Flexible arm

Abstract

The invention discloses a flexible arm. The flexible arm comprises a first joint assembly, a second joint assembly and a third joint assembly which are connected in sequence. The first restraining assembly is arranged in the first joint assembly and the second joint assembly in a penetrating mode, the first restraining assembly comprises a plurality of first restraining pieces, the near end of each first restraining piece is fixed to the near end of the first joint assembly, the far end of each first restraining piece is fixed to the far end of the second joint assembly, and each first restraining piece is spiral according to a first preset angle; the second restraining assembly is arranged in the second joint assembly and the third joint assembly in a penetrating mode, the second restraining assembly comprises a plurality of second restraining pieces, the near end of each second restraining piece is fixed to the near end of the second joint assembly, the far end of each second restraining piece is fixed to the far end of the third joint assembly, and each second restraining piece is spiral according to a second preset angle. According to the method and the device, S-shaped deformation generated by the flexible arm which comprises three or more than three joint assemblies and is relatively long can be restrained.

Description

Technical Field

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

[0002] At present, various surgical instruments have been widely used. The surgical instrument usually includes an instrument box, a flexible arm and a tool head connected in sequence, and a driving rope connected to the driving unit in the instrument box is inserted into the flexible arm. During the operation, the tool head and at least part of the flexible arm are inserted into the patient's body, and then the doctor retracts and releases the driving rope by operating the driving unit. After the driving rope is retracted and released, the flexible arm bends in the corresponding direction, and the bending process of the flexible arm will drive the tool head to move. When the flexible arm bends a certain angle, it will drive the tool head to move to the specified position. After the tool head moves to the specified position, the patient is operated by operating the tool head.

[0003] In practice, when the flexible arm is bent, the various components in the flexible arm will move under the action of external loads to produce S-shaped deformation. The appearance of S-shaped deformation will cause the bending posture of the flexible arm to be unstable when it bends in the corresponding direction, and ultimately cause the flexible arm to be unable to drive the tool head to move to the designated position, seriously affecting the smooth progress of the surgical operation. In the prior art, in patent CN111481245A, the flexible arm has 5 discs, 2 adjacent discs form a pair of snake bone components, and 4 pairs of snake bone components are formed in the entire flexible arm. The adjacent 2 pairs of snake bone components constitute a joint component, and 2 joint components are formed in the entire flexible arm; in this patent, the flexible arm also has a constraint, one end of the constraint is fixed to one end of the flexible arm, and the other end of the constraint is fixed to the other end of the flexible arm after passing through the 5 discs in a spiral manner.

[0004] In patent CN111481245A, the above arrangement of the restraints can only restrain the S-shaped deformation produced by the flexible arm containing two joint components. However, in order to facilitate surgery, a longer flexible arm is currently made, which contains three or more joint components; if the longer flexible arm containing three or more joint components is restrained according to the arrangement of the above restraints, the length of the restraint becomes longer, the tension and preload capacity become worse, and when the flexible arm is bent, each joint component in the flexible arm will also move and produce S-shaped deformation when subjected to external loads. It can be seen from this that in patent CN111481245A, the arrangement of the restraints cannot restrain the S-shaped deformation produced by the longer flexible arm containing three or more joint components; it is urgent to adopt a new restraint method to restrain the S-shaped deformation produced by the longer flexible arm containing three or more joint components. Summary of the invention

[0005] The purpose of the present application is to provide a flexible arm, which can constrain the S-shaped deformation produced by a long flexible arm having 3 or more joint components.

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

[0007] The present application provides a flexible arm, which includes a first joint component, a second joint component, a third joint component, a first constraint component and a second constraint component; wherein the first joint component, the second joint component and the third joint component are connected in sequence from the proximal end to the distal end; the first constraint component is inserted into the first joint component and the second joint component, and the first constraint component includes a plurality of first constraint members, the proximal end of each first constraint member is fixed at the proximal end of the first joint component, the distal end of each first constraint member is fixed at the distal end of the second joint component, and each first constraint member is spirally connected at a first preset angle; the second constraint component is inserted into the second joint component and the third joint component, and the second constraint component includes a plurality of second constraint members, the proximal end of each second constraint member is fixed at the proximal end of the second joint component, the distal end of each second constraint member is fixed at the distal end of the third joint component, and each second constraint member is spirally connected at a second preset angle; the first constraint component and the second constraint component are staggered in the second joint component.

[0008] In one embodiment, the flexible arm has an axis, and each first constraint member is inserted into the first joint component in a direction parallel to the axis, and is inserted into the second joint component in a direction parallel to the axis in a 180° spiral at the connection between the first joint component and the second joint component; and / or, each second constraint member is inserted into the second joint component in a direction parallel to the axis, and is inserted into the third joint component in a direction parallel to the axis in a 180° spiral at the connection between the second joint component and the third joint component.

[0009] In one embodiment, the first joint component is connected to the second joint component through a first straight pipe segment, and each first constraint is spirally arranged at 180° at the first straight pipe segment; and / or, the second joint component is connected to the third joint component through a second straight pipe segment, and each second constraint is spirally arranged at 180° at the second straight pipe segment.

[0010] In one embodiment, each first constraint member is spiraled 360° in the first joint component and the second joint component; and / or each second constraint member is spiraled 360° in the second joint component and the third joint component.

[0011] In one embodiment, each first constraint is spirally arranged 180° in the first joint assembly and 180° in the second joint assembly; and / or each second constraint is spirally arranged 180° in the second joint assembly and 180° in the third joint assembly.

[0012] In one embodiment, the flexible arm has an axis, which is the intersection line of the first bending plane and the second bending plane; there are four first constraints, of which two first constraints are arranged at positions on the first joint component and the second joint component symmetrically with respect to the first bending plane, and the other two first constraints are arranged at positions on the first joint component and the second joint component symmetrically with respect to the second bending plane; there are four second constraints, of which two second constraints are arranged at positions on the second joint component and the third joint component symmetrically with respect to the first bending plane, and the other two second constraints are arranged at positions on the second joint component and the third joint component symmetrically with respect to the second bending plane.

[0013] In one embodiment, in the first joint assembly, the center distance between each first constraint and the axis is b1; in the second joint assembly, the center distance between each first constraint and the axis is b2, and the center distance between each second constraint and the axis is b3; in the third joint assembly, the center distance between each second constraint and the axis is b4; the bending angle of the first joint assembly is θ1, the bending angle of the second joint assembly is θ2, and the bending angle of the third joint assembly is θ3;

[0014] Among them, when b1=b2 and b3=b4, θ1=θ2=θ3;

[0015] When b1=b2 and b3≠b4, θ1=θ2≠θ3;

[0016] When b1≠b2 and b3=b4, θ1≠θ2=θ3;

[0017] When b1≠b2, b3≠b4, and b1 / b2≠b4 / b3, θ1≠θ2≠θ3.

[0018] In one embodiment, each joint component includes two pairs of planar snake bone components, the first pair of planar snake bone components in each joint component rotates relative to parallel first and second rotation axes, and the second pair of planar snake bone components in each joint component rotates relative to parallel third and fourth rotation axes, and the second and third rotation axes are arranged orthogonally.

