Surgical instrument rod

Abstract

The invention relates to a surgical instrument rod for endoscopic surgery. Comprising a plurality of sets of bending joints and a plurality of active driving parts, each set of bending joints comprises a first rotating part and a second rotating part, each set of bending joints further comprises a rotating supporting rod, the two ends of each rotating supporting rod are movably connected with the corresponding first rotating part and the corresponding second rotating part respectively, each first rotating part is provided with a first guiding part, and each second rotating part is provided with a second guiding part; the first guide part and the second guide part are matched to achieve symmetrical rotation of the first rotating piece and the second rotating piece. According to the technical scheme, symmetrical rotation of the bending joints is achieved, the active driving parts are consistent in retracting and releasing, the driving parts are simple in movement path, and movement precision and control precision are improved conveniently.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a surgical instrument rod. 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, reverse movement, uncertain proportions and other factors. Therefore, the emergence of laparoscopic surgical robots has solved the difficulties of clinical operations.

[0004] The rotation structure of the existing instrument rod bending joint rotates around a single axis, and a number of equal drive ropes are arranged on both sides of the rotation axis. The drive ropes on both sides are arranged symmetrically, one is pulled and the other is released to control the rotation direction and angle of the joint. However, when a joint with single-axis rotation is used, the moving distance of the drive rope when pulling and the moving distance of the drive rope when releasing are not equal when the joint rotates. Pulling and releasing require different drive source control, which hinders the further reduction of the size of the surgical instrument; secondly, the distances from the driving rope for pulling and the driving rope for releasing to the rotation axis are also not equal, and the change in the driving force of the driving source is also different, resulting in different deformation of the drive rope, which affects the control accuracy of the joint rotation. Therefore, the joint structure currently used in laparoscopic surgical robot instruments has the following defects: 1) The structure is complex and requires four joint components to achieve multi-plane bending; 2) The drive rope needs to follow the angle formed by the joint bending, which will generate greater friction during movement, affecting the life of the rope and the control accuracy of the joint structure; 3) The joint rotation is asymmetric, which will lead to inconsistent lengths of the contraction and release of the drive rope, increasing the complexity of control; at the same time, during the joint rotation process, the lengths of the force arms from the ropes on both sides to the rotation center are inconsistent, and the force is unbalanced. Summary of the invention

[0005] Based on this, a surgical instrument rod is provided, which solves the technical problem of how to make the bending joint symmetrical and rotate to ensure the control accuracy of the driving part.

[0006] The objectives of the present invention can be achieved through the following technical solutions: a surgical instrument rod, comprising multiple groups of bending joints and multiple active driving parts, each group of the bending joints comprising a first rotating part and a second rotating part, the multiple active driving parts at least pass through part of the rotating parts, each group of the bending joints also includes a rotating support rod, the two ends of the rotating support rod are respectively movably connected to the first rotating part and the second rotating part, the first rotating part has a first guide part on the side facing the second rotating part, the second rotating part has a second guide part on the side facing the first rotating part, the first guide part is sleeved on the outside of the second guide part, the first guide part and the second guide part cooperate to realize the symmetrical rotation of the first rotating part and the second rotating part, the rotating support rod is arranged inside the first guide part and the second guide part, and the two adjacent groups of the bending joints are connected by a connecting part.

[0007] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the bending joint has two rotation origins through the active connection cooperation between the rotating support rod and the first rotating member and the second rotating member, and the first guiding part and the second guiding part cooperate to make the first rotating member and the second rotating member realize symmetrical rotation. Since the distance between the two rotation origins on the rotating support rod is always kept fixed, the first rotating member and the second rotating member rotate on these two rotation origins, so that the change amount of the active driving members passing through the two symmetrical sides of the bending joint is kept consistent during the movement. When the bending joint is driven to bend to the left, the shortened dimension of the active driving member on the left is equal to the extended dimension of the active driving member on the right, thereby ensuring the control accuracy of the driving member.

