Double-joint flexible instrument and system, control method of double-joint flexible instrument and system and electronic equipment

Abstract

The invention belongs to the technical field of surgical instruments, and provides a double-joint flexible instrument, a system, a control method of the system and electronic equipment.The double-joint flexible instrument comprises an instrument base, a hard sleeve is arranged on the instrument base, and a bendable first hinge assembly is arranged at the end, away from the instrument base, of the hard sleeve; the end, away from the instrument base, of the first hinge assembly is provided with a bendable second hinge assembly, and the end, away from the first hinge assembly, of the second hinge assembly is provided with an instrument head for operation. The instrument base is further provided with a first driving assembly, a second driving assembly and a third driving assembly which drive the first hinge assembly, the second hinge assembly and the instrument head to act. By arranging the first hinge assembly and the second hinge assembly which can be bent, the first hinge assembly and the second hinge assembly are driven to be bent when an operation is carried out, the posture can be freely adjusted in a narrow and irregular space, a target focus can be accurately touched, then the instrument head is driven to carry out the operation, and the efficiency and quality of the operation are improved.

Description

Technical Field

[0001] The present application belongs to the technical field of surgical instruments, and more specifically, to a dual-joint flexible instrument, system and control method thereof, and electronic equipment. Background Art

[0002] Traditional surgical methods are often inadequate when faced with complex diseases. Not only are the incisions large and the patient's recovery slow, but the accuracy of the doctor's operation depends largely on personal experience and manual skills. Errors are very likely to occur when performing surgeries on delicate areas.

[0003] With the growing demand for medical care, minimally invasive surgery has emerged, aiming to perform complex surgical operations through tiny incisions, reduce patient trauma, and accelerate recovery. In this process, robotic arm-assisted surgery systems have gradually emerged. Although early single-joint robotic arms assisted doctors in completing some fine movements to a certain extent, their flexibility and ability to adapt to complex surgical scenarios still have obvious limitations.

[0004] For example, in head and neck surgery, the anatomical structure of the surgical area is extremely complex and is surrounded by dense nerve fibers and vascular networks. A single-joint robotic arm cannot adjust its posture freely in a narrow and irregular space and cannot accurately reach the target lesion. This urgently requires a mechanical device with better control performance to meet surgical needs. Summary of the invention

[0005] In order to solve the above-mentioned problems, on the first aspect, the technical solution adopted in this application is: to provide a double-joint flexible instrument, including an instrument seat, a hard sleeve is provided on the instrument seat, a bendable first hinge assembly is provided at one end of the hard sleeve away from the instrument seat, a bendable second hinge assembly is provided at one end of the first hinge assembly away from the instrument seat, an instrument head for surgery is provided at one end of the second hinge assembly away from the first hinge assembly, and a first drive assembly, a second drive assembly and a third drive assembly are also provided on the instrument seat for driving the first hinge assembly, the second hinge assembly and the instrument head to move.

[0006] Optionally, the first driving assembly includes a first motor, a second motor, two first steel wires and two second steel wires, the first motor and the second motor are respectively connected to the first rotating rod and the second rotating rod, the first ends of the two first steel wires and the two second steel wires pass through the first hinge assembly, the second ends of the two first steel wires and the two second steel wires pass through the hard sleeve and the instrument seat and are respectively wound around the first rotating rod and the second rotating rod, and the two first steel wires are the same steel wire, and the two second steel wires are the same steel wire.

[0007] Optionally, the first hinge assembly is formed by sequentially hingedly connecting a first proximal hinge, a plurality of first intermediate hinges and a first distal hinge, and the first steel wire and the second steel wire pass through the first proximal hinge, the plurality of first intermediate hinges and the first distal hinge in sequence.

[0008] Optionally, the number of the first intermediate hinges is 20 to 40.

[0009] Optionally, the second driving assembly includes a third motor, a fourth motor, two third steel wires and two fourth steel wires, the third motor and the fourth motor are respectively connected to the third rotating rod and the fourth rotating rod, the first ends of the two third steel wires and the two fourth steel wires pass through the first hinge assembly and the second hinge assembly, and the second ends of the two third steel wires and the two fourth steel wires pass through the hard sleeve and the instrument seat and are respectively wound around the third rotating rod and the fourth rotating rod.

[0010] Optionally, the second hinge assembly is formed by sequentially hingedly connecting a second proximal hinge, a plurality of second intermediate hinges and a second distal hinge, and the third steel wire and the fourth steel wire pass through the second proximal hinge, a plurality of second intermediate hinges and the second distal hinge in sequence.

[0011] Optionally, the number of the second intermediate hinges is 3 to 8.

[0012] Optionally, the third driving assembly includes a fifth motor, the fifth motor is connected to a fifth rotating rod, the fifth rotating rod is wrapped with a fifth steel wire, and the fifth steel wire passes through the instrument seat, the hard sleeve, the first hinge assembly, the second hinge assembly in sequence and is connected to the instrument head to drive the instrument head to move.

[0013] Optionally, it also includes a rotating assembly, which includes a sixth motor, the sixth motor is connected to a flexible sixth rotating rod, the first hinge assembly is rotatably connected to the second hinge assembly, and the sixth rotating rod passes through the hard sleeve and the first hinge assembly and is fixedly connected to the second hinge assembly in sequence.

[0014] Optionally, the rotating assembly further includes a first gear and a second gear, the sixth motor is connected to the first gear, the first gear is meshed with the second gear, and the second gear is transmission-connected to the sixth rotating rod.

[0015] Optionally, the sixth rotating rod includes a flat wire spring, which is located inside the first hinge assembly, has one end drivingly connected to the sixth motor, and the other end rotationally connected to the first hinge assembly and fixedly connected to the second hinge assembly.

[0016] Optionally, the sixth rotating rod further includes a transmission rod. One end of the transmission rod passes through the instrument seat and is fixedly connected to the second gear coaxially. The other end of the transmission rod passes through the rigid sleeve and is fixedly connected to the flat wire spring.

