Snake bone joint, flexible joint assembly, surgical operation arm and surgical robot

Abstract

The utility model discloses a snake bone joint, a flexible joint assembly, a surgical operation arm and a surgical robot. The snake bone joint comprises two snake bone components, and each snake bone component comprises a rotating base part and a matching part. The rotating base part is provided with a first end face capable of rotating based on a pivot; the matching part is arranged on the first end surface and is provided with a matching curved surface, and the two snake bone components are rotatably butted through the matching of the matching curved surface; the matching curved surface comprises a plurality of matching contour lines arranged in the first extension direction; the plurality of matching contour lines which are arranged in sequence are formed based on a plurality of reference circles which are arranged in sequence, and the plurality of reference circles take the pivot as the center of a circle and are projected in the extension direction of the pivot to coincide; each matching contour line is a curve formed by taking one point on the circumference of a reference circle as a central point; the orthographic projection of the first extension direction and the orthographic projection of the pivot extension direction on the first end face are in a non-perpendicular crossing state. Therefore, the utility model has the advantage of improving the motion precision and the load deformation resistance.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and more specifically, to a snake-bone joint, a flexible joint assembly, a surgical arm, and a surgical robot. Background Technology

[0002] Snake-bone joints are self-bending components widely used in the medical device field. Operators can control the insertion and orientation of tools at the distal end of the surgical arm into the body by bending at least one segment of the snake-bone joint, thereby enabling observation and surgical procedures at designated locations. Snake-bone joints typically consist of multiple snake-bone components, which can rotate in coordination to achieve the self-bending function of the joint.

[0003] In related technologies, relative rotation between adjacent snake bone components can be achieved through different types of mating structures. However, due to various factors such as the shape constraints and limited mating relationships of the mating structures, it is difficult to achieve continuous mating rotation between snake bone components. Furthermore, it is also difficult to improve the motion accuracy of external actuators controlling the directional bending of snake bone joints. In addition, the difficulty in achieving continuous mating rotation between snake bone components can easily cause damage to the mating parts, thereby shortening the service life of the snake bone joint and potentially having an adverse impact on the operational stability and application safety of surgical instruments.

[0004] Therefore, the existing medical device field urgently needs a new type of snake-bone joint that can extend the continuous engagement distance between adjacent snake-bone components when they rotate relative to each other, so as to further improve the bending accuracy of the snake-bone joint. Utility Model Content

[0005] The purpose of this application is to provide a snake joint, a flexible joint assembly, a surgical arm, and a surgical robot, which can extend the continuous engagement distance between two snake components in a snake joint, reduce the rotational gap between the two snake components, and improve the bending accuracy of the snake joint.

[0006] The embodiments of this application are implemented as follows:

[0007] In a first aspect, embodiments of this application provide a snake-bone joint, which includes two snake-bone components, each of which includes a rotating base and a mating portion. The rotating base has a first end face capable of rotating based on a pivot; the mating portion is disposed on the first end face; the mating portion has a mating surface, and in the snake-bone joint, the two snake-bone components are rotatably connected through the mating surface; the mating surface includes multiple mating contour lines arranged along a first extending direction; the multiple mating contour lines are formed based on multiple reference circles arranged in sequence, each reference circle having a pivot as its center and projecting onto the pivot extending direction; each mating contour line is a curve formed with a point on the circumference of a reference circle as its center; the first extending direction and the pivot extending direction are non-perpendicularly intersecting on the first end face.

[0008] In the above technical solution, the mating contour lines formed by the coincident reference circles ensure that the design references of the mating surfaces on the snake-bone components used for mating rotation are consistent at all positions, thereby improving the smoothness and reliability of the mating rotation between the snake-bone components. Furthermore, the mating contour lines are arranged according to a first extension direction, and the orthographic projections of the first extension direction and the pivot extension direction are not perpendicular, allowing the rotation angle of the mating relationship to continuously increase during mating rotation of the snake-bone components. In other words, the embodiments of this application can reduce the rotational clearance and improve the bending accuracy of the snake-bone joint through the inclined extension of the mating contours or mating surfaces.

