Flexible joint assembly and surgical robot
By combining the drive ropes in pairs and using a threading hole design, the problems of a large number of drive ropes and space occupation are solved, resulting in reduced costs and increased rotation angles, thus improving the flexibility and motion accuracy of the flexible joint components.
Patent Information
- Application Number
- CN202411853834.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-16
- Publication Date
- 2025-11-28
- Estimated Expiration
- 2044-12-16
Smart Images
Figure CN119700306B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of medical devices, in particular to a flexible joint assembly and a surgical robot. BACKGROUND
[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body cavity using a laparoscope, thoracoscope and other modern medical devices and related equipment. Compared with the traditional surgical method, minimally invasive surgery has the advantages of small trauma, light pain and fast recovery. With the development of robot technology, a new technology in the field of minimally invasive medical treatment that can overcome shortcomings and inherit advantages, i.e. minimally invasive surgical robot technology, has emerged.
[0003] Surgical instruments are integrated at the end of a minimally invasive surgical robot, and the surgical instruments are usually an elongated structure. The instrument end usually needs to move in multiple degrees of freedom, so it is necessary to have a driving component. The driving component of the surgical instrument and the instrument end effector are usually connected by a flexible joint assembly. The flexible joint assembly is connected by a plurality of joints arranged in rotation with each other. A plurality of driving ropes are arranged in the flexible joint assembly. One end of the driving rope is connected to the driving component, and the other end of the driving rope is arranged in the corresponding joint and is relatively fixed in the joint.
[0004] However, the number of driving ropes for driving the instrument end effector in the related art is large, which is troublesome to produce and manufacture. The end of the driving rope is fixed in the joint by a clamping and extruding method of a clamping sleeve. The clamping sleeve occupies the space of the joint, resulting in an increase in the volume between the joints. This not only makes the flexible joint assembly bulky, but also increases the cost. Moreover, the clamping sleeve between the joints affects the rotation angle of the joints. SUMMARY
[0005] The embodiments of the present application provide a flexible joint assembly and a surgical robot, which can ensure the volume between adjacent joints of the flexible joint assembly, so that the rotation angle between the joints is not affected.
[0006] In a first aspect, the embodiments of the present application provide a flexible joint assembly, comprising a joint body, at least one joint group and a transmission assembly, the joint group comprising a plurality of joints arranged in sequence, each of the joints being provided with a connecting part at opposite ends, the adjacent two joints being rotationally connected through the connecting parts, the connecting shafts of the same joint and the adjacent two joints being orthogonally arranged, and the joint at the end being connected to the joint body. The transmission assembly comprises a plurality of transmission ropes, each of the transmission ropes being arranged in the joint from the joint body along the direction of the plurality of joints, at least part of the transmission ropes being combined in pairs, the joint being provided with two sets of threading positions on both sides of the connecting part at one end, the connecting part being clamped between the two sets of threading positions, each of the sets of threading positions comprising at least two threading holes, the transmission ropes combined in pairs being arranged in the threading holes of the two sets of threading positions respectively, and the ends of the transmission ropes combined in pairs being connected to the side of the joint away from the connecting part after passing through the corresponding threading holes;
[0007] The transmission assembly comprises a plurality of first transmission ropes, each of the joints being provided with a first threading hole and a second threading hole penetrating the joint on both sides of the connecting part away from the joint body, the first threading hole and the second threading hole being combined into the threading position, and the first transmission rope being arranged in the first threading hole;
[0008] The first threading hole and the second threading hole are arranged at intervals on the same side of the connecting part, and the interval between the first threading hole and the second threading hole on one side of the connecting part is equal to the interval between the first threading hole and the second threading hole on the other side, so that the lengths of the transmission ropes on both sides of the connecting part between the first threading hole and the second threading hole are equal, and the "M" structure is formed between the two transmission ropes;
[0009] The interval between the two second threading holes and the connecting part away from the joint body is equal.
[0010] According to the flexible joint assembly provided in the embodiment of the present application, two transmission ropes are combined together, the ends of the two combined transmission ropes can be connected together after passing through the joint, thus the two original transmission ropes can be combined to form a continuous transmission rope, thereby the number of transmission ropes can be reduced, the manufacturing process of the transmission ropes can be reduced, and the manufacturing cost can be reduced. In addition, the combined transmission ropes pass through the passing positions of the joint, two transmission ropes pass through two groups of passing positions on the joint respectively, and then are connected on the other side of the joint, thus the two combined transmission ropes need to be connected together through multiple passing holes, and the part of the two transmission ropes connected together passes through the multiple passing holes, so that the transmission rope and the joint not only have the friction force between the part of the transmission rope passing through the passing hole and the passing hole, but also have the friction force between the transmission rope and the surface of the joint located between the adjacent two passing holes, thereby the transmission rope can be prevented from moving relative to the joint, and the position of the two transmission ropes relative to the joint is not easy to deviate. Furthermore, the passing positions of the present application are arranged on both sides of the connection position, thus the two combined transmission ropes can be arranged on both sides of the connection position, and the connection positions of the two transmission ropes can be arranged on both sides of the joint away from the connection position, thus the connection space of the two transmission ropes can be saved.
[0011] In the embodiment of the present application, the first passing hole and the second passing hole are arranged to form a passing position for the first transmission rope.
[0012] In the embodiment of the present application, the distance between the two second passing holes and the connection position is equal, the rotating position between the joints is located in the middle of the two second passing holes, and the rotating position between the joints is located in the middle of the two first transmission ropes connected together, thereby the force between the two first transmission ropes connected together is uniform.
[0013] In a possible implementation manner, the joint has a center axis perpendicular to the two connection rotating shafts of the joint, the first passing holes are arranged on the joint in a central symmetry manner relative to the center axis, and the second passing holes are arranged on the joint in a central symmetry manner relative to the center axis.