[0008] In the above surgical instrument rod, a passive constraint member is also included, and each of two adjacent groups of bending joints is provided with a plurality of identical passive constraint members, and the passive constraint member starts from one bending joint and ends at another adjacent bending joint;

[0009] When the instrument rod is in a straight extension state, one end of the passive constraint member is wound around the instrument rod 180° compared to the other end along the straight extension direction of the instrument rod, and the winding position of the passive constraint member is located at the connecting member between two adjacent groups of the bending joints.

[0010] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the passive constraint part is passed through two adjacent groups of bending joints, linking the rotational relationship of the two bending joints together, because the passive constraint part is wound 180° at the connecting part between the two groups of bending joints, which makes the path of the passive constraint part in one group of bending joints and the path in the other group of bending joints just located on both sides of the instrument rod, so that when one group of bending joints bends toward one side, affected by the unchanged length of the passive constraint part, the other group of bending joints must also bend toward the same side, so that the effect is achieved that two adjacent bending joints can bend toward one side at the same time but cannot bend toward different sides, which solves the technical problem of S-deformation due to force when the instrument rod is under load.

[0011] In the above-mentioned surgical instrument rod, the first rotating member and the second rotating member have a disk, and the disk has a plurality of through holes, and the active driving member and the passive restraining member pass through the through holes.

[0012] In the above surgical instrument rod, the first guide portion has a non-spherical circular surface, and the second guide portion has a cylindrical surface matching the first guide portion;

[0013] Alternatively, the first guide portion has a cylindrical surface, and the second guide portion has a non-spherical surface matching the first guide portion.

[0014] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the first guide portion and the second guide portion are not spherical fit, and the first rotating member and the second rotating member are symmetrically rotated through specific curved surface fit. When the bending joint is driven to bend to the left, the shortened dimension of the left active driving member is equal to the extended dimension of the right active driving member, thereby ensuring the control accuracy of the driving member.

[0015] In the above-mentioned surgical instrument rod, both ends of the rotating support rod are rotating spherical surfaces, and the first rotating member and the second rotating member respectively have grooves that cooperate with the rotating spherical surfaces, and the grooves are spherical or hemispherical. The first rotating member and the second rotating member can rotate around the center of the corresponding rotating spherical surface.

[0016] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the matching of the rotating spherical surface and the groove enables the first rotating member and the second rotating member to realize free rotation in any direction in space compared to the rotating support rod, so that only two rotating members are needed to realize rotation with four degrees of freedom.

[0017] In the above-mentioned surgical instrument rod, the first rotating member, the second rotating member and the rotating support rod all have a central through hole, and the central through hole constitutes a passage that passes through the bending joint, and the passage passes through the first guide part, the second guide part and the two rotating spherical surfaces.

[0018] Compared with the prior art, the technical effect achieved by adopting this technical solution is that the passage running through the inside of the bending joint can provide a channel for the cable or drive rope of the surgical tool head, which can further help to reduce the size of the instrument rod.

[0019] In the above-mentioned surgical instrument rod, the middle through holes of the first rotating member and the second rotating member each have two-section channels, the groove is arranged at the connection between the first section channel and the second section channel, the rotating support rod is arranged in the first section channel and stops at the groove, the first section channel is arranged on the side of the second rotating member close to the first rotating member, and the end of the first section channel facing the second rotating member is a bell mouth.

[0020] Compared with the prior art, the technical effect achieved by adopting this technical solution is that the setting of the bell mouth is conducive to increasing the angle amplitude of the mutual rotation between the first rotating member and the second rotating member.

[0021] In the above-mentioned surgical instrument rod, it also includes a distal fixing member and a proximal fixing member, the distal fixing member is fixed to one end of the multiple groups of bending joints, the proximal fixing member is fixed to the other end of the multiple groups of bending joints, and the active driving member passes through the proximal fixing member.

[0022] In the above-mentioned surgical instrument rod, the connecting piece has a hollow channel, and the hollow channel is connected to the passage.

