Flexible mechanical arm

Abstract

The invention provides a flexible mechanical arm which is characterized by comprising a plurality of joints hinged to one another, an electric actuator, a first current path, a conductive path in the electric actuator, conductive paths in the joints and a first current loop, the first current loop is insulated from the first current loop, the first current loop at least comprises the conductive paths in the joints, and the second current loop is insulated from the conductive paths in the joints. The first current circuit has a switch that can be turned on and off. An electrocoagulation function is provided in the flexible arm clamp of the natural orifice surgical robot, so that in the surgical process, the flexible arm of the clamp can be conveniently used for electrocoagulation of relatively thick blood vessels which cannot be electrocoagulated by an electrotome. Instruments do not need to be replaced, and operation time is saved.

Description

Technical Field

[0001] The invention provides a flexible mechanical arm, belonging to the field of medical equipment. Background Art

[0002] In natural cavity surgical robots, two surgical instruments, mucosal cutters and clamps, are usually required to be used together. Taking ESD (submucosal resection) surgery as an example, a flexible arm with a front-end actuator as a clamp is used to clamp and lift the target tissue. Assist in completing tissue cutting. The flexible arm of the clamp is used to lift the mucosa and expose the submucosal layer. When there are thicker blood vessels in the submucosal layer, electrocoagulation is required. Usually, when the blood vessels are relatively thin, the mucosal cutter can be used to complete the electrocoagulation of the blood vessels, thereby preventing the blood vessels from bleeding during incision. When the blood vessels are relatively thick, the electrocoagulation function of the mucosal cutter cannot guarantee effective electrocoagulation. At this time, the traditional solution is to replace it with a special electric hemostatic forceps. However, due to the limited number of channels of the gastroscope, the current surgical instrument needs to be pulled out of the instrument channel of the gastroscope first, and then the electric hemostatic forceps are inserted. This takes a long time, especially when the surgical robot is in use. Replacing the new instrument also requires a new connection and calibration process, which seriously affects the efficiency of the operation.

[0003] In addition, the electrical actuators of current natural cavity surgical robots, such as electrotomy knives, are usually monopolar, with electrodes attached to the outside of the human body. The current will penetrate the human body and be conducted through the electrodes. This poses a potential safety risk, and patients with pacemakers implanted in their bodies cannot use this type of electrical actuator. Of course, monopolar mucosal incision knives also have their own applicable situations. For example, they are more effective for larger lesions or large-scale cutting. Therefore, the development of an electrical actuator that can switch between monopolar and bipolar can provide greater convenience for the selection and use of surgical actuators. Summary of the invention

[0004] The object of the present invention is to provide a flexible robotic arm with an improved electric actuator required by a natural cavity surgery robot.

[0005] The present invention provides a flexible robotic arm, characterized in that it comprises: a plurality of mutually hinged joints, an electric actuator, a first current path, comprising a conductive path in the electric actuator and a conductive path in the joints, a first current loop, which is insulated from the first current path, the first current loop at least comprising the conductive path in the joints, and the first current loop having a switch that can be turned on and off.

[0006] Furthermore, the flexible robotic arm of the present invention has the following feature: wherein the first current path is electrically connected to the exposed conductive surface on the electric actuator.

[0007] Furthermore, the flexible robotic arm of the present invention has the following characteristics: the electric actuator has two exposed conductive surfaces insulated from each other, and the first current path is electrically connected to one of the exposed conductive surfaces.

[0008] Furthermore, the flexible robotic arm of the present invention has the following feature: the first current loop is electrically connected to another exposed conductive surface.

[0009] Furthermore, the flexible robotic arm of the present invention has the following characteristics: the joints have drive rope channels, the positions of the drive rope channels of the joints match each other, at least one drive rope passes through the drive rope channel, the drive rope is a conductive drive rope, and the conductive drive rope is part of the first current loop or the first current path.

[0010] Furthermore, the flexible robotic arm of the present invention has the following feature: when the number of driving ropes is two or more, at least two conductive driving ropes are part of the first current loop.