[0017] Optionally, the instrument head is a clamp head.

[0018] Optionally, the length of the first hinge assembly is 10 - 20 cm and the diameter is 5 - 8 mm. The length of the second hinge assembly is 3 - 5 cm and the diameter is 2 - 4 mm.

[0019] To solve the above problems, in a second aspect, the technical solution adopted by this application is: a double-joint flexible instrument system, including a control component and the double-joint flexible instrument as described above. The control component is electrically connected to the first drive component, the second drive component, and the third drive component of the double-joint flexible instrument respectively;

[0020] The control component is used to receive control instructions, and according to the control instructions, control the outputs of the first drive component, the second drive component, and the third drive component, and when the double-joint flexible instrument has a rotating component, also control the output of the rotating component according to the control instructions.

[0021] Optionally, the controlling the outputs of the first drive component, the second drive component, and the third drive component according to the control instructions, and when the double-joint flexible instrument has a rotating component, also controlling the output of the rotating component according to the control instructions includes:

[0022] The control component converts the control instructions into the desired pose of the double-joint flexible instrument, inputs the desired pose of the double-joint flexible instrument into a preset double-joint flexible instrument pose model, obtains the pose control information of the first drive component, the second drive component, and the third drive component, and controls the first drive component, the second drive component, and the third drive component respectively according to the respective pose control information;

[0023] When the double-joint flexible instrument has a rotating component, the control component converts the control instructions into the desired pose of the double-joint flexible instrument, inputs the desired pose of the double-joint flexible instrument into a preset double-joint flexible instrument pose model, obtains the pose control information of the first drive component, the second drive component, the third drive component, and the rotating component, and controls the first drive component, the second drive component, the third drive component, and the rotating component respectively according to the respective pose control information.

[0024] Optionally, the desired pose of the double-joint flexible instrument includes the desired pose of the connection point of the first hinge assembly and the second hinge assembly and / or the desired pose of the instrument head and / or the desired action of the instrument head and / or the desired rotation pose of the instrument head.

[0025] Optionally, the preset pose model of the double-joint flexible instrument includes a first hinge assembly model, a second hinge assembly model, an instrument head model, and a rotation model;

[0026] The input of the desired pose of the double-joint flexible instrument into the preset pose model of the double-joint flexible instrument includes:

[0027] Input the desired pose of the connection point between the first hinge assembly and the second hinge assembly into the first hinge assembly model to obtain the pose control information of the first drive assembly;

[0028] Input the desired pose of the instrument head into the second hinge assembly model to obtain the pose control information of the second drive assembly;

[0029] Input the desired movement of the instrument head into the instrument head model to obtain the pose control information of the third drive assembly;

[0030] Input the desired rotational pose of the instrument head into the rotation model to obtain the pose control information of the rotation assembly.

[0031] To achieve the solution of the above problems, in a third aspect, the technical solution adopted by the present application is: a control method for a double-joint flexible instrument system, which is applied to the double-joint flexible instrument system as described above, and includes the following steps:

[0032] Obtain a control instruction;

[0033] Convert the control instruction into the desired pose of the double-joint flexible instrument;

[0034] Input the desired pose of the double-joint flexible instrument into the preset pose model of the double-joint flexible instrument to obtain the pose control information of the first drive assembly, the second drive assembly, and the third drive assembly; when the double-joint flexible instrument has a rotation assembly, the pose control information of the rotation assembly is also obtained at this time;

[0035] Control the first drive assembly, the second drive assembly, and the third drive assembly respectively according to the respective pose control information; when there is pose control information of the rotation assembly, the rotation assembly is also controlled according to the pose control information of the rotation assembly.

[0036] To achieve the solution of the above problems, in a fourth aspect, the technical solution adopted by the present application is: an electronic device, including a memory, a processor, and a program stored on the memory and executable on the processor, characterized in that: when the processor executes the program, it implements the control method of the double-joint flexible instrument system as described above.

[0037] To achieve the above object, in a fifth aspect, the technical solution adopted in this application is: a computer-readable storage medium with a program stored thereon, characterized in that: when the program is executed by a processor, it implements the control method of the double-joint flexible instrument system as described above.

[0038] The beneficial effects of the double-joint flexible instrument provided in this application are as follows: Compared with the prior art, the double-joint flexible instrument provided in this application is provided with a bendable first hinge assembly and a second hinge assembly. During the operation, the first hinge assembly is driven to bend by the first driving assembly, and the second hinge assembly is driven to bend by the second driving assembly. The surgical instrument can freely adjust its posture in a narrow and irregular space, accurately reach the target lesion, and then drive the instrument head to perform the operation through the third driving assembly, improving the efficiency and quality of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0040] Figure 1 It is a schematic diagram of the overall structure of the double-joint flexible instrument provided in the embodiment of this application;

[0041] Figure 2 It is a schematic diagram of the structures of the first hinge assembly and the second hinge assembly provided in the embodiment of this application;

[0042] Figure 3 It is a schematic diagram of the movement directions of the first hinge assembly and the second hinge assembly provided in the embodiment of this application;

[0043] Figure 4 It is the front view of the double-joint flexible instrument provided in the embodiment of this application;

[0044] Figure 5 It is a schematic diagram of the internal structure of the instrument seat in the double-joint flexible instrument provided in the embodiment of this application Figure 1 ;

[0045] Figure 6 It is a schematic diagram of the internal structure of the instrument seat in the double-joint flexible instrument provided in the embodiment of this application Figure 2 ;

[0046] Figure 7 It is a schematic diagram of the connection structure between the flat wire spring and the second hinge assembly provided in the embodiment of this application;

[0047] Figure 8Schematic structural block diagram of the dual-joint flexible instrument system provided by the embodiment of the present application;

[0048] Figure 9 Schematic structural block diagram of another dual-joint flexible instrument system provided by the embodiment of the present application;

[0049] Figure 10 Schematic flowchart of the control method of the dual-joint flexible instrument system provided by the embodiment of the present application;

[0050] Figure 11 Schematic flowchart of the control method of another dual-joint flexible instrument system provided by the embodiment of the present application;

[0051] Figure 12 Schematic flowchart during the whole machine using the dual-joint flexible instrument system provided by the embodiment of the present application.

