 391 and the eighth constraint portion 392 in the three joints is k7, and the shortening of the seventh constraint portion 391 and the eighth constraint portion 392 in the fourth joint 37 is k8; because the third joint 36 and the fourth joint 37 both rotate in a pure rolling manner without relative sliding, k7=k8 when the flexible arm 30 bends, and the lengths of the seventh constraint portion 391 and the eighth constraint portion 392 remain unchanged, that is, the length of the fourth constraint member 39 remains unchanged.

[0091] When the flexible arm 30 bends, if the third joint 36 or the fourth joint 37 moves laterally to produce an S-shaped deformation, the length of the third restraint 38 and the fourth restraint 39 will change. In this embodiment, when the flexible arm 30 bends, the length of the third restraint 38 and the fourth restraint 39 remains unchanged, thereby constraining the S-shaped deformation of the third joint 36 and the fourth joint 37 when the flexible arm 30 bends.

[0092] Of course, it is understandable that Figure 6 As shown, if the distance between the first constraint part 341, the second constraint part 342, the third constraint part 351 and the fourth constraint part 352 in the first joint 31 and the vertical axis 33 is a1, the distance between the first constraint part 341, the second constraint part 342, the third constraint part 351 and the fourth constraint part 352 in the second joint 32 and the vertical axis 33 is a2, and a1=a2, then the bending angles of the first joint 31 and the second joint 32 are equal to achieve equal curvature bending; if a1≠a2, then the bending angles of the first joint 31 and the second joint 32 are unequal to achieve non-equal curvature bending.

[0093] Of course, it is understandable that Figure 8 As shown, if the distance from the fifth constraint part 381, the sixth constraint part 382, ​​the seventh constraint part 391 and the eighth constraint part 392 in the third joint 36 to the vertical axis 33 is a3, the distance from the fifth constraint part 381, the sixth constraint part 382, ​​the seventh constraint part 391 and the eighth constraint part 392 in the fourth joint 37 to the vertical axis 33 is a4, and a3=a4, then the bending angles of the third joint 36 and the fourth joint 37 are equal to achieve equal curvature bending; if a3≠a4, then the bending angles of the third joint 36 and the fourth joint 37 are unequal to achieve non-equal curvature bending.

[0094] like Fig. 9As shown, the flexible arm 30 in the present application includes a first disc 510, a second disc 520, a third disc 530, a fourth disc 540 and a fifth disc 550 arranged in the direction of the vertical axis 33; the bottom surface of the first disc 510 is provided with two first matching parts arranged in the direction of the first axis 311, and the top surface of the second disc 520 is provided with two second matching parts arranged in the direction of the first axis 311, and the first matching parts and the second matching parts are matched one by one to form a first joint 31; the bottom surface of the second disc 520 is provided with two third matching parts arranged in the direction of the third axis 361, and the top surface of the third disc 530 is provided with a third matching part arranged in the direction of the third axis 361. The third matching parts are provided on the bottom surface of the third disk 530, and the third matching parts match with the fourth matching parts one by one to form the third joint 36; the third disk 530 has two fifth matching parts arranged along the second axis 312 on the bottom surface, and the fourth disk 540 has two sixth matching parts arranged along the second axis 312 on the top surface, and the fifth matching parts match with the sixth matching parts one by one to form the second joint 32; the fourth disk 540 has two seventh matching parts arranged along the fourth axis 371 on the bottom surface, and the fifth disk 550 has two eighth matching parts arranged along the fourth axis 371 on the top surface, and the seventh matching parts match with the eighth matching parts one by one to form the fourth joint 37.

[0095] Among them, one of the two matching matching parts mentioned above can be a protrusion, and the other matching part can be a groove, that is, the two matching matching parts are matched by the matching of the protrusion and the groove, or, one of the two matching matching parts mentioned above can be a convex tooth, and the other matching part can be a concave tooth, that is, the two matching matching parts are matched by the matching of the convex tooth and the concave tooth, or, the two matching matching parts mentioned above are connected with a connecting structure such as a cross spring leaf or a cross rope, and the two matching parts are matched when the above connecting structure is connected between the two matching parts.

