Snake bone joint, flexible joint assembly, surgical operation arm and surgical robot

Abstract

The invention discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The snake bone joint comprises two snake bone bases which can rotate based on respective pivots, the two pivots are parallel and have a constant distance, and the snake bone joint further comprises a first limiting structure and a second limiting structure which are arranged between the two snake bone bases. The first limiting structure comprises a first protrusion and a first groove which make contact with each other, the first protrusion is arranged on one snake bone base part, and the first groove is formed in the other snake bone base part. The second limiting structure comprises a second bulge and a second groove which are in contact with each other, the second bulge is arranged on one snake bone base part, and the second groove is arranged on the other snake bone base part; the pivot of one snake bone base is a first pivot, and the vertical distance between the first protrusion and the first pivot is larger than the vertical distance between the second protrusion and the first pivot. Therefore, the snake bone joint has the advantages of being high in bending precision and high in load deformation resistance.

Description

Technical Field

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

[0002] With the advancement of technology, laparoscopic surgery allows doctors to perform surgical treatments through smaller incisions, shortening patients' hospital stays, ensuring safe surgery and quick recovery. During laparoscopic surgery, doctors often manipulate the surgical manipulator arm to yaw or rotate to perform surgical operations on designated locations in the patient's body. The surgical manipulator arm usually uses a snake joint to achieve yaw movement.

[0003] In the related art, although the snake-bone joint can be bent by pulling back and releasing the drive cables passed through each snake-bone component, due to the uncertain relative rotation state between the snake-bone components, it is difficult to achieve consistent retraction and release of the drive cables during the bending process of the snake-bone joint, or it is difficult to maintain the balance of the force arms of the drive cables on both sides of the snake-bone joint. The drive cables are prone to deformation or even damage, affecting the control accuracy and service life of the snake-bone joint and the surgical operating arm. In addition, the relative rotation state between the snake-bone components is uncertain, and the snake-bone joint cannot have a unique shape at a specified bending angle. When any snake-bone component in the snake-bone joint is disturbed by external force, the snake-bone joint is very likely to be deformed, which brings uncertain risks to the surgical operation and reduces the reliability of the snake-bone joint and the surgical operating arm when used in surgical operations. Summary of the invention

[0004] The purpose of the present application is to provide a serpentine joint, a flexible joint assembly, a surgical operating arm and a surgical robot, which can alleviate the problem of uncertain misalignment and sliding between serpentine components when the serpentine joint is bent, and improve the bending accuracy and load deformation resistance of the serpentine joint.

[0005] The embodiment of the present application is implemented as follows:

[0006] In the first aspect, an embodiment of the present application provides a serpentine joint, comprising two serpentine bases, each of which can rotate based on its own pivot, the two pivots are parallel and the spacing is constant, and the serpentine joint also includes a first limiting structure and a second limiting structure arranged between the two serpentine bases; the first limiting structure includes a first protrusion and a first groove that contact each other, the first protrusion is arranged on one serpentine base, and the first groove is arranged on the other serpentine base; the second limiting structure includes a second protrusion and a second groove that contact each other, the second protrusion is arranged on one serpentine base, and the second groove is arranged on the other serpentine base; the pivot of one serpentine base is the first pivot, and the vertical distance between the first protrusion and the first pivot is greater than the vertical distance between the second protrusion and the first pivot.

[0007] In the above technical scheme, when the pivot axes of the two snake bone bases are parallel and the spacing is constant, through the cooperation of two protrusions, one long and one short, with different vertical distances from the same pivot axis and the corresponding grooves, the two snake bone bases can be provided with limiting effects in different directions when the snake bone joint is bent, so as to limit the uncertain lateral sliding between the snake bone bases, improve the bending stability and bending accuracy of the snake bone joint, and thus realize the symmetrical motion configuration of the two snake bone bases during relative rotation; on this basis, the contact between the protrusion and the groove makes the snake bone base smoother when rotating, reducing vibration and noise during movement.

[0008] In some embodiments, one of the serpentine bases in the serpentine joint is the first serpentine base, and the first protrusion and the second protrusion are both arranged on the first serpentine base. In the above technical solution, the first protrusion and the second protrusion are both arranged on the same serpentine base, which can simplify the manufacturing and assembly process, optimize the force distribution and reduce the local stress concentration, thereby reducing wear; in addition, the two protrusions, one long and one short, are arranged on the same serpentine base, which helps to improve the overall movement consistency of the serpentine joint, and improve the bending accuracy and movement stability of the serpentine joint.

[0009] In some embodiments, in the snake bone joint, the distance between the two pivots is the center distance, and the pivot of the first snake bone base is the first pivot; the vertical distance between the first protrusion and the first pivot is greater than half of the center distance, and the vertical distance between the second protrusion and the first pivot is less than half of the center distance. In the above technical solution, the vertical distance between the long protrusion and the first pivot is greater than half of the center distance, and the snake bone joint can achieve a larger bending angle and improve the flexibility of movement; the vertical distance between the short protrusion and the first pivot is less than half of the center distance, which can limit the excessive bending of the snake bone joint and reduce local stress concentration; the combination of long and short protrusions can improve the stability and durability of the overall structure of the snake bone joint, extend the service life of the snake bone joint, and enable the snake bone joint to find a better balance between bending flexibility and bending stability.

[0010] In some embodiments, the first protrusion and the second protrusion are both arranged on the first end face of the first serpentine base, and the first end face is parallel to or coincides with the first pivot; the central axis of the first protrusion, the central axis of the second protrusion, and the first pivot all coincide with the same plane, and the plane is perpendicular to the first end face. In the above technical scheme, two protrusions, one long and one short, are arranged on the same end face, and the central axes of all protrusions are located in the same plane, which can simplify the manufacturing and assembly process of the serpentine joint and improve production efficiency; the plane where the central axis of each protrusion is located is perpendicular to the first end face. This vertical alignment makes the movement control of the serpentine joint simpler and more intuitive, thereby improving the movement accuracy of the serpentine joint and the movement consistency of each component in the serpentine joint.

[0011] In some embodiments, the vertical distance between the central axis of the first protrusion and the first pivot is the first vertical distance, the vertical distance between the central axis of the second protrusion and the first pivot is the second vertical distance, and the sum of the first vertical distance and the second vertical distance is equal to the center distance. In the above technical solution, the sum of the first vertical distance and the second vertical distance is equal to the center distance, so that the snake bone joint can better disperse the force during the bending process, reduce local stress concentration, and thus improve the durability of the snake bone joint; the above embodiment can provide uniform support in different directions, thereby improving the overall stability of the snake bone joint; the snake bone joint can maintain a better balance during movement, simplifying the movement control of the snake bone joint.

[0012] In some embodiments, the contact surface of the first protrusion and the contact surface of the second protrusion are both arc surfaces. In the above technical solution, the contact surface of the first protrusion and the contact surface of the second protrusion are both arc surfaces, which can increase the contact area, reduce local stress concentration, make the rolling of the protrusion and the groove smoother and more stable, extend the service life of the snake bone joint, and improve the bending accuracy and movement stability of the snake bone joint.

[0013] In some embodiments, the first protrusion and the second protrusion have the same shape and size. In the above technical solution, the first protrusion and the second protrusion have the same shape and size, which reduces the production cost, processing and assembly difficulty of the snake bone joint, and helps to improve the symmetry of the movement of the two snake bone bases and the stability of the snake bone joint.

[0014] In some embodiments, in the snake-bone joint, the first limiting structure is disposed at one end of the two pivots, and the second limiting structure is disposed at the other end of the two pivots. In the above technical solution, the first limiting structure and the second limiting structure are disposed at the two ends of the snake-bone joint pivot, respectively, which can bear the external load more evenly, improve the stability and reliability of the bending of the snake-bone joint, and make the overall structure of the snake-bone joint simpler.

[0015] In some embodiments, in the snake-bone joint, at least one end of the two pivots is provided with a first limiting structure and a second limiting structure. In the above technical solution, the first limiting structure and the second limiting structure are concentrated at the same end of the pivot, which can make the overall structure of the snake-bone joint more compact, reduce the difficulty of manufacturing and assembly, and enhance the local rigidity of the snake-bone joint, so that it can maintain stability when subjected to a large load.