[0052] Among them, each reference numeral in the figure:

[0053] 1. Instrument seat; 2. Hard sleeve; 3. First hinge assembly; 31. First proximal hinge; 32. First intermediate hinge; 33. First distal hinge; 4. Second hinge assembly; 41. Second proximal hinge; 42. Second intermediate hinge; 43. Second distal hinge; 5. Instrument head; 6. First drive assembly; 61. First motor; 62. Second motor; 63. First rotating rod; 64. Second rotating rod; 65. First steel wire; 66. Second steel wire; 7. Second drive assembly; 71. Third motor; 72. Fourth motor; 73. Third rotating rod; 74. Fourth rotating rod; 75. Third steel wire; 76. Fourth steel wire; 8. Third drive assembly; 81. Fifth motor; 82. Fifth rotating rod; 83. Fifth steel wire; 9. Rotating assembly; 91. Sixth motor; 92. Sixth rotating rod; 93. First gear; 94. Second gear; 95. Transmission rod; 96. Flat wire spring; 97. Bearing. Detailed implementation manners

[0054] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0055] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0056] It should be understood that the orientation or positional relationship indicated by terms such as "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0057] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0058] Please refer to Figures 1-7 together, and now the double-joint flexible instrument provided by the embodiment of the present application will be described.

[0059] A double-joint flexible instrument, refer to Figure 1 , Figure 1 is a schematic diagram of the overall structure of the double-joint flexible instrument provided by the embodiment of the present application, including an instrument seat 1. A rigid sleeve 2 is provided on the instrument seat 1. A bendable first hinge assembly 3 is provided at one end of the rigid sleeve 2 away from the instrument seat 1. A bendable second hinge assembly 4 is provided at one end of the first hinge assembly 3 away from the instrument seat 1. An instrument head 5 for surgery is provided at one end of the second hinge assembly 4 away from the first hinge assembly 3. A first driving assembly 6, a second driving assembly 7, and a third driving assembly 8 for driving the first hinge assembly 3, the second hinge assembly 4, and the instrument head 5 to act are also provided on the instrument seat 1.

[0060] Refer to Figure 2 and Figure 3 , Figure 2 are schematic diagrams of the structures of the first hinge assembly and the second hinge assembly, Figure 3 is a schematic diagram of the movement directions of the first hinge assembly and the second hinge assembly. The double-joint flexible instrument provided by the present application is provided with the bendable first hinge assembly 3 and the second hinge assembly 4. During the surgery, the first hinge assembly 3 is driven by the first driving assembly 6 to bend in the XY direction, and the second hinge assembly 4 is driven by the second driving assembly 7 to bend in the Pitch / Yaw direction, so that the surgical instrument can freely adjust its posture in a narrow and irregular space and accurately touch the target lesion. When the instrument head 5 accurately touches the target lesion, the instrument head 5 is driven by the third driving assembly 8 to perform the surgery, improving the efficiency and quality of the surgery.

[0061] In some embodiments of the present application, refer to Figure 1 and Figures 4-6 , Figure 4 which is the front view of the double-joint flexible instrument provided by the embodiment of the present application, Figure 5 and Figure 1 is the schematic internal structure of the instrument seat in the double-joint flexible instrument provided by the embodiment of the present application Figure 6 and Figure 2 is also the schematic internal structure of the instrument seat in the double-joint flexible instrument provided by the embodiment of the present application. The first driving assembly 6 includes a first motor 61, a second motor 62, two first steel wires 65 and two second steel wires 66. The first motor 61 and the second motor 62 are respectively drivingly connected to a first rotating rod 63 and a second rotating rod 64. The first ends of the two first steel wires 65 and the two second steel wires 66 pass through the first hinge assembly 3, and the second ends of the two first steel wires 65 and the two second steel wires 66 pass through the rigid sleeve 2 and the instrument seat 1 and are respectively wound around the first rotating rod 63 and the second rotating rod 64, and the two first steel wires 65 are the same steel wire, and the two second steel wires 66 are the same steel wire.

[0062] When the first motor 61 and the second motor 62 drive the first rotating rod 63 and the second rotating rod 64 to rotate clockwise at the same time, the first hinge assembly 3 is driven to bend to the right through the first steel wire 65 and the second steel wire 66, thereby driving the second hinge assembly 4 and the instrument head 5 to bend to the right at the same time. When the first motor 61 and the second motor 62 drive the first rotating rod 63 and the second rotating rod 64 to rotate counterclockwise at the same time, the first hinge assembly 3 is driven to bend to the left through the first steel wire 65 and the second steel wire 66, thereby driving the second hinge assembly 4 and the instrument head 5 to bend to the left at the same time. When the first motor 61 drives the first rotating rod 63 to rotate counterclockwise and the second motor 62 drives the second rotating rod 64 to rotate clockwise at the same time, the first hinge assembly 3 is driven to bend upward through the first steel wire 65 and the second steel wire 66, thereby driving the second hinge assembly 4 and the instrument head 5 to bend upward at the same time. When the first motor 61 drives the first rotating rod 63 to rotate clockwise and the second motor 62 drives the second rotating rod 64 to rotate counterclockwise at the same time, the first hinge assembly 3 is driven to bend downward through the first steel wire 65 and the second steel wire 66, thereby driving the second hinge assembly 4 and the instrument head 5 to bend downward at the same time. Among them, the control logic can be determined according to the actual situation and is not limited herein.

[0063] In some embodiments of the present application, the two first steel wires 65 and the two second steel wires 66 are both evenly distributed within 45° in the radial direction of the first hinge assembly 3.

