Joint assembly and surgical robot

Abstract

The utility model provides a joint assembly and a surgical robot, and relates to the technical field of surgical instruments.The surgical robot is provided with the joint assembly, the joint assembly comprises a first joint, a second joint and a connecting piece, and a guiding part is arranged between the first joint and the second joint; the guide part is used for guiding relative rotation and relative sliding between the first joint and the second joint; the first end of the connecting piece is rotationally connected with the first joint, and the second end of the connecting piece is rotationally connected with the second joint; the rotating shafts of the first end and the second end are parallel to each other and parallel to the rotating shaft between the first joint and the second joint. According to the joint assembly and the surgical robot, the stability of the two adjacent joints during relative rotation can be improved, and the joints can bear large loads.

Description

Technical Field

[0001] The present application relates to the technical field of surgical instruments, and in particular to a joint assembly and a surgical robot. Background Art

[0002] With the development of robotic technology, minimally invasive surgical robots can reduce the difficulty of surgery and increase the success rate of surgery, and are gradually being widely used.

[0003] In existing minimally invasive surgical robots, flexible surgical instruments are generally used to enter the human body through an incision to perform surgery; and the flexible surgical instruments are often provided with multiple flexible joints.

[0004] However, in existing flexible surgical instruments, the stability of two adjacent joints during relative rotation is poor and they cannot withstand large loads. Utility Model Content

[0005] In view of the above problems, the present application provides a joint assembly and a surgical robot, which can improve the stability of two adjacent joints when relative rotation occurs and enable the joints to withstand greater loads.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] In a first aspect, the present application provides a joint assembly, comprising a first joint, a second joint and a connecting member, wherein a guide portion is provided between the first joint and the second joint, and the guide portion is used to guide relative rotation and relative sliding between the first joint and the second joint;

[0008] The first end of the connecting member is rotatably connected to the first joint, and the second end of the connecting member is rotatably connected to the second joint; the rotation axes of the first end and the second end are parallel to each other and parallel to the rotation axis between the first joint and the second joint.

[0009] The beneficial effects of the present application are: the existence of the guide part can guide the relative movement between the first joint and the second joint, thereby improving the stability of the two adjacent joints when relative rotation occurs; in addition, the connecting member can connect and support the first joint and the second joint, so that the joint can withstand a larger load.

[0010] In a possible implementation, two guide portions are provided at intervals, two connectors are provided at intervals, and the two connectors are provided close to the two guide portions in a one-to-one correspondence.

[0011] The two connecting members are located between the two guiding portions, or the two guiding portions are located between the two connecting members.

[0012] In a possible implementation, the joint assembly further includes a connecting rod and an operating tube, and the two connecting members are connected by the connecting rod;

[0013] Along the extension direction of the first joint, a first through hole penetrating the first joint is provided on the first joint;

[0014] Along the extension direction of the second joint, a second through hole penetrating the second joint is provided on the second joint;

[0015] The operating tube is inserted into the first through hole and the second through hole and is located between the two connecting members; the connecting rod is bent to bypass the operating tube.

[0016] In a possible implementation, the guide portion includes a recessed portion and a protruding portion, the recessed portion is arranged on the first joint, and the protruding portion is arranged on the second joint; at least part of the protruding portion is located in the recessed portion; the recessed portion and the protruding portion are arranged to rotate and slide relative to each other.

[0017] In a possible implementation manner, the recessed portion has a toothed groove, and the protruding portion has a toothed protrusion matched with the toothed groove, and the toothed protrusion is engaged in the toothed groove.

[0018] In a possible implementation, the recessed portion has a guide groove, the protruding portion has a bump, and the bump is rotatably disposed in the guide groove; along the extension direction of the guide groove, the bump is slidably disposed in the guide groove.

[0019] In a possible implementation, the first end of the connecting member is rotatably connected to the recessed portion, and the second end is rotatably connected to the protruding portion.