[0011] Furthermore, the flexible robotic arm of the present invention has the following characteristics: the joints have actuator operating channels, the positions of the drive rope channels of the various joints match each other, the actuator operating wires pass through the drive rope channels and are electrically connected to the exposed conductive surface of the electric actuator.

[0012] Furthermore, the flexible robotic arm of the present invention has the following feature: wherein the actuator operating line is a part of the first current loop or the first current path.

[0013] Furthermore, the flexible mechanical arm of the present invention has the following characteristics: the electric actuator has two clamping arms which are hinged to each other and serve as a part of the first current path and the first current loop respectively.

[0014] Furthermore, the flexible robotic arm of the present invention also has the following characteristics: multiple hinged joints, with a swinging section and a bending section, wherein the swinging section has multiple first serpentine bones that are rotatably connected to each other, and the bending section has multiple switching serpentine bones that are rotatably connected to each other in sequence, and the multiple switching serpentine bones form a bending section in at least one direction. Assuming that the force arm on the inner side of each switching serpentine bone in each bending section of the bending section is d1, and the force arm on the outer side of each serpentine bone is d2, then d1 is greater than d2.

[0015] The benefit of the present invention is that an electrocoagulation function is provided in the flexible arm clamp of the natural cavity surgery robot, so that during the operation, the relatively thick blood vessels that cannot be electrocoagulated by the electrosurgical knife can be conveniently electrocoagulated using the flexible arm of the clamp. No need to replace the instrument, saving operation time. Furthermore, by turning on and off the first current loop, the mucotomy knife is used in conjunction with the flexible arm of the mucotomy knife, so that the mucotomy knife can be switched between monopolar and bipolar, which is conducive to selection and use according to the applicable situation of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the flexible robotic arm of the present invention in one embodiment.

[0017] Figure 2 is a schematic diagram of the insulation structure in the clamp.

[0018] Figure 3 yes Figure 2 Schematic diagram of the structure after the clamp base is hidden.

[0019] Figure 4 is a cross-sectional view of a curved segment.

[0020] Figure 5 It is the bending state diagram of the bending segment.

[0021] Figure 6 is a schematic diagram of the exposed conductive surface area of ​​a clamp arm in one embodiment.

[0022] Figure 7 is a schematic diagram of the exposed electrical surface area of ​​a clamp arm in accordance with another embodiment.

[0023] Figure 8 This is a schematic diagram of the structure of the first snake bone.

[0024] Fig. 9 This is a schematic diagram of the structure of the first snake bone from another perspective. DETAILED DESCRIPTION

[0025] <Example 1>

[0026] like Figure 1 As shown, the flexible robotic arm in this embodiment includes: a plurality of mutually hinged joints, an electric actuator, a first current path, including a conductive path in the electric actuator and a conductive path in the joints, a first current loop, which is insulated from the first current path, the first current loop at least including the conductive path in the joints, and the first current loop has a switch that can be turned on and off.

[0027] The first current path is electrically connected to an exposed conductive surface on the electric actuator. The first current path typically comprises a conductive trace in a snake bone, such as Figure 1and Figure 3 The actuator operating wire 133 and the first connecting rod 117 shown in the figure, and the wire that electrically connects the rear end of the actuator operating wire 133 to the high-frequency generator, which is not shown in the figure. The contact surface between the connecting block 1331 of the actuator operating wire 133 and the first connecting rod 117 is a conductive surface contact to ensure that current can pass therethrough. Similarly, the first connecting rod 117 is rotatably connected to a clamp arm 111, and the rotatable connection is also a conductive surface contact, so that current can be conducted to the exposed electrical surface of the clamp arm 111.

