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 N first snake bones, N-1 second snake bones and a plurality of driving parts, the first snake bones and the second snake bones are alternately arranged from the far end to the near end, and the adjacent first snake bones and second snake bones are pivotally connected; each driving part comprises a near end part and a plurality of far end parts, the plurality of far end parts are respectively connected with one near end part, the near end part of each driving part is used for being connected with one driving source of the instrument box, the plurality of far end parts are connected with the plurality of first snake bones except the first snake bone at the nearest end, and N is greater than or equal to 3. The instrument box can control the multiple far-end parts through the near-end part, that is, each driving piece can control the multiple first snake bones, the number of the driving pieces can be reduced, the cross sectional area of the rod body can be reduced, the number of driving sources can also be reduced, and therefore the structure of the instrument box is simplified, and the space occupied by the instrument box is reduced.

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 reduce the size of surgical equipment 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 simplify the structure of the flexible arm and reduce the size of the instrument rod.

[0005] In the first aspect, the present application provides a flexible arm, which includes N first snake bones and N-1 second snake bones, and multiple driving members, the first snake bones and the second snake bones are arranged alternately from the distal end to the proximal end, and adjacent first snake bones and second snake bones are pivotally connected; each driving member includes a proximal end and multiple distal ends, the multiple distal ends are respectively connected to a proximal end, the proximal end of each driving member is used to connect to a driving source of the instrument box, and the multiple distal ends are connected to multiple first snake bones except the most proximal first snake bone, N≥3.

[0006] In the above technical solution, the flexible arm includes N first serpentine bones and N-1 second serpentine bones, the first serpentine bones and the second serpentine bones are arranged alternately from the distal end to the proximal end, and the adjacent first serpentine bones and the second serpentine bones are pivotally connected, so that the first serpentine bones and the second serpentine bones can be bent and straightened, so that the instrument rod with the flexible arm can reach different surgical sites in different postures; by making N ≥ 3, the bending angle of the flexible arm is larger, the scope of use in surgical equipment is wider, and the surgical operation is more flexible; by making each driving member include a proximal end and multiple distal ends, the multiple distal ends are respectively connected to a proximal end, and each driving member is The proximal end of the member is used to connect to a driving source of the instrument box, and multiple distal ends are connected to multiple first snake bones except a first snake bone at the most proximal end, so that the instrument box can control multiple distal ends through the proximal end, that is, each driving member can control multiple first snake bones. Compared with the current situation where each first snake bone is controlled by a driving member, the present application can reduce the number of driving members. Since the driving member is arranged through the rod body of the instrument rod, the cross-sectional area of ​​the rod body can be reduced. Moreover, since a driving source is arranged in the instrument box corresponding to each driving member, the present application can also reduce the number of driving sources, thereby simplifying the structure of the instrument box and reducing the space occupied by the instrument box.

[0007] In some embodiments of the present application, the connection points between the multiple driving members and the same first snake bone are distributed on the same circle with the center of the first snake bone as the center.

[0008] In the above technical solution, by distributing the connection points between multiple driving members and the same first serpentine bone on the same circle with the center of the first serpentine bone as the center, when each driving member drives the first serpentine bone with the same force and speed, the rotation angle and rotation speed of the first serpentine bone are the same, which can facilitate the driving member to control the first serpentine bone.

[0009] In some embodiments of the present application, among the multiple first snake bones connected to the distal end, the radius of the circle where the connection points on the first snake bones are located gradually increases from the distal end to the proximal end.

[0010] In the above technical solution, when the proximal end moves the same distance, the larger the radius of the circle where the connection point of the first serpentine bone and the distal end is located, the smaller the rotation angle of the first serpentine bone is. By making the radius of the circle where the connection point on the first serpentine bone is located gradually increase from the distal end to the proximal end among the multiple first serpentine bones connected to the distal end, it can be made that when the proximal end is driven, the rotation angle of the first serpentine bone closer to the distal end is larger, so that the rotation angle and rotation speed of each first serpentine bone connected to the distal end are closer to the first serpentine bone adjacent to its proximal side, thereby making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm.

[0011] In some embodiments of the present application, each distal end portion penetrates at least one second serpentine bone, and the radius of the circle where the connection point on the first serpentine bone is located is inversely proportional to the number of second serpentine bones penetrated by the distal end portion connected to the first serpentine bone.

[0012] In the above technical solution, by making the radius of the circle where the connection point on the first serpentine bone is located inversely proportional to the number of second serpentine bones penetrating the distal end connected to the first serpentine bone, the rotation angle and rotation speed of each first serpentine bone connected to the distal end relative to the first serpentine bone adjacent to its proximal side can be equal, thereby further making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm.

[0013] In some embodiments of the present application, N=4, the N first serpentine bones include a first distal serpentine bone, a first distal serpentine bone, a first proximal serpentine bone and a first proximal serpentine bone arranged in sequence from the distal end to the proximal end, and the multiple distal ends include a first distal end and a second distal end, the first distal end is connected to the first distal serpentine bone, and the second distal end is connected to the first distal serpentine bone.

[0014] In the above technical solution, by connecting the first distal end to the first distal serpentine bone and the second distal end to the first distal serpentine bone, the first distal end can drive the first distal serpentine bone to rotate, and the second distal end can drive the first distal serpentine bone to rotate. By driving the first distal serpentine bone and the first distal serpentine bone simultaneously by the first distal end and the second distal end, the bending process of the flexible arm can be made more stable.

[0015] In some embodiments of the present application, the radius of the circle where the connection point on the first distal snake bone is located is R1, and the radius of the circle where the connection point on the first distal snake bone is located is R2, satisfying R1:R2=2:3.

[0016] In the above technical solution, by making the radius R1 of the circle where the connection point on the first distal snake bone is located and the radius R2 of the circle where the connection point on the first distal snake bone is located satisfy R1:R2=2:3, when the proximal end is driven, the rotation angle and rotation speed of the first distal snake bone relative to the first distal snake bone are equal to the rotation angle and rotation speed of the first distal snake bone relative to the first proximal snake bone, thereby further making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm.

[0017] In some embodiments of the present application, N=4, the N first serpentine bones include a first distal serpentine bone, a first distal serpentine bone, a first proximal serpentine bone and a first proximal serpentine bone arranged in sequence from the distal end to the proximal end, the multiple distal ends include a first distal end, a second distal end and a third distal end, the first distal end is connected to the first distal serpentine bone, the second distal end is connected to the first distal serpentine bone, and the third distal end is connected to the first proximal serpentine bone.

[0018] In the above technical solution, by connecting the first distal end to the first distal serpentine bone, the second distal end to the first distal serpentine bone, and the third distal end to the first proximal serpentine bone, the first distal end can drive the first distal serpentine bone to rotate, the second distal end can drive the first distal serpentine bone to rotate, and the third distal end can drive the first proximal serpentine bone to rotate. By driving the first distal serpentine bone, the first distal serpentine bone, and the first proximal serpentine bone simultaneously through the first distal end, the second distal end, and the third distal end, the bending process of the flexible arm can be made more stable.

[0019] In some embodiments of the present application, the radius of the circle where the connection point on the first distal snake bone is located is R1, the radius of the circle where the connection point on the first distal snake bone is located is R2, and the radius of the circle where the connection point on the first proximal snake bone is located is R3, satisfying R1:R2:R3=2:3:6.

[0020] In the above technical solution, by making the radius R1 of the circle where the connection point on the first distal snake bone is located, the radius R2 of the circle where the connection point on the first distal snake bone is located, and the radius R3 of the circle where the connection point on the first proximal snake bone is located satisfy R1:R2:R3=2:3:6, when the proximal end is driven, the rotation angle and rotation speed of the first distal snake bone relative to the first distal snake bone, the rotation angle and rotation speed of the first distal snake bone relative to the first proximal snake bone, and the rotation angle and rotation speed of the first proximal snake bone relative to the first proximal snake bone are all equal, thereby further making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm.

[0021] In some embodiments of the present application, N=3, the N first snake bones include a first distal snake bone, a first middle snake bone and a first proximal snake bone arranged in sequence from the distal end to the proximal end, and the multiple distal ends include a first distal end and a second distal end, the first distal end is connected to the first distal snake bone, and the second distal end is connected to the first middle snake bone.

[0022] In the above technical solution, by connecting the first distal end portion to the first distal serpentine bone and the second distal end portion to the first middle serpentine bone, the first distal end portion can drive the first distal serpentine bone to rotate, and the second distal end portion can drive the first middle serpentine bone to rotate. By driving the first distal serpentine bone and the first middle serpentine bone simultaneously by the first distal end portion and the second distal end portion, the bending process of the flexible arm can be made more stable.

[0023] In some embodiments of the present application, N=4, the N first serpentine bones include a first distal serpentine bone, a first distal serpentine bone, a first proximal serpentine bone and a first proximal serpentine bone arranged in sequence from distal to proximal, and the multiple distal ends include a first distal end and a second distal end, the first distal end is connected to the first distal serpentine bone, and the second distal end is connected to the first proximal serpentine bone.

[0024] In the above technical solution, by connecting the first distal end to the first distal serpentine bone and the second distal end to the first proximal serpentine bone, the first distal end can drive the first distal serpentine bone to rotate, and the second distal end can drive the first proximal serpentine bone to rotate. By driving the first distal serpentine bone and the first proximal serpentine bone simultaneously by the first distal end and the second distal end, the bending process of the flexible arm can be made more stable.

[0025] In some embodiments of the present application, one of the plurality of distal portions is connected to a distal-most first snake bone.

[0026] In the above technical solution, since the farthest first serpentine bone can drive the entire flexible arm to bend after rotating to a certain angle, by connecting one of the multiple distal ends with the farthest first serpentine bone, the farthest first serpentine bone can be directly driven by the distal end, which can make the reliability of the flexible arm higher.

[0027] In some embodiments of the present application, each driving member has M distal ends, and the M distal ends are connected to M first snake bones in a one-to-one correspondence; M≤N-1.

[0028] In the above technical solution, by making each driving member have M distal ends, the M distal ends are connected to the M first snake bones one by one; M≤N-1, the reliability of the driving member's control over the first snake bones can be higher.

[0029] In some embodiments of the present application, each second snake bone is pivotally connected to a first snake bone adjacent thereto around a first axis, and each second snake bone is pivotally connected to another first snake bone adjacent thereto around a second axis; the first axis is perpendicular to the second axis.

[0030] By making each second snake bone pivotally connected to a first snake bone adjacent to it around a first axis, and each second snake bone pivotally connected to another first snake bone adjacent to it around a second axis; the first axis is perpendicular to the second axis, so that the driving member can drive the first snake bone to rotate around the perpendicular first axis and second axis to adapt to different surgical operations.

[0031] In some embodiments of the present application, each second snake bone is pivotally connected to a first snake bone adjacent to its proximal side around a first axis, and each second snake bone is pivotally connected to a first snake bone adjacent to its distal side around a second axis.

[0032] By making each second snake bone pivotally connected to a first snake bone adjacent to its proximal side around a first axis, and each second snake bone pivotally connected to a first snake bone adjacent to its distal side around a second axis, the driving member can drive the first snake bones to rotate around the vertical first axis and second axis to adapt to different surgical operations; and the rotation axes of the two adjacent first snake bones relative to the second snake bones adjacent to their proximal sides are parallel.

[0033] In some embodiments of the present application, N=4, the N first serpentine bones include a first distal serpentine bone, a first distal serpentine bone, a first proximal serpentine bone and a first proximal serpentine bone arranged in sequence from the distal end to the proximal end; the N-1 second serpentine bones include a second distal serpentine bone, a second intermediate serpentine bone and a second proximal serpentine bone arranged in sequence from the distal end to the proximal end; the flexible arm also includes a first constraint component, the first constraint component is connected between the first distal serpentine bone and the first proximal serpentine bone, and the first constraint component is configured to constrain one of the first distal serpentine bone and the first distal serpentine bone to bend at the same time; and / or, the first constraint component is configured to constrain one of the second distal serpentine bone and the second intermediate serpentine bone to bend at the same time.