[0019] In one embodiment, each joint assembly includes a spatial snake assembly, and each spatial snake assembly can rotate relative to multiple rotation axes.

[0020] In one embodiment, the first joint component, the second joint component and the third joint component connected in sequence from the proximal end to the distal end constitute a flexible segment, and the flexible arm includes a plurality of flexible segments connected in sequence from the proximal end to the distal end.

[0021] In one embodiment, the flexible arm further comprises a straight tube and a target joint component, the proximal end of the straight tube is connected to the distal end of the target joint component, and the distal end of the straight tube is connected to the proximal end of the first joint component.

[0022] The beneficial effects of this application compared with the prior art are:

[0023] In the present application, when the flexible arm contains 3 or more joint components, multiple groups of constraint components are set, and each group of constraint components is inserted into two adjacent joint components, so that each group of constraint components can provide sufficient tension and preload to restrain the S-shaped deformation generated by the two adjacent joint components when the flexible arm is bent. When multiple groups of constraint components are simultaneously inserted into the corresponding joint components in the flexible arm in the above manner, the S-shaped deformation generated by the longer flexible arm containing 3 or more joint components can be effectively restrained. By restraining the S-shaped deformation generated by the flexible arm, the flexible arm can bend in a fixed posture when bending in the corresponding direction, thereby driving the tool head to move to the specified position, improving the accuracy of surgical control, and allowing the surgical operation to proceed smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is a schematic diagram of the connection of the surgical instrument shown in this application;

[0026] Figure 2 A schematic diagram of a flexible arm having three joint components shown in this application;

[0027] Figure 3 A schematic diagram of a flexible arm having six joint components shown in this application;

[0028] Figure 4 Schematic diagram of the constraint components shown in this application Figure 1 ;

[0029] Figure 5 Schematic diagram of the bending of the flexible arm shown in this application Figure 1 ;

[0030] Figure 6 Schematic diagram of the flexible arm shown in this application Figure 1 ;

[0031] Figure 7 Schematic diagram of the arrangement of the restraint assembly in the flexible arm shown in this application Figure 1 ;

[0032] Figure 8 Schematic diagram of the constraint components shown in this application Figure 2 ;

[0033] Fig. 9 A schematic diagram of a first projection shown in this application;

[0034] Fig.10 Schematic diagram of the joint assembly shown in this application Figure 1 ;

[0035] Fig.11 Schematic diagram of the joint assembly shown in this application Figure 2 ;

[0036] Fig.12 Schematic diagram of the joint assembly shown in this application Figure 3 ;

[0037] Fig.13 Schematic diagram of the joint assembly shown in this application Figure 4 ;

[0038] Fig.14 Schematic diagram of the joint assembly shown in this application Figure 5 ;

[0039] Fig.15 A schematic diagram of the rotation axis of the joint assembly shown in this application;

[0040] Fig.16 Schematic diagram of the flexible arm shown in this application Figure 2 ;

[0041] Fig.17 Schematic diagram of the arrangement of the restraint assembly in the flexible arm shown in this application Figure 2 ;

[0042] Fig.18 Schematic diagram of the arrangement of the restraint assembly in the flexible arm shown in this application Figure 3 ;

[0043] Fig.19 Schematic diagram of the constraint components shown in this application Figure 3 ;

[0044] Fig. 20 Schematic diagram of the arrangement of the restraint assembly in the flexible arm shown in this application Figure 4 ;

[0045] Fig.21 Schematic diagram of the arrangement of the restraint assembly in the flexible arm shown in this application Figure 5 ;

[0046] Fig. 22Schematic diagram of the bending of the flexible arm shown in this application Figure 2 ;

[0047] Fig.23 Schematic diagram of the arrangement of the restraint assembly in the flexible arm shown in this application Figure 6 ;

[0048] Fig.24 Schematic diagram of the bending of the flexible arm shown in this application Figure 3 ;

[0049] Fig.25 Schematic diagram of the flexible arm shown in this application Figure 3 ;

[0050] Fig.26 This is a schematic diagram of the second driving rope being inserted into the target joint assembly shown in the present application;

[0051] Fig. 27 Schematic diagram of the bending of the flexible arm shown in this application Figure 4 .

[0052] Reference numerals:

[0053] 1-surgical instrument; 10-instrument box; 20-long straight tube; 30-flexible arm; 31-first straight tube section; 32-second straight tube section; 40-tool head; 51-first bending plane; 52-second bending plane; 61-first constraint component; 62-second constraint component; 63-third constraint component; 64-fourth constraint component; 65-fifth constraint component; 71-first disc; 711-first surface; 712-first connecting part; 713-third surface; 72-second disc; 721-second surface; 722-second connecting part; 723-fourth surface; 81-first drive rope; 82-second drive rope; 91-straight tube; 92-target joint component. DETAILED DESCRIPTION

[0054] The terms “first”, “second”, “third”, etc. are only used for distinguishing descriptions and do not indicate the order of arrangement, nor can they be understood as indicating or implying relative importance.

[0055] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0056] In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "up", "down", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the products of the present application are usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0057] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0058] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings.

[0059] Embodiment 1:

[0060] This embodiment provides a surgical system, which includes a control terminal and a surgical robot remotely connected to the control terminal, wherein the surgical robot has a body and a surgical instrument 1 detachably connected to the body; wherein the surgical instrument 1 can be connected to the body by means of buckles, bolts, magnetism, etc. Figure 1 As shown, the surgical instrument 1 includes an instrument box 10, a long straight tube 20, a flexible arm 30, a tool head 40 and a first driving rope (not shown in the figure) connected in sequence from the proximal end to the distal end. The first driving rope is inserted into the flexible arm 30 and the long straight tube 20. One end of the first driving rope is connected to a driving unit (not shown in the figure) in the instrument box 10, and the other end of the first driving rope is fixed at any position in the flexible arm 30. A driving motor for driving the driving unit is provided in the body. Exemplarily, the first driving rope can be a flexible member made of wire or rope, or the first driving rope can be a semi-rigid member such as alloy wire or steel wire.

[0061] During surgery, the tool head 40 and at least part of the flexible arm 30 are inserted into the patient's body. The doctor then operates the control end to operate the drive motor in the main body. The drive motor drives the drive unit to operate. The drive unit retracts and releases the first drive rope. After the first drive rope is retracted and released, the flexible arm 30 bends in the corresponding direction. During the bending process of the flexible arm 30, the tool head 40 is driven to move. When the flexible arm 30 bends a certain angle, it drives the tool head 40 to move to the specified position. After the tool head 40 moves to the specified position, the surgical operation is performed on the patient by operating the tool head 40.

[0062] In practice, when the flexible arm 30 is bent, each element in the flexible arm 30 will move sideways under the action of external load to produce S-shaped deformation. The appearance of S-shaped deformation will cause the bending posture of the flexible arm 30 to be unfixed when bending in the corresponding direction, and finally cause the flexible arm 30 to be unable to drive the tool head 40 to move to the designated position, which seriously affects the smooth progress of the surgical operation. In the prior art, in patent CN111481245A, the flexible arm 30 has 5 discs, and two adjacent discs form a pair of snake bone components. Four pairs of snake bone components are formed in the entire flexible arm 30, and two adjacent pairs of snake bone components constitute a joint component, and two joint components are formed in the entire flexible arm 30; in this patent, the flexible arm 30 also has a constraint, one end of the constraint is fixed to one end of the flexible arm 30, and the other end of the constraint is fixed to the other end of the flexible arm 30 after passing through the five discs in a spiral manner; by arranging the constraint in the above manner, the S-shaped deformation generated by the flexible arm 30 containing two joint components during the bending process is constrained.

