Flexible arm and instrument rod

Abstract

The utility model discloses a flexible arm and an instrument rod, the flexible arm comprises a plurality of joint units which are arranged in sequence, and the flexible arm further comprises an outer-layer woven mesh assembly and at least two inner-layer woven mesh assemblies which are arranged in sequence; wherein each outer-layer woven mesh assembly surrounds at least two inner-layer woven mesh assemblies which are arranged in sequence; each inner-layer woven mesh assembly surrounds the corresponding first joint section; the first joint section comprises at least one joint unit; each outer-layer woven mesh assembly surrounds a second joint section, and the second joint section comprises at least two first joint sections; the two ends of the inner-layer woven mesh assembly are fixedly connected with the two ends of the first joint section. The two ends of the outer-layer woven mesh assembly are fixedly connected with the two ends of the second joint section. According to the utility model, the S-shaped deformation condition of the flexible arm under the action of an external load can be relieved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a flexible arm and instrument rod. Background Technology

[0002] With the development of technology, various surgical systems have been widely used. A surgical system typically includes a control unit and a surgical robot. The surgical robot is equipped with an instrument lever, which usually consists of an instrument box, a flexible arm, and a tool head connected in sequence. The instrument box contains a drive unit, and a drive cable connected to the drive unit runs through the flexible arm. During surgery, the surgeon operates the surgical robot through the control unit, inserting the tool head and at least part of the flexible arm into the patient's body. The surgeon then operates the surgical robot through the control unit to activate the drive unit in the instrument box. The drive unit then retracts or extends the drive cable. When the cable is retracted or extended, the flexible arm bends in the corresponding direction. During this bending, the flexible arm moves the tool head. When the flexible arm bends to a certain angle, it moves the tool head to a designated position. Once the tool head is in the designated position, the surgical procedure can be performed on the patient by manipulating the tool head.

[0003] However, in practice, when the flexible arm bends, the components within it will shift and produce an S-shaped deformation under external load. This S-shaped deformation causes the flexible arm to have an unstable bending posture when bending in the corresponding direction, ultimately preventing it from moving the tool head to the designated position, resulting in poor control precision and affecting the smooth progress of the surgical procedure. Therefore, how to solve the S-shaped deformation of the flexible arm under external load has become an urgent problem to be solved. Utility Model Content

[0004] The purpose of this invention is to provide a flexible arm and instrument rod that can alleviate the S-shaped deformation of the flexible arm under external load.

[0005] The embodiments of this utility model are implemented as follows:

[0006] In a first aspect, this utility model provides a flexible arm, which includes a plurality of joint units arranged in sequence. The flexible arm also includes an outer woven mesh assembly and at least two inner woven mesh assemblies arranged in sequence. Each outer woven mesh assembly surrounds at least two inner woven mesh assemblies arranged in sequence. Each inner woven mesh assembly surrounds a first joint segment. The first joint segment includes at least one joint unit. Each outer woven mesh assembly surrounds a second joint segment. The second joint segment includes at least two first joint segments. The two ends of the inner woven mesh assembly are fixedly connected to the two ends of the first joint segment. The two ends of the outer woven mesh assembly are fixedly connected to the two ends of the second joint segment.

[0007] In one embodiment, the flexible arm further includes an extended layer braided mesh assembly; each extended layer braided mesh assembly surrounds at least two sequentially arranged outer braided mesh assemblies; the extended layer braided mesh assembly surrounds a third joint segment, the third joint segment including at least two second joint segments; the two ends of the extended layer braided mesh assembly are fixedly connected to the two ends of the third joint segment.

[0008] In one embodiment, each inner braided mesh assembly surrounds an equal number of joint units; each outer braided mesh assembly surrounds an equal number of joint units; and each extension braided mesh assembly surrounds an equal number of joint units.

[0009] In one embodiment, there are an even number of joint units, with each inner braided mesh assembly surrounding one joint unit, and each outer braided mesh assembly and each extension braided mesh assembly surrounding an even number of joint units.

[0010] In one embodiment, each joint unit includes fixed units at both ends and a movable unit located between the two fixed units.

[0011] In one embodiment, the movable unit is a plurality of hinged snake bones.

[0012] In one embodiment, the movable unit includes at least one spacer disc, and the fixing unit and the spacer disc are spaced apart in each joint unit.

[0013] In one embodiment, the flexible arm further includes a support rod that passes through the spacer and the fixing unit.

[0014] In one embodiment, an abutment structure is provided between adjacent spacers in each joint unit and between the fixed unit and the spacers; the support rod passes through the abutment structure.

[0015] In one embodiment, the abutment structure is a support ring.

[0016] In one embodiment, the abutment structure includes a plurality of abutment members stacked together, with a support rod passing through the center of the plurality of abutment members.

[0017] In one embodiment, one end of the abutment is a convex curved surface, and the other end is a concave spherical surface;

[0018] When multiple abutments are stacked, the convex spherical surface of one abutment mates with the concave spherical surface of another abutment.

[0019] In one embodiment, each woven mesh assembly includes a support and a woven mesh surrounding the support.

[0020] In one embodiment, the woven mesh includes a plurality of first filaments and a plurality of second filaments. The plurality of first filaments extend spirally at a certain interval in a clockwise direction at a first preset angle. The plurality of second filaments extend spirally at a certain interval in a counterclockwise direction at a second preset angle. The plurality of first filaments and the plurality of second filaments are interwoven with each other, and the plurality of first filaments and the plurality of second filaments extend spirally around the same axis.

[0021] In one embodiment, each first filament and each second filament is a single filament or a single strand of multiple filaments.

[0022] In one embodiment, each first filament and each second filament are round filaments or flat filaments.

[0023] In one embodiment, the first preset angle and the second preset angle are 120° to 240°.

[0024] In one embodiment, the support member includes a first connecting ring, a helical spring tube, and a second connecting ring connected in sequence.

[0025] In one embodiment, the helical spring tube is a rectangular helical spring tube or a circular helical spring tube.

[0026] Secondly, this utility model provides an instrument rod, which includes an instrument box, at least one of the above-mentioned flexible arms and tool heads connected in sequence.

