Medical flexible mechanical arm and surgical robot

Abstract

The invention discloses a medical flexible mechanical arm and a surgical robot, and the medical flexible mechanical arm comprises a surgical execution end which is used for executing surgical operation; the flexible arm extends lengthwise, the shape can be bent, the flexible arm comprises a first flexible section and a second flexible section, one end of the first flexible section is connected with the operation executing end, and the second flexible section is connected with the other end of the first flexible section; the first flexible transmission pipe penetrates through the interior of the second flexible section, one end of the first flexible transmission pipe is connected with the first rotating mechanism, the other end of the first flexible transmission pipe is fixedly connected with the first flexible section, and the first flexible transmission pipe is used for transmitting rotating torque to the first flexible section so that the first flexible section can rotate relative to the second flexible section; the first flexible transmission pipe comprises at least three layers of first spring pipes which are mutually nested, the inner diameter of the first spring pipe on the outer layer is roughly equal to the outer diameter of the first spring pipe on the adjacent inner layer, and the winding directions of the two adjacent layers of first spring pipes are opposite. Therefore, the torque transmission capacity and bending flexibility of the medical flexible mechanical arm can be improved, and the service life of the medical flexible mechanical arm can be prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical robots, and in particular relates to a medical flexible mechanical arm and a surgical robot. Background Art

[0002] A robot used for minimally invasive surgery usually has a flexible robotic arm, at the end of which a surgical actuator is disposed and inserted through a small opening (eg, a body wall incision, a natural orifice) to reach the surgical site.

[0003] Existing flexible robotic arms are usually two-section, including a first flexible section and a second flexible section, each of which can be bent freely, and the surgical actuator is arranged at the end of the first flexible section. Existing flexible robotic arms transmit torque to the first flexible section or the surgical actuator through a hypotube. The wall of the hypotube is hollowed out with a slit by laser cutting. The shape and width of the slit are closely related to the toughness, bending ability, and torque transmission ability of the hypotube. However, during the torque transmission process, stress concentration is easily generated at both ends or the inflection point of the slit, which affects the torque transmission ability and service life of the hypotube.

[0004] Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Summary of the invention

[0005] Therefore, the present invention aims to solve the technical problems of poor torque transmission capability, short bending flexibility and short service life of the prior art medical flexible mechanical arm.

[0006] In order to solve the above technical problems, the present invention provides a medical flexible robotic arm, comprising:

[0007] A surgical execution end, used to perform surgical operations;

[0008] The flexible arm is longitudinally extended and bendable, and comprises a first flexible segment and a second flexible segment, wherein one end of the first flexible segment is connected to the surgical execution end, and the second flexible segment is connected to the other end of the first flexible segment;

[0009] A first flexible transmission tube, which runs through the second flexible segment, has one end connected to the first rotating mechanism and the other end fixedly connected to the first flexible segment, and is used to transmit a rotational torque to the first flexible segment so that the first flexible segment rotates relative to the second flexible segment;

[0010] The first flexible transmission tube comprises at least three layers of first spring tubes nested with each other, the inner diameter of the outer first spring tube is substantially equal to the outer diameter of the adjacent inner first spring tube, and the winding directions of two adjacent first spring tubes are opposite.

[0011] Preferably, the medical flexible robotic arm further comprises:

[0012] The second flexible transmission tube runs through the inside of the first flexible section and the second flexible section, with one end connected to the surgical execution end and the other end connected to the second rotating mechanism, for transmitting rotational torque to the surgical execution end;

[0013] The diameter of the first flexible transmission tube is greater than that of the second flexible transmission tube, and the second flexible transmission tube runs through the inside of the first flexible transmission tube.

[0014] Preferably, the second flexible transmission tube includes at least three layers of second spring tubes nested with each other. The inner diameter of the outer second spring tube is substantially equal to the outer diameter of the adjacent inner second spring tube, and the winding directions of two adjacent layers of the second spring tubes are opposite.