[0096] like Fig.10 As shown, when following Fig.10 When observing each disk in the flexible arm 30 in the direction indicated by the middle arrow, it can be obtained Figure 11-Figure 15 , Fig.11 is a schematic diagram of the first disk 510, Fig.12 is a schematic diagram of the second disk 520, Fig.13 is a schematic diagram of the third disk 530, Fig.14 is a schematic diagram of the fourth disk 540, Fig.15 is a schematic diagram of the fifth disk 550. Figure 11-Figure 15 It can be seen that each disc is provided with a rope threading hole for the restraining member to be threaded. The following is a detailed description of the threading method of the first restraining member 34, the second restraining member 35, the third restraining member 38 and the fourth restraining member 39 in the flexible arm 30 in combination with the rope threading hole:

[0097] The first restraining member 34 is provided in the following manner:

[0098] The needle passes through hole 9 on the first disk 510 and hole 9 on the second disk 520 in a direction parallel to the vertical axis 33, passes through hole 9 on the second disk 520, deflects between the second disk 520 and the third disk 530, passes through the first plane 331, and then passes through hole 4 on the third disk 530, and then passes through hole 4 on the fourth disk 540 and hole 4 on the fifth disk 550 in a direction parallel to the vertical axis 33; passes through hole 4 on the fifth disk 550 and then bends 18 After forming a "U"-shaped structure at 0°, it penetrates into the hole 3 on the fifth disk 550, and then passes through the hole 3 on the fourth disk 540 and the hole 3 on the third disk 530 in a direction parallel to the vertical axis 33; after passing through the hole 3 on the third disk 530, it deflects between the second disk 520 and the third disk 530, passes through the first plane 331, and then penetrates into the hole 10 on the second disk 520, and then passes through the hole 10 on the first disk 510 in a direction parallel to the vertical axis 33.

[0099] Among them, the first constraint 34 can be divided into a first constraint portion 341, a first connecting portion and a second constraint portion 342. The above-mentioned "U"-shaped structure is the first connecting portion, the above-mentioned part of the constraint passed through holes 3 and 10 is the first constraint portion 341, and the part of the constraint passed through holes 9 and 4 is the second constraint portion 342. It can be seen that one end of the first constraint portion 341 is connected to the first connecting portion, and the other end of the first constraint portion 341 is the end of the first constraint 34, and one end of the second constraint portion 342 is connected to the first connecting portion, and the other end of the second constraint portion 342 is the end of the first constraint 34. The other end of the first constraint portion 341 may be provided with a first terminal A, and the other end of the second constraint portion 342 may be provided with a second terminal B. The other end of the first constraint portion 341 is fixed to the first joint 31 through the first terminal A, and the other end of the second constraint portion 342 is fixed to the first joint 31 through the second terminal B. Specifically, as Fig.16 As shown, the first terminal A and the second terminal B can be clamped on the top surface of the first disk 510, the other end of the first constraint portion 341 is fixed on the top surface of the first disk 510 through the first terminal A, and the other end of the second constraint portion 342 is fixed on the top surface of the first disk 510 through the second terminal B. Fig.16 It can be seen that the first terminal A and the second terminal B can limit the first restraining member 34 from moving along the vertical axis 33 .

[0100] The second restraining member 35 is provided in the following manner:

[0101] The light passes through the hole 3 on the first disk 510 and the hole 3 on the second disk 520 in a direction parallel to the vertical axis 33, passes through the hole 3 on the second disk 520, deflects between the second disk 520 and the third disk 530, passes through the first plane 331, and then passes through the hole 10 on the third disk 530, and then passes through the hole 10 on the fourth disk 540 and the hole 10 on the fifth disk 550 in a direction parallel to the vertical axis 33; passes through the hole 10 on the fifth disk 550, and then passes through the hole 10 on the fifth disk 550. After bending 180° to form a "U"-shaped structure, it passes through the hole 9 on the fifth disk 550, and then passes through the hole 9 on the fourth disk 540 and the hole 9 on the third disk 530 in a direction parallel to the vertical axis 33; after passing through the hole 9 on the third disk 530, it deflects between the second disk 520 and the third disk 530, passes through the first plane 331, and then passes through the hole 4 on the second disk 520, and then passes through the hole 4 on the first disk 510 in a direction parallel to the vertical axis 33.