[0027] The advantages of this utility model compared with the prior art are:

[0028] When a flexible arm bends, the components within each joint unit are prone to lateral movement and S-shaped deformation under external load. To address this, this invention incorporates an inner braided mesh assembly that surrounds at least one joint unit, mitigating the S-shaped deformation caused by lateral movement of components within the joint unit under external load during bending. Furthermore, multiple inner braided mesh assemblies also tend to laterally move and deform under external load during bending. Therefore, in the above embodiment, an outer braided mesh assembly is incorporated and surrounds the inner braided mesh assemblies, further mitigating the S-shaped deformation caused by lateral movement of the inner braided mesh assemblies under external load during bending. Furthermore, by constraining the S-shaped deformation of each component within the joint unit and the inner braided mesh assembly under external load when the flexible arm bends, the S-shaped deformation caused by external load is ultimately alleviated. This ensures that the flexible arm maintains a fixed bending posture when bending in the corresponding direction, ultimately enabling the flexible arm to move the tool head to the designated position, improving the control precision of the flexible arm and allowing the surgical operation to proceed smoothly. Furthermore, if the flexible arm undergoes S-shaped deformation under external load, it is prone to rapid rebound when the external load is released, potentially causing injury to the patient. This invention effectively solves this problem by constraining the S-shaped deformation of the flexible arm under external load. Furthermore, in the above embodiment, the S-shaped deformation of the flexible arm can be constrained by setting two layers of braided mesh assembly, a simple and easy-to-implement method. Furthermore, the use of inner and outer braided mesh assembly also improves the torsional resistance of the flexible arm, making it less prone to torsion when bending. In addition, the woven mesh assembly has low bending stiffness. This invention can alleviate the S-shaped deformation of the flexible arm under external load and improve the torsional resistance of the flexible arm without increasing the bending stiffness. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of the instrument rod shown in this utility model;

[0031] Figure 2 This is a schematic diagram of the flexible arm structure shown in this utility model;

[0032] Figure 3This is a schematic diagram of the straight pipe section shown in this utility model;

[0033] Figure 4 This is a schematic diagram of the bending of the flexible arm shown in this utility model;

[0034] Figure 5 This is a schematic diagram of the explosion of the flexible arm shown in this utility model. Figure 1 ;

[0035] Figure 6 This is a schematic diagram of the explosion of the flexible arm shown in this utility model. Figure 2 ;

[0036] Figure 7 This is a schematic diagram of the explosion of the flexible arm shown in this utility model. Figure 3 ;

[0037] Figure 8 This is a schematic diagram of the explosion of the flexible arm shown in this utility model. Figure 4 ;

[0038] Figure 9 This is a schematic diagram of the explosion of the flexible arm shown in this utility model. Figure 5 ;

[0039] Figure 10 This is a schematic diagram of the structure of the active unit shown in this utility model;

[0040] Figure 11 This is a partial explosion diagram of the flexible arm shown in this utility model;

[0041] Figure 12 This is a schematic diagram of the abutment structure shown in this utility model;

[0042] Figure 13 This is a schematic diagram of the structure of the abutment member shown in this utility model. Figure 1 ;

[0043] Figure 14 This is a schematic diagram of the structure of the abutment member shown in this utility model. Figure 2 ;

[0044] Figure 15 This is a schematic diagram of the bending of the abutment structure shown in this utility model. Figure 1 ;

[0045] Figure 16 This is a schematic diagram of the bending of the abutment structure shown in this utility model. Figure 2 ;

[0046] Figure 17 This is a schematic diagram of the bending of the abutment structure shown in this utility model. Figure 3 ;

[0047] Figure 18This is a schematic diagram of the structure of the woven mesh assembly shown in this utility model;

[0048] Figure 19 This is a schematic diagram of the structure of the support member shown in this utility model. Figure 1 ;

[0049] Figure 20 This is a schematic diagram of the structure of the support member shown in this utility model. Figure 2 ;

[0050] Figure 21 This is a schematic diagram of the structure of the woven mesh shown in this utility model. Figure 1 ;

[0051] Figure 22 This is a schematic diagram of the structure of the woven mesh shown in this utility model. Figure 2 ;

[0052] Figure 23 This is a schematic diagram of the structure of the woven mesh shown in this utility model. Figure 3 .

[0053] Figure label:

[0054] 1-Instrument rod; 10-Instrument box; 20-Straight tube section; 21-Slit cut; 30-Flexible arm; 31-First flexible arm; 32-Second flexible arm; 40-Tool head; 301-Support member; 302-Woven mesh; 310-First joint section; 320-Inner woven mesh assembly; 321-First inner woven mesh assembly; 322-Second inner woven mesh assembly; 323-Third inner woven mesh assembly; 324-Fourth inner woven mesh assembly; 330-Outer woven mesh assembly; 331-First outer woven mesh assembly; 332-Second outer woven mesh assembly; 340-Extension layer woven mesh assembly; 350-Extended layer woven mesh assembly; 361-First fixing unit; 362-Second Fixed unit; 363-Third fixed unit; 364-Fourth fixed unit; 365-Fifth fixed unit; 366-Snake bone; 367-Spacer disc; 368-Support rod; 371-First joint unit; 372-Second joint unit; 373-Third joint unit; 374-Fourth joint unit; 381-First welding protrusion; 382-Second welding protrusion; 391-Support ring; 392-Abutting part; 3011-First wire; 3012-Second wire; 3021-First connecting ring; 3022-Helical spring tube; 3023-Second connecting ring; 3661-First hinge part; 3662-Second hinge part; 3921-Concave spherical surface; 3922-Convex spherical surface. Detailed Implementation

[0055] The terms “first,” “second,” “third,” etc., are used only for distinguishing descriptions and do not indicate a sequence number, nor should they be interpreted as indicating or implying relative importance.

[0056] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0057] In the description of this utility model, it should be noted that the terms "inner", "outer", "left", "right", "upper", "lower", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0058] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "set", "install", "connect", and "connection" should be interpreted broadly. For example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; and they can be internal connections between two components.

[0059] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings.

[0060] Example 1:

[0061] This embodiment provides an instrument rod, which includes an instrument box, a flexible arm, and a tool head. The instrument rod is an important component of the surgical system. It needs to bend to form the accurate working space and posture required for the surgery, and also needs to bear the load caused by the tool head performing corresponding work during the operation.

[0062] In this invention, at least one flexible arm is provided, and from proximal to distal, an instrument box, at least one flexible arm, and a tool head are sequentially connected. Each flexible arm has a set of drive ropes threaded through it, with the distal end of each set of drive ropes fixedly connected to the flexible arm it is threaded into, and the proximal end of each set of drive ropes connected to a drive unit within the instrument box. The tool head is a surgical instrument; when the tool head needs to perform surgical actions such as opening and closing, a set of target drive ropes is also connected to the tool head, with the distal end of the target drive ropes connected to the tool head, and the proximal end of the target drive ropes passing through all the flexible arms and connected to the drive unit within the instrument box. For example, the drive ropes can be alloy wire, tungsten wire, single-strand wire, or single-strand multi-strand wire, etc.; the tool head can be a needle holder, monopolar scissors, electric hook, electric shovel, bipolar window forceps, bipolar Maryland forceps, Cadill forceps, intestinal forceps, anastomosing device, etc.

[0063] It is understandable that the instrument rod may also include a straight tube section. In this case, from proximal to distal, the instrument box, the straight tube section, at least one flexible arm, and the tool head are connected sequentially. The distal end of each set of drive ropes is fixedly connected inside the flexible arm through which it is inserted, and the proximal end of each set of drive ropes passes through the straight tube section and connects to the drive unit inside the instrument box. The distal end of the target drive rope is connected to the tool head, and the proximal end of the target drive rope passes through all the flexible arms and the straight tube section and connects to the drive unit inside the instrument box.