[0015] Preferably, the medical flexible robotic arm further includes:

[0016] A third flexible transmission tube runs through the inside of the first flexible section and the second flexible section, with one end connected to the surgical execution end and the other end connected to the third rotating mechanism, for transmitting rotational torque to the surgical execution end;

[0017] The surgical execution end has an operation process and a release process, and the torque for triggering the operation process is greater than the torque for triggering the release process; the third flexible transmission tube is used to drive the surgical execution end to switch between the operation process and the release process.

[0018] Preferably, the third flexible transmission tube includes two layers of third spring tubes nested with each other. The inner diameter of the outer third spring tube is substantially equal to the outer diameter of the adjacent inner third spring tube, and the winding directions of the two layers of the third spring tubes are opposite; the outer third spring tube is closely fitted in response to the third rotating mechanism rotating in the first direction to drive the surgical execution end to execute the operation process.

[0019] Preferably, the cross-section of the spring wire of the second spring tube is square, the cross-section of the spring wire of the third spring tube is circular, and the cross-sectional area of the spring wire of the third spring tube is smaller than the cross-sectional area of the spring wire of the second spring tube.

[0020] Preferably, there is a fitting gap between the inner surface of the second flexible transmission tube and the outer surface of the third flexible transmission tube, and the fitting gap is smaller than the diameter of the spring wire of the third spring tube.

[0021] Preferably, the second flexible transmission tube is a Hypotube, and the Hypotube includes a slit. The slit includes a linear part and circular hole parts located at both ends of the linear part, and the diameter of the circular hole part is greater than the maximum width of the linear part.

[0022] Preferably, the third flexible transmission tube is hollow inside, and the medical flexible robotic arm further includes a cable passing through the third flexible transmission tube. The cable is connected to the surgical execution end, and the cable is a conductive cable.

[0023] In addition, the present invention also provides a surgical robot, including the medical flexible robotic arm according to any one of the above embodiments.

[0024] The technical solution provided by the present invention has the following advantages:

[0025] For the medical flexible robotic arm and the surgical robot provided by the present invention, the first flexible transmission tube adopts at least three layers of first spring tubes nested with each other. The inner diameter of the outer first spring tube is approximately equal to the outer diameter of the adjacent inner first spring tube, and the winding directions of two adjacent first spring tubes are opposite. The torque transmission capacity and durability of the spring tube are better. Moreover, the bending angle adjustment of the spring tube is more flexible, and it can be bent arbitrarily along with the flexible arm, thereby reducing the reaction force on the flexible arm and suppressing the influence on the bending angle of the flexible arm, and improving the positioning control accuracy of the end of the flexible arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0027] Figure 1 FIG. is a schematic three-dimensional structure diagram of the medical flexible robotic arm provided by the embodiment of the present invention;

[0028] Figure 2 FIG. is a schematic partial cross-sectional structure diagram of the connection between the first flexible section and the second flexible section of the medical flexible robotic arm provided by the present invention in the straight state;

[0029] Figure 3 FIG. is a schematic partial cross-sectional structure diagram of the position of the surgical execution end of the medical flexible robotic arm provided by the present invention in the straight state;

[0030] Figure 4 FIG. is a schematic three-dimensional structure diagram of the first flexible transmission tube of the medical flexible robotic arm provided by the embodiment of the present invention;

[0031] Figure 5 is Figure 4 FIG. is a schematic end-face structure diagram of the first flexible transmission tube shown;

[0032] Figure 6 FIG. is a schematic three-dimensional structure diagram of the third flexible transmission tube of the medical flexible robotic arm provided by the embodiment of the present invention;

[0033] Figure 7 For Figure 6 The enlarged structural schematic diagram of the end c region of the third flexible transmission tube shown;

[0034] Figure 8 For Figure 6 The cross-sectional structural schematic diagram of the third flexible transmission tube shown;

[0035] Figure 9 The three-dimensional structural schematic diagram of the surgical execution end of the medical flexible robotic arm provided by the embodiment of the present invention;

[0036] Figure 10 The partially omitted structural schematic diagram of the second flexible transmission tube of the medical flexible robotic arm provided by another embodiment of the present invention. Detailed implementation manners

[0037] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and embodiments. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0038] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence.