[0016] In some embodiments, each snake bone base has multiple groups of rope threading holes, and the multiple groups of rope threading holes are symmetrically arranged on both sides of the pivot, and the rope threading holes are used to accommodate drive cables or constraint cables. In the above technical solution, the symmetrical arrangement of multiple groups of rope threading holes makes the overall structure of the snake bone joint more compact, and can also reduce the entanglement and interference of the movement of the constraint cable or the drive cable when the snake bone base rotates relatively; further, the symmetrical arrangement of multiple groups of rope threading holes makes the connection positions of the drive cables on both sides of the snake bone joint and each snake bone base symmetrical and equidistant based on the pivot. When the snake bone joint can achieve a symmetrical motion configuration, the drive cables on both sides of the snake bone joint can achieve consistent retraction and release and balanced force arms, thereby extending the service life of the drive cables.

[0017] In some embodiments, the snake bone joint further comprises at least one supporting structure, which is disposed between the two snake bone bases and is used to limit the spacing between the two pivots to be constant. In the above technical solution, the supporting structure can share the pressure load, which refers to the force generated by the two snake bone components constituting the snake bone joint due to the tightening of the drive cable. Furthermore, the supporting structure can reduce the wear of the snake bone components and the snake bone joint, and extend the service life of the snake bone components and the snake bone joint.

[0018] In some embodiments, each support structure includes two arc-to-top surfaces in rolling contact, and the arc-to-top surfaces are respectively arranged on the first end surfaces of the two serpentine bases that are adjacent to and opposite to each other; the distance between the two pivots is the center distance, the radius of each arc-to-top surface is half of the center distance, and the axis of each arc-to-top surface coincides with a pivot. In the above technical solution, the arrangement of the arc-to-top surfaces can reduce the wear of the serpentine base, the arc-to-top surfaces are in rolling contact with each other and the radius is half of the center distance, so that the two serpentine bases can rotate relative to each other while the pivots are difficult to approach each other, thereby improving the smoothness of the bending of the serpentine joint and the stability of the structure, improving the load-bearing capacity of the serpentine joint, and reducing the difficulty of processing the serpentine joint.

[0019] In some embodiments, the support structure includes at least one connecting pin, each connecting pin includes two connecting pins and a connecting rod, and the connecting rod is vertically connected between two parallel connecting pins; in the snake bone joint, a connecting pin is rotatably connected to a snake bone base and coincides with a pivot. In the above technical solution, the snake bone joint fixes the center distance between the pivots of the two snake bone bases through the connecting pin, so that the two snake bone bases can rotate relative to each other, while the pivots are difficult to approach or move away from each other, thereby improving the bending accuracy and bending reliability of the snake bone joint.

[0020] In some embodiments, the support structure includes two connecting pins and a stopper, and the stopper is arranged between the two connecting pins to prevent the connecting pin from sliding along the pivot. In the above technical solution, the stopper can reduce the probability of the connecting pin sliding along the pivot and falling off the snake bone base, thereby reducing the probability of the snake bone base moving and dislocating along the pivot direction, thereby improving the bending accuracy and reliability of the snake bone joint.

[0021] In the second aspect, the embodiment of the present application provides a flexible joint assembly, which includes at least one snake bone joint provided by any embodiment of the first aspect of the present application and at least two drive cables, the drive cables are respectively connected to the two sides of the pivot of each snake bone joint, and each drive cable extends and passes through each snake bone joint. In the above technical solution, the flexible joint assembly drives the snake bone joint to bend by retracting and releasing the drive cables, thereby realizing its own yaw, and the flexible joint assembly has the same technical effect as the aforementioned snake bone joint.

[0022] In some embodiments, the flexible joint assembly includes at least two serpentine joints with the same pivot extension direction, and the flexible joint assembly also includes at least two constraint cables, each constraint cable extends and is inserted into each serpentine joint, and the connection position of the constraint cable on the serpentine base is based on pivot symmetry; between two serpentine joints with the same pivot extension direction and the most adjacent positions, the connection position of each constraint cable with the most proximal serpentine joint is the first connection position, and the connection position of each constraint cable with the most distal serpentine joint is the second connection position, and the first connection position is 180 degrees shifted relative to the second connection position based on the central axis of the flexible joint assembly. In the above technical solution, the same constraint cable is connected based on the 180° displacement of the central axis of the flexible joint assembly, so that the two serpentine joints with the most adjacent positions and the same bendable direction have a fixed bending angle when the flexible joint assembly is deflected as a whole, that is, the flexible joint assembly has a unique form at a specified deflection angle, and the embodiment of the present application improves the load-resistant deformation capacity of the flexible joint assembly.

[0023] In a third aspect, an embodiment of the present application provides a surgical operating arm, which comprises at least one flexible joint assembly provided by any embodiment of the second aspect of the present application. In the above technical solution, the surgical operating arm has the same technical effect as the above flexible joint assembly.

[0024] In a fourth aspect, an embodiment of the present application provides a surgical robot, the surgical robot comprising at least one surgical operating arm provided by any embodiment of the third aspect of the present application. In the above technical solution, the surgical robot has the same technical effect as the above surgical operating arm.

[0025] The beneficial effects of this application compared with the prior art are:

[0026] The present application can improve the problem of uncertain misaligned sliding between the snake bone components when the snake bone joint is bent. When the two snake bone base pivots are parallel and the spacing is constant, through the cooperation of two protrusions, one long and one short, with different vertical distances from the same pivot and the corresponding grooves, the two snake bone bases can be provided with limiting effects in different directions when the snake bone joint is bent, so as to limit the uncertain lateral sliding between the snake bone bases, improve the bending stability and bending accuracy of the snake bone joint, and then realize the symmetrical motion configuration of the two snake bone bases during the relative rotation process; further, the snake bone joint can also achieve the consistent retraction and release of the drive cables and the balance of the force arm by arranging the drive cables symmetrically based on the pivot. In addition, the first protrusion and the second protrusion are both arranged on the same snake bone base, which can simplify the manufacturing and assembly process and reduce wear; the plane where the central axis of the first protrusion, the central axis of the second protrusion and the pivot are located is perpendicular to the first end face, which can simplify the manufacturing and assembly process of the snake bone joint and make the movement control of the snake bone joint simpler and more intuitive; the contact surfaces of the two protrusions, one long and one short, are both arc surfaces, which can increase the contact area, reduce local stress concentration, extend the service life of the snake bone joint, and improve the bending accuracy and movement stability of the snake bone joint; the first protrusion and the second protrusion are consistent in shape and size, which reduces the production cost, processing and assembly difficulty of the snake bone joint, and helps to improve the symmetry of the movement of the two snake bone bases and the stability of the snake bone joint; between the two snake bone joints with the same pivot extension direction and the most adjacent positions, the constraint cable adopts a 180-degree displacement connection, so that the flexible joint component usually has a unique shape at a specified deflection angle, which improves the load deformation resistance of the flexible joint component. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is a schematic diagram of the overall structure of a surgical robot shown in some embodiments of the present application;

[0029] Figure 2 This is a schematic diagram of the overall structure of a surgical operating arm shown in some embodiments of the present application;

[0030] Figure 3 This is a schematic diagram of the overall structure of the flexible joint component shown in some embodiments of the present application;

[0031] Figure 4 This is a schematic diagram of the overall structure of the second flexible joint assembly shown in some embodiments of the present application;

[0032] Figure 5 A schematic diagram of the layout of the constraint cables of the second flexible joint assembly shown in some embodiments of the present application;

[0033] Figure 6 This is a schematic diagram of the overall structure of the snake bone joint shown in some embodiments of the present application;

[0034] Figure 7 This is a schematic diagram of the overall structure of the snake bone component shown in some embodiments of the present application;

[0035] Figure 8 A schematic diagram of the overall structure of another snake bone component shown in some embodiments of the present application;

[0036] Fig. 9 An exploded schematic diagram of a snake bone joint shown in some embodiments of the present application;

[0037] Fig.10 A schematic front view of a snake bone joint shown in some embodiments of the present application;

[0038] Fig.11 A schematic diagram of the geometric principle of the symmetrical motion configuration of the snake bone joint shown in some embodiments of the present application;

[0039] Fig.12 Schematic diagram of the motion trajectory of the protrusion central axis and the protrusion outer contour during the bending of the snake bone joint shown in some embodiments of the present application;

[0040] Fig.13 Schematic diagram of the overall structure of the snake bone component shown in other embodiments of the present application;

[0041] Fig.14 A schematic diagram of the overall structure of another snake bone component shown in other embodiments of the present application;

[0042] Fig.15 Schematic diagram of the overall structure of the snake bone component shown in some embodiments of the present application;

[0043] Fig.16 This is a schematic diagram of the overall structure of another snake-bone component shown in some other embodiments of the present application.