[0034] In the above technical solution, by connecting the first constraint component between the first distal serpentine and the first proximal serpentine, the first constraint component is configured to constrain the first distal serpentine and the first distal serpentine to bend when one of them is bent; and / or, the first constraint component is configured to constrain the second distal serpentine and the second intermediate serpentine to bend when the other is bent, so that when the driving member drives one of the first distal serpentine and the first distal serpentine to rotate, the other can be rotated simultaneously through the first constraint component, so that the rotation angle and rotation speed of the first distal serpentine and the first distal serpentine are close, so that the overall bending curve of the flexible arm is smoother, which is convenient for controlling the flexible arm; When the driving member drives the first distal serpentine to rotate around the rotation axis of the second distal serpentine and the first distal serpentine, the first distal serpentine will drive the second distal serpentine to rotate, and when the driving member drives the first distal serpentine to rotate around the rotation axis of the second intermediate serpentine and the first proximal serpentine, the first distal serpentine will drive the second intermediate serpentine to rotate. When the driving member drives one of the second distal serpentine through the first distal serpentine and the second intermediate serpentine through the first distal serpentine, the other can be rotated simultaneously through the first constraint component, so that the rotation angle and rotation speed of the second distal serpentine and the second intermediate serpentine are close, so that the overall bending curve of the flexible arm is smoother, which is convenient for controlling the flexible arm.

[0035] In some embodiments of the present application, the first distal snake bone includes a first sub-snake bone and a second sub-snake bone; the first constraint assembly includes a first connecting member and a plurality of first constraint members, the two ends of the first connecting member are respectively connected to the first sub-snake bone and the second sub-snake bone, the first constraint member is movably arranged around the first connecting member, and extends from one side of the first connecting member to the other side along the first direction, one end of the first constraint member is connected to the first distal snake bone, and the other end is connected to the first proximal snake bone; the first direction is perpendicular to the extension direction from the distal end to the proximal end.

[0036] In the above technical scheme, by making the first distal snake bone include the first sub-snake bone and the second sub-snake bone, the first constraint assembly includes the first connecting piece, and the two ends of the first connecting piece are respectively connected to the first sub-snake bone and the second sub-snake bone, so that the position of the first connecting piece can be made more stable and not easy to be separated from the first distal snake bone, and the reliability of the first constraint assembly is higher; by making the first constraint piece movably arranged around the first connecting piece, and extending from one side of the first connecting piece to the other side along the first direction, one end of the first constraint piece is connected to the first distal snake bone, and the other end is connected to the first proximal snake bone; the first direction is perpendicular to the extension direction from the distal end to the proximal end, The bending angle of the first distal serpent bone relative to the first distal serpent bone can be made the same as the bending angle of the first distal serpent bone relative to the first proximal serpent bone, thereby making the rotation angle and rotation speed of the first distal serpent bone and the first distal serpent bone the same, making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm; the bending angle of the second distal serpent bone relative to the second middle serpent bone can be made the same as the bending angle of the second middle serpent bone relative to the second proximal serpent bone, thereby making the rotation angle and rotation speed of the second distal serpent bone and the second middle serpent bone the same, making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm.

[0037] In some embodiments of the present application, multiple driving members are arranged along the circumference of the first serpentine bone; the first constraint assembly includes multiple first constraint members, the multiple first constraint members are arranged along the circumference of the first serpentine bone, and the multiple first constraint members are arranged on the inner side of the multiple driving members.

[0038] In the above technical scheme, by arranging multiple driving members along the circumference of the first serpentine bone, the possibility of mutual interference between the multiple driving members can be reduced, so that the reliability of the driving members is higher; by making the first constraint assembly include multiple first constraint members, and the multiple first constraint members are arranged along the circumference of the first serpentine bone, the possibility of mutual interference between the multiple first constraint members can be reduced, so that the reliability of the first constraint assembly is higher; by arranging the multiple first constraint members on the inner side of the multiple driving members, the possibility of mutual interference between the first constraint members and the driving members can be reduced, so that the reliability of the driving members and the first constraint assembly is higher.

[0039] In some embodiments of the present application, the number of the first restraint members is four, and the four first restraint members are evenly spaced and arranged along the circumference of the first snake bone.

[0040] In the above technical solution, by making the number of the first restraint members four, the four first restraint members are evenly spaced along the circumference of the first serpentine bone, so that the first restraint assembly can restrain the bending of the first distal serpentine bone or the first proximal serpentine bone in four directions, and when the first distal serpentine bone or the first proximal serpentine bone bends in one direction, the first distal serpentine bone and the first proximal serpentine bone can be restrained by two first restraint members opposite to each other along the first direction, thereby further making the reliability of the first restraint assembly higher.

[0041] In some embodiments of the present application, N=4, the N first serpentine bones include a first distal serpentine bone, a first distal serpentine bone, a first proximal serpentine bone and a first proximal serpentine bone arranged in sequence from the distal end to the proximal end; the N-1 second serpentine bones include a second distal serpentine bone, a second intermediate serpentine bone and a second proximal serpentine bone arranged in sequence from the distal end to the proximal end; the flexible arm also includes a second constraint component, the second constraint component is connected between the first distal serpentine bone and the first proximal serpentine bone, and the second constraint component is configured to constrain the first distal serpentine bone and the first proximal serpentine bone to bend when one of the first distal serpentine bone and the first proximal serpentine bone is bent; and / or, the second constraint component is configured to constrain the second intermediate serpentine bone and the second proximal serpentine bone to bend when one of the second intermediate serpentine bone and the second proximal serpentine bone is bent.

[0042] In the above technical solution, by connecting the second constraint component between the first distal serpentine and the first proximal serpentine, the second constraint component is configured to constrain the first distal serpentine and the first proximal serpentine to bend when one of them is bent; and / or, the second constraint component is configured to constrain the second intermediate serpentine and the second proximal serpentine to bend when the other is bent, so that when the driving member drives one of the first distal serpentine and the first proximal serpentine to rotate, the other can be rotated simultaneously through the second constraint component, so that the rotation angle and rotation speed of the first distal serpentine and the first proximal serpentine are close, so that the overall bending curve of the flexible arm is smoother, which is convenient for controlling the flexible arm; When the driving member drives the first distal serpentine to rotate around the rotation axis of the second middle serpentine and the first proximal serpentine, the first distal serpentine will drive the second middle serpentine to rotate, and when the driving member drives the first proximal serpentine to rotate around the rotation axis of the second proximal serpentine and the first proximal serpentine, the first proximal serpentine will drive the second proximal serpentine to rotate. When the driving member drives one of the second middle serpentine through the first distal serpentine and the second proximal serpentine through the first proximal serpentine, the other can be rotated simultaneously through the second constraint component, so that the rotation angle and rotation speed of the second middle serpentine and the second proximal serpentine are close, so that the overall bending curve of the flexible arm is smoother, which is convenient for controlling the flexible arm.

[0043] In some embodiments of the present application, the first proximal snake bone includes a third sub-snake bone and a fourth sub-snake bone; the second constraint assembly includes a second connecting member and a plurality of second constraint members, the two ends of the second connecting member are respectively connected to the third sub-snake bone and the fourth sub-snake bone, the second constraint member is movably arranged around the second connecting member, and extends from one side of the second connecting member to the other side along the first direction, one end of the second constraint member is connected to the first distal snake bone, and the other end is connected to the first proximal snake bone; the first direction is perpendicular to the extension direction from the distal end to the proximal end.

[0044] In the above technical scheme, by making the first proximal snake bone include the third sub-snake bone and the fourth sub-snake bone, the second constraint assembly includes the second connecting piece and multiple second restraining pieces, and the two ends of the second connecting piece are respectively connected to the third sub-snake bone and the fourth sub-snake bone, so that the position of the second connecting piece can be made more stable and not easy to be separated from the first proximal snake bone, and the reliability of the second restraining assembly is higher; by making the second restraining piece movably arranged around the second connecting piece, and extending from one side of the second connecting piece to the other side along the first direction, one end of the second restraining piece is connected to the first distal snake bone, and the other end is connected to the first proximal snake bone; the first direction and the extension direction from the distal end to the proximal end are Vertically, the bending angle of the first distal serpentine bone relative to the first proximal serpentine bone can be made the same as the bending angle of the first proximal serpentine bone relative to the first proximal serpentine bone, thereby making the rotation angle and rotation speed of the first distal serpentine bone and the first proximal serpentine bone the same, making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm; the bending angle of the second intermediate serpentine bone relative to the second proximal serpentine bone can be made the same as the bending angle of the second proximal serpentine bone relative to the first proximal serpentine bone, thereby making the rotation angle and rotation speed of the second intermediate serpentine bone and the second proximal serpentine bone the same, making the overall bending curve of the flexible arm smoother and facilitating the control of the flexible arm.

[0045] In some embodiments of the present application, N first serpentine bones include a first proximal serpentine bone and a first proximal serpentine bone from the proximal end to the distal end, and at least one second serpentine bone includes a second proximal serpentine bone located between the first proximal serpentine bone and the first proximal serpentine bone; a first arc-shaped protrusion is provided on the side of the first proximal serpentine bone facing the second proximal serpentine bone, and a first arc-shaped groove is provided on the side of the second proximal serpentine bone facing the first proximal serpentine bone, at least part of the first arc-shaped protrusion is accommodated in the first arc-shaped groove, and can rotate around the first axis in the first arc-shaped groove; a second arc-shaped protrusion is provided on the side of the second proximal serpentine bone facing the first proximal serpentine bone, and a second arc-shaped groove is provided on the side of the first proximal serpentine bone facing the second proximal serpentine bone, at least part of the second arc-shaped protrusion is accommodated in the second arc-shaped groove, and can rotate around the second axis in the second arc-shaped groove.

[0046] In the above technical solution, a first arc-shaped protrusion is provided on a side of the first proximal serpentine bone facing the second proximal serpentine bone, and a first arc-shaped groove is provided on a side of the second proximal serpentine bone facing the first proximal serpentine bone. At least a portion of the first arc-shaped protrusion is accommodated in the first arc-shaped groove and can rotate around a first axis in the first arc-shaped groove, so that the first arc-shaped groove and the first arc-shaped protrusion can play a role of mutual limitation and guidance, the first proximal serpentine bone and the second proximal serpentine bone are not easy to separate, and the first proximal serpentine bone is not easy to rotate relative to the second proximal serpentine bone around other directions except the first axis, so that the structural stability of the flexible arm is improved. Higher; by providing a second arc-shaped protrusion on the side of the second proximal serpentine bone facing the first proximal serpentine bone, and providing a second arc-shaped groove on the side of the first proximal serpentine bone facing the second proximal serpentine bone, at least part of the second arc-shaped protrusion is accommodated in the second arc-shaped groove, and can rotate around the second axis in the second arc-shaped groove, so that the second arc-shaped groove and the second arc-shaped protrusion can play a role of mutual limitation and guidance, the second proximal serpentine bone and the first proximal serpentine bone are not easy to separate, and the second proximal serpentine bone is not easy to rotate relative to the first proximal serpentine bone around other directions except the second axis, so that the structural stability of the flexible arm is higher.

[0047] In some embodiments of the present application, the first proximal snake bone is provided with two first arc-shaped protrusions opposite to each other along a second direction, and the second proximal snake bone is provided with two first arc-shaped grooves opposite to each other along the second direction; the second direction is perpendicular to the extension direction from the proximal end to the distal end.

[0048] In the above technical solution, by providing two first arc-shaped protrusions opposite to each other along the second direction on the first proximal serpentine bone, and providing two first arc-shaped grooves opposite to each other along the second direction on the second proximal serpentine bone; the second direction is perpendicular to the extension direction from the proximal end to the distal end, the connection between the first proximal serpentine bone and the second proximal serpentine bone can be made more stable, and the rotation process of the first proximal serpentine bone relative to the second proximal serpentine bone can be made more stable.