[0020] In a possible implementation, the recessed portion is located on a side of the first joint close to the second joint, and the protruding portion is located on a side of the second joint close to the first joint.

[0021] In a possible implementation, the joint assembly also includes a third joint, which is located on the side of the second joint away from the first joint; a guide portion is provided between the third joint and the second joint, and the guide portion is used to guide the relative rotation and relative sliding between the third joint and the second joint.

[0022] In a possible implementation, the rotation axis between the first joint and the second joint intersects the rotation axis between the third joint and the second joint.

[0023] In a possible implementation, a first limiting surface and a second limiting surface are provided on the guide portion; when the first joint and the second joint rotate relative to each other, the first limiting surface and the second limiting surface are configured to abut against each other to limit further rotation between the first joint and the second joint.

[0024] In one possible implementation, a first inclined surface is provided at the edge of the first joint, and a second inclined surface is provided at the edge of the second joint, and the first inclined surface and the second inclined surface are symmetrically arranged; when the first joint and the second joint rotate relative to each other, the first inclined surface and the second inclined surface are configured to abut against each other to limit further rotation between the first joint and the second joint.

[0025] A second aspect of the present application provides a surgical robot, comprising an instrument end, a clamping assembly, and a joint assembly in any of the above-mentioned implementations, wherein the joint assembly, the instrument end, and the clamping assembly are connected in sequence.

[0026] In the joint assembly provided by the present application, the existence of the guide part can guide the relative movement between the first joint and the second joint, thereby improving the stability of the two adjacent joints when relative rotation and relative sliding occur, so that the operation accuracy of the surgical instrument can be guaranteed; at the same time, the guide part can also play a limiting role in the guiding process, so that the first joint and the second joint can rotate within a set angle range. In addition, the connecting member can play the role of connecting and supporting the first joint and the second joint, and share the force on the first joint and the second joint, so that the joint assembly can withstand a large load and improve the stability and reliability of the joint assembly.

[0027] The structure of the present application and its other inventive objectives and beneficial effects will be more clearly understood through the description of the specific implementation methods in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 paying any creative work.

[0029] Figure 1 A schematic diagram of a joint assembly provided in an embodiment of the present application when installed on a surgical instrument;

[0030] Figure 2 for Figure 1 Some parts diagram of the joint assembly;

[0031] Figure 3 for Figure 2 A schematic diagram of some parts of the clamping assembly;

[0032] Figure 4 for Figure 2 Magnified view at A in the middle;

[0033] Figure 5 for Figure 2 Sectional view at the middle BB;

[0034] Figure 6 A front view of a joint assembly provided in an embodiment of the present application;

[0035] Figure 7 A right side view of a joint assembly provided in an embodiment of the present application;

[0036] Figure 8 A three-dimensional diagram of a joint assembly provided in an embodiment of the present application;

[0037] Fig. 9 for Figure 6 Sectional view at CC;

[0038] Fig.10 A connection view between the first joint, the second joint and the connecting member;

[0039] Fig.11 It is an exploded view of the first joint, the second joint and the connecting parts;

[0040] Fig.12 for Fig.10 The view after the rotation between the first joint and the second joint;

[0041] Fig.13 for Fig.10 Sectional view at DD in the middle;

[0042] Fig.14 For Fig.13 another corresponding cross-sectional view;

[0043] Fig.15 A connection view between a connecting rod and a connecting member provided in an embodiment of the present application;

[0044] Fig.16 For Fig.10 Another corresponding connection view.

