Flexible arm, instrument rod and surgical equipment

Abstract

The embodiment of the invention provides a flexible arm, an instrument rod and surgical equipment. The flexible arm comprises a first connecting disc, a second connecting disc and a plurality of first connecting pieces, and the first connecting disc and the second connecting disc are arranged at intervals from the far end to the near end; each first connecting piece is connected between the first connecting disc and the second connecting disc, the first connecting pieces are obliquely arranged relative to the first connecting disc, and the first connecting pieces are obliquely arranged relative to the second connecting disc. The first connecting pieces can generate force opposite to external load acting force on the plane where the first connecting pieces are located when the flexible arm bears the external load acting force, the possibility that the flexible arm deforms due to the external load acting force is reduced, and the operation precision of the surgical equipment comprising the flexible arm can be improved. After the load is released, the possibility of rapid springback of the flexible arm can be reduced, and the surgical risk can be reduced; and the surgical equipment comprising the flexible arm can be popularized to more clinical departments.

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 surgeries, and faster recovery. For laparoscopic surgery, medical devices are an important factor in its development.

[0003] In medical device technology, how to improve the ability of surgical equipment to resist deformation due to external loads is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The embodiments of the present application provide a flexible arm, an instrument rod and a surgical device, which can improve the ability of the flexible arm to resist deformation under external loads.

[0005] In a first aspect, the present application provides a flexible arm, comprising a first connecting plate, a second connecting plate, and a plurality of first connecting members, wherein the first connecting plate and the second connecting plate are arranged at intervals from the distal end to the proximal end; each of the first connecting members is connected between the first connecting plate and the second connecting plate, and the first connecting member is inclined relative to the first connecting plate, and the first connecting member is inclined relative to the second connecting plate.

[0006] In the above technical scheme, the first connecting plate and the second connecting plate are arranged at intervals from the distal end to the proximal end, each first connecting member is connected between the first connecting plate and the second connecting plate, and the first connecting member is inclined relative to the first connecting plate. The first connecting member is inclined relative to the second connecting plate, so that on the plane where the multiple first connecting members are located, when the flexible arm is subjected to the external load force, due to the anti-deformation effect of the first connecting member, a force opposite to the external load force can be generated, thereby reducing the possibility of deformation of the flexible arm due to the external load force, and the flexible arm can better maintain its original state, which is beneficial to improving the operating accuracy of the surgical equipment including the flexible arm; after the load is released, the external load force is removed, and due to the anti-deformation effect of the first connecting member, a force opposite to the external load release force can be generated, thereby reducing the possibility of rapid rebound of the flexible arm, which is beneficial to reducing the surgical risk; since the flexible arm can withstand a larger external load, it is also beneficial to promote surgical equipment including the flexible arm to more clinical departments.

[0007] In some embodiments of the present application, a plurality of first connecting members are symmetrically arranged relative to the center of the first connecting disk.

[0008] In the above technical solution, by arranging the multiple first connecting members symmetrically relative to the center of the first connecting disk, when the first connecting disk and the second connecting disk are subjected to the force of the external load in multiple directions, the multiple first connecting members can better provide the force opposite to the force of the external load, thereby further reducing the possibility of deformation of the flexible arm due to the force of the external load.

[0009] In some embodiments of the present application, the connection point between the first connecting member and the first connecting disk is connected to the center of the first connecting disk to form a first line, and the connection point between the first connecting member and the second connecting disk is connected to the center of the second connecting disk to form a second line. From the distal end to the proximal end, the projection of the first line and the projection of the second line form a first angle θ, satisfying 90°≤θ≤180°.

[0010] In the above technical solution, by connecting the connection point between the first connecting member and the first connecting disk and the center of the first connecting disk to form a first line, and connecting the connection point between the first connecting member and the second connecting disk and the center of the second connecting disk to form a second line, from the distal end to the proximal end, the projection of the first line and the projection of the second line form a first angle θ, satisfying 90°≤θ≤180°, so that the connection point between the first connecting member and the first connecting disk and the connection point between the first connecting member and the second connecting disk are located on both sides of the central axis of the first connecting disk, so that when one of the first connecting disk and the second connecting disk is subjected to the force of an external load, a larger force opposite to the force of the external load can be provided by multiple first connecting members, which can further reduce the possibility of deformation of the flexible arm due to the force of the external load.

[0011] In some embodiments of the present application, a connection point between each first connector and the first connection disk is connected to the center of the first connection disk to form a first connection line, and a plurality of first connection lines are evenly spaced along the circumference of the first connection disk.

[0012] In the above technical solution, by connecting the connection point between each first connecting member and the first connecting disk and the center of the first connecting disk to form a first connecting line, multiple first connecting lines are evenly spaced along the circumference of the first connecting disk, so that multiple first connecting members can be evenly distributed in the circumference of the first connecting disk. When the flexible arm is subjected to external load force, the first connecting disk, the second connecting disk, and multiple first connecting members are subjected to force more evenly, which can further improve the force performance of the flexible arm, which is conducive to further improving the ability of the flexible arm to resist deformation under external loads.

[0013] In some embodiments of the present application, along the radial direction of the first connecting disk, projections of the plurality of first connecting members overlap.

