External rotational joints and surgical robots

Abstract

This application discloses an external rotary joint and a surgical robot, comprising a fixed outer ring, a rotating inner ring, and a cable assembly. The rotating inner ring rotates relative to the fixed outer ring around a rotation axis. The cable assembly includes multiple flexible flat cables arranged circumferentially within the annular space formed by the rotating inner ring and the fixed outer ring in a winding and unwinding manner. Each of the first ends of the multiple flexible flat cables is fixed relative to the rotating inner ring, and each of the second ends is fixed relative to the fixed outer ring. The multiple flexible flat cables have the same winding direction and bending direction. According to this application, the structural strength of the external rotary joint can be greatly improved, reaching a high level. The cable routing mechanism can rotate with the rotating inner ring relative to the fixed outer ring without relying on an additional drive rotation mechanism. The structure is simplified, space utilization is greatly improved, and there is more design freedom in terms of functionality and aesthetic integrity.

Description

[0001] This application is a divisional application of the invention patent application filed on June 30, 2023, with application number 202310809588.4 and invention title "External Rotation Joint and Surgical Robot". Technical Field

[0002] This application relates to the technical field of surgical instruments, and more specifically to an external rotational joint and a surgical robot. Background Technology

[0003] Surgical robots typically have three or four linear motion modules at the end effector, which are usually equipped with drive modules for the endoscope and surgical instruments. In addition, to accommodate the different angle requirements of the endoscope and surgical instruments during surgery, an external rotation joint (ORJ) is usually added to the end effector to enable the rotation of the three or four linear motion modules.

[0004] Because each linear motion module and endoscope or surgical instrument drive module requires cables for power supply and communication, multiple cables are always in motion within the annular region between the external fixed part and the internal rotating part of the external rotary joint. Existing methods of placing these cables have many limitations in terms of functionality and aesthetic integrity.

[0005] Therefore, an external rotational joint and surgical robot are needed to at least partially solve the above problems. Summary of the Invention

[0006] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. This summary section is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0007] To at least partially address the above-mentioned problems, this application provides an external rotary joint for a surgical robot, comprising: Fixed outer ring; The inner ring rotates relative to the fixed outer ring about a rotation axis; and The cable assembly includes multiple flexible flat cables arranged circumferentially within the annular space formed by the rotating inner ring and the fixed outer ring, with the cables wound and unwound in a manner that allows for twisting and unwinding. Each of the plurality of flexible flat cables includes a first end and a second end. Each of the first ends of the plurality of flexible flat cables is fixed relative to the rotating inner ring, and the second ends are all fixed relative to the fixed outer ring. The plurality of flexible flat cables have the same winding direction and bending direction.

[0008] This application also provides a surgical robot, which includes: Multiple motion modules; and The external rotary joint described above, wherein at least a portion of the first end of the plurality of flexible flat cables is connected to the corresponding motion module.

[0009] According to the external rotary joint and surgical robot of this application, the use of a rotating inner ring and a fixed outer ring as the inner and outer supports of the wiring mechanism significantly improves the structural strength to a high level. The wiring mechanism can rotate relative to the fixed outer ring along with the rotating inner ring, without relying on an additional drive mechanism, resulting in a simplified structure and greatly improved space utilization. Using flexible flat cables to form the wiring mechanism allows for greater design freedom in terms of function and aesthetic integrity. For example, most of the wiring mechanism is hidden between the rotating inner ring and the fixed outer ring, without affecting the aesthetic integrity, allowing for a smaller external size of the external rotary joint. The flexible flat cables are easy to arrange and have a short length, effectively maintaining rotation and preventing the shape from becoming disorganized. When mounting different numbers of motion modules, the corresponding number of flexible flat cables need to be evenly distributed circumferentially according to the number of motion modules, adapting to various mounting requirements. Attached Figure Description

[0010] The following drawings, which are incorporated herein by reference and used to understand this application, illustrate embodiments of the application and their descriptions, thereby explaining the principles of the application.

[0011] In the attached image: Figure 1 This is an exploded perspective view of an external rotary joint according to a first embodiment of this application, in which the motion module is shown; Figure 2 for Figure 1 A perspective view of the rotating part shown; Figure 3 for Figure 1 An exploded three-dimensional view of the fixed part shown; Figure 4 Intersected by a plane perpendicular to the axis. Figure 1 A cross-sectional view of the external rotary joint shown in the figure; Figure 4A for Figure 4 Enlarged view of section A; Figure 5for Figure 1 A perspective view of the external rotary joint shown, where the motion module is not shown; Figure 5A for Figure 5 Enlarged view of section B; Figure 6 This is an exploded perspective view of an external rotary joint according to a second embodiment of this application, in which the motion module is shown; Figure 7 for Figure 6 A three-dimensional view of the pressure line structure and differential structure shown in the figure; Figure 8 for Figure 7 An exploded three-dimensional view of the pressure line structure shown; Figure 9 Intersected by a plane perpendicular to the axis. Figure 6 A cross-sectional view of the external rotary joint shown in the figure; Figure 10 This is an exploded perspective view of an external rotary joint according to a third embodiment of this application, in which the motion module is shown; Figure 11 for Figure 10 A three-dimensional view of the pressure line structure and differential structure shown in the figure; Figure 12 Intersected by a plane perpendicular to the axis. Figure 10 The cross-sectional view of the external rotary joint shown.

[0012] Explanation of reference numerals in the attached figures: 1. Motion Module 1a First Motion Module 1b Second motion module 1c Third motion module 2 / 100 / 200 External Rotary Joint 20 Rotating Part 21 Rotating inner ring 22 Driven component 23 Inner opening 30 Fixed part 31 Fixed outer ring 32 Drive module 33 Drive unit 34 Active component 35 External opening 36 Bearing end cover 41 First bearing 42 Second bearing 43 Fixing clamps 50 Cable assemblies 51 Flexible Flat Cable 51a First Flexible Flat Cable 51b Second flexible flat cable; 51c Third flexible flat cable 52 First end 53 Second end 54 Inner circumference 55 Bending section 55a First bend 55b Second bend 55c Third bend 56 Outer perimeter 57 connecting plate 60 pressure wire structure 61 Support section 61a First support section 61b Second support section 61c Third support section 62 Flexible strip 62a First flexible strip 62b Second flexible strip; 62c Third flexible strip 63 Inner end 64 Outer end 110 Roller Assembly 111 Roller 112 Mounting bracket 113 Support bearing 114 Roller Shaft 115 First Frame Section 116 Second Frame Part 121 Inner Ring Gear 122 Outer ring gear 123 Planetary gear 124 connecting shaft 210 annular flexible wheel 211 joint 220 support inner ring 221 First tooth, 222 Inner outlet 230 Support outer ring 231 Second tooth 232 Outer cable outlet 233 First outer ring section 234 Second outer ring part 235 Buckle slot 236 Positioning protrusion 237 Positioning groove 241 Anti-rotation component 242 First insertion interface 243 Second insertion interface 244 Support outer ring buckle. Detailed Implementation

[0013] The following description provides numerous specific details to offer a more thorough understanding of this application. However, it will be apparent to those skilled in the art that this application can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described to avoid confusion with this application.