[0063] In practice, when the number of joint components contained in the flexible arm 30 increases, the angle at which each joint component needs to be bent becomes smaller. For example, if the flexible arm 30 includes 3 joint components, when the flexible arm 30 bends 90°, each joint component needs to be bent 30°; if the flexible arm 30 includes 6 joint components, when the flexible arm 30 bends 90°, each joint component only needs to be bent 15°. When the bending angle of each joint component decreases, the friction between the first drive rope and the joint component decreases, which greatly improves the service life of the first drive rope. Furthermore, when the number of joint components contained in the flexible arm 30 is large, the flexible arm 30 can be continuously bent in a small space, and the force load capacity can meet the requirements. For this reason, at present, in order to improve the service life of the first drive rope, and at the same time to enable the flexible arm 30 to be continuously bent in a small space, and the force load capacity can meet the requirements, a long flexible arm 30 containing 3 or more joint components is usually made. At this time, if the method in the above patent is used to constrain the long flexible arm 30 containing 3 or more joint components, one end of the constraint is fixed to one end of the flexible arm 30, and the other end of the constraint passes through all the joint components in the flexible arm 30 in a spiral manner and is finally fixed to the other end of the flexible arm 30. However, in this constraint method, the length of the constraint is long, the tension and preload are poor, and when the flexible arm 30 is bent, the joint components in the flexible arm 30 will also move and produce S-shaped deformation when subjected to external loads. It can be seen from this that in patent CN111481245A, the arrangement of the constraint cannot constrain the S-shaped deformation caused by the long flexible arm 30 containing 3 or more joint components. To this end, in order to solve the problem that the prior art cannot constrain the S-shaped deformation caused by the long flexible arm 30 containing 3 or more joint components, this embodiment provides a new way of inserting the constraint, and the scheme of this application is explained in detail below:

[0064] like Figure 2As shown, in this embodiment, the flexible arm 30 includes a first joint component P1, a second joint component P2 and a third joint component P3 connected in sequence from the proximal end to the distal end. The flexible arm 30 also includes a first constraint component 61 and a second constraint component 62. The first constraint component 61 is arranged in the first joint component P1 and the second joint component P2. The first constraint component 61 includes a plurality of first constraints. The proximal end of each first constraint is fixed to the proximal end of the first joint component P1, and the distal end of each first constraint is fixed to the distal end of the second joint component P2. Each first constraint is spiraled according to a first preset angle; the second constraint component 62 is arranged in the second joint component P2 and the third joint component P3. The second constraint component 62 includes a plurality of second constraints. The proximal end of each second constraint is fixed to the proximal end of the second joint component P2, and the distal end of each second constraint is fixed to the distal end of the third joint component P3. Each second constraint is spiraled according to a second preset angle; the first constraint component 61 and the second constraint component 62 are staggered in the second joint component P2. Exemplarily, the first preset angle may be 180° or 360°; the second preset angle may be 180° or 360°.

[0065] The first constraint component 61 has sufficient tension and preload, and can constrain the S-shaped deformation caused by the lateral movement of the first joint component P1 and the second joint component P2 when the flexible arm 30 is bent; the second constraint component 62 has sufficient tension and preload, and can constrain the S-shaped deformation caused by the lateral movement of the second joint component P2 and the third joint component P3 when the flexible arm 30 is bent. When the first constraint component 61 and the second constraint component 62 are simultaneously inserted into the flexible arm 30, the S-shaped deformation generated by the flexible arm 30 containing three joint components can be constrained.

[0066] When the flexible arm 30 contains more than three joint components, the S-shaped deformation of the flexible arm 30 can be constrained in the following manner:

[0067] like Figure 3 and Figure 5 As shown, the flexible arm 30 includes a first joint assembly P1, a second joint assembly P2, a third joint assembly P3, a fourth joint assembly P4, a fifth joint assembly P5 and a sixth joint assembly P6 connected in sequence from the proximal end to the distal end; Figure 4As shown, the flexible arm 30 also includes a first constraint component 61, a second constraint component 62, a third constraint component 63, a fourth constraint component 64 and a fifth constraint component 65; the first constraint component 61 is arranged in the first joint component P1 and the second joint component P2 in the above-mentioned manner; the second constraint component 62 is arranged in the second joint component P2 and the third joint component P3 in the above-mentioned manner; the third constraint component 63 is arranged in the third joint component P3 and the fourth joint component P4, and the third constraint component 63 includes a plurality of third constraint members, the proximal end of each third constraint member is fixed at the proximal end of the third joint component P3, the distal end of each third constraint member is fixed at the distal end of the fourth joint component P4, and each third constraint member is arranged in the third The fourth constraint assembly 64 is provided in the fourth joint assembly P4 and the fifth joint assembly P5, and the fourth constraint assembly 64 includes a plurality of fourth constraint members, the proximal end of each fourth constraint member is fixed at the proximal end of the fourth joint assembly P4, the distal end of each fourth constraint member is fixed at the distal end of the fifth joint assembly P5, and each fourth constraint member is spiraled according to the fourth preset angle; the fifth constraint assembly 65 is provided in the fifth joint assembly P5 and the sixth joint assembly P6, and the fifth constraint assembly 65 includes a plurality of fifth constraint members, the proximal end of each fifth constraint member is fixed at the proximal end of the fifth joint assembly P5, the distal end of each fifth constraint member is fixed at the distal end of the sixth joint assembly P6, and each fifth constraint member is spiraled according to the fifth preset angle. Exemplarily, the first preset angle can be 180° or 360°; the second preset angle can be 180° or 360°; the third preset angle can be 180° or 360°; the fourth preset angle can be 180° or 360°; the fifth preset angle can be 180° or 360°.

[0068] The first constraint component 61 has sufficient tension and preload, and can constrain the S-shaped deformation caused by the lateral movement of the first joint component P1 and the second joint component P2 when the flexible arm 30 is bent; the second constraint component 62 has sufficient tension and preload, and can constrain the S-shaped deformation caused by the lateral movement of the second joint component P2 and the third joint component P3 when the flexible arm 30 is bent. The third constraint component 63 has sufficient tension and preload, and can constrain the S-shaped deformation caused by the lateral movement of the third joint component and the fourth joint component P4 when the flexible arm 30 is bent. The fourth constraint component 64 has sufficient tension and preload, and can constrain the S-shaped deformation caused by the lateral movement of the fourth joint component and the fifth joint component P5 when the flexible arm 30 is bent. The fifth constraint component 65 has sufficient tension and preload, and can constrain the S-shaped deformation caused by the lateral movement of the fifth joint component and the sixth joint component P6 when the flexible arm 30 is bent. When the first constraint component 61, the second constraint component 62, the third constraint component 63, the fourth constraint component 64 and the fifth constraint component 65 are simultaneously inserted into the flexible arm 30, the S-shaped deformation generated by the flexible arm 30 containing 6 joint components can be constrained.