[0014] In the above technical solution, along the radial direction of the first connecting disk, the projections of the multiple first connecting members overlap, that is, the multiple first connecting members are cross-arranged, so that when the first connecting disk and the second connecting disk are subjected to the force of the external load, the multiple first connecting members can simultaneously provide a force opposite to the force of the external load, which can further reduce the possibility of deformation of the flexible arm due to the force of the external load.

[0015] In some embodiments of the present application, a plurality of first connecting members are cross-arranged in the middle of the interval space between the first connecting plate and the second connecting plate.

[0016] In the above technical solution, by cross-arranging multiple first connecting members in the middle of the spacing space between the first connecting plate and the second connecting plate, when the first connecting plate and the second connecting plate are subjected to the force of an external load, the multiple first connecting members can be subjected to uniform force, and the force provided opposite to the force of the external load can be uniform, which can reduce the possibility of stress concentration caused by the force of the external load, further improve the force-bearing capacity of the flexible arm, and further reduce the possibility of deformation of the flexible arm caused by the force of the external load.

[0017] In some embodiments of the present application, along the radial direction of the first connecting disk, the projections of every two adjacent first connecting members do not overlap.

[0018] In the above technical solution, along the radial direction of the first connecting disk, the projections of each two adjacent first connecting members do not overlap, that is, along the circumferential direction of the first connecting disk, multiple first connecting members are arranged in sequence at intervals, which can facilitate the connection of multiple first connecting members with the first connecting disk and the second connecting disk respectively, and can improve the preparation efficiency of the flexible arm.

[0019] In some embodiments of the present application, the flexible arm also includes a plurality of second connecting members, each second connecting member is connected between the first connecting disk and the second connecting disk, the second connecting member is inclined relative to the first connecting disk, and the second connecting member is inclined relative to the second connecting disk; the plurality of first connecting members are evenly spaced around the circumference of the first connecting disk in a clockwise direction, and the plurality of second connecting members are evenly spaced around the circumference of the first connecting disk in a counterclockwise direction.

[0020] In the above technical solution, the flexible arm also includes multiple second connecting parts, each second connecting part is connected between the first connecting plate and the second connecting plate, the second connecting parts are inclined relative to the first connecting plate, and the second connecting parts are inclined relative to the second connecting plate, so that on the plane where the multiple second connecting parts are located, when the flexible arm is subjected to the external load force, due to the anti-deformation effect of the second connecting part, a force opposite to the external load force can be generated, thereby reducing the possibility of the flexible arm being deformed by the external load force, and the flexible arm can better maintain its original state, which is beneficial to improving the operating accuracy of the surgical equipment including the flexible arm; after the load is released, the external load force is removed, and due to the anti-deformation effect of the second connecting part, a force opposite to the external load release force can be generated, thereby reducing the possibility of rapid rebound of the flexible arm, which is beneficial to reducing surgical risks; since the flexible arm can withstand a larger external load, it is also beneficial to promote surgical equipment including the flexible arm to more clinical departments. By arranging multiple first connecting members evenly spaced in a clockwise direction around the circumference of the first connecting disk and arranging multiple second connecting members evenly spaced in a counterclockwise direction around the circumference of the first connecting disk, the first connecting members and the second connecting members can provide forces in two intersecting directions. Therefore, when the flexible arm is subjected to an external load force, the first connecting member and the second connecting member can provide forces opposite to the external load force in different directions, which can further reduce the possibility of deformation of the flexible arm due to the external load force, which is beneficial to further improve the operating accuracy of the surgical equipment including the flexible arm, and can further reduce the possibility of rapid rebound of the flexible arm, which is beneficial to further reduce the surgical risk.

[0021] In some embodiments of the present application, the flexible arm also includes a third connecting disk, a plurality of third connecting members and a plurality of fourth connecting members, the third connecting disk being arranged at the proximal end of the second connecting disk and being spaced apart from the second connecting disk; each third connecting member is connected between the second connecting disk and the third connecting disk, the third connecting member is inclined relative to the second connecting disk, and the third connecting member is inclined relative to the third connecting disk; each fourth connecting member is connected between the first connecting disk and the third connecting disk, the fourth connecting member is inclined relative to the first connecting disk, and the fourth connecting member is inclined relative to the third connecting disk.

[0022] In the above technical scheme, the third connecting disk is arranged at the proximal end of the second connecting disk and is arranged with intervals with the second connecting disk; each third connecting member is connected between the second connecting disk and the third connecting disk, the third connecting member is arranged obliquely relative to the second connecting disk, and the third connecting member is arranged obliquely relative to the third connecting disk, so that on the plane where multiple third connecting members are located, when the flexible arm is subjected to the external load force, due to the anti-deformation effect of the third connecting member, a force opposite to the external load force can be generated, thereby reducing the possibility of the flexible arm being deformed by the external load force, and the flexible arm can better maintain its original state, which is beneficial to improving the operating accuracy of the surgical equipment including the flexible arm; after the load is released, the external load force is removed, and due to the anti-deformation effect of the third connecting member, a force opposite to the external load release force can be generated, thereby reducing the possibility of rapid rebound of the flexible arm, which is beneficial to reducing surgical risks; since the flexible arm can withstand a larger external load, it is also beneficial to promote surgical equipment including the flexible arm to more clinical departments. By connecting each fourth connecting member between the first connecting disk and the third connecting disk, the fourth connecting member is tilted relative to the first connecting disk, and the fourth connecting member is tilted relative to the third connecting disk, so that when the flexible arm is subjected to external force, the fourth connecting member can work together with the first connecting member and the third connecting member to further improve the deformation resistance of the flexible arm, and the flexible arm can better maintain its original state, which is beneficial to further improve the operating accuracy of the surgical equipment including the flexible arm, and after releasing the load, it can generate a force opposite to the external load release force, further reducing the possibility of rapid rebound of the flexible arm, which is beneficial to further reduce the surgical risk and enable the flexible arm to withstand a larger external load.