[0023] The technical solution of the present invention provides a bending joint and a surgical instrument rod composed thereof. The bending joint can realize bending in any bending plane and realize symmetrical rotation of two rotating parts. Such a bending joint has a compact structure, and the active driving part is retracted and released in unison, and the active driving part has a simple motion path, which is convenient for improving motion accuracy and control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is an overall schematic diagram of a surgical instrument rod according to an embodiment of the present invention;

[0025] Figure 2 An exploded view of a local structure of a surgical instrument rod according to an embodiment of the present invention;

[0026] Figure 3 It is a cross-sectional schematic diagram of a surgical instrument rod according to an embodiment of the present invention;

[0027] Figure 4 For the present invention Figure 3 Enlarged view of area B;

[0028] Figure 5 is a cross-sectional schematic diagram of a bending joint according to an embodiment of the present invention;

[0029] Figure 6 It is a cross-sectional schematic diagram of another embodiment of the bending joint of the present invention.

[0030] In the figure, 10, proximal fixing member;

[0031] 20. bending joint; 21. first rotating member; 211. first guide portion; 212. first disc; 22. second rotating member; 221. second guide portion; 222. second disc; 23. rotating support rod; 231. first rotating spherical surface; 2311. auxiliary circle 1; 232. second rotating spherical surface; 2321. auxiliary circle 2; 24. connecting member;

[0032] 30. Distal fixing member;

[0033] 40. Passive restraints;

[0034] 50. Active drive components. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention 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 invention. However, the present invention 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 invention, so the present invention is not limited by the specific embodiments disclosed below.

[0036] In the description of the present invention, 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 invention 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 limiting the present invention.

[0037] 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 the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0038] In the present invention, 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 the present invention can be understood according to specific circumstances.

[0039] In the present invention, 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" or "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" or "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.

[0040] 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 are not intended to be the only implementation method.

[0041] like Figures 1 to 6As shown, a surgical instrument rod includes multiple groups of bending joints 20 and multiple active driving members 50, each group of bending joints 20 includes a first rotating member 21 and a second rotating member 22, and multiple active driving members 50 at least pass through some of the rotating members. Each group of bending joints 20 also includes a rotating support rod 23, and the two ends of the rotating support rod 23 are respectively movably connected to the first rotating member 21 and the second rotating member 22. The first rotating member 21 has a first guide portion 211 on the side facing the second rotating member 22, and the second rotating member 22 has a second guide portion 221 on the side facing the first rotating member 21. The first guide portion 211 is sleeved on the outside of the second guide portion 221, and the first guide portion 211 and the second guide portion 221 cooperate to realize the symmetrical rotation of the first rotating member 21 and the second rotating member 22. The rotating support rod 23 is arranged inside the first guide portion 211 and the second guide portion 221, and the two adjacent groups of bending joints 20 are connected by a connecting member 24. The bending joint 20 adopted in this solution can realize bending in any bending plane and realize symmetrical rotation of two rotating parts. Such a bending joint 20 has a compact structure, and the active driving part 50 is retracted and extended in unison, which is convenient for improving movement accuracy and control accuracy.

[0042] The specific structure is described in detail below with reference to the accompanying drawings.

[0043] See Figure 1 As shown, the entire surgical instrument rod body is composed of multiple groups of bending joints 20 combined together by a connector 24, wherein the bending joints 20 at both ends are respectively connected to a distal fixing member 30 and a proximal fixing member 10, the proximal fixing member 10 is used to connect to the driving source (not shown) or the surgical arm (not shown) of the entire instrument rod, and the distal fixing member 30 is used to connect to the surgical tool head (not shown). In the figure, the active driving member 50 extends from the driving source, passes through the proximal fixing member 10 and multiple groups of bending joints 20 and extends to the distal fixing member 30. The active driving member 50 may not pass through the distal fixing member 30, but only to the bending joint 20 connected to the distal fixing member 30, and of course, it may also pass through the distal fixing member 30.