[0102] Among them, the second constraint member 35 can be divided into a third constraint portion 351, a second connection portion and a fourth constraint portion 352. The above-mentioned "U"-shaped structure is the second connection portion, the above-mentioned part of the constraint member passing through holes 3 and 10 is the third constraint portion 351, and the part of the constraint member passing through holes 9 and 4 is the fourth constraint portion 352. It can be seen that one end of the third constraint portion 351 is connected to the second connection portion, and the other end of the third constraint portion 351 is the end of the second constraint member 35. One end of the fourth constraint portion 352 is connected to the second connection portion, and the other end of the fourth constraint portion 352 is the end of the second constraint member 35. The other end of the third constraint portion 351 may be provided with a third terminal C, and the other end of the fourth constraint portion 352 may be provided with a fourth terminal D. The other end of the third constraint portion 351 is fixed to the first joint 31 through the third terminal C, and the other end of the fourth constraint portion 352 is fixed to the first joint 31 through the fourth terminal D. Specifically, as Fig.16 As shown, the third terminal C and the fourth terminal D can be clamped on the top surface of the first disk 510, the other end of the third constraint portion 351 is fixed on the top surface of the first disk 510 through the third terminal C, and the other end of the fourth constraint portion 352 is fixed on the top surface of the first disk 510 through the fourth terminal D. Fig.16 It can be seen that the third terminal C and the fourth terminal D can limit the second restraining member 35 from moving along the direction of the vertical axis 33 .

[0103] The third restraining member 38:

[0104] The arc passes through hole 1 on the first disk 510, hole 1 on the second disk 520 and hole 1 on the third disk 530 in a direction parallel to the vertical axis 33, passes through hole 1 on the third disk 530, deflects between the third disk 530 and the fourth disk 540, passes through the second plane 332, and then passes through hole 6 on the fourth disk 540, and then passes through hole 6 on the fifth disk 550 in a direction parallel to the vertical axis 33; passes through hole 6 on the fifth disk 550 and then bends 18 After forming a "U"-shaped structure at 0°, it penetrates into the hole 7 on the fifth disk 550, and then passes through the hole 7 on the fourth disk 540 in a direction parallel to the vertical axis 33. After passing through the hole 7 on the fourth disk 540, it deflects between the third disk 530 and the fourth disk 540, passes through the second plane 332, and then penetrates into the hole 12 on the third disk 530, and then passes through the hole 12 on the second disk 520 and the hole 12 on the first disk 510 in a direction parallel to the vertical axis 33.

[0105] Among them, the third constraint part 38 can be divided into a fifth constraint part 381, a third connection part and a sixth constraint part 382. The above-mentioned "U"-shaped structure is the third connection part, the above-mentioned part of the constraint part passing through holes 1 and 6 is the fifth constraint part 381, and the part of the constraint part passing through holes 7 and 12 is the sixth constraint part 382. It can be seen that one end of the fifth constraint part 381 is connected to the third connection part, and the other end of the sixth constraint part 382 is the end of the third constraint part 38, and one end of the sixth constraint part 382 is connected to the third connection part, and the other end of the sixth constraint part 382 is the end of the third constraint part 38. The other end of the fifth constraint part 381 can be provided with a fifth terminal E, and the other end of the sixth constraint part 382 can be provided with a sixth terminal F. The other end of the fifth constraint part 381 is fixed to the first joint 31 through the fifth terminal E, and the other end of the sixth constraint part 382 is fixed to the first joint 31 through the sixth terminal F. Specifically, as Fig.16 As shown, the fifth terminal E and the sixth terminal F can be clamped on the top surface of the first disk 510, the other end of the fifth constraint portion 381 is fixed on the top surface of the first disk 510 through the fifth terminal E, and the other end of the sixth constraint portion 382 is fixed on the top surface of the first disk 510 through the sixth terminal F. Fig.16 It can be seen that the fifth terminal E and the sixth terminal F can limit the third restraining member 38 from moving along the direction of the vertical axis 33 .

[0106] Fourth restraining member 39:

[0107] The arc passes through the hole 6 on the first disk 510, the hole 6 on the second disk 520, and the hole 6 on the third disk 530 in a direction parallel to the vertical axis 33, passes through the hole 6 on the third disk 530, deflects between the third disk 530 and the fourth disk 540, passes through the second plane 332, and then passes through the hole 1 on the fourth disk 540, and then passes through the hole 1 on the fifth disk 550 in a direction parallel to the vertical axis 33; passes through the hole 1 on the fifth disk 550 and then bends 18 After forming a "U"-shaped structure at 0°, it penetrates into the hole 12 on the fifth disk 550, and then passes through the hole 12 on the fourth disk 540 in a direction parallel to the vertical axis 33. After passing through the hole 12 on the fourth disk 540, it deflects between the third disk 530 and the fourth disk 540, passes through the second plane 332, and then penetrates into the hole 7 on the third disk 530, and then passes through the hole 7 on the second disk 520 and the hole 7 on the first disk 510 in a direction parallel to the vertical axis 33.

