Bionic continuum structure for hip arthroscopic surgery

By adopting a bionic continuum structure in hip arthroscopic surgery and using the design of the third connecting block and the ball hinge connection, the problem of easy wear or breakage of the continuum structure in the prior art is solved, and the stability and flexibility of the structure are achieved.

CN119523403APending Publication Date: 2025-02-28QINGDAO MUNICIPAL HOSPITAL
View PDF 0 Cites 0 Cited by

Patent Information

Application Number
CN202411724600.2
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-28
Publication Date
2025-02-28

AI Technical Summary

Technical Problem

The continuum structure used in existing hip arthroscopy is prone to wear or break after long-term use, mainly because the overall backbone needs to be deformed when bending.

Method used

A bionic continuum structure is adopted, and a plurality of third connecting blocks and ball hinges are connected in sequence to avoid deformation of the entire backbone and ensure structural stability through a limiting mechanism.

Benefits of technology

It effectively avoids the problems of wear or fracture of the continuum structure during long-term use, and ensures the flexibility and stability of the structure.

✦ Generated by Eureka AI based on patent content.

Smart Images

  • Figure CN119523403A_ABST
    Figure CN119523403A_ABST
Patent Text Reader

Abstract

The invention belongs to the technical field of surgical treatment, and particularly relates to a bionic continuum structure for hip joint endoscopic surgery, when the bionic continuum structure is used, a control mechanism drives a first end block, a second end block and a plurality of third connecting blocks to move, bending of the bionic continuum structure is achieved, and the hip joint endoscopic surgery is achieved. Every two adjacent third connecting block bodies are connected through a spherical hinge, the two third connecting block bodies located at the ends are connected with the first end block body and the second end block body through spherical hinges, and therefore the risk that the whole backbone structure is abraded or fractured is avoided; meanwhile, a first limiting mechanism is arranged between every two adjacent third connecting block bodies, a second limiting mechanism is arranged between each third connecting block body and the first end block body, and a third limiting mechanism is arranged between each third connecting block body and the second end block body. And rotation between every two adjacent third connecting block bodies, rotation between the third connecting block bodies and the first end block body and rotation between the third connecting block bodies and the second end block body are avoided, and the stability of the bionic continuum structure is guaranteed.
Need to check novelty before this filing date? Find Prior Art

Description

Technical Field

[0001] The invention belongs to the technical field of surgical treatment, and in particular relates to a bionic continuum structure used for hip arthroscopy surgery. Background Art

[0002] Hip arthroscopy is a minimally invasive surgical technique widely used in the medical field with a long history. Since the 1970s, with the continuous advancement of medical technology, arthroscopy has been widely used in orthopedics, sports medicine and trauma surgery.

[0003] Continuum structures play a vital role in arthroscopic surgical systems. Continuum structures refer to the flexible, bendable instruments used in arthroscopic surgery that can pass through the narrow channels of human joints to reach the surgical site and perform delicate operations.

[0004] In the prior art, most continuum structures adopt an integrated hollow structure, which requires the entire backbone to deform when bending. Long-term use may cause the continuum structure to wear or even break. Summary of the invention

[0005] The purpose of the present invention is to provide a bionic continuum structure for hip arthroscopy to solve the above problems.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A bionic continuum structure for hip arthroscopy surgery comprises: a plurality of third connecting blocks arranged in sequence, two adjacent third connecting blocks being connected by a ball joint, the third connecting block at one end being connected to a first end block by a ball joint, and the third connecting block at the other end being connected to a second end block by a ball joint, a first limiting mechanism being arranged between two adjacent third connecting blocks, a second limiting mechanism being arranged between the third connecting block and the first end block, a third limiting mechanism being arranged between the third connecting block and the second end block, and the first end block, the second end block and the third connecting block are all connected to a control mechanism.

[0008] In the bionic continuum structure for hip arthroscopy of the present invention, the third connecting block includes two symmetrically arranged third blocks, the two third blocks are fixedly connected, one end of the third block is coaxially fixedly connected with a third hemispherical clamping block, the other end of the third hemispherical clamping block is coaxially provided with a third hemispherical clamping groove, the third block is coaxially provided with a third channel, and the third channel runs through the third hemispherical clamping block;

[0009] The two third channels, the two third hemispherical blocks and the two third hemispherical slots in the same third connecting block are arranged correspondingly, the third hemispherical block is adapted to the third hemispherical slot, and the two adjacent third connecting blocks are connected by a ball joint via the third hemispherical block and the third hemispherical slot.