[0045] Description of reference numerals:

[0046] 100-joint assembly; 110-first joint;

[0047] 111 - first through hole; 112 - first inclined surface;

[0048] 113-first rope hole; 120-second joint;

[0049] 121 - second through hole; 122 - second inclined surface;

[0050] 123-second rope hole; 130-connecting piece;

[0051] 131-first end; 132-second end;

[0052] 140- guide portion; 141- recessed portion;

[0053] 141A-toothed groove; 141B-guide groove;

[0054] 142-protrusion; 142A-tooth-shaped protrusion;

[0055] 142B-protrusion; 143-first limiting surface;

[0056] 144-second limiting surface; 150-third joint;

[0057] 160-connecting rod; 170-operating pipe;

[0058] 200-active joint; 300-follower joint;

[0059] 400-end of the instrument; 410-through hole;

[0060] 500-clamping assembly; 510-operating rod;

[0061] 520-clamp; 600-instrument box;

[0062] 700-driving rope; 710-first driving rope;

[0063] 720-second drive rope; 730-third drive rope;

[0064] 740-Fourth drive rope. DETAILED DESCRIPTION

[0065] Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to the limitation of the size of the incision, the difficulty of minimally invasive instruments in minimally invasive surgery is greatly increased, and the fatigue and trembling of doctors during long operations will be amplified, which has become a key factor restricting the development of minimally invasive surgical technology. With the development of robotics technology, a new technology in the field of minimally invasive medicine that can overcome shortcomings and inherit advantages has emerged - minimally invasive surgical robot technology. Common flexible surgical robots consist of a doctor's console, a patient-side trolley, and a display device. The surgeon operates the input device on the doctor's console and transmits the input to the patient-side trolley connected to the remotely operated surgical instrument, so that the patient can be operated on. During the operation, flexible surgical instruments are generally used to enter the human body through an incision to perform the operation.

[0066] However, in existing flexible surgical instruments, two adjacent joints can rotate relative to each other, but the stability during rotation is poor, making it difficult to ensure the operating accuracy of the surgical instrument; in addition, the joints cannot withstand large loads, affecting the reliability of the surgical instrument.

[0067] Based on the above problems, an embodiment of the present application provides a joint assembly, and a surgical robot has a joint assembly. The joint assembly provided by the present application includes a first joint, a second joint and a connecting member. Among them, a guide portion is provided between the first joint and the second joint, and the guide portion is used to guide the relative rotation and relative sliding between the first joint and the second joint. In addition, the first end of the connecting member is rotationally connected to the first joint, and the second end of the connecting member is rotationally connected to the second joint; and the rotating axes of the first end and the second end are parallel to each other and parallel to the rotating axis between the first joint and the second joint. The existence of the guide portion can guide the relative movement between the first joint and the second joint, thereby improving the stability of the two adjacent joints when relative rotation occurs; in addition, the connecting member can play a role in supporting the first joint and the second joint, so that the joints can withstand a large force.

[0068] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 creative work are within the scope of protection of this application.

[0069] The following specific embodiments are used to describe in detail the technical solution of the present application and how the technical solution of the present application solves the above technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0070] An embodiment of the present application provides a surgical robot, which includes a main console, an operator, and surgical instruments. The main console is connected to the operator, and the surgical instruments are detachably mounted on the operator. The main console can control the operator's surgical instruments to perform minimally invasive surgery.

[0071] like Figures 1 to 6 As shown, the surgical instrument includes an instrument box 600, a joint assembly 100, an active joint 200, a follower joint 300, an instrument end 400, a drive rope 700 and a clamping assembly 500. The active joint 200, the follower joint 300, the joint assembly 100, the instrument end 400 and the clamping assembly 500 are connected in sequence and are axial, so as to facilitate the clamping assembly 500 to extend into the patient's surgical site.

[0072] Specifically, the clamping assembly 500 includes an operating rod 510 and a clamp 520. The operating rod 510 is inserted into the active joint 200, the follower joint 300, the joint assembly 100 and the instrument end 400, and the clamp 520 is arranged at the end of the operating rod 510 extending out of the instrument end 400; therefore, when the operating rod 510 moves, the clamp 520 can be opened and closed, thereby completing the minimally invasive surgery; in order to facilitate the flexible bending of the surgical instrument, the operating rod 510 can be a soft rod that can be deformed. Figure 3 As shown, the mounting seat on the instrument end 400 is used to mount the clamp 520, and a through hole 410 is also provided at the center of the mounting seat. The through hole 410 is used for the operating rod 510 to pass through, so that the operating rod 510 is connected to the clamp 520, so that the clamp 520 can be clamped under the drive of the operating rod 510.