[0014] To fully understand this application, a detailed description will be provided below. It is obvious that the implementation of embodiments of this application is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this application are described in detail below; however, other embodiments may also be available in addition to these detailed descriptions.

[0015] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of the stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0016] Ordinal numbers such as “first” and “second” used in this application are merely identifiers and have no other meaning, such as a specific order. Moreover, for example, the term “first component” does not imply the existence of a “second component”, and the term “second component” does not imply the existence of a “first component”.

[0017] It should be noted that the terms “up,” “down,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this article are for illustrative purposes only and are not intended to be restrictive.

[0018] Exemplary embodiments according to this application will now be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in many different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided so that the disclosure of this application is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art.

[0019] Surgical robots are widely used in the field of surgery, enabling them to control endoscopes and surgical instruments. To achieve this control, their end effectors typically have multiple motion modules, such as linear motion modules for performing linear movements. Each motion module can be connected to the drive modules of the endoscope and surgical instruments. Furthermore, to accommodate the different angle requirements of the endoscope and surgical instruments during surgery, external rotational joints are usually provided at the end effector. These external rotational joints can be connected to each motion module to achieve rotation of multiple motion modules at different angles.

[0020] It should be noted that "multiple" in this article refers to two or more. For example, the number of multiple motion modules can be two, three, four, five, etc.

[0021] The design of the rotating cable structure within an external rotary joint presents certain challenges. For example, the external rotary joint bears the load of the surgical robot's end effector, requiring a high level of structural strength. The precision of the control and feedback of the external rotary joint's rotation directly affects the operational precision of the end-effectors, and all rotating components require high-precision mating. An external rotary joint typically consists of a rotating inner ring and a fixed outer ring, with cables running between them. The rotating inner ring carries multiple motion modules, resulting in a relatively large diameter for both the inner and outer rings, and a longer cable, making it more difficult to maintain rotation and prevent the cable from becoming disorganized.

[0022] This application provides an external rotary joint that not only solves the many limitations of existing cable placement methods in terms of functionality and aesthetic integrity, but also overcomes the aforementioned design difficulties. The external rotary joint of this application is described in detail below with reference to the accompanying drawings.

[0023] First Implementation Method Figures 1 to 5A The external rotary joint 2 of the first embodiment of this application is schematically shown. For example... Figure 1 As shown, the external rotary joint 2 may include a rotating portion 20 and a fixed portion 30. The rotating portion 20 is capable of rotating relative to the fixed portion 30 about a rotation axis, which is located at the axially extending central axis of the external rotary joint 2; in other words, this central axis of the external rotary joint 2 is the rotation axis. The rotation direction can be clockwise or counterclockwise, and the rotation angle can be any desired value between -360° and +360°.

[0024] The external rotating joint 2 may also include a bearing disposed between the rotating part 20 and the fixed part 30 to support and enable rotation via a bearing connection. For example Figure 1 Two bearings, namely the first bearing 41 and the second bearing 42, are schematically shown, spaced apart axially. Using bearings for transmission can greatly improve the fitting accuracy between rotating parts. Of course, the number of bearings is not limited and can be arbitrarily set as needed.

[0025] Specifically, such as Figure 2 As shown, the rotating part 20 includes a rotating inner ring 21 and a driven member 22. The rotating inner ring 21 is constructed in a ring shape, such as a circular ring. A portion of a plurality of motion modules 1 is housed inside the rotating inner ring 21 and fixed to different positions on the rotating inner ring 21. The rotating inner ring 21 serves as a basic skeletal support member, capable of supporting the motion modules 1. The driven member 22 is circumferentially disposed outside the rotating inner ring 21 to receive driving force to rotate the entire rotating part 20.

[0026] like Figure 3As shown, the fixed portion 30 includes a fixed outer ring 31 and a drive module 32. The fixed outer ring 31 is also constructed in a ring shape, such as a circular ring. The fixed outer ring 31 is fitted radially outside the rotating inner ring 21, serving as a basic skeletal support member capable of supporting the rotating portion 20 and its motion module 1. A bearing is disposed between the fixed outer ring 31 and the rotating inner ring 21, and is fixed by a bearing end cap 36 connected to the end of the fixed outer ring 31. The rotating inner ring 21 is rotatable relative to the fixed outer ring 31 about a rotation axis. The drive module 32 includes a drive device 33 and an active member 34. The active member 34 is rotatable relative to the drive device 33 about its own axis. The drive device 33 is used to drive the active member 34 to rotate; it is, for example, a motor, or any other suitable drive device 33.

[0027] At least one of the rotating inner ring 21 and the fixed outer ring 31 can be made of a metallic material. This improves structural strength and reliability. Of course, if needed and / or desired, at least one of the rotating inner ring 21 and the fixed outer ring 31 can be made of other suitable rigid materials such as rigid plastic.

[0028] At least a portion of the driving member 34 extends into the fixed outer ring 31 and is drively connected to the driven member 22. Rotation of the driving member 34 drives the driven member 22 to rotate, thereby causing the entire rotating part 20 and the motion module 1 to rotate together. The fixed outer ring 31 is provided with a mounting port through which at least a portion of both the driving member 34 and the output end of the drive device 33 extends into the interior of the fixed outer ring 31. For example, the entire driving member 34 extends into the interior of the fixed outer ring 31.

[0029] The transmission method between the driving member 34 and the driven member 22 can be any of gear transmission, chain transmission, or belt transmission. In the illustrated embodiment, the driving member 34 and the driven member 22 are gears, that is, a driving gear and a driven gear that mesh directly. The driven gear can be an independent component sleeved on and connected to the rotating inner ring 21, or the driven gear can be a tooth structure integrally formed on the rotating inner ring 21. The driven gear meshes directly with the driving gear. Using gears for transmission can greatly improve the fitting accuracy between rotating parts. If needed and / or desired, the driving member 34 can be connected to the driven member 22 via a chain or belt.