[0010] In the bionic continuum structure for hip arthroscopy of the present invention, the first end block includes two first blocks symmetrically arranged, the two first blocks are fixedly connected, one end of the first block is coaxially provided with a first hemispherical slot, the other end of the first block is coaxially provided with a first channel, one end of the first channel away from the first hemispherical slot is fixedly connected with a first sleeve, and a first gap is left between the first sleeve and the first channel;

[0011] The two first hemispherical slots, the two first channels, the two first gaps and the two first sleeves are arranged correspondingly, the first hemispherical slot is adapted to the third hemispherical block, and the first end block and the third connecting block are connected by a ball joint through the third hemispherical block and the first hemispherical slot.

[0012] In the bionic continuum structure for hip arthroscopy of the present invention, the second end block includes two symmetrically arranged second blocks, the two second blocks are fixedly connected, a second channel is coaxially opened in the second block, a second hemispherical block is coaxially fixedly connected to one end of the second block, the second channel passes through the second hemispherical block, a second sleeve is coaxially fixedly connected to one end of the second channel away from the second hemispherical block on the inner side wall of the second channel, and a second gap is left between the second channel and the second sleeve;

[0013] The two second channels, the two second hemispherical blocks, the two second sleeves and the two second gaps are arranged correspondingly, the second hemispherical block is adapted to the third hemispherical slot, and the second end block and the third connecting block are connected by a ball joint between the second hemispherical block and the third hemispherical slot.

[0014] In the bionic continuum structure for hip arthroscopy surgery of the present invention, the first limiting mechanism includes a third arcuate slot opened at one end of one of the third blocks, the third arcuate slot is located on one side of the third hemispherical slot, and the third arcuate slot is concentrically arranged with the third hemispherical slot. The other end of the third block is fixed with a third arcuate insert, the third arcuate insert is located on one side of the third hemispherical block and is concentrically arranged with the third hemispherical block, the third arcuate insert is adapted to and concentrically arranged with the third arcuate slot, and the third arcuate insert is slidably connected in the third arcuate slot.

[0015] In the bionic continuum structure for hip arthroscopy surgery of the present invention, the second limiting mechanism includes a first arcuate slot opened at one end of one of the first blocks, the first arcuate slot is located on one side of the first hemispherical slot, the first arcuate slot is concentrically arranged with the first hemispherical slot, the first arcuate slot is adapted to the third arcuate insert, and the third arcuate insert located at one end is slidably connected in the first arcuate slot.

[0016] In the bionic continuum structure for hip arthroscopy surgery of the present invention, the third limiting mechanism includes a second arc-shaped insert fixedly connected to one end of one of the second blocks, the second arc-shaped insert is located on one side of the second hemispherical block, the second arc-shaped insert is concentrically arranged with the second hemispherical block, the second arc-shaped insert is adapted to the third arc-shaped slot, and the second arc-shaped insert is slidably connected in the third arc-shaped slot located at one end.

[0017] In the bionic continuum structure for hip arthroscopy surgery of the present invention, the control mechanism includes a plurality of second through holes, and the plurality of second through holes are arranged at equal intervals in the circumferential direction, the second through holes penetrate the first block, the second block and the third block, the axes of the second through holes are arranged parallel to the axes of the first block, the second block and the third block, the second through holes are close to the outer edges of the first block, the second block and the third block, a control wire is passed through the second through hole, one end of the control wire is fixedly connected to the second block / first block, and the other end of the control wire passes through the second through hole.

[0018] In the bionic continuum structure for hip arthroscopy of the present invention, two mounting groove groups are provided on the arc surface of the first block, the two mounting groove groups are respectively located on the first block, the mounting groove group includes at least two mounting grooves, a plurality of the mounting grooves in the same mounting groove group are arranged at equal intervals along the length direction of the first block, a first through hole is provided on the bottom wall of the mounting groove, two adjacent first through holes in the same first end block are correspondingly arranged, a bolt is passed between the two adjacent first through holes, and the two first blocks are fixedly connected by the bolts;

[0019] Two adjacent second blocks and third blocks are fixedly connected via the same structure.

[0020] In the bionic continuum structure for hip arthroscopy surgery of the present invention, a connecting hose is passed through the third channel, and two ends of the connecting hose are respectively passed through the first gap and the second gap.