[0069] When the flexible arm 30 contains 6 joint components, the constraint components can be inserted into the flexible arm 30 in the following manner: the first constraint component 61 is inserted into the first joint component P1 and the second joint component P2, the second group of constraints are inserted into the third joint component P3 and the fourth joint component P4, and the third group of constraints are inserted into the fifth joint component P5 and the sixth joint component P6. However, under this insertion method, when the flexible arm 30 is bent, the second joint component P2 and the third joint component P3 are prone to move sideways to produce S-shaped deformation, and the fourth joint component P4 and the fifth joint component P5 are prone to move sideways to produce S-shaped deformation; it can be seen that this insertion method of the constraint components cannot effectively constrain the S-shaped deformation generated by the flexible arm 30. In the present application, each two groups of constraint components have overlapping parts, such as the first constraint component 61 and the second constraint component 62 are overlapped in the second joint component P2, and the S-shaped deformation caused by the above insertion method is constrained by the overlapping arrangement of the constraint components, thereby achieving full constraint on the S-shaped deformation generated by the flexible arm 30 when it is bent.

[0070] It can be seen from the above that in this embodiment, when the flexible arm 30 contains 3 or more joint components, multiple groups of constraint components are set, and each group of constraint components is inserted into two adjacent joint components, so that each group of constraint components can provide sufficient tension and preload to constrain the S-shaped deformation of the two adjacent joint components when the flexible arm 30 is bent. When multiple groups of constraint components are simultaneously inserted into the corresponding joint components in the flexible arm 30 in the above manner, the S-shaped deformation of the longer flexible arm 30 containing 3 or more joint components can be effectively constrained. By constraining the S-shaped deformation of the flexible arm 30, the flexible arm 30 can be bent in a fixed posture when bending in the corresponding direction, thereby driving the tool head 40 to move to the specified position, improving the accuracy of surgical control, and allowing the surgical operation to proceed smoothly.

[0071] Embodiment 2:

[0072] Based on the above-mentioned first embodiment, this embodiment takes the first constraint component 61 and the second constraint component 62 as examples to explain the first way of inserting the constraint component in the joint component:

[0073] The first restraining component 61 is provided in the following manner:

[0074] When the first joint component P1 is directly connected to the second joint component P2, each first constraint member in the first constraint component 61 is inserted into the first joint component P1 in a direction parallel to the axis L of the flexible arm 30, and is inserted into the second joint component P2 in a 180° spiral and in a direction parallel to the axis L of the flexible arm 30 at the connection between the first joint component P1 and the second joint component P2.

[0075] Among them, according to the 180° spiral, it means that the insertion position of the first constraint at the connection between the two joint components is A1, and the exit position of the first constraint at the connection between the two joint components is A2, A1 and A2 are located on both sides of the axis L of the flexible arm 30, and when A1, A2 and the axis L of the flexible arm 30 are projected onto a plane perpendicular to the axis L of the flexible arm 30, A1, A2 and the axis L of the flexible arm 30 can form a central angle of 180°.

[0076] The second restraining component 62 is provided in the following manner:

[0077] When the second joint component P2 is directly connected to the third joint component P3, each second constraint member in the second constraint component 62 is inserted into the second joint component P2 in a direction parallel to the axis L of the flexible arm 30, and is inserted into the third joint component P3 in a 180° spiral and in a direction parallel to the axis L of the flexible arm 30 at the connection between the second joint component P2 and the third joint component P3.

[0078] Among them, according to the 180° spiral, it means that the insertion position of the second constraint part at the connection between the two joint components is A3, and the exit position of the second constraint part at the connection between the two joint components is A4, A3 and A4 are located on both sides of the axis L of the flexible arm 30, and when A3, A4 and the axis L of the flexible arm 30 are projected onto a plane perpendicular to the axis L of the flexible arm 30, A3, A4 and the axis L of the flexible arm 30 can form a central angle of 180°.

[0079] In the above embodiment, the first constraint member is inserted into the first joint component P1 and the second joint component P2 in a direction parallel to the axis L of the flexible arm 30. This insertion method enables the first constraint member to be inserted into the first joint component P1 and the second joint component P2 in a straight line, and multiple first constraint members are distributed in parallel in the first joint component P1 and the second joint component P2, which enables the first constraint member to more accurately constrain the S-shaped deformation of the first joint component P1 and the second joint component P2 when the flexible arm 30 is bent.

[0080] Similarly, in the above embodiment, the second constraint member is inserted into the second joint component P2 and the third joint component P3 in a direction parallel to the axis L of the flexible arm 30. This insertion method enables the second constraint member to be inserted into the second joint component P2 and the third joint component P3 in a straight line, and multiple second constraint members are distributed in parallel in the second joint component P2 and the third joint component P3, which enables the second constraint member to more accurately constrain the S-shaped deformation of the second joint component P2 and the third joint component P3 when the flexible arm 30 is bent.

[0081] Of course, it is understandable that Figure 6 and Figure 7 As shown, the first joint component P1 can be connected to the second joint component P2 through the first straight tube section 31. At this time, the first constraint member is arranged in the first joint component P1 in a direction parallel to the axis L of the flexible arm 30. After passing through the first joint component P1, the first constraint member spirals 180° around the first straight tube section 31 and then passes into the second joint component P2, and is arranged in the second joint component P2 in a direction parallel to the axis L of the flexible arm 30.

[0082] The second joint component P2 can be connected to the third joint component P3 through the second straight pipe section 32. At this time, the second constraint member is arranged in the second joint component P2 in a direction parallel to the axis L of the flexible arm 30. After passing through the second joint component P2, the second constraint member spirals 180° around the second straight pipe section 32 and then passes into the third joint component P3, and is arranged in the third joint component P3 in a direction parallel to the axis L of the flexible arm 30.

[0083] A straight tube 91 section is provided between two adjacent joint components in the flexible arm 30, so that the flexible arm 30 can achieve a larger bending distance when bending in any direction, thereby expanding the working space of the tool head 40. Furthermore, in this embodiment, when the restraints are arranged in a 180° manner, the arrangement of the restraints is more regular.

[0084] The following is a detailed explanation of the way in which the first constraint member is inserted into the first joint assembly P1 and the second joint assembly P2:

[0085] like Figure 6 , Figure 7 and Figure 8 As shown, the flexible arm 30 is symmetrical about the axis L, and the extension direction of the axis L is the same as the extension direction of the flexible arm 30. The flexible arm 30 has a first bending plane 51 and a second bending plane 52 that are orthogonally distributed, and the axis L of the flexible arm 30 is the intersection line of the first bending plane 51 and the second bending plane 52. There are four first constraints. In order to distinguish, the four first constraints are named as the first constraint G1, the first constraint G2, the first constraint G3 and the first constraint G4 respectively. When the four first constraints are inserted into the first joint component P1 and the second joint component P2 in the above-mentioned 180° spiral manner, the insertion positions of the first constraint G1 and the first constraint G2 on the first joint component P1 and the second joint component P2 are symmetrical about the first bending plane 51, and the insertion positions of the first constraint G3 and the first constraint G4 on the first joint component P1 and the second joint component P2 are symmetrical about the second bending plane 52.