[0064] For example, such as Figure 1 and Figure 2 As shown, the instrument lever 1 can be equipped with two flexible arms 30, namely the first flexible arm 31 and the second flexible arm 32. At this time, from the proximal end to the distal end, the instrument box 10, the straight tube section 20, the first flexible arm 31, the second flexible arm 32, and the tool head 40 are connected in sequence. A first set of drive ropes (not shown in the figure) is threaded through the first flexible arm 31. The distal end of the first set of drive ropes is fixedly connected to the first flexible arm 31, and the proximal end of the first set of drive ropes passes through the straight tube section 20 and is connected to the drive unit in the instrument box 10. A second set of drive ropes (not shown in the figure) is threaded through the second flexible arm 32. The distal end of the second set of drive ropes is fixedly connected to the second flexible arm 32, and the proximal end of the second set of drive ropes passes through the first flexible arm 31 and the straight tube section 20 and is connected to the drive unit in the instrument box 10. The distal end of the first set of drive ropes can be fixedly connected to any position within the first flexible arm 31, such as the distal end of the first flexible arm 31; similarly, the distal end of the second set of drive ropes can be fixedly connected to any position within the second flexible arm 32, such as the distal end of the second flexible arm 32. For example, the drive unit within the instrument box 10 can be a winding reel.

[0065] like Figure 3 As shown, the straight pipe section 20 may have multiple slits 21. The straight pipe section 20 is used to support the first flexible arm 31, the second flexible arm 32, and the tool head 40, and the straight pipe section 20 can also be bent. For example, the straight pipe section 20 can be made of steel pipe.

[0066] The aforementioned instrument rod 1 can be mounted on a surgical robot, forming a surgical system with the control terminal; the control terminal is remotely connected to the surgical robot. During surgery, the surgeon operates the surgical robot via the control terminal, inserting the surgical robot's tool head 40 and at least part of the flexible arm 30 into the patient's body. The surgeon then operates the surgical robot via the control terminal to activate the drive unit of the instrument box 10. After the drive unit operates, the drive rope is retracted and extended, causing the flexible arm 30 to bend in the corresponding direction. During the bending process, the flexible arm 30 moves the tool head 40. When the flexible arm 30 bends at a certain angle, it moves the tool head 40 to a designated position. Once the tool head 40 is in the designated position, the surgical procedure can be performed on the patient by operating the tool head 40. When multiple flexible arms 30 are provided, they can bend simultaneously, with each flexible arm 30 bending at the same or different angles; alternatively, only some of the flexible arms 30 may bend. The bending process of the flexible arm 30 also causes the straight tube section 20 to bend.

[0067] However, in reality, there is a load on the outside of the flexible arm 30. Under the action of the external load, when the flexible arm 30 bends, the components inside the flexible arm 30 will move and produce S-shaped deformation. The occurrence of S-shaped deformation will cause the bending posture of the flexible arm 30 to be inconsistent when bending in the corresponding direction. For example, Figure 4 As shown, under the action of external load, when the flexible arm 30 bends, the components inside the flexible arm 30 will move laterally and produce an S-shaped deformation. The occurrence of the S-shaped deformation causes the bending posture of the flexible arm 30 to be unstable when bending upward. If the bending posture of the flexible arm is unstable when bending in the corresponding opposite direction, the flexible arm 30 will be unable to drive the tool head 40 to the designated position, resulting in poor control precision and affecting the smooth progress of the surgical operation.

[0068] To address the S-shaped deformation phenomenon that occurs when the flexible arm 30 bends under external load, this utility model provides a flexible arm 30. The structure of the flexible arm 30 in this utility model is explained in detail below. For ease of understanding, only the structure of one flexible arm 30 is explained in detail in the following embodiments.

[0069] In this embodiment, the flexible arm 30 includes a plurality of sequentially arranged joint units (not shown in the figure), an outer braided mesh assembly, and an inner braided mesh assembly. The sequentially arranged joint units can be directly connected, for example, the sequentially arranged joint units are provided with matching grooves and protrusions, and the joint units can be directly connected through the grooves and protrusions. Alternatively, the sequentially arranged joint units can be welded together; or, the sequentially arranged joint units can be indirectly connected through connecting elements, for example, the sequentially arranged joint units can be indirectly connected through connecting elements such as screws, rivets, and magnetic connectors.

[0070] Multiple joint units arranged sequentially form at least two first joint segments, each first joint segment including at least one joint unit. The number of joint units contained in each first joint segment can be equal, for example, each first joint segment can include one joint unit; or, the number of joint units contained in each first joint segment can be unequal, for example, some first joint segments include two joint units, and some first joint segments include three joint units; or, in some first joint segments, the number of joint units contained in each first joint segment is equal, and in some first joint segments, the number of joint units contained in each first joint segment is unequal.

[0071] The inner braided mesh assembly comprises at least two components, the number of which is equal to the number of the first joint segments. Each inner braided mesh assembly surrounds one of the first joint segments, and the two ends of each inner braided mesh assembly are fixedly connected to the two ends of the surrounded first joint segment. For example, the two ends of each inner braided mesh assembly can be fixedly connected to the two ends of the surrounded first joint segment by means of welding, raised and recessed connection, magnetic attraction, riveting, and screw connection.

[0072] An outer braided mesh assembly is provided, which surrounds all the inner braided mesh assemblies and also surrounds a second joint segment, which includes all the first joint segments. The two ends of the outer braided mesh assembly are fixedly connected to the two ends of the surrounded second joint segment. Exemplarily, the two ends of the outer braided mesh assembly can be fixedly connected to the two ends of the surrounded second joint segment by means of welding, raised / recessed connection, magnetic attraction, riveting, or screw connection.

[0073] To facilitate understanding of the arrangement of the woven mesh assembly described in the above embodiments of this utility model, the following examples illustrate the process:

[0074] like Figure 5 As shown, the flexible arm 30 includes a plurality of joint units arranged in sequence, two inner braided mesh assemblies 320 and one outer braided mesh assembly 330 arranged in sequence; the plurality of joint units form two first joint segments 310, each of which may include one joint unit; the two inner braided mesh assemblies 320 surround the first joint segments 310 one-to-one, and the two ends of each inner braided mesh assembly 320 are fixed to the two ends of the surrounded first joint segment 310; the outer braided mesh assembly 330 surrounds the two inner braided mesh assemblies 320, and the outer braided mesh assembly 330 surrounds the second joint segment, the second joint segment including all the first joint segments 310, and the two ends of the outer braided mesh assembly 330 are fixedly connected to the two ends of the surrounded second joint segment.