[0009] In some embodiments, the mating surface is a mating convex surface or a mating concave surface; a mating convex surface on one snake-bone component mates with and rolls into contact with a mating concave surface on another snake-bone component; wherein, the reference circle radii corresponding to the mating contour lines of all mating convex surfaces and all mating concave surfaces in the same snake-bone joint are equal. In the above technical solution, a mating convex surface is housed within and rolls into contact with a mating concave surface, and the reference circle radii corresponding to the mating contour lines of the mating convex surface and the mating concave surface are equal and their projections coincide, so that the two snake-bone components can reduce or even avoid sliding misalignment through limiting fit, thereby further realizing a symmetrical motion configuration. The embodiments of this application can improve the load deformation resistance of the snake-bone joint.

[0010] In some embodiments, the mating contour lines corresponding to the mating convex and concave surfaces are circular arcs, and the radius of the mating contour lines does not exceed half the center distance of the snake-bone joints. In the above technical solution, the circular arc mating between the snake-bone components increases the rolling contact area, thereby improving the load-bearing capacity.

[0011] In some embodiments, within the same serpentine joint, the radii of the mating contour lines corresponding to each mating convex surface and each mating concave surface are equal. The above technical solution helps reduce the processing difficulty of serpentine components and improves the smoothness of rotation during mating of the serpentine components.

[0012] In some embodiments, the serpentine component includes adjacent mating convex and mating concave surfaces; in any cross-section perpendicular to the pivot extension direction, the mating profile of the mating concave surface is tangent to the mating profile of the mating convex surface. This technical solution ensures that the mating positions of the two serpentine components achieve continuous mating as much as possible during transitions between adjacent mating portions or mating surfaces, thereby further reducing rotational errors.

[0013] In some embodiments, the snake-bone component includes a first mating portion and a second mating portion disposed adjacently along a direction perpendicular to the pivot extension direction; in multiple cross-sections perpendicular to the pivot extension direction, the mating surfaces of the first mating portion and the second mating portion both extend from a first cross-section to a second cross-section; the mating contour line of the first mating portion in the first cross-section is a first contour line, the mating contour line of the first mating portion in the second cross-section is a second contour line, and the mating contour line of the second mating portion in the first cross-section is a third contour line; the orthographic projection of the center point of the second contour line on the first cross-section is located on both sides of the center point of the third contour line, respectively, as is the center point of the first contour line; or, the orthographic projection of the center point of the second contour line on the first cross-section coincides with the center point of the third contour line. This technical solution allows the snake-bone component to begin mating with the next mating portion before the mating relationship of the previous mating portion has ended, thereby further eliminating rotational clearance, extending the continuous mating distance, and improving the bending accuracy of the snake-bone joint.

[0014] In some embodiments, mating portions are respectively disposed at both ends of the first end face along the pivot extension direction; the first extension direction corresponding to the mating surfaces of the mating portions located at both ends is at the same angle as the pivot extension direction. In the above technical solution, mating portions for rotational engagement are provided at both ends of the first end face of the snake-bone component, which can improve the stability of the rotational engagement of the snake-bone component; on this basis, the mating portions or mating surfaces at both ends of the first end face have equal inclined extension angles relative to the pivot, thereby improving the rotational alignment of the snake-bone component during rotational engagement.

[0015] In some embodiments, the rotating base has two opposing first end faces, each first end face having at least one pivot-based mating portion; the pivot extension directions corresponding to the mating portions on the two first end faces are perpendicular to each other. This technical solution enables a single snake-bone component to be simultaneously applied to the assembly of two snake-bone joints with different bending directions, thereby improving the overall structural compactness and simplicity, and saving snake-bone component materials.

[0016] In some embodiments, the rotating base has multiple sets of lanyard holes, each lanyard hole being located on the first end face and extending in a direction perpendicular to the first end face. The multiple sets of lanyard holes are symmetrically arranged on both sides of the pivot, and the lanyard holes are used to accommodate drive cables or constraint cables. The above technical solution makes the overall structure of the snake-bone joint and flexible joint assembly more compact, and also reduces the pulling and interference on the retraction and extension of the constraint cables or drive cables when the snake-bone component rotates.