[0021] Compared with the prior art, the present invention has the following advantages and technical effects:

[0022] When the bionic continuum structure of the present invention is in use, the control mechanism drives the first end block, the second end block and multiple third connecting blocks to move, so as to realize the bending of the bionic continuum structure. In the present application, two adjacent third connecting blocks are connected by a ball joint, and the two third connecting blocks located at the ends are connected to the first end block and the second end block by a ball joint, so as to avoid deformation of the overall backbone and the risk of structural wear or breakage after long-term use; at the same time, a first limiting mechanism is arranged between two adjacent third connecting blocks, a second limiting mechanism is arranged between the third connecting block and the first end block, and a third limiting mechanism is arranged between the third connecting block and the second end block, so as to avoid rotation between the two adjacent third connecting blocks and between the third connecting block and the first end block and the second end block, thereby ensuring the stability of the bionic continuum structure while ensuring the flexibility of the bionic continuum structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0024] Figure 1 It is a front view of the present invention;

[0025] Figure 2 A top view of the present invention;

[0026] Figure 3 It is a left side view of the present invention;

[0027] Figure 4 It is a schematic diagram of the internal structure of the present invention;

[0028] Figure 5 for Figure 1 AA section view;

[0029] Among them, 1. first end block; 2. second end block; 3. third connecting block; 4. mounting groove; 5. first through hole; 6. connecting hose; 7. second through hole; 101. first block; 102. first sleeve; 103. first gap; 104. first channel; 105. first hemispherical slot; 106. first arc-shaped slot; 201. second block; 202. second sleeve; 203. second channel; 204. second gap; 205. second hemispherical block; 206. second arc-shaped insert; 301. third block; 302. third hemispherical block; 303. third hemispherical slot; 304. third channel; 305. third arc-shaped insert; 306. third arc-shaped slot. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Reference Figures 1 to 5 The present invention discloses a bionic continuum structure for hip arthroscopy, comprising: a plurality of third connecting blocks 3 arranged in sequence, two adjacent third connecting blocks 3 being connected by a ball joint, the third connecting block 3 at one end being connected to a first end block 1 by a ball joint, the third connecting block 3 at the other end being connected to a second end block 2 by a ball joint, a first limiting mechanism being arranged between two adjacent third connecting blocks 3, a second limiting mechanism being arranged between the third connecting block 3 and the first end block 1, a third limiting mechanism being arranged between the third connecting block 3 and the second end block 2, and the first end block 1, the second end block 2 and the third connecting block 3 are all connected to a control mechanism.

[0033] When the bionic continuum structure of the present invention is in use, the control mechanism drives the first end block 1, the second end block 2 and multiple third connecting blocks 3 to move, so as to realize the bending of the bionic continuum structure. In the present application, two adjacent third connecting blocks 3 are connected by a ball joint, and the two third connecting blocks 3 located at the ends are connected to the first end block 1 and the second end block 2 by a ball joint, so as to avoid deformation of the overall backbone and the risk of structural wear or breakage after long-term use; at the same time, a first limiting mechanism is arranged between two adjacent third connecting blocks 3, a second limiting mechanism is arranged between the third connecting block 3 and the first end block 1, and a third limiting mechanism is arranged between the third connecting block 3 and the second end block 2, so as to avoid rotation between the two adjacent third connecting blocks 3 and between the third connecting block 3 and the first end block 1 and the second end block 2, so as to ensure the stability of the bionic continuum structure while ensuring the flexibility of the bionic continuum structure.

[0034] In a feasible solution, the third connecting block 3 includes two symmetrically arranged third blocks 301, the two third blocks 301 are fixedly connected, one end of the third block 301 is coaxially fixed with a third hemispherical clamping block 302, the other end of the third hemispherical clamping block 302 is coaxially provided with a third hemispherical clamping groove 303, and the third block 301 is coaxially provided with a third channel 304, and the third channel 304 runs through the third hemispherical clamping block 302;

[0035] The two third channels 304, the two third hemispherical blocks 302 and the two third hemispherical slots 303 in the same third connecting block 3 are all arranged correspondingly, the third hemispherical block 302 is adapted to the third hemispherical slot 303, and the two adjacent third connecting blocks 3 are connected by a ball joint via the third hemispherical block 302 and the third hemispherical slot 303.