[0044] Icons: 1-surgical robot; 2-surgical operating arm; 21-tool head; 22-instrument box; 23-instrument straight tube; 3-flexible joint component; 30-flexible joint assembly; 31-first flexible joint assembly; 32-second flexible joint assembly; 33-driving cable; 34-constraint cable; 340-connection position; 341-first connection position; 342-second connection position; 35-connecting straight tube; 4-snake joint; 401-first snake joint; 402-second snake joint; 403-third snake joint; 404-fourth snake joint; 41-support structure; 411-arc top unit; 411 0-arc top surface; 412-connecting pin; 4121-connecting pin shaft; 4122-connecting rod; 413-stopper; 5-snake bone component; 501-first snake bone component; 502-second snake bone component; 51-first limiting structure; 511-first protrusion; 512-first groove; 52-second limiting structure; 521-second protrusion; 522-second groove; 53-snake bone base; 530-first end face; 5301-first snake bone base; 5302-second snake bone base; 531-pivot; 5311-first pivot; 5312-second pivot; 532-rope threading hole; 533-limiting inclined surface. DETAILED DESCRIPTION

[0045] The terms “first”, “second”, “third”, etc. are only used for distinguishing descriptions and do not indicate the order of arrangement, nor can they be understood as indicating or implying relative importance.

[0046] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0047] In the description of the present application, it should be noted that the terms "inside", "outside", "left", "right", "up", "down", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the products of the present application are usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0048] In the description of this application, unless otherwise clearly specified and limited, the terms "set", "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements.

[0049] The technical solution of the present application will be described in detail below with reference to the accompanying drawings.

[0050] As an important research technology in the field of medical devices, surgical robots are widely used in surgical operations to assist surgeons in performing various types of minimally invasive and non-invasive surgeries. Among them, surgical robots with flexible joint components or snake-bone joints are specially designed robots that can operate through narrow spaces and perform complex bending or rotation movements inside the human body. Compared with traditional rigid surgical instruments, this device has many advantages. Using this type of surgical robot to perform surgery can not only improve the accuracy of surgical operations, but also reduce damage to tissues around the surgical site, shorten recovery time and reduce the risk of complications.

[0051] In the related art, although the snake-bone joint can achieve bending at a specified angle by pulling back and releasing the driving cables passed through each snake-bone component, the relative rotation state between the snake-bone components is uncertain. Accordingly, the snake-bone joint does not have a unique shape at a specified bending angle. Once disturbed by external force, the snake-bone joint is prone to dislocation and deformation, affecting the reliability and safety of the surgical operation.

[0052] Based on the above considerations, the embodiment of the present application provides a snake bone joint, in which, when the two snake bone base pivots are parallel and the spacing is constant, through the cooperation of two protrusions, one long and one short, with different vertical distances from the same pivot and the corresponding grooves, each snake bone base is provided with a limiting effect in different directions when the snake bone joint is bent, so as to limit the uncertain lateral sliding of the snake bone base, and can realize the symmetrical motion configuration of the two snake bone bases during relative rotation, so that the snake bone joint has a unique shape at a specified bending angle. The embodiment of the present application reduces the probability of misaligned sliding between snake bone components and improves the bending accuracy and load-resistant deformation capacity of the snake bone joint.

[0053] See also Figure 1 , Figure 1 FIG. 1 is a schematic diagram of the overall structure of the surgical robot 1 shown in some embodiments of the present application. Figure 1As shown, the surgical robot 1 may include at least one surgical operating arm 2. The surgical operating arm 2 is used to perform the actions required for surgical operations through a tool head 21; the tool head 21 refers to the direct execution instrument on the surgical robot 1 that participates in surgical operations. Different tool heads 21 may have different functions, and the tool head 21 may be selected from needle holders, electric hooks, electric shovels, bipolar window forceps, bipolar Maryland, Cadyer forceps, intestinal forceps, tweezers, graspers, needles, scalpels, scissors, cauterizers, endoscopes, and staplers. The tool head 21 can be installed at the distal end of the surgical operating arm 2 through structures such as a docking port and a drive cable 33. The distal end of the surgical operating arm 2 refers to the end of the surgical operating arm 2 used to probe into the human body and perform surgical operations.

[0054] See also Figure 2 , Figure 2 FIG. 2 is a schematic diagram of the overall structure of the surgical operating arm 2 shown in some embodiments of the present application. Figure 2 As shown, the surgical operating arm 2 may include an instrument box 22, a flexible joint component 3, an instrument straight tube 23 and a tool head 21. The flexible joint component 3 may include at least one flexible joint assembly 30, one end of the flexible joint component 3 may be connected to the instrument box 22 through the instrument straight tube 23, and the other end of the flexible joint component 3 may be connected to the tool head 21.

[0055] In the embodiment of the present application, the flexible joint component 3 or the flexible joint assembly 30 refers to a structure composed of at least one serpentine joint 4, and can be tightened or loosened by driving the cable 33 to achieve a directional deflection function; the instrument box 22 refers to a device that can drive the tool head 21, the flexible joint assembly 30 or the instrument straight tube 23 to move through a transmission structure and a power source (such as components such as a servo motor).

[0056] In some embodiments, the instrument straight tube 23 may be a tubular structure with a hollow interior; the driving cable 33 used to drive the flexible joint component 3 to deflect may extend and pass through the flexible joint component 3, and extend into the instrument box 22 through the interior of the instrument straight tube 23, and be wound and connected with the transmission structure in a specified winding direction. Thus, the instrument box 22 may drive the transmission structure to rotate by starting the power source, and then retract or release the driving cable 33 by a certain distance, so that the flexible joint component 3 deflects in a directional manner according to a specified deflection angle.

[0057] In some embodiments, the instrument straight tube 23 can also be rotatably mounted on the instrument box 22 to realize the self-rotation of the flexible joint component 3, thereby adjusting the action orientation of the tool head 21 or the deflection orientation of the flexible joint component 3. In some embodiments, the tool head 21 can also be connected to the transmission structure and the power source in the instrument box 22 through a tool-specific drive cable or other transmission mechanism. Thus, the instrument box 22 can realize the action of the tool head 21 (such as clamping of tweezers, entry and exit of needles, etc.) or the self-rotation of the instrument straight tube 23 by starting the power source.

[0058] The instrument straight tube 23 is used to support the flexible joint component 3 and the tool head 21 and assist in bending. In some embodiments, the instrument straight tube 23 can be made of materials such as steel pipes, and a slit is made in the middle section. The length of the instrument straight tube 23 is determined by the poking stroke of the surgical robot 1. The poking stroke refers to the distance or range that the surgical instrument (surgical operating arm 2 or tool head 21) enters the patient's body through the poking stroke during the operation.

[0059] See also Figures 3 to 5 , Figure 3 This is a schematic diagram of the overall structure of the flexible joint component 3 shown in some embodiments of the present application; Figure 4 It is a schematic diagram of the overall structure of the second flexible joint assembly 32 shown in some embodiments of the present application; Figure 5 FIG. 3 is a schematic diagram of the layout of the restraint cable 34 of the second flexible joint assembly 32 shown in some embodiments of the present application. Figures 2 to 5 As shown, the flexible joint component 3 may include two flexible joint assemblies 30 , namely a first flexible joint assembly 31 and a second flexible joint assembly 32 .

[0060] Each flexible joint assembly 30 may include at least one snake bone joint 4 and at least two drive cables 33. Furthermore, each drive cable 33 extends and is inserted into each snake bone joint 4, and the connection position (or insertion position) of the drive cable 33 on each snake bone component 5 (or snake bone joint 4) is symmetrical based on the pivot 531 of the current snake bone joint 4. One end of the drive cable 33 can be fixed to the farthest snake bone component 5 in the corresponding flexible joint assembly 30, and the farthest snake bone component 5 refers to the snake bone component 5 closest to the tool head 21 in the same flexible joint assembly 30. Thus, the surgical instrument box 22 can realize the bending or return of the snake bone joint 4 toward one side and the deflection of the flexible joint assembly 30 toward one side by retracting and releasing the drive cables 33 on both sides of the snake bone joint 4, so as to realize the specified posture of the tool head 21.

[0061] In some embodiments, the flexible joint assembly 30 may further include a connecting straight tube 35. The two ends of the connecting straight tube 35 may each be provided with at least one snake bone joint 4 (taking the first flexible joint assembly 31 as an example), and the connecting straight tube 35 is used to expand the working space of the flexible joint component 3 or the first flexible joint assembly 31. For example, the setting of the connecting straight tube 35 can enable the first flexible joint assembly 31 to achieve a working space of 120 mm when deflected. Furthermore, the connecting straight tube 35 can be a hollow steel tube to reduce the overall weight of the flexible joint component 3.