[0049] In some embodiments of the present application, from the distal end to the proximal end, the projection of the driving member does not overlap with the projection of the first arc-shaped protrusion, and the projection of the driving member does not overlap with the projection of the second arc-shaped protrusion.

[0050] In the above technical scheme, by ensuring that the projection of the driving member does not overlap with the projection of the first arc-shaped protrusion, and the projection of the driving member does not overlap with the projection of the second arc-shaped protrusion from the distal end to the proximal end, it is possible to facilitate the preparation of the first arc-shaped protrusion on the first proximal serpentine and the first through hole for the driving member to pass through, and to facilitate the preparation of the second arc-shaped protrusion on the second proximal serpentine and the second through hole for the driving member to pass through, and it is possible to reduce the possibility of interference between the driving member and the first arc-shaped protrusion and the second arc-shaped protrusion, and reduce the possibility of the driving member getting stuck or even being unable to move due to interference with the first arc-shaped protrusion and the second arc-shaped protrusion during the driving process, thereby improving the reliability of the flexible arm.

[0051] In some embodiments of the present application, along the circumference of the first serpentine bone, a plurality of driving members are respectively staggered with the two first arc-shaped protrusions and the two second arc-shaped protrusions and are evenly spaced.

[0052] In the above technical solution, multiple driving members are staggered and evenly spaced with the two first arc-shaped protrusions and the two second arc-shaped protrusions respectively along the circumference of the first serpentine bone, so that multiple driving members are arranged between the two first arc-shaped protrusions, and multiple driving members are arranged between the two second arc-shaped protrusions, so that the two first arc-shaped protrusions can be driven to rotate around the first axis in the first arc-shaped groove by the multiple driving members, and the two second arc-shaped protrusions can be driven to rotate around the second axis in the second arc-shaped groove by the multiple driving members, so that the driving process of the driving member is more stable.

[0053] In some embodiments of the present application, a first arc-shaped boss is provided on the side of the first proximal serpentine bone facing the second proximal serpentine bone, and the first arc-shaped boss is provided on the side of the first arc-shaped protrusion facing the center of the first proximal serpentine bone; a second arc-shaped boss is provided on the side of the second proximal serpentine bone facing the first proximal serpentine bone, and the second arc-shaped boss is provided on the side of the first arc-shaped groove facing the center of the second proximal serpentine bone; the first arc-shaped boss abuts against the second arc-shaped boss.

[0054] In the above technical solution, a first arc-shaped boss is provided on the side of the first proximal serpentine bone facing the second proximal serpentine bone, and the first arc-shaped boss is provided on the side of the first arc-shaped protrusion facing the center of the first proximal serpentine bone; a second arc-shaped boss is provided on the side of the second proximal serpentine bone facing the first proximal serpentine bone, and the second arc-shaped boss is provided on the side of the first arc-shaped groove facing the center of the second proximal serpentine bone; the first arc-shaped boss abuts against the second arc-shaped boss, which can further make the rotation process of the first proximal serpentine bone relative to the second proximal serpentine bone more stable, less likely to shake, and the reliability of the flexible arm is higher.

[0055] In some embodiments of the present application, two first arc-shaped bosses opposite to each other along a second direction are arranged on the first proximal serpentine bone, and two second arc-shaped bosses opposite to each other along a second direction are arranged on the second proximal serpentine bone; the second direction is perpendicular to the extension direction from the distal end to the proximal end.

[0056] In the above technical solution, by providing two first arc-shaped bosses opposite to each other along the second direction on the first proximal serpentine bone, and providing two second arc-shaped bosses opposite to each other along the second direction on the second proximal serpentine bone; the second direction is perpendicular to the extension direction from the proximal end to the distal end, the rotation process of the first proximal serpentine bone relative to the second proximal serpentine bone can be further made more stable, less prone to shaking, and the reliability of the flexible arm is higher.

[0057] In some embodiments of the present application, the N first snake bones include a first distal snake bone located at the distal end, the first distal snake bone includes a connecting groove, the multiple distal ends include a first distal end, one end of the first distal end is connected to a connecting column, the first distal end passes through the connecting groove, and the connecting column is accommodated in the connecting groove.

[0058] In the above technical solution, by making the first distal snake bone include a connecting groove, one end of the first distal portion is connected to a connecting column, the first distal portion passes through the connecting groove, and the connecting column is accommodated in the connecting groove, so that the connection between the first distal portion and the first distal snake bone can be made more stable, the first distal portion is not easy to detach from the first distal snake bone, and the reliability of the flexible arm is higher.

[0059] In some embodiments of the present application, the flexible arm includes four driving members, and the four driving members are evenly spaced and arranged along the circumference of the first snake bone.

[0060] In the above technical solution, the flexible arm includes four driving members, which are evenly spaced along the circumference of the first serpentine bone, so that the flexible arm can bend in at least four directions, thereby expanding the scope of use of the flexible arm and making surgical operations more flexible.

[0061] In some embodiments of the present application, the flexible arm also includes multiple first connecting tubes and multiple second connecting tubes, each proximal end passes through and is connected to a first connecting tube, each distal end passes through and is connected to a second connecting tube, and each second connecting tube is correspondingly connected to a first connecting tube.

[0062] In the above technical solution, by making each proximal end portion pass through and be connected to a first connecting tube, each distal end portion pass through and be connected to a second connecting tube, and each second connecting tube correspondingly connected to a first connecting tube, it is possible to realize the connection of multiple distal ends with one proximal end portion, and interference is not easy to occur between the distal end portion and the proximal end portion.

[0063] 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.

[0064] 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.

[0065] In some embodiments of the present application, the N first snake bones include a first distal snake bone located at the distal end and a first proximal snake bone located at the proximal end, the first distal snake bone is connected to the tool head, and the first proximal snake bone is connected to the rod body.

[0066] In the above technical solution, by making N first serpent bones include a first distal serpent bone located at the distal end and a first proximal serpent bone located at the proximal end, the first distal serpent bone is connected to the tool head, and the first proximal serpent bone is connected to the rod body, so that the flexible arm can connect the tool head and the rod body, and the tool head and the rod body do not interfere with the first serpent bone and the second serpent bone between the first distal serpent bone and the first proximal serpent bone, so that the first serpent bone and the second serpent bone between the first distal serpent bone and the first proximal serpent bone can bend freely.

[0067] In a third aspect, the present application provides a surgical device, comprising an instrument rod and an instrument box as described above, wherein the proximal end of the rod body is connected to the instrument box, and the proximal end of the driving member passes through the rod body and is connected to the instrument box.

[0068] In the above technical solution, the proximal end of the rod body is connected to the instrument box, and the proximal end of the driving member passes through the rod body and is connected to the instrument box, so that the instrument box can control the rod body and control the driving member through the proximal end passing through the rod body. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] 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.

[0070] Figure 1 A schematic diagram of the structure of a surgical device provided in some embodiments of the present application;

[0071] Figure 2 A schematic diagram of a three-dimensional structure of a flexible arm provided in some embodiments of the present application;

[0072] Figure 3 A schematic structural diagram of a first proximal snake bone of a flexible arm provided in some embodiments of the present application from one perspective;

[0073] Figure 4 A schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application;

[0074] Figure 5 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0075] Figure 6 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application;

[0076] Figure 7 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0077] Figure 8 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application;

[0078] Fig. 9 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0079] Fig.10 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application;

[0080] Fig.11 A schematic structural diagram of a first proximal snake bone of a flexible arm provided in some other embodiments of the present application from one perspective;

[0081] Fig.12 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application;

[0082] Fig.13 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application;

[0083] Fig.14 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application;

[0084] Fig.15 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application;

[0085] Fig.16 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application;

[0086] Fig.17 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application;

[0087] Fig.18 A schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application in a straightened state;

[0088] Fig.19 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application in a bent state;

[0089] Fig. 20 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application;

[0090] Fig.21 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application.

[0091] Icons: 1000-surgical device; 100-instrument rod; 10-flexible arm; 110-first snake bone; 111-first distal snake bone; 1111-connecting groove; 112-first distal snake bone; 1121-first sub-snake bone; 1122-second sub-snake bone; 113-first proximal snake bone; 1131-third sub-snake bone; 1132-fourth sub-snake bone; 1133-second arc groove; 114-first proximal snake bone; 1141-first arc protrusion; 1142-first arc boss; 115-first intermediate snake bone; 120-second snake bone; 121-second distal snake bone; 122-second intermediate Intercostal serpentine; 123-second proximal serpentine; 1231-first arc-shaped groove; 1232-second arc-shaped protrusion; 1233-second arc-shaped boss; 130-driving member; 131-proximal end; 132-distal end; 1321-first distal end; 1322-second distal end; 1323-third distal end; 140-first restraining assembly; 141-first connecting member; 142-first restraining member; 150-second restraining assembly; 151-second connecting member; 152-second restraining member; 161-first connecting tube; 162-second connecting tube; 20-rod body; 30-tool head; 200-instrument box. DETAILED DESCRIPTION

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] The term "plurality" used in the present application refers to two or more (including two).

[0097] Laparoscopic surgery generally uses an instrument rod with flexible arms. The flexible arms composed of snake bones have outstanding advantages such as small size, flexible operation, and wide adaptability. They are an important part of the development of medical devices today.

[0098] In order to achieve a larger bending angle, multiple groups of snake bones are generally combined together. At present, each group of snake bones uses a group of driving parts to achieve synchronous bending or synchronous straightening of multiple groups of snake bones. The driving parts need to pass through the instrument rod to connect with the instrument box, which will result in a large space being reserved in the instrument rod to accommodate multiple groups of driving parts, making the diameter of the instrument rod larger and not suitable for surgeries with smaller incisions; and each group of driving parts is driven by a driving source, so that multiple driving sources need to be set up in the instrument box, resulting in a complex structure and a large size of the instrument box.

[0099] Based on the above considerations, the present application provides a flexible arm, which includes N first snake bones and N-1 second snake bones, and multiple driving members. The first snake bones and the second snake bones are arranged alternately from the distal end to the proximal end, and adjacent first snake bones and second snake bones are pivotally connected; each driving member includes a proximal end and multiple distal ends, and the multiple distal ends are respectively connected to a proximal end. The proximal end of each driving member is used to connect to a driving source of the instrument box, and the multiple distal ends are connected to multiple first snake bones except the most proximal first snake bone, and N≥3.

[0100] In the technical solution of the present application, the flexible arm includes N first serpentine bones and N-1 second serpentine bones, the first serpentine bones and the second serpentine bones are arranged alternately from the distal end to the proximal end, and the adjacent first serpentine bones and the second serpentine bones are pivotally connected, so that the first serpentine bones and the second serpentine bones can be bent and straightened, so that the instrument rod with the flexible arm can reach different surgical sites in different postures; by making N ≥ 3, the bending angle of the flexible arm is larger, the scope of use in surgical equipment is wider, and the surgical operation is more flexible; by making each driving member include a proximal end and multiple distal ends, the multiple distal ends are respectively connected to a proximal end, and each driving member is connected to a proximal end. The proximal end of the member is used to connect to a driving source of the instrument box, and multiple distal ends are connected to multiple first snake bones except a first snake bone at the most proximal end, so that the instrument box can control multiple distal ends through the proximal end, that is, each driving member can control multiple first snake bones. Compared with the current situation where each first snake bone is controlled by a driving member, the present application can reduce the number of driving members. Since the driving member is arranged through the rod body of the instrument rod, the cross-sectional area of ​​the rod body can be reduced. Moreover, since a driving source is arranged in the instrument box corresponding to each driving member, the present application can also reduce the number of driving sources, thereby simplifying the structure of the instrument box and reducing the space occupied by the instrument box.

[0101] 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.

[0102] The flexible arm described in the embodiment of the present application is not limited to the devices described above, 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.