[0036] In a feasible solution, the first end block 1 includes two first blocks 101 symmetrically arranged, the two first blocks 101 are fixedly connected, one end of the first block 101 is coaxially provided with a first hemispherical groove 105, the other end of the first block 101 is coaxially provided with a first channel 104, one end of the first channel 104 away from the first hemispherical groove 105 is fixedly connected with a first sleeve 102, and a first gap 103 is left between the first sleeve 102 and the first channel 104;

[0037] The two first hemispherical slots 105, the two first channels 104, the two first gaps 103 and the two first sleeves 102 are all arranged correspondingly, the first hemispherical slot 105 is adapted to the third hemispherical block 302, and the first end block 1 and the third connecting block 3 are spherically connected via the third hemispherical block 302 and the first hemispherical slot 105.

[0038] In a feasible solution, the second end block 2 includes two symmetrically arranged second blocks 201, the two second blocks 201 are fixedly connected, a second channel 203 is coaxially opened in the second block 201, a second hemispherical block 205 is coaxially fixedly connected to one end of the second block 201, the second channel 203 passes through the second hemispherical block 205, and a second sleeve 202 is coaxially fixedly connected to one end of the second channel 203 away from the second hemispherical block 205 on the inner side wall of the second channel 203, and a second gap 204 is left between the second channel 203 and the second sleeve 202;

[0039] The two second channels 203, the two second hemispherical blocks 205, the two second sleeves 202 and the two second gaps 204 are arranged correspondingly, the second hemispherical block 205 is adapted to the third hemispherical groove 303, and the second end block 2 and the third connecting block 3 are connected by a ball joint through the second hemispherical block 205 and the third hemispherical groove 303.

[0040] In a feasible solution, the first limiting mechanism includes a third arcuate slot 306 opened at one end of one of the third blocks 301, the third arcuate slot 306 is located on one side of the third hemispherical slot 303, and the third arcuate slot 306 is concentrically arranged with the third hemispherical slot 303. The other end of the third block 301 is fixedly connected with a third arcuate plug 305, the third arcuate plug 305 is located on one side of the third hemispherical clamping block 302 and is concentrically arranged with the third hemispherical clamping block 302, the third arcuate plug 305 is adapted to and concentrically arranged with the third arcuate slot 306, and the third arcuate plug 305 is slidably connected in the third arcuate slot 306.

[0041] The third arc-shaped insert piece 305 is set to be disc-shaped with a certain curvature, the width of the third arc-shaped slot 306 is adapted to the diameter of the third arc-shaped insert piece 305, and the length of the third arc-shaped slot 306 is greater than the diameter of the third arc-shaped insert piece 305. In this way, when the angle between two adjacent third blocks 301 changes, the third arc-shaped insert piece 305 rotates or slides in the third arc-shaped slot 306. When rotation occurs between two adjacent third blocks 301, the width of the third arc-shaped slot 306 is adapted to the diameter of the third arc-shaped insert piece 305, thereby avoiding rotation between two adjacent third blocks 301.

[0042] The principles of the second limiting mechanism and the third limiting mechanism are the same as that of the first limiting mechanism.

[0043] In a feasible solution, the second limiting mechanism includes a first arcuate slot 106 opened at one end of one of the first blocks 101, the first arcuate slot 106 is located on one side of the first hemispherical slot 105, the first arcuate slot 106 is concentrically arranged with the first hemispherical slot 105, the first arcuate slot 106 is adapted to the third arcuate insert 305, and the third arcuate insert 305 located at one end is slidably connected in the first arcuate slot 106.

[0044] In a feasible solution, the third limiting mechanism includes a second arc-shaped plug 206 fixedly connected to one end of one of the second blocks 201, the second arc-shaped plug 206 is located on one side of the second hemispherical block 205, the second arc-shaped plug 206 is concentrically arranged with the second hemispherical block 205, the second arc-shaped plug 206 is adapted to the third arc-shaped slot 306, and the second arc-shaped plug 206 is slidably connected in the third arc-shaped slot 306 located at one end.

[0045] In a feasible solution, the control mechanism includes a plurality of second through holes 7, and the plurality of second through holes 7 are arranged at equal intervals in the circumferential direction. The second through holes 7 pass through the first block 101, the second block 201 and the third block 301. The axes of the second through holes 7 are arranged parallel to the axes of the first block 101, the second block 201 and the third block 301. The second through holes 7 are close to the outer edges of the first block 101, the second block 201 and the third block 301. A control line is passed through the second through hole 7, one end of the control line is fixedly connected to the second block 201 / the first block 101, and the other end of the control line passes through the second through hole 7.

