Snake bone assembly and surgical robot

Abstract

The invention relates to the technical field of medical equipment, and provides a snake bone assembly and a surgical robot. The snake bone assembly comprises a plurality of snake bone joints which are sequentially arranged in the preset direction, so that the whole snake bone assembly can extend in the preset direction. The first meshing pieces and the second meshing pieces of every two adjacent snake-shaped joints are matched in a meshing mode, so that the first meshing pieces and the second meshing pieces can rotate relatively, and the two adjacent snake-shaped joints can rotate relatively. The traction holes of the snake joints can allow traction ropes to penetrate through, so that one traction rope can penetrate through the traction holes of the multiple snake joints, and the adjacent snake joints can be controlled to rotate relatively through the traction ropes. The first meshing piece is in meshing fit with the second meshing piece, so that the connecting structure of the first meshing piece and the second meshing piece is simple, the assembling and connecting procedures are simple and convenient, the snake bone assembly is easy to maintain, and the preparation technology is relatively simple.

Description

Technical Field

[0001] The present application relates to a snake bone assembly and a surgical robot, and relates to the technical field of medical equipment. Background Art

[0002] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes and related equipment. To improve the safety and stability of minimally invasive surgery, some procedures are performed using minimally invasive surgical robots. The endoscope is the core component of the minimally invasive surgical robot, and the serpentine is the core component of the endoscope.

[0003] Currently, multiple snake bone segments in a snake bone are connected by a connecting rod structure to allow adjacent snake bone segments to rotate relative to each other. However, the connecting rod structure is relatively complex, resulting in complex assembly of the snake bone structure and inconvenient maintenance. Summary of the Invention

[0004] The present application provides a snake bone assembly and a surgical robot to solve the problems of complex structure and inconvenient maintenance of the snake bone in related technologies.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides a snake bone assembly, comprising:

[0007] A plurality of snake bone sections are sequentially arranged along a preset direction, each of the snake bone sections having a traction hole for a traction rope to pass through;

[0008] Among the two adjacent snake bone sections, one of the snake bone sections includes a first engaging member, and the other snake bone section includes a second engaging member. The first engaging member is engaged with the second engaging member so that the two adjacent snake bone sections can rotate relative to each other to form an angle.

[0009] In the snake bone assembly provided by the present application, a plurality of snake bone segments are arranged in sequence along a preset direction, so that the snake bone assembly as a whole can extend along the preset direction. The first meshing member of two adjacent snake bone segments meshes with the second meshing member, so that the first meshing member and the second meshing member can rotate relative to each other, thereby allowing the two adjacent snake bone segments to rotate relative to each other. The traction hole of the snake bone segment can be passed through by a traction rope, so that a traction rope can pass through the traction holes of multiple snake bone segments, and the relative rotation of adjacent snake bone segments can be controlled by the traction rope. The meshing member of the first meshing member and the second meshing member makes the connection structure of the first meshing member and the second meshing member simple, and the assembly and connection process is simple and convenient, thereby making the snake bone assembly of the present application easy to maintain and the preparation process relatively simple.

[0010] In some embodiments, the first engagement member includes a plurality of first engagement portions, and the plurality of first engagement portions are arranged at intervals so that the snake bone segment has a first engagement groove located between adjacent first engagement portions;

[0011] The second engagement member includes a plurality of second engagement grooves, and the plurality of second engagement grooves are arranged at intervals so that the snake bone segment has a second engagement portion located between adjacent second engagement grooves;

[0012] At least one of the first engaging portions is engaged in one of the second engaging grooves; and / or,

[0013] At least one of the second engaging portions is engaged in one of the first engaging grooves.

[0014] By matching multiple first engagement portions with multiple second engagement grooves, and matching multiple second engagement portions with multiple first engagement grooves, the engagement stability of the first engagement member and the second engagement member can be enhanced, thereby making the structure of the snake bone assembly more stable and reliable.

[0015] In some embodiments, the plurality of snake bone segments include at least one first snake bone segment and two second snake bone segments, the first snake bone segment includes the first engagement member and the second engagement member, and the first engagement member and the second engagement member are located on opposite sides of the first snake bone segment;

[0016] Two second snake bone sections are located at two ends of the snake bone assembly, and the second snake bone sections include two first engaging members or two second engaging members;

[0017] The first engaging member of the first serpentine segment is engaged with the second engaging member of an adjacent serpentine segment, and the second engaging member of the first serpentine segment is engaged with the first engaging member of another adjacent serpentine segment.