[0039] In the present invention, unless otherwise stated, the orientation words such as "up", "down", "top", "bottom" are usually in the direction shown in the drawings, or in the vertical, perpendicular or gravitational direction of the component itself; similarly, for the convenience of understanding and description, "inside" and "outside" refer to the inside and outside relative to the contour of each component itself, but the above orientation words do not limit the present invention.

[0040] Embodiment 1

[0041] This embodiment provides a medical flexible robotic arm for performing surgical operations. Please refer to Figure 1 Shown, this medical flexible robotic arm includes a surgical execution end 10, a flexible arm and an operation part 50. The medical flexible robotic arm extends longitudinally as a whole. The surgical execution end 10 and the operation part 50 are respectively arranged at opposite ends of the flexible arm. The surgical execution end 10 is used to perform surgical operations, and the operation part 50 is used for medical staff to operate to control the surgical operations of the surgical execution end 10.

[0042] Among them, the flexible arm extends longitudinally, and its shape can be bent. The bending angle can be adjusted and can be positioned at any bent angle. The flexible arm includes a first flexible section 20 and a second flexible section 30. The first flexible section 20 and the second flexible section 30 are connected in series. One end of the first flexible section 20 is connected to the surgical execution end 10, and the second flexible section 30 is connected to the other end of the first flexible section 20. The bending angles of the first flexible section 20 and the second flexible section 30 can be adjusted independently. Both the first flexible section 20 and the second flexible section 30 include a straight state and a bent state. Taking the first flexible section 20 as an example, in the straight state, the first flexible section 20 (the second flexible section 30) extends in a straight line. In the bent state, the first flexible section 20 (the second flexible section 30) has a bent shape with a bending angle, and its center line is generally curved.

[0043] The connection between the first flexible section 20 and the second flexible section 30 is pivotally arranged. The first flexible section 20 can rotate relative to the second flexible section 30 around the axis at the connection. Specifically, the connection between the first flexible section 20 and the second flexible section 30 is coaxially arranged. The first flexible section 20 can rotate relative to the second flexible section 30, thereby driving the surgical execution end 10 to rotate, and the position and angle of the surgical execution end 10 can be adjusted more flexibly.

[0044] Figure 2 It is a partial sectional structure schematic diagram of the connection between the first flexible section and the second flexible section of the medical flexible robotic arm provided by the present invention in the straight state. Figure 3 It is a partial sectional structure schematic diagram of the position of the surgical execution end of the medical flexible robotic arm provided by the present invention in the straight state. Please combine Figure 2 and Figure 3 As shown, the medical flexible robotic arm further includes a first flexible transmission tube 60 arranged inside the flexible arm. The first flexible transmission tube 60 is used to transmit torque to the first flexible section 20, thereby driving the first flexible section 20 to rotate relative to the second flexible section 30 around the axis at the connection. Specifically, the medical flexible robotic arm further includes a first rotating mechanism for driving the first flexible transmission tube 60. The first flexible transmission tube 60 passes through the inside of the second flexible section 30, is connected to the first rotating mechanism at one end, and is fixedly connected to the first flexible section 20 at the other end for transmitting rotational torque to the first flexible section 20 to enable the first flexible section 20 to rotate relative to the second flexible section 30. Among them, the first rotating mechanism is arranged in the operation part 50, and the first flexible transmission tube 60 is connected to the first rotating mechanism through an intermediate mechanism. The first rotating mechanism makes a rotational movement, driving the first flexible transmission tube 60 to rotate around its own axis, thereby transmitting the torque from the first rotating mechanism to the first flexible section 20 and driving the first flexible section 20 to rotate. Specifically, the above-mentioned intermediate mechanism can be a hard rod connection or a soft rod connection, which is not limited herein.

[0045] The first flexible transmission tube 60 includes at least three layers of first spring tubes nested with each other. Figure 4 and Figure 5 The structure diagram of the three-layer first spring tube is shown. In this specific embodiment, the three-layer first spring tube is respectively an outer first spring tube 601, a middle first spring tube 602 and an inner first spring tube 603. The inner diameter of the outer first spring tube is roughly equal to the outer diameter of the adjacent inner first spring tube, and the winding directions of the two adjacent first spring tubes are opposite. The inner surface of the outer first spring tube fits the outer surface of the adjacent inner first spring tube, and the three first spring tubes are closely attached to each other and support each other.