[0073] In addition, the joint assembly 100 can be used to connect between the instrument end 400 and the follower joint 300, and can also be used to connect between the follower joint 300 and the active joint 200. One end of the drive rope 700 is connected to the instrument box 600, and the other end of the drive rope 700 is connected to the joint assembly 100. By pulling the drive rope 700 through the instrument box 600, the surgical instrument can be rotated at the joint assembly 100.

[0074] Next, combine Figures 1 to 16 , the structure of the joint assembly 100 is described in detail:

[0075] like Figures 6 to 12 As shown, the joint assembly 100 provided in the present application includes a first joint 110, a second joint 120 and a connecting member 130, and a guide portion 140 is provided between the first joint 110 and the second joint 120, and the guide portion 140 is used to guide the relative rotation and relative sliding between the first joint 110 and the second joint 120, that is, the first joint 110 and the second joint 120 can be movably arranged at the guide portion 140, and the two can move relative to each other; thus, when relative movement occurs between the first joint 110 and the second joint 120, the existence of the guide portion 140 can make the movement process more stable and smooth; the relative movement includes relative rotation and relative sliding, and the relative rotation and relative sliding can occur at the same time.

[0076] In addition, the first end 131 of the connecting member 130 is rotatably connected to the first joint 110, and the second end 132 of the connecting member 130 is rotatably connected to the second joint 120; the rotation axes of the first end 131 and the second end 132 are parallel to each other and parallel to the rotation axis between the first joint 110 and the second joint 120. Therefore, the connecting member 130 can constrain the relative position between the first joint 110 and the second joint 120, and at the same time, the connecting member 130 can support the first joint 110 and the second joint 120, and share the forces acting on the first joint 110 and the second joint 120.

[0077] Therefore, in the joint assembly 100 provided by the present application, the existence of the guide portion 140 can guide the relative movement between the first joint 110 and the second joint 120, thereby improving the stability of the two adjacent joints during relative rotation and relative sliding, so that the operating accuracy of the surgical instrument can be guaranteed; in addition, the connecting member 130 can connect and support the first joint 110 and the second joint 120, and share the force acting on the first joint 110 and the second joint 120, so that the joint assembly 100 can withstand a larger load and improve the stability and reliability of the joint assembly 100.

[0078] It should be noted that when the first joint 110 and the second joint 120 rotate relative to the connecting member 130, the first joint 110 and the second joint 120 can also rotate and slide relative to each other at the guide portion 140. While the guide portion 140 plays a guiding role, the guide portion 140 can also share part of the load on the first joint 110 and the second joint 120. In addition, the guide portion 140 can also play a limiting role during the guiding process, so that the first joint 110 and the second joint 120 can rotate within a set angle range, so that the surgical instrument can be appropriately bent at the joint assembly 100 to avoid excessive bending and damage to other parts of the surgical instrument.

[0079] In some embodiments, Figures 10 to 14 As shown, two guide parts 140 can be arranged at intervals, and the two guide parts 140 are arranged opposite to each other, so that the first joint 110 and the second joint 120 can rotate and slide relative to each other at the two guide parts 140 at the same time; in addition, two connectors 130 can also be arranged at intervals, and the two connectors 130 are arranged opposite to each other, and the two connectors 130 are respectively close to the two guide parts 140 in a one-to-one correspondence; the two connectors 130 can play the role of connection and support at the same time. Therefore, the two guide parts 140 and the two connectors 130 cooperate with each other, which can further improve the stability and reliability of the joint assembly 100.