[0014] In the embodiment of the present application, the first passing holes are arranged in a central symmetry manner relative to the center axis, thus the distance between the first transmission ropes in the two symmetrical first passing holes and the rotating shafts of the joint is equal, thereby the force of the first transmission ropes is uniform.
[0015] In a possible implementation manner, the joint further has a plurality of third passing holes, and the transmission assembly further includes a plurality of third transmission ropes, the third transmission ropes pass through the third passing holes respectively, the third passing holes are combined two by two, and the third passing holes in the same group are arranged in a central symmetry manner relative to the center axis of the joint.
[0016] In the embodiment of the present application, the third transmission ropes in the third threading holes are equidistant from the rotation shaft of the joint by arranging the third threading holes to be centrosymmetric about the central axis of the joint.
[0017] In a possible implementation, the third threading holes are equidistantly arranged about the central axis of the joint, and the distance between the two third threading holes that are centrosymmetric and the same rotation shaft of the joint is equal.
[0018] In the embodiment of the present application, the third threading holes are arranged in a square by equidistantly arranging the third threading holes about the central axis, so that the torque of all the third transmission ropes when driving the joint to rotate is equal, which is beneficial to uniform force on the third transmission ropes.
[0019] In a possible implementation, the joint further has a plurality of fourth threading holes, and the transmission assembly further includes a plurality of fourth transmission ropes, the plurality of fourth transmission ropes are respectively threaded through the plurality of fourth threading holes, and the fourth threading holes are arranged to be centrosymmetric about the central axis of the joint in pairs.
[0020] In the embodiment of the present application, the fourth transmission ropes in the combined two fourth threading holes are equidistant from the rotation shaft of the joint by arranging the fourth threading holes to be centrosymmetric about the central axis of the joint, which is beneficial to uniform force on the combined fourth transmission ropes.
[0021] In a possible implementation, the joint has a first connecting part and a second connecting part arranged at opposite ends thereof, and the first connecting part and the second connecting part are rotatably connected.
[0022] The connecting member further has at least two spaced connecting shafts, the first connecting part further has a first adapter hole, the second connecting part further has a second adapter hole, and the two connecting shafts of the connecting member are rotatably connected to the first adapter hole and the second adapter hole, respectively.
[0023] In the embodiment of the present application, the first connecting part and the second connecting part are connected and matched, and the connecting member is rotatably connected to the adjacent two joints, so that the adjacent two joints are rotatably connected.
[0024] In a possible implementation manner, the joint groups at least include a first joint group and a second joint group, the first joint group has a plurality of first joints arranged in sequence, and the first joint group is further provided with a second joint and a third joint at intervals, and the plurality of first joints are sequentially connected between the second joint and the third joint, the second joint group includes a plurality of first joints which are sequentially connected, and the second joint group is further provided with a second joint at two ends, and the second joint group is connected to the joint body and the second joint on the first joint group through the second joints at the two ends respectively.
[0025] In the embodiment of the present application, by arranging a plurality of joint groups, different bending functions can be realized between the plurality of joint groups, so that the movement of the flexible joint assembly is more flexible.
[0026] In a second aspect, the embodiment of the present application further provides a surgical robot, comprising the flexible joint assembly. BRIEF DESCRIPTION OF DRAWINGS
[0027] The accompanying drawings, which are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application and, together with the specification, serve to explain the principles of the present application.
[0028] Figure 1 A structural schematic diagram of an operating arm in the related art;
[0029] Figure 2 A structural schematic diagram of the flexible joint assembly provided by the present application;
[0030] Figure 3 A structural schematic diagram of the first joint provided by the present application;
[0031] Figure 4 An exploded view of the connection structure between two adjacent joints provided by the present application;
[0032] Figure 5 A sectional view of the joint provided by the present application;
[0033] Figure 6 Another sectional view of the joint provided by the present application;
[0034] Figure 7 A structural schematic diagram of the second joint provided by the present application;
[0035] Figure 8 Another structural schematic diagram of the second joint provided by the present application;
[0036] Figure 9 A partial structural schematic diagram of the flexible joint assembly provided by the present application;
[0037] Figure 10 AFigure 9 An enlarged schematic view at A;
[0038] Figure 11 To Figure 9 An enlarged schematic view at B;
[0039] Figure 12 To Figure 9 An enlarged schematic view at C.
[0040] BRIEF DESCRIPTION OF DRAWINGS
[0041] 10, joint body; 11, adapter;
[0042] 20, joint; 21, first joint; 211, first connecting part; 2111, connecting head; 2112, first adapter hole; 212, second connecting part; 2121, first connecting slot; 2122, second adapter hole; 213, first threading hole; 214, second threading hole; 215, third threading hole; 216, fourth threading hole; 22, second joint; 221, connecting platform; 222, second connecting slot; 23, third joint; 231, assembly part; 24, center hole; 25, accommodation slot;
[0043] 30, transmission assembly; 31, first transmission rope; 32, second transmission rope; 33, third transmission rope; 34, fourth transmission rope;
[0044] 40, connecting piece; 41, connecting body; 42, protruding part; 43, connecting shaft; 44, through hole;
[0045] 50, first joint group; 60, second joint group; 61, follower;
[0046] 100, operating arm; 110, driving structure; 120, flexible joint assembly; 130, main driving rope; 140, end effector. DETAILED DESCRIPTION
[0047] As known from the background art, the end of the driving rope is terminated on the corresponding joint, in order to ensure the relative fixation between the end of the driving rope and the joint, a clamp sleeve is needed to fix the driving rope on the joint. Since the two adjacent joints need to be rotationally connected, when the clamp sleeve is arranged between the joints, the clamp sleeve will occupy the space between the joints, and thus the rotation space between the joints is reduced, and the rotation angle between the joints is reduced.