[0018] The first snake bone segment can cooperate with the adjacent first snake bone segment or the second snake bone segment, so that the snake bone assembly of the present application can have more snake bone segments, thereby increasing the length of the snake bone assembly.

[0019] In some embodiments, the orthographic projection of the first engaging member of the first serpentine segment on a preset plane is a first projection, and the orthographic projection of the second engaging member of the first serpentine segment on the preset plane is a second projection, the preset plane is perpendicular to the axis of the serpentine segment, and the first projection and the second projection are staggered.

[0020] By staggering the first engaging member and the second engaging member of the first snake bone segment, the first snake bone segment can be rotated in different directions relative to the two adjacent snake bone segments, thereby making the adjustable posture of the snake bone assembly more diverse and improving the applicability of the snake bone assembly.

[0021] In some embodiments, the first snake bone segment includes two first engaging members and two second engaging members, the two first engaging members are arranged opposite to each other, and the two second engaging members are arranged opposite to each other;

[0022] The second snake bone segment includes two first engaging members or two second engaging members, and the two first engaging members are arranged opposite to each other, or the two second engaging members are arranged opposite to each other.

[0023] By making the first serpentine segment include two first engagement members and two second engagement members, and making the second serpentine segment include two first engagement members or two second engagement members, the connection between the first serpentine segment and the adjacent first serpentine segment or second serpentine segment can be made more stable and reliable.

[0024] In some embodiments, the first engagement groove and the second engagement groove both have a first notch and a second notch, the first notch is oriented toward the end of the serpentine segment, and the second notch is oriented toward the side wall of the serpentine segment.

[0025] By making the first meshing groove and the second meshing groove both have a first notch and a second notch, the first meshing portion can be inserted into the second meshing groove through the second notch of the second meshing groove, and the second meshing portion can be inserted into the first meshing groove through the second notch of the first meshing groove, making it more convenient to assemble the first meshing member and the second meshing member.

[0026] In some embodiments, the snake bone segment further includes a limiting member, and among two adjacent snake bone segments, the limiting member of one of the snake bone segments is opposite to the first meshing portion or the second meshing portion of the other snake bone segment, and the limiting member cooperates with the first meshing portion or the second meshing portion in the direction of the second notch.

[0027] By providing the limiting member, the first meshing portion and the second meshing portion can be limited to avoid the first meshing portion and the second meshing portion from separating and falling off from each other.

[0028] In some embodiments, the side where the two limiting members abut against each other is an arc surface, and during the process of the two adjacent snake bone segments rotating relative to each other to form an angle, the two limiting members rotate relative to each other and continue to abut against each other.

[0029] The arcuate surfaces of the two serpentine joints' stoppers abut against each other, allowing the two serpentine joints to be held in abutment by the two stoppers. This reduces the abutting force between the adjacent first and second meshing members, resulting in less wear during relative rotation of the first and second meshing members, thereby protecting the first and second meshing members. Furthermore, the arcuate surfaces of the two stoppers allow them to continuously abut against each other during relative rotation, thereby making relative rotation of the two stoppers more stable and smooth.

[0030] In some embodiments, the snake bone segment is provided with a limiting member whose number is opposite to the first meshing members and the second meshing members, and the limiting member is located between the two first meshing members and / or the two second meshing members, or located on the opposite outsides of the two first meshing members and / or the two second meshing members.

[0031] By providing two limiting members, the limiting member and the first engaging member and / or the second engaging member can be mutually limited, thus making the connection between adjacent snake bone segments stable.

[0032] In some embodiments, the snake bone segment is a one-piece structure.

[0033] The snake segment is an integrated structure, which can enhance the connection stability between the stopper and the first engaging member, as well as the connection stability between the stopper and the second engaging member, thereby making the snake segment structurally stable. Furthermore, the stopper and other components of the snake segment do not need to be assembled separately, and the stopper and other components of the snake segment do not need to be connected by additional connecting components, making the snake segment structure more compact, and the manufacturing process requires fewer steps, thereby reducing the manufacturing cost.

[0034] In a second aspect, based on the above snake-bone assembly, the present application also provides a surgical robot, comprising the above snake-bone assembly.

[0035] The surgical robot provided in the present application includes the above-mentioned snake bone assembly, which makes the preparation process of the surgical robot relatively simple and easy to maintain. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0037] Figure 1 A schematic diagram of a snake bone assembly provided in an embodiment of the present application;

[0038] Figure 2A schematic diagram of one side of the first snake bone segment of the snake bone assembly provided in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of the other side of the first snake bone segment of the snake bone assembly provided in an embodiment of the present application;

[0040] Figure 4 A schematic diagram of the second snake bone segment of the snake bone assembly provided in an embodiment of the present application;

[0041] Figure 5 A schematic diagram of a first notch and a second notch of a snake bone assembly provided in an embodiment of the present application;

[0042] Figure 6 A schematic diagram of the guide surface of the limiting member of the snake bone assembly provided in an embodiment of the present application.