[0080] For example, Fig.10 and Fig.13As shown, the two connecting members 130 can be located between the two guiding portions 140; since the guiding portion 140 is located between the first joint 110 and the second joint 120, and the two connecting members 130 are located between the two guiding portions 140, the two connecting members 130 can be located inside the joint assembly 100 and do not protrude from the outer surfaces of the first joint 110 and the second joint 120, thereby making the structure of the joint assembly 100 more compact and facilitating the miniaturization of the joint assembly 100.

[0081] For example, Fig.14 As shown, the two guide portions 140 may also be located between the two connecting members 130; in this case, the two connecting members 130 can protrude from the outer surfaces of the first joint 110 and the second joint 120 and be exposed on the outside of the joint assembly 100, thereby facilitating the connection of the connecting members 130 to the first joint 110 and the second joint 120, and facilitating the installation and disassembly of the joint assembly 100.

[0082] It should be noted that no matter the two connecting members 130 are located between the two guiding portions 140 or the two guiding portions 140 are located between the two connections, the two connecting members 130 can play a limiting role, limiting the movement of the first joint 110 and the second joint 120 along the relative directions of the two connecting members 130, thereby preventing the two joints from falling off.

[0083] Specifically, Fig.11 As shown, along the extension direction of the first joint 110, a first through hole 111 penetrating the first joint 110 may be provided on the first joint 110; along the extension direction of the second joint 120, a second through hole 121 penetrating the second joint 120 may be provided on the second joint 120; specifically, the first joint 110 and the second joint 120 may be truncated cone-shaped, with the first through hole 111 located at the center of the first joint 110 and the second through hole 121 located at the center of the second joint 120.

[0084] In addition, if Figures 6 to 9 As shown, the joint assembly 100 may further include an operating tube 170, which is inserted into the first through hole 111 and the second through hole 121 and is located between the two connectors 130; in addition, the operating rod 510 may be inserted into the inside of the operating tube 170, and the operating tube 170 sleeved outside the operating rod 510 may reduce the friction generated by the operating rod 510 during the extension and retraction process, and provide support and protection for the operating rod 510. Specifically, the operating tube 170 may be a hose, so that the operating tube 170 may be bent and deformed to a certain extent, thereby being able to adapt to the rotation between the joints.

[0085] like Fig.15As shown, the joint assembly 100 may further include a connecting rod 160, and the two connecting members 130 are connected by the connecting rod 160, and the connecting rod 160 is bent to bypass the operating tube 170. When the two connecting members 130 are connected by the connecting rod 160, the connecting members 130 form an integrated structure through the connecting rod 160, so that the two connecting members 130 can bear a larger load at the same time, further improving the stability and reliability of the joint assembly 100. It should be noted that when the two connecting members 130 are located between the two guide portions 140, or when the two guide portions 140 are located between the two connecting members 130, the two connecting members 130 can be connected by the connecting rod 160. In addition, the connecting rod 160 is bent to bypass the operating tube 170, thereby avoiding the existence of the connecting rod 160 affecting the installation and bending of the operating tube 170.

[0086] In some embodiments, Figures 10 to 14 As shown, the guide portion 140 may include a recessed portion 141 and a protruding portion 142, wherein the recessed portion 141 is disposed on the first joint 110, and the protruding portion 142 is disposed on the second joint 120; at least part of the protruding portion 142 is located in the recessed portion 141; the recessed portion 141 and the protruding portion 142 are relatively rotatable and relatively slidable, and the protruding portion 142 can move in the recessed portion 141. Thus, when relative rotation and relative sliding occur between the recessed portion 141 and the protruding portion 142, relative rotation and relative sliding also occur between the first joint 110 and the second joint 120; it should be noted that the shapes and contours of the recessed portion 141 and the protruding portion 142 will affect the trajectory of movement between the first joint 110 and the second joint 120. Part of the protruding portion 142 may be movably disposed in the recessed portion 141, or all of the protruding portion 142 may be movably disposed in the recessed portion 141.