[0108] Among them, the fourth constraint part 39 can be divided into a seventh constraint part 391, a fourth connection part and an eighth constraint part 392. The above-mentioned "U"-shaped structure is the fourth connection part, the above-mentioned part of the constraint part passing through holes 1 and 6 is the seventh constraint part 391, and the part of the constraint part passing through holes 7 and 12 is the eighth constraint part 392. It can be seen that one end of the seventh constraint part 391 is connected to the fourth connection part, and the other end of the seventh constraint part 391 is the end of the fourth constraint part 39, and one end of the eighth constraint part 392 is connected to the fourth connection part, and the other end of the eighth constraint part 392 is the end of the fourth constraint part 39. The other end of the seventh constraint part 391 can be provided with a seventh terminal G, and the other end of the eighth constraint part 392 can be provided with an eighth terminal H. The other end of the seventh constraint part 391 is fixed to the first joint 31 through the seventh terminal G, and the other end of the eighth constraint part 392 is fixed to the first joint 31 through the eighth terminal H. Specifically, as Fig.16 As shown, the seventh terminal G and the eighth terminal H can be clamped on the top surface of the first disk 510, the other end of the seventh constraint portion 391 is fixed on the top surface of the first disk 510 through the seventh terminal G, and the other end of the eighth constraint portion 392 is fixed on the top surface of the first disk 510 through the eighth terminal H. Fig.16 It can be seen that the seventh terminal G and the eighth terminal H are used to limit the fourth restraining member 39 from moving along the direction of the vertical axis 33 .

[0109] In the above embodiment, the first restraint member 34, the second restraint member 35, the third restraint member 38 and the fourth restraint member 39 are all installed from the first joint 31 to the fourth joint 37, and then installed from the fourth joint 37 to the first joint 31. Of course, it can be understood that if Fig.17As shown, the first constraint member 34, the second constraint member 35, the third constraint member 38 and the fourth constraint member 39 can also be passed through the fourth joint 37 to the first joint 31, and then passed through the first joint 31 to the fourth joint 37. The passing method is the same as above. The difference is that at this time, the first terminal A and the second terminal B are clamped on the bottom surface of the fifth disk 550, the other end of the first constraint portion 341 is fixed to the bottom surface of the fifth disk 550 through the first terminal A, and the other end of the second constraint portion 342 is fixed to the bottom surface of the fifth disk 550 through the second terminal B. At the same time, the "U"-shaped structure corresponding to the first connecting portion is formed on the first disk 510.

[0110] The third terminal C and the fourth terminal D are clamped on the bottom surface of the fifth disk 550, the other end of the third constraint portion 351 is fixed on the bottom surface of the fifth disk 550 through the third terminal C, and the other end of the fourth constraint portion 352 is fixed on the bottom surface of the fifth disk 550 through the fourth terminal D. At the same time, the "U"-shaped structure corresponding to the second connecting portion is formed on the first disk 510.

[0111] The fifth terminal E and the sixth terminal F can be clamped on the bottom surface of the fifth disk 550, the other end of the fifth constraint portion 381 is fixed on the bottom surface of the fifth disk 550 through the fifth terminal E, and the other end of the sixth constraint portion 382 is fixed on the bottom surface of the fifth disk 550 through the sixth terminal F. At the same time, the "U"-shaped structure corresponding to the third connecting portion is formed on the first disk 510.

[0112] The seventh terminal G and the eighth terminal H can be clamped on the bottom surface of the fifth disk 550, the other end of the seventh constraint portion 391 is fixed to the bottom surface of the fifth disk 550 through the seventh terminal G, and the other end of the eighth constraint portion 392 is fixed to the bottom surface of the fifth disk 550 through the eighth terminal H. At the same time, the "U"-shaped structure corresponding to the fourth connecting portion is formed on the first disk 510.