[0048] Therefore, the present application provides a flexible joint assembly, the flexible joint assembly of the present application can fix the end of the transmission rope on the joint without using a clamp sleeve, not only saving the cost of the clamp sleeve, but also ensuring the space between the joints to provide sufficient rotation space for the rotation between the two adjacent joints, and thus ensuring the flexibility of the flexible joint assembly.
[0049] The technical solutions and advantages of the embodiments of the present application will be more clearly understood from the following description of the embodiments of the present application with reference to the accompanying drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.
[0050] Figure 1 FIG. 1 is a structural schematic diagram of an operating arm 100 in the prior art, Figure 2 FIG. 2 is a structural schematic diagram of a flexible joint assembly provided by the present application.
[0051] Referring to FIGS. 1 and 2, Figure 1 and Figure 2 As shown in FIGS. 1 and 2, the present application provides a flexible joint assembly 120 and a surgical robot, the surgical robot comprising a robot body and an operating arm 100 arranged on the robot body, wherein the operating arm 100 comprises a driving structure 110, the flexible joint assembly 120, and an end effector 140 connected to an end of the flexible joint 20. The flexible joint assembly 120 is used to connect the driving structure 110 and the end effector 140, and under the cooperation of the driving structure 110 and the flexible joint assembly 120, the pitching or swinging movement of the end effector 140 can be realized.
[0052] In some implementable manners, the flexible joint assembly 120 of the present application comprises a joint body 10, at least one joint group, and a transmission assembly 30, wherein the joint body 10 is used to connect the joint group and the driving structure 110, and the joint body 10 can be a hollow pipe structure.
[0053] The present application is provided with at least one joint group, which means that one joint group or multiple joint groups can be provided, which needs to be determined according to actual conditions. For example, in some simple operation scenarios, only one joint group can be provided to realize the operation requirements of the end effector 140, and in some complex operation scenarios, multiple connected joint groups can be provided to realize different movement modes of the end effector 140.
[0054] The joint group in the present application comprises multiple joints 20 arranged in sequence, which means that the multiple joints 20 are arranged along a predetermined path, and adjacent two joints 20 need to be rotationally connected together to realize the bending or swinging movement of the joint group.
[0055] Specifically, each joint 20 has connecting parts at both ends. It should be noted that the two ends of a joint 20 refer to the end faces of the joint 20 facing adjacent joints 20. Thus, connecting parts are provided between the opposite end faces of two adjacent joints 20, allowing for rotatable connection between adjacent joints 20. It can be understood that, in addition to the joints 20 at both ends, each joint 20 between the two ends corresponds to two adjacent joints 20. Therefore, the joint 20 in the middle is rotatably connected to two adjacent joints 20 simultaneously, and the joints 20 at the ends are used to connect to the joint body 10. In this embodiment, when the same joint 20 is rotatably connected to two adjacent joints 20, the two connecting axes are orthogonally arranged. This allows a joint 20 to rotate in different directions relative to two adjacent joints 20, enabling flexible movement between the joints 20 in the joint group.
[0056] Figure 5 A cross-sectional view of joint 20 provided in this application.
[0057] For ease of description, we will use the pivot of one of the joints 20 as an example. See [link to documentation]. Figure 5 , Figure 5 The dashed line H in the diagram represents the first axis of rotation of joint 20, and the dashed line L represents the second axis of rotation of joint 20. The dashed lines H and L are set orthogonally.
[0058] The transmission component 30 of this application embodiment includes a plurality of transmission ropes. The plurality of transmission ropes extend from the drive structure 110 of the operating arm 100 to the interior of the joint body 10, and extend toward the joint group along the length direction of the joint body 10. The plurality of transmission ropes can be threaded through the joint 20 along the arrangement direction of the plurality of joints 20.
[0059] The drive structure 110 of the operating arm 100 can drive each transmission rope to move. The end of each transmission rope away from the joint body 10 can be connected to the joint 20 and fixed relative to the joint 20. Thus, when the drive structure 110 of the operating arm 100 drives the transmission rope to move, it can drive the corresponding joint 20 to move.
[0060] It should be noted that the termination position of the end of the transmission rope away from the joint body 10 needs to be determined according to the actual situation. For example, the end of some transmission ropes can terminate at a joint 20 of the joint group close to the joint body 10, while the end of other transmission ropes can terminate at a joint 20 of the joint group away from the joint body 10. This will be described in detail below.
[0061] The two transmission ropes in each group are combined together, and the ends of the two transmission ropes in each group and the ends of the transmission ropes in different groups are all terminated at the same joint 20, and the joint 20 is located between the two combined transmission ropes away from the connecting position of the joint body 10. A set of threading positions is arranged on each side of the joint 20 away from the connecting position of the joint body 10, and each set of threading positions includes at least two threading holes, and the connecting position is located between the two sets of threading positions. The threading holes in the same set of threading positions are arranged at intervals, and the two combined transmission ropes are respectively threaded into one of the threading holes in the two sets of threading positions, and the ends of the two transmission ropes respectively extend out of the end of the joint 20 away from the joint body 10, and then the ends of the two transmission ropes are respectively threaded into the remaining threading holes in the threading positions on the side of the joint 20 away from the joint body 10, and the ends of the two transmission ropes can extend out of the end of the joint 20 towards the joint body 10 after passing through the threading holes, and the ends of the two transmission ropes are connected to the side of the joint 20 towards the joint body 10.
[0062] The flexible joint assembly of the present application combines two transmission ropes together, and the ends of the two combined transmission ropes can be connected together after being threaded through the joint 20, so that the two original transmission ropes can be combined to form a continuous transmission rope, thereby reducing the number of transmission ropes, reducing the manufacturing process of the transmission ropes, and reducing the manufacturing cost. Moreover, compared with the related art, the ends of the transmission ropes are fixed to the joint 20 by arranging a sleeve on the end of the transmission rope, which eliminates the sleeve structure, making the entire structure simpler. After eliminating the sleeve structure, it is beneficial to increase the space between adjacent joints 20 and ensure sufficient rotation space of the joint 20.