[0017] Based on this, the symmetrical arrangement of the rope holes ensures that the connection positions of the drive cables on both sides of the snake joint and each snake component are symmetrical and equidistant from the pivot. When the snake joint can achieve a symmetrical motion configuration, the symmetrical arrangement of the rope holes ensures that the drive cables on both sides of the snake joint are extended and retracted in a consistent manner and that the lever arms are balanced. This reduces wear on the drive cables, increases their service life, and improves the consistency of the service life of each drive cable.

[0018] In some embodiments, on the first end face, along a direction perpendicular to the pivot, both ends of the first end face are provided with limiting inclined surfaces that are inclined relative to the first end face and have equal inclination angles. The above technical solution, by setting the limiting inclined surfaces, restricts the maximum rotatable angle of the snake bone component toward one side, that is, restricts the maximum bendable angle of the snake bone joint toward one side, thereby reducing edge collisions between snake bone components and extending the service life of the snake bone component.

[0019] In some embodiments, the snake-bone joint further includes a support structure connected between the two snake-bone components, the support structure serving to maintain a constant center distance between the two snake-bone components. In the above technical solution, the snake-bone joint has the same technical effect as the aforementioned snake-bone components. Furthermore, the support structure can bear a portion of the pressure load generated by the interaction between the snake-bone components due to the tightening of the drive cable, thereby reducing wear on the snake-bone components and extending the service life of the snake-bone components and the snake-bone joint.

[0020] In some embodiments, the support structure includes multiple arc-shaped apex units; in the same snake-bone joint, the arc-shaped apex units are respectively disposed on the first end faces of two snake-bone components facing each other; each arc-shaped apex unit has an arc-shaped apex surface, and the axis of each arc-shaped apex surface coincides with the pivot corresponding to the first end face where the arc-shaped apex surface is located; in the same snake-bone joint, the radii of each arc-shaped apex surface are equal, and the oppositely disposed arc-shaped apex surfaces correspond one-to-one and roll in contact. In the above technical solution, during the bending process of the snake-bone joint, the tightening of the drive cable and the rolling contact between the arc-shaped apex surfaces on the two snake-bone components make it difficult for the two snake-bone components to approach or move away from each other during the coordinated rotation, thereby achieving consistent length of the drive cable on both sides and improving the bending accuracy and bending reliability of the snake-bone joint.

[0021] In some embodiments, the support structure includes at least one connecting pin, each connecting pin comprising two connecting shafts and a connecting rod, the connecting rod being vertically connected between the two parallel connecting shafts; in the same snake-bone joint, one connecting shaft is rotatably connected to one snake-bone component, and the axis of one connecting shaft coincides with the pivot of one snake-bone component. In the above technical solution, the snake-bone joint fixes the center distance between the two snake-bone components through the connecting pin, making it difficult for the two snake-bone components to approach or move away from each other during the cooperative rotation process, ensuring that the winding and unwinding lengths of the drive cables on both sides of the snake-bone joint are consistent, thereby improving the bending accuracy and bending reliability of the snake-bone joint.

[0022] Secondly, embodiments of this application provide a flexible joint assembly. The flexible joint assembly includes at least one snake-bone joint as described in any of the embodiments of the first aspect, and at least two drive cables. Each drive cable extends and passes through each snake-bone joint, and one end of each drive cable is fixed to the most distal snake-bone component among all snake-bone joints. In the above technical solution, the flexible joint assembly drives the snake-bone joint to bend by retracting and extending the drive cables, thereby achieving its own deflection. The flexible joint assembly has the same technical effect as the aforementioned snake-bone joint.

[0023] In some embodiments, the flexible joint assembly includes at least two serpentine joints with the same pivot extension direction. The flexible joint assembly also includes at least two constraint cables, each extending and passing through multiple serpentine joints. The connection positions of the constraint cables on each serpentine member are pivotally symmetrical. Between the two serpentine joints with the same pivot extension direction and the closest positions, the connection position of each constraint cable with the nearest serpentine joint is a first connection position, and the connection position of each constraint cable with the farthest serpentine joint is a second connection position. The first connection position is shifted by 180° relative to the second connection position based on the central axis of the flexible joint assembly. In the above technical solution, by arranging the constraint cables by a 180° shift, the two serpentine joints with the closest positions and the same bendable direction have a fixed bending angle when the flexible joint assembly deflects as a whole. That is, the flexible joint assembly has a unique shape at a specified deflection angle. This embodiment of the application improves the load-bearing deformation resistance of the flexible joint assembly.