[0087] The following describes the recessed portions 141 and the protruding portions 142 with different shapes and profiles using two specific embodiments.

[0088] In a specific embodiment, Figures 10 to 12 As shown, the recessed portion 141 has a toothed groove 141A, and the protruding portion 142 has a toothed protrusion 142A adapted to the toothed groove 141A, and the toothed protrusion 142A is engaged in the toothed groove 141A. Therefore, the toothed protrusion 142A can rotate and slide in the toothed groove 141A, which facilitates the relative rotation and relative sliding between the first joint 110 and the second joint 120; in addition, the toothed protrusion 142A is engaged in the toothed groove 141A to form a transmission structure, so that the guide portion 140 can withstand a greater load and make the relative movement between the first joint 110 and the second joint 120 more stable and reliable. In addition, as Figures 10 to 12As shown, the number of the tooth-shaped groove 141A and the number of the tooth-shaped protrusion 142A are each one; in addition, the number of the tooth-shaped groove 141A and the number of the tooth-shaped protrusion 142A can also be multiple, so as to further improve the stability of the transmission structure.

[0089] In another specific embodiment, Fig.16 As shown, the recessed portion 141 has a guide groove 141B, and the protruding portion 142 has a convex block 142B, which is rotatably arranged in the guide groove 141B; along the extension direction of the guide groove 141B, the convex block 142B is slidably arranged in the guide groove 141B. Thus, the convex block 142B can rotate and slide in the guide groove 141B, which facilitates the relative rotation and relative sliding between the first joint 110 and the second joint 120; through the mutual cooperation between the convex block 142B and the guide groove 141B, it is convenient to realize the guiding function of the guide portion 140, so that the relative movement between the first joint 110 and the second joint 120 is more flexible. Specifically, the extension direction of the guide groove 141B can be consistent with the extension direction of the first joint 110.

[0090] Specifically, Fig.10 and Fig.16 As shown, the first end 131 of the connecting member 130 can be rotatably connected to the recessed portion 141, and the second end 132 can be rotatably connected to the protruding portion 142. Therefore, no additional connecting portion is required to connect the first end 131 on the first joint 110, and no additional connecting portion is required to connect the second end 132 on the second joint 120; the connecting member 130 can be close to the guide portion 140, so that the structure of the joint assembly 100 is more compact.

[0091] Specifically, Fig.10 and Fig.16 As shown, the recessed portion 141 may be located on a side of the first joint 110 close to the second joint 120 , and the protruding portion 142 may be located on a side of the second joint 120 close to the first joint 110 , thereby facilitating the formation of the guide portion 140 between the first joint 110 and the second joint 120 .

[0092] In addition, if Fig.11 As shown, the connecting member 130 may be provided with a rotating column on the first end 131 and the second end 132 , and the recessed portion 141 and the protruding portion 142 may be provided with an insertion hole, and the rotating column is rotatably disposed in the insertion hole.

[0093] In some embodiments, Figures 6 to 8As shown, the joint assembly 100 may also include a third joint 150, which is located on the side of the second joint 120 away from the first joint 110, and a guide portion 140 is provided between the third joint 150 and the second joint 120, and the guide portion 140 is used to guide the relative rotation and relative sliding between the third joint 150 and the second joint 120, so that the third joint 150 and the second joint 120 are movably arranged at the guide portion 140, and the two can move relative to each other; thus, the existence of the third joint 150 can enhance the flexibility of the joint assembly 100, so that the joint assembly 100 can bend with a larger amplitude and in more directions; at the same time, the operating tube 170 can also pass through the third joint 150.

[0094] In addition, the rotation axis between the first joint 110 and the second joint 120 crosses the rotation axis between the third joint 150 and the second joint 120. Therefore, the relative rotation direction between the first joint 110 and the second joint 120 is different from the rotation direction between the third joint 150 and the second joint 120, thereby expanding the bending range and bending direction of the joint assembly 100. Specifically, the rotation axis between the first joint 110 and the second joint 120 can be perpendicular to the rotation axis between the third joint 150 and the second joint 120.