[0113] Of course, it is understandable that Fig.18 As shown, the first constraint 34 and the second constraint 35 can be installed from the first joint 31 to the fourth joint 37, and then installed from the fourth joint 37 to the first joint 31; the third constraint 38 and the fourth constraint 39 can be installed from the fourth joint 37 to the first joint 31, and then installed from the first joint 31 to the fourth joint 37. Fig.18As shown, the first terminal A and the second terminal B are clamped on the top surface of the first disk 510, the other end of the first constraint portion 341 is fixed on the top surface of the first disk 510 through the first terminal A, the other end of the second constraint portion 342 is fixed on the top surface of the first disk 510 through the second terminal B, and the "U"-shaped structure corresponding to the first connection portion is formed on the fifth disk 550. The third terminal C and the fourth terminal D can be clamped on the top surface of the first disk 510, the other end of the third constraint portion 351 is fixed on the top surface of the first disk 510 through the third terminal C, the other end of the fourth constraint portion 352 is fixed on the top surface of the first disk 510 through the fourth terminal D, and the "U"-shaped structure corresponding to the second connection portion is formed on the fifth disk 550.

[0114] like Fig.19 As shown, the fifth terminal E and the sixth terminal F can be clamped on the bottom surface of the fifth disk 550, the other end of the fifth constraint portion 381 is fixed on the bottom surface of the fifth disk 550 through the fifth terminal E, and the other end of the sixth constraint portion 382 is fixed on the bottom surface of the fifth disk 550 through the sixth terminal F. At the same time, the "U"-shaped structure corresponding to the third connection portion is formed on the first disk 510. The seventh terminal G and the eighth terminal H can be clamped on the bottom surface of the fifth disk 550, the other end of the seventh constraint portion 391 is fixed on the bottom surface of the fifth disk 550 through the seventh terminal G, and the other end of the eighth constraint portion 392 is fixed on the bottom surface of the fifth disk 550 through the eighth terminal H. At the same time, the "U"-shaped structure corresponding to the fourth connection portion is formed on the first disk 510.

[0115] Embodiment three:

[0116] When the first constraint 34, the second constraint 35, the third constraint 38 and the fourth constraint 39 are all inserted into the flexible arm 30 in the manner of being inserted from the first joint 31 to the fourth joint 37 and then inserted from the fourth joint 37 to the first joint 31, the first constraint 34 and the second constraint 35 may not be inserted into the fourth joint 37 except in the manner described in the above-mentioned second embodiment, that is, the first constraint 34 and the second constraint 35 are not inserted into the fifth disk 550, and the "U"-shaped structure corresponding to the first connection part and the second connection part is formed in the fourth disk 540. When the first constraint 34 and the second constraint 35 are inserted in the above-mentioned manner, the principle of the first constraint 34 and the second constraint 35 to restrict the S-shaped deformation of the first joint 31 and the second joint 32 when the flexible arm 30 is bent is described in detail in the first embodiment, and will not be repeated here.

[0117] Embodiment 4:

[0118] When the first constraint 34, the second constraint 35, the third constraint 38 and the fourth constraint 39 are all inserted into the flexible arm 30 in the manner of being inserted from the fourth joint 37 to the first joint 31 and then inserted from the first joint 31 to the fourth joint 37, the third constraint 38 and the fourth constraint 39 may not be inserted into the first joint 31 except in the manner described in the second embodiment, that is, the third constraint 38 and the fourth constraint 39 are not inserted into the first disc 510 at this time, and the "U"-shaped structure corresponding to the third connection part and the fourth connection part is formed in the second disc 520. When the third constraint 38 and the fourth constraint 39 are inserted into the flexible arm 30 in the above-mentioned insertion manner and the flexible arm 30 is bent, the length of the third constraint 38 and the fourth constraint 39 only in the second joint 32 remains unchanged, and then the S-shaped deformation of the third joint 36 and the fourth joint 37 generated when the flexible arm 30 is bent is constrained according to the principle described in the second embodiment, which will not be repeated here.

[0119] The "U"-shaped structure in the above embodiment can be a 180° semicircular arc, or a "U"-shaped curve composed of a 90° arc connected to a straight line and then a 90° arc, or a "U"-shaped curve composed of a 90° arc connected to other curves and then a 90° arc.