[0062] In some embodiments, each flexible joint assembly 30 can achieve reciprocating deflection of at least two degrees of freedom through multiple snake joints 4. Further, each flexible joint assembly 30 can include at least two snake joints 4 whose bending directions are perpendicular to each other (i.e., the two pivots 531 are perpendicular to each other). Figure 3 As shown, in the first flexible joint assembly 31, each end of the connecting straight tube 35 can be provided with two snake bone joints 4 with pivot extension directions A (bendable directions) perpendicular to each other, and the maximum bendable angle of each snake bone joint 4 toward any side can be set to 60 degrees. Further, the bendable directions of the snake bone joints 4 arranged at both ends of the connecting straight tube 35 are the same; in the second flexible joint assembly 32, multiple snake bone joints 4 can be initially stacked and arranged in sequence in the same straight line direction, and the maximum bendable angle of each snake bone joint 4 toward any side can be set to 45 degrees.

[0063] In some embodiments, when any flexible joint assembly 30 includes at least two snake-bone joints 4 with the same pivot extension direction A, the flexible joint assembly 30 may also include at least two constraint cables 34. The constraint cables 34 are used to limit the uncertain deformation of the flexible joint assembly 30, so that it has a unique and determined posture after being directional deflected based on a specified deflection angle, so as to alleviate the problem of uncertain deformation (such as S-shaped deformation) of the flexible joint assembly 30 due to external load force.

[0064] Specifically, in the flexible joint assembly 30, each constraint cable 34 extends and is inserted into a plurality of serpentine joints 4, and the connection positions 340 (insertion positions) of the constraint cables 34 on each serpentine member 5 (or serpentine joint 4) are usually symmetrical based on the pivot 531. Further, between two serpentine joints 4 with the same pivot extension direction A and the most adjacent positions, the connection position 340 of each constraint cable 34 and the most proximal serpentine member 5 (serpentine joint 4) is the first connection position 341, and the connection position 340 of each constraint cable 34 and the most distal serpentine member 5 (serpentine joint 4) is the second connection position 342. The first connection position 341 can be displaced 180 degrees from the second connection position 342 based on the central axis of the flexible joint assembly 30. The displacement of the central axis of the flexible joint assembly 30 by 180 degrees can be understood as that when the flexible joint assembly 30 is in an undeflected straight state, the first connection position 341 and the second connection position 342 are respectively located on opposite sides of the central axis of the flexible joint assembly 30.

[0065] like Figure 4 , Figure 5 As shown, taking the second flexible joint assembly 32 as an example, the second flexible joint assembly 32 may include a first serpentine joint 401, a second serpentine joint 402, a third serpentine joint 403 and a fourth serpentine joint 404 which are sequentially stacked and arranged along a straight line direction M. Among them, the pivot extension directions A of the first serpentine joint 401 and the second serpentine joint 402 are perpendicular to each other, the pivot extension directions A of the third serpentine joint 403 and the fourth serpentine joint 404 are perpendicular to each other, and the pivot extension directions A of the first serpentine joint 401 and the third serpentine joint 403 are the same (or parallel to each other).

[0066] Furthermore, the second flexible joint assembly 32 also includes four drive cables 33 and four constraint cables 34, and the four drive cables 33 and the four constraint cables 34 all extend and pass through each serpentine joint 4, and the connection positions 340 or the passing positions of the four drive cables 33 and the four constraint cables 34 on each serpentine member 5 can be symmetrical based on the pivot 531. Specifically, one drive cable 33 can be adjacent to one constraint cable 34. Among them, the connection position 340 between each constraint cable 34 and the serpentine member 5 in the second serpentine joint 402 is a first connection position 341, and the connection position 340 between each constraint cable 34 and the serpentine member 5 in the fourth serpentine joint 404 is a second connection position 342. Compared with the second connection position 342, the first connection position 341 is shifted 180 degrees based on the central axis M of the second flexible joint assembly 32.

[0067] In some embodiments, the first vertical distance between the first connection position 341 and the central axis M may be equal to the second vertical distance between the second connection position 342 and the central axis M, so that the two serpentine joints 4 that are most adjacent and have the same bending direction have equal bending angles when the flexible joint assembly 30 is deflected; in other embodiments, the first vertical distance between the first connection position 341 and the central axis M may also be greater than or less than the second vertical distance between the second connection position 342 and the central axis M, so that the two serpentine joints 4 that are most adjacent and have the same bending direction have unequal bending angles when the flexible joint assembly 30 is deflected.

[0068] In the embodiment of the present application, for two snake bone joints 4 with the same pivot extension direction A (bendable direction) and the most adjacent positions in the same flexible joint assembly 30, four constraint cables 34 are connected to the snake bone joints 4 in a 180-degree displacement arrangement based on the central axis M. When the two snake bone joints 4 with the same pivot extension direction A are bent toward the same side based on the specified deflection angle, each can have a fixed bending angle. This is because the lengths of the four constraint cables 34 are fixed, and the constraint position (i.e., the connection position 340 or the insertion position) of each constraint cable 34 and each snake bone joint 4 is fixed. When the constraint cable 34 is pulled toward one side by a bending snake bone joint 4, since the length of each constraint cable 34 remains unchanged and the connection position 340 remains unchanged, the other snake bone joint 4 will also be pulled by the constraint cable 34 to bend and displace accordingly. The two snake bone joints 4 can be connected by the 180° displacement arrangement of at least two constraint cables 34 and the constraint connection at the specified position to achieve the determination of a unique bending angle.

[0069] See also Figures 6 to 8 , Figure 6 It is a schematic diagram of the overall structure of the snake bone joint 4 shown in some embodiments of the present application; Figure 7 This is a schematic diagram of the overall structure of the snake bone component 5 shown in some embodiments of the present application; Figure 8 FIG. 5 is a schematic diagram of the overall structure of another snake bone component 5 shown in some embodiments of the present application. Figures 6 to 8 As shown, an embodiment of the present application provides a snake bone joint 4, which includes two snake bone components 5 that can rotate relative to each other through contact and cooperation between different protrusions and grooves.

[0070] Among them, in the same serpentine joint 4, the two serpentine components 5 can rotate based on their respective pivots 531, the two pivots 531 are parallel and the spacing is constant, each serpentine component 5 includes a serpentine base 53, that is, a serpentine joint 4 includes two serpentine bases 53, each serpentine base 53 can rotate based on its respective pivot 531, the two pivots 531 are parallel and the spacing is constant, and the spacing between the two pivots 531 is the center distance h of the serpentine joint 4.

[0071] Furthermore, the serpentine joint 4 also includes a first limiting structure 51 and a second limiting structure 52 arranged between the two serpentine bases 53; the first limiting structure 51 includes a first protrusion 511 and a first groove 512 in contact, the first protrusion 511 is arranged on one serpentine base 53, and the first groove 512 is arranged on the other serpentine base 53; the second limiting structure 52 includes a second protrusion 521 and a second groove 522 in contact, the second protrusion 521 is arranged on one serpentine base 53, and the second groove 522 is arranged on the other serpentine base 53; the pivot 531 of one serpentine base 53 is a first pivot 5311, and the vertical distance between the first protrusion 511 and the first pivot 5311 is greater than the vertical distance between the second protrusion 521 and the first pivot 5311.

[0072] In the embodiment of the present application, the snake bone component 5 refers to a bone joint unit used to constitute the snake bone joint 4 and support the snake bone joint 4 to achieve bending movement; the snake bone base 53 refers to a structure used to set or connect a limiting structure and for the drive cable 33 to be passed through and retracted; the first limiting structure 51 and the second limiting structure 52 refer to a structure that can support the rotation of the snake bone component 5 through the contact and cooperation of the protrusions and grooves during the relative rotation of the two snake bone components 5, or when the two snake bone components 5 are maintained in a static state at a fixed angle, and can also make two groups of protrusions and grooves of unequal lengths abut against each other to generate a relative force by tightening the drive cable 33, thereby applying a bidirectional constraint force to each snake bone component 5 to reduce or even avoid the occurrence of uncertain misaligned sliding between the snake bone components 5.

[0073] Please combine Fig.10 As shown, in the same snake bone joint 4, when the two pivots 531 are parallel and the center distance h is constant, the cooperation of the two groups of protrusions and grooves in the first limiting structure 51 and the second limiting structure 52 enables the two snake bone components 5 to be subject to restraint forces in two directions at the same time. Specifically, when the snake bone joint 4 is bent to a certain angle, or when the snake bone joint 4 maintains a certain posture at a fixed bending angle, the first protrusion 511 abuts against the first groove 512 at the first position, and the second protrusion 521 abuts against the second groove 522 at the second position. The pressure applied by the first groove 512 to the first protrusion 511 due to the abutment at the first position is F1, and the pressure applied by the second groove 522 to the second protrusion 521 due to the abutment at the second position is F2.