[0044] It should be noted that the active driving member 50 is used to drive the instrument rod to move, and the material can be alloy wire, nickel-titanium alloy wire, tungsten wire rope, etc. The active driving member 50 can have different extension ends according to different driving sources. For example, if the number of driving sources is small, the active driving member 50 directly extends to the farthest bending joint 20, such as Figure 1Only three active driving members 50 are needed at least to realize the bending of the instrument rod in four directions. If there are many driving sources, the number of active driving members 50 can be increased, and some active driving members 50 extend to the middle bending joint 20. According to the number of groups of active driving members 50, each group of active driving members 50 has no less than three active driving members, so that the instrument rod can be bent in multiple different directions. Another advantage of driving the instrument rod in groups by using active driving members 50 is that the technical problem of S-deformation caused by force on the instrument rod can be solved. Because the rotation directions between every two bending joints 20 may be opposite, it is necessary for the active driving member 50 to drive each bending joint 20 separately.

[0045] See Figure 2 and Figure 4 As shown, the structure of the bending joint 20 includes a first rotating member 21, a second rotating member 22 and a rotating support rod 23. The first rotating member 21 and the second rotating member 22 both have through holes in the middle, wherein the rotating support rod 23 is arranged in the through holes of the first rotating member 21 and the second rotating member 22. The two ends of the rotating support rod 23 respectively have rotating spherical surfaces, and the through holes of the first rotating member 21 and the second rotating member 22 both have grooves that match the rotating spherical surfaces. The grooves are spherical or hemispherical, and the first rotating member 21 and the second rotating member 22 can rotate around the center of the corresponding rotating spherical surfaces. The rotating member structure includes a disc and a guide part. The first guide part 211 is arranged on the side of the disc of the first rotating member 21 facing the second rotating member 22, and the second guide part 221 is arranged on the side of the disc of the second rotating member 22 facing the first rotating member 21. The first guide part 211 is sleeved on the outside of the second guide part 221. Such a structural design enables the first rotating member 21 and the second rotating member 22 to rotate based on the rotating spherical surface of the rotating support rod 23, so that the first rotating member 21 and the second rotating member 22 can rotate relative to the rotating support rod 23. The first disc 212 and the second disc 222 have a plurality of holes at the same distance from the center of the disc, and these holes are used to pass the active driving member 50. When the first rotating member 21 and the second rotating member 22 rotate on the two rotating spherical surfaces of the rotating support rod 23 and are limited by the first guide part 211 and the second guide part 221, the first rotating member 21 and the second rotating member 22 can rotate symmetrically. When the first rotating member 21 and the second rotating member 22 achieve symmetrical rotation, the active driving member 50 located on the disc and passing through the symmetrical two-side holes has the same retraction and extension length, so that the driving source is under precise control of the active driving member 50 in the symmetrical direction, so that the bending angle and the position of the instrument rod after bending can be controlled.

[0046] Furthermore, the first rotating member 21, the second rotating member 22 and the rotating support rod 23 all have a through hole in the middle, and the through hole in the middle constitutes a passage that passes through the bending joint 20, and the passage passes through the first guide portion 211, the second guide portion 221 and the two rotating spherical surfaces. The through holes in the middle of the first rotating member 21 and the second rotating member 22 both have two sections of channels, and a groove is provided at the connection between the first section of the channel and the second section of the channel. The rotating support rod 23 is provided in the first section of the channel of the first rotating member 21 and the second rotating member 22 and stops at the groove. The side of the second rotating member 22 close to the first rotating member 21 is the first section of the channel, and the end of the first section of the channel facing the second rotating member 22 is a bell mouth, see Figure 4 .

[0047] For further information, see Figure 3 and Figure 4 The center of the connecting piece 24 also has a hollow channel, which is connected to the passage of the bending joint 20, so that the entire instrument rod is connected in the center part from the proximal end to the distal end. This through part can be used to pass the cable or drive rope of the surgical tool head, which can simplify the structure of the instrument rod and help reduce the diameter of the instrument rod.