[0120] Embodiment five:

[0121] like Fig. 20 As shown, the flexible arm 30 further includes a first drive rope 121, a second drive rope 122, a third drive rope 123 and a fourth drive rope 124. Figure 11-Figure 15 As shown, the first drive rope 121 passes through the hole 11 on the first disk 510, the hole 11 on the second disk 520, the hole 11 on the third disk 530, the hole 11 on the fourth disk 540 and the hole 11 on the fifth disk 550 in sequence; the second drive rope 122 passes through the hole 5 on the first disk 510, the hole 5 on the second disk 520, the hole 5 on the third disk 530, the hole 5 on the fourth disk 540 and the hole 5 on the fifth disk 550 in sequence; the third drive rope 123 passes through the hole 2 on the first disk 510, the hole 2 on the second disk 520, the hole 2 on the third disk 530, the hole 2 on the fourth disk 540 and the hole 2 on the fifth disk 550 in sequence; the fourth drive rope 124 passes through the hole 8 on the first disk 510, the hole 8 on the second disk 520, the hole 8 on the third disk 530, the hole 8 on the fourth disk 540 and the hole 8 on the fifth disk 550 in sequence. The first drive rope 121, the second drive rope 122, the third drive rope 123 and the fourth drive rope 124 are constrained by the small hole and can only move along the axial direction of the hole, but cannot move along the radial direction of the hole. After being perforated in the above manner, the first drive rope 121, the second drive rope 122, the third drive rope 123 and the fourth drive rope 124 pass through the straight tube 20 and are connected to the drive wheel 110 in the instrument box 10. Fig.21 As shown, the first drive rope 121 and the second drive rope 122 are connected to the first drive wheel 101, and the third drive rope 123 and the fourth drive rope 124 are connected to the second drive wheel 102. Specifically, the first drive wheel 101 is equipped with two winding wheels, and the first drive rope 121 and the second drive rope 122 are respectively wound on the two winding wheels, and the winding directions of the first drive rope 121 and the second drive rope 122 are the same; the second drive wheel 102 is equipped with two winding wheels, and the third drive rope 123 and the fourth drive rope 124 are respectively wound on the two winding wheels, and the winding directions of the third drive rope 123 and the fourth drive rope 124 are the same. Exemplarily, the first drive rope 121, the second drive rope 122, the third drive rope 123 and the fourth drive rope 124 can be flexible materials such as wire or rope, or can be flexible materials such as alloy wire / steel wire.

[0122] When the first driving wheel 101 rotates forward, the first driving rope 121 is driven to move toward the proximal end, and the second driving rope 122 is driven to move toward the distal end. When the second driving wheel 102 rotates forward, the fourth driving rope 124 is driven to move toward the proximal end, and the third driving rope 123 is driven to move toward the distal end; the first disc 510 rotates in the first direction around the first axis 311, and at this time, under the action of the first constraint 34 and the second constraint 35, the third disc 530 rotates in the first direction around the second axis 312. In other words, at this time, the first joint 31 rotates in the first direction around the first axis 311, and the second joint 32 rotates in the first direction around the second axis 312. If the two joints are bent with equal curvature, they rotate at equal angles; if the two joints are bent with non-equal curvatures, they rotate at different angles.

[0123] When the first driving wheel 101 rotates in the reverse direction, the second driving rope 122 is driven to move toward the proximal end, and the first driving rope 121 is driven to move toward the distal end. When the second driving wheel 102 rotates in the reverse direction, the third driving rope 123 is driven to move toward the proximal end, and the fourth driving rope 124 is driven to move toward the distal end; the first disc 510 rotates in the second direction around the first axis 311, and at this time, under the action of the first constraint 34 and the second constraint 35, the third disc 530 rotates in the second direction around the second axis 312. In other words, at this time, the first joint 31 rotates in the second direction around the first axis 311, and the second joint 32 rotates in the second direction around the second axis 312. If the two joints are bent with equal curvature, they rotate at equal angles; if the two joints are bent with non-equal curvatures, they rotate at different angles.

[0124] When the first driving wheel 101 rotates in the reverse direction, the second driving rope 122 is driven to move toward the proximal end, and the first driving rope 121 is driven to move toward the distal end. When the second driving wheel 102 rotates in the forward direction, the fourth driving rope 124 is driven to move toward the proximal end, and the third driving rope 123 is driven to move toward the distal end. The second disc 520 rotates in the second direction around the third axis 361, and at this time, under the action of the third constraint 38 and the fourth constraint 39, the fourth disc 540 rotates in the second direction around the fourth axis 371. In other words, at this time, the third joint 36 rotates in the second direction around the third axis 361, and the fourth joint 37 rotates in the second direction around the fourth axis 371. If the two joints are bent with equal curvature, they rotate at equal angles; if the two joints are bent with non-equal curvatures, they rotate at different angles.