[0030] The external rotary joint 2 also includes a cable assembly 50. The cable assembly 50 includes multiple flexible flat cables 51 (FFC). The flexible flat cables 51 have advantages such as flexibility, easy bending and folding, thinness, small size, simple connection, convenient disassembly, and easy electromagnetic shielding, making them very suitable for the application environment of external rotary joint 2 wiring.

[0031] Multiple flexible flat cables 51 can be arranged circumferentially within the annular space formed by the rotating inner ring 21 and the fixed outer ring 31 in a tightening and unwinding manner to form a cable routing mechanism. For example... Figure 2 As shown, the rotating inner ring 21 has a plurality of inner openings 23 spaced apart circumferentially. At least one of the inner and outer surfaces of the rotating inner ring 21 may have a circumferentially inclined guide slope at the inner opening 23 to form a contoured inner opening 23. Figure 3 As shown, the fixed outer ring 31 is provided with an outer opening 35. At least one of the inner and outer surfaces of the fixed outer ring 31 has a guide slope inclined in the circumferential direction at the outer opening 35 to form a contoured outer opening 35. The inclination direction of the guide slope is consistent with the routing direction of the flexible flat cable 51.

[0032] like Figure 4 As shown, each of the plurality of flexible flat cables 51 includes at least one first end 52 and one second end 53. Each of the first ends 52 of the plurality of flexible flat cables 51 is fixedly disposed relative to the rotating inner ring 21, specifically extending inward from different inner openings 23 for connection to the corresponding motion module 1. The second ends 53 are all fixedly disposed relative to the fixed outer ring 31, specifically extending outward from the outer opening 35. All the second ends 53 of the flexible flat cables 51 extend from the same outer opening 35; that is, the fixed outer ring 31 has one outer opening 35 for the second ends 53 to extend outward. It should be noted that the above-mentioned "at least one first end" means that a flexible flat cable 51 has one first end for electrical connection with a motion module 1; alternatively, a flexible flat cable 51 may have two or more first ends for electrical connection with different motion modules 1.

[0033] Preferably, as shown in the embodiment, each flexible flat cable 51 includes a first end 52 and a second end 53. Following the winding sequence of the flexible flat cables 51, the first end 52 of each flexible flat cable 51 extends inward from the corresponding inner opening 23, and the second end 53 extends outward from the outer opening 35. In this embodiment, multiple flexible flat cables 51 are partially stacked radially. This radial stacking arrangement allows for a smaller axial dimension of the cable assembly 50, which is beneficial for miniaturizing the external rotating joint 2.

[0034] Of course, if needed and / or desired, each of the more than one flexible flat cable 51 may include two or more first ends 52 and one second end 53. For example, a partial flexible flat cable 51 includes two first ends 52 and one second end 53, the two first ends 52 being axially offset and circumferentially spaced apart. Furthermore, the flexible flat cable 51 has different lengths and widths at the two first ends 52. By utilizing the arrangement of multiple first ends 52, the number of flexible flat cables 51 can be reduced, which helps to simplify the structure of the external rotating joint 2.

[0035] In this application, the use of a rotating inner ring 21 and a fixed outer ring 31 as the inner and outer supports of the wiring mechanism significantly improves structural strength, achieving a high level. The wiring mechanism can rotate relative to the fixed outer ring 31 along with the rotating inner ring 21, without relying on an additional drive mechanism, resulting in a simplified structure and greatly improved space utilization. Using flexible flat cables 51 to form the wiring mechanism allows for greater design freedom in terms of function and aesthetic integrity. For example, most of the wiring mechanism is hidden between the rotating inner ring 21 and the fixed outer ring 31, without affecting the aesthetic integrity, allowing for a smaller external dimension of the external rotating joint 2. The flexible flat cables 51 are easy to arrange and have a short length, effectively maintaining their rotation and preventing their shape from becoming scattered. When mounting different numbers of motion modules 1, the corresponding number of flexible flat cables 51 need to be evenly distributed circumferentially according to the number of motion modules 1, adapting to various mounting requirements.

[0036] Multiple flexible flat cables 51 have the same winding direction and bending direction. Figure 4 The diagram schematically illustrates multiple flexible flat cables 51, each initially wound counterclockwise, then bent in the opposite direction at a certain position, and then continued winding. Alternatively, multiple flexible flat cables 51 may initially be wound clockwise, then bent in the opposite direction at a certain position, and then continued winding. Thus, each bend in the multiple flexible flat cables 51 forms an inner periphery 54, a bend 55, and an outer periphery 56. As an example, the number of motion modules 1 is the same as the number of first ends 52 of the flexible flat cables 51.

[0037] In the illustrated embodiment, the number of motion modules 1 is the same as the number of flexible flat cables 51, for example, there can be two, three, four, five, etc. The number of flexible flat cables 51 can be increased or decreased as needed according to the number of motion modules 1. The various bends 55 of the multiple flexible flat cables 51 are evenly distributed in the circumferential direction. As a result, the forces on the multiple flexible flat cables 51 in the circumferential direction can be kept balanced.

[0038] Along the winding direction, for example, in the counterclockwise direction, the flexible flat cable 51 closest to the outer opening 35 at the bend 55 has the shortest length, which is not less than half the circumference of the fixed outer ring 31; the flexible flat cable 51 furthest from the outer opening 35 at the bend 55 has the longest length, which is not less than 1 to 1.5 times the circumference of the fixed outer ring 31.

[0039] Taking the illustrated embodiment as an example, there are three motion modules 1, namely the first motion module 1a, the second motion module 1b, and the third motion module 1c; the rotating inner ring 21 is provided with three inner openings 23. The cable group 50 includes three flexible flat cables 51, namely the first flexible flat cable 51a, the second flexible flat cable 51b, and the third flexible flat cable 51c, which are bent in opposite directions to form a first bent portion 55a, a second bent portion 55b, and a third bent portion 55c, respectively. For the first flexible flat cable 51a, its first end 52 extends out from the corresponding inner opening 23 and connects to the first motion module 1a, its inner circumference 54 extends along the rotating inner ring 21 to a predetermined position, the first bent portion 55a crosses in the radial direction, its outer circumference 56 extends along the fixed outer ring 31 to the outer opening 35, and its second end 53 extends out from the outer opening 35. The winding method of the second flexible flat cable 51b and the third flexible flat cable 51c is roughly the same as that of the first flexible flat cable 51a, and will not be described again for the sake of simplicity. The difference is that the first end 52 of the second flexible flat cable 51b is connected to the second motion module 1b, and the first end 52 of the third flexible flat cable 51c is connected to the third motion module 1c.