[0064] In some embodiments of the present application, refer to Figure 1 , Figure 2 and Figure 6The first hinge assembly 3 is formed by hingedly connecting a first proximal hinge 31, a plurality of first intermediate hinges 32 and a first distal hinge 33 in sequence, and the first steel wire 65 and the second steel wire 66 pass through the first proximal hinge 31, a plurality of first intermediate hinges 32 and the first distal hinge 33 in sequence. The first proximal hinge 31 is fixedly connected to the hard sleeve 2, and the first distal hinge 33 is connected to the second hinge assembly 4.

[0065] In some embodiments of the present application, the length of the first hinge assembly 3 is 10 to 20 cm, the diameter is 5 to 8 mm, and the number of the first intermediate hinges 32 is 20 to 40. Optionally, the length of the first hinge assembly 3 is 14 cm, the outer diameter is 7 mm, and the number of the first intermediate hinges 32 is 31. With this solution, the first hinge assembly 3 has a larger range of motion and higher operating accuracy, which can meet various surgical requirements.

[0066] In other embodiments of the present application, the first hinge assembly 3 may also adopt other lengths, such as 12 cm, 16 cm, etc., the first intermediate hinges 32 may also adopt other numbers, such as 25, 36, etc., and the diameter of the first hinge assembly 3 may also be 6 mm, 8 mm, etc., which is not limited in the present application.

[0067] In some embodiments of the present application, see Figure 1 , 4 -6, the second driving assembly 7 includes a third motor 71, a fourth motor 72, two third steel wires 75 and two fourth steel wires 76, the third motor 71 and the fourth motor 72 are respectively connected to the third rotating rod 73 and the fourth rotating rod 74, the first ends of the two third steel wires 75 and the two fourth steel wires 76 pass through the first hinge assembly 3 and the second hinge assembly 4, the second ends of the two third steel wires 75 and the two fourth steel wires 76 pass through the hard sleeve 2 and the instrument seat 1 and are respectively wound around the third rotating rod 73 and the fourth rotating rod 74, and the two third steel wires 75 are the same steel wire, and the two fourth steel wires 76 are the same steel wire.

[0068] When the third motor 71 and the fourth motor 72 drive the third rotating rod 73 and the fourth rotating rod 74 to rotate clockwise simultaneously, the second hinge assembly 4 is driven to bend rightward through the third steel wire 75 and the fourth steel wire 76, thereby driving the instrument head 5 to move rightward. When the third motor 71 and the fourth motor 72 drive the third rotating rod 73 and the fourth rotating rod 74 to rotate counterclockwise simultaneously, the second hinge assembly 4 is driven to bend leftward through the third steel wire 75 and the fourth steel wire 76, thereby driving the instrument head 5 to move leftward. When the third motor 71 drives the third rotating rod 73 to rotate counterclockwise and the fourth motor 72 drives the fourth rotating rod 74 to rotate clockwise simultaneously, the second hinge assembly 4 is driven to bend upward through the third steel wire 75 and the fourth steel wire 76, thereby driving the instrument head 5 to move upward. When the third motor 71 drives the third rotating rod 73 to rotate clockwise and the fourth motor 72 drives the fourth rotating rod 74 to rotate counterclockwise simultaneously, the second hinge assembly 4 is driven to bend downward through the third steel wire 75 and the fourth steel wire 76, thereby driving the instrument head 5 to move downward. Among them, the control logic can be determined according to the actual situation and is not limited herein.

[0069] In some embodiments of the present application, refer to Figure 1 、 Figure 2 and Figure 5 The second hinge assembly 4 is successively hinged by a second proximal hinge 41, a plurality of second intermediate hinges 42, and a second distal hinge 43. The third steel wire 75 and the fourth steel wire 76 both successively pass through the second proximal hinge 41, the plurality of second intermediate hinges 42, and the second distal hinge 43. The second proximal hinge 41 is rotationally connected to the first distal hinge 33, and the second distal hinge 43 is connected to the instrument head 5.

[0070] In some embodiments of the present application, the length of the second hinge assembly 4 is 3 - 5 cm, the diameter is 2 - 4 mm, and the number of the second intermediate hinges 42 is 3 - 8. Optionally, the length of the second hinge assembly 4 is 5 cm, the outer diameter is 3 mm, and the number of the second intermediate hinges 42 is 5. Adopting this solution, the second hinge assembly 4 has a smaller movement range and higher operation accuracy. When performing a surgery, first, the instrument head 5 is moved to the vicinity of the lesion through the first hinge assembly 3, and then the instrument head 5 is finely operated through the second hinge assembly 4, making the surgery more precise.

[0071] In some other embodiments of the present application, the second hinge assembly 4 can also adopt other lengths, such as 3 cm, 4 cm, etc., the first intermediate hinge 32 can also adopt other numbers, such as 3, 4, etc., and the diameter of the second hinge assembly 4 can also adopt 3 mm, 4 mm, etc. The present application does not make any limitations.

[0072] In some embodiments of the present application, refer to 1, Figure 4 and Figure 5, the third driving component 8 includes a fifth motor 81. The fifth motor 81 is connected to a fifth rotating rod 82. A fifth steel wire 83 is wound around the fifth rotating rod 82. The fifth steel wire 83 sequentially passes through the instrument seat 1, the rigid sleeve 2, the first hinge assembly 3, the second hinge assembly 4 and is connected to the instrument head 5, and is used to drive the instrument head 5 to act.

[0073] Specifically, the fifth motor 81 can drive the fifth rotating rod 82 to rotate. The fifth rotating rod 82 pulls the fifth steel wire 83, and the fifth steel wire 83 drives the instrument head 5 to act. The structure of driving the instrument head 5 to act by the steel wire is the prior art, and will not be elaborated in this application.

[0074] In some embodiments of the present application, the instrument head 5 is a clamp head. In some other embodiments of the present application, the instrument head 5 can also be other surgical instruments such as an electrocautery knife, and the present application does not make a limitation.