[0125] When the first driving wheel 101 rotates forward, the first driving rope 121 is driven to move toward the proximal end, and the second driving rope 122 can move toward the distal end. When the second driving wheel 102 rotates reversely, the third driving rope 123 is driven to move toward the proximal end, and the fourth driving rope 124 can move toward the distal end. The second disc 520 rotates in the first direction around the third axis 361. At this time, under the action of the third constraint 38 and the fourth constraint 39, the fourth disc 540 rotates in the first direction around the fourth axis 371. In other words, at this time, the third joint 36 rotates in the first direction around the third axis 361, and the fourth joint 37 rotates in the first direction around the fourth axis 371. If the two joints are bent with equal curvature, they rotate at equal angles; if the two joints are bent with unequal curvatures, they rotate at different angles.

[0126] The first direction and the second direction are two opposite directions.

[0127] Figure 11-Figure 15 The arrangement of the holes in the middle only represents an exemplary arrangement. The holes are distributed in multiple circles, and the holes with the same serial number are located in different positions on different snake bones, which are also within the scope of protection of this application.

[0128] It can be seen from the above embodiments that the advantages of this application are:

[0129] 1) The constraint of the present application can enable multiple joints with the same or similar motion to achieve the same-direction coupled rotation, thereby increasing the rotation angle and activity space of the joints;

[0130] 2) If the above-mentioned restraints do not exist, a drive rope needs to be set in each joint. It can be seen that the setting of the restraints in the present application reduces the number of drive ropes, thereby reducing the overall size of the flexible arm 30, including the external transverse size (e.g., diameter). The relatively small size is more suitable for narrow lumens or other natural channels of the human body;

[0131] 3) The present application sets a constraint to constrain the S-shaped deformation of the joints in the flexible arm 30 when the flexible arm 30 is bent, thereby more accurately controlling the movement and positioning of the flexible arm 30 and improving the control accuracy.

[0132] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A flexible arm, characterized in that: The flexible arm comprises: A first joint and a second joint are arranged in sequence along a vertical axis from the distal end to the proximal end, the first joint rotates around a first axis, the second joint rotates around a second axis, the first axis and the second axis are parallel and both located in a first plane; the flexible arm further has a second plane orthogonal to the first plane; A first restraint member and a second restraint member, wherein the first restraint member includes a first restraint portion and a second restraint portion, the first restraint portion and the second restraint portion are symmetrical about the second plane, and the second restraint member includes a third restraint portion and a fourth restraint portion, the third restraint portion and the fourth restraint portion are symmetrical about the second plane; the first restraint portion and the third restraint portion are symmetrical about the first plane, and the second restraint portion and the fourth restraint portion are symmetrical about the first plane; ends of the first restraint member and the second restraint member are fixed to the joint at the farthest end or the closest end in the flexible arm; The first constraint portion, the second constraint portion, the third constraint portion and the fourth constraint portion pass through the first joint in a direction parallel to the vertical axis, deflect through the first plane between the first joint and the second joint, and pass through the second joint in a direction parallel to the vertical axis; the first constraint portion, the second constraint portion, the third constraint portion and the fourth constraint portion intersect in space between the first joint and the second joint.

2. The flexible arm according to claim 1, characterized in that: The flexible arm further comprises a third joint, wherein the first joint, the third joint and the second joint are connected in sequence from the distal end to the proximal end; the third joint rotates around a third axis, and the third axis is located in the second plane; The first constraint portion, the second constraint portion, the third constraint portion and the fourth constraint portion are deflected through the first plane at the third joint; the first constraint portion, the second constraint portion, the third constraint portion and the fourth constraint portion are spatially intersected at the third joint.