[0040] The external rotating joint 2 also includes a pressure structure 60 for radially pressing the flexible flat cable 51. The pressure structure 60 is disposed at at least one of the plurality of flexible flat cables 51 such that the corresponding inner periphery 54 is tightly pressed against the rotating inner ring 21, specifically against the outer surface of the rotating inner ring 21, and the corresponding outer periphery 56 is tightly pressed against the fixed outer ring 31, specifically against the inner surface of the fixed outer ring 31. Using the pressure structure 60, the flexible flat cable 51 can be radially pressed, ensuring that the flexible flat cable 51 does not warp, tangle, or become displaced during rotational reciprocating motion, and that its shape remains stable.

[0041] It should be noted that the term "closely attached" used in this article includes not only direct close attachment but also indirect close attachment. For example, the inner periphery 54 of one flexible flat cable 51 is radially overlapped with the inner periphery 54 of another flexible flat cable 51. The inner periphery 54 of one of the two flexible flat cables 51 is directly close to the rotating inner ring 21, while the inner periphery 54 of the other is indirectly close to the rotating inner ring 21. The same applies to the outer periphery 56 of the flexible flat cable 51.

[0042] Optionally, the crimping structure 60 may be provided at two, three, or other locations among the plurality of flexible flat cables 51. Preferably, the crimping structure 60 may be provided at each flexible flat cable 51.

[0043] The wire clamping structure 60 includes a support portion 61. The support portion 61 abuts against at least one of the inner periphery 54 and the outer periphery 56 of the flexible flat cable 51. Figure 4 As shown, when a flexible flat cable is in a limit position, such as when the shortest length flexible flat cable 51 is in a limit position, the inner ring cannot rotate in one direction, otherwise it would damage the flexible flat cable. In this limit position, the support portion 61 of the clamping structure 60 can only abut against the inner circumference 54 or outer circumference 56 of the shortest length flexible flat cable 51. If the shortest length flexible flat cable 51 is in a non-limit position, the support portion 61 can abut against both its inner circumference 54 and outer circumference 56 simultaneously. For other flexible flat cables 51, if the clamping structure 60 is provided, the support portion 61 abuts against both its inner circumference 54 and outer circumference 56 simultaneously. The support portion 61 can apply radial compressive force to the inner circumference 54 and / or outer circumference 56 of the flexible flat cable 51 to improve the tightness and further ensure that the flexible flat cable 51 does not warp, tangle, or become displaced during rotational reciprocating motion, maintaining a stable shape.

[0044] Therefore, even if the diameters of the rotating inner ring 21 and the fixed outer ring 31 are set to be relatively large, the flexible flat cable 51 can still maintain its shape stability during movement through various means such as setting the wire pressing structure 60, and can be widely used in rotating mechanisms of different diameters.

[0045] A preset distance exists between the support portion 61 and the bending portion 55 to avoid interference between them when the inner ring 21 rotates. The outer rotary joint 2 is configured such that when the inner ring 21 rotates, the position of the support portion 61 can rotate synchronously with the bending portion 55. It can be understood that the distance between them remains approximately constant during synchronous rotation. However, the position of the support portion 61 can rotate together with the bending portion 55. In this case, the distance between them may increase or decrease during reciprocating rotation.

[0046] The number of support portions 61 can be less than, equal to, or greater than the number of flexible flat cables 51. Optionally, each of the multiple flexible flat cables 51 corresponds to at least one support portion 61, such as one support portion 61, two support portions 61, three support portions 61, etc. Each of the multiple flexible flat cables 51 corresponds to the same number of support portions 61, and the support portions 61 are evenly distributed circumferentially, so that there is the same number of support portions 61 between adjacent bends 55 in the circumferential direction. This allows the forces on the multiple flexible flat cables 51 to be balanced in the circumferential direction. Of course, if needed and / or desired, each of the multiple flexible flat cables 51 can also correspond to a different number of support portions 61.

[0047] The wire clamping structure 60 in this embodiment includes a flexible strip 62. The flexible strip 62 has advantages such as flexibility, easy bending and folding, thinness, small size, simple connection, and convenient disassembly. The flexible strip 62 can be made of any suitable flexible material, such as plastic. The flexible strip 62 is bent to form the aforementioned support portion 61 at the bend; that is, the support portion 61 is the bent portion of the flexible strip 62. The flexible strip 62 is wound in parallel with the corresponding flexible flat cable 51 and positioned between adjacent flexible flat cables 51. Further, the winding direction of the flexible strip 62 is the same as that of the flexible flat cable 51, and the flexible strip 62 is bent along the same bending direction as the bent portion 55. For example... Figure 4 The diagram schematically shows that the flexible strip 62 is first wound counterclockwise, then bent in the opposite direction at a certain position, and then continues to be wound. Of course, the flexible strip 62 can also be wound clockwise first, then bent in the opposite direction at a certain position, and then continues to be wound.

[0048] The flexible strip 62 provides support for the flexible flat cable 51, offering excellent support not only at bends but also at points where it parallels and abuts against the cable. The number of flexible strips 62 can be adjusted to accommodate different rotating mechanisms, such as linear rotating mechanisms, making it widely applicable in such applications. When mounting different numbers of motion modules 1, the corresponding number of flexible strips 62 need to be redistributed circumferentially according to the number of motion modules 1, adapting to various mounting requirements.

[0049] The number of flexible strips 62 can be at least one, such as one, two, three, etc. The number of flexible strips 62 can be less than or equal to the number of flexible flat cables 51. Each flexible strip 62 is bent to form a support portion 61. Preferably, the number of flexible strips 62 is equal to the number of flexible flat cables 51, so that each flexible flat cable 51 corresponds to one flexible strip 62 and one support portion 61, and the number of support portions 61 is equal to the number of bends 55. In the circumferential direction, there is a support portion 61 between adjacent bends 55.

[0050] like Figure 4 and Figure 4A As shown, the inner end 63 of the flexible strip 62 and the first end 52 of the corresponding flexible flat cable 51 extend out of the same inner opening 23, with the first end 52 located radially outward of the inner end 63. The outer ends 64 of all the flexible strips 62 and the second ends 53 of all the flexible flat cables 51 extend out of the same outer opening 35.