[0075] In some embodiments of the present application, refer to Figure 1 , 4 , 6, 7, Figure 7 is a schematic diagram of the connection structure between the flat wire spring and the second hinge assembly provided by the embodiment of the present application. The double-joint flexible instrument system further includes a rotating assembly 9. The rotating assembly 9 includes a sixth motor 91. The sixth motor 91 is connected to a bendable sixth rotating rod 92. The first hinge assembly 3 is rotatably connected to the second hinge assembly 4. The sixth rotating rod 92 sequentially passes through the rigid sleeve 2 and the first hinge assembly 3 and is fixedly connected to the second hinge assembly 4.

[0076] Refer to Figure 1 , 2 , 3, 6. The sixth motor 91 drives the bendable sixth rotating rod 92 to rotate. The rotation of the sixth rotating rod 92 can drive the second hinge assembly 4 to rotate around the axis of the second proximal hinge 41. Since only four steel wires can be used to control the second hinge assembly 4 to move in four directions of up, down, left and right, there will be dead angles within 360° in one week. By driving the second hinge assembly 4 to rotate around the axis of the second proximal hinge 41 by the sixth rotating rod 92, the dead angles can be eliminated, so that the instrument head 5 can reach any position, and the surgical operation is more accurate.

[0077] In some embodiments of the present application, refer to Figure 1 , 6 , the rotating assembly 9 further includes a first gear 93 and a second gear 94. The sixth motor 91 is connected to the first gear 93. The first gear 93 is engaged with the second gear 94, and the transmission ratio of the first gear 93 to the second gear 94 is less than 1. The second gear 94 is in transmission connection with the sixth rotating rod 92.

[0078] The sixth motor 91 drives the first gear 93 to rotate. The first gear 93 is in meshing transmission with the second gear 94, and the second gear 94 drives the sixth rotating rod 92 to rotate, thereby realizing the rotation control of the second hinge assembly 4. By setting the transmission ratio of the first gear 93 to the second gear 94 to be less than 1, more precise control of the rotation of the second hinge assembly 4 can be achieved. Optionally, the transmission ratio of the first gear 93 to the second gear 94 can also be set to be equal to 1 or greater than 1 according to specific requirements, which is not limited in this application.

[0079] In some embodiments of the present application, refer to Figure 1 、 6 、7, the sixth rotating rod 92 includes a flat wire spring 96. The flat wire spring 96 is located inside the first hinge assembly 3, with one end in transmission connection with the sixth motor 91, and the other end in rotational connection with the first hinge assembly 3 and fixedly connected to the second hinge assembly 4.

[0080] In some embodiments of the present application, one end of the flat wire spring 96 passes through the first hinge, the hard sleeve 2, and the instrument seat 1 and is coaxially fixedly connected to the second gear 94, and the other end is rotationally connected to the first distal hinge 33 in the first hinge assembly 3 through a bearing 97 and is coaxially fixedly connected to the second proximal hinge 41 in the second hinge assembly 4. The flat wire spring 96 can be bent to adapt to the shape of the first hinge assembly 3, and can rotate and transmit torque in the bent state, thereby driving the second hinge assembly 4 to rotate.

[0081] In some other embodiments of the present application, instead of using the flat wire spring 96, other rods that can be bent and transmit torque can also be used, which is not limited in this application.

[0082] In some embodiments of the present application, refer to Figure 6 、 Figure 7 ,the first steel wire 65 and the second steel wire 66 are located outside the sixth rotating rod 92, and the third steel wire 75, the fourth steel wire 76, and the fifth steel wire 83 all pass through the inside of the sixth rotating rod 92.

[0083] In some embodiments of the present application, refer to Figure 1 、 6 、7, the sixth rotating rod 92 further includes a transmission rod 95. One end of the transmission rod 95 passes through the instrument seat 1 and is coaxially fixedly connected to the second gear 94, and the other end of the transmission rod 95 passes through the hard sleeve 2 and is fixedly connected to the flat wire spring 96.

[0084] Specifically, the transmission rod 95 is a rigid pipe fitting. One end of the transmission rod 95 is fixedly connected to the second gear 94 coaxially, or can be drivingly connected to the second gear 94 through a transmission member. The other end of the transmission rod 95 is rotatably connected to one end of the rigid sleeve 2 close to the first hinge assembly 3 through a bearing, and is fixedly connected to the flat wire spring 96. Since the flat wire spring 96 has elasticity, there will inevitably be a loss of force when transmitting torque due to the action of friction. By providing the rigid transmission rod 95, the length of the flat wire spring 96 can be minimized, thereby reducing the loss of force and making the operation more precise.

[0085] Refer to Figure 8 , and now the double-joint flexible instrument system provided in the embodiments of the present application will be described.

[0086] A double-joint flexible instrument system includes a control component and the double-joint flexible instrument as described above. Among them, the control component is electrically connected to the first drive component, the second drive component, and the third drive component of the double-joint flexible instrument respectively.

[0087] Here, the control component is used to receive a control instruction, and control the outputs of the first drive component, the second drive component, and the third drive component according to the control instruction, and when the double-joint flexible instrument has a rotating component, also control the output of the rotating component according to the control instruction. When the double-joint flexible instrument has a rotating component, the system block diagram is referred to Figure 9 .

[0088] It can be understood that in the embodiments of the above double-joint flexible instrument system, by controlling the outputs of the first drive component, the second drive component, and the third drive component respectively through the control component, and in the case of having a rotating component, the output of the rotating component is also controlled by the control component, so that the pose of the instrument head of the double-joint flexible instrument can be adjusted according to the input control instruction.

[0089] And the control instruction can be a key signal, a rocker signal, a gesture information, a change in hand pose, etc.

[0090] In some embodiments of the present application, controlling the outputs of the first drive component, the second drive component, and the third drive component according to the control instruction, and when the double-joint flexible instrument has a rotating component, also controlling the output of the rotating component according to the control instruction may include:

[0091] The control component converts the control instruction into the desired pose of the double-joint flexible instrument, inputs the desired pose of the double-joint flexible instrument into a preset double-joint flexible instrument pose model, obtains the pose control information of the first drive component, the second drive component, and the third drive component, and controls the first drive component, the second drive component, and the third drive component respectively according to each pose control information;

[0092] When the dual-joint flexible instrument has a rotation component, the control component converts the control instruction into the desired pose of the dual-joint flexible instrument, inputs the desired pose of the dual-joint flexible instrument into a preset dual-joint flexible instrument pose model, obtains the pose control information of the first drive component, the second drive component, the third drive component, and the rotation component, and controls the first drive component, the second drive component, the third drive component, and the rotation component respectively according to the respective pose control information.