[0024] Thirdly, embodiments of this application provide a surgical operating arm, which includes at least one flexible joint component provided in any of the embodiments of the second aspect above. In the above technical solutions, the surgical operating arm has the same technical effects as the aforementioned flexible joint component.

[0025] Fourthly, embodiments of this application provide a surgical robot, which includes at least one surgical operating arm provided in any of the embodiments of the third aspect above. In the above technical solutions, the surgical robot has the same technical effects as the aforementioned surgical operating arm.

[0026] The advantages of this application compared to the prior art are:

[0027] This application alleviates the technical problem of large rotational clearance between two snake-bone components during rotation. Specifically, in this embodiment, the rotational clearance is reduced and the continuous engagement angle is increased by using an engagement surface that extends obliquely relative to the pivot, thereby improving the bending accuracy of the snake-bone joint. In this embodiment, the engagement contour line corresponding to the engagement surface is an arc, which improves the load-bearing capacity of the snake-bone joint. In this embodiment, the engagement convex surface is contained within the engagement concave surface, and they are in rolling contact with each other with equal reference circle radii, which reduces misalignment and sliding between the two snake-bone components, improves the load deformation resistance of the snake-bone joint, and thus achieves a symmetrical motion configuration. Multiple rope-threading holes are present on each snake-bone component. The pivot symmetry ensures consistent extension and retraction of the drive cable and balanced lever arm during the bending process of the snake joint, reducing drive cable deformation and extending service life. Each end of the snake joint has at least one set of mating curved surfaces with equal tilt extension angles, which improves the stability and rotational alignment of the snake component. In this embodiment, the constraint cables between the two snake joints with the same pivot extension direction and the closest positions are connected by a 180-degree shift, so that the flexible joint component usually has a unique shape at a specified deflection angle, which improves the load deformation resistance of the flexible joint component. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the overall structure of the surgical robot shown in some embodiments of this application;

[0030] Figure 2 This is a schematic diagram of the overall structure of the surgical arm shown in some embodiments of this application;

[0031] Figure 3 This is a schematic diagram of the overall structure of a flexible joint component shown in some embodiments of this application;

[0032] Figure 4This is a schematic diagram of the overall structure of the second flexible joint assembly shown in some embodiments of this application;

[0033] Figure 5 This is a schematic diagram of the constraint cable layout of the second flexible joint assembly shown in some embodiments of this application;

[0034] Figure 6 This is a schematic diagram of the overall structure of the double snake-bone joint shown in some embodiments of this application;

[0035] Figure 7 This is a schematic diagram of the overall structure of a double serpentine joint, as shown in another embodiment of this application;

[0036] Figure 8 This is a schematic diagram of the overall structure of the snake-bone component shown in some embodiments of this application;

[0037] Figure 9 This is a schematic diagram of the overall structure of the snake-bone component shown in some other embodiments of this application;

[0038] Figure 10 This is a front view schematic diagram of a snake-bone component shown in some other embodiments of this application;

[0039] Figure 11 This is a schematic diagram illustrating the geometric principle of a snake-bone joint in some embodiments of this application;

[0040] Figure 12 This is a schematic diagram illustrating the geometric principle of the symmetrical motion configuration of the snake-bone joint shown in some embodiments of this application;

[0041] Figure 13 This is a schematic diagram illustrating the geometric principle of a snake-bone joint in some other embodiments of this application;

[0042] Figure 14 This is a top view schematic diagram illustrating a snake-bone component in some embodiments of this application;

[0043] Figure 15 This is a schematic diagram illustrating the geometric principles of mating surfaces in some embodiments of this application;

[0044] Figure 16 This is an exploded view of a connecting pin assembly shown in some embodiments of this application.