[0023] In some embodiments of the present application, the Young's modulus of the first connecting member is E, satisfying E≥1GPA.

[0024] In the above technical solution, by making the Young's modulus E of the first connecting member satisfy E≥1GPA, the first connecting member is made elastic, can be deformed when subjected to external force, and recover after the external force is released, and the first connecting member can support the first connecting disk and the second connecting disk.

[0025] In a second aspect, the present application provides an instrument rod, which includes a rod body, a tool head, and a flexible arm as described above, wherein the distal end of the flexible arm is connected to the tool head, and the proximal end of the flexible arm is connected to the rod body.

[0026] In the above technical solution, by connecting the distal end of the flexible arm to the tool head, the flexible arm can drive the tool head to bend to cooperate with the surgical operation; by connecting the proximal end of the flexible arm to the rod body, the flexible arm can be easily controlled by the rod body.

[0027] In a third aspect, the present application provides a surgical device, comprising an instrument rod and a mechanical box as described above, wherein the proximal end of the rod body is connected to the instrument box, the flexible arm comprises a driving member, the distal end of the driving member is connected to a first connecting disk, and the proximal end of the driving member passes through a second connecting disk, the rod body and is connected to the instrument box.

[0028] In the above technical solution, by connecting the proximal end of the rod body to the instrument box, the proximal end of the driving member passes through the second connecting disk, the rod body and is connected to the instrument box, so that the instrument box can control the rod body and realize control of the driving member. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application 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.

[0030] Figure 1 A schematic diagram of the structure of a surgical device provided in some embodiments of the present application;

[0031] Figure 2 A schematic diagram of a three-dimensional structure of a flexible arm provided in some embodiments of the present application;

[0032] Figure 3 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0033] Figure 4 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0034] Figure 5 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0035] Figure 6 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0036] Figure 7 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0037] Figure 8 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0038] Fig. 9 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0039] Fig.10A schematic diagram of a three-dimensional structure of a flexible arm provided in some embodiments of the present application;

[0040] Fig.11 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0041] Fig.12 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0042] Fig.13 Schematic diagram of the three-dimensional structure of the flexible arm provided in other embodiments of the present application.

[0043] Icon: 1000-surgical equipment; 100-instrument rod; 10-flexible arm; 111-first connecting plate; 112-second connecting plate; 113-third connecting plate; 114-fourth connecting plate; 115-fifth connecting plate; 116-sixth connecting plate; 117-seventh connecting plate; 118-eighth connecting plate; 119-ninth connecting plate; 121-first connecting member; 122-second connecting member; 123-third connecting member; 124-fourth connecting member; 130-driving member; 20-rod body; 30-tool head; 200-instrument box; X-first direction; Y-second direction; Z-third direction. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0045] Unless otherwise defined, all technical and scientific terms used in this application have the same meanings as those commonly understood by technicians in the technical field to which this application belongs; the terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0046] The terms "first", "second", etc. in the specification and claims of this application or the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order or a primary and secondary relationship.

[0047] Reference to "embodiment" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0048] The term "plurality" used in the present application refers to two or more (including two).

[0049] Flexible arms are used as supporting structures in minimally invasive surgical tools, interventional surgical instruments and other equipment. Especially after the introduction of surgical robot technology, since flexible arms can pass through narrow channels, they can play a good role in minimally invasive surgeries such as single-port laparoscopic surgery and natural cavity surgery, helping to improve the accuracy of surgery. At present, the flexible arms in surgical equipment are easily deformed by force and have poor ability to resist load deformation, which affects the operating accuracy of surgical equipment. After the load is released, it may cause surgical risks due to rapid rebound. Due to load limitations, surgical equipment including flexible arms cannot be promoted to more clinical departments.

[0050] Based on the above considerations, the present application provides a flexible arm, which includes a first connecting plate, a second connecting plate, and a plurality of first connecting members, wherein the first connecting plate and the second connecting plate are arranged at intervals from the distal end to the proximal end; each of the first connecting members is connected between the first connecting plate and the second connecting plate, and the first connecting member is inclined relative to the first connecting plate, and the first connecting member is inclined relative to the second connecting plate.

[0051] In the flexible arm of this structure, the first connecting plate and the second connecting plate are arranged at intervals from the distal end to the proximal end, each first connecting member is connected between the first connecting plate and the second connecting plate, and the first connecting member is inclined relative to the first connecting plate. The first connecting member is inclined relative to the second connecting plate, so that on the plane where the multiple first connecting members are located, when the flexible arm is subjected to the external load force, due to the anti-deformation effect of the first connecting member, a force opposite to the external load force can be generated, thereby reducing the possibility of the flexible arm being deformed by the external load force, and the flexible arm can better maintain its original state, which is beneficial to improving the operating accuracy of the surgical equipment including the flexible arm; after the load is released, the external load force is removed, and due to the anti-deformation effect of the first connecting member, a force opposite to the external load release force can be generated, thereby reducing the possibility of the flexible arm quickly rebounding, which is beneficial to reducing the surgical risk; since the flexible arm can withstand a larger external load, it is also beneficial to promote the surgical equipment including the flexible arm to more clinical departments.