[0063] In addition, the combined transmission ropes are threaded through the threading positions of the joint 20, and the ends of the two combined transmission ropes are first respectively threaded through the threading holes on the joint 20 and then connected on the other side of the joint 20. In this way, the two combined transmission ropes need to pass through multiple threading holes before being connected together, and the part connecting the two transmission ropes passes through multiple threading holes, so that the transmission rope and the joint 20 not only have the friction between the part of the transmission rope threaded through the threading hole and the wall of the threading hole, but also have the friction between the transmission rope located between the adjacent two threading holes and the surface of the joint 20, thereby preventing the transmission rope from moving relative to the joint 20, so that the two transmission ropes are not easy to deviate from the position relative to the joint 20.
[0064] Furthermore, the threading positions of the present application are arranged on both sides of the connecting position, so that the two combined transmission ropes can be arranged on both sides of the connecting position, and the connection positions of the two transmission ropes can be arranged on both sides of the joint 20 away from the connecting position. The gap between the two connected transmission ropes is occupied by the connecting position, so that the connection space of the two transmission ropes can be saved, thereby saving the space on the joint 20 and providing sufficient space for the connection of the remaining transmission ropes.
[0065] Figure 3 A structural schematic view of the first joint 21 is provided in the present application.
[0066] Referring to Figure 2 and 3 In some implementable manners, the transmission assembly 30 includes a plurality of first transmission ropes 31, and each joint 20 is provided with a first threading hole 213 and a second threading hole 214 on both sides of the connecting position of the joint 20 away from the joint body 10. The first threading hole 213 and the second threading hole 214 on the same side of the connecting position form a threading position. The second threading hole 214 is closer to the connecting position than the first threading hole 213. The first transmission rope 31 is threaded through the first threading hole 213. The distance between the first threading hole 213 and the second threading hole 214 on the same side of the connecting position is equal to the distance between the first threading hole 213 and the second threading hole 214 on the other side.
[0067] In the present application, the first threading hole 213 and the second threading hole 214 on the same side of the connecting position are spaced apart, and the distance between the first threading hole 213 and the second threading hole 214 on one side of the connecting position is equal to the distance between the first threading hole 213 and the second threading hole 214 on the other side. Thus, the lengths of the transmission ropes on both sides of the connecting position between the first threading hole 213 and the second threading hole 214 are equal, and the “M” structure is formed between the two transmission ropes, which prevents the transmission ropes from being displaced relative to the joint 20 and facilitates uniform force distribution on the transmission ropes on both sides of the connecting position and uniform distribution of the driving force for driving the transmission ropes.
[0068] In the present application, the joint 20 has two rotation shafts, which are located at opposite ends of the joint 20, i.e., the end faces of the joint 20 corresponding to and adjacent to the joint 20. The opposite ends of the joint 20 are spaced apart in the direction of the corresponding rotation shafts and are provided with two connecting positions. The two connecting positions are located at the edges of the joint 20, and the opposite connecting positions of the adjacent two joints 20 are rotationally connected.
[0069] In the present application, the joint 20 is provided with a first threading hole 213 and a second threading hole 214 on both sides of the two connecting positions of the joint 20 away from the joint body 10, so that the entire joint 20 is provided with four first threading holes 213 and four second threading holes 214. The corresponding transmission assembly 30 is provided with four first transmission ropes 31 threaded through the first threading holes 213.
[0070] In some embodiments, the distance between the two second threading holes 214 and the connecting part of the joint 20 away from the joint body 10 is equal, more specifically, the connecting part of the joint 20 away from the joint body 10 has a rotation axis, and the distance between the center of the second threading hole 214 and the rotation axis is equal. In this way, the distance between the second threading hole 214 and the rotation axis of the joint 20 on both sides of the connecting part is equal, and the distance between the first threading hole 213 and the rotation axis of the joint 20 on both sides of the connecting part is also equal, so that the connecting part is located between the two first threading holes 213 and the two second threading holes 214. After the ends of the transmission ropes on both sides of the connecting part are connected by passing through the first threading hole 213 and the second threading hole 214, the lengths of the transmission ropes on both sides of the connecting part are consistent, and the distances of the transmission ropes from the connecting part are also the same, so that the force applied by the transmission ropes to the joint 20 is relatively uniform, thereby ensuring the accuracy of the movement of the joint 20.
[0071] In combination Figure 3 and Figure 5 As shown in FIGS. 1, 2, 3, and 4, in some embodiments, the joint 20 has a central axis perpendicular to the two connecting rotation axes of the joint 20, which can be represented by the dashed line F in FIG. 1. Figure 3 The two rotation axes of the joint 20 are arranged orthogonally, and in the direction of the central axis, the two rotation axes form a "cross" structure, and the two rotation axes divide the joint 20 into four 90°-angle regions, and the joint 20 is provided with one first threading hole 213 and one second threading hole 214 in each region.
[0072] It should be noted that the plurality of first threading holes 213 are arranged on the joint 20 in a central-symmetrical manner with respect to the central axis, and the plurality of second threading holes 214 are arranged on the joint 20 in a central-symmetrical manner with respect to the central axis.
[0073] Specifically, the distance between the four first threading holes 213 and the central axis is equal, and one first threading hole 213 and one second threading hole 214 are arranged in each of the four regions divided by the two rotation axes on the joint 20, and the first threading holes 213 in the two diagonally arranged regions are central-symmetrical with respect to the central axis, and the second threading holes 214 in the two diagonally arranged regions are central-symmetrical with respect to the central axis. By arranging the first threading holes 213 and the second threading holes 214 in a central-symmetrical manner with respect to the central axis, the distance between the two first threading holes 213 on both sides of the central axis is equal, which can better ensure that the torques of the first transmission ropes 31 in the two first threading holes 213 are equal, so that the two first transmission ropes 31 can apply uniform driving force to the joint 20.