[0028] The electric actuator has two mutually insulated bare conductive surfaces, and the first current path is electrically connected to one of the bare conductive surfaces. The electrical connection can be an electrically acceptable conductive connection, such as welding, crimping, etc. Figure 1 When the clamp is shown, the two exposed conductive surfaces refer to the exposed metal surfaces on the two clamp arms. It should be noted that although the clamp body is made of metal, in some embodiments, an insulating layer is coated on part of the surface of the clamp arm so that only part of the clamp arm can conduct electricity, thereby limiting the position where the clamp surface can discharge. For example, Figure 6 and Figure 7 As shown, in some embodiments, only the metal on the upper portion of the clamp arm 111 is exposed, or the metal on the teeth and part of the back side of the clamp arm is exposed, so as to better define the discharge area, thereby providing higher current application accuracy or better safety. Figure 6 and Figure 7 The shaded area in the figure indicates the area coated with insulating coating. Figure 6 and Figure 7 The unshaded portion L is the exposed conductive surface. Similarly, the first current loop is electrically connected to another exposed conductive surface.

[0029] The first current loop and the first current path are insulated from each other. For example, in one embodiment, Figure 2 and Figure 3As shown, the two clamp arms of the electric clamp are connected by a non-conductive rotating shaft and a gasket. It includes: a first gasket 113, a second gasket 114, a third gasket 115 and a rotating shaft 116, and the two clamp arms 111 are connected by rotation through the first rotating shaft 116. There is a second gasket 114 between the two clamp arms to prevent the metal of the two clamp arms from contacting each other and conducting electricity. The first gasket 113 and the third gasket 115 are respectively arranged between the outer sides of the two clamp arms 111 and the clamp seat 112 to prevent the two clamp arms from directly contacting the clamp seat made of metal material and conducting electricity. Similarly, at the position of the connecting block 1331, the position where the connecting block 1331 is rotatably connected to the second connecting rod 118 is insulated from each other by setting an insulating gasket or covering the second connecting rod 118 with a polymer insulating layer. The actuator operating wire 133 and the third pull rope 132 in the first current loop are separated by the joint channel and will not directly contact each other. When the joint is made of polymer material, it has an insulating effect. Of course, when the joints are made of materials with poor insulation effect, insulating polymer tubing is coated on the operating wire 133 and each pull rope to achieve better insulation between the two. The driving ropes that drive the snake bone to bend are divided into the first pull rope 134, the second pull rope 135 and the third pull rope 132 in this application.

[0030] The bone joints have drive rope channels, the positions of the drive rope channels of the bone joints match each other, at least one drive rope passes through the drive rope channel, the drive rope is a conductive drive rope, and the conductive drive rope is a part of the first current loop or the first current path. Figure 1 As shown, the number of drive ropes is determined by the preset bending direction of the flexible robotic arm. If it is preset to swing in a single direction, only one drive rope is needed. If it is preset to swing back and forth in a plane, two symmetrically arranged drive ropes are required. If it is preset to swing in four directions, that is, the end of the flexible robotic arm can swing to any point on the hemispherical working surface, then three or four drive ropes need to be set. Through the cooperation of two of the drive ropes, swinging in any direction on the hemispherical working surface can be achieved. If an additional deformation area needs to be set in the middle section of the snake bone of the flexible arm, more drive ropes need to be set accordingly. Figure 1 In the embodiment shown, four third pull ropes 132 are provided for driving the end of the flexible mechanical arm to swing in multiple directions. Two drive ropes are also provided at the lower section for driving the flexible mechanical arm to bend into an S shape as a whole. The third pull rope is made of metal material, such as steel wire, so that it becomes a conductive drive rope.

[0031] When there are two or more driving ropes, at least two conductive driving ropes are part of the first current loop. The reason for setting multiple conductive driving ropes as the loop is that the smaller the loop resistance of the current is, the more conducive it is for the current to pass through, and the heating effect caused by the current can be reduced.

[0032] Each joint 131 has an actuator operation channel, such as Figure 8 and Fig. 9 As shown, the joint has an actuator operation channel 1311 and a plurality of drive rope channels 1312, and the positions of the drive rope channels 1312 of each joint match each other. The actuator operation line 133 passes through the actuator operation channel 1311 and is finally electrically connected to the exposed conductive surface of the electric actuator. For example, in some embodiments, the actuator operation line 133 forms a conductive path with the exposed conductive surface of the electric actuator through an intermediate structure such as a connecting rod. The drive rope 132 passes through the drive rope channel 1312 corresponding to each snake bone, and the end of the drive rope 132 is fixedly connected to the section of the snake bone located at the end of the bending section and connected to the clamp 11. In this embodiment, at least one of the drive ropes 132 is electrically connected to the connection structure in the clamp, and finally electrically connected to the exposed surface of the electric actuator. In other embodiments, the end of the drive rope 132 is electrically connected to the section of the snake bone at the end of the bending section and connected to the clamp 11, and the surface of this snake bone is conductive. Thus, two electrodes of a bipolar electric actuator are formed with a conductive surface of the clamp.