[0103] 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.

[0104] Please refer to Figure 2 , Figure 2 A schematic diagram of the three-dimensional structure of a flexible arm provided in some embodiments of the present application.

[0105] An embodiment of the present application provides a flexible arm 10, which includes N first snake bones 110 and N-1 second snake bones 120. The first snake bones 110 and the second snake bones 120 are alternately arranged from the distal end to the proximal end, and adjacent first snake bones 110 and second snake bones 120 are pivotally connected.

[0106] By making the flexible arm 10 include N first snake bones 110 and N-1 second snake bones 120, the first snake bones 110 and the second snake bones 120 are alternately arranged from the distal end to the proximal end, and the adjacent first snake bones 110 and the second snake bones 120 are pivotally connected, so that the first snake bones 110 and the second snake bones 120 can be bent and straightened, so that the instrument rod 100 with the flexible arm 10 can reach different surgical sites in different postures.

[0107] In some embodiments, the first snake bone 110 and the second snake bone 120 can be made of steel, steel alloy or other metal materials, so that the first snake bone 110 and the second snake bone 120 have higher force-bearing performance.

[0108] In other embodiments, the first snake bone 110 and the second snake bone 120 may also be made of non-metallic materials with relatively high strength, such as carbon fiber and hard plastic.

[0109] In some embodiments, along the third direction Z, the projection of the first snake bone 110 is arranged in a circular shape, and the projection of the second snake bone 120 is arranged in a circular shape, 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, reduce the possibility of stress concentration points appearing when the flexible arm 10 is bent, and thus reduce the possibility of damage to the flexible arm 10. The third direction Z is parallel to the extension direction from the distal end to the proximal end.

[0110] In some embodiments, N ≥ 3. For example, N can be 3, 4, 6, 8, etc.

[0111] By making N≥3, the bending angle of the flexible arm 10 is made larger, the application range in surgical equipment is wider, and the surgical operation is made more flexible.

[0112] In some embodiments, the flexible arm 10 also includes multiple driving members 130, each driving member 130 includes a proximal end portion 131 and multiple distal ends 132, and the multiple distal ends 132 are respectively connected to a proximal end portion 131. The proximal end portion 131 of each driving member 130 is used to connect to a driving source (not shown in the figure) of the instrument box 200, and the multiple distal ends 132 are connected to multiple first snake bones 110 except the most proximal first snake bone 110.

[0113] By making each driving member 130 include a proximal portion 131 and multiple distal portions 132, the multiple distal portions 132 are respectively connected to a proximal portion 131, the proximal portion 131 of each driving member 130 is used to connect to a driving source of the instrument box 200, and the multiple distal portions 132 are connected to multiple first serpentine bones 110 except the most proximal first serpentine bone 110, so that the instrument box 200 can control the multiple distal portions 132 through the proximal portion 131, that is, each driving member 130 can control multiple first serpentine bones 110. Compared with the current situation where each first serpentine bone 110 is controlled by a driving member 130, the present application can reduce the number of driving members 130. Since the driving member 130 is arranged through the rod body 20 of the instrument rod 100, the cross-sectional area of ​​the rod body 20 can be reduced. Moreover, since a driving source is arranged in the instrument box 200 corresponding to each driving member 130, the present application can also reduce the number of driving sources, thereby simplifying the structure of the instrument box 200 and reducing the space occupied by the instrument box 200.

[0114] In some embodiments, the driving member 130 may be a driving rope, which can conveniently pass through the first snake bone 110 and the second snake bone 120 and drive the first snake bone 110 by stretching.

[0115] In some embodiments, the driving rope can be a metal rope, so that the driving rope can not only drive the first snake bone 110, but also support the first snake bone 110, thereby reducing the possibility of deformation of the flexible arm 10 due to external force.

[0116] Please refer to Figure 3 , Figure 3 A schematic structural diagram of a first proximal snake bone of a flexible arm provided in some embodiments of the present application from one perspective.

[0117] In some embodiments, the connection points between the plurality of driving members 130 and the same first snake bone 110 are distributed on the same circle with the center of the first snake bone 110 as the center.

[0118] By distributing the connection points between multiple driving members 130 and the same first serpentine bone 110 on the same circle with the center of the first serpentine bone 110 as the center, when each driving member 130 drives the first serpentine bone 110 with the same force and speed, the rotation angle and rotation speed of the first serpentine bone 110 are the same, which can facilitate the driving member 130 to control the first serpentine bone 110.

[0119] In some embodiments, among the plurality of first serpentine bones 110 connected to the distal end 132 , the radius of the circle where the connection points on the first serpentine bones 110 are located gradually increases from the distal end to the proximal end.

[0120] When the proximal portion 131 moves the same distance, the larger the radius of the circle where the connection point of the first serpentine bone 110 and the distal portion 132 is located, the smaller the rotation angle of the first serpentine bone 110 is. By gradually increasing the radius of the circle where the connection point on the first serpentine bone 110 is located from the distal end to the proximal end among the multiple first serpentine bones 110 connected to the distal portion 132, the rotation angle of the first serpentine bone 110 closer to the distal end can be larger when the proximal portion 131 is driven, so that the rotation angle and rotation speed of each first serpentine bone 110 connected to the distal portion 132 are closer to the first serpentine bone 110 adjacent to its proximal side, thereby making the overall bending curve of the flexible arm 10 smoother and facilitating the control of the flexible arm 10.

[0121] In some embodiments, each distal portion 132 penetrates at least one second serpentine bone 120 , and the radius of the circle where the connection point on the first serpentine bone 110 is located is inversely proportional to the number of second serpentine bones 120 penetrated by the distal portion 132 connected to the first serpentine bone 110 .

[0122] By making the radius of the circle where the connection point on the first serpentine bone 110 is located inversely proportional to the number of second serpentine bones 120 that the distal end portion 132 connected to the first serpentine bone 110 passes through, the rotation angle and rotation speed of each first serpentine bone 110 connected to the distal end portion 132 can be equal relative to the first serpentine bone 110 adjacent to its proximal side, thereby further making the overall bending curve of the flexible arm 10 smoother and facilitating the control of the flexible arm 10.

[0123] Please refer to Figure 2 , Figures 4 to 8 , Figure 4 A schematic diagram of a partial structure of a flexible arm provided in some 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 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application; Figure 7 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Figure 8 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application. Figure 4 , Figure 6 , Figure 8 The black dots in the figure represent the connection points of at least two components. Figure 6 and Figure 8 The dotted line in the figure indicates that the two parts are relatively fixed and cannot be bent.)

[0124] In some embodiments, N=4, the N first serpentine bones 110 include a first distal serpentine bone 111, a first distal serpentine bone 112, a first proximal serpentine bone 113 and a first proximal serpentine bone 114 arranged in sequence from the distal end to the proximal end, and the multiple distal portions 132 include a first distal portion 1321 and a second distal portion 1322, the first distal portion 1321 is connected to the first distal serpentine bone 111, and the second distal portion 1322 is connected to the first distal serpentine bone 112.

[0125] By connecting the first distal end 1321 to the first distal serpentine bone 111 and the second distal end 1322 to the first distal serpentine bone 112, the first distal end 1321 can drive the first distal serpentine bone 111 to rotate, and the second distal end 1322 can drive the first distal serpentine bone 112 to rotate. By driving the first distal serpentine bone 111 and the first distal serpentine bone 112 at the same time by the first distal end 1321 and the second distal end 1322, the bending process of the flexible arm 10 can be made more stable.

[0126] Please refer to Figure 3 In some embodiments, the radius of the circle where the connection point on the first distal snake bone 111 is located is R1, and the radius of the circle where the connection point on the first distal snake bone 112 is located is R2, satisfying R1:R2=2:3.

[0127] By making the radius R1 of the circle where the connection point on the first distal serpentine bone 111 is located and the radius R2 of the circle where the connection point on the first distal serpentine bone 112 is located satisfy R1:R2=2:3, when the proximal end 131 is driven, the rotation angle and rotation speed of the first distal serpentine bone 111 relative to the first distal serpentine bone 112 are equal to the rotation angle and rotation speed of the first distal serpentine bone 112 relative to the first proximal serpentine bone 113, thereby further making the overall bending curve of the flexible arm 10 smoother and facilitating the control of the flexible arm 10.

[0128] Please refer to Fig. 9 and Fig.10 , Fig. 9 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Fig.10 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application. Fig.10 The black dots in the figure represent the connection points of at least two components. Fig.10 The dotted line in the figure indicates that the two parts are relatively fixed and cannot be bent.)

[0129] In some embodiments, N=4, the N first serpentine bones 110 include a first distal serpentine bone 111, a first distal serpentine bone 112, a first proximal serpentine bone 113 and a first proximal serpentine bone 114 arranged in sequence from the distal end to the proximal end, and the multiple distal portions 132 include a first distal portion 1321, a second distal portion 1322 and a third distal portion 1323, the first distal portion 1321 is connected to the first distal serpentine bone 111, the second distal portion 1322 is connected to the first distal serpentine bone 112, and the third distal portion 1323 is connected to the first proximal serpentine bone 113.

[0130] By connecting the first distal end 1321 to the first distal serpentine bone 111, the second distal end 1322 to the first distal serpentine bone 112, and the third distal end 1323 to the first proximal serpentine bone 113, the first distal end 1321 can drive the first distal serpentine bone 111 to rotate, the second distal end 1322 can drive the first distal serpentine bone 112 to rotate, and the third distal end 1323 can drive the first proximal serpentine bone 113 to rotate. By driving the first distal serpentine bone 111, the first distal serpentine bone 112, and the first proximal serpentine bone 113 simultaneously through the first distal end 1321, the second distal end 1322, and the third distal end 1323, the bending process of the flexible arm 10 can be made more stable.

[0131] Please refer to Fig.11 , Fig.11 A schematic structural diagram of a first proximal snake bone of a flexible arm from one perspective provided in other embodiments of the present application.

[0132] In some embodiments, the radius of the circle where the connection point on the first distal snake bone 111 is located is R1, the radius of the circle where the connection point on the first distal snake bone 112 is located is R2, and the radius of the circle where the connection point on the first proximal snake bone 113 is R3, satisfying R1:R2:R3=2:3:6.

[0133] By making the radius R1 of the circle where the connection point on the first distal serpentine bone 111 is located, the radius R2 of the circle where the connection point on the first distal serpentine bone 112 is located, and the radius R3 of the circle where the connection point on the first proximal serpentine bone 113 is located satisfy R1:R2:R3=2:3:6, when the proximal end 131 is driven, the rotation angle and rotation speed of the first distal serpentine bone 111 relative to the first distal serpentine bone 112, the rotation angle and rotation speed of the first distal serpentine bone 112 relative to the first proximal serpentine bone 113, and the rotation angle and rotation speed of the first proximal serpentine bone 113 relative to the first proximal serpentine bone 114 are all equal, thereby further making the overall bending curve of the flexible arm 10 smoother, thereby facilitating the control of the flexible arm 10.

[0134] Please refer to Fig.12 and Fig.13 , Fig.12 A schematic diagram of a three-dimensional structure of a flexible arm provided in some other embodiments of the present application; Fig.13 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application. Fig.13 The black dots in the figure represent the connection points of at least two components. Fig.13 The dotted line in the figure indicates that the two parts are relatively fixed and cannot be bent.)

[0135] In some embodiments, N=3, the N first snake bones 110 include a first distal snake bone 111, a first middle snake bone 115 and a first proximal snake bone 114 arranged in sequence from the distal end to the proximal end, and the multiple distal portions 132 include a first distal portion 1321 and a second distal portion 1322, the first distal portion 1321 is connected to the first distal snake bone 111, and the second distal portion 1322 is connected to the first middle snake bone 115.