[0095] It should be noted that in addition to the first joint 110 , the second joint 120 , and the third joint 150 , the joint assembly 100 may also have a greater number of joints, with multiple joints connected in sequence and different joints having different rotation directions, thereby further expanding the bending range and bending direction of the joint assembly 100 .

[0096] In some embodiments, Fig.12 As shown, the guide portion 140 may be provided with a first limiting surface 143 and a second limiting surface 144; when the first joint 110 and the second joint 120 rotate relative to each other, the first limiting surface 143 and the second limiting surface 144 are configured to abut against each other to limit further rotation between the first joint 110 and the second joint 120, so that appropriate bending can occur at the joint assembly 100 to avoid excessive bending and damage to other parts of the surgical instrument. Specifically, when the guide portion 140 includes a recessed portion 141 and a protruding portion 142, the first limiting surface 143 can be provided on the recessed portion 141, and the second limiting surface 144 can be provided on the protruding portion 142. Compared to Fig.10 , Fig.12There is a relative rotation between the first joint 110 and the second joint 120. At this time, the first limiting surface 143 and the second limiting surface 144 have not yet abutted against each other, and the bending amplitude at the joint assembly 100 is within a reasonable range. When the first joint 110 and the second joint 120 further rotate relative to each other, the first limiting surface 143 and the second limiting surface 144 will abut against each other, thereby limiting the further rotation between the first joint 110 and the second joint 120.

[0097] In addition, if Fig.12 As shown, a first inclined surface 112 may be provided at the edge of the first joint 110, and a second inclined surface 122 may be provided at the edge of the second joint 120; specifically, the first inclined surface 112 and the second inclined surface 122 may be symmetrically arranged; when the first joint 110 and the second joint 120 rotate relative to each other, the first inclined surface 112 and the second inclined surface 122 are configured to abut against each other to limit further rotation between the first joint 110 and the second joint 120, so that appropriate bending occurs at the joint assembly 100 to avoid excessive bending and damage to other components of the surgical instrument.

[0098] It should be noted that when a first limiting surface 143 and a second limiting surface 144 are provided on the guide portion 140, a first inclined surface 112 can be provided at the edge of the first joint 110, and a second inclined surface 122 can be provided at the edge of the second joint 120; when the first limiting surface 143 and the second limiting surface 144 are in abutment and fit, the first inclined surface 112 and the second inclined surface 122 will also be in abutment and fit, thereby playing a double limiting role on the joint rotation.

[0099] In addition, if Fig.12 As shown, the first limiting surface 143 and the second limiting surface 144 on the guide portion 140 are each provided with two, the two first limiting surfaces 143 are located on different sides of the guide portion 140, and the two second limiting surfaces 144 are located on different sides of the guide portion 140, and the two first limiting surfaces 143 and the two second limiting surfaces 144 are matched with each other in a one-to-one correspondence. Thus, the first limiting surface 143 and the second limiting surface 144 are matched with each other, and when the first joint 110 and the second joint 120 rotate relative to each other, whether it rotates clockwise or counterclockwise, the rotation range can be limited by the limiting surface. Similarly, the first inclined surface 112 and the second inclined surface 122 can also be provided with two each, and the distribution of the first inclined surface 112 and the second inclined surface 122 is the same as the distribution of the first limiting surface 143 and the second limiting surface 144, which will not be repeated here.

[0100] In some embodiments, the first joint 110 is provided with a first rope hole 113, and the second joint 120 is provided with a second rope hole 123; the driving rope 700 passes through the first rope hole 113 and the second rope hole 123, and the first joint 110 and the second joint 120 can rotate relative to each other by pulling the driving rope 700; in addition, the third joint 150 can also be provided with a rope hole, and the driving rope 700 passes through the rope hole on the third joint 150, and the third joint 150 and the second joint 120 can also rotate relative to each other by pulling the driving rope 700. Specifically, as Figure 5 As shown, the driving rope 700 may include a first driving rope 710 , a second driving rope 720 , a third driving rope 730 , and a fourth driving rope 740 . The four different driving ropes 700 can be used to control the rotation of different joints respectively.