[0046] In a feasible solution, two mounting groove groups are provided on the arc surface of the first block 101, and the two mounting groove groups are respectively located on the first block 101. The mounting groove groups include at least two mounting grooves 4. Several mounting grooves 4 in the same mounting groove group are arranged at equal intervals along the length direction of the first block 101. First through holes 5 are provided on the bottom wall of the mounting groove 4. Two adjacent first through holes 5 in the same first end block 1 are correspondingly arranged. Bolts are passed between the two adjacent first through holes 5, and the two first blocks 101 are fixedly connected by bolts.

[0047] Two adjacent second blocks 201 and third blocks 301 are fixedly connected by the same structure.

[0048] Two adjacent first blocks 101 / second blocks 201 / third blocks 301 are connected by bolts, thereby ensuring the firmness and convenience of the installation of the entire release continuum structure.

[0049] In a feasible solution, a connecting hose 6 is passed through the third channel 304 , and two ends of the connecting hose 6 are respectively passed through the first gap 103 and the second gap 204 .

[0050] Specific working process:

[0051] By controlling the line to pull the first block 101 / second block 201 at the end, the multiple third blocks 301 are driven to move, thereby realizing the bending of the bionic continuum structure; the two adjacent third connecting blocks 3, the third connecting block 3 and the first end block 1, and the third connecting block 3 and the second end block 2 are connected through matching hemispherical card slots and hemispherical card block ball joints, thereby ensuring the flexibility of the bionic continuum structure, and because it is a ball joint connection, there will be no problem of skeleton fatigue caused by long-term use, and then causing skeleton wear or breakage; at the same time, limited position is set between the two adjacent third blocks 301, between the third block 301 and the second block 201, and between the third block 301 and the first block 101 The second arc plug-in piece 206 and the third arc plug-in piece 305 are both set to be circular and have a certain curvature. When the bionic continuum structure bends, the second arc plug-in piece 206 slides in the third arc slot 306, the third arc plug-in piece 305 slides in the third arc slot 306, and the third arc plug-in piece 305 slides in the first arc slot 106. When rotation occurs between the two adjacent third connecting blocks 3, the third connecting block 3 and the first end block 1, and the third connecting block 3 and the second end block 2, the arc plug-in piece and the arc slot are limited to avoid rotation, thereby ensuring the flexibility of the bionic continuum structure while ensuring the stability of the bionic continuum structure.

[0052] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0053] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A bionic continuum structure for hip arthroscopy, characterized in that: include: A plurality of third connecting blocks (3) are arranged in sequence, and two adjacent third connecting blocks (3) are connected via a ball joint. The third connecting block (3) at one end is connected to the first end block (1) via a ball joint, and the third connecting block (3) at the other end is connected to the second end block (2) via a ball joint. A first limiting mechanism is arranged between two adjacent third connecting blocks (3), a second limiting mechanism is arranged between the third connecting block (3) and the first end block (1), and a third limiting mechanism is arranged between the third connecting block (3) and the second end block (2). The first end block (1), the second end block (2) and the third connecting block (3) are all connected to a control mechanism.

2. The bionic continuum structure for hip arthroscopy according to claim 1, characterized in that: The third connecting block (3) comprises two symmetrically arranged third blocks (301), the two third blocks (301) are fixedly connected, one end of the third block (301) is coaxially fixedly connected with a third hemispherical clamping block (302), the other end of the third hemispherical clamping block (302) is coaxially provided with a third hemispherical clamping groove (303), and the third block (301) is coaxially provided with a third channel (304), and the third channel (304) runs through the third hemispherical clamping block (302); The two third channels (304), the two third hemispherical clamping blocks (302) and the two third hemispherical clamping grooves (303) in the same third connecting block (3) are all arranged correspondingly, the third hemispherical clamping block (302) is adapted to the third hemispherical clamping groove (303), and two adjacent third connecting blocks (3) are connected by a ball joint via the third hemispherical clamping block (302) and the third hemispherical clamping groove (303).

3. The bionic continuum structure for hip arthroscopy according to claim 2, characterized in that: The first end block (1) comprises two first blocks (101) which are symmetrically arranged. The two first blocks (101) are fixedly connected to each other. A first hemispherical groove (105) is coaxially formed at one end of the first block (101). A first channel (104) is coaxially formed at the other end of the first block (101). A first sleeve (102) is fixedly connected to one end of the first channel (104) away from the first hemispherical groove (105). A first gap (103) is left between the first sleeve (102) and the first channel (104). The two first hemispherical slots (105), the two first channels (104), the two first gaps (103) and the two first sleeves (102) are all arranged correspondingly; the first hemispherical slot (105) is adapted to the third hemispherical block (302); the first end block (1) and the third connecting block (3) are connected by a ball joint via the third hemispherical block (302) and the first hemispherical slot (105).