[0033] Of course, the above are only the conductive path settings in some embodiments. In other embodiments, the actuator operating wire 133 can also be used as a part of the first current loop. Correspondingly, the drive rope is a part of the first current path. The first current path in this application refers to a conductive path that is ultimately connected to the output port of the high-frequency electrical generator, and the first current loop refers to a conductive path that is ultimately connected to the other port of the bipolar electrical interface of the high-frequency generator or to the neutral electrode interface of the high-frequency generator.

[0034] The electric actuator has two clamping arms which are hinged to each other and serve as a part of a first current path and a part of a first current loop respectively.

[0035] During use, for example during ESD surgery, when the electric actuator is an electric clamp, the flexible arm with the electric clamp plays the role of lifting the mucosa. When there are thicker blood vessels under the mucosa and electrocoagulation forceps are needed to complete the pre-electrocoagulation of the blood vessels, the electric clamp is used to clamp the target blood vessels and discharge for electrocoagulation. Since the electric clamp here has a first current path and a first current loop, it can achieve the effect of bipolar electrocoagulation, and the current only passes between the two clamp arms, which is safer. When using a mucosal cutter for submucosal cutting, a method similar to that in the appendix to the patent application with publication number CN116269777A can be used. Figure 1 or similar publication number CN219374915U Figure 1The cooperation method of the mucosal cutter and the clamp disclosed in it, however, most of the existing mucosal cutters are monopolar electrical devices. When the first current circuit of the electric clamp is in an open state or a conductive state, the current can pass through the first current circuit, so that the first current circuit of the electric clamp and the monopolar mucosal cutter form a bipolar electrical device. When the first current circuit of the electric clamp is in a closed state or a disconnected state, the mucosal cutter is still used as an ordinary monopolar electrical device. The switch for turning on and off the first current circuit mentioned in this application can be various electrically acceptable switches, and is not limited to mechanical switches or electronic shapes. Of course, the neutral electrode sheet required for the monopolar electrical actuator is also conventionally attached to the patient's body surface for use when the mucosal cutter is in a monopolar state.

[0036] In some embodiments, the electric actuator may also be of other types. For example, when the electric actuator is a mucotomy knife, it may also have two exposed conductive surfaces, one of which is the metal blade head of the mucotomy knife, and the other exposed conductive surface may be a metal sheet disposed on the surface of the external catheter of the mucotomy knife. The first current path may be the original electrical conductor at the rear of the mucotomy knife blade head, and the first current loop, similar to the above embodiment, may also use a conductive drive rope in the snake bone, which is connected to the metal sheet outside the mucotomy knife to form a path.

[0037] The multiple hinged joints have a swinging section and a bending section, wherein the swinging section has multiple first serpentine bones 131 that are rotatably connected to each other, and the bending section has multiple switching serpentine bones that are rotatably connected to each other in sequence, and the multiple switching serpentine bones form a bending section in at least one direction. Assuming that the force arm on the inner side of each switching serpentine bone in each bending section of the bending section is d1, and the force arm on the outer side of each serpentine bone is d2, then d1 is greater than d2.

[0038] Figure 1 1 is a schematic diagram of the overall structure of the flexible arm of the natural orifice surgery robot of this embodiment. The flexible arm has a swinging section 13 and a bending section 12.