[0093] It can be understood that since the pose control of the instrument head of the dual-joint flexible instrument is relatively complex, if it is completely calculated in real time on site, it will consume a large amount of computing power and is prone to cause a large time delay. Therefore, in the above embodiments, a preset dual-joint flexible instrument pose model is used to calculate the respective pose control information, thereby improving the calculation efficiency.

[0094] When the control component converts the control instruction into the desired pose of the dual-joint flexible instrument, since the dual-joint flexible instrument has a first hinge component driven by the first drive component, a second hinge component driven by the second drive component, and an instrument head driven by the third drive component, and there may even be a rotation component, it is necessary to determine the outputs of the first drive component, the second drive component, the third drive component, and the rotation component (if any).

[0095] Therefore, in some embodiments of the present application, the desired pose of the dual-joint flexible instrument may include the desired pose of the connection point between the first hinge component and the second hinge component and / or the desired pose of the instrument head and / or the desired movement of the instrument head and / or the desired rotation pose of the instrument head.

[0096] It can be understood that there are many ways to convert the control instruction into the desired pose of the dual-joint flexible instrument, which is related to the form of the control instruction itself. For example:

[0097] When the control instruction uses a key signal, the corresponding key signal and the corresponding key signal duration can be set to determine the desired pose of the connection point between the first hinge component and the second hinge component and / or the desired pose of the instrument head and / or the desired movement of the instrument head and / or the desired rotation pose of the instrument head;

[0098] When the control instruction uses a gesture signal, the corresponding gesture signal, hand movement signal, etc. can be agreed upon to determine the desired pose of the connection point between the first hinge component and the second hinge component and / or the desired pose of the instrument head and / or the desired movement of the instrument head and / or the desired rotation pose of the instrument head.

[0099] Even the control instruction can be set to only obtain the final desired pose of the instrument head. Based on the obtained final desired pose of the instrument head, the control component inversely derives a more appropriate desired pose of the connection point between the first hinge component and the second hinge component and / or the desired pose of the instrument head and / or the desired movement of the instrument head and / or the desired rotational pose of the instrument head through a preset double-joint flexible instrument pose model. Here, the "more appropriate" can be set according to specific circumstances. For example, in order to avoid excessive movement range of the first hinge component from hurting the surgical patient, it can be set that when the instrument head can move to the final desired pose, the desired pose of the connection point between the first hinge component and the second hinge component with the smallest pose change of the first hinge component is selected; it is also possible to combine the endoscopic image to delimit the movement ranges of the first hinge component, the second hinge component and the instrument head, and select the corresponding desired pose of the connection point between the first hinge component and the second hinge component and / or the desired pose of the instrument head and / or the desired movement of the instrument head and / or the desired rotational pose of the instrument head from within this movement range.

[0100] It can be seen that there are many ways to convert the control instruction into the desired pose of the double-joint flexible instrument, which will not be elaborated here.

[0101] In some embodiments of the present application, the preset double-joint flexible instrument pose model may include a first hinge component model, a second hinge component model, an instrument head model and a rotation model;

[0102] Here, inputting the desired pose of the double-joint flexible instrument into the preset double-joint flexible instrument pose model may include:

[0103] Inputting the desired pose of the connection point between the first hinge component and the second hinge component into the first hinge component model to obtain the pose control information of the first drive component;

[0104] Inputting the desired pose of the instrument head into the second hinge component model to obtain the pose control information of the second drive component;

[0105] Inputting the desired movement of the instrument head into the instrument head model to obtain the pose control information of the third drive component;

[0106] Inputting the desired rotational pose of the instrument head into the rotation model to obtain the pose control information of the rotation component.

[0107] It can be understood that, due to the relatively large number of joints in the dual-joint flexible instrument and its flexibility, theoretically, the instrument head can reach any pose within a certain range, so its control is relatively complex. Therefore, the pose model of the dual-joint flexible instrument is split into a first hinge assembly model, a second hinge assembly model, an instrument head model, and a rotation model. Among them, the first hinge assembly model corresponds to the first hinge assembly and the first drive assembly, and is used to simulate the first hinge assembly of the dual-joint flexible instrument driven by the first drive assembly; the second hinge assembly model corresponds to the second hinge assembly and the second drive assembly, and is used to simulate the second hinge assembly of the dual-joint flexible instrument driven by the second drive assembly; the instrument head model corresponds to the instrument head and the third drive assembly, and is used to simulate the instrument head of the dual-joint flexible instrument driven by the third drive assembly; the rotation model corresponds to the rotation assembly, the second hinge assembly, and the instrument head, and is used to simulate the rotation of the second hinge assembly of the dual-joint flexible instrument driven by the sixth motor through the sixth transmission rod, thereby causing the instrument head to rotate. In addition, the instrument head model is related to the instrument head itself. It generally has only one action such as opening and closing, pushing and pulling, etc., and can also be omitted or directly replaced by a corresponding calculation formula. In the first hinge assembly model, the second hinge assembly model, and the rotation model, the corresponding dimensions and other information of each component must be included for easy calculation, and they are generally forward kinematic models, that is, the simulated drive assembly is used to control the simulated corresponding model to achieve the purpose. Therefore, after inputting the corresponding expected information (the expected pose of the connection point between the first hinge assembly and the second hinge assembly, the expected pose of the instrument head, the expected action of the instrument head, the expected rotation pose of the instrument head), the corresponding inverse operation needs to be performed to inversely solve the corresponding pose control information.