[0046] Specifically, each layer of the first spring tube is formed by winding a spring wire in a fixed direction, and the diameter of the winding is the same everywhere. In this way, each layer of the first spring tube formed is in the shape of a barrel. Each layer of the first spring tube is in the shape of a barrel when viewed separately. The three layers of the first spring tube are nested with each other, and the outer diameter increases from the inside to the outside. The first spring tube located in the outer layer is wound around the first direction, and the first spring tube in the adjacent inner layer is wound around the second direction. The first direction is different from the second direction. Exemplarily, if the first spring tube located in the outer layer is wound around the counterclockwise direction, the first spring tube in the adjacent inner layer is wound around the clockwise direction. The winding directions of the adjacent first spring tubes are opposite. In the process of transmitting a single-direction torque, the deformation directions of the first spring tubes of the adjacent two layers are different, one shows a trend of tightening the inner diameter, and the other shows a trend of expanding the outer diameter. At least one can reliably transmit the torque, which can improve the reliability of torque transmission.

[0047] The medical flexible mechanical arm provided in this embodiment has a first flexible transmission tube that adopts a structure of at least three layers of first spring tubes nested in each other, the inner diameter of the outer first spring tube is roughly equal to the outer diameter of the adjacent inner first spring tube, and the winding directions of the two adjacent first spring tubes are opposite. Compared with the torque transmission structure of the existing hypotube, the torque transmission capacity and durability of the spring tube are better, and the bending angle of the spring tube is more flexible to adjust, and can bend arbitrarily with the flexible arm, thereby reducing the reaction force on the flexible arm, reducing the impact on the bending angle of the flexible arm, and improving the accuracy of the positioning control of the end of the flexible arm.

[0048] The surgical execution end 10 is provided with the end of the first flexible section 20, and the surgical actuator contacts the lesion to perform the surgical operation. Since the lesions are complex and multiple, the degree of freedom of the surgical actuator is high, and the surgical actuator needs to flexibly change its posture to facilitate the surgical operation.

[0049] In order to ensure the positioning accuracy and surgical operation of the surgical execution end, in one embodiment, please combine Figure 2 and 3As shown, the medical flexible robotic arm further includes a second flexible transmission tube 70 for driving the surgical execution end 10. The second flexible transmission tube 70 penetrates through the inside of the first flexible section 20 and the second flexible section 30, is connected to the surgical execution end 10 at one end, and is connected to the second rotating mechanism at the other end for transmitting the rotational torque to the surgical execution end 10. The diameter of the second flexible transmission tube 70 is smaller than that of the first flexible transmission tube 60, and the second flexible transmission tube 70 penetrates through the inside of the first flexible transmission tube 60. The second rotating mechanism is disposed within the operation section 50. The second rotating mechanism is used to drive the second flexible transmission tube 70 to rotate about its own axis. Similar to the first rotating mechanism, the second rotating mechanism can also be connected to the second flexible transmission tube 70 through an intermediate mechanism to transmit the rotational power to the second flexible rotating tube. The type of the intermediate mechanism is not limited herein.

[0050] The shape of the second flexible transmission tube 70 is bendable and can change along with the shape of the flexible arm. In a specific embodiment, the second flexible transmission tube 70 includes at least three layers of second spring tubes nested with each other. The inner diameter of the outer second spring tube is substantially equal to the outer diameter of the adjacent inner second spring tube, and the winding directions of two adjacent layers of second spring tubes are opposite. Similar to the structure of the first spring tube of the first flexible transmission tube 60, the outer second spring tube is nested outside the inner second spring tube. The inner surface of the outer second spring tube is in fitting contact with the outer surface of the adjacent inner second spring tube, and the inner second spring tube serves to support the outer second spring tube. The winding directions of two adjacent layers of second spring tubes are opposite. The structure of the second flexible transmission tube 70 is similar to that of the first flexible transmission tube 60, except for the different diameter sizes. Therefore, the second flexible transmission tube can refer to the relevant introduction of the first flexible transmission tube 60, which will not be elaborated herein.