[0052] The flexible arm disclosed in the embodiment of the present application can be used in, but not limited to, surgical robots, transport robots, cleaning robots, and other equipment. The flexible arm disclosed in the present application can be used to form a robotic arm of the equipment.

[0053] The flexible arm described in the embodiment of the present application is not limited to the above-described devices, but can also be applied to all devices using flexible arms. However, for the sake of simplicity, the following embodiment is described using a surgical device as an example.

[0054] Please refer to Figure 1 , Figure 1 A schematic diagram of the structure of a surgical device provided in some embodiments of the present application. The surgical device 1000 may be a laparoscope surgical device, an endoscopic surgical device, etc. The surgical device 1000 includes an instrument rod 100 and an instrument box 200. The instrument rod 100 includes a rod body 20, a flexible arm 10, and a tool head 30. One end of the rod body 20 is connected to the instrument box 200, and the other end is used to connect to the tool head 30. The flexible arm 10 can be connected between the rod body 20 and the tool head 30, or it can be arranged in the middle of the rod body 20. The instrument box 200 is used to drive the flexible arm 10 to rotate or twist, and the flexible arm 10 can be used to drive the tool head 30 to bend, and the tool head 30 is used to perform surgical operations.

[0055] Please refer to Figures 2 to 7 , Figure 2 A schematic diagram of a three-dimensional structure of a flexible arm provided in some embodiments of the present application; Figure 3 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Figure 4 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Figure 5 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Figure 6 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Figure 7 Schematic diagram of the three-dimensional structure of the flexible arm provided in other embodiments of the present application.

[0056] The embodiment of the present application provides a flexible arm 10, which includes a first connection disk 111, a second connection disk 112, and a plurality of first connection members 121. The first connection disk 111 and the second connection disk 112 are arranged at intervals from the distal end to the proximal end. Each first connection member 121 is connected between the first connection disk 111 and the second connection disk 112, and the first connection member 121 is tilted relative to the first connection disk 111, and the first connection member 121 is tilted relative to the second connection disk 112.

[0057] By making the first connection plate 111 and the second connection plate 112 arranged at intervals from the distal end to the proximal end, each first connection member 121 is connected between the first connection plate 111 and the second connection plate 112, and the first connection member 121 is tilted relative to the first connection plate 111, and the first connection member 121 is tilted relative to the second connection plate 112, so that on the plane where the multiple first connection members 121 are located, when the flexible arm 10 is subjected to the external load force, due to the anti-deformation effect of the first connection member 121, a force opposite to the external load force can be generated, reducing the possibility of the flexible arm 10 being deformed by the external load force, and the flexible arm 10 can better maintain its original state, which is conducive to improving the operating accuracy of the surgical equipment including the flexible arm 10. After the load is released, the external load force is removed, and due to the anti-deformation effect of the first connection member 121, a force opposite to the external load release force can be generated, reducing the possibility of the flexible arm 10 rebounding quickly, which is conducive to reducing the risk of surgery. Since the flexible arm 10 can withstand a larger external load, it is also conducive to promoting the surgical equipment including the flexible arm 10 to more clinical departments.

[0058] In some embodiments, the flexible arm 10 may include two first connecting members 121 (eg Figure 2 As shown), three first connecting members 121 (as Figure 3 As shown), eight first connecting members 121 (as Figures 4 to 6 As shown), sixteen first connecting members 121 (as shown Figure 7 shown) etc.

[0059] In some embodiments, the first connection plate 111 and the second connection plate 112 may be made of steel, steel alloy or other metal materials, so that the first connection plate 111 and the second connection plate 112 have higher force bearing performance.

[0060] In other embodiments, the first connection plate 111 and the second connection plate 112 may also be made of non-metallic materials with relatively high strength, such as carbon fiber and hard plastic.

[0061] In some embodiments, the first connecting plate 111 and the second connecting plate 112 are cylindrically shaped, which can reduce the possibility of damaging human tissue after the flexible arm 10 is extended into the patient's body, and facilitate the bending and deformation of the flexible arm 10, thereby reducing the possibility of stress concentration points appearing when the flexible arm 10 is bent, thereby reducing the possibility of damage to the flexible arm 10.

[0062] In some embodiments, the Young's modulus of the first connecting member 121 is E, satisfying E≥1 GPA. For example, E may be 1 GPA, 1.2 GPA, or 1.5 GPA.

[0063] By making the Young's modulus E of the first connecting member 121 satisfy E≥1GPA, the first connecting member 121 has elasticity, can be deformed when subjected to external force, and recover after the external force is released, and the first connecting member 121 can support the first connecting disk 111 and the second connecting disk 112.

[0064] In some embodiments, the first connector 121 may be made of metal materials, plastics, or high-strength fibers. For example, the first connector 121 may be made of metal materials such as stainless steel, aluminum, nitinol, tungsten, and titanium. For example, the first connector 121 may be made of plastics such as nylon, polyethylene terephthalate, polyetheretherketone, and polyetherimide. For example, the first connector 121 may be made of high-strength fiber materials such as aramid, ultra-high molecular weight polyethylene, and liquid crystal polymer.

[0065] In some embodiments, the plurality of first connecting members 121 are symmetrically arranged relative to the center of the first connecting plate 111 .