[0086] That is to say, the insertion positions of the first constraint member G1 and the first constraint member G2 on the first joint component P1 are symmetrical about the first bending plane 51, and the insertion positions of the first constraint member G1 and the first constraint member G2 on the second joint component P2 are symmetrical about the first bending plane 51; the insertion positions of the first constraint member G3 and the first constraint member G4 on the first joint component P1 are symmetrical about the second bending plane 52, and the insertion positions of the first constraint member G3 and the first constraint member G4 on the second joint component P2 are symmetrical about the second bending plane 52.

[0087] Connecting holes may be provided on the first joint component P1 and the second joint component P2, and the first constraint G1, the first constraint G2, the first constraint G3 and the first constraint G4 may be inserted into the above-mentioned connecting holes; if the first joint component P1 is composed of multiple first elements, the first connecting hole N1 on any one of the first elements is used for the first constraint G1 to be inserted therethrough, and the second connecting hole N2 on any one of the first elements is used for the first constraint G2 to be inserted therethrough, then the insertion positions of the first constraint G1 and the first constraint G2 on the first joint component P1 are symmetrical about the first bending plane 51, which means that the first connecting hole N1 and the second connecting hole N2 are symmetrical about the first bending plane 51.

[0088] If the third connecting hole N3 on any one of the first elements of the first joint component P1 is used for the first constraint member G3 to pass through, and the fourth connecting hole N4 on any one of the first elements is used for the first constraint member G4 to pass through, then the passing positions of the first constraint member G3 and the first constraint member G4 on the first joint component P1 are symmetrical about the second bending plane 52, which means that the third connecting hole N3 and the fourth connecting hole N4 are symmetrical about the second bending plane 52.

[0089] If the second joint component P2 is composed of multiple second elements, the fifth connecting hole N5 on any one of the second elements is used for the first constraint member G1 to pass through, and the sixth connecting hole N6 on the above-mentioned second element is used for the first constraint member G2 to pass through, then the passing positions of the first constraint member G1 and the first constraint member G2 on the second joint component P2 are symmetrical about the first bending plane 51, which means that the fifth connecting hole N5 and the sixth connecting hole N6 are symmetrical about the first bending plane 51.

[0090] If the seventh connecting hole N7 on any second component of the second joint assembly P2 is used for the first constraint member G3 to pass through, and the eighth connecting hole N8 on the above-mentioned second component is used for the first constraint member G4 to pass through, then the passing positions of the first constraint member G3 and the first constraint member G4 on the second joint assembly P2 are symmetrical about the second bending plane 52, which means that the seventh connecting hole N7 and the eighth connecting hole N8 are symmetrical about the second bending plane 52.

[0091] When the four first restraining members are inserted into the first joint assembly P1 and the second joint assembly P2 in the above manner, the four first restraining members restrain the S-shaped deformation of the first joint assembly P1 and the second joint assembly P2 when the flexible arm 30 is bent in the following manner:

[0092] When the flexible arm 30 is projected into the second bending plane 52, a first projection can be obtained, such as Fig. 9As shown, in the first projection, the first constraint G1 and the first constraint G2 are cross-arranged at the first straight tube section 31, and in the first projection, the first constraint G1 and the second constraint G2 are arranged in the first joint component P1 and the second joint component P2 in a direction parallel to the axis L of the flexible arm 30; because the first projection presents the above rule, when the flexible arm 30 bends in a certain direction, the lengths of the first constraint G1 and the first constraint G2 at the first straight tube section 31 remain unchanged, the length change of the first constraint G1 in the first joint component P1 is k1, and the first constraint G1 is k2. The length change of the first constraint member G1 in the second joint assembly P2 is k2, one of k1 and k2 is the elongation and the other is the shortening, k1 is always equal to k2, and the length of the first constraint member remains unchanged when the flexible arm 30 bends in a certain direction; the length change of the first constraint member G2 in the first joint assembly P1 is k3, and the length change of the first constraint member G2 in the second joint assembly P2 is k4, one of k3 and k4 is the elongation and the other is the shortening, k3 is always equal to k4, and the length of the second constraint member remains unchanged when the flexible arm 30 bends in a certain direction. Among them, when k1 is the elongation, k3 is the shortening; when k1 is the shortening, k3 is the elongation.

[0093] Similarly, if the first constraint G3 and the first constraint G4 are inserted into the first joint component P1 and the second joint component P2 in the above manner, and the first constraint G3 and the first constraint G4 are projected into the first bending plane 51, a second projection can be obtained, in which the first constraint G3 and the first constraint G4 are cross-arranged at the first straight tube section 31, and the first constraint G3 and the first constraint G4 are inserted into the first joint component P1 and the second joint component P2 in a manner parallel to the axis L in the second projection; because the second projection presents the above rule, when the flexible arm 30 bends in a certain direction, the first constraint G3 and the first constraint G4 are in the first straight tube section 31 The length of the first constraint G3 in the first joint assembly P1 remains unchanged, the length change of the first constraint G3 in the second joint assembly P2 is k6, one of k5 and k6 is the elongation and the other is the shortening, k5 is always equal to k6, and the length of the first constraint G3 remains unchanged when the flexible arm 30 bends in a certain direction; the length change of the first constraint G4 in the first joint assembly P1 is k7, the length change of the first constraint G4 in the second joint assembly P2 is k8, one of k7 and k8 is the elongation and the other is the shortening, k7 is always equal to k8, and the length of the first constraint G4 remains unchanged when the flexible arm 30 bends in a certain direction. Among them, when k5 is the elongation, k7 is the shortening; when k5 is the shortening, k7 is the elongation.

[0094] When the flexible arm 30 bends, if the joint assembly moves sideways to produce an S-shaped deformation, the lengths of the first constraint member G1, the first constraint member G2, the first constraint member G3 and the first constraint member G4 will change. In this embodiment, when the flexible arm 30 bends, the lengths of the first constraint member G1, the first constraint member G2, the first constraint member G3 and the first constraint member G4 are kept unchanged, thereby constraining the S-shaped deformation of the first joint assembly P1 and the second joint assembly P2 when the flexible arm 30 bends.

[0095] Of course, it is understandable that there may be four second restraints. For the purpose of distinction, the four second restraints are named second restraint K1, second restraint K2, second restraint K3 and second restraint K4. When the four second restraints are inserted into the second joint assembly P2 and the third joint assembly P3 in the above-mentioned 180° spiral manner, the insertion positions of the second restraint K1 and the second restraint K2 on the second joint assembly P2 and the third joint assembly P3 are symmetrical about the first bending plane 51, and the insertion positions of the second restraint K3 and the second restraint G4 on the second joint assembly and the third joint assembly P3 are symmetrical about the second bending plane 52. The principle of bending plane symmetry is the same as that of the first restraint, and will not be repeated here.

[0096] The principle by which the second constraint K1, the second constraint K2, the second constraint K3 and the second constraint K4 constrain the S-shaped deformation of the second joint assembly P2 and the third joint assembly P3 when the flexible arm 30 is bent is the same as the principle by which the first constraint G1, the first constraint G2, the first constraint G3 and the first constraint G4 constrain the S-shaped deformation of the first joint assembly P1 and the second joint assembly P2 when the flexible arm 30 is bent, and will not be repeated here.