[0101] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0102] The device or element referred to in this application or by implication must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of this application. In the description of this application, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0103] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0104] 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 it. 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 replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A joint assembly, characterized in that: It comprises a first joint, a second joint and a connecting piece, wherein a guide portion is provided between the first joint and the second joint, and the guide portion is used to guide the relative rotation and relative sliding between the first joint and the second joint; The first end of the connecting member is rotatably connected to the first joint, and the second end of the connecting member is rotatably connected to the second joint; the rotation axes of the first end and the second end are parallel to each other and parallel to the rotation axis between the first joint and the second joint.

2. The joint assembly according to claim 1, characterized in that: Two guide parts are arranged at intervals, two connecting members are arranged at intervals, and the two connecting members are arranged close to the two guide parts in a one-to-one correspondence; The two connecting members are located between the two guiding portions, or the two guiding portions are located between the two connecting members.

3. The joint assembly according to claim 2, characterized in that: It also includes a connecting rod and an operating pipe, and the two connecting members are connected by the connecting rod; Along the extension direction of the first joint, a first through hole penetrating the first joint is provided on the first joint; along the extension direction of the second joint, a second through hole penetrating the second joint is provided on the second joint; The operating tube passes through the first through hole and the second through hole and is located between the two connecting members; the connecting rod is bent to bypass the operating tube.

4. The joint assembly according to any one of claims 1 to 3, characterized in that: The guide portion includes a recessed portion and a protruding portion, the recessed portion is arranged on the first joint, and the protruding portion is arranged on the second joint; at least part of the protruding portion is located in the recessed portion; the recessed portion and the protruding portion are arranged to rotate and slide relative to each other.

5. The joint assembly according to claim 4, characterized in that: The recessed portion has a toothed groove, and the protruding portion has a toothed protrusion matched with the toothed groove, and the toothed protrusion is engaged in the toothed groove.

6. The joint assembly according to claim 4, characterized in that: The recessed portion is provided with a guide groove, and the protruding portion is provided with a convex block, which is rotatably arranged in the guide groove; along the extending direction of the guide groove, the convex block is slidably arranged in the guide groove.

7. The joint assembly according to claim 4, characterized in that: The first end of the connecting member is rotatably connected to the recessed portion, and the second end is rotatably connected to the protruding portion; And / or, the recessed portion is located on a side of the first joint close to the second joint, and the protruding portion is located on a side of the second joint close to the first joint.

8. The joint assembly according to any one of claims 1 to 3, characterized in that: Also includes a third joint, the third joint is located on a side of the second joint away from the first joint; The guide portion is provided between the third joint and the second joint, and is used to guide the relative rotation and relative sliding between the third joint and the second joint; The rotation axis between the first joint and the second joint intersects the rotation axis between the third joint and the second joint.

9. The joint assembly according to any one of claims 1 to 3, characterized in that: The guide portion is provided with a first limiting surface and a second limiting surface; when the first joint and the second joint rotate relative to each other, the first limiting surface and the second limiting surface are configured to abut against each other to limit further rotation between the first joint and the second joint; And / or, a first inclined surface is provided at the edge of the first joint, and a second inclined surface is provided at the edge of the second joint; when the first joint and the second joint rotate relative to each other, the first inclined surface and the second inclined surface are configured to abut against each other to limit further rotation between the first joint and the second joint.

10. A surgical robot, characterized in that: It comprises an instrument end, a clamping assembly and a joint assembly as described in any one of claims 1 to 9, wherein the joint assembly, the instrument end and the clamping assembly are connected in sequence.

Images