[0074] For example, the line connecting the first threading hole 213 and the central axis of the joint 20 is arranged at an angle of 45° with respect to the rotation axis of the joint 20.
[0075] Figure 4 An exploded view of the connection structure between two adjacent joints 20 is provided.
[0076] Referring to Figure 3 and Figure 4 In some possible implementations, the two opposite ends of the joint 20 are respectively provided with a first connecting part 211 and a second connecting part 212. When the joint group is connected to the joint body 10, a single joint 20 has an end face opposite to the joint body 10 and an end face facing away from the joint body 10. When two adjacent joints 20 are connected, the first connecting part 211 is arranged on the end face of the joint 20 facing away from the joint body 10, and the second connecting part 212 is arranged on the end face of the joint 20 facing the joint body 10. In the two connected joints 20, the end of the first connecting part 211 of one joint 20 corresponds to the end of the second connecting part 212 of the other joint 20, and the first connecting part 211 of one joint 20 and the second connecting part 212 of the other joint 20 are rotationally connected.
[0077] Specifically, the first connecting part 211 is provided with a connecting head 2111 at one end away from the joint 20, and the second connecting part 212 is provided with a first connecting groove 2121 at one end away from the joint 20. The connecting heads 2111 of two adjacent joints 20 can be rotationally connected in the connecting grooves.
[0078] For example, the connecting head 2111 can be circular or semicircular, or the connecting head 2111 can also be provided in a tooth shape, and the first connecting groove 2121 and the connecting head 2111 are matched.
[0079] It should be noted that two first connecting parts 211 are arranged along one of the rotation axes of the joint 20, and two second connecting parts 212 are arranged along the other rotation axis of the joint 20.
[0080] It is worth mentioning that a connecting piece 40 is further arranged between two adjacent joints 20, and the two adjacent joints 20 are rotationally connected together through the connecting piece 40. Specifically, the connecting piece 40 includes a connecting body, and at least two spaced connecting shafts 43 are protrudingly arranged on the connecting body. A first connecting hole 2112 is further arranged on the first connecting part 211, and a second connecting hole 2122 is further arranged on the second connecting part 212. The axis of the first connecting hole 2112 is parallel to the axis of the second connecting hole 2122. When the first connecting part 211 and the second connecting part 212 between two adjacent joints 20 are connected, the two connecting shafts 43 on the connecting piece 40 can be rotationally connected to the first connecting hole 2112 and the second connecting hole 2122, respectively, and the connecting piece 40 is clamped between the two joints 20.
[0081] Since the two joints 20 are connected by the two pairs of first connecting portions 211 and second connecting portions 212, two connecting members 40 are arranged between the two adjacent joints 20 in the application, and the two connecting members 40 are respectively connected between the two pairs of first connecting portions 211 and second connecting portions 212.
[0082] In the embodiment of the application, the operating arm 100 is further provided with a main driving rope 130 located at the center of the joint body 10, the main driving rope 130 is connected to the end effector 140 through the rear end of the joint group, and the main driving rope 130 is used to control the end effector 140 to change the shape. In order to make the main driving rope 130 pass through the joint group smoothly, the center position of the joint 20 of the joint group is further provided with a center hole 24 penetrating the joint 20, and the main driving rope 130 is arranged in the center hole 24. The connecting members 40 between the two joints 20 are arranged at intervals, and the interval is greater than the size of the main driving rope 130, so that the main driving rope 130 can pass through the joint group smoothly.
[0083] In one example, one end of the connecting body 41 is further provided with a protruding portion 42, and the connecting shaft 43 is arranged at the end of the protruding portion 42 away from the connecting body 41. A stepped structure is formed between the protruding portion 42 and the connecting body 41, and the joint 20 is further provided with a clearance slot 25 in communication with the first adapter hole 2112 and the second adapter hole 2122. The clearance slot 25 penetrates the joint 20, and the clearance slot 25 is also in communication with the center hole 24 on the joint 20. When the connecting member 40 is located between the two joints 20, the two ends of the connecting body 41 in the arrangement direction of the two joints 20 are respectively located in the corresponding clearance slots 25 of the two joints 20, and the protruding portion 42 of the connecting member 40 is located in the first adapter hole 2112 and the second adapter hole 2122.
[0084] In order to save materials and reduce weight, the connecting body 41 can be further provided with a through hole 44 penetrating the connecting body 41. The through hole 44 can reduce the materials used to manufacture the connecting body 41, reduce the manufacturing cost and difficulty, and reduce the weight of the connecting body 41.
[0085] Figure 6 Another cross-sectional view of the joint 20 provided in the application.
[0086] Referring to Figure 5 and Figure 6 As shown in some possible implementations, a plurality of third threading holes 215 are further formed on the joint 20, and the transmission assembly 30 further includes a plurality of third transmission ropes 33, and the plurality of third transmission ropes 33 are respectively arranged in the plurality of third threading holes 215. The third threading holes 215 are combined two by two, and the two third threading holes 215 of each combination are located on the two sides of the rotation shaft of the joint 20, and the third threading holes 215 of the same combination are centrally symmetric about the central axis of the joint 20, so that the distance between the two third threading holes 215 of the central symmetry is consistent with the size of the same rotation shaft.
[0087] In some feasible ways, multiple third threading holes 215 are arranged at equal intervals around the central axis of the joint 20, and the distance between two centrally symmetrical third threading holes 215 and the same axis of rotation of the joint 20 is equal.
[0088] In this embodiment, four third threading holes 215 are provided, and one third threading hole 215 is provided in each of the four areas divided by the two rotating shafts of the joint 20. Thus, in this embodiment, four third transmission ropes 33 are provided as an example, and one third transmission rope 33 is threaded through each third threading hole 215.