[0066] By arranging the multiple first connecting members 121 symmetrically relative to the center of the first connecting disk 111, when the first connecting disk 111 and the second connecting disk 112 are subjected to the force of an external load in multiple directions (which may include the first direction X and the second direction Y), the multiple first connecting members 121 can better provide a force opposite to the force of the external load, thereby further reducing the possibility of deformation of the flexible arm 10 due to the force of the external load.

[0067] Please refer to Figure 2 In some embodiments, the connection point between the first connecting member 121 and the first connecting plate 111 and the center of the first connecting plate 111 are connected to form a first connecting line l 11 The connection point between the first connecting member 121 and the second connecting plate 112 and the center of the second connecting plate 112 are connected to form a second connecting line. The first connecting line l2, from the far end to the near end (the positive direction of the third direction Z), the projection l of the first connecting line 11 ' forms a first angle θ with the projection of the second connecting line (i.e., l2 itself in the figure), satisfying 90°≤θ≤180°. For example, θ can be 90°, 130°, or 180°.

[0068] By connecting the connection point between the first connecting member 121 and the first connecting plate 111 and the center of the first connecting plate 111 to form a first connecting line l 11 The connection point between the first connecting member 121 and the second connecting disk 112 and the center of the second connecting disk 112 are connected to form a second connecting line l2. From the far end to the near end, the projection of the first connecting line l 11' forms a first angle θ with the projection of the second connecting line l2, satisfying 90°≤θ≤180°, so that the connection point between the first connecting member 121 and the first connecting disk 111 and the connection point between the first connecting member 121 and the second connecting disk 112 are located on both sides of the central axis of the first connecting disk 111, so that when one of the first connecting disk 111 and the second connecting disk 112 is subjected to the force of an external load, a larger force opposite to the force of the external load can be provided through the multiple first connecting members 121, which can further reduce the possibility of deformation of the flexible arm 10 due to the force of the external load.

[0069] In some embodiments, a connection point between each first connector 121 and the first connection disk 111 is connected to the center of the first connection disk 111 to form a first connection line, and a plurality of first connection lines are evenly spaced and arranged along the circumference of the first connection disk 111 .

[0070] By connecting the connection point between each first connecting member 121 and the first connecting disk 111 and the center of the first connecting disk 111 to form a first connecting line, multiple first connecting lines are evenly spaced along the circumference of the first connecting disk 111, so that the multiple first connecting members 121 can be evenly distributed in the circumference of the first connecting disk 111. When the flexible arm 10 is subjected to external load force, the first connecting disk 111, the second connecting disk 112, and the multiple first connecting members 121 are subjected to force more evenly, which can further improve the force-bearing performance of the flexible arm 10, which is beneficial to further improve the ability of the flexible arm 10 to resist deformation due to external loads.

[0071] For example Figure 2 As shown, the flexible arm 10 includes two first connecting members 121, and the connection points of the two first connecting members 121 and the first connecting plate 111 are respectively connected to the center of the first connecting plate 111 to form two first connecting lines l 11 , l 12 , the two first connecting lines l 11 , l 12 The first connection lines 111 are arranged evenly spaced along the circumference of the first connection plate 111, that is, the two first connection lines 1 11 , l 12 The angle is 180°.

[0072] For example Figure 3 As shown, the flexible arm 10 includes three first connecting members 121, and the connection points of the three first connecting members 121 and the first connecting plate 111 are respectively connected to the center of the first connecting plate 111 to form three first connecting lines l 11 , l 12 , l 13 , three first connection lines l 11 , l 12 , l 13 The first connection lines 111 are arranged evenly spaced along the circumference of the first connection plate 111, that is, two adjacent first connection lines (for example,11 With l 12 ) is 120°.

[0073] For example Figure 4 As shown, the flexible arm 10 includes eight first connecting members 121, and the connection points of the eight first connecting members 121 and the first connecting disk 111 are respectively connected to the center of the first connecting disk 111 to form eight first connecting lines l 11 , l 12 , l 13 , l 14 , l 15 , l 16 , l 17 , l 18 , eight first connection lines l 11 , l 12 , l 13 , l 14 , l 15 , l 16 , l 17 , l 18 The first connection lines 111 are arranged evenly spaced along the circumference of the first connection plate 111, that is, two adjacent first connection lines (for example, 11 With l 12 ) is 45°.

[0074] Please refer to Figures 2 to 5 In some embodiments, along the radial direction of the first connecting disk 111 , the projections of the plurality of first connecting members 121 overlap.

[0075] Along the radial direction of the first connecting disk 111, the projections of the multiple first connecting members 121 overlap, that is, the multiple first connecting members 121 are cross-arranged, so that when the first connecting disk 111 and the second connecting disk 112 are subjected to the force of the external load, the multiple first connecting members 121 can simultaneously provide a force opposite to the force of the external load, which can further reduce the possibility of deformation of the flexible arm 10 due to the force of the external load.

[0076] Please refer to Figures 2 to 4 In some embodiments, a plurality of first connecting members 121 are cross-arranged in the middle of the interval between the first connecting plate 111 and the second connecting plate 112 .