[0074] Thus, the serpentine component 5 having both the first protrusion 511 and the second protrusion 521, i.e., the first serpentine component 501 where the first serpentine base 5301 is located, is subjected to restraints in two directions at the same time when the serpentine joint 4 is bent to a certain angle, and the horizontal components of the two restraints are equal and opposite, so that the first serpentine component 501 will no longer slide and dislocate to either side, but will be constrained and balanced in the current position, and the same is true for the second serpentine component 502. Thus, the two serpentine components 5 in the same serpentine joint 4 can support the bending action of the serpentine joint 4 through rotational cooperation, and can realize bidirectional force constraint through two limiting structures at any bending angle, so as to reduce the probability of lateral dislocation and sliding of the serpentine component 5, and realize the symmetrical motion configuration of the serpentine joint 4.

[0075] In the embodiment of the present application, two snake bone components 5 (for example Fig.10 The first snake bone component 501 and the second snake bone component 502 in the embodiment rotate relative to each other to realize the bending movement of the snake bone joint 4. Assuming that the second snake bone component 502 (for example Fig.10 The second snake bone base 5302 and the first groove 512 and the second groove 522 in the first snake bone component 501 (eg Fig.10 The first serpentine base 5301 and the first protrusion 511 and the second protrusion 521) rotate relative to the second serpentine component 502 and maintain a symmetrical movement configuration with the second serpentine component 502, then the second serpentine component 502 applies a horizontal component of a bidirectional constraint force to the first serpentine component 501, which refers to the component forces projected onto the first end face 530 of the second serpentine component 502 respectively. It can also be understood that the horizontal component of the constraint force is parallel to the first end face 530 of the second serpentine base 5302.

[0076] Without using the first limiting structure 51 and the second limiting structure 52 to limit the dislocation and sliding of the snake bone component 5 toward either side, the flexible joint assembly 30 and the snake bone joint 4 do not have a unique and determined posture when bending based on the specified bending angle. Assuming that the snake bone joint 4 completes the bending action based on the specified bending angle (60 degrees), and the two snake bone components 5 just achieve the bending of the snake bone joint 4 in an ideal state (symmetrical configuration), for example, the two snake bone components 5 rotate toward each other based on their respective pivots 531 and each rotates 30 degrees, when the subsequent surgical operating arm 2 performs a surgical operation based on the snake bone joint 4 in this posture, the snake bone joint 4 may still be transformed into other postures due to external force interference, that is, uncertain deformation occurs. For example, when the tool head 21 contacts an organ or blood vessel when probing into the human body, and the contact pressure is transmitted from the tool head 21 to the snake bone joint 4, the two snake bone components 5 may change from being rotated 30 degrees to one rotating 20 degrees and the other rotating 40 degrees. The snake bone joint 4 changes to other postures at the specified bending angle and no longer maintains a symmetrical configuration, which will make it impossible for the tool head 21 to apply force to the surgical target position to perform the surgical operation, and may even cause an erroneous wound due to the sudden change of the surgical target position by external force. Therefore, the two snake bone components 5 constituting the bendable snake bone joint 4 require the cooperation of the first limiting structure 51 and the second limiting structure 52 to achieve the application of a bidirectional constraint force to any snake bone component 5, and then achieve the symmetrical motion configuration of the two snake bone components 5 through the opposition and balance of the horizontal component of the constraint force, so as to reduce the probability that the snake bone joint 4 undergoes uncertain deformation (which can be called S-shaped deformation or parallelogram deformation) due to external force or achieves a specified bending angle with an uncertain posture.

[0077] In the above technical solution, when the pivots 531 of the two snake bone components 5 are parallel and the spacing is constant, through the cooperation of two protrusions, one long and one short, with different vertical distances from the same pivot 531, and the corresponding grooves, the two limiting structures can provide each snake bone component 5 with two restraining forces in two different directions when the snake bone joint 4 is bent. The horizontal components of the two restraining forces counteract each other to play a limiting role, so as to limit the uncertain lateral sliding of the snake bone component 5, improve the bending stability and bending accuracy of the snake bone joint 4, and realize the symmetrical movement configuration of the two snake bone bases 53 (snake bone components 5) during the relative rotation process; on this basis, the contact between the protrusion and the groove makes the snake bone base 53 smoother when rotating, reducing vibration and noise during movement.

[0078] In some embodiments, each snake bone base 53 (snake bone component 5) has multiple groups of rope threading holes 532, and the multiple groups of rope threading holes 532 are symmetrically arranged on both sides of the pivot 531. Each rope threading hole 532 is arranged on the first end surface 530 and extends in a direction perpendicular to the first end surface 530. The rope threading holes 532 are used to accommodate the drive cable 33 or the constraint cable 34.

[0079] Furthermore, a plurality of threading holes 532 for threading or connecting the driving cables 33 are symmetrically arranged on both sides of the pivot 531. For example, two threading holes 532 for connecting the driving cables 33 are provided on each side of the pivot 531, and the snake joint 4 can achieve the bending action of the snake joint 4 toward one side by tightening the two driving cables 33 and loosening the two driving cables 33.

[0080] When the connection positions (threading positions) of the driving cables 33 on both sides of the snake bone joint 4 and each snake bone component 5 are symmetrical and equidistant based on the pivot 531 (such as Fig.11 As shown, the driving cables arranged on both sides of the pivot have a vertical distance T between the connection position on the serpentine base and the corresponding pivot. The serpentine joint 4 bent from a straight state to any angle can form an isosceles trapezoidal (in extreme cases, it may be an isosceles triangle) motion configuration with the driving cables 33. When the driving cables 33 on both sides of the serpentine joint 4 are pulled to bend, the shortening length of the cables on one side is equal to the extension length of the cables on the other side, that is, the contraction and extension of the driving cables 33 on both sides of the serpentine joint 4 are consistent. The serpentine joint 4 is in a straight state, which means that the first end faces 530 opposite to each other and adjacent to each other in the serpentine joint 4 are parallel to each other. In this state, the line connecting the center points of the first pivot 5311 and the second pivot 5312 is perpendicular to the first end face 530.

[0081] like Fig.11 As shown in the figure, the vertical distance between the drive cables 33 on both sides of the pivot 531 and the pivot line OQ can be regarded as the force arm size corresponding to the tightened drive cable 33 when the serpentine joint 4 is in any posture and the drive cable 33 on one side is tightened to drive the serpentine joint 4 to continue bending, or the drive cable 33 on the other side is tightened to drive the serpentine joint 4 to return. Fig.11 For example, when the serpentine joint 4 is in the posture shown in the figure, the force arm size corresponding to the tightening of the right drive cable 33 to drive the serpentine joint 4 to continue to bend to the right is equal to the force arm size corresponding to the tightening of the left drive cable 33 to drive the serpentine to return to the left to a straight state. The state of equal force arm size can be regarded as force arm balance. The force arm balance can be understood as that no matter what posture the serpentine joint 4 is in, no matter which side it is about to bend, the force required to tighten the drive cable 33 on the corresponding side of the serpentine joint 4 is equal. Therefore, under the condition of balanced force arm, the deformation probability of the drive cables 33 on both sides of the serpentine joint 4 is reduced; the above technical solution can effectively alleviate the problem of excessive difference in force deformation of the drive cables 33 on both sides due to the long-term accumulation of unbalanced force arms, can reduce the wear of the drive cables 33, increase the service life of the drive cables 33, and can also improve the consistency of the service life of each drive cable 33.

[0082] In the above technical solution, the symmetrical arrangement of multiple groups of rope threading holes 532 makes the overall structure of the serpentine joint 4 more compact, and can reduce the entanglement and interference of the serpentine component 5 on the movement of the constraint cable 34 or the drive cable 33 when the serpentine base 53 rotates relatively; further, the symmetrical arrangement of multiple groups of rope threading holes 532 can make the connection positions of the drive cables 33 on both sides of the serpentine joint 4 and each serpentine base 53 symmetrical and equidistant based on the pivot 531. When the serpentine joint 4 can achieve a symmetrical movement configuration, the drive cables 33 on both sides of the serpentine joint 4 can achieve consistent retraction and release and balanced force arms, thereby extending the service life of the drive cables 33.

[0083] In some embodiments, the surfaces of the two serpentine components 5 in the serpentine joint 4 that are opposite to each other and adjacent to each other are first end faces 530. On any first end face 530, along a direction perpendicular to the pivot 531, both ends of the first end face 530 are provided with limiting inclined surfaces 533 that are inclined relative to the first end face 530 and have equal inclination angles. In the above technical solution, the setting of the limiting inclined surfaces 533 can limit the maximum rotation angle of the serpentine component 5 toward one side, that is, limit the maximum bending angle of the serpentine joint 4 toward one side, reduce edge collision and wear between the serpentine components 5, and extend the service life of the serpentine component 5.