[0043] Description of reference numerals:

[0044] 100-snake bone segment; 110-traction hole; 100a-first snake bone segment; 100b-second snake bone segment;

[0045] 200 - first engagement member; 210 - first engagement portion; 220 - first engagement groove; 221 - first notch; 222 - second notch;

[0046] 300 - second engagement member; 310 - second engagement portion; 320 - second engagement groove;

[0047] 400-limiting member; 410-guiding surface;

[0048] 500-Leash. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0050] Minimally invasive surgery refers to a surgical procedure performed within the human body using modern medical devices such as laparoscopes and thoracoscopes and related equipment. To improve the safety and stability of minimally invasive surgery, some procedures are performed using minimally invasive surgical robots. The endoscope is the core component of the minimally invasive surgical robot, and the serpentine is the core component of the endoscope.

[0051] Currently, multiple snake bone segments in a snake bone are connected by a connecting rod structure to allow adjacent snake bone segments to rotate relative to each other. However, the connecting rod structure is relatively complex, resulting in complex assembly of the snake bone structure and inconvenient maintenance.

[0052] In the snake bone assembly proposed in the present application, a plurality of snake bone segments are arranged in sequence along a preset direction, so that the entire snake bone assembly can extend along the preset direction. The first meshing member of two adjacent snake bone segments meshes with the second meshing member, so that the first meshing member and the second meshing member can rotate relative to each other, thereby allowing the two adjacent snake bone segments to rotate relative to each other. The traction hole of the snake bone segment can be passed through by a traction rope, so that a traction rope can pass through the traction holes of multiple snake bone segments, and the relative rotation of adjacent snake bone segments can be controlled by the traction rope. The meshing member of the first meshing member and the second meshing member makes the connection structure of the first meshing member and the second meshing member simple, and the assembly and connection process is simple and convenient, thereby making the snake bone assembly of the present application easy to maintain and the preparation process relatively simple.

[0053] The surgical robot proposed in this application includes the above-mentioned snake bone assembly, which makes the preparation process of the surgical robot relatively simple and easy to maintain.

[0054] The contents of this application will be described in detail below with reference to the accompanying drawings so that those skilled in the art can understand the contents of this application more clearly and in detail.

[0055] This application proposes a snake bone component, referring to Figure 1 As shown, it includes a plurality of snake bone segments 100. The snake bone assembly can be applied to a surgical robot.

[0056] Among them, the snake bone section 100 is the basic component of the snake bone assembly of the present application, and the snake bone section 100 can provide an installation foundation for at least some of the other components of the power distribution device. The snake bone section 100 can be made of polymer, so that the weight of the snake bone section 100 is relatively light. Of course, the snake bone section 100 can also be made of metal material, so that the snake bone section 100 has better structural strength to enhance the stability and reliability of the snake bone section 100. In addition, the snake bone section 100 can also be partially made of polymer material and partially made of metal material, so that the snake bone section 100 can have both better structural strength and lighter weight. This application does not limit the specific material of the snake bone section 100.

[0057] The plurality of snake bone segments 100 are sequentially arranged along a preset direction, so that the entire snake bone assembly can extend along the preset direction. Among the plurality of snake bone segments 100, one of two adjacent snake bone segments 100 includes a first meshing member 200, and the other snake bone segment 100 includes a second meshing member 300. The first meshing member 200 and the second meshing member 300 engage with each other, allowing the first meshing member 200 and the second meshing member 300 to rotate relative to each other. Accordingly, one of the two adjacent snake bone segments 100 can rotate relative to the other snake bone segment 100 through the engagement of the first meshing member 200 and the second meshing member 300, thereby allowing the two adjacent snake bone segments 100 to be movably connected.

[0058] Specifically, one of the first and second engagement members 200 and 300 may have an engagement groove structure, and the other of the first and second engagement members 200 and 300 may have an engagement tooth structure. The engagement tooth structure may be embedded within the engagement groove structure, such that the inner wall of the engagement groove structure and the outer wall of the engagement tooth structure abut against each other and limit each other. When the engagement tooth structure is acted upon by the outer wall, it may slide relative to the inner wall of the engagement groove structure, thereby causing the engagement tooth structure to rotate relative to the engagement groove structure, thereby enabling the first and second engagement members 200 and 300 to rotate relative to each other, and ultimately enabling the two adjacent serpentine segments 100 to rotate relative to each other.