[0077] By cross-arranging the plurality of first connecting members 121 in the middle of the spacing space between the first connecting plate 111 and the second connecting plate 112, when the first connecting plate 111 and the second connecting plate 112 are subjected to the force of an external load, the plurality of first connecting members 121 can be subjected to uniform force and the force provided opposite to the force of the external load can be uniform, thereby reducing the possibility of stress concentration due to the force of the external load, further improving the force-bearing capacity of the flexible arm 10, and further reducing the possibility of deformation of the flexible arm 10 due to the force of the external load.

[0078] Please refer to Figure 6 In some embodiments, along the radial direction of the first connecting disk 111 , the projections of every two adjacent first connecting members 121 do not overlap.

[0079] Along the radial direction of the first connecting disk 111, the projections of each two adjacent first connecting members 121 do not overlap, that is, along the circumferential direction of the first connecting disk 111, multiple first connecting members 121 are arranged in sequence at intervals, which can facilitate the multiple first connecting members 121 to be respectively connected to the first connecting disk 111 and the second connecting disk 112, and can improve the preparation efficiency of the flexible arm 10.

[0080] Please refer to Figure 7 In some embodiments, the flexible arm 10 further includes a plurality of second connectors 122, each of which is connected between the first connector plate 111 and the second connector plate 112, and the second connector 122 is tilted relative to the first connector plate 111, and the second connector 122 is tilted relative to the second connector plate 112. The plurality of first connectors 121 are evenly spaced in a clockwise direction around the circumference of the first connector plate 111, and the plurality of second connectors 122 are evenly spaced in a counterclockwise direction around the circumference of the first connector plate 111.

[0081] By making the flexible arm 10 also include multiple second connecting members 122, each second connecting member 122 is connected between the first connecting plate 111 and the second connecting plate 112, the second connecting member 122 is tilted relative to the first connecting plate 111, and the second connecting member 122 is tilted relative to the second connecting plate 112, so that on the plane where the multiple second connecting members 122 are located, when the flexible arm 10 is subjected to an external load force, due to the anti-deformation effect of the second connecting member 122, a force opposite to the external load force can be generated, thereby reducing the possibility of the flexible arm 10 being deformed by the external load force, and the flexible arm 10 can better maintain its original state, which is beneficial to improving the operating accuracy of the surgical equipment including the flexible arm 10; after the load is released, the external load force is removed, and due to the anti-deformation effect of the second connecting member 122, a force opposite to the external load release force can be generated, thereby reducing the possibility of the flexible arm 10 rebounding quickly, which is beneficial to reducing the risk of surgery; since the flexible arm 10 can withstand a larger external load, it is also beneficial to promote the surgical equipment including the flexible arm 10 to more clinical departments. By arranging multiple first connecting members 121 evenly spaced in a clockwise direction around the circumference of the first connecting disk 111 and arranging multiple second connecting members 122 evenly spaced in a counterclockwise direction around the circumference of the first connecting disk 111, the first connecting members 121 and the second connecting members 122 can provide forces in two intersecting directions, so that when the flexible arm 10 is subjected to an external load force, the first connecting member 121 and the second connecting member 122 can provide forces opposite to the external load force in different directions, which can further reduce the possibility of deformation of the flexible arm 10 due to the external load force, which is beneficial to further improve the operating accuracy of the surgical equipment including the flexible arm 10, and can further reduce the possibility of rapid rebound of the flexible arm 10, which is beneficial to further reduce the surgical risk.

[0082] Please refer to Figure 8 and Fig. 9 , Figure 8 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Fig. 9 Schematic diagram of the three-dimensional structure of the flexible arm provided in other embodiments of the present application.

[0083] In some embodiments, the flexible arm 10 further includes a third connection disk 113, a plurality of third connection members 123, and a plurality of fourth connection members 124, wherein the third connection disk 113 is disposed at the proximal end of the second connection disk 112 and is spaced apart from the second connection disk 112. Each third connection member 123 is connected between the second connection disk 112 and the third connection disk 113, the third connection member 123 is tilted relative to the second connection disk 112, and the third connection member 123 is tilted relative to the third connection disk 113. Each fourth connection member 124 is connected between the first connection disk 111 and the third connection disk 113, the fourth connection member 124 is tilted relative to the first connection disk 111, and the fourth connection member 124 is tilted relative to the third connection disk 113.

[0084] By making the third connection disk 113 disposed at the proximal end of the second connection disk 112 and arranged at intervals with the second connection disk 112; each third connection member 123 is connected between the second connection disk 112 and the third connection disk 113, the third connection member 123 is tilted relative to the second connection disk 112, and the third connection member 123 is tilted relative to the third connection disk 113, so that on the plane where the plurality of third connection members 123 are located, when the flexible arm 10 is subjected to an external load force, due to the anti-deformation effect of the third connection member 123, a force opposite to the external load force can be generated, reducing the possibility of the flexible arm 10 being deformed by the external load force, and the flexible arm 10 can better maintain its original state, which is conducive to improving the operating accuracy of the surgical equipment including the flexible arm 10. After the load is released, the external load force is removed, and due to the anti-deformation effect of the third connection member 123, a force opposite to the external load release force can be generated, reducing the possibility of the flexible arm 10 rebounding quickly, which is conducive to reducing the risk of surgery. Since the flexible arm 10 can withstand a larger external load, it is also beneficial to promote the surgical equipment including the flexible arm 10 to more clinical departments. By connecting each fourth connecting member 124 between the first connecting disk 111 and the third connecting disk 113, the fourth connecting member 124 is tilted relative to the first connecting disk 111, and the fourth connecting member 124 is tilted relative to the third connecting disk 113, so that when the flexible arm 10 is subjected to an external force, the fourth connecting member 124 can work together with the first connecting member 121 and the third connecting member 123, further improving the anti-deformation ability of the flexible arm 10, and the flexible arm 10 can better maintain its original state, which is beneficial to further improve the operating accuracy of the surgical equipment including the flexible arm 10, and after releasing the load, it can generate a force opposite to the external load release force, further reducing the possibility of rapid rebound of the flexible arm 10, which is beneficial to further reduce the surgical risk, so that the flexible arm 10 can withstand a larger external load.