[0075] When the flexible arm 30 bends, the components within each joint unit are prone to lateral movement and S-shaped deformation under external load. Therefore, in the above embodiment, an inner braided mesh assembly 320 is provided, and this assembly surrounds at least one joint unit, mitigating the S-shaped deformation caused by the lateral movement of the components within the joint unit under external load when the flexible arm 30 bends. Furthermore, when the flexible arm 30 bends, the multiple inner braided mesh assemblies 320 are also prone to lateral movement and S-shaped deformation under external load. Therefore, in the above embodiment, an outer braided mesh assembly 330 is provided, and this assembly surrounds the inner braided mesh assembly 320, thereby mitigating the S-shaped deformation caused by the lateral movement of the inner braided mesh assembly 320 under external load when the flexible arm 30 bends. Furthermore, by constraining the S-shaped deformation of each component within the joint unit and the inner braided mesh assembly 320 under external load when the flexible arm 30 bends, the S-shaped deformation of the flexible arm 30 under external load is ultimately alleviated. This ensures that the flexible arm 30 maintains a fixed bending posture when bending in the corresponding direction, ultimately enabling the flexible arm 30 to move the tool head 40 to the designated position, improving the control precision of the flexible arm 30 and allowing the surgical operation to proceed smoothly. Furthermore, if the flexible arm 30 undergoes S-shaped deformation under external load, it is prone to rapid rebound when the external load is released, potentially causing injury to the patient. This invention effectively solves the above problem by constraining the S-shaped deformation of the flexible arm 30 under external load. Furthermore, in the above embodiment, the S-shaped deformation of the flexible arm 30 can be constrained by setting two layers of braided mesh assembly, a simple and easy-to-implement constraint method. Furthermore, the torsional resistance of the flexible arm 30 is enhanced by the inner braided mesh assembly 320 and the outer braided mesh assembly 330, making it less prone to torsion when bent. Additionally, the braided mesh assembly has low bending stiffness, allowing this invention to mitigate S-shaped deformation of the flexible arm 30 under external loads and improve its torsional resistance without increasing bending stiffness.

[0076] Example 2:

[0077] When the flexible arm 30 is long and includes a large number of joint units, a large number of inner braided mesh assemblies 320 can be provided. Each inner braided mesh assembly 320 surrounds the joint unit in the manner described in Embodiment 1 above, so as to constrain the S-shaped deformation of each component within the joint unit under external load. However, when there are multiple inner braided mesh assemblies 320, if only one outer braided mesh assembly 330 is provided, it may not be possible to constrain the S-shaped deformation generated by multiple inner braided mesh assemblies 320. Therefore, in this embodiment, there are at least two outer braided mesh assemblies 330, and at least two outer braided mesh assemblies 330 are arranged sequentially. Each outer braided mesh assembly 330 surrounds at least two adjacent inner braided mesh assemblies 320 arranged sequentially. There are no inner braided mesh assemblies 320 in the flexible arm 30 that are not surrounded by outer braided mesh assemblies 330. That is to say, the sequentially arranged outer braided mesh assemblies 330 continuously surround the inner braided mesh assemblies 320. The number of inner braided mesh components 320 surrounded by each outer braided mesh component 330 can be equal, for example, each outer braided mesh component 330 surrounds 2 inner braided mesh components 320, or each outer braided mesh component 330 surrounds 3 inner braided mesh components 320; or, the number of inner braided mesh components 320 surrounded by each outer braided mesh component 330 can be unequal, for example, some outer braided mesh components 330 surround 2 inner braided mesh components 320, and some outer braided mesh components 330 surround 3 inner braided mesh components 320; or, in some outer braided mesh components 330, the number of inner braided mesh components 320 surrounded by each outer braided mesh component 330 is equal, while in some outer braided mesh components 330, the number of inner braided mesh components 320 surrounded by each outer braided mesh component 330 is unequal.

[0078] Each outer braided mesh assembly 330 surrounds a second joint segment one-to-one, with both ends of each outer braided mesh assembly 330 fixedly connected to both ends of the surrounded second joint segment. Each second joint segment consists of multiple adjacent first joint segments 310, and the number of first joint segments 310 included in each second joint segment is equal to the number of inner braided mesh assemblies 320 surrounded by the outer braided mesh assembly 330 surrounding the second joint segment. Each second joint segment includes at least two first joint segments 310. Assuming that the outer braided mesh assembly 330 surrounds N sequentially arranged inner braided mesh assemblies 320, then the second joint segment surrounded by the outer braided mesh assembly 330 includes N first joint segments 310. For example, the two ends of each outer braided mesh assembly 330 can be fixedly connected to the two ends of the surrounded second joint segment by means of welding, raised groove connection, magnetic attraction, riveting, and screw connection.

[0079] By setting multiple outer braided mesh components 330, each outer braided mesh component 330 can constrain the S-shaped deformation of the multiple inner braided mesh components 320 it surrounds when the flexible arm 30 bends. However, when there are multiple outer braided mesh components 330, they are also prone to lateral movement and S-shaped deformation under external load when the flexible arm 30 bends. Therefore, in this embodiment, an extension layer braided mesh component 340 is set to constrain the S-shaped deformation of the outer braided mesh components 330 when the flexible arm 30 bends. The extension layer braided mesh component 340 is set in such a way that it surrounds all the outer braided mesh components 330 and surrounds the third joint segment, which includes all the second joint segments. The two ends of the extension layer braided mesh component 340 are fixedly connected to the two ends of the surrounded third joint segment. For example, the two ends of the extended layer braided mesh assembly 340 can be fixedly connected to the two ends of the surrounded third joint segment by means of welding, raised groove connection, magnetic attraction, riveting and screw connection.

[0080] To facilitate understanding of the arrangement of the woven mesh assembly described in the above embodiments of this utility model, the following examples illustrate the process:

[0081] Example 1: such as Figure 6 As shown, the flexible arm 30 includes a plurality of joint units arranged in sequence, four inner braided mesh assemblies 320 arranged in sequence, two outer braided mesh assemblies 330 arranged in sequence, and one extension layer braided mesh assembly 340. The plurality of joint units arranged in sequence form four first joint segments 310, each of which may include one joint unit. The four inner braided mesh assemblies 320 surround the first joint segments 310 one-to-one, and both ends of each inner braided mesh assembly 320 are fixed to the surrounded segments. The first joint segment 310 has two ends; each outer braided mesh assembly 330 surrounds two adjacent inner braided mesh assemblies 320, and the two outer braided mesh assemblies 330 successively surround the inner braided mesh assemblies 320; two adjacent first joint segments 310 form one second joint segment, and two second joint segments are formed within the flexible arm 30. Each outer braided mesh assembly 330 surrounds one second joint segment, and the two ends of each outer braided mesh assembly 330 are fixed to the two ends of the surrounded second joint segment. An extension layer braided mesh assembly 340 surrounds two outer braided mesh assemblies 330, and the two second joint segments form one third joint segment. The extension layer braided mesh assembly 340 surrounds the third joint segment, and the two ends of the extension layer braided mesh assembly 340 are fixed to the two ends of the surrounded third joint segment.