[0039] The swing section 13 has a plurality of first serpentine bones 131 that are rotatably connected to each other. Each first serpentine bone 131 is hinged to each other through a second rotating shaft and an axis groove. The axes on the upper and lower surfaces of each first serpentine bone 131 are arranged perpendicular to each other, so that the swing section 13 has four-way bending freedom through the third pull rope 132 by alternating the axial directions of each serpentine bone. Figure 8 and Fig. 9 FIG. 1 is a schematic diagram of the upper and lower surfaces of the first snake bone 131. Figure 8As shown, in one embodiment, the first snake bone 131 has: an actuator operation channel 1311, a drive rope channel 1312, an axis 1313 and an axis groove 1314. The outer periphery of the first snake bone 131 is circular as a whole, the actuator operation channel 1311 is located at the central axis, the drive rope channel 1312 is located at the central axis, and the drive rope channel 1313 is located at the central axis. Figure 8 In the embodiment shown, there are four of them, which are arranged around the actuator operation channel 1311. The shaft 1313 and the shaft groove 1314 of a first serpentine 131 are arranged perpendicular to each other in space. The shaft 1313 of a first serpentine 131 is rotatably connected with the shaft groove 1314 of the adjacent first serpentine 131. For the convenience of description, the structure after the two are rotatably connected is named as the third rotating shaft. Thus, the swing section has swing axes in four directions, and under the pulling combination of the pull rope on each swing axis, the front end actuator is driven to swing to any point on the predetermined hemispherical working surface through the combination of the swing angle and the swing direction.

[0040] like Figure 1 and Figure 4 As shown, the bending section has a second serpentine 121, a third serpentine 122, a fourth serpentine 123 and a fifth serpentine 124 which are rotatably connected to each other in sequence, the upper end surface of the second serpentine is rotatably connected to the last section of the first serpentine of the swing section, and the lower end of the second serpentine is rotatably connected to the third serpentine. In this embodiment, the second serpentine 121, the third serpentine 122 and the fourth serpentine 123 are all set as one, because only one section can form an S-shape with sufficient curvature. In some other embodiments, at least one of the second serpentine 121, the third serpentine 122 and the fourth serpentine 123 can be set as two or more according to the requirements for the bending angle or length of the flexible arm.

[0041] The axial direction of the third rotation axis on the upper end surface of the second snake bone 121 is orthogonal to the central axis of the entire flexible arm, serving as a transition between the swing section 13 and the bending section 12 .

[0042] The second rotation axes between the snake bones in the swing section 13 are perpendicular to each other, so as to correspond to the four swing directions of up, down, left, and right. Of course, the arrangement of the second rotation axis is not limited to Figure 1 The cross-vertical form provided in the embodiment can also be that several adjacent snake bones have parallel rotation axis directions, and the following snake bones have another set of rotation axis directions perpendicular to them, which can also achieve the purpose of matching four-way swing.

[0043] The side opposite to the bending of the axial flexible arm of the fourth rotating axis on the lower end surface of the second serpentine bone 121 deviates from the central axis of the entire flexible arm. Figure 4 The fourth axis is not cut into the section and therefore has no number in the figure. Figure 4 The rotation axes of the curved section that can be shown in the cross-sectional view include the fifth rotation axis 231 , the sixth rotation axis 241 and the seventh rotation axis 251 .

[0044] The upper end surface of the third serpentine 122 is rotatably connected to the second serpentine 121 via the fifth rotating shaft 231. The lower end surface of the third serpentine is rotatably connected to the fourth serpentine 123 via the sixth rotating shaft 241. The lower end of the fourth serpentine 123 is rotatably connected to the fifth serpentine 124 via the seventh rotating shaft 251.

[0045] The axial direction of the fifth rotating shaft 231 deviates from the central axis E of the flexible arm as a whole. The axial direction of the sixth rotating shaft 241 deviates from the central axis E of the flexible arm as a whole. And the direction in which the fifth rotating shaft 231 and the sixth rotating shaft 241 deviate from the central axis E is opposite to the direction of the flexible arm as a whole.

[0046] The position of the seventh rotation axis 251 on the lower end surface of the fourth snake bone 123 is consistent with the vertical distance of the sixth rotation axis 241 from the central axis E.

[0047] The pull ropes driving the snake bone to deflect in the bending section are the first pull rope 134 and the second pull rope 135 .