[0089] In some feasible implementations, the third threading hole 215 is located on the side of the first threading hole 44 away from the second threading hole 214, such that the first threading hole 213 is located between the second threading hole 214 and the third threading hole 215. For clarity regarding the positions of the first threading hole 213, the second threading hole 214, and the third threading hole 215 on the joint 20 in the embodiments of this application, please refer to... Figure 5 and Figure 6 As shown, where Figure 5 As shown in one arrangement, two second threading holes 214 are provided on both sides of the rotating shaft L. The two threading holes on the same side are symmetrical with respect to the rotating shaft H, and the two second threading holes 214 on both sides of the rotating shaft H are symmetrical with respect to the rotating shaft L. Similarly, four fourth threading holes 216 are arranged in the same manner on the joint 20. In this arrangement, the second threading positions on both sides of the connection part of the joint 20 facing away from the joint body 10 are formed by two second threading holes 214.
[0090] Figure 6 The diagram shows another arrangement of the second threading hole 214 and the third threading hole 215. Figure 6 The third threading hole 215 located in the upper left region of joint 20 and the third threading hole 215 located in the lower right region of joint 20 form a group, which are symmetrical about the central axis. Similarly, the third threading hole 215 in the upper right region and the third threading hole 215 in the lower left region of joint 20 form a group, which are also symmetrical about the central axis. It can be understood that the upper left and lower right third threading holes 215 are equidistant from axis H and have the same spacing from axis L. Likewise, the upper right and lower left third threading holes 44 are equidistant from axis H and have the same spacing from axis L.
[0091] The third transmission rope 33 in the upper left third threading hole 215 and the lower right third threading hole 215 can cooperate to drive the joint 20 to rotate around the H axis, and the third transmission rope 33 in the upper right third threading hole 215 and the lower left third threading hole 215 can cooperate to drive the joint 20 to rotate around the L axis.
[0092] In the present application, the four third threading holes 215 are arranged equidistantly around the central axis of the joint 20, and the spacing of the four third threading holes 215 in the direction around the central axis is equal. In this way, the four third threading holes 215 can be arranged in a square on the joint 20, so that the distance between the upper left third threading hole 215 and the H-axis, the distance between the lower right third threading hole 215 and the H-axis, the distance between the upper right third threading hole 215 and the L-axis, and the distance between the lower left third threading hole 215 and the L-axis are equal, and the distance between the upper left third threading hole 215 and the H-axis is equal to the distance between the lower left third threading hole 215 and the L-axis.
[0093] In this way, when the joint 20 is driven to rotate by the third transmission rope 33 threaded in the third threading hole 215, the torques of the four third transmission ropes 33 are equal, and the force applied to the four transmission ropes is relatively uniform when the joint 20 is rotated by the same angle, which is conducive to increasing the smoothness of driving the joint 20 to rotate.
[0094] In the present application, the four third threading holes 215 are arranged equidistantly around the central axis of the joint 20, and the spacing of the four third threading holes 215 in the direction around the central axis is equal. In this way, the four third threading holes 215 can be arranged in a square on the joint 20, so that the distance between the upper left third threading hole 215 and the H-axis, the distance between the lower right third threading hole 215 and the H-axis, the distance between the upper right third threading hole 215 and the L-axis, and the distance between the lower left third threading hole 215 and the L-axis are equal, and the distance between the upper left third threading hole 215 and the H-axis is equal to the distance between the lower left third threading hole 215 and the L-axis. Figure 6 In the arrangement shown, one of the second threading positions for the end of the first transmission rope 31 is formed by the second threading hole 214, and the other is formed by the third threading hole 215.
[0095] The distance between the center of the third threading hole 215 and the central axis of the joint 20 can be equal to, less than, or greater than the distance between the center of the first threading hole 213 and the central axis of the joint 20.
[0096] In the present application, the distance between the center of the third threading hole 215 and the central axis of the joint 20 is equal to the distance between the center of the first threading hole 213 and the central axis of the joint 20.
[0097] For example, the distance between the center of the second threading hole 214 and the central axis of the joint 20 is equal to the distance between the center of the first threading hole 213 and the central axis of the joint 20. In this way, the first threading hole 213, the second threading hole 214, and the third threading hole 215 can be located on the same circumference centered on the central axis of the joint 20.
[0098] For example, in the direction of rotation around the central axis of the joint 20, the spacing between the second threading hole 214 and the first threading hole 213 is equal to the spacing between the third threading hole 215 and the first threading hole 213.
[0099] In some possible implementations, the joint 20 further has a plurality of fourth threading holes 216, and the transmission assembly 30 further includes a plurality of fourth transmission ropes 34, which are respectively threaded in the plurality of fourth threading holes 216, and the fourth threading holes 216 are two-by-two combined to be centrally symmetric about the central axis of the joint 20.
[0100] In the present application, four fourth threading holes 216 are taken as an example for illustration, and the fourth transmission rope 34 of the present application is also provided with four fourth transmission ropes 34, each of which is arranged in one fourth threading hole 216.
[0101] It should be noted that, referring to Figure 6 , the four fourth threading holes 216 are respectively arranged in the four regions of the joint 20, and the line connecting the fourth threading hole 216 and the central axis of the joint 20 is arranged at an angle of 45° with the rotation shaft of the joint 20. In this way, the center of the first threading hole 213, the center of the fourth threading hole 216 and the central axis of the joint 20 are located on the same straight line.
[0102] For example, the first threading hole 213 is arranged away from the central axis of the joint 20 relative to the fourth threading hole 216.
[0103] Figure 7 A structural schematic view of the second joint 22 provided in the present application is shown in Figure 8 Another structural schematic view of the second joint 22 provided in the present application is shown in
[0104] Referring to Figure 1 , Figure 7 and Figure 8 , in some realizable modes, a plurality of joints 20 can be combined to form a plurality of joint groups. For example, in the embodiment of the present application, the joint groups at least include a first joint group 50 and a second joint group 60, the first joint group 50 is connected to the second joint group 60, one end of the first joint group 50 away from the second joint group 60 is connected to the end effector 140, and one end of the second joint group 60 away from the first joint group 50 is used to be connected to the joint body 10.