[0082] Example 2: such as Figure 7As shown, the flexible arm 30 includes five joint units arranged in sequence, five inner braided mesh assemblies 320 arranged in sequence, two outer braided mesh assemblies 330 arranged in sequence, and one extension layer braided mesh assembly 340. The five joint units arranged in sequence form five first joint segments 310, each of which may include one joint unit. Each of the five inner braided mesh assemblies 320 surrounds a first joint segment 310 in a one-to-one manner, with both ends of each inner braided mesh assembly 320 fixed to both ends of the surrounded first joint segment 310. The two outer braided mesh assemblies 330 subsequently surround the inner braided mesh assemblies 320, one of which is an outer braided mesh assembly 340. An outer braided mesh assembly 330 surrounds two adjacent inner braided mesh assemblies 320, and this outer braided mesh assembly 330 surrounds a second joint segment, which includes two adjacent first joint segments 310. The two ends of the outer braided mesh assembly 330 are fixed to the two ends of the surrounded second joint segment. Another outer braided mesh assembly 330 surrounds three adjacent inner braided mesh assemblies 320, and this outer braided mesh assembly 330 surrounds a second joint segment, which includes three adjacent first joint segments 310. The two ends of the outer braided mesh assembly 330 are fixed to the two ends of the surrounded second joint segment. An extended braided mesh assembly 340 surrounds two outer braided mesh assemblies 330, and this extended braided mesh assembly 340 surrounds a third joint segment, which includes all the second joint segments. The two ends of the extended braided mesh assembly 340 are fixedly connected to the two ends of the surrounded third joint segment.

[0083] As can be seen from the above, in this embodiment, the S-shaped deformation of the flexible arm 30 under external load when it bends can be constrained by setting a three-layer woven mesh assembly.

[0084] It is understandable that there may be multiple extended layer braided mesh components 340, each of which surrounds at least two adjacent outer layer braided mesh components 330 arranged in sequence. There are no outer layer braided mesh components 330 in the flexible arm 30 that are not surrounded by the extended layer braided mesh components 340. In other words, the sequentially arranged extended layer braided mesh components 340 successively surround the outer layer braided mesh components 330. The number of outer braided mesh components 330 surrounded by each extended layer braided mesh component 340 can be equal, for example, each extended layer braided mesh component 340 surrounds 2 outer braided mesh components 330; or, the number of outer braided mesh components 330 surrounded by each extended layer braided mesh component 340 can be unequal, for example, some extended layer braided mesh components 340 surround 2 outer braided mesh components 330, and some extended layer braided mesh components 340 surround 3 outer braided mesh components 330; or, in some extended layer braided mesh components 340, the number of outer braided mesh components 330 surrounded by each extended layer braided mesh component 340 is equal, while in some extended layer braided mesh components 340, the number of outer braided mesh components 330 surrounded by each extended layer braided mesh component 340 is unequal.

[0085] Each extended layer braided mesh assembly 340 surrounds the third joint segment one-to-one, and the two ends of each extended layer braided mesh assembly 340 are fixedly connected to the two ends of the third joint segment. Each third joint segment consists of multiple adjacent second joint segments, and the number of second joint segments included in each third joint segment is equal to the number of outer braided mesh assemblies 330 surrounded by the extended layer braided mesh assembly 340 surrounding the third joint segment. Each third joint segment includes at least two second joint segments. Assuming that the extended layer braided mesh assembly 340 surrounds L sequentially arranged outer braided mesh assemblies 330, then the third joint segment surrounded by the extended layer braided mesh assembly 340 includes L second joint segments. For example, the two ends of each outer braided mesh assembly 330 can be fixedly connected to the two ends of the surrounded second joint segment by means of welding, raised groove connection, magnetic attraction, riveting, and screw connection.

[0086] When multiple extended layer braided mesh assemblies 340 are provided, they are prone to lateral movement and S-shaped deformation under external load when the flexible arm 30 bends. Therefore, an extension layer braided mesh assembly 350 can be provided, which surrounds all the extended layer braided mesh assemblies 340 and also surrounds the fourth joint segment, which includes all the third joint segments. The two ends of the extension layer braided mesh assembly 350 are fixedly connected to the two ends of the fourth joint segment. For example, the two ends of the extension layer braided mesh assembly 350 can be fixedly connected to the two ends of the surrounded third joint segment by welding, raised groove connection, magnetic attraction, riveting, or screw connection.

[0087] To facilitate understanding of the arrangement of the woven mesh assembly described in the above embodiments of this utility model, the following examples illustrate the process:

[0088] like Figure 8 As shown, the flexible arm 30 includes multiple joint units arranged in sequence, eight inner layer braided mesh assemblies 320 arranged in sequence, four outer layer braided mesh assemblies 330 arranged in sequence, two extension layer braided mesh assemblies 340 arranged in sequence, and one extension layer braided mesh assembly 350. Multiple joint units form eight first joint segments 310, each of which may include one joint unit; eight inner braided mesh assemblies 320 surround each of the first joint segments 310 one-to-one, and the two ends of each inner braided mesh assembly 320 are fixedly connected to the two ends of the surrounded first joint segment 310; each outer braided mesh assembly 330 surrounds two adjacent inner braided mesh assemblies 320, and four outer braided mesh assemblies 330 successively surround the inner braided mesh assemblies 320; two adjacent first joint segments 310 form a second joint segment, and four second joint segments are formed within the flexible arm 30. The outer braided mesh assemblies 330 surround each of the second joint segments one-to-one, and the two ends of each outer braided mesh assembly 330 are fixedly connected to the two ends of the surrounded second joint segment. Each extended layer braided mesh assembly 340 surrounds two adjacent outer layer braided mesh assemblies 330, and the two extended layer braided mesh assemblies 340 successively surround the outer layer braided mesh assemblies 330; two adjacent second joint segments form a third joint segment, and two third joint segments are formed within the flexible arm 30. The extended layer braided mesh assemblies 340 surround the third joint segments one-to-one, and the two ends of each extended layer braided mesh assembly 340 are fixedly connected to the two ends of the surrounded third joint segment. The extended layer braided mesh assembly 350 surrounds all the extended layer braided mesh assemblies 340, and the extended layer braided mesh assembly 350 surrounds the fourth joint segment, which includes all the third joint segments. The two ends of the extended layer braided mesh assembly 350 are fixedly connected to the two ends of the surrounded fourth joint segment.

[0089] As can be seen from the above, in this embodiment, the S-shaped deformation of the flexible arm 30 under external load when it bends can be constrained by setting a four-layer woven mesh assembly.

[0090] As can be seen from the above embodiments, the outermost braided mesh assembly surrounds all the remaining braided mesh assemblies; each braided mesh assembly in the innermost layer surrounds the joint unit. Except for the outermost and innermost layers, each braided mesh assembly in layer N surrounds at least two braided mesh assemblies in layer N-1. Following this pattern, multiple layers of braided mesh assemblies can be provided within the flexible arm 30. The above embodiments illustrate the methods of providing 2, 3, and 4 layers of braided mesh assemblies within the flexible arm 30. In practice, 5 or more layers of braided mesh assemblies can be provided within the flexible arm 30 according to the above method.

[0091] As can be seen from the above, in this utility model, a multi-layer woven mesh assembly can be set inside the flexible arm 30. By setting the multi-layer woven mesh assembly, the S-shaped deformation caused by the lateral movement of the components inside the flexible arm 30 when the long flexible arm 30 is bent can be alleviated.

[0092] Example 3:

[0093] The first joint segment 310, the second joint segment, the third joint segment, and the fourth joint segment mentioned in Embodiments 1 and 2 above are all composed of joint units. Therefore, it can be considered that each braided mesh assembly in each layer surrounds the joint unit. The following relationship exists between each braided mesh assembly in each layer when surrounding the joint unit:

[0094] When each N-layer braided mesh assembly surrounds M N-1-layer braided mesh assemblies, the number of joint units surrounded by each N-layer braided mesh assembly is equal to the sum of the number of joint units surrounded by the M N-1-layer braided mesh assemblies. Where N≥2.