[0048] The first pull rope 134 is located on the same side as the fifth rotating shaft 231, and the front end of the first pull rope 134 has a first ball head 1316, which is fixed in the limiting groove 232 of the third snake bone 122. The second pull rope 135 is located on the same side as the sixth rotating shaft 241 and the fifth rotating shaft 251. Each pull rope has a spherical head end, which is matched and fixed with the corresponding limiting groove.

[0049] The front end of the second pull rope 135 is fixed in one of the first snake bones 131. In this embodiment, the second ball head 1315 at the front end of the second pull rope 135 is clamped in the limiting groove of the first snake bone 131. In other embodiments, other connection methods such as welding can be used.

[0050] Assume that the force arm on the inner side of each snake bone is d1, and the force arm on the outer side of each snake bone is d2 when the bending section is bent, then d1 is greater than d2. Figure 5 As shown, it means that at the turning point, the side with a smaller turning radius on the body of the flexible arm is called the "inner side", that is, Figure 5 The side indicated by the middle curve A and the curve C; and at the same position, the side with a larger turning radius on the flexible arm body is called the "outer side", that is, Figure 5 The side shown by curves B and D. Figure 5 The drawstring structure is omitted.

[0051] like Figure 4 d in 1 and d 2 What is presented are the force arms of the third snake bone 122 , the fourth snake bone 123 and the fifth snake bone 124 perpendicular to the long axis direction of the flexible arm. Figure 4The direction of the intermediate pulling force is the direction of the arrow H in the figure, or the direction of pulling the first pull rope 134 or the second pull rope 135 downward in the middle position in the figure.

[0052] Let the distance between the central axis E and the perpendicular line of each snake bone rotation axis be d 3 , then d 1 ≥d 2 +d 3 The central axis is Figure 4 The dotted line E in FIG. 2 shows the projection direction or the vertical direction of the seventh rotation axis 251. The vertical distance between the dotted line E and the dotted line F is d 3 .

[0053] In one embodiment of the pull rope system, for example, there is a first pull rope 134, a second pull rope 135 and a third pull rope 132. Figure 4 In the embodiment shown, the third pull rope 132 and the second pull rope 135 are at the same vertical distance from the rotating shaft, so Figure 4 The third pull rope 132 is blocked by the second pull rope 135, so the better d 1 and d 2 The relationship is: d 1 ≥ 2 days 2 Although in fact only d 1 >d 2 The stability of the curved section can be enhanced. The stability mentioned here refers to the ability of the S-shape not to be deformed when the other pull ropes are pulled after the curved section 12 is pulled into an S shape by pulling the first pull rope 134 and the second pull rope 135. In an extreme case, for example, when the motors pulling the first pull rope 134, the second pull rope 135 and the third pull rope 132 all reach the maximum tension, the tension at this time is assumed to be F. Under normal circumstances, when the same motor is used, the parameters of each motor are considered to be the same, that is, the maximum tension of each motor of the three pull ropes is F. At this time, the torque M in the direction H generated by the first pull rope 134 on the inner side of the flexible arm is 1 =d 1 F. Moment M on the outside of the flexible arm 2 =2d 2 F, or the moment M in the direction H generated by the tension of the second pull rope 135 and the third pull rope 132 2 When M 1 ≥M 2 Based on this, when the swing section 13 works within the maximum tension range of the third pull rope 132, it can ensure that the M 1 ≥M 2 , the S-shape or flexible arm shape can remain stable.