[0108] Please note that when there is a rotation assembly, since the rotation assembly drives the entire second hinge assembly to rotate, when calculating the pose control information, if the pose control information corresponding to the expected pose of the instrument head is calculated first, and then the pose control information corresponding to the expected rotation pose of the instrument head is calculated, it may cause a large error in the pose control information corresponding to the expected pose of the instrument head. At this time, the corresponding pose control information needs to be recalculated according to the expected pose of the instrument head. Similarly, if the expected pose of the connection point between the first hinge assembly and the second hinge assembly and / or the expected pose of the instrument head and / or the expected action of the instrument head and / or the expected rotation pose of the instrument head are respectively sent to the above first hinge assembly model, second hinge assembly model, instrument head model, and rotation model for calculation and then summarized, the above problem will also occur, and the corresponding pose control information needs to be recalculated according to the expected pose of the instrument head.

[0109] Refer to Figure 10 , and now the control method of the dual-joint flexible instrument system provided in the embodiments of the present application will be described.

[0110] A control method for a double-joint flexible instrument system, which is applied to the double-joint flexible instrument system as described above, includes the following steps:

[0111] Obtain a control instruction;

[0112] Convert the control instruction into the desired pose of the double-joint flexible instrument;

[0113] Input the desired pose of the double-joint flexible instrument into a preset double-joint flexible instrument pose model to obtain the pose control information of the first drive assembly, the second drive assembly, and the third drive assembly; when the double-joint flexible instrument has a rotating assembly, the pose control information of the rotating assembly is also obtained at this time;

[0114] Control the first drive assembly, the second drive assembly, and the third drive assembly respectively according to the respective pose control information; when there is pose control information of the rotating assembly, the flowchart is referred to Figure 11 , and the rotating assembly is also controlled according to the pose control information of the rotating assembly.

[0115] Here, an example is given to illustrate it:

[0116] During actual use, such as Figure 12As shown in the figure, for the whole machine, it is necessary to first perform the zeroing step of the isolation seat to reduce the operation error caused by the isolation seat; then perform positioning to position each component; then perform the pose adjustment of the robotic arm, which will drive the pose change of the dual-joint flexible instrument installed on the robotic arm; then perform the zeroing of the instrument to reduce the error caused by instrument manipulation and update the corresponding model; then the main controller of the whole machine obtains the corresponding control commands, including the control instructions corresponding to the dual-joint flexible instrument; then convert the control instructions into the desired pose of the dual-joint flexible instrument. Among them, the desired pose of the dual-joint flexible instrument includes the desired pose of the connection point between the first hinge assembly and the second hinge assembly and / or the desired pose of the instrument head and / or the desired movement of the instrument head and / or the desired rotational pose of the instrument head and / or the desired pose of the overall forward or backward movement of the dual-joint flexible instrument; then send them into the corresponding first hinge assembly model, second hinge assembly model, instrument head model, and rotation model respectively for inverse operation to obtain the corresponding pose control information (the calculation of the desired pose of the overall forward or backward movement of the dual-joint flexible instrument is not the focus of this application, which is driven by the robotic arm, so it will not be elaborated here), such as the rotation direction and rotation number of the output shafts of each motor in the above embodiments; finally, integrate these pose control information. When integrating, it is necessary to avoid problems such as "when first calculating the pose control information corresponding to the desired pose of the instrument head and then calculating the pose control information corresponding to the desired rotational pose of the instrument head, it may cause a large error in the pose control information corresponding to the desired pose of the instrument head". When such problems occur, re-adjust according to the current pose control information, that is, it is necessary to recalculate the corresponding pose control information according to the desired pose of the instrument head and then perform integration; after integration, send it to each drive component for corresponding output, and return to the step where the main controller of the whole machine obtains the corresponding control commands for cycling.

[0117] In an embodiment of the present application, an electronic device is further provided, including a memory, a processor, and a program stored on the memory and executable on the processor. Wherein, when the processor executes the program, it implements the control method of the dual-joint flexible instrument system as described above.

[0118] In an embodiment of the present application, a computer-readable storage medium is further provided, on which a program is stored. Wherein, when the program is executed by the processor, it implements the control method of the dual-joint flexible instrument system as described above.

[0119] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A double-joint flexible instrument, characterized in that: It includes an instrument seat, which is provided with a hard sleeve, a bendable first hinge assembly is provided at one end of the hard sleeve away from the instrument seat, a bendable second hinge assembly is provided at one end of the first hinge assembly away from the instrument seat, an instrument head for surgery is provided at one end of the second hinge assembly away from the first hinge assembly, and a first drive assembly, a second drive assembly and a third drive assembly for driving the first hinge assembly, the second hinge assembly and the instrument head to move are also provided on the instrument seat.

2. The double-joint flexible instrument according to claim 1, characterized in that: The first driving assembly includes a first motor, a second motor, two first steel wires and two second steel wires, the first motor and the second motor are respectively connected to the first rotating rod and the second rotating rod, the first ends of the two first steel wires and the two second steel wires pass through the first hinge assembly, the second ends of the two first steel wires and the two second steel wires pass through the hard sleeve and the instrument seat and are respectively wound around the first rotating rod and the second rotating rod, and the two first steel wires are the same steel wire, and the two second steel wires are the same steel wire.

3. The double-joint flexible instrument according to claim 2, characterized in that: The first hinge assembly is formed by sequentially hingedly connecting a first proximal hinge, a plurality of first intermediate hinges and a first distal hinge, and the first steel wire and the second steel wire pass through the first proximal hinge, a plurality of the first intermediate hinges and the first distal hinge in sequence.

4. The double-joint flexible instrument as claimed in claim 3, characterized in that: The number of the first intermediate hinges is 20 to 40.

5. The double-joint flexible instrument according to claim 1, characterized in that: The second driving assembly includes a third motor, a fourth motor, two third steel wires and two fourth steel wires, the third motor and the fourth motor are respectively connected to the third rotating rod and the fourth rotating rod, the first ends of the two third steel wires and the two fourth steel wires pass through the first hinge assembly and the second hinge assembly, and the second ends of the two third steel wires and the two fourth steel wires pass through the hard sleeve and the instrument seat and are respectively wound around the third rotating rod and the fourth rotating rod.