[0059] Each of the multiple snake segments 100 has a traction hole 110 through which a traction rope 500 is passed. One end of the traction rope 500 can be connected to the instrument box of the surgical robot, and the traction rope 500 is passed through the traction hole 110 of the multiple snake segments 100. The instrument box can drive the traction rope 500 to expand and contract, causing the length of the portion of the traction rope 500 located within the multiple snake segments 100 to change. In this way, the traction rope 500 can abut against the inner wall of the traction hole 110, causing the snake segments 100 to rotate relative to each other under force, ultimately achieving the purpose of changing the orientation of the snake assembly.

[0060] The first engaging member 200 and the second engaging member 300 engage with each other, so that the connection structure of the first engaging member 200 and the second engaging member 300 is simple and the assembly connection process is simple and convenient, thereby making the snake bone assembly of the present application easy to maintain and the preparation process relatively simple.

[0061] In some embodiments, reference Figure 2 and Figure 3 As shown, the first engaging member 200 of the present application may be provided to include a plurality of first engaging portions 210, wherein the plurality of first engaging portions 210 are tooth-shaped structures protruding from the main structure of the serpentine segment 100, and the plurality of first engaging portions 210 are arranged at intervals, and accordingly, a first engaging groove 220 of a concave structure may be formed between adjacent first engaging portions 210 in the plurality of first engaging portions 210, so that the serpentine segment 100 having the first engaging member 200 also has a first engaging groove 220.

[0062] The second engaging member 300 can be provided with a plurality of second engaging grooves 320, and the plurality of second engaging grooves 320 are tooth groove structures recessed on the main structure of the snake bone segment 100. The plurality of second engaging grooves 320 are arranged at intervals. Accordingly, a second engaging portion 310 with a convex structure can be formed between adjacent second engaging grooves 320 in the plurality of second engaging grooves 320, so that the snake bone segment 100 having the second engaging member 300 also has a second engaging portion 310.

[0063] The multiple first engagement portions 210 in the first engagement member 200 can mate with the multiple second engagement grooves 320 in the second engagement member 300. Correspondingly, the first engagement grooves 220 in the first engagement member 200 can mate with the second engagement portions 310 in the second engagement member 300. Thus, when two adjacent serpentine segments 100 rotate relative to each other, at least one first engagement portion 210 of the first engagement member 200 engages with one second engagement groove 320 of the second engagement member 300, or at least one second engagement portion 310 of the second engagement member 300 engages with one first engagement groove 220 of the first engagement member 200, thereby maintaining the engagement between the first engagement member 200 and the second engagement member 300. Consequently, the two adjacent serpentine segments 100 can remain rotatably connected, preventing them from disengaging.

[0064] Specifically, when the first engaging member 200 rotates relative to the second engaging member 300, when a first engaging portion 210 of the first engaging member 200 disengages from a second engaging groove 320 of the second engaging member 300, another first engaging portion 210 of the first engaging member 200 can be embedded in another second engaging groove 320 of the second engaging member 300, so that the first engaging member 200 and the second engaging member 300 can always maintain engagement.

[0065] By providing a plurality of first engaging portions 210 to engage with a plurality of second engaging grooves 320, and a plurality of second engaging portions 310 to cooperate with a plurality of first engaging grooves 220, the engagement connection stability of the first engaging member 200 and the second engaging member 300 can be enhanced, so that the rotational stability of the first engaging member 200 and the second engaging member 300 when rotating relative to each other is better.

[0066] In addition, it should be understood that when the number of first engaging portions 210 in the first engaging member 200 is the same as the number of second engaging grooves 320 in the second engaging member 300, and the number of first engaging grooves 220 in the first engaging member 200 is consistent with the number of second engaging portions 310 in the second engaging member 300, the first engaging member 200 and the second engaging member 300 have the same structure and can be regarded as the same component.

[0067] In some embodiments, reference Figure 2and Figure 3 As shown, the multiple snake bone segments 100 of the present application may include at least one first snake bone segment 100a, and the first snake bone segment 100a has adjacent snake bone segments 100 on opposite sides. The first snake bone segment 100a includes a first meshing member 200 and a second meshing member 300. The first meshing member 200 and the second meshing member 300 are disposed on opposite sides of the first snake bone segment 100a, and the first snake bone segment 100a is rotatably connected to the adjacent snake bone segments 100 on both sides through the first meshing member 200 and the second meshing member 300, respectively.