4. The bionic continuum structure for hip arthroscopy according to claim 3, characterized in that: The second end block (2) comprises two symmetrically arranged second blocks (201), the two second blocks (201) are fixedly connected, a second channel (203) is coaxially opened in the second block (201), a second hemispherical block (205) is coaxially fixedly connected to one end of the second block (201), the second channel (203) passes through the second hemispherical block (205), a second sleeve (202) is coaxially fixedly connected to one end of the second channel (203) away from the second hemispherical block (205) on the inner side wall of the second channel (203), and a second gap (204) is left between the second channel (203) and the second sleeve (202); The two second channels (203), the two second hemispherical blocks (205), the two second sleeves (202) and the two second gaps (204) are arranged correspondingly, the second hemispherical block (205) is matched with the third hemispherical slot (303), and the second end block (2) and the third connecting block (3) are connected by a ball joint via the second hemispherical block (205) and the third hemispherical slot (303).

5. The bionic continuum structure for hip arthroscopy according to claim 4, characterized in that: The first limiting mechanism comprises a third arc-shaped slot (306) provided at one end of one of the third blocks (301); the third arc-shaped slot (306) is located at one side of the third hemispherical slot (303); the third arc-shaped slot (306) and the third hemispherical slot (303) are arranged concentrically; the other end of the third block (301) is fixedly connected with a third arc-shaped inserting piece (305); the third arc-shaped inserting piece (305) is located at one side of the third hemispherical clamping block (302) and is arranged concentrically with the third hemispherical clamping block (302); the third arc-shaped inserting piece (305) is adapted to and concentrically arranged with the third arc-shaped slot (306); the third arc-shaped inserting piece (305) is slidably connected in the third arc-shaped slot (306).

6. The bionic continuum structure for hip arthroscopy according to claim 5, characterized in that: The second limiting mechanism comprises a first arc-shaped slot (106) opened at one end of one of the first blocks (101); the first arc-shaped slot (106) is located at one side of the first hemispherical slot (105); the first arc-shaped slot (106) and the first hemispherical slot (105) are concentrically arranged; the first arc-shaped slot (106) is adapted to the third arc-shaped inserting piece (305); and the third arc-shaped inserting piece (305) located at one end is slidably connected in the first arc-shaped slot (106).

7. The bionic continuum structure for hip arthroscopy according to claim 5, characterized in that: The third limiting mechanism comprises a second arc-shaped insert (206) fixedly connected to one end of one of the second blocks (201); the second arc-shaped insert (206) is located on one side of the second hemispherical clamping block (205); the second arc-shaped insert (206) is concentrically arranged with the second hemispherical clamping block (205); the second arc-shaped insert (206) is adapted to the third arc-shaped slot (306); and the second arc-shaped insert (206) is slidably connected in the third arc-shaped slot (306) located at one end.

8. The bionic continuum structure for hip arthroscopy according to claim 4, characterized in that: The control mechanism comprises a plurality of second through holes (7), the plurality of second through holes (7) are arranged at equal intervals in the circumferential direction, the second through holes (7) pass through the first block (101), the second block (201) and the third block (301), the axes of the second through holes (7) are arranged parallel to the axes of the first block (101), the second block (201) and the third block (301), the second through holes (7) are close to the outer edges of the first block (101), the second block (201) and the third block (301), a control line is passed through the second through hole (7), one end of the control line is fixedly connected to the second block (201) / the first block (101), and the other end of the control line passes through the second through hole (7).

9. The bionic continuum structure for hip arthroscopy according to claim 4, characterized in that: Two mounting groove groups are provided on the arc surface of the first block (101), and the two mounting groove groups are respectively located on the first block (101). The mounting groove groups include at least two mounting grooves (4), and a plurality of the mounting grooves (4) in the same mounting groove group are arranged at equal intervals along the length direction of the first block (101). A first through hole (5) is provided on the bottom wall of the mounting groove (4), and two adjacent first through holes (5) in the same first end block (1) are correspondingly arranged, and a bolt is passed through the two adjacent first through holes (5), and the two first blocks (101) are fixedly connected by the bolts; Two adjacent second blocks (201) and third blocks (301) are fixedly connected via the same structure.

10. The bionic continuum structure for hip arthroscopy according to claim 4, characterized in that: A connecting hose (6) is passed through the third channel (304), and two ends of the connecting hose (6) are respectively passed through the first gap (103) and the second gap (204).