[0045] Icons: 1-Surgical robot; 2-Surgical arm; 3-Flexible joint component; 4-Snake joint; 5-Snake component; 21-Tool head; 22-Instrument box; 23-Straight instrument tube; 30-Flexible joint assembly; 31-First flexible joint assembly; 32-Second flexible joint assembly; 33-Drive cable; 34-Constraint cable; 340-Connection position; 341-First connection position; 342-Second connection position; 35-Connecting straight tube; 40-Dual snake joint; 401-First snake joint; 402-Second snake joint; 403-Third snake joint; 404-Fourth snake joint; 41-Support structure; 42- Circular arc top unit; 420-Circular arc top surface; 43-Connecting pin assembly; 431-Connecting pin; 4311-Connecting pin shaft; 4312-Connecting rod; 432-Anti-detachment component; 50-Pivot; 500-Matching curved surface; 501-Matching convex surface; 502-Matching concave surface; 503-Matching contour line; 504-Reference circle; 51-Rotating base; 510-First end face; 511-Rope hole; 512-Limiting inclined surface; 52-Constraint mating structure; 520-Matching part; 521-First mating part; 5211-First contour line; 5212-Second contour line; 5213-Third contour line; 522-Second mating part. Detailed Implementation

[0046] 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.

[0047] 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.

[0048] In the description of this application, 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 of this application is in use. They are only for the convenience of describing this application 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 application.

[0049] In the description of this application, unless otherwise expressly specified and limited, the terms “set up,” “install,” “connect,” and “link” shall be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; as a mechanical connection or an electrical connection; as a direct connection or an indirect connection through an intermediate medium; or as a connection within two components.

[0050] The technical solution of this application will now be described in detail with reference to the accompanying drawings.

[0051] Surgical robots, as an important research technology in the field of medical devices, are widely used in surgical procedures, assisting surgeons in performing various types of minimally invasive and non-invasive surgeries. Among them, surgical robots with flexible joint components or snake-bone joints are specially designed robots that can operate in confined spaces and perform complex bending or rotational movements inside the human body. Compared with traditional rigid surgical instruments, this type of surgical robot has many advantages. Using this type of surgical robot to perform surgery can not only improve the precision of surgical operations, but also reduce damage to surrounding tissues at the surgical site, shorten recovery time, and reduce the risk of complications.

[0052] The snake-bone joint is a biomimetic joint structure that can be used to create instruments capable of bending and twisting to reach areas inside the human body that are difficult for ordinary tools to access. For example, in endoscopic surgery, surgical instruments with snake-bone joints can help surgeons more accurately locate lesions and perform more delicate operations. In related technologies, the snake-bone components used to construct snake-bone joints have various structural forms. For instance, some snake-bone components use a gear-meshing mechanism to achieve bending. However, snake-bone components designed based on the gear-meshing principle typically have a large backlash during rotation. Backlash refers to the free-spinning angle of the driving gear relative to the driven gear in a gear pair without causing corresponding rotation of the driven gear. Large backlash can lead to instability in the position and posture of the surgical robot's end effector, thus affecting the accuracy, stability, and reliability of the surgery, and increasing the difficulty of controlling the surgical robot. Therefore, how to reduce the free-spinning angle of the snake-bone component during rotation, or how to extend the continuous engagement angle to improve the bending accuracy of the snake-bone joint, has become a consideration in the design of snake-bone components.

[0053] Based on the above considerations, this application provides a snake-bone component that is designed to rotate around a pivot. By extending the mating surface of the snake-bone component at an incline relative to the pivot, the rotational clearance of the snake-bone component during rotation is reduced and the continuous rotation angle is increased, thereby improving the bending accuracy of the snake-bone joint.

[0054] Please see Figure 1 , Figure 1 This is a schematic diagram of the overall structure of the surgical robot 1 shown in some embodiments of this application. For example... Figure 1 , Figure 2As shown, the surgical robot 1 may include at least one surgical arm 2. The surgical arm 2 is used to perform actions required for surgical procedures via tool heads 21. Tool heads 21 refer to the direct execution instruments on the surgical robot 1 that participate in surgical procedures. Different tool heads 21 may have different functions, and may include needle forceps, electric hooks, electric shovels, bipolar window forceps, bipolar Maryland forceps, cardill forceps, intestinal forceps, tweezers, graspers, needles, scalpels, scissors, cauterizers, endoscopes, and anastomosing devices, etc. The tool head 21 can be mounted on the distal end of the surgical arm 2 via a docking port, drive cable 33, or other structures. The distal end of the surgical arm 2 refers to the end of the surgical arm 2 used to insert into the human body and perform surgical procedures.