[0136] By connecting the first distal end 1321 to the first distal serpentine bone 111 and the second distal end 1322 to the first middle serpentine bone 115, the first distal end 1321 can drive the first distal serpentine bone 111 to rotate, and the second distal end 1322 can drive the first middle serpentine bone 115 to rotate. By driving the first distal end 1321 and the second distal end 1322 to drive the first distal serpentine bone 111 and the first middle serpentine bone 115 at the same time, the bending process of the flexible arm 10 can be made more stable.

[0137] Please refer to Fig.14 and Fig.15 , Fig.14 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application; Fig.15 Schematic diagram of a partial structure of a flexible arm provided in some other embodiments of the present application. Fig.14 and Fig.15 The black dots in the figure represent the connection points of at least two components. Fig.14 and Fig.15 The dotted line in the figure indicates that the two parts are relatively fixed and cannot be bent.)

[0138] In some embodiments, N=4, the N first serpentine bones 110 include a first distal serpentine bone 111, a first distal serpentine bone 112, a first proximal serpentine bone 113 and a first proximal serpentine bone 114 arranged in sequence from the distal end to the proximal end, and the multiple distal portions 132 include a first distal portion 1321 and a second distal portion 1322, the first distal portion 1321 is connected to the first distal serpentine bone 111, and the second distal portion 1322 is connected to the first proximal serpentine bone 113.

[0139] In the above technical solution, by connecting the first distal end 1321 to the first distal serpentine bone 111 and the second distal end 1322 to the first proximal serpentine bone 113, the first distal end 1321 can drive the first distal serpentine bone 111 to rotate, and the second distal end 1322 can drive the first proximal serpentine bone 113 to rotate. By driving the first distal end 111 and the first proximal serpentine bone 113 at the same time by the first distal end 1321 and the second distal end 1322, the bending process of the flexible arm 10 can be made more stable.

[0140] Please refer to Figures 2 to 15 In some embodiments, one of the plurality of distal portions 132 is connected to a distal-most first snake bone 110 .

[0141] After the farthest first snake bone 110 rotates to a certain angle, it can drive the entire flexible arm 10 to bend. By connecting one of the multiple distal ends 132 to the farthest first snake bone 110, the farthest first snake bone 110 can be directly driven by the distal end 132, which can make the reliability of the flexible arm 10 higher.

[0142] In some embodiments, each driving member 130 has M distal ends 132, and the M distal ends 132 are connected to the M first snake bones 110 in a one-to-one correspondence. M≤N-1. For example, M can be N-1 or N-2.

[0143] Please refer to Fig. 9 and Fig.10 When N=4, M=N-1=3, and the three distal ends 132 are connected to the three first snake bones 110 one by one. Fig.12 and Fig.13 When N=3, M=N-1=2, and the two distal ends 132 are respectively connected to the two first snake bones 110 in a one-to-one correspondence.

[0144] By making each driving member 130 have M distal ends 132 , the M distal ends 132 are connected to the M first snake bones 110 in a one-to-one correspondence; M≤N-1, the reliability of the driving member 130 controlling the first snake bones 110 can be made higher.

[0145] Please refer to Figure 2 In some embodiments, each second serpentine 120 is pivotally connected to an adjacent first serpentine 110 around a first axis l1, and each second serpentine 120 is pivotally connected to another adjacent first serpentine 110 around a second axis l2. The first axis l1 is perpendicular to the second axis l2.

[0146] By making each second serpentine bone 120 pivotally connected to a first serpentine bone 110 adjacent thereto around a first axis l1, and each second serpentine bone 120 pivotally connected to another first serpentine bone 110 adjacent thereto around a second axis l2, the first axis l1 is perpendicular to the second axis l2, so that the driving member 130 can drive the first serpentine bone 110 to rotate around the perpendicular first axis l1 and second axis l2 to suit different surgical operations.

[0147] In some embodiments, each second serpentine 120 is pivotally connected to a first serpentine 110 adjacent to its proximal side around a first axis l1, and each second serpentine 120 is pivotally connected to a first serpentine 110 adjacent to its distal side around a second axis l2.

[0148] By making each second serpentine bone 120 pivotally connected to a first serpentine bone 110 adjacent to its proximal side around a first axis l1, and pivotally connected to a first serpentine bone 110 adjacent to its distal side around a second axis l2, the driving member 130 can drive the first serpentine bone 110 to rotate around the vertical first axis l1 and second axis l2 to adapt to different surgical operations; and the rotation axes of the two adjacent first serpentine bones 110 relative to the second serpentine bones 120 adjacent to their proximal sides are parallel.

[0149] Please refer to Figure 2 , Figure 5 , Fig.14 , Fig.16 and Fig.17 , Fig.16 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application; Fig.17 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application.

[0150] In some embodiments, N=4, the N first serpentine bones 110 include a first distal serpentine bone 111, a first distal serpentine bone 112, a first proximal serpentine bone 113, and a first proximal serpentine bone 114 arranged in sequence from the distal end to the proximal end. The N-1 second serpentine bones 120 include a second distal serpentine bone 121, a second intermediate serpentine bone 122, and a second proximal serpentine bone 123 arranged in sequence from the distal end to the proximal end.

[0151] In some embodiments, the flexible arm 10 also includes a first constraint component 140, which is connected between the first distal snake bone 111 and the first proximal snake bone 113. The first constraint component 140 is configured to constrain the first distal snake bone 111 and the first proximal snake bone 112 to bend simultaneously when one of the first distal snake bone 111 and the first proximal snake bone 112 is bent.

[0152] By configuring the first constraint component 140 to constrain the bending of the other one of the first distal serpentine bone 111 and the first distal serpentine bone 112 when one of them is bent, it is possible that when the driving member 130 drives one of the first distal serpentine bone 111 and the first distal serpentine bone 112 to rotate, the other one can be rotated simultaneously through the first constraint component 140, so that the rotation angle and rotation speed of the first distal serpentine bone 111 and the first distal serpentine bone 112 are close, making the overall bending curve of the flexible arm 10 smoother, thereby facilitating the control of the flexible arm 10.

[0153] In some embodiments, the first constraint component 140 is configured to constrain the second distal snake 121 and the second intermediate snake 122 to bend when one of the second distal snake 121 and the second intermediate snake 122 is bent.

[0154] By making the first constraint component 140 configured to constrain the bending of one of the second distal serpentine 121 and the second intermediate serpentine 122 when the other is bent, when the driving member 130 drives the first distal serpentine 111 to rotate around the rotation axis of the second distal serpentine 121 and the first distal serpentine 112, the first distal serpentine 111 will drive the second distal serpentine 121 to rotate, and when the driving member 130 drives the first distal serpentine 112 to rotate around the rotation axis of the second intermediate serpentine 122 and the first proximal serpentine 113, The first distal serpentine 112 will drive the second intermediate serpentine 122 to rotate. When the driving member 130 drives one of the second distal serpentine 121 through the first distal serpentine 111 and the second intermediate serpentine 122 through the first distal serpentine 112 to rotate, the other can be rotated simultaneously through the first constraint component 140, so that the rotation angle and rotation speed of the second distal serpentine 121 and the second intermediate serpentine 122 are close, making the overall bending curve of the flexible arm 10 smoother, which is convenient for controlling the flexible arm 10.

[0155] In some embodiments, the first distal serpentine 112 includes a first sub-serpentine 1121 and a second sub-serpentine 1122. The first constraint assembly 140 includes a first connector 141 and a plurality of first constraints 142, the two ends of the first connector 141 are respectively connected to the first sub-serpentine 1121 and the second sub-serpentine 1122, the first constraint 142 is movably arranged around the first connector 141, and extends from one side to the other side of the first connector 141 along the first direction, one end of the first constraint 142 is connected to the first distal serpentine 111, and the other end is connected to the first proximal serpentine 113. The first direction is perpendicular to the extension direction from the distal end to the proximal end.

[0156] The first direction may be any direction perpendicular to the extending direction from the distal end to the proximal end, such as the X direction or the Y direction shown in the figure.

[0157] By making the first distal snake bone 112 include a first sub-snake bone 1121 and a second sub-snake bone 1122, the first constraint component 140 includes a first connecting member 141, and the two ends of the first connecting member 141 are respectively connected to the first sub-snake bone 1121 and the second sub-snake bone 1122, the position of the first connecting member 141 can be made more stable and not easy to separate from the first distal snake bone 112, and the reliability of the first constraint component 140 is higher. By making the first restraint member 142 movably arranged around the first connecting member 141 and extending from one side to the other side of the first connecting member 141 along the first direction, one end of the first restraint member 142 is connected to the first distal serpentine bone 111, and the other end is connected to the first proximal serpentine bone 113, and the first direction is perpendicular to the extension direction from the distal end to the proximal end, so that the bending angle of the first distal serpentine bone 111 relative to the first distal serpentine bone 112 can be the same as the bending angle of the first distal serpentine bone 112 relative to the first proximal serpentine bone 113, so that the rotation angle and rotation speed of the first distal serpentine bone 111 and the first distal serpentine bone 112 are the same, so that the overall bending curve of the flexible arm 10 is smoother, which is convenient for controlling the flexible arm 10. The bending angle of the second distal snake bone 121 relative to the second middle snake bone 122 can be made the same as the bending angle of the second middle snake bone 122 relative to the second proximal snake bone 123, so that the rotation angle and rotation speed of the second distal snake bone 121 and the second middle snake bone 122 are the same, making the overall bending curve of the flexible arm 10 smoother and facilitating the control of the flexible arm 10.

[0158] In some embodiments, the first restraining member 142 may be a restraining rope, which can conveniently pass through the first snake bone 110 and the second snake bone 120 and restrain the first snake bone 110 and / or the second snake bone 120 by stretching.

[0159] In some embodiments, the restraint rope can be a metal rope, so that the restraint rope can not only restrain the first snake bone 110 and the second snake bone 120, but also support the first snake bone 110, thereby reducing the possibility of deformation of the flexible arm 10 due to external force.

[0160] Please refer to Fig.18 and Fig.19 , Fig.18 A schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application in a straightened state; Fig.19 A three-dimensional schematic diagram showing a partial structure of a flexible arm in a bent state provided in some embodiments of the present application.

[0161] In some embodiments, the flexible arm 10 has a first side and a second side relative to each other in a first direction, wherein a first end of a first constraint member 142 is connected to the first side of the first distal snake bone 111, and is movably arranged around the first connecting member 141, and extends from the first side of the first connecting member 141 to the second side, and the other end of the first constraint member 142 is connected to the second side of the first proximal snake bone 113; a first end of another first constraint member 142 is connected to the second side of the first distal snake bone 111, and is movably arranged around the first connecting member 141, and extends from the second side of the first connecting member 141 to the first side, and the other end of the first constraint member 142 is connected to the first side of the first proximal snake bone 113.

[0162] When the first distal serpentine 111 is driven by the driving member 130 to bend toward the first side, the first side of the first distal serpentine 111 approaches the first proximal serpentine 113, and the length of the first constraint member 142 connected to the first side of the first distal serpentine 111 between the first distal serpentine 111 and the first connecting member 141 is shortened. At the same time, since the first constraint member 142 cannot be stretched and deformed, its total length remains unchanged. Therefore, the length of the first constraint member 142 between the first distal serpentine 111 and the first connecting member 141 is extended, and the extended length is the same as the shortened length of the first side. At the same time, the second side of the first distal serpentine 111 moves away from the first proximal serpentine 113, and the first constraint member 142 connected to the second side of the first distal serpentine 111 is located at the first distal The length of the portion between the serpentine 111 and the first connecting member 141 is elongated. At the same time, since the first restraint member 142 cannot be stretched and deformed, its total length remains unchanged. Therefore, the length of the portion of the first restraint member 142 located between the first distal serpentine 111 and the first connecting member 141 is shortened, and the shortened length is the same as the length of the first side extension. Since the length of each first restraint member 142 is the same, the variable length is also the same. Therefore, the bending angle θ1 of the first distal serpentine 111 relative to the first connecting member 141 (that is, the bending angle of the first distal serpentine 111 relative to the first distal serpentine 112) is equal to the bending angle θ2 of the first connecting member 141 relative to the first proximal serpentine 113 (that is, the bending angle of the first distal serpentine 112 relative to the first proximal serpentine 113).