[0051] In a specific embodiment, please refer to Figure 2 and 3 As shown, the medical flexible robotic arm further includes a third flexible transmission tube 80 for driving the end effector 10 to perform surgical operations. Specifically, the third flexible transmission tube 80 penetrates through the inside of the first flexible section 20 and the second flexible section 30, is connected to the surgical execution end 10 at one end, and is connected to the third rotating mechanism at the other end for transmitting the rotational torque to the surgical execution end 10 to control the surgical operations of the surgical execution end.

[0052] Specifically, the surgical execution end 10 has an operation process and a release process. Generally, the operation process is the process of the surgical execution end 10 performing surgical operations, such as the clamping process; the release process is the opposite process of the operation, and the release process has a lower requirement for torque. That is to say, the torque triggering the operation process is greater than the torque triggering the release process. The third flexible transmission tube 80 is used to drive the surgical execution end 10 to switch between the operation process and the release process.

[0053] Exemplarily, taking the surgical execution end 10 as a surgical forceps for illustration, please refer to Figure 3 and Figure 9 As shown, the surgical execution end 10 includes a first jaw 101, a second jaw 102, a first transmission rod 105 and a second transmission rod 103. The first jaw 101 and the second jaw 102 are pivotally connected. Figure 3 is the clamping state after the surgical forceps complete the operation process, and the first jaw 101 and the second jaw 102 bite each other. Figure 9 is the relaxed state after the surgical forceps complete the release process, and the first jaw 101 opens relative to the second jaw 102. The first transmission rod 105 is connected to the third flexible transmission tube 80 and is driven by the third flexible transmission tube 80 to perform a rotational motion. At the same time of the rotational motion, it also performs an axial motion, so as to drive the first jaw 101 and the second jaw 102 to pivot relative to each other through the second transmission rod 103, and switch between the clamping device and the biting state.

[0054] Specifically, please refer to Figure 6 、 Figure 7 and Figure 8 , the third flexible transmission tube includes two layers of third spring tubes 801 and 802 nested with each other. The inner diameter of the outer third spring tube 801 is approximately equal to the outer diameter of the adjacent inner third spring tube 802, and the winding directions of the two layers of third spring tubes 801 and 802 are opposite; the outer third spring tube 801 closely cooperates in response to the third rotating mechanism rotating in the first direction to drive the surgical execution end 10 to execute the operation process. For the operation process, a relatively large torque needs to be transmitted, and the torque transmission is mainly achieved through the outer third spring tube 801. As the opposite release process, the transmitted torque is smaller, so it can be mainly achieved by relying on the torque transmission of the inner third spring tube 802. On the one hand, the increase in the diameter of the first flexible section is inhibited, and the wall thickness of the third flexible transmission tube is also reduced, improving the flexible bending ability of the third flexible transmission tube.

[0055] The second flexible transmission tube 70 is used to transmit the rotational torque to the surgical execution end 10 to control the rotation of the surgical execution end 10. Since the second flexible transmission tube needs to transmit the rotational torque of the surgical execution end, the second spring tube has to undertake a certain torque transmission function.

[0056] In order to ensure the efficiency and reliability of torque transmission, in a specific embodiment, the cross-section of the second spring tube is square. Among them, the square can be a square or a rectangle. The second spring tube wound by the spring wire with a square cross-section has high stiffness and load-bearing capacity, can meet the torque transmission requirements of the second flexible transmission tube, and has good vibration resistance and fatigue resistance. The outer surface of each layer of the second spring tube is cylindrical, and the contact area between adjacent turns of the spring wire is larger. During the torque transmission process, adjacent spring wires push against each other through the contact surface, ensuring the consistent stability of the force transmission of the push, and can ensure the torque transmission ability. Moreover, the contact surface between adjacent two layers of the second spring tube is a cylindrical surface, and the fitting clearance between the inner and outer layers of the second spring tube is smaller. The supporting force of the inner layer of the second spring tube on the outer layer of the second spring tube tends to be uniform everywhere, and the torque transmission ability is more reliable.