[0068] Specifically, the first engagement member 200 of the first serpentine segment 100a engages with the second engagement member 300 of an adjacent serpentine segment 100, and the second engagement member 300 of the first serpentine segment 100a engages with the first engagement member 200 of another adjacent serpentine segment 100. Thus, all three serpentine segments 100 can be rotatably connected.

[0069] In addition, the first serpentine segment 100a can also be configured to include two first engagement members 200 or two second engagement members 300. Accordingly, the two serpentine segments 100 adjacent to the first serpentine segment 100a can each be provided with two second engagement members 300 or two first engagement members 200. In this way, the two first engagement members 200 of the first serpentine segment 100a can respectively cooperate with the two second engagement members 300, and the two second engagement members 300 of the first serpentine segment 100a can respectively cooperate with the two first engagement members 200.

[0070] In some embodiments, reference Figures 1 to 4 As shown, the present invention can further include multiple first serpentine segments 100a, and the serpentine assembly can further include two second serpentine segments 100b, with the multiple first serpentine segments 100a connected in sequence. The two second serpentine segments 100b are located at both ends of the serpentine assembly in a predetermined direction, i.e., at the head and tail ends of the serpentine assembly. The two serpentine assemblies are respectively connected to two adjacent first serpentine segments 100a.

[0071] Specifically, the two second serpentine segments 100b may be provided with a first engagement member 200 or a second engagement member 300, or one of the two second serpentine segments 100b may be provided with a first engagement member 200, and the other of the two second serpentine segments 100b may be provided with a second engagement member 300. Whether the second serpentine segment 100b is provided with the first engagement member 200 or the second engagement member 300 depends on the position of the first engagement member 200 and the second engagement member 300 on the adjacent first serpentine segment 100a. If the second serpentine segment 100b is close to the first engagement member 200 of the adjacent first serpentine segment 100a, the second engagement member 300 may be provided on the second serpentine segment 100b to facilitate the movable connection between the second serpentine segment 100b and the first serpentine segment 100a. If the second serpentine segment 100b is close to the second engagement member 300 of the adjacent first serpentine segment 100a, the second serpentine segment 100b can be provided with the first engagement member 200, so that the second serpentine segment 100b and the first serpentine segment 100a can be easily connected.

[0072] By setting multiple first snake bone segments 100a, the number of snake bone segments 100 of the snake bone assembly of the present application can be further increased, so that the length of the snake bone assembly of the present application is relatively longer and the degree of morphological variation is richer, thereby improving the applicability of the snake bone assembly of the present application.

[0073] In some embodiments, reference Figure 2 and Figure 3 As shown, the first engagement member 200 of the first serpentine segment 100a of the present application can form an orthographic projection on a preset plane, and the orthographic projection of the first engagement member 200 is the first projection. The second engagement member 300 of the first serpentine segment 100a can form an orthographic projection on the preset plane, and the orthographic projection of the second engagement member 300 is the second projection. The preset plane is a plane perpendicular to the axis of the serpentine segment 100, and the first projection and the second projection are offset. In this way, when the first engagement member 200 of the first serpentine segment 100a engages with the second engagement member 300 of an adjacent serpentine segment 100, the first serpentine segment 100a can rotate with the adjacent serpentine segment 100 about a first axis. When the second engagement member 300 of the first serpentine segment 100a engages with the first engagement member 200 of another adjacent serpentine segment 100, the first serpentine segment 100a can rotate with the adjacent serpentine segment 100 about a second axis, where the first axis and the second axis are in different directions.

[0074] Thus, the first snake bone segment 100a and the two adjacent snake bone segments 100 can rotate relative to each other around different axes, making the snake bone assembly of the present application more variable in form and further improving the applicability of the snake bone assembly.

[0075] In some embodiments, reference Figure 2 and Figure 3 As shown, the first serpentine segment 100a of the present application can be configured to include two first engagement members 200, and correspondingly, the serpentine segment 100 adjacent to the first serpentine segment 100a can be configured to include two second engagement members 300. The two first engagement members 200 and the two second engagement members 300 respectively engage with each other, thereby making the rotatable connection between the first serpentine segment 100a and the adjacent serpentine segment 100 more stable and reliable.

[0076] The two first engagement members 200 of the first serpentine segment 100a are arranged relative to each other, allowing the two first engagement members 200 to be symmetrically distributed on both sides of the first serpentine segment 100a. Accordingly, the two second engagement members 300 of the serpentine segment 100 adjacent to the first serpentine segment 100a are also arranged relative to each other, allowing for symmetrical distribution on both sides of the serpentine segment 100. By arranging the two first engagement members 200 of the first serpentine segment 100a relative to each other, relative rotation between the first serpentine segment 100a and the adjacent serpentine segment 100a is smoother.