[0095] The number of joint units enclosed by each N-layer braided mesh assembly is greater than the number of joint units enclosed by each N-1-layer braided mesh assembly. Where N ≥ 2. For example, the number of joint units enclosed by each outer braided mesh assembly 330 is greater than the number of joint units enclosed by each inner braided mesh assembly 320; the number of joint units enclosed by each extended layer braided mesh assembly 340 is greater than the number of joint units enclosed by each outer braided mesh assembly 330; and the number of joint units enclosed by each extended layer braided mesh assembly 350 is greater than the number of joint units enclosed by each extended layer braided mesh assembly 340.

[0096] The number of joint units enclosed by each braided mesh component in the same layer can be unequal. For example, some inner braided mesh components 320 enclose 1 joint unit, while others enclose 2 joint units; some outer braided mesh components 330 enclose 3 joint units, while others enclose 5 joint units.

[0097] The number of joint units enclosed by each braided mesh assembly in the same layer can be equal. For example, the number of joint units enclosed by each inner braided mesh assembly can be equal; the number of joint units enclosed by each outer braided mesh assembly 330 can be equal; and the number of joint units enclosed by each extension layer braided mesh assembly 340 can be equal.

[0098] It is understandable that there can be an even number of joint units, with each inner braided mesh assembly 320 surrounding one joint unit, and each outer braided mesh assembly 330, each extension layer braided mesh assembly 340, and each extended layer braided mesh assembly 350 surrounding an even number of joint units; for example, such as Figure 8 As shown, there are 8 joint units. Each inner braided mesh assembly 320 includes 1 joint unit, each outer braided mesh assembly 330 surrounds 2 joint units, each extended layer braided mesh assembly 340 surrounds 4 joint units, and each extended layer braided mesh assembly 350 surrounds 8 joint units.

[0099] Example 4:

[0100] Each joint unit includes fixed units at both ends and a movable unit located between the two fixed units. In the flexible arm 30, the distal fixed unit in each joint unit is connected to the proximal fixed unit in the adjacent joint unit, or the distal fixed unit in each joint unit is integrally formed with the proximal fixed unit in the adjacent joint unit, meaning that two adjacent joint units can share the same fixed unit; the fixed units are used to fix the ends of the braided mesh assemblies. Specifically, the proximal end of each braided mesh assembly is fixed to the nearest fixed unit in the enclosed joint segment, and the distal end of each braided mesh assembly is fixed to the farthest fixed unit in the enclosed joint segment. For example, the proximal end of the inner braided mesh assembly 320 is fixed to a proximal fixing unit in the first joint segment 310 it surrounds, and the distal end of the inner braided mesh assembly 320 is fixed to a distal fixing unit in the first joint segment 310 it surrounds; the proximal end of the outer braided mesh assembly 330 is fixed to the nearest fixing unit in the second joint segment it surrounds, and the distal end of the outer braided mesh assembly 330 is fixed to the farthest fixing unit in the second joint segment it surrounds. Exemplarily, the braided mesh assemblies can be fixedly connected to the corresponding fixing units by welding, raised-and-recessed connections, magnetic attraction, riveting, and screw connections.

[0101] It is understandable that the distal end of the drive rope inside the flexible arm 30 can be fixed to the farthest fixed unit, and the proximal end of the flexible arm 30 passes through the other fixed units and all movable units except the farthest fixed unit, and finally passes through the straight tube section 20 to connect with the drive unit inside the instrument box 10; the fixed units and movable units are used to constrain the drive rope to prevent the drive rope from becoming unstable during the bending process of the flexible arm 30, thereby improving the bending effect and bending accuracy of the flexible arm 30.

[0102] It is understandable that the flexible arm 30 may not have a movable unit. In this case, the near end of the drive rope is only inserted into the fixed unit, and the drive rope is constrained by the fixed unit.

[0103] The following example illustrates the specific structure of the flexible arm 30 in this embodiment. In this example, a movable unit is provided within the flexible arm 30:

[0104] like Figure 9 As shown, the flexible arm 30 has five fixed units spaced apart, namely, the first fixed unit 361, the second fixed unit 362, the third fixed unit 363, the fourth fixed unit 364, and the fifth fixed unit 365 from proximal to distal. A movable unit (not shown) is provided between two adjacent fixed units. Two adjacent fixed units and the movable unit located between them form a joint unit. Two adjacent joint units share the same fixed unit, resulting in four joint units within the entire flexible arm 30. From proximal to distal, the four joint units are the first joint unit 371, the second joint unit 372, the third joint unit 373, and the fourth joint unit 374.

[0105] Each joint unit is a first joint segment 310. The flexible arm 30 contains four inner braided mesh assemblies 320, which, from proximal to distal, are a first inner braided mesh assembly 321, a second inner braided mesh assembly 322, a third inner braided mesh assembly 323, and a fourth inner braided mesh assembly 324. The first inner braided mesh assembly 321 surrounds the first joint unit 371, and its proximal end is fixed to the distal end of the first fixing unit 361, while its distal end is fixed to the proximal end of the second fixing unit 362. The second inner braided mesh assembly 322 surrounds the second joint unit 372, and the second inner braided mesh assembly 322... The proximal end is fixed to the distal end of the second fixing unit 362, and the distal end of the second inner braided mesh assembly 322 is fixed to the proximal end of the third fixing unit 363; the third inner braided mesh assembly 323 surrounds the third joint unit 373, and the proximal end of the third inner braided mesh assembly 323 is fixed to the distal end of the third fixing unit 363, and the distal end of the third inner braided mesh assembly 323 is fixed to the proximal end of the fourth fixing unit 364; the fourth inner braided mesh assembly 324 surrounds the fourth joint unit 374, and the proximal end of the fourth inner braided mesh assembly 324 is fixedly connected to the distal end of the fourth fixing unit 364, and the distal end of the fourth inner braided mesh assembly 324 is fixedly connected to the proximal end of the fifth fixing unit 365.

[0106] The first joint unit 371 and the second joint unit 372 form a second joint segment, and the third joint unit 373 and the fourth joint unit 374 form another second joint segment. The flexible arm 30 has two outer braided mesh assemblies 330, which are, from proximal to distal, a first outer braided mesh assembly 331 and a second outer braided mesh assembly 332. The first outer braided mesh assembly 331 surrounds the first inner braided mesh assembly 321 and the second inner braided mesh assembly 322, and also surrounds the first joint unit 371 and the second joint unit 372. The proximal end of the first outer braided mesh assembly 331 is fixedly connected to the distal end of the first fixed unit 361. The distal end of the mesh assembly 331 is fixedly connected to the proximal end of the third fixing unit 363; the second outer mesh assembly 332 surrounds the third inner mesh assembly 323 and the fourth inner mesh assembly 324, the second outer mesh assembly 332 surrounds the third joint unit 373 and the fourth joint unit 374, and the proximal end of the second outer mesh assembly 332 is fixedly connected to the distal end of the third fixing unit 363, and the distal end of the second outer mesh assembly 332 is fixedly connected to the proximal end of the fifth fixing unit 365.