[0057] Similarly, the cross-section of the first spring tube is square. The first spring tube wound by the spring wire with a square cross-section has high stiffness and load-bearing capacity, can meet the torque transmission requirements of the first flexible transmission tube, and has good vibration resistance and fatigue resistance. It can be referred to the description of the second spring tube and will not be elaborated here.

[0058] In other embodiments, the cross-section of the spring wire of the second spring tube can also be circular. Specifically, when the cross-section of the spring wire of the second spring tube is circular, the cross-sectional area of the spring wire is larger than that of the spring wire of the first spring tube. Among them, the cross-section of the first spring tube is square.

[0059] Furthermore, the cross-section of the spring wire of the third spring tube is circular, and the cross-sectional area of the spring wire of the third spring tube is smaller than that of the spring wire of the second spring tube. The third spring tube is wound by the spring wire with a circular cross-section. Compared with the spring wire with a square cross-section, the spring wire with a circular cross-section has uniform stress distribution, gradual increase of load, has good buffering and absorption capacity, and has greater structural strength, which can meet the diversity of operation changes of the surgical execution end 10, durability and higher-precision positioning requirements. The cross-sectional area of the spring wire of the third spring tube is smaller than that of the spring wire of the first spring tube, ensuring a smaller outer diameter and more flexible angular bending ability.

[0060] Preferably, there is a fitting clearance between the inner surface of the second flexible transmission tube 70 and the outer surface of the third flexible transmission tube 80, and the fitting clearance is smaller than the diameter of the spring wire of the third spring tube. In this way, in the length part of the third spring tube inside the second spring tube, the clearance between the inner surface of the second flexible transmission tube 70 and the outer surface of the third flexible transmission tube 80 is smaller. During the torque transmission process, the second flexible transmission tube 70 can play a role in restricting further expansion when the outer diameter of the outer layer spring wire of the third spring tube expands, ensuring the reliability of torque transmission.

[0061] In one embodiment, the third flexible transmission tube is hollow inside, and the medical flexible robotic arm further includes a cable (not shown) passing through the second flexible transmission tube, and the cable is connected to the surgical execution end 10, and the cable is a conductive cable. The cable can be used to transmit electrical signals to the surgical execution end 10, so that the surgical execution end 10 can perform more surgical operations, such as electrical cutting and other surgical operations.

[0062] For other embodiments, see Figure 10 As shown, the second flexible transmission tube is a hypotube 90. Slits (901, 903) are provided on the tube wall of the hypotube, and the hollow structure can realize the bending angle adjustment and torque transmission of the hypotube. Specifically, the slits (901, 903) include a linear portion 901 and circular hole portions 903 located at both ends of the linear portion 901, and the diameter of the circular hole portion 903 is greater than the maximum width of the linear portion 901.

[0063] Of course, in other embodiments, the third flexible transmission tube may also be a hypotube. That is, the second flexible transmission tube may be a hypotube or the third flexible transmission tube may be a hypotube, or both the second flexible transmission tube and the third flexible transmission tube may be hypotubes, which is not limited here.

[0064] In a specific embodiment, the first flexible segment 20 and the second flexible segment 30 are both formed by a plurality of nodes connected in series, and adjacent nodes can pivot relative to each other, thereby achieving bending deformation of the entire flexible segment. Figure 3 The first flexible segment 20 includes a plurality of first segments 201, the first segments 201 have a uniform outer diameter and are connected head to tail. The second flexible segment 30 includes a plurality of second segments 301, the second segments 301 have a uniform outer diameter and are connected head to tail. The outer diameter of the first segment 201 is smaller than the outer diameter of the second segment 301. The bending radius of the first flexible segment 20 is smaller than the bending radius of the second flexible segment 30, so that the bending angle adjustment of the flexible robotic arm is more flexible and diverse, and the angle adjustment of the surgical execution end is more flexible.

[0065] Example 2

[0066] The present invention also provides a surgical robot, comprising the medical flexible robotic arm described in any of the above embodiments. The surgical robot also includes a controller for controlling the bending and positioning of the flexible segment of the medical flexible robotic arm. The above structures and components are all described in detail in the first embodiment, and the same components are marked with the same reference numerals and are not repeated here.