[0097] Of course, it is understandable that each joint component may include one spatial snake-bone component, and each spatial snake-bone component can rotate relative to multiple rotation axes.

[0098] Of course, it is understandable that Fig.10As shown, each joint assembly may include two pairs of planar snake bone assemblies. Among them, the one above the dotted line in the figure is a pair of planar snake bone assemblies, and the one below the dotted line in the figure is a pair of planar snake bone assemblies. Each pair of planar snake bone assemblies can rotate along two parallel rotation axes, and each pair of planar snake bone assemblies includes a first disc 71 and a second disc 72. Two first connecting parts 712 are provided on the first surface 711 of the first disc 71, and a second surface 721 opposite to the first surface 711 is provided on the second disc 72. Two second connecting parts 722 are provided on the second surface 721. The first connecting parts 712 are matched with the second connecting parts 722 in a one-to-one correspondence. The two first connecting parts 712 are arranged in a first direction, and the two second connecting parts 722 are arranged in a second direction. The first direction and the second direction are parallel to the rotation axis of the planar snake bone assembly. Specifically, as Fig.10 and Fig.11 As shown, the first connection portion 712 may be provided with a first protrusion, and the second connection portion 722 may be provided with a first groove. When the first protrusion matches with the first groove, the first connection portion 712 matches with the second connection portion 722. Fig.12 As shown, the first connecting portion 712 may be provided with a first convex tooth, and the second connecting portion 722 may be provided with a first concave tooth. When the first convex tooth and the first concave tooth are matched, the first connecting portion 712 is matched with the second connecting portion 722; Fig.13 As shown, the first connecting portion 712 is provided with two first matching holes at intervals in a direction perpendicular to the rotation axis, and the second connecting portion 722 is provided with two second matching holes at intervals in a direction perpendicular to the rotation axis. When one end of the cross member is located in the first matching hole and the other end of the cross member is located in the second matching hole, the first connecting portion 712 is matched with the second connecting member through the cross member; Fig.13 As shown, the cross member can be a cross spring, or the cross member can be a cross rope, that is, two ropes are crossed together; Fig.14 As shown, the first connection part 712 may be provided with two cams, one long and one short, and the second connection part 722 may be provided with two matching holes, each cam is matched with a matching hole in a one-to-one correspondence, and when the cam is matched with the matching hole, the first connection part 712 is matched with the second connection part 722. Each pair of planar snake bone components also includes a support structure, and the support structure is used to keep the center distance between the first disk 71 and the second disk 72 unchanged. The structure of the support structure is the same as that of the prior art, and will not be repeated here.

[0099] like Fig.13As shown, when two pairs of planar snake-bone components are connected together to form a joint component, the second disc 72 of the second pair of planar snake-bone components can be connected together with the first disc 71 of the first pair of planar snake-bone components. Specifically, the first disc 71 of each pair of planar snake-bone components is also provided with a third surface 713 opposite to the first surface 711, and the second disc 72 of each pair of planar snake-bone components is also provided with a fourth surface 723 opposite to the second surface 721. When two pairs of planar snake-bone components are connected together to form a joint component, the third surface 713 of the first disc 71 of the first pair of planar snake-bone components can be connected with the fourth surface 723 of the second disc 72 of the second pair of planar snake-bone components, and a joint component is formed after the connection is completed.

[0100] The first pair of planar snake bone components in each joint component can rotate relative to the parallel first rotation axis and second rotation axis, and the second pair of planar snake bone components can rotate relative to the parallel third rotation axis and fourth rotation axis. The second rotation axis and the third rotation axis can be arranged orthogonally.

[0101] The rotation axes of two adjacent joint components can be arranged in the following two ways:

[0102] like Fig.15 As shown, the first joint component P1 includes a first pair of planar serpentine bone components and a second pair of planar serpentine bone components arranged in sequence from the proximal end to the distal end, and the second joint component P2 includes a third pair of planar serpentine bone components and a fourth pair of planar serpentine bone components arranged in sequence from the proximal end to the distal end; the first pair of planar serpentine bone components rotate according to the first rotation axis m1 and the second rotation axis m2, the second pair of planar serpentine bone components rotate according to the third rotation axis m3 and the fourth rotation axis m4, and the second rotation axis m2 and the third rotation axis m3 are orthogonally distributed; the third pair of planar serpentine bone components rotate according to the fifth rotation axis m5 and the sixth rotation axis m6, the fourth pair of planar serpentine bone components rotate according to the seventh rotation axis m7 and the third rotation axis m8, and the sixth rotation axis m6 and the fourth rotation axis m7 are orthogonally distributed;

[0103] (i)If Fig.15 As shown, when the first rotation axis m1, the second rotation axis m2, the fifth rotation axis m5 and the sixth rotation axis m6 are arranged in parallel, and the third rotation axis m3, the fourth rotation axis m4, the seventh rotation axis m7 and the third rotation axis m8 are arranged in parallel, the rotation axes of the first joint component P1 and the second joint component P2 will be arranged in an ABAB manner.

[0104] (ii) When the first rotation axis m1, the second rotation axis m2, the seventh rotation axis m7 and the third rotation axis m8 are arranged in parallel, and the third rotation axis m3, the fourth rotation axis m4, the fifth rotation axis m5 and the sixth rotation axis m6 are arranged in parallel, the rotation axes of the first joint component P1 and the second joint component P2 will be arranged in an ABBA arrangement.

[0105] Embodiment three:

[0106] Based on the above-mentioned first embodiment, this embodiment takes the first constraint component 61 and the second constraint component 62 as examples to explain the second way of inserting the constraint component in the joint component:

[0107] The first restraining component 61 is provided in the following manner:

[0108] like Fig.16 , Fig.17 , Fig.18 and Fig.19 As shown, in this embodiment, the first joint component P1 is directly connected to the second joint component P2; each first constraint member is spiraled 360° in the first joint component P1 and the second joint component P2. The spiraling 360° means that when the fixed position of the first constraint member at the proximal end of the first joint component P1 is A5 and the fixed position of the first constraint member at the distal end of the second joint component P2 is A6, when A5 and A6 are projected onto a plane perpendicular to the axis L of the flexible arm 30, A5 and A6 overlap.

[0109] Of course, it is understandable that each first constraint member can be spiraled 180° in the first joint component P1, and each first constraint member can be spiraled 180° in the second joint component P2.

[0110] Of course, it is understandable that each joint component can include a spatial snake bone component. In this case, the first constraint can be spiraled 180° in the first joint component P1 and spiraled 180° in the second joint component P2. The 180° spiral means that when the insertion position of each first constraint in a joint component is A7 and the exit position in a joint component is A8, A7 and A8 are located on both sides of the axis L of the flexible arm 30. When A7, A8 and the axis L of the flexible arm 30 are projected onto a plane perpendicular to the axis L of the flexible arm 30, A7, A8 and the axis L of the flexible arm 30 can form a central angle of 180° with the axis L of the flexible arm 30.