[0055] Please see Figure 2 , Figure 2 This is a schematic diagram of the overall structure of the surgical arm 2 shown in some embodiments of this application. For example... Figure 2 As shown, the surgical arm 2 may include an instrument box 22, a flexible joint component 3, an instrument tube 23, and a tool head 21. The flexible joint component 3 may include at least one flexible joint assembly 30. One end of the flexible joint component 3 can be connected to the instrument box 22 via the instrument tube 23, and the other end of the flexible joint component 3 can be connected to the tool head 21.

[0056] In this embodiment, the flexible joint component 3 or flexible joint assembly 30 refers to a structure composed of at least one snake-bone joint 4, which can be tightened or loosened by the drive cable 33 to achieve directional deflection function; the instrument box 22 refers to a device that can drive the tool head 21, flexible joint assembly 30 or instrument straight tube 23 to move through a transmission structure and a power source (such as a servo motor or other components).

[0057] In some embodiments, the instrument tube 23 can be a hollow tubular structure; the drive cable 33 for driving the flexible joint component 3 to deflect can extend and pass through the flexible joint component 3, and extend into the instrument box 22 through the inside of the instrument tube 23, and be wound and connected to the transmission structure in a specified winding direction. Thus, the instrument box 22 can drive the transmission structure to rotate by starting the power source, thereby retracting or releasing the drive cable 33 by a certain distance, so that the flexible joint component 3 deflects in a specified direction at a specified deflection angle.

[0058] In some embodiments, the instrument tube 23 can also be rotatably mounted on the instrument case 22 to enable the self-rotation of the flexible joint component 3, thereby adjusting the movement orientation of the tool head 21 or the deflection orientation of the flexible joint component 3. In some embodiments, the tool head 21 can also be connected to the transmission structure and power source within the instrument case 22 via a dedicated tool drive cable or other transmission mechanism. Thus, the instrument case 22 can achieve the movement of the tool head 21 (e.g., the gripping of tweezers, the insertion and withdrawal of needles, etc.) or the self-rotation of the instrument tube 23 by activating the power source.

[0059] The instrument tube 23 supports the flexible joint component 3 and the tool head 21 and assists in bending. In some embodiments, the instrument tube 23 may be made of materials such as steel pipe and have a slit cut in the middle section. The length of the instrument tube 23 is determined by the trocar travel of the surgical robot 1, which refers to the distance or range that the surgical instrument (surgical arm 2 or tool head 21) enters the patient's body through the trocar during the operation.

[0060] Please see Figures 3 to 5 , Figure 3 This is a schematic diagram of the overall structure of the flexible joint component 3 shown in some embodiments of this application; Figure 4 This is a schematic diagram of the overall structure of the second flexible joint assembly 32 shown in some embodiments of this application; Figure 5 This is a schematic diagram showing the layout of the constraint cable 34 of the second flexible joint assembly 32 according to some embodiments of this application. Figures 2 to 5 As shown, the flexible joint component 3 may include two flexible joint assemblies 30, namely a first flexible joint assembly 31 and a second flexible joint assembly 32.

[0061] Each flexible joint assembly 30 may include at least one snake-bone joint 4 and at least two drive cables 33. Each drive cable 33 extends and passes through each snake-bone joint 4, and the connection position (or passing position) of the drive cable 33 on each snake-bone component 5 is symmetrical based on the pivot 50 corresponding to the current snake-bone joint 4. One end of each drive cable 33 can be fixed to the farthest snake-bone component 5 in the corresponding flexible joint assembly 30, which refers to the snake-bone component 5 in the same flexible joint assembly 30 that is closest to the tool head 21. Thus, the surgical instrument box 22 can achieve the bending or retraction of the snake-bone joint 4 to one side and the deflection of the flexible joint assembly 30 to one side by retracting and extending the drive cables 33 on both sides of the snake-bone joint 4, thereby achieving the specified posture of the tool head 21.