[0077] The first serpentine segment 100a of the present application may also include two second engagement members 300. Accordingly, the serpentine segment 100 adjacent to the first serpentine segment 100a may include two first engagement members 200. The two second engagement members 300 engage with the two first engagement members 200, respectively, thereby making the rotatable connection between the first serpentine segment 100a and the adjacent serpentine segment 100 more stable and reliable.

[0078] The two second engagement members 300 of the first serpentine segment 100a are arranged relative to each other, allowing the two second engagement members 300 to be symmetrically distributed on both sides of the first serpentine segment 100a. Accordingly, the two first engagement members 200 of the serpentine segment 100a adjacent to the first serpentine segment 100a are also arranged relative to each other, allowing for symmetrical distribution on both sides of the serpentine segment 100. By arranging the two second engagement members 300 of the first serpentine segment 100a relative to each other, relative rotation between the first serpentine segment 100a and the adjacent serpentine segment 100a is smoother.

[0079] In some embodiments, reference Figure 2 and Figure 3As shown, the line connecting the two first engagement members 200 of the first serpentine segment 100a of the present application is perpendicular to the line connecting the two second engagement members 300. Thus, when the first engagement member 200 of the first serpentine segment 100a engages with the second engagement member 300 of the adjacent serpentine segment 100, the first serpentine segment 100a can rotate relative to the adjacent serpentine segment 100 on one side about a first axis. When the second engagement member 300 of the first serpentine segment 100a engages with the first engagement member 200 of the adjacent serpentine segment 100 on the other side, the first serpentine segment 100a can rotate relative to the adjacent serpentine segment 100 on the other side about a second axis. The first axis is perpendicular to the second axis, so that the two serpentine segments 100 adjacent to the first serpentine segment 100a can rotate relative to the first serpentine segment 100a about two perpendicular axes.

[0080] In addition, the first snake bone segment 100a can also rotate relative to the two adjacent snake bone segments 100 around two perpendicular axes, so that the shape of the snake bone component of the present application can be more diverse, thereby improving the applicability of the snake bone component.

[0081] In some embodiments, reference Figure 5 As shown, both the first meshing groove 220 and the second meshing groove 320 of the present application can be configured with a first notch 221 and a second notch 222. The first notch 221 is oriented in the same direction as the end of the snake bone segment 100, such that the first notch 221 is opposite the end of the mating first meshing portion 210 or second meshing portion 310. The second notch 222 is oriented in the same direction as the sidewall of the snake bone segment 100, i.e., the second notch 222 is located between the sidewalls of two adjacent first meshing portions 210, or between the sidewalls of two adjacent second meshing portions 310. When assembling the first meshing members 200 and the second meshing members 300 of two adjacent snake bone segments 100, the first meshing portion 210 of the first meshing member 200 can be inserted into the second meshing groove 320 of the second meshing member 300 through the second notch 222 of the second meshing groove 320. Correspondingly, the second engaging portion 310 of the second engaging member 300 is inserted into the first engaging groove 220 through the second socket of the first engaging groove 220 of the first engaging member 200, so that the assembly of the first engaging member 200 and the second engaging member 300 of two adjacent snake bone sections 100 can be more convenient, thereby improving the equipment efficiency of the snake bone assembly of the present application.

[0082] In some embodiments, reference Figure 2 、 Figure 3 and Figure 4As shown, the snake bone joint 100 of the present application may also be provided with a limiting member 400. Among two adjacent snake bone joints 100, the limiting member 400 of one snake bone joint 100 is opposite to the first meshing portion 210 or the second meshing portion 310 of the other snake bone joint 100. The limiting member 400 cooperates with the first meshing portion 210 in the upper limit position of the second notch 222 of the second meshing groove 320 into which the first meshing portion 210 is inserted, or the limiting member 400 cooperates with the second notch 222 of the first meshing groove 220 into which the second meshing portion 310 is inserted. In this way, the limit member 400 can prevent the first meshing portion 210 from disengaging from the second meshing groove 320, and prevent the second meshing portion 310 from disengaging from the first meshing groove 220, thereby ensuring the meshing stability of the first meshing portion 210 and the second meshing groove 320, and the meshing stability of the second meshing portion 310 and the first meshing groove 220, thereby improving the active connection stability of the two adjacent snake bone nodes 100.