[0163] In some embodiments, the plurality of driving members 130 are arranged along the circumference of the first serpentine 110 . The first constraint assembly 140 includes a plurality of first constraint members 142 , which are arranged along the circumference of the first serpentine 110 and are disposed inside the plurality of driving members 130 .

[0164] By arranging the plurality of driving members 130 along the circumference of the first serpentine 110, the possibility of mutual interference between the plurality of driving members 130 can be reduced, so that the reliability of the driving members 130 is higher. By making the first constraint assembly 140 include a plurality of first constraint members 142, and the plurality of first constraint members 142 are arranged along the circumference of the first serpentine 110, the possibility of mutual interference between the plurality of first constraint members 142 can be reduced, so that the reliability of the first constraint assembly 140 is higher; by making the plurality of first constraint members 142 be arranged on the inner side of the plurality of driving members 130, the possibility of mutual interference between the first constraint members 142 and the driving members 130 can be reduced, so that the reliability of the driving members 130 and the first constraint assembly 140 is higher.

[0165] In some embodiments, the number of the first restraining members 142 is four, and the four first restraining members 142 are evenly spaced and arranged along the circumference of the first snake bone 110 .

[0166] By making the number of the first restraint members 142 four, the four first restraint members 142 are evenly spaced along the circumference of the first serpentine bone 110, so that the first restraint assembly 410 can restrain the bending of the first distal serpentine bone 111 or the first proximal serpentine bone 113 in four directions, and when the first distal serpentine bone 111 or the first proximal serpentine bone 113 bends in one direction, the first distal serpentine bone 111 and the first proximal serpentine bone 113 can be restrained by two first restraint members 142 opposite to each other along the first direction, thereby further making the reliability of the first restraint assembly 140 higher.

[0167] Please refer to Figure 2 , Figure 7 , Fig.15 , Fig.16 and Fig. 20 , Fig. 20 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application.

[0168] In some embodiments, N=4, the N first serpentine bones 110 include a first distal serpentine bone 111, a first distal serpentine bone 112, a first proximal serpentine bone 113, and a first proximal serpentine bone 114 arranged in sequence from the distal end to the proximal end. The N-1 second serpentine bones 120 include a second distal serpentine bone 121, a second intermediate serpentine bone 122, and a second proximal serpentine bone 123 arranged in sequence from the distal end to the proximal end.

[0169] In some embodiments, the flexible arm 10 also includes a second constraint component 150, which is connected between the first distal snake bone 112 and the first proximal snake bone 114, and the second constraint component 150 is configured to constrain the first distal snake bone 112 and the first proximal snake bone 113 to bend simultaneously when one of the first distal snake bone 112 and the first proximal snake bone 113 is bent.

[0170] By connecting the second constraint component 150 between the first distal serpentine 112 and the first proximal serpentine 114, the second constraint component 150 is configured to constrain the first distal serpentine 112 and the first proximal serpentine 113 to bend when one of them is bent; and / or, the second constraint component 150 is configured to constrain the second intermediate serpentine 122 and the second proximal serpentine 123 to bend when the other is bent, so that when the driving member 130 drives one of the first distal serpentine 112 and the first proximal serpentine 113 to rotate, the other can rotate simultaneously through the second constraint component 150, so that the rotation angle and rotation speed of the first distal serpentine 112 and the first proximal serpentine 113 are close, so that the overall bending curve of the flexible arm 10 is smoother, which facilitates the control of the flexible arm 10.

[0171] In some embodiments, the second constraint component 150 is configured to constrain the second intermediate snake 122 and the second proximal snake 123 to bend simultaneously when one of the second intermediate snake 122 and the second proximal snake 123 is bent.

[0172] When the driving member 130 drives the first distal serpentine 112 to rotate around the rotation axis of the second intermediate serpentine 122 and the first proximal serpentine 113, the first distal serpentine 112 will drive the second intermediate serpentine 122 to rotate. When the driving member 130 drives the first proximal serpentine 113 to rotate around the rotation axis of the second proximal serpentine 123 and the first proximal serpentine 114, the first proximal serpentine 113 will drive the second proximal serpentine 123 to rotate. When the driving member 130 drives one of the second intermediate serpentine 122 through the first distal serpentine 112 and the second proximal serpentine 123 through the first proximal serpentine 113, the other can be rotated simultaneously through the second constraint component 150, so that the rotation angle and rotation speed of the second intermediate serpentine 122 and the second proximal serpentine 123 are close, so that the overall bending curve of the flexible arm 10 is smoother, which is convenient for controlling the flexible arm 10.

[0173] In some embodiments, the first proximal serpentine 113 includes a third sub-serpentine 1131 and a fourth sub-serpentine 1132. The second constraint assembly 150 includes a second connector 151 and a plurality of second constraints 152, the two ends of the second connector 151 are respectively connected to the third sub-serpentine 1131 and the fourth sub-serpentine 1132, the second constraint 152 is movably arranged around the second connector 151, and extends from one side to the other side of the second connector 151 along the first direction, one end of the second constraint 152 is connected to the first distal serpentine 112, and the other end is connected to the first proximal serpentine 114. The first direction is perpendicular to the extension direction from the distal end to the proximal end.

[0174] By making the first proximal serpentine 113 include the third sub-serpentine 1131 and the fourth sub-serpentine 1132, the second constraint assembly 150 includes the second connecting member 151 and a plurality of second constraining members 152, and the two ends of the second connecting member 151 are respectively connected to the third sub-serpentine 1131 and the fourth sub-serpentine 1132, so that the position of the second connecting member 151 can be more stable and not easy to be separated from the first proximal serpentine 113, and the reliability of the second constraint assembly 150 is higher. By making the second constraining member 152 movably arranged around the second connecting member 151 and extending from one side of the second connecting member 151 to the other side along the first direction, one end of the second constraining member 152 is connected to the first distal serpentine 112, and the other end is connected to the first proximal serpentine 114. The first direction is perpendicular to the extension direction from the distal end to the proximal end, so that the bending angle of the first distal serpentine 112 relative to the first proximal serpentine 113 is the same as the bending angle of the first proximal serpentine 113 relative to the first proximal serpentine 114, so that the rotation angle and rotation speed of the first distal serpentine 112 and the first proximal serpentine 113 are the same, so that the overall bending curve of the flexible arm 10 is smoother, which is convenient for controlling the flexible arm 10. The bending angle of the second intermediate serpentine 122 relative to the second proximal serpentine 123 can be made the same as the bending angle of the second proximal serpentine 123 relative to the first proximal serpentine 114, so that the rotation angle and rotation speed of the second intermediate serpentine 122 and the second proximal serpentine 123 are the same, so that the overall bending curve of the flexible arm 10 is smoother, which is convenient for controlling the flexible arm 10.

[0175] In some embodiments, the second restraining member 152 may be a restraining rope, which can conveniently pass through the first snake bone 110 and the second snake bone 120 and restrain the first snake bone 110 and / or the second snake bone 120 by stretching.

[0176] In some embodiments, the restraint rope can be a metal rope, so that the restraint rope can not only restrain the first snake bone 110 and the second snake bone 120, but also support the first snake bone 110, thereby reducing the possibility of deformation of the flexible arm 10 due to external force.

[0177] In the present application, the connection position of the distal end portion 132 of the flexible arm 10 , the first restraint component 140 , and the second restraint component 150 can be respectively combined and arranged.

[0178] For example Figure 2 and Figure 4As shown, the flexible arm 10 includes a first distal end portion 1321 and a second distal end portion 1322, a first constraint assembly 140 and a second constraint assembly 150, the first distal end portion 1321 is connected to the first distal serpentine bone 111, and the second distal end portion 1322 is connected to the first distal serpentine bone 112, so that the driving member 130 can drive the first distal serpentine bone 111 and the first distal serpentine bone 112, the first constraint assembly 140 can constrain the first distal serpentine bone 111 and the first distal serpentine bone 112, and / or, constrain the second distal serpentine bone 121 and the second intermediate serpentine bone 122, the second constraint assembly 150 can constrain the first distal serpentine bone 112 and the first proximal serpentine bone 114, and / or, constrain the second intermediate serpentine bone 122 and the second proximal serpentine bone 123.

[0179] For example Figure 5 and Figure 6 As shown, the flexible arm 10 includes a first distal end portion 1321, a second distal end portion 1322, and a first constraint assembly 140. The first distal end portion 1321 is connected to the first distal serpentine bone 111, and the second distal end portion 1322 is connected to the first distal serpentine bone 112, so that the driving member 130 can drive the first distal serpentine bone 111 and the first distal serpentine bone 112, and the first constraint assembly 140 can constrain the first distal serpentine bone 111 and the first distal serpentine bone 112, and / or constrain the second distal serpentine bone 121 and the second intermediate serpentine bone 122.

[0180] For example Figure 7 and Figure 8 As shown, the flexible arm 10 includes a first distal end portion 1321, a second distal end portion 1322, and a second constraint assembly 150. The first distal end portion 1321 is connected to the first distal serpentine bone 111, and the second distal end portion 1322 is connected to the first distal serpentine bone 112, so that the driving member 130 can drive the first distal serpentine bone 111 and the first distal serpentine bone 112, and the second constraint assembly 150 can constrain the first distal serpentine bone 112 and the first proximal serpentine bone 114, and / or constrain the second intermediate serpentine bone 122 and the second proximal serpentine bone 123.

[0181] For example Fig. 9 and Fig.10 As shown, the flexible arm 10 includes a first distal portion 1321, a second distal portion 1322, and a third distal portion 1323. The first distal portion 1321 is connected to the first distal serpentine bone 111, the second distal portion 1322 is connected to the first distal serpentine bone 112, and the third distal portion 1323 is connected to the first proximal serpentine bone 113, so that the driving member 130 can drive the first distal serpentine bone 111, the first distal serpentine bone 112, and the first proximal serpentine bone 113.

[0182] For example Fig.12 and Fig.13As shown, the flexible arm 10 includes a first distal end 1321 and a second distal end 1322 , wherein the first distal end 1321 is connected to the first distal serpentine 111 , and the second distal end 1322 is connected to the first distal serpentine 112 , so that the driving member 130 can drive the first distal serpentine 111 and the first distal serpentine 112 .

[0183] For example Fig.14 As shown, the flexible arm 10 includes a first distal end portion 1321, a second distal end portion 1322, and a first constraint assembly 140. The first distal end portion 1321 is connected to the first distal serpentine bone 111, and the second distal end portion 1322 is connected to the first proximal serpentine bone 113, so that the driving member 130 can drive the first distal serpentine bone 111 and the first proximal serpentine bone 113, and the first constraint assembly 140 can constrain the first distal serpentine bone 111 and the first distal serpentine bone 112, and / or constrain the second distal serpentine bone 121 and the second intermediate serpentine bone 122.

[0184] For example Fig.15 As shown, the flexible arm 10 includes a first distal end portion 1321 and a second distal end portion 1322, and a second constraint assembly 150. The first distal end portion 1321 is connected to the first distal serpentine bone 111, and the second distal end portion 1322 is connected to the first proximal serpentine bone 113, so that the driving member 130 can drive the first distal serpentine bone 111 and the first proximal serpentine bone 113, and the second constraint assembly 150 can constrain the first distal serpentine bone 112 and the first proximal serpentine bone 114, and / or constrain the second intermediate serpentine bone 122 and the second proximal serpentine bone 123.

[0185] Please refer to Figure 2 and Fig.21 , Fig.21 A three-dimensional schematic diagram of a partial structure of a flexible arm provided in some embodiments of the present application.