[0107] All the second joint segments form a third joint segment; the flexible arm 30 is provided with an extended layer braided mesh assembly 340, which surrounds two outer braided mesh assemblies 330, and the extended layer braided mesh assembly surrounds the third joint segment. The proximal end of the extended layer braided mesh assembly 340 is fixedly connected to the distal end of the first fixing unit 361, and the distal end of the extended layer braided mesh assembly 340 is fixedly connected to the proximal end of the fifth fixing unit 365.

[0108] The distal end of the drive rope P inside the flexible arm 30 is fixed to the fifth fixed unit 365. The proximal end of the flexible arm 30 passes through the other fixed units except the fifth fixed unit 365 and all movable units, and finally passes through the straight tube section 20 to connect with the drive unit inside the instrument box 10.

[0109] It is understandable that the ends of the braided mesh assembly can be fixed to the corresponding fixing units by welding. Except for the fifth fixing unit 365, the distal ends of the other fixing units are provided with a plurality of first welding protrusions 381 connected in sequence, the diameter of the plurality of first welding protrusions 381 gradually decreasing from the proximal end to the distal end; except for the first fixing unit 361, the proximal ends of the other fixing units are provided with a plurality of second welding protrusions 382 connected in sequence, the diameter of the plurality of second welding protrusions 382 gradually increasing from the proximal end to the distal end; the end of the inner braided mesh assembly 320 is welded to the surface of the first welding protrusion 381 and the second welding protrusion 382 with the smallest diameter; the outer braided mesh assembly 330 is welded to the surface of the first welding protrusion 381 and the second welding protrusion 382 with a moderate diameter; the extension layer braided mesh assembly 340 is welded to the surface of the first welding protrusion 381 and the second welding protrusion 382 with the largest diameter.

[0110] It is understandable that the distal end of the fifth fixing unit 365 may also be provided with a plurality of first welding protrusions 381 connected in sequence, which are used to connect with the braided mesh assembly in another flexible arm 30; the proximal end of the first fixing unit 361 may also be provided with a plurality of second welding protrusions 382 connected in sequence, which are used to connect with the braided mesh assembly in another flexible arm 30.

[0111] Of course, this is understandable. Figure 10As shown, each movable unit can be multiple articulated snake bones 366; in this case, the proximal end of the movable unit is connected to the distal end of the nearest fixed unit in the joint unit, and the distal end of the movable unit is connected to the proximal end of the farthest fixed unit in the joint unit. For example, as shown in the figure, the multiple articulated snake bones 366 are connected as follows: one snake bone 366 has a first hinge portion 3661, and this snake bone 366 is hinged to a second hinge portion 3662 on an adjacent snake bone 366 through the first hinge portion 3661. Wherein, when the first hinge portion 3661 is a protrusion, the second hinge portion 3662 is a groove; or, when the first hinge portion 3661 is a groove, the second hinge portion 3662 is a protrusion.

[0112] Example 5:

[0113] The difference from Embodiment 4 above is that, as Figure 11 As shown, in this embodiment, each movable unit includes at least one spacer disc 367, and the fixing units and multiple spacer discs 367 within each joint unit are spaced apart. It is understood that the fixing units and spacer discs 367 within each joint unit can be equally spaced; alternatively, they can be non-equally spaced. The flexible arm 30 also includes a support rod 368, which passes through all the spacer discs 367 and fixing units within the flexible arm 30. The support rod 368 provides centering for the spacer discs 367 and fixing units, and the fixing units can be fixed to the support rod 368. For example, the fixing units can be fixed to the support rod 368 by means of screw connection, magnetic attraction, riveting, or welding.

[0114] It is understandable that abutment structures can be provided between adjacent spacers 367 within each joint unit and between the fixed unit and the spacers 367. The support rod 368 penetrates all abutment structures within the flexible arm 30, and the support rod 368 provides centering for the abutment structures. The abutment structures maintain the spacing between multiple spacers 367, limit and support the spacers 367, prevent the spacers 367 from shifting on the support rod 368, and improve the bending accuracy of the flexible arm 30. Furthermore, when the flexible arm 30 bends, the abutment structures can conform to the bending of the flexible arm 30.

[0115] Of course, this is understandable. Figure 11 As shown, the abutment structure can be a support ring 391. For example, the support ring 391 can be made of polytetrafluoroethylene or other flexible materials.

[0116] Of course, this is understandable. Figure 12 As shown, the abutment structure can consist of multiple abutment members 392 stacked together, with the support rod 368 passing through the center of all abutment members 392 within the flexible arm 30. Specifically, as... Figure 13 and Figure 14 As shown, one end of each abutment 392 can be a concave spherical surface 3921, and the other end of each abutment 392 can be a convex spherical surface 3922. When multiple abutments 392 are stacked, the concave spherical surface 3921 of one abutment 392 mates with the convex spherical surface 3922 of another abutment 392. For example, the abutment 392 can be made of metal or a non-metallic material with good rigidity.

[0117] When the abutment members 392 are stacked using a spherical connection, the flexible arm 30 can bend more smoothly, such as... Figure 15 , Figure 16 and Figure 17 As shown, it is a bending diagram of the abutment structure when the flexible arm 30 bends; furthermore, when multiple stacked abutment members 392 are used as the abutment structure, they can provide greater support force to better support the spacer plate 367.

[0118] It is understandable that when the instrument rod 1 has multiple flexible arms 30, the support rod 368 passes through the spacer 367, fixing unit, and abutment structure of all flexible arms 30. When a target drive rope is connected to the tool head 40, the support rod 368 can be a tubular structure, and the proximal end of the target drive rope can extend into the straight tube section 20 through the inside of the support rod 368 and finally connect to the drive unit in the instrument box 10. When no target drive rope is connected to the tool head 40, the support rod 368 can be a solid structure.

[0119] Of course, this is understandable. Figure 18 As shown, each woven mesh assembly may include a support member 301 and a woven mesh 302 surrounding the support member 301. The support member 301 is used to support the woven mesh 302 and prevent the woven mesh 302 from deforming.

[0120] Of course, this is understandable. Figure 19 and Figure 20 As shown, each support member 301 includes a first connecting ring 3021, a helical spring tube 3022, and a second connecting ring 3023 connected in sequence; wherein, as Figure 19 As shown, the first connecting ring 3021, the helical spring tube 3022, and the second connecting ring 3023, connected sequentially, can be directly manufactured by processing metal or non-metal tubes; or, as... Figure 20As shown, a first connecting ring 3021, a helical spring tube 3022, and a second connecting ring 3023 can be machined separately, and then the machined first connecting ring 3021, helical spring tube 3022, and second connecting ring 3023 are connected together. A woven mesh 302 surrounds the outer surface of the support member 301, and both ends of the woven mesh 302 are fixedly connected to both ends of the support member 301. In this embodiment, by setting both ends of the support member 301 in the form of rings, it is convenient to connect the woven mesh 302 to the support member 301.