[0105] Specifically, the joint 20 at least includes a first joint 21, a second joint 22 and a third joint 23, the first joint group 50 has a plurality of first joints 21 arranged in sequence, and two adjacent first joints 21 are rotationally connected through the first connecting portion 211, the second connecting portion 212 and the connecting piece 40 as described above. The first joint group 50 is also provided with the second joint 22 and the third joint 23 at intervals, and after a plurality of first joints 21 are connected in sequence, the first joint 21 at one end is connected to the second joint 22, and the first joint 21 at the other end is connected to the third joint 23, so that the plurality of first joints 21 are connected between the second joint 22 and the third joint 23.
[0106] The second joint 22 is used for connecting with the second joint group 60, and the third joint 23 is used for connecting with the end effector 140. One end of the second joint 22 is provided with a first connecting part 211, and the second joint 22 can be connected with the second connecting part 212 of the first joint 21 at the end through the first connecting part 211. The first joint 21 and the second joint 22 are further provided with the connecting piece 40, and the first joint 21 and the second joint 22 are rotatably connected through the connecting piece 40. One end of the third joint 23 is provided with a second connecting part 212, and the second connecting part 212 of the third joint 23 can be connected with the first connecting part 211 on the first joint 21 at the other end. The third joint 23 and the first joint 21 are also connected with the connecting piece 40, so as to realize the rotatable connection of the third joint 23 and the first joint 21.
[0107] It should be noted that the end of the transmission rope extending from the driving structure 110 of the operation arm 100 to the joint group is terminated at different positions according to requirements. For example, the end of some transmission ropes is terminated on a joint 20 of the second joint group 60, and the end of some transmission ropes is terminated on a joint 20 of the first joint group 50. In the embodiment of the present application, as shown in FIG. 1, the ends of the first transmission rope 31 and the fourth transmission rope 34 are both terminated on the joint 20 of the first joint group 50. The end of the first transmission rope 31 is terminated on the first joint 21 in the middle of the first joint group 50, and the end of the fourth transmission rope 34 is terminated on the third joint 23. Figure 1
[0108] It is worth mentioning that the fourth transmission rope 34 is provided with four fourth transmission ropes 34, and the ends of the four fourth transmission ropes 34 are terminated on the third joint 23. The four fourth transmission ropes 34 are divided into two groups, and the ends of the fourth transmission ropes 34 in one group are connected together, so that the two fourth transmission ropes 34 in one group form an "n" shape connection mode. By connecting the two fourth transmission ropes 34 in one group together, the two fourth transmission ropes 34 can form a continuous transmission rope, so as to reduce the number of transmission ropes and reduce the manufacturing cost of the transmission rope.
[0109] It should be noted that the end of the fourth transmission rope 34 is terminated on the third joint 23, and the end of the fourth transmission rope 34 is terminated on the third joint 23. The end of the fourth transmission rope 34 is terminated on the third joint 23, and the end of the fourth transmission rope 34 is terminated on the third joint 23. The end of the fourth transmission rope 34 is terminated on the third joint 23, and the end of the fourth transmission rope 34 is terminated on the third joint 23.
[0110] In some realizable modes, the second joint group 60 also includes a plurality of first joints 21, and the plurality of first joints 21 are connected in sequence. Two adjacent first joints 21 are rotatably connected together through the cooperation of the first connecting part 211, the second connecting part 212 and the connecting piece 40.
[0111] The second joint group 60 comprises a plurality of second joints 22, which can be arranged at the middle of the second joint group 60 and connected to the first joints 21, and which can also be connected to the first joints 21 at the head and tail ends of the first joints 21 connected together respectively.
[0112] When the second joints 22 are connected to the first joints 21 at the head and tail ends, the second joints 22 are respectively located at the two ends of the second joint group 60, and the second joint group 60 can be connected to the second joints 22 on the joint body 10 and the first joint group 50 through the second joints 22 at the two ends respectively.
[0113] One end of the second joint 22 is provided with a first connecting portion 211 or a second connecting portion 212, and the specific connecting portion to be arranged needs to be determined according to the type of the connecting portion on the first joint 21 to which the second joint 22 is connected. For example, if the second joint 22 needs to be connected to the first connecting portion 211 on the first joint 21, the end of the second joint 22 is provided with the second connecting portion 212, and if the second joint 22 needs to be connected to the second connecting portion 212 on the first joint 21, the end of the second joint 22 needs to be provided with the first connecting portion 211.
[0114] The other end of the second joint 22 is provided with a connecting table 221 or a second connecting groove 222, and whether the other end of the second joint 22 is provided with the connecting table 221 or the second connecting groove 222 also needs to be determined according to the structure to be connected at the end of the second joint 22. For example, the adapter 11 is arranged on the end of the joint body 10 away from the driving structure 110 of the operating arm 100, and the second joint 22 at one end of the second joint group 60 is used to be connected to the adapter 11. If the second connecting groove 222 is provided on the adapter 11, the connecting table 221 needs to be arranged at the corresponding end of the second joint 22, and the second joint 22 is connected to the adapter 11 through the connecting table 221 and the second connecting groove 222. Similarly, the connection between the adjacent second joints 22 is also the same.
[0115] In an example, referring to Figure 2 It is shown that the second joint group 60 is also provided with a follower 61, which is arranged at the middle of the second joint group 60. At this time, one second joint 22 needs to be connected to each of the adjacent first joints 21 at the middle of the second joint group 60, and then the follower 61 is connected between the two second joints 22.
[0116] Figure 9 The partial structure schematic diagram of the flexible joint assembly provided in the present application, Figure 10 is Figure 8 the enlarged schematic diagram at A in the middle, Figure 11 is Figure 8 the enlarged schematic diagram at B in the middle, Figure 12 is Figure 8An enlarged schematic view at C.