[0085] Please refer to Figure 8In an embodiment in which a plurality of first connecting members 121 are cross-arranged between the first connecting plate 111 and the second connecting plate 112, and a plurality of third connecting members 123 are cross-arranged between the second connecting plate 112 and the third connecting plate 113, a fourth connecting member 124 between the first connecting plate 111 and the third connecting plate 113 may also be cross-arranged and pass through the second connecting plate 112.

[0086] Please refer to Fig. 9 In the embodiment where the plurality of first connectors 121 between the first connector disk 111 and the second connector disk 112 are spaced apart along the circumference of the first connector disk 111, and the plurality of third connectors 123 between the second connector disk 112 and the third connector disk 113 are spaced apart along the circumference of the second connector disk 112, the fourth connector 124 between the first connector disk 111 and the third connector disk 113 may also be spaced apart along the circumference of the first connector disk 111. The plurality of first connectors 121 are spaced apart evenly along the circumference of the first connector disk 111 in a clockwise direction, the plurality of third connectors 123 are spaced apart evenly along the circumference of the second connector disk 112 in a clockwise direction, and the plurality of fourth connectors 124 are spaced apart evenly along the circumference of the first connector disk 111 in a counterclockwise direction. The first connecting member 121, the third connecting member 123, and the fourth connecting member 124 can provide forces in two intersecting directions, so that when the flexible arm 10 is subjected to an external load force, the first connecting member 121, the third connecting member 123, and the fourth connecting member 124 can provide forces opposite to the external load force in different directions, which can further reduce the possibility of deformation of the flexible arm 10 due to the external load force, which is beneficial to further improve the operating accuracy of the surgical equipment including the flexible arm 10, and can further reduce the possibility of rapid rebound of the flexible arm 10, which is beneficial to further reduce the surgical risks.

[0087] Please refer to Fig.10 , Fig.10 A schematic diagram of the three-dimensional structure of a flexible arm provided in some embodiments of the present application.

[0088] In some embodiments, the flexible arm 10 includes two connection plates, the two connection plates include a first connection plate 111 and a second connection plate 112 , and a plurality of first connectors 121 are connected between the first connection plate 111 and the second connection plate 112 .

[0089] Please refer to Fig.11 , Fig.11 Schematic diagram of the three-dimensional structure of the flexible arm provided in other embodiments of the present application.

[0090] In some embodiments, the flexible arm 10 includes three connecting plates, and the three connecting plates include a first connecting plate 111, a second connecting plate 112, and a third connecting plate 113. A plurality of first connecting members 121 are connected between the first connecting plate 111 and the second connecting plate 112, and a plurality of third connecting members 123 are connected between the second connecting plate 112 and the third connecting plate 113; and a plurality of fourth connecting members 124 are connected between the first connecting plate 111 and the third connecting plate 113.

[0091] Please refer to Fig.12 , Fig.12 Schematic diagram of the three-dimensional structure of the flexible arm provided in other embodiments of the present application.

[0092] In some embodiments, the flexible arm 10 includes five connection plates, including a first connection plate 111, a second connection plate 112, a third connection plate 113, a fourth connection plate 114, and a fifth connection plate 115, and multiple connectors are connected between each adjacent two connection plates; multiple connectors are connected between the first connection plate 111 and the third connection plate 113, and multiple connectors are connected between the third connection plate 113 and the fifth connection plate 115; multiple connectors are connected between the first connection plate 111 and the fifth connection plate 115.

[0093] Please refer to Fig.13 , Fig.13 Schematic diagram of the three-dimensional structure of the flexible arm provided in other embodiments of the present application.

[0094] In some embodiments, the flexible arm 10 includes nine connection plates, and the nine connection plates include a first connection plate 111, a second connection plate 112, a third connection plate 113, a fourth connection plate 114, a fifth connection plate 115, a sixth connection plate 116, a seventh connection plate 117, an eighth connection plate 118, and a ninth connection plate 119, and multiple connectors are connected between each two adjacent connection plates; multiple connectors are connected between the first connection plate 111 and the third connection plate 113, between the third connection plate 113 and the fifth connection plate 115, between the fifth connection plate 115 and the seventh connection plate 117, and between the seventh connection plate 117 and the ninth connection plate 115; multiple connectors are connected between the first connection plate 111 and the fifth connection plate 115, and between the fifth connection plate 115 and the ninth connection plate 119; multiple connectors are connected between the first connection plate 111 and the ninth connection plate 119.