[0054] In another embodiment of the pull rope system, for example, there is a first pull rope 134, a second pull rope 135 and an actuator operating wire 133. The actuator operating wire 133 here is used to operate the actuator at the front end of the flexible arm, such as driving the clamp to open and close. When the first pull rope 134 and the second pull rope 135 are pulled to pull the bending section 12 into an S shape, it is sometimes still necessary to push and pull the actuator operating wire 133. The torque situation at this time is divided into two situations. One is to pull back the actuator operating wire 133, and the pulling direction is as follows: Figure 4 In the direction of the middle arrow H, the pulling direction of the actuator operating wire 133 is consistent with the pulling direction of the first pull rope 134, which increases the moment inside the curved section. At this time, the tension of the actuator operating wire 133 is used to further enhance the stability of the S shape. When the actuator operating wire 133 is pushed forward, the forward push direction is as follows Figure 4 In the direction of G, the direction of the force of the actuator operating wire 133 is opposite to the direction of the first pull rope 134. At this time, the moment M of the inner side of the flexible arm in the direction of H 1 =d 1 F, the moment M in the direction of G 3 =d 3 F, equivalent to the moment M in the direction of H 3 =d 3 F, plus the torque M generated by the pull rope 135 pulling back on the outside of the flexible arm 2 =d 2 F, then M is required 1 ≥M 2 +M 3 To keep the snake bones from rotating, if the output motors are the same, d 1 ≥d 2 +d 3 .

[0055] The actuator operating wire 133 is also called the actuator steel wire. Of course, the term "steel wire" here only means that it is a rigid pull rope, and does not mean that its material is steel. Other axially rigid materials can achieve similar effects, such as carbon fiber or titanium alloy wire or various high molecular polymer wires with strong axial tensile strength. The actuator operating wire 133 passes through the central channel of each snake bone and coincides with the central axis of the flexible arm as a whole. The meaning of the telescopic wire here does not mean that the wire itself has the elasticity of axial extension and shortening, but that the wire as a whole can slide forward and backward relative to the flexible arm, thereby operating the actuator at the front end, such as driving the clamp to open and close.

[0056] In a more complex pull rope system, for example, a first pull rope 134, a second pull rope 135, an actuator operating wire 133 and a third pull rope 132 work simultaneously.

[0057] When the first and second pull ropes 134 and 135 are pulled to pull the bending section 12 into an S-shaped state, and the third pull rope is pulled to deflect the swing section 13, sometimes it is still necessary to push and pull the actuator operating line 133, for example, to open or close the clamp while swinging. The torque conditions at this time are divided into two situations. One is to pull back the actuator operating line 133, and the pulling direction is as follows: Figure 4 In the direction of the middle arrow H, the pulling direction of the actuator operating wire 133 is consistent with the pulling direction of the first pull rope 134, increasing the moment on the inner side of the curved section. At this time, the tension of the actuator operating wire 133 is used to further enhance the stability of the S shape, converting the force that is not conducive to maintaining the S shape into a force that is conducive to maintaining the shape.

[0058] When the actuator operating line 133 is pushed forward, the forward push direction is as follows Figure 4 In the direction of G, the direction of the force of the actuator operating wire 133 is opposite to the direction of the first pull rope 134. At this time, the moment M of the inner side of the flexible arm in the direction of H 1 =d 1 F, moment M in the direction of G 3 =d 3 F, the moment of the flexible arm in the direction of H that is balanced is M 3 =d 3 F, plus the moment M in the direction H generated by the second pull rope 135 and the third pull rope 132 2 =2d 2 F, then M is required 1 ≥M 2 +M 3 To keep the snake bones from rotating, if the output motors are the same, d 1 ≥ 2 days 2 +d 3 .

[0059] Of course, there is a more extreme way of setting the pull rope, for example, setting the second pull rope 135 and the third pull rope 132 further in the direction of the central axis E, for example, coinciding with the perpendicular line of the rotating shaft 241 and the rotating shaft 251, or being located between the perpendicular line of the rotating shaft 241 and the rotating shaft 251 and E. At this time, the torque generated by the second pull rope 135 is in the same direction as the torque generated by the first pull rope 134.

[0060] Similarly, when the flexible arm encounters an unexpected collision, such as a collision with a target object or between two flexible arms, since the moment on the inner side of the curved segment is kept nearly twice the magnitude of the moment on the outer side for most of the time, as long as the external force is less than this difference, the curved segment 12 can maintain a stable shape.

[0061] It can be seen from the above-mentioned embodiments that in different pull rope systems and working conditions, the snake bone setting method of the present invention can achieve the effect of stabilizing the shape of the curved section 12, even when multiple pull ropes work together.