6. The double-joint flexible instrument according to claim 5, characterized in that: The second hinge assembly is formed by hingedly connecting a second proximal hinge, a plurality of second intermediate hinges and a second distal hinge in sequence, and the third steel wire and the fourth steel wire pass through the second proximal hinge, a plurality of second intermediate hinges and the second distal hinge in sequence.

7. The double-joint flexible instrument according to claim 6, characterized in that: The number of the second intermediate hinges is 3 to 7.

8. The double-joint flexible instrument according to claim 1, characterized in that: The third driving assembly includes a fifth motor, the fifth motor is connected to a fifth rotating rod, the fifth rotating rod is wrapped with a fifth steel wire, and the fifth steel wire passes through the instrument seat, the hard sleeve, the first hinge assembly, the second hinge assembly in sequence and is connected to the instrument head to drive the instrument head to move.

9. The double-joint flexible instrument according to claim 1, characterized in that: It also includes a rotating assembly, which includes a sixth motor, and the sixth motor is connected to a flexible sixth rotating rod. The first hinge assembly is rotatably connected to the second hinge assembly, and the sixth rotating rod passes through the hard sleeve and the first hinge assembly in sequence to be fixedly connected to the second hinge assembly.

10. The double-joint flexible instrument according to claim 9, characterized in that: The rotating assembly further includes a first gear and a second gear, the sixth motor is connected to the first gear, the first gear is meshed with the second gear, and the second gear is transmission-connected to the sixth rotating rod.

11. The double-joint flexible instrument according to claim 10, characterized in that: The sixth rotating rod comprises a flat wire spring, which is located inside the first hinge assembly, has one end drivingly connected to the sixth motor, and the other end rotationally connected to the first hinge assembly and fixedly connected to the second hinge assembly.

12. The double-joint flexible instrument according to claim 11, characterized in that: The sixth rotating rod also includes a transmission rod, one end of which passes through the instrument seat and is coaxially fixedly connected to the second gear, and the other end of which passes through the hard sleeve and is fixedly connected to the flat wire spring.

13. The double-joint flexible instrument according to claim 1, characterized in that: The instrument head is a forceps head.

14. The double-joint flexible instrument according to claim 1, characterized in that: The length of the first hinge component is 10-20 cm and the diameter is 5-8 mm, and the length of the second hinge component is 3-5 cm and the diameter is 2-4 mm.

15. A dual-joint flexible instrument system, characterized in that: It comprises a control component and the double-joint flexible apparatus as claimed in any one of claims 1 to 14, wherein the control component is electrically connected to the first drive component, the second drive component and the third drive component of the double-joint flexible apparatus respectively; The control component is used to receive control instructions and control the output of the first drive component, the second drive component and the third drive component according to the control instructions, and when the dual-joint flexible instrument has a rotating component, the output of the rotating component is also controlled according to the control instructions.

16. The dual-joint flexible instrument system according to claim 15, characterized in that: The step of controlling the outputs of the first drive assembly, the second drive assembly, and the third drive assembly according to the control instruction, and when the dual-joint flexible apparatus has a rotating assembly, also controlling the output of the rotating assembly according to the control instruction, comprises: The control component converts the control instruction into the desired posture of the dual-joint flexible instrument, inputs the desired posture of the dual-joint flexible instrument into a preset dual-joint flexible instrument posture model, obtains posture control information of the first drive component, the second drive component and the third drive component, and controls the first drive component, the second drive component and the third drive component respectively according to the posture control information; When the dual-joint flexible instrument has a rotating component, the control component converts the control instruction into the desired posture of the dual-joint flexible instrument, inputs the desired posture of the dual-joint flexible instrument into a preset dual-joint flexible instrument posture model, obtains posture control information of the first drive component, the second drive component, the third drive component and the rotating component, and controls the first drive component, the second drive component, the third drive component and the rotating component respectively according to each posture control information.

17. The dual-joint flexible instrument system according to claim 16, characterized in that: The desired posture of the dual-joint flexible instrument includes the desired posture of the connection point between the first hinge component and the second hinge component and / or the desired posture of the instrument head and / or the desired movement of the instrument head and / or the desired rotational posture of the instrument head.

18. The dual-joint flexible instrument system according to claim 17, characterized in that: The preset dual-joint flexible instrument posture model includes a first hinge component model, a second hinge component model, an instrument head model and a rotation model; The step of inputting the desired posture of the dual-joint flexible instrument into a preset dual-joint flexible instrument posture model comprises: Inputting the desired posture of the connection point between the first hinge component and the second hinge component into the first hinge component model to obtain posture control information of the first drive component; Inputting the desired posture of the instrument head into the second hinge assembly model to obtain posture control information of the second drive assembly; Inputting the expected movement of the instrument head into the instrument head model to obtain the posture control information of the third drive component; The desired rotational posture of the instrument head is input into the rotation model to obtain the posture control information of the rotation component.

19. A control method for a dual-joint flexible instrument system, applied to the dual-joint flexible instrument system according to any one of claims 15 to 18, characterized in that: The following steps are involved: Get control instructions; Converting the control instruction into a desired posture of the dual-joint flexible instrument; Inputting the desired posture of the dual-joint flexible instrument into a preset dual-joint flexible instrument posture model to obtain posture control information of the first drive component, the second drive component and the third drive component; when the dual-joint flexible instrument has a rotating component, the posture control information of the rotating component is also obtained at this time; The first drive component, the second drive component and the third drive component are controlled respectively according to each posture control information; when there is posture control information of the rotation component, the rotation component is also controlled according to the posture control information of the rotation component.

20. An electronic device comprising a memory, a processor, and a program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the control method of the dual-joint flexible instrument system as described in claim 19 is implemented.

21. A computer-readable storage medium having a program stored thereon, characterized in that: When the program is executed by a processor, the control method of the double-joint flexible instrument system as described in claim 19 is implemented.

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