[0067] Obviously, the embodiments described above are only a part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, those of ordinary skill in the art can make other different forms of changes or variations without creative efforts, and all of them should fall within the scope of protection of the present invention.

Claims

1. A medical flexible robotic arm, characterized in that, include: A surgical execution end, used to perform surgical operations; The flexible arm is longitudinally extended and bendable, and comprises a first flexible segment and a second flexible segment, wherein one end of the first flexible segment is connected to the surgical execution end, and the second flexible segment is connected to the other end of the first flexible segment; A first flexible transmission tube, which runs through the second flexible segment, has one end connected to the first rotating mechanism and the other end fixedly connected to the first flexible segment, and is used to transmit a rotational torque to the first flexible segment so that the first flexible segment rotates relative to the second flexible segment; The first flexible transmission tube comprises at least three layers of first spring tubes nested with each other, the inner diameter of the outer first spring tube is substantially equal to the outer diameter of the adjacent inner first spring tube, and the winding directions of two adjacent first spring tubes are opposite.

2. The medical flexible robotic arm according to claim 1, wherein The medical flexible robotic arm also includes: A second flexible transmission tube runs through the first flexible segment and the second flexible segment, one end of which is connected to the surgical execution end, and the other end of which is connected to the second rotating mechanism, for transmitting the rotational torque to the surgical execution end; The diameter of the first flexible transmission tube is greater than that of the second flexible transmission tube, and the second flexible transmission tube runs through the interior of the first flexible transmission tube.

3. The medical flexible robotic arm according to claim 2, characterized in that, The second flexible transmission tube includes at least three layers of second spring tubes nested with each other, the inner diameter of the second spring tube in the outer layer is substantially equal to the outer diameter of the second spring tube in the adjacent inner layer, and the winding directions of two adjacent layers of the second spring tube are opposite.

4. The medical flexible robotic arm according to claim 3, characterized in that, The medical flexible robotic arm also includes: A third flexible transmission tube runs through the first flexible section and the second flexible section, one end of which is connected to the surgical execution end, and the other end of which is connected to the third rotating mechanism, for transmitting the rotational torque to the surgical execution end; The surgical execution end has an operation process and a release process, and the torque triggering the operation process is greater than the torque triggering the release process; the third flexible transmission tube is used to drive the surgical execution end to switch between the operation process and the release process.

5. The medical flexible robotic arm according to claim 4, characterized in that, The third flexible transmission tube includes two layers of third spring tubes nested in each other, the inner diameter of the outer layer of the third spring tube is roughly equal to the outer diameter of the adjacent inner layer of the third spring tube, and the winding directions of the two layers of the third spring tube are opposite; the outer layer of the third spring tube responds to the third rotating mechanism rotating in the first direction and tightly cooperates to drive the surgical execution end to perform the operation process.

6. The medical flexible robotic arm according to claim 5, wherein The cross section of the spring wire of the second spring tube is square, the cross section of the spring wire of the third spring tube is circular, and the cross-sectional area of ​​the spring wire of the third spring tube is smaller than the cross-sectional area of ​​the spring wire of the second spring tube.

7. The medical flexible robotic arm according to claim 6, wherein An inner surface of the second flexible transmission tube and an outer surface of the third flexible transmission tube have a matching gap, and the matching gap is smaller than a diameter of a spring wire of the third spring tube.

8. The medical flexible robotic arm according to claim 2, wherein The second flexible transmission tube is a hypotube, which includes a slit, and the slit includes a linear portion and circular hole portions located at two ends of the linear portion, and the diameter of the circular hole portion is greater than the maximum width of the linear portion.

9. The medical flexible robotic arm according to claim 4, wherein, The interior of the third flexible transmission tube is hollow, and the medical flexible robotic arm further includes a cable passing through the third flexible transmission tube. The cable is connected to the surgical execution end, and the cable is a conductive cable.

10. A surgical robot, characterized in that, Comprising the medical flexible robotic arm according to any one of claims 1-9.

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