[0051] Taking the illustrated embodiment as an example, the wire pressing structure 60 includes three flexible strips 62, namely a first flexible strip 62a, a second flexible strip 62b, and a third flexible strip 62c. They are bent in opposite directions to form a first support portion 61a, a second support portion 61b, and a third support portion 61c, respectively. For the first flexible strip 62a, its inner end 63 extends out from the corresponding inner opening 23 together with the first end 52 of the first flexible flat cable 51a. It extends along the rotating inner ring 21 to a predetermined position. The first support portion 61a crosses in the radial direction and then extends along the fixed outer ring 31 to the outer opening 35. Its outer end 64 extends out from the outer opening 35. The winding method of the second flexible strip 62b and the third flexible strip 62c is roughly the same as that of the first flexible strip 62a, and will not be described again for the sake of simplicity. The difference is that the inner end 63 of the second flexible strip 62b extends out together with the first end 52 of the second flexible flat cable 51b, and the inner end 63 of the third flexible strip 62c extends out together with the first end 52 of the third flexible flat cable 51c.

[0052] like Figure 4 As shown, the first support portion 61a is located between the first bending portion 55a and the second bending portion 55b, the second support portion 61b is located between the second bending portion 55b and the third bending portion 55c, and the third support portion 61c is located between the third bending portion 55c and the first bending portion 55a.

[0053] like Figure 5 and Figure 5AAs shown, the first end 52 of the flexible flat cable 51 is fixed to the inner side of the rotating inner ring 21, and the second end 53 is fixed to the outer side of the fixed outer ring 31. The inner end 63 of the flexible strip 62 is fixed together with the corresponding first end 52 of the flexible flat cable 51. For example, the inner end 63 is located radially outside the first end 52 and can be clamped between the first end 52 and the rotating inner ring 21. Specifically, the first end 52 of the flexible flat cable 51 is integrally provided with a connecting plate 57, which is connected to the rotating inner ring 21. For example, the connecting plate 57 is provided with a through hole, and a screw (not shown) passes through the through hole to connect the connecting plate 57 to the rotating inner ring 21. The number of connecting plates 57 can be one, two, three, etc., and they can protrude from the side of the first end 52 in width or from the end face of the first end 52 in length. Figure 5A The diagram schematically shows two connecting plates 57 protruding from opposite sides for better fixation. The inner end 63 of the flexible strip 62 is clamped between the first end 52 and the rotating inner ring 21. Of course, the method of fixing the inner end 63 to the first end 52 is not limited to this; it can be fixed to the rotating inner ring 21 by any suitable method such as adhesive bonding or screw fastening.

[0054] The outer end 64 of all flexible strips 62 is fixed together with the second end 53 of all flexible flat cables 51, for example, by clamping the outer end 64 and the second end 53 together. Specifically, a fixing member 43 can be provided, which is connected to the fixing outer ring 31; for example, the fixing member 43 is fixed to the fixing outer ring 31 using multiple screws (not shown), with the outer end 64 and the second end 53 clamped between the fixing member 43 and the fixing outer ring 31. The fixing member 43 has a guide slope inclined in the circumferential direction, which cooperates with the guide slope on the outer side of the fixing outer ring 31 to form a contoured outer opening 35. Of course, the fixing method of the outer end 64 and the second end 53 is not limited to this; it can be fixed to the fixing outer ring 31 by any suitable method such as adhesive bonding or screw fastening.

[0055] Second Implementation Method The following is for reference Figures 6 to 9 The external rotary joint 100 of the second embodiment will now be described. Except for the pressure wire structure 60 and the addition of a differential structure, the external rotary joint 100 of the second embodiment has the same structure and / or construction as the external rotary joint 2 of the first embodiment. Therefore, elements having substantially the same function as those in the first embodiment will be numbered the same here, and for the sake of brevity, they will not be described in detail and / or illustrated further.

[0056] The rotating part 20 and the fixed part 30 of this embodiment are largely the same as those of the first embodiment, but the pressing structure 60 differs from that of the first embodiment. Specifically, as shown... Figure 6 and Figure 7 As shown, the pressure structure 60 includes a roller assembly 110, which is disposed between the rotating inner ring 21 and the fixed outer ring 31 and includes a plurality of rollers 111 spaced apart circumferentially. The plurality of rollers 111 rotate about their own axially extending central axis.

[0057] The number of rollers 111 can be set as needed, for example, three, four, five... twelve, thirteen, etc. The illustrated embodiment schematically shows twelve rollers 111. The diameter of the rollers 111 is set to abut against the inner periphery 54 and / or outer periphery 56 of the flexible flat cable 51. Each flexible flat cable 51 corresponds to two or more rollers 111 of the same number. Thus, the number of rollers 111 can be more than twice the number of flexible flat cables 51.

[0058] like Figure 9 As shown, multiple rollers 111 can be used as support portions 61. Each roller 111 can abut against the inner periphery 54 and / or outer periphery 56 of the flexible flat cable 51, applying radial compressive force to the inner periphery 54 and / or outer periphery 56 of the flexible flat cable 51 to improve the tightness and further ensure that the flexible flat cable 51 does not warp, tangle, or become displaced during rotational reciprocating motion, and its shape remains stable.

[0059] The flexible flat cable 51 is supported by the mechanical connection and transmission of the rollers 111. When the inner ring 21 rotates to drive the flexible flat cable 51 to rotate together, the flexible flat cable 51 can move relative to the rollers 111. The free rotation of the rollers 111 facilitates the rotation of the flexible flat cable 51. The cable routing mechanism has extremely high stability and reliability. The number of rollers 111 can be adjusted to achieve cable routing for different rotating mechanisms, such as linear rotating mechanisms, and it can be widely used in similar rotating mechanisms. When mounting different numbers of motion modules 1, the flexible flat cable 51 and the corresponding number of rollers 111 need to be evenly distributed circumferentially according to the number of motion modules 1, which can adapt to various mounting requirements.

[0060] The roller assembly 110 also includes an annular mounting bracket 112 and a support bearing 113. Multiple rollers 111 are rotatably mounted to the mounting bracket 112. Specifically, the mounting bracket 112 has multiple roller 111 shafts arranged axially, spaced apart axially, for example, evenly distributed circumferentially, with a portion inserted into the mounting bracket 112 for connection and fixation. The rollers 111 are rotatably fitted onto their shafts, allowing free rotation relative to the shafts. The support bearing 113 is located inside the mounting bracket 112 and is movably connected to the inner rotating ring 21. Thus, the roller 111 bracket is connected to the inner rotating ring 21 via the support bearing 113, resulting in very smooth transmission and significantly reduced friction. For example, as... Figure 8 As shown, the mounting bracket 112 may be provided with a mounting groove with an inward opening, within which the support bearing 113 is accommodated and positioned. Furthermore, the support bearing 113 may protrude from the mounting groove (see [reference]). Figure 7 This allows the roller assembly 110 to be connected to the rotating inner ring 21, thereby enabling the roller assembly 110 to rotate relative to the rotating inner ring 21.