[0083] In the present application, there are multiple limiters 400, and the number of limiters 400 corresponds to the number of first engagement members 200 and / or second engagement members 300 on the serpentine segment 100. Specifically, the first serpentine segment 100a may be provided with four limiters 400, and the four limiters 400 may be provided corresponding to the two first engagement members 200 and the two second engagement members 300 on the first serpentine segment 100a, respectively. The number of limiters 400 on the second serpentine segment 100b may be set to two, so that the number of limiters 400 on the second serpentine segment 100b can match the number of first engagement members 200 or second engagement members 300 on the second serpentine segment 100b.

[0084] Among the four limiting members 400 on the first serpentine segment 100a, two limiting members 400 can be disposed between two opposing first engaging members 200, and the other two limiting members 400 can be disposed between two opposing second engaging members 300. In this way, the two limiting members 400 can limit the two first engaging members 200 in the reciprocating direction of the line connecting the two first engaging members 200, preventing the two first engaging members 200 from disengaging from the two second engaging members 300 that are meshing with them. The other two limiting members 400 can limit the two second engaging members 300 in the reciprocating direction of the line connecting the two second engaging members 300, preventing the two second engaging members 300 from disengaging from the two first engaging members 200 that are meshing with them.

[0085] The two limiting members 400 of the second serpentine segment 100b can be disposed between two opposing first engaging members 200 or second engaging members 300, depending on whether the second serpentine segment 100b is provided with the first engaging member 200 or the second engaging member 300. In this way, the two limiting members 400 can limit the two first engaging members 200 or the two second engaging members 300 in the reciprocating direction of the line connecting the two first engaging members 200 or the line connecting the two second engaging members 300 on the second serpentine segment 100b, so that the second serpentine segment 100b can be stably and reliably connected to the adjacent first serpentine segment 100a.

[0086] In some embodiments, reference Figure 6 As shown, in order to make the rotation of two adjacent serpentine joints 100 smoother, adjacent limiting members 400 of the two adjacent serpentine joints 100 can be set and abutted, and the opposite sides of the two adjacent limiting members 400 are guide surfaces 410, and the guide surfaces 410 are arcuate surfaces. In this way, when the two adjacent serpentine joints 100 rotate relative to each other, the limiting members 400 of the two adjacent serpentine joints 100 can rotate along the opposite guide surfaces 410. In this way, the abutting guide surfaces 410 of the two limiting members 400 can serve as a guide for the rotation of the two serpentine joints 100, making the relative rotation of the two serpentine joints 100 smoother.

[0087] Furthermore, by making the guide surfaces 410 of the two limiting members 400 abut against each other, the abutting force between the adjacent first engaging member 200 and the second engaging member 300 can be reduced, so that the wear of the first engaging member 200 and the second engaging member 300 is reduced when the first engaging member 200 and the second engaging member 300 rotate relative to each other, thereby protecting the first engaging member 200 and the second engaging member 300. In addition, the guide surfaces 410 of the two limiting members 400 are arcuate surfaces, so that the guide surfaces 410 of the two limiting members 400 can continuously abut against each other when the two limiting members rotate relative to each other, thereby making the relative rotation of the two limiting members 400 more stable and smooth.

[0088] Specifically, the relative guide surfaces 410 of the limiting members 400 of two adjacent snake bone segments 100 may be convex arc surfaces, so that the two limiting members 400 can rotate smoothly relative to each other.

[0089] In some embodiments, the snake segment 100 can be an integral structure. This improves the connection stability between the stopper 400 and the first engaging member 200, and also improves the connection stability between the stopper 400 and the second engaging member 300, thereby making the snake segment assembly of the present application more stable. Furthermore, the stopper 400 and other components of the snake segment 100 do not need to be assembled separately, and the stopper 400 and other components of the snake segment 100 do not need to be connected by additional connecting components, making the snake segment 100 more compact, and the manufacturing process requires fewer steps, thereby reducing the manufacturing cost.

[0090] Based on the above snake-bone assembly, the present application also proposes a surgical robot including the above snake-bone assembly.

[0091] It should be noted that references in this specification to "one embodiment," "an embodiment," "an exemplary embodiment," "some embodiments," and the like indicate that the described embodiment may include a particular feature, structure, or characteristic, but not necessarily every embodiment includes that particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not.

[0092] Generally speaking, terms should be understood, at least in part, based on the context in which they are used. For example, as used herein, the term "one or more" can be used to describe any feature, structure, or characteristic in the singular sense, or can be used to describe a combination of features, structures, or characteristics in the plural sense, depending at least in part on the context. Similarly, terms such as "a," "an," or "the" can also be understood to convey either singular or plural usage, depending at least in part on the context.