[0121] Of course, this is understandable. Figure 19 As shown, the helical spring tube 3022 can be a rectangular helical spring tube 3022, such as... Figure 20 As shown, the helical spring tube 3022 can be a circular helical spring tube 3022.

[0122] Of course, this is understandable. Figure 21 , Figure 22 and Figure 23 As shown, each woven mesh 302 may include multiple first filaments 3011 and multiple second filaments 3012. The multiple first filaments 3011 extend clockwise at a certain interval at a first preset angle; the multiple second filaments 3012 extend counterclockwise at a certain interval at a second preset angle; the multiple first filaments 3011 and multiple second filaments 3012 interweave with each other, and all multiple first filaments 3011 and multiple second filaments 3012 extend spirally around the same axis L. The first filaments 3011 and second filaments 3012 may be made of metal or non-metal; the number of first filaments 3011 and second filaments 3012 is greater than or equal to 3; the axis L is parallel to or coincides with the extension direction of the flexible arm 30; when the proximal end of the first filament 3011, the distal end of the first filament 3011, and the axis are projected onto the same plane along the extension direction of the axis, the projection of the proximal end of the first filament 3011 is connected with the projection of the axis to form a first straight line. The projection of the distal end of the first wire 3011 is connected to the projection of the axis to form a second straight line. The angle between the first and second straight lines is the aforementioned first preset angle. When the proximal end of the second wire 3012, the distal end of the second wire 3012, and the aforementioned axis are projected onto the same plane along the extension direction of the axis, the projection of the proximal end of the second wire 3012 is connected to the projection of the axis to form a third straight line, and the projection of the distal end of the second wire 3012 is connected to the projection of the axis to form a fourth straight line. The angle between the third and fourth straight lines is the aforementioned second preset angle. Specifically, the first and second preset angles can be 120° to 240°. Of course, it can be understood that both the first and second preset angles can be 180°.

[0123] Of course, this is understandable. Figure 21 and Figure 23 As shown, each first filament 3011 and each second filament 3012 can be a single filament, such as... Figure 22 As shown, each first filament 3011 and each second filament 3012 can be a single strand of multiple filaments.

[0124] Of course, this is understandable. Figure 21 As shown, each first filament 3011 and each second filament 3012 can be a round filament, such as... Figure 23 As shown, each first filament 3011 and each second filament 3012 can be a flat filament.

[0125] It is understandable that when the first filament 3011 and the second filament 3012 are single-strand multi-filaments, each filament in the single-strand multi-filament can be a round filament, or each filament in the single-strand multi-filament can be a flat filament.

[0126] In this embodiment, the woven mesh assembly can be manufactured independently as a single component, eliminating the need for manual assembly of the woven mesh 302 and the support member 301, thus reducing the difficulty of manual assembly. Furthermore, mass production of the woven mesh assembly facilitates automated processing, reducing production costs.

[0127] It is worth noting that, in the above embodiments, the proximal end refers to the end closer to the instrument box 10, and the distal end refers to the end farther away from the instrument box 10.

[0128] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A flexible arm, the flexible arm comprising a plurality of joint units arranged in sequence, characterized in that, The flexible arm also includes: Outer woven mesh assembly; At least two inner woven mesh components arranged in sequence; In this configuration, each outer braided mesh assembly surrounds at least two sequentially arranged inner braided mesh assemblies; each inner braided mesh assembly surrounds a first joint segment; the first joint segment includes at least one joint unit; each outer braided mesh assembly surrounds a second joint segment, the second joint segment including at least two of the first joint segments; both ends of each inner braided mesh assembly are fixedly connected to both ends of the first joint segment; and both ends of each outer braided mesh assembly are fixedly connected to both ends of the second joint segment.

2. The flexible arm according to claim 1, characterized in that, The flexible arm further includes an extended layer braided mesh assembly; each extended layer braided mesh assembly surrounds at least two sequentially arranged outer layer braided mesh assemblies; the extended layer braided mesh assembly surrounds a third joint segment, the third joint segment including at least two second joint segments; the two ends of the extended layer braided mesh assembly are fixedly connected to the two ends of the third joint segment.

3. The flexible arm according to claim 2, characterized in that, The number of joint units enclosed by each inner braided mesh assembly is equal; the number of joint units enclosed by each outer braided mesh assembly is equal; and the number of joint units enclosed by each extension layer braided mesh assembly is equal.

4. The flexible arm according to claim 3, characterized in that, The number of joint units is even, each of the inner braided mesh components surrounds one joint unit, and each of the outer braided mesh components and each of the extension layer braided mesh components surrounds an even number of joint units.

5. The flexible arm according to claim 1, characterized in that, Each joint unit includes fixed units at both ends and a movable unit between the two fixed units.

6. The flexible arm according to claim 5, characterized in that, The active unit is a plurality of hinged snake bones.

7. The flexible arm according to claim 5, characterized in that, The movable unit includes at least one spacer disc, and the fixing unit and the spacer disc are spaced apart in each joint unit.

8. The flexible arm according to claim 7, characterized in that, The flexible arm also includes a support rod that passes through the spacer and the fixing unit.

9. The flexible arm according to claim 8, characterized in that, Each joint unit has an abutment structure between adjacent spacers and between the fixing unit and the spacer; the support rod passes through the abutment structure.

10. The flexible arm according to claim 9, characterized in that, The abutment structure is a support ring.

11. The flexible arm according to claim 9, characterized in that, The abutting structure includes multiple abutting members stacked together, and the support rod passes through the center of the multiple abutting members.

12. The flexible arm according to claim 11, characterized in that, One end of the abutment is a convex curved surface, and the other end is a concave spherical surface; When multiple abutting members are stacked, the convex spherical surface of one abutting member mates with the concave spherical surface of another abutting member.

13. The flexible arm according to claim 1, characterized in that, Each woven mesh assembly includes a support and a woven mesh surrounding the support.

14. The flexible arm according to claim 13, characterized in that, The woven mesh includes a plurality of first wires and a plurality of second wires, wherein the plurality of first wires extend spirally at a certain interval in a clockwise direction at a first preset angle; Multiple second filaments extend in a counterclockwise spiral at a certain interval and at a second preset angle; The plurality of first filaments and the plurality of second filaments are interwoven with each other, and the plurality of first filaments and the plurality of second filaments extend spirally around the same axis.

15. The flexible arm according to claim 14, characterized in that, Each of the first filament and each of the second filaments is a single filament or a single strand of multiple filaments.

16. The flexible arm according to claim 14 or 15, characterized in that, Each of the first filaments and each of the second filaments is a round filament or a flat filament.

17. The flexible arm according to claim 14, characterized in that, The first preset angle and the second preset angle are 120° to 240°.

18. The flexible arm according to claim 13, characterized in that, The support component includes a first connecting ring, a helical spring tube, and a second connecting ring connected in sequence.

19. The flexible arm according to claim 18, characterized in that, The helical spring tube is either a rectangular helical spring tube or a circular helical spring tube.

20. A mechanical lever, characterized in that, The instrument lever includes an instrument box, at least one flexible arm as described in any one of claims 1-19, and a tool head connected in sequence.

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