[0095] In summary, the flexible arm 10 may include 2 n +1 connection disk, where n is a natural number. From the distal end to the proximal end of the flexible arm 10, multiple connectors are connected between every two adjacent connection disks, multiple connectors are connected between every other connection disk, multiple connectors are connected between every other connection disk, and multiple connectors are connected between every three connection disks, and so on. n-1 connecting plate is connected with multiple connecting pieces. The anti-deformation ability of the flexible arm 10 can be further improved, and the flexible arm 10 can better maintain its original state, which is conducive to further improving the operation accuracy of the surgical equipment including the flexible arm 10, and after releasing the load, it can generate a force opposite to the external load release force, further reducing the possibility of rapid rebound of the flexible arm 10, which is conducive to further reducing the surgical risk, so that the flexible arm 10 can withstand a larger external load.

[0096] Please refer to Figure 1 An embodiment of the present application provides an instrument rod 100, which includes a rod body 20, a tool head 30 and the flexible arm 10 described in any of the above schemes, the distal end of the flexible arm 10 is connected to the tool head 30, and the proximal end of the flexible arm 10 is connected to the rod body 20.

[0097] By connecting the distal end of the flexible arm 10 to the tool head 30, the flexible arm 10 can drive the tool head 30 to bend to cooperate with the surgical operation; by connecting the proximal end of the flexible arm 10 to the rod body 20, the flexible arm 10 can be easily controlled by the rod body 20.

[0098] In some embodiments, the tool head 30 may be an electric cauterizer, a clamp, a stapler, a cutter, an imaging device (eg, an endoscope or an ultrasound probe), or the like.

[0099] Please refer to Figure 1 The present application provides a surgical device 1000, comprising the instrument rod 100 and the mechanical box 200 described in any of the above schemes, the proximal end of the rod body 20 is connected to the instrument box 200, the distal end of the driving member 130 of the flexible arm 10 is connected to the first connecting disk 111, and the proximal end of the driving member 130 passes through the second connecting disk 112, the rod body 20 and is connected to the instrument box.

[0100] By connecting the proximal end of the rod body 20 to the instrument box 200 , the proximal end of the driving member 130 passes through the second connecting disk 112 , the rod body 20 and is connected to the instrument box 200 , so that the instrument box 200 can control the rod body 20 and realize control of the driving member 130 .

[0101] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0102] The above are only preferred embodiments of the present application and are 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: include: A first connection disk and a second connection disk, wherein the first connection disk and the second connection disk are arranged at intervals from the distal end to the proximal end; A plurality of first connecting members, each of which is connected between the first connecting plate and the second connecting plate, the first connecting member is tilted relative to the first connecting plate, and the first connecting member is tilted relative to the second connecting plate.

2. The flexible arm according to claim 1, characterized in that: The plurality of first connecting members are symmetrically arranged relative to the center of the first connecting disk.

3. The flexible arm according to claim 1, characterized in that: The connection point between the first connecting member and the first connecting disk and the center of the first connecting disk are connected to form a first line, and the connection point between the first connecting member and the second connecting disk and the center of the second connecting disk are connected to form a second line. From the distal end to the proximal end, the projection of the first line and the projection of the second line form a first angle θ, satisfying 90°≤θ≤180°.

4. The flexible arm according to claim 1, characterized in that: A connection point between each of the first connecting members and the first connecting disk is connected to the center of the first connecting disk to form a first connecting line, and a plurality of the first connecting lines are evenly spaced and arranged along the circumference of the first connecting disk.

5. The flexible arm according to claim 1, characterized in that: Along the radial direction of the first connecting disk, projections of the plurality of first connecting members overlap.

6. The flexible arm according to claim 5, characterized in that: A plurality of the first connecting members are cross-arranged in the middle of the interval between the first connecting plate and the second connecting plate.

7. The flexible arm according to claim 1, characterized in that: Along the radial direction of the first connecting disk, projections of every two adjacent first connecting members do not overlap.

8. The flexible arm according to claim 7, characterized in that: The flexible arm further includes a plurality of second connecting members, each of the second connecting members is connected between the first connecting plate and the second connecting plate, the second connecting member is arranged obliquely relative to the first connecting plate, and the second connecting member is arranged obliquely relative to the second connecting plate; The plurality of first connecting members are evenly spaced apart in a clockwise direction around the circumference of the first connecting disk, and the plurality of second connecting members are evenly spaced apart in a counterclockwise direction around the circumference of the first connecting disk.

9. The flexible arm according to claim 1, characterized in that: The flexible arm further comprises: A third connection disk, disposed at a proximal end of the second connection disk and spaced apart from the second connection disk; A plurality of third connecting members, each of the third connecting members is connected between the second connecting plate and the third connecting plate, the third connecting member is tilted relative to the second connecting plate, and the third connecting member is tilted relative to the third connecting plate; A plurality of fourth connecting members, each of which is connected between the first connecting disk and the third connecting disk, and the fourth connecting member is tilted relative to the first connecting disk, and the fourth connecting member is tilted relative to the third connecting disk.

10. The flexible arm according to claim 1, characterized in that The Young's modulus of the first connecting member is E, satisfying E≥1GPA.

11. An instrument rod, characterized in that: The instrument rod comprises a rod body, a tool head and a flexible arm as described in any one of claims 1 to 10, wherein the distal end of the flexible arm is connected to the tool head, and the proximal end of the flexible arm is connected to the rod body.

12. A surgical device, characterized in that: It comprises the instrument rod and mechanical box as described in claim 11, the proximal end of the rod body is connected to the instrument box, the flexible arm comprises a driving member, the distal end of the driving member is connected to the first connecting disk, and the proximal end of the driving member passes through the second connecting disk, the rod body and is connected to the instrument box.

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