[0084] In some embodiments, the snake bone joint 4 further includes at least one support structure 41, which is disposed between the two snake bone bases 53, and is used to limit the spacing (center distance h) between the two pivots 531 to be constant. The support structure 41 refers to a structure disposed between the two snake bone bases 53, which plays a supporting role and can limit the centers (or pivots 531) of the two snake bone bases 53 (or snake bone components 5) from approaching or moving away from each other, that is, maintaining the center distance h of the snake bone joint 4 constant. In some embodiments, the support structure 41 can be an independent component, or it can be integrally formed with the snake bone component 5; the pivot 531 generally refers to the axis position on which the snake bone components 5 rotate when the snake bone joint 4 is bent.

[0085] In the above technical solution, the support structure 41 can share the pressure load, which refers to the force between the two snake bone components 5 constituting the snake bone joint 4, which is generated by the interaction between the two snake bone components 5 due to the tightening of the drive cable 33. Further, the support structure 41 can reduce the wear of the snake bone components 5 and the snake bone joint 4, and extend the service life of the snake bone components 5 and the snake bone joint 4. The snake bone joint 4 can limit the center distance h between the two snake bone components 5 to remain unchanged through the support structure 41, or the cooperation between the support structure 41 and the drive cable 33, thereby effectively improving the bending accuracy and bending stability of the snake bone joint 4.

[0086] In some embodiments, each support structure 41 may include two arc-to-top surfaces 4110 in rolling contact, and the arc-to-top surfaces 4110 are respectively arranged on the first end surfaces 530 of the two serpentine bases 53 that are adjacent to and opposite to each other; the spacing between the two pivots 531 is the center distance h, the radius of each arc-to-top surface 4110 is half of the center distance h, and the axis of each arc-to-top surface 4110 coincides with a pivot 531.

[0087] Specifically, the surfaces of the two serpentine members 5 (two serpentine bases 53) in the same serpentine joint 4 that are opposite to each other and adjacent to each other are the first end faces 530. Each support structure 41 may include two arc-to-top units 411, which may be respectively disposed on the two first end faces 530 and may be integrally formed with the serpentine base 53. Each arc-to-top unit 411 has an arc-to-top surface 4110, and the arc-to-top surfaces 4110 on the two serpentine bases 53 are in rolling contact with each other and have equal radii.

[0088] One arc facing top surface 4110 is arranged on the first end surface 530 of one serpentine component 5, and the other arc facing top surface 4110 is arranged on the first end surface 530 of the other serpentine component 5. The axis of the arc facing top surface 4110 coincides with the pivot 531, and the radius of the arc facing top surface 4110 is equal to half of the center distance h of the serpentine joint 4. The two facing arc facing top surfaces 4110 in the serpentine joint 4 are in abutment and rolling contact. In the above technical solution, the arrangement of the arc facing top surfaces 4110 can reduce the wear of the serpentine component 5, and the rolling contact between the arc facing top surfaces 4110 can improve the bending smoothness and structural stability of the serpentine joint 4, thereby improving the bearing capacity of the serpentine component 5 and reducing the processing difficulty of the serpentine component 5.

[0089] See also Fig. 9 , Fig. 9 This is an exploded schematic diagram of the snake bone joint 4 shown in some embodiments of the present application. Fig. 9 As shown, the support structure 41 may also exist in the form of a connecting pin 412. In some embodiments, the support structure 41 includes at least one connecting pin 412, each connecting pin 412 includes two connecting pins 4121 and a connecting rod 4122, the connecting rod 4122 is vertically connected between two mutually parallel connecting pins 4121, and may be integrally formed with the two connecting pins 4121. In the snake bone joint 4, a connecting pin 4121 is rotatably connected to a snake bone base 53, and the axis fixed position of a connecting pin 4121 coincides with the pivot 531 of a snake bone component 5.

[0090] In the above technical solution, the serpentine joint 4 fixes the center distance h between the pivots 531 of the two serpentine bases 53 by the connecting pin 412, so that the two serpentine bases 53 can rotate relatively, while the pivots 531 are difficult to get close to or away from each other, thereby improving the bending accuracy and bending reliability of the serpentine joint 4. Furthermore, the connection method of the connecting pin 4121 and the serpentine base 53 is usually a contact fit between a circular hole and a cylindrical surface, which has a stronger load capacity.

[0091] In some embodiments, a support structure 41 may also include two connecting pins 412 and a stopper 413, wherein the stopper 413 is disposed between the two connecting pins 412 to prevent the connecting pin 412 from sliding along the pivot extension direction A. In the above technical solution, the stopper 413 can reduce the probability of the connecting pin 412 sliding along the pivot 531 and falling off the serpentine base 53, thereby reducing the probability of the serpentine component 5 moving and dislocating along the direction of the pivot 531, thereby improving the bending accuracy and reliability of the serpentine joint 4.

[0092] In the above technical scheme, the serpentine joint 4 can fix the center distance h between the two serpentine components 5 through various types of support structures 41, so that the pivots 531 of the two serpentine components 5 are difficult to approach or move away from each other during the coordinated rotation process (the top-to-top rolling contact of the arc top unit 411 and the tightening and serial connection of the two serpentine components 5 by the driving cable 33 can make it difficult for the pivots 531 of the two serpentine components 5 to move away from or approach each other, and the connecting pin 412 can also play the same role). The constant center distance h makes it possible for the centers of the serpentine components 5 to not suddenly approach or move away from each other under the pulling force of the driving cable 33, thereby reducing the probability of the serpentine joint 4 "colliding towards each other" or "dislocating".

[0093] See also Fig.10 , Fig.10 The front view schematic diagram of the snake bone joint 4 shown in some embodiments of the present application. As shown in Figure 10, in some embodiments, a snake bone base 53 in the snake bone joint 4 is a first snake bone base 5301, and the first protrusion 511 and the second protrusion 521 are both arranged on the first snake bone base 5301. In the above technical solution, the first protrusion 511 and the second protrusion 521 are both arranged on the same snake bone base 53, which can simplify the manufacturing and assembly process, optimize the force distribution and reduce local stress concentration, thereby reducing wear; in addition, the two protrusions, one long and one short, are both arranged on the same snake bone base 53, which helps to improve the consistency of the movement of the two snake bone components 5 in the snake bone joint 4, and improve the bending accuracy and movement stability of the snake bone joint 4.

[0094] In some embodiments, the first protrusion 511 and the second protrusion 521 can be disposed on the first end surface 530 of the first snake bone base 5301, and the first end surface 530 is parallel to or coincides with the first pivot 5311. Specifically, the central axis of the first protrusion 511, the central axis of the second protrusion 521, and the first pivot 5311 all coincide with the same plane, and the plane is perpendicular to the first end surface 530.

[0095] In the above technical solution, two protrusions, one long and one short, are arranged on the same end face, and the central axes of all the protrusions are located in the same plane with the first pivot 5311, which can simplify the manufacturing and assembly process of the serpentine joint 4 and improve production efficiency; the plane where the central axes of each protrusion are located coincides with the pivot 531, and the common plane is perpendicular to the first end face 530. This vertical alignment of the protrusions and the pivot makes the motion control of the serpentine joint 4 simpler and more intuitive, and can also improve the motion accuracy of the serpentine joint 4 and the motion consistency of each component in the serpentine joint 4.

[0096] In the embodiment of the present application, the first protrusion 511 and the first groove 512 are in contact and cooperation with each other in a tangential relationship during the bending process of the serpentine joint 4, and the second protrusion 521 and the second groove 522 are in contact and cooperation with each other in a tangential relationship during the bending process of the serpentine joint 4. Furthermore, the contact surface of the first protrusion 511 and the contact surface of the second protrusion 521 can both be arc surfaces. In the above technical scheme, the contact surface of the first protrusion 511 and the contact surface of the second protrusion 521 are both arc surfaces, which can increase the contact area, reduce local stress concentration, make the cooperation between the protrusion and the groove smoother and more stable, extend the service life of the serpentine joint 4, and improve the bending accuracy and movement stability of the serpentine joint 4.