[0061] The number of roller 111 shafts is the same as the number of rollers 111, and the number of both is not limited. It can be increased or decreased according to application needs, depending on the number of motion modules 1 and the diameter of the rotating inner ring 21 and the fixed outer ring 31. After being evenly distributed circumferentially, they can compress the flexible flat cable 51, ensuring that the flexible flat cable 51 does not warp during rotation. The number of roller 111 shafts can be, for example, three, four, five... twelve, thirteen, etc. The illustrated embodiment schematically shows twelve roller 111 shafts.

[0062] Mounting bracket 112 includes a first bracket portion 115 and a second bracket portion 116, which, when combined, form a complete ring-shaped mounting bracket 112. In the illustrated embodiment, the first bracket portion 115 and the second bracket portion 116 are configured as a semi-circular ring, for example, a semi-circular ring. The first bracket portion 115 and the second bracket portion 116 are mated together, and the mating point is fixed, for example, by screws. Each bracket portion is provided with a mounting groove to accommodate a support bearing 113. In an embodiment not shown, the first bracket portion 115 and the second bracket portion 116 are configured as a complete ring and are connected axially. The connection method is not limited and can be at least one of suitable fixing methods such as snap-fit, fastener connection such as screws, or plug-in connection.

[0063] The external rotary joint 100 also includes a differential structure for differential transmission between the inner rotating ring 21 and the flexible flat cable 51. When the inner rotating ring 21 rotates, it drives the flexible flat cable 51 to rotate differentially. This improves the transmission accuracy of the external rotary joint 100, achieving a higher level of precision. Consequently, it enhances the control and feedback accuracy of the external rotary joint 100's rotation, thereby improving the operational precision of the end-effector and enabling high-precision coordination of all rotating components. Furthermore, it boasts high reliability and can withstand long-term operation.

[0064] like Figure 7 As shown, the differential structure of this embodiment includes an inner ring gear 121, an outer ring gear 122, and a plurality of planetary gears 123. The inner ring gear 121 is fixed to the rotating inner ring 21, and the outer ring gear 122 is located radially outside the inner ring gear 121 and fixed to the fixed outer ring 31. The fixing method of the inner ring gear 121 and the outer ring gear 122 is not limited and can be any suitable fixing method such as bonding, pressing, insertion, or fastener connection such as screws. Bonding is preferred here to overcome space limitations. There is a gap between the outer ring gear 122 and the inner ring gear 121, and the plurality of planetary gears 123 are disposed between the inner ring gear 121 and the outer ring gear 122 and mesh with both. The inner ring gear 121 can drive the planetary gears 123 to rotate relative to the outer ring gear 122.

[0065] Multiple planetary gears 123 are evenly distributed circumferentially. The number of planetary gears 123 is not limited and can be increased or decreased according to application needs, depending on the diameter of the rotating inner ring 21 and the fixed outer ring 31. The number of planetary gears 123 can be, for example, three, four, five, six, etc. The illustrated embodiment schematically shows four planetary gears 123.

[0066] See Figure 8 The planetary gear 123 is rotatably mounted to the mounting bracket 112 via a connecting shaft 124. In the illustrated embodiment, the connecting shaft 124 can be connected to the roller 111 shaft, for example, integrally formed. Several of the plurality of roller 111 shafts are selected and equally spaced in the circumferential direction to arrange the connecting shaft 124 so that the planetary gear 123 fixedly sleeved on the connecting shaft 124 is evenly distributed in the circumferential direction.

[0067] Third Implementation Method The following is for reference Figures 10 to 12The external rotary joint 200 of the third embodiment will now be described. Except for the pressure wire structure 60 and the addition of a differential structure, the external rotary joint 200 of the third embodiment has the same structure and / or construction as the external rotary joint 2 of the first embodiment. Therefore, elements having substantially the same function as those in the first embodiment will be numbered the same here, and for the sake of brevity, they will not be described in detail and / or illustrated further.

[0068] The rotating part 20 and the fixed part 30 of this embodiment are largely the same as those of the first embodiment, but the pressing structure 60 differs from that of the first embodiment. Specifically, as shown... Figure 11 and Figure 12 As shown, the pressure structure 60 includes multiple annular flexible wheels 210. The annular flexible wheels 210 are made of soft rubber material, which has good elasticity and large deformation. When not subjected to external force, they are circular. After being installed between the rotating inner ring 21 and the fixed outer ring 31, they are subjected to the squeezing force from both sides and become elongated annular.

[0069] The number of annular flexible wheels 210 is unlimited and can be increased or decreased according to application needs, depending on the number of motion modules 1 and the diameters of the rotating inner ring 21 and the fixed outer ring 31. When evenly distributed circumferentially, they can compress the flexible flat cable 51, ensuring that the flexible flat cable 51 does not warp during rotation. For example, there can be three, four, five, or six. Taking the illustrated embodiment as an example, three annular flexible wheels 210 are provided: a first annular flexible wheel 210a, a second annular flexible wheel 210b, and a third annular flexible wheel 210c. The first annular flexible wheel 210a is located at the first flexible flat cable 51a, the second annular flexible wheel 210b is located at the second flexible flat cable 51b, and the third annular flexible wheel 210c is located at the third flexible flat cable 51c. Each flexible flat cable 51 corresponds to one or more annular flexible wheels 210 of the same number. Therefore, the number of annular flexible wheels 210 can be more than one times the number of flexible flat cables 51.

[0070] The annular flexible wheel 210 serves as a support portion 61. Each annular flexible wheel 210 can abut against the inner circumference 54 and / or outer circumference 56 of the flexible flat cable 51, applying radial compressive force to the inner circumference 54 and / or outer circumference 56 of the flexible flat cable 51 to improve the tightness and further ensure that the flexible flat cable 51 does not warp, tangle, or become displaced during rotational reciprocating motion, and its shape remains stable.