[0093] It should be readily understood that “on,” “above,” and “over” in this application should be interpreted in the broadest manner, such that “on” means not only “directly on something,” but also includes “on something” with intervening features or layers therebetween, and “above” or “over” includes not only the meaning of “above” or “over,” but also includes “above” or “over” with no intervening features or layers therebetween (i.e., directly on something).

[0094] Additionally, spatially relative terms, such as "below," "beneath," "beneath," "above," and the like, may be used herein for ease of description to describe the relationship of one element or feature to other elements or features as depicted in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90° or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A snake bone assembly, characterized in that: include: A plurality of snake bone segments (100) are sequentially arranged along a preset direction, wherein the snake bone segments (100) have traction holes (110) for passing a traction rope; Of the two adjacent snake bone sections (100), one of the snake bone sections (100) includes a first engaging member (200), and the other of the snake bone sections (100) includes a second engaging member (300), and the first engaging member (200) and the second engaging member (300) are engaged with each other so that the two adjacent snake bone sections (100) can rotate relative to each other to form an angle.

2. The snake bone assembly according to claim 1, characterized in that: The first engaging member (200) comprises a plurality of first engaging portions (210), wherein the plurality of first engaging portions (210) are arranged at intervals so that the snake bone segment (100) has a first engaging groove (220) located between adjacent first engaging portions (210); The second engagement member (300) includes a plurality of second engagement grooves (320), and the plurality of second engagement grooves (320) are arranged at intervals so that the snake bone segment (100) has a second engagement portion (310) located between adjacent second engagement grooves (320); At least one of the first engaging portions (210) engages in one of the second engaging grooves (320); and / or, At least one of the second engaging portions (310) is engaged in one of the first engaging grooves (220).

3. The snake bone assembly according to claim 2, characterized in that: The plurality of snake bone segments (100) include at least one first snake bone segment (100a) and two second snake bone segments (100b), the first snake bone segment (100a) includes the first engaging member (200) and the second engaging member (300), and the first engaging member (200) and the second engaging member (300) are located on opposite sides of the first snake bone segment (100a); Two second snake bone sections (100b) are located at two ends of the snake bone component, and the second snake bone sections (100b) include two first engaging members (200) or two second engaging members (300); The first engaging member (200) of the first snake bone segment (100a) engages with the second engaging member (300) of an adjacent snake bone segment (100), and the second engaging member (300) of the first snake bone segment (100a) engages with the first engaging member (200) of another adjacent snake bone segment (100).

4. The snake bone assembly according to claim 3, characterized in that: The orthographic projection of the first engaging member (200) of the first serpentine segment (100a) on a preset plane is a first projection, and the orthographic projection of the second engaging member (300) of the first serpentine segment (100a) on the preset plane is a second projection. The preset plane is perpendicular to the axis of the serpentine segment (100), and the first projection and the second projection are staggered.

5. The snake bone assembly according to claim 4, characterized in that: The first snake bone segment (100a) comprises two first engaging members (200) and / or two second engaging members (300), the two first engaging members (200) being arranged opposite to each other, and the two second engaging members (300) being arranged opposite to each other.

6. The snake bone assembly according to any one of claims 1 to 5, characterized in that: The snake bone joint further comprises a limiting member (400), and in two adjacent snake bone joints (100), when the first engaging member (200) and the second engaging member (300) are in an engaged state, the limiting members (400) of the two adjacent snake bone joints (100) are arranged relative to and abut against each other.

7. The snake bone assembly according to claim 6, characterized in that: The side where the two limiting members (400) abut against each other is an arc surface. When the two adjacent snake bone segments (100) rotate relative to each other to form an angle, the two limiting members (400) rotate relative to each other and continue to abut against each other.

8. The snake bone assembly according to claim 7, characterized in that: The snake bone segment (100) is provided with a limiting member (400) whose number is opposite to that of the first engaging member (200) and the second engaging member (300). The limiting member (400) is provided on one side of the first engaging member (200) or the second engaging member. The limiting member (400) is located between the two first engaging members (200) and / or the two second engaging members (300), or is located on the opposite outer sides of the two first engaging members (200) and / or the two second engaging members (300).

9. The snake bone assembly according to claim 8, characterized in that: The snake bone segment (100) is an integrated structure.

10. A surgical robot, characterized in that: The invention comprises a snake bone component as claimed in any one of claims 1 to 9.

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