[0062] The axial length of the third snake bone is greater than or equal to 1.5 times the axial length of the fourth snake bone. Figure 5 As shown, the third snake bone is in a horizontal position in the S-shaped section. It is usually expected that this section is longer than other snake bones, so that the flexible arm can reduce the obstruction of the endoscope's field of view to a lower level.

[0063] The adjacent surface of each snake bone in the bending section corresponding to the outer side of the bending part of the flexible arm is a plane. In other words, the shorter side of the snake bone corresponding to each rotation axis is a plane, such as Figure 4 The upper and lower snake bones are in contact with each other with planes on the opposite sides of the wedge-shaped notch.

[0064] In an extreme case, the rotation axis is located at the very edge of the snake bone. The advantage of this is obvious. The tension generated by all the pull ropes is consistent with the direction of the torque that strengthens the S shape. However, it also has problems beyond expectations. First, the edge of the snake bone is an arc, and the length of the rotation axis set at the very edge is very small, so it is impossible to limit the movement of the snake bone in a limited plane. When there is a pulling force that causes the two adjacent sections of the snake bone to be subjected to a force outside the rotation plane, the snake bone will bend unexpectedly in the direction of escaping from the plane. Second, when in use, all the pull ropes of the flexible arm are in a tensioned state. At this time, the two sections of the snake bone only rely on the rotation at the edge to withstand the squeezing force, which is prone to dislocation. The plane contact between the two adjacent sections of the snake bone can prevent the above two unexpected situations from occurring.

[0065] In some embodiments, the first pull rope 134 and the second pull rope 135 can also be used as part of the first current loop. They are arranged at a distance of several snake bones from the front end electric actuator and can be electrically connected to the front end actuator or other conductive surfaces through conductive wires.

Claims

1. A flexible robotic arm, characterized in that: include: Multiple inter-jointed joints. Electric actuator, a first current path, comprising a conductive path in the electrical actuator and a conductive path in the condyle, The first current loop is insulated from the first current path, the first current loop at least includes a conductive path in the bone joint, and the first current loop has a switch that can be turned on and off.

2. The flexible robotic arm according to claim 1, characterized in that: in, The first current path is electrically connected to an exposed conductive surface on the electric actuator.

3. The flexible robotic arm according to claim 1, characterized in that: The electric actuator has two exposed conductive surfaces insulated from each other, and the first current path is electrically connected to one of the exposed conductive surfaces.

4. The flexible robotic arm according to claim 3, characterized in that: The first current loop is electrically connected to another of the exposed conductive surfaces.

5. The flexible robotic arm according to claim 1, characterized in that: The joint has at least one drive rope channel, the positions of the drive rope channels of each joint match each other, at least one drive rope passes through the drive rope channel, the drive rope is a conductive drive rope, and the conductive drive rope is part of the first current loop or the first current path.

6. The flexible robotic arm according to claim 5, characterized in that: in, When the number of the driving ropes is two or more, at least two of the conductive driving ropes are part of the first current loop.

7. The flexible robotic arm according to claim 2, characterized in that: The condyles are provided with actuator operating channels, the positions of the driving rope channels of the various condyles match each other, the actuator operating wires pass through the driving rope channels and are electrically connected to the exposed conductive surface of the electric actuator.

8. The flexible robotic arm according to claim 7, characterized in that: in, The actuator operating line is a part of the first current loop or the first current path.

9. The flexible robotic arm according to claim 1, characterized in that: The electric actuator has two clamping arms which are hinged to each other and serve as a part of the first current path and the first current loop respectively.

10. The flexible robotic arm according to claim 1, characterized in that: The multiple mutually hinged joints have a swinging section and a bending section. The swing section has multiple first snake bones that are rotatably connected to each other. The bending section has multiple sections of reversing snake bones which are sequentially connected to each other and rotated, and the multiple sections of reversing snake bones form a bending section in at least one direction. Assume that the force arm on the inner side of each section of the switching serpentine in each bending section in the switching section is d1, and the force arm on the outer side of each section of the serpentine is d2, then d1 is greater than d2.

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