[0071] The annular flexible wheel 210 provides support for the flexible flat cable 51. When the inner ring 21 rotates to drive the flexible flat cable 51, the annular flexible wheel 210 rotates synchronously with the flexible flat cable 51, eliminating the need for an additional drive mechanism. This simplifies the structure and significantly improves space utilization. The cable routing mechanism exhibits extremely high stability and reliability. The number of annular flexible wheels 210 can be adjusted to accommodate different rotating mechanisms, such as linear rotating mechanisms, making it widely applicable in similar rotating mechanisms. When mounting different numbers of motion modules 1, the flexible flat cable 51 and the corresponding number of annular flexible wheels 210 need to be redistributed circumferentially according to the number of motion modules 1, adapting to various mounting requirements.

[0072] The external rotary joint 200 also includes a supporting inner ring 220 and a supporting outer ring 230. The supporting inner ring 220 is fixed to the rotating inner ring 21, and the supporting outer ring 230 is located radially outside the supporting inner ring 220 and fixed to the fixed outer ring 31. The fixing method of the supporting inner ring 220 and the supporting outer ring 230 is not limited; it can be any suitable fixing method such as bonding, clamping, radial fixing with set screws, or axial fixing with fasteners such as screws. In the illustrated embodiment, the differential structure also includes an anti-rotation element 241. The rotating inner ring 21 is provided with a first insertion interface 242 (see...). Figure 10 The inner ring 220 is equipped with a second connector 243 (see...). Figure 11 The anti-rotation member 241 can be inserted into the first insertion interface 242 and the second insertion interface 243, thereby restricting the relative movement of the rotating inner ring 21 and the supporting inner ring 220, so that the supporting inner ring 220 rotates together with the rotating inner ring 21.

[0073] See Figure 12 Multiple flexible flat cables 51 are disposed between the inner support ring 220 and the outer support ring 230. An annular flexible wheel 210 is disposed at the flexible flat cables 51 and is drive-connected to the inner support ring 220 and the outer support ring 230. The drive-connection structure can be a gear drive. Specifically, the annular flexible wheel 210 has multiple engagement ports 211 spaced apart at at least one end in the axial direction. These engagement ports 211 are of the same size and are evenly distributed. The inner support ring 220 has multiple first teeth 221 spaced apart circumferentially. These first teeth 221 extend radially outward and are of the same size and are evenly distributed. The outer support ring 230 has multiple second teeth 231 spaced apart circumferentially. These second teeth 231 extend radially inward and are of the same size and are evenly distributed. The number of first teeth 221 is the same as the number of second teeth 231. Thus, the toothed inner support ring 220, the toothed outer support ring 230, and the annular flexible wheel 210 with engagement ports 211 constitute the differential structure of this embodiment.

[0074] Multiple first teeth 221 can engage with the innermost engagement port 211 among multiple engagement ports 211, and multiple second teeth 231 can engage with the outermost engagement port 211 among multiple engagement ports 211. When the supporting inner ring 220 rotates, the annular flexible wheel 210 can rotate along with it through the transmission between the first teeth 221 and the engagement ports 211. This limits the movement trajectory and speed of the annular flexible wheel 210, allowing it to rotate synchronously with the flexible flat cable 51. Compared with traditional transmission methods, this greatly simplifies the structure and reduces manufacturing costs.

[0075] As shown in the illustrated embodiment, the annular flexible wheel 210 may have multiple engagement ports 211 at both ends in the axial direction. Correspondingly, the inner supporting ring 220 has multiple first teeth 221 at both ends in the axial direction, and the outer supporting ring 230 has multiple second teeth 231 at both ends in the axial direction. The engagement ports 211 at corresponding end positions engage with the first teeth 221 and the second teeth 231. The engagement ports 211 may be configured to be open on one side in the axial direction, forming a tooth groove. Alternatively, the engagement ports 211 may be configured to be circumferentially closed.

[0076] The inner support ring 220 has multiple inner cable outlets 222 spaced circumferentially, with the inner cable outlets 222 corresponding to the inner openings 23 for routing the first end 52 of the flexible flat cable 51. The number of inner cable outlets 222 is the same as the number of inner openings 23. The outer support ring 230 has outer cable outlets 232, with the outer cable outlets 232 corresponding to the outer openings 35 for routing the second end 53 of the flexible flat cable 51. The outer support ring 230 forms a receiving groove with the opening facing inward, accommodating and positioning both the annular flexible sheave 210 and the cable assembly 50 within the receiving groove. This modularizes the cable routing assembly, greatly facilitating installation, commissioning, and maintenance.

[0077] The supporting outer ring 230 includes a first outer ring portion 233 and a second outer ring portion 234, which together form a complete ring-shaped supporting outer ring 230. The supporting inner ring 220 is sandwiched between the first outer ring portion 233 and the second outer ring portion 234 to be assembled together.

[0078] In the illustrated embodiment, the first outer ring portion 233 and the second outer ring portion 234 are constructed as a complete ring and are connected axially. The connection method is not limited and can be at least one of suitable fixing methods such as snap-fit, fastener connection such as screws, or insertion. For example, a plurality of supporting outer ring clips 244 are provided, each supporting outer ring clip 244 extending axially and having a protruding arm extending radially inward. The protruding arms are located at both ends of the supporting outer ring clip 244 along the axial direction. The first outer ring portion 233 and the second outer ring portion 234 are clamped between the protruding arms at both ends of the supporting outer ring clip 244. The protruding arms are connected to these two outer ring portions, for example, by a suitable fixing method such as snap-fit, fastener connection such as screws, or insertion; a screw connection is shown here.

[0079] Optionally, the first outer ring portion 233 and the second outer ring portion 234 are provided with a snap-fit ​​groove 235 at the position corresponding to the protruding arm, and the protruding arm is located in the snap-fit ​​groove 235.

[0080] In an embodiment not shown, the first outer ring portion 233 and the second outer ring portion 234 are configured as a semi-circular ring, for example, a semi-circular ring. The first outer ring portion 233 and the second outer ring portion 234 are joined together, and the joint is fixed by means of screws, for example.