[0111] Of course, it is understandable that each joint component can include 2 pairs of planar serpentine components. In this case, if the first joint component P1 includes the first pair of planar serpentine components and the second pair of planar serpentine components, and the second joint component P2 includes the third pair of planar serpentine components and the fourth pair of planar serpentine components, then the first constraint can be spiraled 90° in the first pair of planar serpentine components, spiraled 90° in the second pair of planar serpentine components, spiraled 90° in the third pair of planar serpentine components, and spiraled 90° in the fourth pair of planar serpentine components. The 90° spiral means that when the insertion position of each first constraint in a joint component is A9 and the exit position in the above joint component is A10, when A9, A10 and the axis L of the flexible arm 30 are projected onto a plane perpendicular to the axis L of the flexible arm 30, A9, A10 and the axis L of the flexible arm 30 can form a central angle of 90° with the axis L of the flexible arm 30. In this embodiment, the rotation axes of the first joint component P1 and the second joint component P2 can be arranged in an ABAB manner, or the rotation axes of the first joint component P1 and the second joint component P2 can be arranged in an ABBA manner.

[0112] Of course, it can be understood that in the present embodiment, four first restraint members can also be provided, and the four first restraint members are respectively the first restraint member G1, the first restraint member G2, the first restraint member G3 and the first restraint member G4, and the first restraint member G1, the first restraint member G2, the first restraint member G3 and the first restraint member G4 are symmetrical about the axis L of the flexible arm 30.

[0113] In this embodiment, when the flexible arm 30 is bent, the lengths of the first restraint member G1, the first restraint member G2, the first restraint member G3 and the first restraint member G4 can also be kept unchanged, thereby constraining the S-shaped deformation of the first joint component P1 and the second joint component P2.

[0114] Of course, it is understandable that the second joint assembly P2 and the third joint assembly P3 can be directly connected; each second constraint member is spirally arranged 360° in the second joint assembly P2 and the third joint assembly P3. The specific arrangement of the second constraint member is the same as that of the first constraint member, which will not be repeated here.

[0115] It can be seen that in this embodiment, no straight tube 91 is provided in the flexible arm 30 , so the structure of the flexible arm 30 is more compact.

[0116] Of course, it can be understood that, in practice, the above-mentioned embodiment 2 and embodiment 3 can be used in combination, that is, when the flexible arm 30 includes a first joint component P1, a second joint component P2 and a third joint component P3 connected sequentially from the proximal end to the distal end, the first constraint component 61 can be inserted into the first joint component P1 and the second joint component P2 in a 180° spiral manner, and the second constraint component 62 can be inserted into the second joint component P2 and the third joint component P3 in a 360° spiral manner.

[0117] Embodiment 4:

[0118] From the above content, we can see that there are two sets of constraint components inserted into the three adjacent joint components. The insertion methods of the two sets of constraint components are different, and the bending conditions of the three joint components will also be different accordingly. The following is a detailed explanation:

[0119] like Fig. 20 and Fig.21 As shown, the flexible arm 30 has three adjacent joint components, namely the first joint component P1, the second joint component P2 and the third joint component P3. The flexible arm 30 also has two groups of constraint components, namely the first constraint component 61 and the second constraint component 62. The first constraint component 61 is inserted into the first joint component P1 and the second joint component P2, and the second constraint component 62 is inserted into the second joint component P2 and the third joint component P3. Fig. 20 Schematic diagram of the first constraint component 61 and the second constraint component 62 being inserted into the three joint components in a 180° insertion manner. Fig.21 It is a schematic diagram of the first constraint component 61 and the second constraint component 62 being inserted into three joint components in a 360° insertion manner.

[0120] like Fig. 20 and Fig.21As shown, in the first joint component P1, the distance from each first constraint member in the first constraint component 61 to the axis L of the flexible arm 30 is b1; in the second joint component P2, the distance from each first constraint member in the first constraint component 61 to the axis L of the flexible arm 30 is b2, and the distance from each second constraint member in the second constraint component 62 to the axis L of the flexible arm 30 is b3; in the third joint component P3, the distance from each second constraint member in the second constraint component 62 to the axis L of the flexible arm 30 is b4; when the first drive rope 81 drives the flexible arm 30 to bend upward, the bending angle of the first joint component P1 is θ1, the bending angle of the second joint component P2 is θ2, and the bending angle of the third joint component P3 is θ3; when the flexible arm 30 is bent, the first constraint component The change amount of each first constraint member in 61 in the first joint component P1 is t1, and the change amount in the second joint component P2 is t2; wherein, t1 and t2 are elongation and shortening respectively; t1 satisfies the following relationship (1), and t2 satisfies the following relationship (2); when the flexible arm 30 is bent, the change amount of each second constraint member in the second constraint member 62 in the second joint component P2 is t3; the change amount in the third joint component P3 is t4; wherein, t3 and t4 are elongation and shortening respectively, t3 satisfies the following relationship (3), and t4 satisfies the following relationship (4); since t1=t2, t3=t4, then at this time when b1, b2, b3 and b4 present different relationships, the bending conditions of the three joint components are as follows:

[0121]

[0122]

[0123] (i)If Fig. 20 and Fig. 22 As shown, when b1=b2 and b3=b4, according to the above-mentioned equations (1), (2), (3) and (4), it can be seen that θ1=θ2=θ3, that is, the bending angles of the three joint components are equal; Fig. 22 As shown, when the bending angles of the three joint components are equal, the flexible arm 30 can achieve equal curvature bending. When the flexible arm 30 can achieve equal curvature bending, the bending shape of the flexible arm 30 is fixed, which is convenient for controlling the drive unit in the instrument box 10, and the ability of the entire flexible arm 30 to resist S-shaped deformation is greatly improved.

[0124] (ii) If Fig.23 As shown, when b1=b2 and b3≠b4, according to the above equations (1), (2), (3) and (4), it can be seen that θ1=θ2≠θ3, and the bending angles of the three joint components are not completely equal. Fig.24As shown, when the bending angles of the three joint components are not completely equal, the flexible arm 30 can achieve non-uniform curvature bending.

[0125] (iii) When b1≠b2 and b3=b4, according to the above-mentioned equations (1), (2), (3) and (4), it can be seen that at this time θ1≠θ2=θ3, the bending angles of the three joint components are not completely equal. When the bending angles of the three joint components are not completely equal, the flexible arm 30 can achieve non-uniform curvature bending.

[0126] (iv) When b1≠b2, b3≠b4, and b1 / b2≠b4 / b3, according to the above-mentioned equations (1), (2), (3) and (4), it can be seen that at this time θ1≠θ2≠θ3, the bending angles of the three joint components are completely unequal. When the bending angles of the three joint components are completely unequal, the flexible arm 30 can achieve non-uniform curvature bending.

[0127] When the flexible arm 30 achieves non-constant curvature bending, the shape of the flexible arm 30 is unique and fixed, and can be applied in some scenarios that are easier to stretch than bending with constant curvature.