[0048] refer to Figure 5 As shown, when the bending joint 20 rotates, the first rotating member 21 and the second rotating member 22 rotate symmetrically. Figure 5 Take the cross section as an example for analysis and explanation, the center of the first rotating spherical surface 231 and the center of the second rotating spherical surface 232 are used as reference points, and auxiliary circles 1 2311 and 2321 are made, and the radius of these two auxiliary circles is the same and tangent. In order to realize that the first rotating member 21 and the second rotating member 22 are symmetrically rotated, the auxiliary circles 1 2311 and 2321 need to perform pure rotation during the rotation process, and no sliding can occur. In this motion mode, a fixed point is taken on the first rotating member 21, and the motion trajectory of this point relative to the second rotating member 22 is a fixed arc. The cylindrical surface where this point is located is used as the first guide part 211 of the first rotating member 21, and the non-spherical surface where the fixed arc trajectory is located is used as the second guide part 221 of the second rotating member 22. In this way, the mutual cooperation of the first guide part 211 and the second guide part 221 limits the rotation mode of the first rotating member 21 and the second rotating member 22 to symmetrical rotation.

[0049] It should be noted that a fixed point may also be taken on the second rotating member 22, and the fixed point has a fixed arc track compared to the first rotating member 21. Figure 6 As shown, the first guide portion 211 is an aspherical circular surface, and the second guide portion 221 is a cylindrical surface. It can be understood that the cylindrical surface where the fixed point is located is used as one of the guide portions to simplify the structure, and the cylindrical surface can be replaced by an arc cylindrical surface or a spherical surface.

[0050] Furthermore, on the basis of the symmetrical rotation of the bending joint 20, in order to solve the S-deformation of the instrument rod, a passive constraint 40 is added. Figure 2 and Figure 3 , a plurality of identical passive restraints 40 are provided on the discs of each two adjacent bending joints 20, and the passive restraints 40 start from one bending joint 20 and end at another adjacent bending joint 20. Figure 2 As shown, when the instrument rod is in a straight extension state, one end of the passive constraint 40 is connected to the first disk 212 of one of the bending joints 20, and the passive constraint 40 passes through the second disk 222 of the bending joint 20, and is wound at the connecting member 24 between the two bending joints 20. After rotating 180° around the connecting member 24, it continues to pass through the first disk 212 and the second disk 222 of the other bending joint 20, and the other end of the passive constraint 40 is connected to the second disk 222 of the other bending joint 20. With this solution, the passive constraint 40 is passed through two adjacent groups of bending joints 20, linking the rotational relationship of the two bending joints 20 together, because the passive constraint 40 is wound 180° at the connecting member 24 between the two groups of bending joints 20, which makes the path of the passive constraint 40 in one group of bending joints 20 and the path in the other group of bending joints 20 just located on both sides of the instrument rod axis as the boundary. This ensures that when one set of bending joints 20 bends toward one side, the other set of bending joints 20 must also bend toward the same side due to the unchanged length of the passive constraint 40. This achieves the effect that two adjacent bending joints 20 can bend toward one side at the same time but cannot bend toward different sides. This solves the technical problem of S-deformation caused by force when the instrument rod is under load.

[0051] It should be noted that the passive restraint members 40 on the connecting member 24 can be wound in one direction, or the passive restraint members 40 symmetrically located on both sides of the instrument rod can be grouped together and wound in opposite directions.

[0052] The specific situation of the S-deformation mentioned above needs to be explained. Figure 3Take the left view as an example, when the instrument rod is in the initial straight state, an external force is applied to the distal end of the instrument rod, and the force direction is perpendicular to the instrument rod. The bending joint 20 at the force receiving position and the adjacent bending joint 20 on the proximal side will jointly cause S-deformation. Although the instrument rod is provided with an active driving member 50, when the driving source does not drive the active driving member 50, its length relative to the bending joint 20 on the instrument rod is also fixed, but the active driving member 50 cannot avoid S-deformation. Because the active driving member 50 is provided on the disc of the bending joint 20, except for the fixed relationship with the disc of the most distal bending joint 20, the discs of other bending joints 20 are all movable with each other. When subjected to external force, the active driving member 50 is like two long opposite sides of a parallelogram. After the four internal angles of the parallelogram change, the lengths of the two long opposite sides remain unchanged. That is to say, two adjacent sets of bending joints 20 and the active driving member 50 disposed thereon form a structure similar to a parallelogram. After the external force is applied, the two bending joints 20 rotate, but the length of the active driving member 50 remains unchanged. In the above case, the instrument rod undergoes an approximately S-shaped deformation after being subjected to external force, which is the S-deformation technical problem existing in the instrument rod.