3. The flexible arm according to claim 2, characterized in that: The flexible arm further comprises a fourth joint, wherein the first joint, the third joint, the second joint and the fourth joint are connected in sequence from the distal end to the proximal end; The fourth joint rotates around a fourth axis, the fourth axis is parallel to the third axis and is located in the second plane; The flexible arm further comprises: A third restraining member includes a fifth restraining portion and a sixth restraining portion, wherein the fifth restraining portion and the sixth restraining portion are symmetrical about the first plane; a fourth restraining member, comprising a seventh restraining portion and an eighth restraining portion, wherein the seventh restraining portion and the eighth restraining portion are symmetrical about the first plane; The fifth constraint portion and the seventh constraint portion are symmetrical about the second plane, and the sixth constraint portion and the eighth constraint portion are symmetrical about the second plane; The fifth constraint portion, the sixth constraint portion, the seventh constraint portion and the eighth constraint portion pass through the third joint in a direction parallel to the vertical axis, deflect through the second plane at the second joint, and pass through the fourth joint in a direction parallel to the vertical axis; the fifth constraint portion, the sixth constraint portion, the seventh constraint portion and the eighth constraint portion intersect in space at the second joint.

4. The flexible arm according to claim 3, characterized in that: The first constraint portion, the second constraint portion, the third constraint portion, and the fourth constraint portion pass through the fourth joint along a direction parallel to the vertical axis.

5. The flexible arm according to claim 3, characterized in that: The fifth constraint portion, the sixth constraint portion, the seventh constraint portion, and the eighth constraint portion pass through the first joint in a direction parallel to the vertical axis.

6. The flexible arm according to claim 1 or 4, characterized in that: The first restraining member further includes a first connecting portion, and one end of the first restraining portion is connected to one end of the second restraining portion through the first connecting portion; The second restraining member further includes a second connecting portion, and one end of the third restraining portion is connected to one end of the fourth restraining portion through the second connecting portion.

7. The flexible arm according to claim 6, characterized in that: The first connecting portion and the second connecting portion are U-shaped structures.

8. The flexible arm according to claim 6, characterized in that: The other end of the first constraint portion is provided with a first terminal, and the other end of the second constraint portion is provided with a second terminal. The other end of the first constraint portion is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the first terminal, and the other end of the second constraint portion is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the second terminal. The other end of the third constraint part is provided with a third terminal, and the other end of the fourth constraint part is provided with a fourth terminal. The other end of the third constraint part is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the third terminal, and the other end of the fourth constraint part is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the fourth terminal.

9. The flexible arm according to claim 3 or 5, characterized in that: The third restraining member further includes a third connecting portion, and one end of the fifth restraining portion is connected to one end of the sixth restraining portion through the third connecting portion; The fourth restraining member further includes a fourth connecting portion, and one end of the seventh restraining portion is connected to one end of the eighth restraining portion through the fourth connecting portion.

10. The flexible arm according to claim 9, characterized in that The third connecting portion and the fourth connecting portion are U-shaped structures.

11. The flexible arm according to claim 9, characterized in that The other end of the fifth constraint portion is provided with a fifth terminal, the other end of the sixth constraint portion is provided with a sixth terminal, the other end of the fifth constraint portion is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the fifth terminal, and the other end of the sixth constraint portion is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the sixth terminal; The other end of the seventh constraint part is provided with a seventh terminal, and the other end of the eighth constraint part is provided with an eighth terminal. The other end of the seventh constraint part is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the seventh terminal, and the other end of the eighth constraint part is fixed to the joint located at the farthest end or the nearest end of the flexible arm through the eighth terminal.

12. The flexible arm according to claim 1, characterized in that The flexible arm further comprises: A plurality of driving ropes are provided, wherein the proximal end of each driving rope is used to be connected to the instrument box, and the distal end of each driving rope is used to be connected to the flexible arm.

13. An instrument rod, characterized in that: In addition to the flexible arm as described in any one of claims 1-12, it also includes an instrument box and a tool head, wherein the tool head, the flexible arm and the instrument box are connected in sequence from the distal end to the proximal end; wherein a plurality of drive wheels are provided in the instrument box, and each of the drive wheels is used to be connected to a different drive rope.

14. The instrument rod according to claim 13, characterized in that: The instrument rod also includes: The straight tube, the tool head, the flexible arm, the straight tube and the instrument box are connected in sequence from the distal end to the proximal end.

15. A surgical device, characterized in that: In addition to the instrument rod as described in claim 13 or 14, it also includes a main body, in which a plurality of driving elements are arranged, each of which is connected to a driving wheel in the instrument box in a one-to-one correspondence, and each of which is used to drive the connected driving wheel to rotate.

Images