[0186] In some embodiments, the N first serpentines 110 include a first proximal serpentine 114 and a first proximal serpentine 113 from proximal to distal ends, and at least one second serpentine 120 includes a second proximal serpentine 123 located between the first proximal serpentine 114 and the first proximal serpentine 113 .

[0187] In some embodiments, a first arc-shaped protrusion 1141 is provided on the side of the first proximal serpentine bone 114 facing the second proximal serpentine bone 123, and a first arc-shaped groove 1231 is provided on the side of the second proximal serpentine bone 123 facing the first proximal serpentine bone 114. At least a portion of the first arc-shaped protrusion 1141 is accommodated in the first arc-shaped groove 1231 and can rotate around a first axis in the first arc-shaped groove 1231.

[0188] By providing a first arc-shaped protrusion 1141 on the side of the first proximal serpentine 114 facing the second proximal serpentine 123, and providing a first arc-shaped groove 1231 on the side of the second proximal serpentine 123 facing the first proximal serpentine 114, at least part of the first arc-shaped protrusion 1141 is accommodated in the first arc-shaped groove 1231, and can rotate around the first axis in the first arc-shaped groove 1231, so that the first arc-shaped groove 1231 and the first arc-shaped protrusion 1141 can play a role of mutual limitation and guidance, the first proximal serpentine 114 and the second proximal serpentine 123 are not easy to separate, and the first proximal serpentine 114 is not easy to rotate relative to the second proximal serpentine 123 around other directions except the first axis, so that the structural stability of the flexible arm 10 is higher.

[0189] In other embodiments, the first proximal snake bone 114 and the second proximal snake bone 123 may be pivotally connected by means of a rotating shaft and a through hole.

[0190] In some embodiments, a second arc-shaped protrusion 1232 is provided on the side of the second proximal serpentine 123 facing the first proximal serpentine 113, and a second arc-shaped groove 1133 is provided on the side of the first proximal serpentine 113 facing the second proximal serpentine 123, and at least a portion of the second arc-shaped protrusion 1232 is accommodated in the second arc-shaped groove 1133 and can rotate around a second axis in the second arc-shaped groove 1133.

[0191] By providing a second arc-shaped protrusion 1232 on the side of the second proximal serpentine 123 facing the first proximal serpentine 113, and providing a second arc-shaped groove 1133 on the side of the first proximal serpentine 113 facing the second proximal serpentine 123, at least part of the second arc-shaped protrusion 1232 is accommodated in the second arc-shaped groove 1133, and can rotate around the second axis in the second arc-shaped groove 1133, so that the second arc-shaped groove 1133 and the second arc-shaped protrusion 1232 can play a role of mutual limitation and guidance, the second proximal serpentine 123 and the first proximal serpentine 113 are not easy to separate, and the second proximal serpentine 123 is not easy to rotate relative to the first proximal serpentine 113 around other directions except the second axis, so that the structural stability of the flexible arm 10 is higher.

[0192] In some embodiments, each first snake bone 110 and the adjacent second snake bone 120 can be pivotally connected through the matching structure of the arc-shaped protrusion and the arc-shaped groove.

[0193] In some embodiments, two first arc-shaped protrusions 1141 opposite to each other along the second direction are disposed on the first proximal serpentine 114 , and two first arc-shaped grooves 1231 opposite to each other along the second direction are disposed on the second proximal serpentine 123 .

[0194] In some embodiments, the second direction is perpendicular to the extending direction from the proximal end to the distal end, wherein the second direction may be parallel to the first direction or may intersect with the first direction.

[0195] By providing two first arc-shaped protrusions 1141 opposite to each other along the second direction on the first proximal serpentine bone 114 and two first arc-shaped grooves 1231 opposite to each other along the second direction on the second proximal serpentine bone 123; the second direction is perpendicular to the extension direction from the proximal end to the distal end, the connection between the first proximal serpentine bone 114 and the second proximal serpentine bone 123 can be made more stable, and the rotation process of the first proximal serpentine bone 114 relative to the second proximal serpentine bone 123 can be made more stable.

[0196] In some embodiments, from the distal end to the proximal end, the projection of the driving member 130 does not overlap with the projection of the first arc-shaped protrusion 1141 , and the projection of the driving member 130 does not overlap with the projection of the second arc-shaped protrusion 1232 .

[0197] By ensuring that the projection of the driving member 130 does not overlap with the projection of the first arc-shaped protrusion 1141, and the projection of the driving member 130 does not overlap with the projection of the second arc-shaped protrusion 1232 from the distal end to the proximal end, it is possible to facilitate the preparation of the first arc-shaped protrusion 1141 on the first proximal serpentine bone 114 and the first through hole for the driving member 130 to pass through, and to facilitate the preparation of the second arc-shaped protrusion 1232 on the second proximal serpentine bone 123 and the second through hole for the driving member 130 to pass through, and it is possible to reduce the possibility of interference between the driving member 130 and the first arc-shaped protrusion 1141 and the second arc-shaped protrusion 1232, and reduce the possibility of the driving member 130 getting stuck or even unable to move due to interference with the first arc-shaped protrusion 1141 and the second arc-shaped protrusion 1232 during the driving process, thereby improving the reliability of the flexible arm 10.

[0198] In some embodiments, along the circumference of the first serpentine bone 110 , the plurality of driving members 130 are respectively staggered with the two first arc-shaped protrusions 1141 and the two second arc-shaped protrusions 1232 and are evenly spaced.

[0199] By making multiple driving members 130 staggered and evenly spaced with the two first arc-shaped protrusions 1141 and the two second arc-shaped protrusions 1232 along the circumference of the first serpentine bone 110, multiple driving members 130 are arranged between the two first arc-shaped protrusions 1141, and multiple driving members 130 are arranged between the two second arc-shaped protrusions 1232, so that the two first arc-shaped protrusions 1141 can be driven to rotate around the first axis in the first arc-shaped groove 1231 by the multiple driving members 130, and the two second arc-shaped protrusions 1232 can be driven to rotate around the second axis in the second arc-shaped groove 1133 by the multiple driving members 130, so that the driving process of the driving member 130 is more stable.

[0200] In some embodiments, the flexible arm 10 includes four driving members 130, a first first arc-shaped protrusion 1141, a second driving member 130, one of the second arc-shaped protrusions 1232, one of the driving members 130, another first arc-shaped protrusion 1141, a third driving member 130, another second arc-shaped protrusion 1232, and a fourth driving member 140, which are arranged in sequence along the circumference of the first snake bone 110.

[0201] In some embodiments, a first arc-shaped boss 1142 is provided on the side of the first proximal serpentine 114 facing the second proximal serpentine 123, and the first arc-shaped boss 1142 is provided on the side of the first arc-shaped protrusion 1141 facing the center of the first proximal serpentine 114. A second arc-shaped boss 1233 is provided on the side of the second proximal serpentine 123 facing the first proximal serpentine 114, and the second arc-shaped boss 1233 is provided on the side of the first arc-shaped groove 1231 facing the center of the second proximal serpentine 123. The first arc-shaped boss 1142 abuts against the second arc-shaped boss 1233.

[0202] A first arcuate boss 1142 is provided on the side of the first proximal serpentine 114 facing the second proximal serpentine 123, and the first arcuate boss 1142 is provided on the side of the first arcuate protrusion 1141 facing the center of the first proximal serpentine 114; a second arcuate boss 1233 is provided on the side of the second proximal serpentine 123 facing the first proximal serpentine 114, and the second arcuate boss 1233 is provided on the side of the first arcuate groove 1231 facing the center of the second proximal serpentine 123; the first arcuate boss 1142 abuts against the second arcuate boss 1233, which can further make the rotation process of the first proximal serpentine 114 relative to the second proximal serpentine 123 more stable and less likely to shake, and the reliability of the flexible arm 10 is higher.

[0203] In some embodiments, two first arc-shaped bosses 1142 opposite to each other along the second direction are disposed on the first proximal serpentine 114 , and two second arc-shaped bosses 1233 opposite to each other along the second direction are disposed on the second proximal serpentine 123 .

[0204] In some embodiments, the second direction is perpendicular to the extending direction from the distal end to the proximal end.

[0205] By providing two first arc-shaped bosses 1142 opposite to each other along the second direction on the first proximal serpentine bone 114, and providing two second arc-shaped bosses 1233 opposite to each other along the second direction on the second proximal serpentine bone 123; the second direction is perpendicular to the extension direction from the proximal end to the distal end, the rotation process of the first proximal serpentine bone 114 relative to the second proximal serpentine bone 123 can be further made more stable and less prone to shaking, and the reliability of the flexible arm 10 is higher.

[0206] In some embodiments, the N first snake bones 110 include a first distal snake bone 111 located at the distal end, the first distal snake bone 111 includes a connecting groove 1111, and the multiple distal portions 132 include a first distal portion 1321, one end of the first distal portion 1321 is connected to a connecting column (not shown in the figure), the first distal portion 1321 passes through the connecting groove 1111, and the connecting column is accommodated in the connecting groove 1111.

[0207] By making the first distal snake bone 111 include a connecting groove 1111, one end of the first distal portion 1321 is connected to a connecting column, the first distal portion 1321 passes through the connecting groove 1111, and the connecting column is accommodated in the connecting groove 1111, the connection between the first distal portion 1321 and the first distal snake bone 111 can be made more stable, the first distal portion 1321 is not easy to detach from the first distal snake bone 111, and the reliability of the flexible arm 10 is higher.

[0208] In some embodiments, each distal end portion 132 can be connected to the first snake bone 110 by means of a connecting groove and a connecting column, so that the connection between the distal end portion 132 and the first snake bone 110 can be more stable, the distal end portion 132 is not easy to separate from the first snake bone 110, and the reliability of the flexible arm 10 is higher.

[0209] In some embodiments, the flexible arm 10 includes four driving members 130 , and the four driving members 130 are evenly spaced and arranged along the circumference of the first snake bone 110 .

[0210] By making the flexible arm 10 include four driving members 130, the four driving members 130 are evenly spaced along the circumference of the first serpentine bone 110, so that the flexible arm 10 can be bent in at least four directions, so that the use range of the flexible arm 10 is wider and the surgical operation is more flexible.

[0211] In other embodiments, the flexible arm 10 may also include eight driving members 130, twelve driving members 130, etc., which can enable the flexible arm 10 to bend in more directions, further extending the scope of use of the flexible arm 10, making surgical operations more flexible, and the driving process of the driving member 130 on the first snake bone 110 and the second snake bone 120 is more stable.

[0212] In some embodiments, the flexible arm 10 also includes multiple first connecting tubes 161 and multiple second connecting tubes 162, each proximal end 131 passes through and is connected to a first connecting tube 161, each distal end 132 passes through and is connected to a second connecting tube 162, and each second connecting tube 162 is correspondingly connected to a first connecting tube 161.

[0213] By making each proximal portion 131 pass through and be connected to a first connecting tube 161, each distal portion 132 pass through and be connected to a second connecting tube 162, and each second connecting tube 162 correspondingly connected to a first connecting tube 161, it is possible to realize connection between multiple distal portions 132 and one proximal portion 131, and interference is not likely to occur between the distal portion 132 and the proximal portion 131.

[0214] In other embodiments, the proximal portion 131 and the distal portion 132 may also be connected by welding, bonding, or the like.

[0215] 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.

[0216] 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 .

[0217] 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.

[0218] In some embodiments, the N first serpentine bones 110 include a first distal serpentine bone 111 located at the distal end and a first proximal serpentine bone 114 located at the proximal end, the first distal serpentine bone 111 is connected to the tool head 30 , and the first proximal serpentine bone 114 is connected to the rod body 20 .

[0219] By making N first serpent bones 110 include a first distal serpent bone 111 located at the distal end and a first proximal serpent bone 114 located at the proximal end, the first distal serpent bone 111 is connected to the tool head 30, and the first proximal serpent bone 114 is connected to the rod body 20, so that the flexible arm 10 can connect the tool head 30 and the rod body 20, and the tool head 30 and the rod body 20 do not interfere with the first serpent bone 110 and the second serpent bone 120 between the first distal serpent bone 111 and the first proximal serpent bone 114, so that the first serpent bone 110 and the second serpent bone 120 between the first distal serpent bone 111 and the first proximal serpent bone 114 can bend freely.