[0097] In some embodiments, the first protrusion 511 and the second protrusion 521 may be consistent in shape and size. Specifically, the consistency in shape of the first protrusion 511 and the second protrusion 521 means that the outer contour shapes of the two protrusions are consistent, and the consistency in size of the first protrusion 511 and the second protrusion 521 means that the distances between each outer contour point on the outer contour of the two protrusions and the central axis of the corresponding protrusions are consistent everywhere, which is called the consistency of outer contour size. In the above technical solution, the shape and size of the first protrusion 511 and the second protrusion 521 are consistent, which reduces the production cost, processing and assembly difficulty of the snake bone joint 4, and helps to improve the symmetry of the movement of the two snake bone bases 53 and the stability of the snake bone joint 4.

[0098] See also Figure 11 to Figure 12 , Fig.11 Schematic diagram of the geometric principle of the symmetrical motion configuration of the snake bone joint 4 shown in some embodiments of the present application. Fig.12 This is a schematic diagram of the motion trajectory of the protruding central axis and the protruding outer contour during the bending process of the snake bone joint 4 shown in some embodiments of the present application. Figures 10 to 12As shown, the vertical distances between the central axes of the first protrusion 511 and the second protrusion 521 and the same pivot 531 (first pivot 5311 ) are not equal, but are related to the center distance h of the snake bone joint 4 .

[0099] In some embodiments, the serpentine joint 4 includes a first serpentine base 5301 (serpentine base 53 of the first serpentine component 501) and a second serpentine base 5302 (serpentine base 53 of the second serpentine component 502), the pivot 531 of the first serpentine base 5301 is a first pivot 5311, and the pivot 531 of the second serpentine base 5302 is a second pivot 5312; the vertical distance between the center axis of the first protrusion 511 and the first pivot 5311 is typically greater than half of the center distance h, and the vertical distance between the center axis of the second protrusion 521 and the first pivot 5311 is less than half of the center distance h.

[0100] In the above technical solution, the vertical distance between the long protrusion and the first pivot 5311 is greater than half of the center distance h, so that the snake bone joint 4 can achieve a larger bending angle and improve its flexibility; the vertical distance between the short protrusion and the first pivot 5311 is less than half of the center distance h, which can limit excessive bending of the snake bone joint 4 and reduce local stress concentration; the combination of long and short protrusions can improve the stability and durability of the overall structure of the snake bone joint 4, extend the service life of the snake bone joint 4, and enable the snake bone joint 4 to find a better balance between bending flexibility and bending stability.

[0101] Furthermore, the vertical distance between the center axis of the first protrusion 511 and the first pivot 5311 is the first vertical distance, and the vertical distance between the center axis of the second protrusion 521 and the first pivot 5311 is the second vertical distance. The sum of the first vertical distance and the second vertical distance can be equal to the center distance h of the snake bone joint 4.

[0102] In the above technical solution, the sum of the first vertical distance and the second vertical distance is equal to the center distance h, so that the two protrusions, one long and one short, can be symmetrically distributed on both sides of the virtual center axis P between the two snake bone components 5. The virtual center axis can be understood as being located between the two snake bone bases 53 and the first pivot 5311 ( Fig.11 Q point position shown) and the second pivot 5312 ( Fig.11 The virtual axis positions are equal in vertical distance and parallel to the point O position shown in the figure, and the plane where the virtual axis P and any pivot 531 are located is perpendicular to the first end surface 530 of the snake bone base 53 where the pivot 531 is located.

[0103] As a result, the snake bone joint 4 can better disperse the force during the bending process, reduce local stress concentration, and thus improve the durability of the snake bone joint 4; the above-mentioned embodiment can provide more uniform supporting force (restraint force) to any snake bone component 5 in different directions, thereby improving the overall stability of the snake bone joint 4; in addition, the snake bone joint 4 can maintain a better balance during movement, simplifying the movement control of the snake bone joint 4.

[0104] Taking the example that the first protrusion 511 and the second protrusion 521 are both arranged on the same snake bone base 53 (the first snake bone base 5301), the first groove 512 and the second groove 522 are both arranged on another snake bone base 53 (the second snake bone base 5302), the central axis of the first protrusion 511 and the central axis of the second protrusion 521 are located in a common plane that coincides with the first pivot 5311, and the common plane is perpendicular to the first end face 530 of the first snake bone base 5301, the following content briefly describes the design principles of the first protrusion 511 and the first groove 512 in the first limiting structure 51, and the second protrusion 521 and the second groove 522 in the second limiting structure 52.

[0105] like Figures 10 to 12 As shown, the bending of the serpentine joint 4 is achieved by the cooperation and relative rotation of the two serpentine components 5. If the second serpentine component 502 is stationary, and the first serpentine component 501 maintains a symmetrical motion configuration with the second serpentine component 502 during the rotation relative to the second serpentine component 502, and the center distance h between the first pivot 5311 corresponding to the first serpentine base 5301 and the second pivot 5312 corresponding to the second serpentine base 5302 remains constant. When the distance between the center axis of any protrusion and the first pivot 5311 is a( Fig.11 Taking the first protrusion 511 as an example), when the radius of the protrusion is R, Fig.11 With point O shown as the origin of the coordinate axis, the motion trajectory (m, n) of the central axis of the protrusion and the motion trajectory (p, q) of the outer contour point of the protrusion at the farthest end relative to the first pivot 5311 can be determined by simulating the motion of the first snake bone component relative to the second snake bone component.

[0106] by Fig.11 For example, the specific calculation formulas for the motion trajectory (m2, n2) of the central axis of the first protrusion 511 are as follows (1) to (2):

[0107]

[0108] in, Fig.11The distance b shown is the horizontal distance between the first pivot 5311 and the second pivot 5312; θ is the rotation angle of the first serpentine base 5301 relative to the second serpentine base 5302, that is, the bending angle of the serpentine joint 4; a is the first vertical distance between the center axis of the first protrusion 511 and the first pivot 5311; m is the horizontal distance between the center axis of the first protrusion 511 and the second pivot 5312; n is the vertical distance between the center axis of the first protrusion 511 and the second pivot 5312; h is the distance between the first pivot 5311 and the second pivot 5312, that is, the center distance h of the serpentine joint 4.

[0109] Correspondingly, the specific calculation formula of the motion trajectory (m1, n1) of the central axis of the second protrusion 521 can refer to the above formulas (1) to (2). Correspondingly, the motion trajectory (p2, q2) of the farthest contour point of the first protrusion 511 relative to the first pivot 5311 and the motion trajectory (p1, q1) of the farthest contour point of the second protrusion 521 relative to the first pivot 5311 can be calculated based on the motion trajectory of the central axis of each protrusion, the farthest outer contour size corresponding to each protrusion (such as the radius of a cylindrical protrusion) and the simulation motion.

[0110] Fig.12 As shown, when the first protrusion 511 and the second protrusion 521 are both cylindrical protrusions, the radius R of the first protrusion 511 and the second protrusion 521 are set to 0.4 mm, the center distance h of the serpentine joint 4 is 3 mm, the first vertical distance a2 corresponding to the first protrusion 511 is 1.85 mm, and the second vertical distance a1 corresponding to the second protrusion 521 is 1.45 mm, the simulation calculation results are the motion trajectories of the central axes of the two protrusions (m1, n1), (m2, n2), and the motion trajectories (p1, q1), (p2, q2) of the farthest contour points of the two protrusions relative to the first pivot 5311.

[0111] Since the outer contours of the first protrusion 511 and the first groove 512 are tangent when they are matched, and the outer contours of the second protrusion 521 and the second groove 522 are tangent when they are matched, the contour line coordinates corresponding to the first groove 512 are the motion trajectory (p2, q2) of the first protrusion 511 relative to the farthest contour point of the first pivot 5311, and the contour line coordinates corresponding to the second groove 522 are the motion trajectory (p1, q1) of the second protrusion 521 relative to the farthest contour point of the first pivot 5311. On this basis, when the snake bone joint 4 realizes the bending action based on the retraction and extension of the drive cable 33 on both sides of the pivot 531, the force applied by the first groove 512 to the first protrusion 511 is the first constraint force, and the force applied by the second groove 522 to the second protrusion 521 is the second constraint force, and the direction of the constraint force is usually the direction of the tangent contact point between the protrusion and the groove pointing vertically to the center axis of the protrusion.

[0112] When the snake-bone joint 4 is bent to any angle, the values ​​of the design parameters corresponding to the first protrusion 511 (such as the first vertical distance and the outer contour size, etc.) and the values ​​of the design parameters corresponding to the second protrusion 521 (such as the second vertical distance and the outer contour size, etc.) must all satisfy the following conditions: the horizontal component of the first constraint force and the horizontal component of the second constraint force are opposite in direction (or opposite) and equal in magnitude. Thus, the snake-bone joint 4 can achieve a unique form at a specified bending angle, that is, the first snake-bone component 501 and the second snake-bone component 502 can maintain a symmetrical motion configuration during relative rotation.