[0053] 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 in 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.

[0054] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A surgical instrument rod, comprising a plurality of sets of bending joints (20) and a plurality of active driving members (50), each set of the bending joints (20) comprising a first rotating member (21) and a second rotating member (22), the plurality of active driving members (50) passing through at least part of the rotating members, characterized in that: Each group of bending joints (20) further comprises a rotation support rod (23), the two ends of which are respectively movably connected to the first rotating member (21) and the second rotating member (22); the first rotating member (21) has a first guide portion (211) on the side facing the second rotating member (22); the second rotating member (22) has a second guide portion (221) on the side facing the first rotating member (21); the first guide portion (211) is sleeved on the outside of the second guide portion (221); the first guide portion (211) and the second guide portion (221) cooperate to achieve symmetrical rotation of the first rotating member (21) and the second rotating member (22); the rotation support rod (23) is arranged inside the first guide portion (211) and the second guide portion (221); and two adjacent groups of bending joints (20) are connected via a connecting member (24).

2. The surgical instrument rod according to claim 1, characterized in that: It also includes a passive constraint member (40), wherein each of two adjacent groups of the bending joints (20) is provided with a plurality of identical passive constraint members (40), and the passive constraint member (40) starts from one bending joint (20) and ends at another adjacent bending joint (20); When the instrument rod is in a straight extension state, one end of the passive constraint member (40) is wound around the instrument rod 180° compared to the other end along the straight extension direction of the instrument rod, and the winding position of the passive constraint member (40) is located at the connecting member (24) between two adjacent groups of the bending joints (20).

3. The surgical instrument rod according to claim 2, characterized in that: The first rotating member (21) and the second rotating member (22) have a disk, the disk has a plurality of through holes, and the active driving member (50) and the passive restraining member (40) pass through the through holes.

4. The surgical instrument rod according to claim 1, characterized in that: The first guide portion (211) has a non-spherical surface, and the second guide portion (221) has a cylindrical surface matching the first guide portion (211); Alternatively, the first guide portion (211) has a cylindrical surface, and the second guide portion (221) has a non-spherical surface matching the first guide portion.

5. The surgical instrument rod according to claim 1, characterized in that: The two ends of the rotating support rod (23) are rotating spherical surfaces. The first rotating member (21) and the second rotating member (22) are respectively provided with grooves matching the rotating spherical surfaces. The grooves are spherical or hemispherical. The first rotating member (21) and the second rotating member (22) can rotate around the center of the corresponding rotating spherical surface.

6. The surgical instrument rod according to claim 5, characterized in that: The first rotating member (21), the second rotating member (22) and the rotating support rod (23) all have a central through hole, and the central through hole constitutes a passage that penetrates the bending joint (20), and the passage passes through the first guide part (211), the second guide part (221) and the two rotating spherical surfaces.

7. The surgical instrument rod according to claim 6, characterized in that: The middle through holes of the first rotating member (21) and the second rotating member (22) both have two sections of channels, the groove is arranged at the connection between the first section of the channel and the second section of the channel, the rotating support rod (23) is arranged in the first section of the channel and stops at the groove, the first section of the channel is arranged on a side of the second rotating member (22) close to the first rotating member (21), and one end of the first section of the channel facing the second rotating member (22) is a bell mouth.

8. The surgical instrument rod according to claim 1, characterized in that: It also includes a distal fixing member (30) and a proximal fixing member (10), wherein the distal fixing member (30) is fixed to one end of the plurality of groups of bending joints (20), and the proximal fixing member (10) is fixed to the other end of the plurality of groups of bending joints (20), and the active driving member (50) passes through the proximal fixing member (10).

9. The surgical instrument rod according to claim 6, characterized in that: The connecting piece (24) has a hollow channel, and the hollow channel is connected to the passage.

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