[0081] To facilitate the engagement of the first outer ring portion 233 and the second outer ring portion 234, one of the first outer ring portion 233 and the second outer ring portion 234 is provided with a positioning protrusion 236 protruding in the axial direction, and the other of the first outer ring portion 233 and the second outer ring portion 234 is provided with a positioning groove 237 recessed in the axial direction. The positioning protrusion 236 can be engaged with the positioning groove 237. During engagement, the positioning protrusion 236 is first inserted into the positioning groove 237 to ensure the correct relative position of the first outer ring portion 233 and the second outer ring portion 234. Both the first outer ring portion 233 and the second outer ring portion 234 have a second tooth 231, the tooth shape of which perfectly matches the movement trajectory of the annular flexible wheel 210, and the width of each second tooth 231 corresponds to the width of the engagement opening 211 of the annular flexible wheel 210. In addition, in the illustrated embodiment, both the first outer ring portion 233 and the second outer ring portion 234 form part of the outer opening 35 for the lead-out of the flexible flat cable 51.

[0082] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the scope of this application. Features described in one embodiment may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0083] This application has been described through the above embodiments. However, it should be understood that the above embodiments are only for illustrative purposes. This application is not limited to the above embodiments. Many variations and modifications can be made based on the teachings of this application, and all such variations and modifications fall within the scope of protection claimed in this application.

Claims

1. A surgical robot, characterized in that, The surgical robot includes multiple motion modules and an external rotary joint. Each motion module is used to connect to a drive module for an endoscope or surgical instrument. The external rotary joint is located at the end of the surgical robot and includes: Fixed outer ring; A rotating inner ring rotates relative to the fixed outer ring around a rotation axis, and multiple motion modules are respectively installed at different positions on the rotating inner ring; and The cable assembly comprises multiple flexible flat cables arranged circumferentially within the annular space formed by the rotating inner ring and the fixed outer ring, with the cables wound and unwound in a manner consistent with the number of motion modules. Each of the plurality of flexible flat cables includes a first end and a second end. Each of the first ends of the plurality of flexible flat cables is fixed relative to the rotating inner ring, and the second ends are all fixed relative to the fixed outer ring. The plurality of flexible flat cables have the same winding direction and bending direction. Each of the plurality of flexible flat cables is bent to form an inner periphery, a bent portion, and an outer periphery. The external rotating joint further includes a wire clamping structure disposed at at least one of the plurality of flexible flat cables. The wire clamping structure includes a support portion and a flexible strip. The flexible strip is bent to form the support portion at the bend. The support portion abuts against at least one of the inner periphery and the outer periphery, such that the corresponding inner periphery is in close contact with the rotating inner ring and the corresponding outer periphery is in close contact with the fixed outer ring. At least a portion of the first ends of the plurality of flexible flat cables are connected to the corresponding motion module.

2. The surgical robot according to claim 1, characterized in that, The external rotary joint is configured such that when the inner rotating ring rotates, the position of the support portion rotates synchronously with the bending portion.

3. The surgical robot according to claim 1, characterized in that, There is a preset distance between the support portion and the bending portion to avoid interference between them when the inner rotating ring rotates.

4. The surgical robot according to claim 1, characterized in that, The flexible strip is wound in parallel with the corresponding flexible flat cable and disposed between adjacent flexible flat cables; and / or The flexible strip is bent in the same bending direction as the bent portion.

5. The surgical robot according to claim 1, characterized in that, The inner end of the flexible strip is fixed to the first end of the corresponding flexible flat cable, and the outer end of the flexible strip is fixed to the second end of the flexible flat cable. The first end of the flexible flat cable is provided with a connecting plate, which is connected to the rotating inner ring. The inner end of the flexible strip is clamped between the first end and the rotating inner ring.

6. The surgical robot according to claim 1, characterized in that, It also includes a differential structure for establishing differential transmission between the rotating inner ring and the flexible flat cable; The differential structure includes an inner ring gear, an outer ring gear, and multiple planetary gears. The inner ring gear is fixed to the rotating inner ring, and the outer ring gear is located radially outside the inner ring gear and fixed to the fixed outer ring. The multiple planetary gears are disposed between the inner ring gear and the outer ring gear and mesh with both.

7. A surgical robot, characterized in that, The surgical robot includes multiple motion modules and an external rotary joint. Each motion module is used to connect to a drive module for an endoscope or surgical instrument. The external rotary joint is located at the end of the surgical robot and includes: Fixed outer ring; A rotating inner ring rotates relative to the fixed outer ring around a rotation axis, and multiple motion modules are respectively installed at different positions on the rotating inner ring; and The cable assembly includes multiple flexible flat cables arranged circumferentially within the annular space formed by the rotating inner ring and the fixed outer ring, with the cables wound and unwound in a manner that allows for twisting and unwinding. Each of the plurality of flexible flat cables includes a first end and a second end. Each of the first ends of the plurality of flexible flat cables is fixed relative to the rotating inner ring, and the second ends are all fixed relative to the fixed outer ring. The plurality of flexible flat cables have the same winding direction and bending direction. The rotating inner ring is provided with a plurality of inner openings spaced apart circumferentially, the fixed outer ring is provided with an outer opening, each of the first ends of the plurality of flexible flat cables extends out from different inner openings to connect with the corresponding motion module, and the second end extends out from the outer opening.

8. The surgical robot according to claim 7, characterized in that, The first end is fixed to the inner side of the rotating inner ring, and the second end is fixed to the outer side of the fixed outer ring; and / or The second end of all the flexible flat cables extends from the same outer opening.

9. The surgical robot according to claim 7, characterized in that, The rotating inner ring has a guide slope at its inner opening that is aligned with the extension direction of the first end, and the fixed outer ring has a guide slope at its outer opening that is aligned with the extension direction of the second end.

10. A surgical robot, characterized in that, The surgical robot includes multiple motion modules and an external rotary joint. Each motion module is used to connect to a drive module for an endoscope or surgical instrument. The external rotary joint is located at the end of the surgical robot and includes: Fixed outer ring; The inner ring rotates relative to the fixed outer ring around a rotation axis, and the multiple motion modules are respectively installed at different positions on the inner ring. A driven member is disposed circumferentially outside the inner rotating ring; A drive module, comprising a driving member rotatable about its own axis, at least a portion of the driving member extending into the fixed outer ring and being drively connected to the driven member; and The cable assembly includes multiple flexible flat cables arranged circumferentially within the annular space formed by the rotating inner ring and the fixed outer ring, with the cables wound and unwound in a manner that allows for twisting and unwinding. Each of the plurality of flexible flat cables includes a first end and a second end. Each of the first ends of the plurality of flexible flat cables is fixed relative to the rotating inner ring, and the second ends are all fixed relative to the fixed outer ring. The plurality of flexible flat cables have the same winding direction and bending direction.

11. The surgical robot according to claim 10, characterized in that, The driving component and the driven component are gears and they mesh directly; or the driving component is connected to the driven component via a chain or belt.

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