[0113] See also Figure 13 to Figure 14 , Fig.13 Schematic diagram of the overall structure of the snake bone component 5 shown in other embodiments of the present application; Fig.14 FIG. 5 is a schematic diagram of the overall structure of another snake bone component 5 shown in some other embodiments of the present application. Figure 13 to Figure 14 As shown, in some embodiments, in the snake bone joint 4 , the first limiting structure 51 can be disposed at one end of the two pivots 531 , and the second limiting structure 52 can be disposed at the other end of the two pivots 531 .

[0114] Specifically, in the same snake bone joint 4, on the first snake bone base 5301, one end of the first pivot 5311 is provided with a first protrusion 511, and the other end of the first pivot 5311 is provided with a second protrusion 521, and on the second snake bone base 5302, one end of the second pivot 5312 is provided with a first groove 512 matched with the first protrusion 511, and the other end of the second pivot 5312 is provided with a second groove 522 matched with the second protrusion 521. In the above technical solution, the first limiting structure 51 and the second limiting structure 52 are respectively provided at the two ends of the pivot 531 of the snake bone joint 4, which can bear the external load more evenly, improve the stability and reliability of the bending of the snake bone joint 4, and make the overall structure of the snake bone joint 4 simpler.

[0115] See also Figure 15 to Figure 16 , Fig.15 Schematic diagram of the overall structure of the snake bone component 5 shown in some other embodiments of the present application; Fig.16 FIG. 5 is a schematic diagram of the overall structure of another snake bone component 5 shown in some embodiments of the present application. Figure 15 to Figure 16 As shown, in some embodiments, in the snake bone joint 4, at least one end of the two pivots 531 is provided with a first limiting structure 51 and a second limiting structure 52 at the same time.

[0116] In the above technical solution, the first limiting structure 51 and the second limiting structure 52 are concentrated at the same end of the pivot 531, which can make the overall structure of the serpentine joint 4 more compact, reduce the difficulty of manufacturing and assembly, and enhance the local rigidity of the serpentine joint 4, so that it maintains stability when subjected to a large load.

[0117] Further, in the snake-bone joint 4, one end of the two pivots 531 may be provided with both the first limiting structure 51 and the second limiting structure 52, and the other end of the two pivots 531 may be provided with only the first limiting structure 51 or the second limiting structure 52. Fig.15 and Fig.16 For example, in the same serpentine joint 4, on the first serpentine base 5301, one end of the first pivot 5311 is provided with both the first protrusion 511 and the second protrusion 521, and the other end of the first pivot 5311 is only provided with the longer first protrusion 511. Correspondingly, on the second serpentine base 5302, one end of the second pivot 5312 is provided with both the first groove 512 and the second groove 522, and the other end of the second pivot 5312 is only provided with the first groove 512 that can cooperate with the first protrusion 511.

[0118] In other embodiments, in the snake-bone joint 4, each end of the two pivots 531 may be provided with a first limiting structure 51 and a second limiting structure 52 at the same time. Figures 6 to 8 For example, in the same snake bone joint 4, on the first snake bone base 5301, each end of the first pivot 5311 is provided with a first protrusion 511 and a second protrusion 521. Correspondingly, on the second snake bone base 5302, each end of the second pivot 5312 is provided with a first groove 512 and a second groove 522.

[0119] In the above technical solution, both ends of the central axis 531 of the snake bone joint 4 are provided with limiting structures, so that the snake bone joint 4 can bear the external load more evenly, improve the bending stability and reliability of the snake bone joint 4, and make the overall structure of the snake bone joint 4 simpler.

[0120] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A snake bone joint, comprising two snake bone bases, each of which can rotate based on its own pivot, the two pivots are parallel and have a constant spacing, characterized in that: The snake bone joint also includes a first limiting structure and a second limiting structure disposed between the two snake bone bases; The first limiting structure includes a first protrusion and a first groove in contact with each other, the first protrusion is arranged on one of the snake bone bases, and the first groove is arranged on the other snake bone base; the second limiting structure includes a second protrusion and a second groove in contact with each other, the second protrusion is arranged on one of the snake bone bases, and the second groove is arranged on the other snake bone base; the pivot of one of the snake bone bases is a first pivot, and the vertical distance between the first protrusion and the first pivot is greater than the vertical distance between the second protrusion and the first pivot.

2. The snake bone joint according to claim 1, characterized in that: One of the serpentine bases in the serpentine joint is a first serpentine base, and the first protrusion and the second protrusion are both arranged on the first serpentine base.

3. The snake bone joint according to claim 2, characterized in that: In the snake bone joint, the distance between the two pivots is the center distance, and the pivot of the first snake bone base is the first pivot; the vertical distance between the first protrusion and the first pivot is greater than half of the center distance, and the vertical distance between the second protrusion and the first pivot is less than half of the center distance.

4. The snake bone joint according to claim 3, characterized in that: The first protrusion and the second protrusion are both arranged on the first end face of the first snake bone base, and the first end face is parallel to or coincides with the first pivot; the central axis of the first protrusion, the central axis of the second protrusion, and the first pivot all coincide with the same plane, and the plane is perpendicular to the first end face.

5. The snake bone joint according to claim 4, characterized in that: The vertical distance between the center axis of the first protrusion and the first pivot is a first vertical distance, the vertical distance between the center axis of the second protrusion and the first pivot is a second vertical distance, and the sum of the first vertical distance and the second vertical distance is equal to the center distance.

6. The snake bone joint according to claim 4, characterized in that: The contact surface of the first protrusion and the contact surface of the second protrusion are both arc surfaces.

7. The snake bone joint according to claim 4, characterized in that: The first protrusion and the second protrusion have the same shape and size.

8. The snake bone joint according to any one of claims 1 to 7, characterized in that: In the snake-bone joint, the first limiting structure is arranged at one end of the two pivots, and the second limiting structure is arranged at the other end of the two pivots.

9. The snake bone joint according to any one of claims 1 to 7, characterized in that: In the snake-bone joint, at least one end of the two pivots is provided with the first limiting structure and the second limiting structure at the same time.

10. The snake bone joint according to any one of claims 1 to 7, characterized in that: Each of the snake bone bases has a plurality of rope threading holes, which are symmetrically arranged on both sides of the pivot, and the rope threading holes are used to accommodate drive cables or restraint cables.

11. The snake bone joint according to any one of claims 1 to 7, characterized in that: The snake bone joint also includes at least one supporting structure, which is arranged between the two snake bone bases and is used to limit the distance between the two pivots to be constant.

12. The snake bone joint according to claim 11, characterized in that: Each of the supporting structures includes two arc-to-top surfaces in rolling contact, and the arc-to-top surfaces are respectively arranged on the first end surfaces of the two snake bone bases that are adjacent to and opposite to each other; the distance between the two pivots is the center distance, the radius of each of the arc-to-top surfaces is half of the center distance, and the axis of each of the arc-to-top surfaces coincides with one of the pivots.

13. The snake bone joint according to claim 11, characterized in that: The supporting structure includes at least one connecting pin, each of which includes two connecting pin shafts and a connecting rod, and the connecting rod is vertically connected between two mutually parallel connecting pin shafts; in the snake bone joint, one of the connecting pin shafts is rotatably connected to one of the snake bone bases and coincides with one of the pivot shafts.

14. The snake bone joint according to claim 13, characterized in that: The supporting structure includes two connecting pins and a stopper, wherein the stopper is arranged between the two connecting pins to prevent the connecting pins from sliding along the pivot.

15. A flexible joint assembly, characterized in that: include: At least one snake bone joint as claimed in any one of claims 1 to 14; At least two drive cables are respectively connected to the two sides of the pivot of each serpentine joint, and each drive cable extends and passes through each serpentine joint.

16. The flexible joint assembly according to claim 15, characterized in that: The flexible joint assembly includes at least two snake bone joints with the same pivot extension direction, and the flexible joint assembly also includes at least two constraint cables, each of which extends and passes through each snake bone joint, and the connection position of the constraint cable on the snake bone base is symmetrical based on the pivot; Between the two serpentine joints with the same pivot extension direction and the most adjacent positions, the connection position of each constraint cable with the most proximal serpentine joint is a first connection position, and the connection position of each constraint cable with the most distal serpentine joint is a second connection position, and the first connection position is shifted 180 degrees relative to the second connection position based on the central axis of the flexible joint assembly.

17. A surgical operating arm, characterized in that: The surgical manipulator arm comprises at least one flexible joint assembly as claimed in claim 15 or 16.

18. A surgical robot, characterized in that: The surgical robot comprises at least one surgical manipulator arm as claimed in claim 17.

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