[0117] Referring to Figures 9 to 12 As shown in the drawings, in the present application, the second joint group 60 is connected to the joint body 10 through the second joint 22, the end of the second joint 22 away from the joint body 10 is connected with a plurality of first joints 21 in sequence, and the third transmission rope 33 of the present application extends from the joint body 10 towards the second joint group 60, can pass through the third threading hole 215 on the second joint 22 and the third threading hole 215 of the two first joints 21 in sequence, and the end terminates on the second first joint 21, the end of the third transmission rope 33 and the sleeve are fixed in an extrusion holding manner, so as to fix the end of the third transmission rope 33 relative to the first joint 21.
[0118] In some realizable ways, the transmission assembly 30 further comprises a second transmission rope 32, one end of the second transmission rope 32 is arranged on the second joint 22 connected to the joint body 10, the other end of the second transmission rope 32 extends towards the first joint group, the second transmission rope 32 is arranged in the second threading hole 214 during the extension, and the end of the second transmission rope 32 away from the joint body 10 extends to the second joint 22 of the second joint group 60 for connection with the second joint group 60. The two ends of the second transmission rope 32 are respectively provided with sleeves, the sleeves and the ends of the second transmission rope 32 are fixed in an extrusion holding manner, and the second transmission rope 32 is tensioned between the two second joints 22.
[0119] Finally, it should be noted that: other embodiments of the present application will be easily conceived by those skilled in the art after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any variations, uses or adaptive changes of the present application, which follow the general principles of the present application and include common knowledge or conventional technical means in the art which are not disclosed by the present application, and are not limited to the precise structure described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present application is only limited by the appended claims.
Claims
1. A flexible joint assembly, characterized by, The joint body comprises: at least one joint group, the joint group comprising a plurality of sequentially arranged joints, the joints being provided with connecting portions at opposite ends, the adjacent two joints being rotationally connected through the connecting portions, and the connecting rotation axes of the same joint and the adjacent two joints being orthogonally arranged, and the joints at the end being connected to the joint body; and a transmission assembly, the transmission assembly comprising a plurality of transmission ropes, the plurality of transmission ropes being arranged in the joint from the joint body along the direction of the plurality of joints, at least part of the transmission ropes being combined in pairs, the joint being provided with two sets of threading positions on both sides of the connecting portion at one end, the connecting portion being clamped between the two sets of threading positions, each set of threading positions comprising at least two threading holes, the transmission ropes combined in pairs being arranged in the threading holes of the two sets of threading positions, and the ends of the transmission ropes combined in pairs being connected to the side of the joint away from the connecting portion after passing through the corresponding threading holes; the transmission assembly comprises a plurality of first transmission ropes, the joint being provided with a first threading hole and a second threading hole penetrating the joint on both sides of the connecting portion away from the joint body, the first threading hole and the second threading hole being combined into the threading position, and the first transmission rope being arranged in the first threading hole; the first threading hole and the second threading hole on the same side of the connecting portion are arranged at intervals, and the distance between the first threading hole and the second threading hole on one side of the connecting portion is equal to the distance between the first threading hole and the second threading hole on the other side, so that the lengths of the transmission ropes on both sides of the connecting portion between the first threading hole and the second threading hole are equal, and an "M" structure is formed between the two transmission ropes; the distances between the two second threading holes and the connecting portion away from the joint body are equal. The joint has a central axis perpendicular to the two connecting rotation axes of the joint, the plurality of first threading holes are arranged on the joint in a center-symmetrical manner relative to the central axis, and the plurality of second threading holes are arranged on the joint in a center-symmetrical manner relative to the central axis.
2. The flexible joint assembly of claim 1, wherein, The joint is further provided with a plurality of third threading holes, the transmission assembly further comprises a plurality of third transmission ropes, and the plurality of third transmission ropes are arranged in the plurality of third threading holes, respectively, the third threading holes are combined in pairs, and the third threading holes in the same combination are center-symmetric about the central axis of the joint.
3. The flexible joint assembly of claim 1, wherein, The plurality of third threading holes are arranged at equal intervals around the central axis of the joint, and the distance between the two center-symmetric third threading holes and the same rotation axis of the joint is equal.
4. The flexible joint assembly of claim 3, wherein, The joint is further provided with a plurality of fourth threading holes, the transmission assembly further comprises a plurality of fourth transmission ropes, and the plurality of fourth transmission ropes are arranged in the plurality of fourth threading holes, respectively, the fourth threading holes are combined in pairs in a center-symmetric manner about the central axis of the joint.
5. The flexible joint assembly of claim 3, wherein, The opposite ends of the joint are respectively provided with a first connecting portion and a second connecting portion, and the first connecting portion and the second connecting portion are rotationally connected.
6. The flexible joint assembly of claim 1, wherein, Two adjacent joints are further provided with a connecting piece, at least two spaced connecting shafts are protruded on the connecting piece, a first connecting hole is further formed on the first connecting part, and a second connecting hole is further formed on the second connecting part, and the two connecting shafts on the connecting piece are respectively rotationally connected to the first connecting hole and the second connecting hole.
7. The flexible joint assembly of any of claims 1-6, wherein, The joint group at least comprises a first joint group and a second joint group, the first joint group has a plurality of sequentially arranged first joints, the first joint group is further provided with a second joint and a third joint at intervals, and a plurality of the first joints are sequentially connected between the second joint and the third joint, the second joint group comprises a plurality of first joints, a plurality of the first joints are sequentially connected, and both ends of the second joint group are further provided with a second joint, and the second joint group is connected to the joint body and the second joint on the first joint group through the second joints at both ends.
8. A surgical robot, characterized by A flexible joint assembly comprising any one of claims 1-7.
Citation Information
Patent Citations
Surgical device
CN114533204A
Flexible surgical instrument, catheter and joint assembly
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