[0220] Please refer to Figure 1 An embodiment of the present application provides a surgical device 1000, comprising the instrument rod 100 and the instrument box 200 described in any of the above schemes, the proximal end of the rod body 20 is connected to the instrument box 200, and the proximal end portion 131 of the driving member 130 passes through the rod body 20 and is connected to the instrument box 200.

[0221] By connecting the proximal end of the rod body 20 to the instrument box 200 , the proximal end portion 131 of the driving member 130 passes through 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 can control the driving member 130 by passing through the proximal end portion 131 of the rod body 20 .

[0222] 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.

[0223] 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: N first snake bones and N-1 second snake bones, the first snake bones and the second snake bones are arranged alternately from the distal end to the proximal end, and adjacent first snake bones and second snake bones are pivotally connected; Multiple driving members, each of which includes a proximal portion and multiple distal portions, the multiple distal portions are respectively connected to one of the proximal portions, the proximal portion of each driving member is used to connect to a driving source of the instrument box, and the multiple distal portions are connected to multiple first snake bones except the most proximal one, N≥3.

2. The flexible arm according to claim 1, characterized in that: The connection points between the plurality of driving members and the same first snake bone are distributed on the same circle with the center of the first snake bone as the center.

3. The flexible arm according to claim 2, characterized in that: Among the plurality of first snake bones connected to the distal end, the radius of the circle where the connection points on the first snake bones are located gradually increases from the distal end to the proximal end.

4. The flexible arm according to claim 3, characterized in that: Each of the distal ends penetrates at least one of the second serpentine bones, and the radius of the circle where the connection points on the first serpentine bones are located is inversely proportional to the number of the second serpentine bones penetrated by the distal end connected to the first serpentine bone.

5. The flexible arm according to claim 4, characterized in that: N=4, the N first snake bones include a first distal snake bone, a first distal snake bone, a first proximal snake bone and a first proximal snake bone arranged in sequence from the distal end to the proximal end, and the multiple distal ends include a first distal end and a second distal end, the first distal end is connected to the first distal snake bone, and the second distal end is connected to the first distal snake bone.

6. The flexible arm according to claim 5, characterized in that: The radius of the circle where the connection point on the first distal snake bone is located is R1, and the radius of the circle where the connection point on the first distal snake bone is located is R2, satisfying R1:R2=2:

3.

7. The flexible arm according to claim 4, characterized in that: N=4, the N first snake bones include a first distal snake bone, a first distal snake bone, a first proximal snake bone and a first proximal snake bone arranged in sequence from the distal end to the proximal end, and the multiple distal ends include a first distal end, a second distal end and a third distal end, the first distal end is connected to the first distal snake bone, the second distal end is connected to the first distal snake bone, and the third distal end is connected to the first proximal snake bone.

8. The flexible arm according to claim 7, characterized in that: The radius of the circle where the connection point on the first distal snake bone is located is R1, the radius of the circle where the connection point on the first distal snake bone is located is R2, and the radius of the circle where the connection point on the first proximal snake bone is located is R3, satisfying R1:R2:R3=2:3:

6.

9. The flexible arm according to claim 1, characterized in that: N=3, the N first snake bones include a first distal snake bone, a first middle snake bone and a first proximal snake bone arranged in sequence from the distal end to the proximal end, and the multiple distal ends include a first distal end and a second distal end, the first distal end is connected to the first distal snake bone, and the second distal end is connected to the first middle snake bone.

10. The flexible arm according to claim 1, characterized in that N=4, the N first snake bones include a first distal snake bone, a first distal snake bone, a first proximal snake bone and a first proximal snake bone arranged in sequence from the distal end to the proximal end, and the multiple distal ends include a first distal end and a second distal end, the first distal end is connected to the first distal snake bone, and the second distal end is connected to the first proximal snake bone.

11. The flexible arm according to claim 1, characterized in that: One of the plurality of distal portions is connected to a distal-most one of the first snake bones.

12. The flexible arm according to claim 1, characterized in that Each of the driving members has M distal ends, and the M distal ends are connected to the M first snake bones in a one-to-one correspondence; M≤N-1.

13. The flexible arm according to claim 1, characterized in that Each of the second snake bones is pivotally connected to one of the first snake bones adjacent thereto around a first axis, and each of the second snake bones is pivotally connected to another of the first snake bones adjacent thereto around a second axis; the first axis is perpendicular to the second axis.

14. The flexible arm according to claim 13, characterized in that Each of the second serpentine bones is pivotally connected to one of the first serpentine bones adjacent to its proximal side around a first axis, and each of the second serpentine bones is pivotally connected to one of the first serpentine bones adjacent to its distal side around a second axis.

15. The flexible arm according to claim 1, characterized in that N=4, the N first snake bones include a first distal snake bone, a first distal snake bone, a first proximal snake bone and a first proximal snake bone arranged in sequence from the distal end to the proximal end; The N-1 second snake bones include a second distal snake bone, a second middle snake bone, and a second proximal snake bone arranged in sequence from the distal end to the proximal end; The flexible arm also includes a first constraint component, which is connected between the first distal snake bone and the first proximal snake bone, and the first constraint component is configured to constrain the first distal snake bone and the first distal snake bone to bend when one of the first distal snake bone and the first distal snake bone is bent; and / or, the first constraint component is configured to constrain the second distal snake bone and the second intermediate snake bone to bend when one of the second distal snake bone and the second intermediate snake bone is bent.

16. The flexible arm according to claim 15, characterized in that The first distal snake bone includes a first sub-snake bone and a second sub-snake bone; The first constraint assembly includes a first connecting member and a plurality of first constraint members, the two ends of the first connecting member are respectively connected to the first sub-snare bone and the second sub-snare bone, the first constraint member is movably arranged around the first connecting member and extends from one side of the first connecting member to the other side along the first direction, one end of the first constraint member is connected to the first distal snare bone, and the other end is connected to the first proximal snare bone; The first direction is perpendicular to the extending direction from the distal end to the proximal end.

17. The flexible arm according to claim 15, characterized in that The plurality of driving members are arranged along the circumference of the first snake bone; The first constraint assembly includes a plurality of first constraint members, the plurality of first constraint members are arranged along the circumference of the first snake bone, and the plurality of first constraint members are disposed on the inner side of the plurality of driving members.

18. The flexible arm according to claim 15, characterized in that The number of the first restraining members is four, and the four first restraining members are evenly spaced and arranged along the circumference of the first snake bone.

19. The flexible arm according to claim 1, characterized in that N=4, the N first snake bones include a first distal snake bone, a first distal snake bone, a first proximal snake bone and a first proximal snake bone arranged in sequence from the distal end to the proximal end; The N-1 second snake bones include a second distal snake bone, a second middle snake bone, and a second proximal snake bone arranged in sequence from the distal end to the proximal end; The flexible arm also includes a second constraint component, which is connected between the first distal snake bone and the first proximal snake bone, and the second constraint component is configured to constrain the first distal snake bone and the first proximal snake bone to bend when one of the first distal snake bone and the first proximal snake bone is bent; and / or, the second constraint component is configured to constrain the second intermediate snake bone and the second proximal snake bone to bend when one of the second intermediate snake bone and the second proximal snake bone is bent.

20. The flexible arm according to claim 19, characterized in that The first proximal snake bone includes a third sub-snake bone and a fourth sub-snake bone; The second restraint assembly includes a second connecting member and a plurality of second restraint members, the two ends of the second connecting member are respectively connected to the third sub-snare bone and the fourth sub-snare bone, the second restraint member is movably arranged around the second connecting member and extends from one side of the second connecting member to the other side along the first direction, one end of the second restraint member is connected to the first distal snare bone, and the other end is connected to the first proximal snare bone; The first direction is perpendicular to the extending direction from the distal end to the proximal end.

21. The flexible arm according to claim 1, characterized in that The N first snake bones include a first proximal snake bone and a first proximal snake bone from the proximal end to the distal end, and at least one second snake bone includes a second proximal snake bone located between the first proximal snake bone and the first proximal snake bone; A first arc-shaped protrusion is provided on a side of the first proximal serpentine bone facing the second proximal serpentine bone, and a first arc-shaped groove is provided on a side of the second proximal serpentine bone facing the first proximal serpentine bone, and at least a portion of the first arc-shaped protrusion is accommodated in the first arc-shaped groove and can rotate around a first axis in the first arc-shaped groove; A second arc-shaped protrusion is provided on the side of the second proximal serpentine bone facing the first proximal serpentine bone, and a second arc-shaped groove is provided on the side of the first proximal serpentine bone facing the second proximal serpentine bone. At least part of the second arc-shaped protrusion is accommodated in the second arc-shaped groove and can rotate around a second axis in the second arc-shaped groove.

22. The flexible arm according to claim 21, characterized in that The first proximal snake bone is provided with two first arc-shaped protrusions opposite to each other along the second direction, and the second proximal snake bone is provided with two first arc-shaped grooves opposite to each other along the second direction; The second direction is perpendicular to the extending direction from the proximal end to the distal end.

23. The flexible arm according to claim 21, characterized in that From the distal end to the proximal end, the projection of the driving member does not overlap with the projection of the first arc-shaped protrusion, and the projection of the driving member does not overlap with the projection of the second arc-shaped protrusion.

24. The flexible arm according to claim 21, characterized in that Along the circumference of the first snake bone, the plurality of driving members are respectively staggered with the two first arc-shaped protrusions and the two second arc-shaped protrusions and are evenly spaced.

25. The flexible arm according to claim 21, characterized in that A first arc-shaped boss is disposed on a side of the first proximal serpentine bone facing the second proximal serpentine bone, and the first arc-shaped boss is disposed on a side of the first arc-shaped protrusion facing the center of the first proximal serpentine bone; A second arc-shaped boss is disposed on a side of the second proximal serpentine bone facing the first proximal serpentine bone, and the second arc-shaped boss is disposed on a side of the first arc-shaped groove facing the center of the second proximal serpentine bone; The first arc-shaped boss abuts against the second arc-shaped boss.

26. The flexible arm according to claim 25, characterized in that The first proximal serpentine is provided with two first arc-shaped bosses opposite to each other in a second direction, and the second proximal serpentine is provided with two second arc-shaped bosses opposite to each other in the second direction; The second direction is perpendicular to the extending direction from the proximal end to the distal end.

27. The flexible arm according to claim 1, characterized in that The N first snake bones include a first distal snake bone located at the distal end, the first distal snake bone includes a connecting groove, and the multiple distal ends include a first distal end portion, one end of the first distal end portion is connected to a connecting column, the first distal end portion passes through the connecting groove, and the connecting column is accommodated in the connecting groove.

28. The flexible arm according to claim 1, characterized in that The flexible arm includes four driving members, and the four driving members are evenly spaced and arranged along the circumference of the first snake bone.

29. The flexible arm according to claim 1, characterized in that The flexible arm also includes a plurality of first connecting tubes and a plurality of second connecting tubes, each of the proximal ends penetrates and is connected to a first connecting tube, each of the distal ends penetrates and is connected to a second connecting tube, and each of the second connecting tubes is correspondingly connected to a first connecting tube.

30. 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 29, 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.

31. The instrument rod according to claim 30, characterized in that: The N first snake bones include a first distal snake bone located at the distal end and a first proximal snake bone located at the proximal end, the first distal snake bone is connected to the tool head, and the first proximal snake bone is connected to the rod body.

32. A surgical device, characterized in that: It comprises the instrument rod and instrument box as described in claim 30 or 31, the proximal end of the rod body is connected to the instrument box, and the proximal end of the driving member passes through the rod body and is connected to the instrument box.

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