[0128] Embodiment five:

[0129] like Fig.25 As shown, in this embodiment, the flexible arm 30 includes a first joint component P1, a second joint component P2 and a third joint component P3 connected in sequence from the proximal end to the distal end, and the flexible arm 30 also includes a straight tube 91 and a target joint component 92; wherein the proximal end of the straight tube 91 is connected to the distal end of the target joint component 92, and the distal end of the straight tube 91 is connected to the proximal end of the first joint component P1. Fig.26 As shown, only a plurality of second drive ropes 82 are passed through the target joint assembly 92, and the second drive ropes 82 are passed through the target joint assembly 92 in a direction parallel to the vertical axis L of the flexible arm 30. The distal end of the second drive rope 82 is fixed to the distal end of the target joint assembly 92, and the proximal end of the second drive rope 82 is connected to the drive unit in the instrument box 10. The structure of the target joint assembly 92 is the same as the structure of the single joint assembly in the above-mentioned embodiment, and will not be repeated here. Multiple first drive ropes 81 and two groups of constraints are inserted into the first joint assembly P1, the second joint assembly P2 and the third joint assembly P3. The first drive rope 81 is inserted into the three joint assemblies, the long straight tube 20 and the target joint assembly 92 in a direction parallel to the axis L of the flexible arm 30. The distal end of the first drive rope 81 is fixed at any position in the three joint assemblies, and the proximal end of the first drive rope 81 is connected to the drive unit in the instrument box 10. The two groups of constraints can be inserted into the three joint assemblies in the 180° insertion method in the above embodiment; the two groups of constraints can be inserted into the three joint assemblies in the 360° insertion method in the above embodiment.

[0130] In this embodiment, the three joint components in the flexible arm 30 constitute the second flexible segment, and the target joint component 92 in the flexible arm 30 constitutes the second flexible segment; Fig. 27 is a schematic diagram of the bending of the flexible arm 30, such as Fig. 27 As shown, in the structure of the flexible arm 30 of this embodiment, the first flexible segment can be bent at a certain angle. For example, the first flexible segment can be bent at 45° to 50°, and the second flexible segment can be bent at a larger angle. For example, the second flexible segment can be bent at 135° to 150°. The flexible arm 30 has a larger working space and a stronger force load capacity.

[0131] Embodiment six:

[0132] In this embodiment, the first joint assembly P1, the second joint assembly P2 and the third joint assembly P3 connected in sequence from the proximal end to the distal end form a flexible segment, and the flexible arm 30 includes a plurality of flexible segments connected in sequence from the proximal end to the distal end. At the same time, the flexible arm 30 can use the method in the above embodiment to constrain the S-shaped deformation generated by each joint assembly in the flexible arm 30 when the flexible arm 30 is bent.

[0133] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A flexible arm, characterized in that: The flexible arm comprises: A first joint component, a second joint component and a third joint component are connected in sequence from the proximal end to the distal end; A first constraint assembly is disposed in the first joint assembly and the second joint assembly, the first constraint assembly includes a plurality of first constraint members, the proximal end of each of the first constraint members is fixed to the proximal end of the first joint assembly, the distal end of each of the first constraint members is fixed to the distal end of the second joint assembly, and each of the first constraint members is spirally connected at a first preset angle; A second constraint assembly is inserted into the second joint assembly and the third joint assembly, the second constraint assembly includes a plurality of second constraint members, the proximal end of each second constraint member is fixed to the proximal end of the second joint assembly, the distal end of each second constraint member is fixed to the distal end of the third joint assembly, and each second constraint member is spirally connected at a second preset angle; The first constraint component and the second constraint component are interlaced within the second joint component.

2. The flexible arm according to claim 1, characterized in that: The flexible arm has an axis, and each of the first restraining members is arranged in the first joint component in a direction parallel to the axis, and is arranged in the second joint component in a 180° spiral at the connection between the first joint component and the second joint component and in a direction parallel to the axis; And / or, each of the second restraints is inserted into the second joint assembly in a direction parallel to the axis, and is inserted into the third joint assembly in a 180° spiral at the connection between the second joint assembly and the third joint assembly and in a direction parallel to the axis.

3. The flexible arm according to claim 2, characterized in that: The first joint assembly is connected to the second joint assembly via a first straight pipe section, and each of the first restraining members is spirally connected at 180° at the first straight pipe section; And / or, the second joint assembly is connected to the third joint assembly via a second straight pipe section, and each of the second restraining members is spirally formed at 180° at the second straight pipe section.

4. The flexible arm according to claim 1, characterized in that: Each of the first restraining members is spirally arranged 360° in the first joint assembly and the second joint assembly; And / or, each of the second constraints is spiraled 360° within the second joint assembly and the third joint assembly.

5. The flexible arm according to claim 4, characterized in that: Each of the first restraining members is spiraled 180° in the first joint assembly and spiraled 180° in the second joint assembly; And / or, each of the second constraints is spirally arranged at 180° in the second joint component and spirally arranged at 180° in the third joint component.

6. The flexible arm according to claim 1, characterized in that: The flexible arm has an axis, and the axis is the intersection line of the first bending plane and the second bending plane; There are four first restraining members, wherein the positions of two first restraining members on the first joint component and the second joint component are symmetrical about the first bending plane, and the positions of the other two first restraining members on the first joint component and the second joint component are symmetrical about the second bending plane; There are four second restraint members, of which two are arranged symmetrically at the second joint component and the third joint component with respect to the first bending plane, and the other two are arranged symmetrically at the second joint component and the third joint component with respect to the second bending plane.

7. The flexible arm according to claim 6, characterized in that: In the first joint assembly, the center distance between each of the first constraint parts and the axis is b1; in the second joint assembly, the center distance between each of the first constraint parts and the axis is b2, and the center distance between each of the second constraint parts and the axis is b3; in the third joint assembly, the center distance between each of the second constraint parts and the axis is b4; the bending angle of the first joint assembly is θ1, the bending angle of the second joint assembly is θ2, and the bending angle of the third joint assembly is θ3; Among them, when b1=b2 and b3=b4, θ1=θ2=θ3; When b1=b2 and b3≠b4, θ1=θ2≠θ3; When b1≠b2 and b3=b4, θ1≠θ2=θ3; When b1≠b2, b3≠b4, and b1 / b2≠b4 / b3, θ1≠θ2≠θ3.

8. The flexible arm according to claim 1, characterized in that: Each joint assembly includes two pairs of planar snake bone assemblies, the first pair of planar snake bone assemblies in each joint assembly rotates relative to a first rotation axis and a second rotation axis that are parallel to each other, and the second pair of planar snake bone assemblies in each joint assembly rotates relative to a third rotation axis and a fourth rotation axis that are parallel to each other, and the second rotation axis and the third rotation axis are arranged orthogonally.

9. The flexible arm according to claim 1, characterized in that: Each joint component includes a spatial snake-bone component, and each spatial snake-bone component can rotate relative to multiple rotation axes.

10. The flexible arm according to any one of claims 1 to 9, characterized in that: The first joint component, the second joint component and the third joint component connected in sequence from the proximal end to the distal end constitute a flexible segment, and the flexible arm includes a plurality of the flexible segments connected in sequence from the proximal end to the distal end.

11. The flexible arm according to any one of claims 1 to 9, characterized in that: The flexible arm also has a straight tube and a target joint component. The proximal end of the straight tube is connected to the distal end of the target joint component, and the distal end of the straight tube is connected to the proximal end of the first joint component.

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