[0062] In some embodiments, the flexible joint assembly 30 may further include a connecting straight tube 35. Each end of the connecting straight tube 35 may have at least one serpentine joint 4 (taking the first flexible joint assembly 31 as an example). The connecting straight tube 35 can be used to expand the working space of the flexible joint component 3 or the first flexible joint assembly 31. For example, the connecting straight tube 35 can enable the first flexible joint assembly 31 to achieve a working space of 120mm during deflection. Furthermore, the connecting straight tube 35 can be a perforated steel tube to reduce the overall weight of the flexible joint component 3.

[0063] In some embodiments, each flexible joint assembly 30 can achieve reciprocating deflection in at least two degrees of freedom through a plurality of serpentine joints 4. Further, each flexible joint assembly 30 can include at least two serpentine joints 4 whose bending directions are perpendicular to each other (i.e., pivots 50 are perpendicular to each other). Figure 3 As shown, in the first flexible joint assembly 31, each end of the connecting straight tube 35 can be provided with two snake joints 4 whose pivot extension direction A (flexible direction) is perpendicular to each other. The maximum bendable angle of each snake joint 4 facing any side can be set to 60 degrees. The snake joints 4 located at both ends of the connecting straight tube 35 have the same bendable direction. In the second flexible joint assembly 32, multiple sets of snake joints 4 are stacked and arranged in the same straight direction. The maximum bendable angle of each snake joint 4 facing any side can be set to 45 degrees.

[0064] In some embodiments, where any flexible joint assembly 30 includes at least two serpentine joints 4 with the same pivot extension direction A, the flexible joint assembly 30 may further include at least two constraint cables 34. The constraint cables 34 are used to limit the indeterminate deformation of the flexible joint assembly 30, so that after directional deflection based on a specified deflection angle, it has a uniquely determined posture, thereby mitigating the problem of indeterminate deformation (e.g., S-shaped deformation) of the flexible joint assembly 30 due to external loads.

[0065] Specifically, in the flexible joint assembly 30, each constraint cable 34 extends and passes through multiple snake-bone joints 4. The connection positions 340 (passing positions) of the constraint cables 34 on each snake-bone member 5 are symmetrical about the pivot 50. Between two snake-bone joints 4 that are adjacent in the same pivot extension direction A, the connection position 340 of each constraint cable 34 with the nearest snake-bone member 5 (snake-bone joint 4) is the first connection position 341, and the connection position 340 of each constraint cable 34 with the farthest snake-bone member 5 (snake-bone joint 4) is the second connection position 342. The first connection position 341 can be shifted by 180 degrees relative to the second connection position 342 based on the central axis M of the flexible joint assembly 30. The 180-degree shift based on the central axis of the flexible joint assembly 30 can be understood as follows: when the flexible joint assembly 30 is in a straight state without deflection, the first connection position 341 and the second connection position 342 are located on opposite sides of the central axis M of the flexible joint assembly 30.

[0066] like Figure 4 , Figure 5 As shown, taking the second flexible joint assembly 32 as an example, the second flexible joint assembly 32 may include a first snake-bone joint 401, a second snake-bone joint 402, a third snake-bone joint 403, and a fourth snake-bone joint 404 arranged sequentially along the same straight direction. The pivot extension directions A of the first snake-bone joint 401 and the second snake-bone joint 402 are perpendicular to each other, the pivot extension directions A of the third snake-bone joint 403 and the fourth snake-bone joint 404 are perpendicular to each other, and the pivot extension directions A of the first snake-bone joint 401 and the fourth snake-bone joint 404 are the same (or parallel to each other).

[0067] Furthermore, the second flexible joint assembly 32 may include four drive cables 33 and four constraint cables 34, all of which extend and pass through each of the snake-bone joints 4. The connection positions or passing positions of the four drive cables 33 and four constraint cables 34 on each snake-bone member 5 may be symmetrical about the pivot 50. Furthermore, one drive cable 33 may be adjacent to one constraint cable 34. The connection position 340 between each constraint cable 34 and the snake-bone member 5 in the first snake-bone joint 401 is the first connection position 341, and the connection position 340 between each constraint cable 34 and the snake-bone member 5 in the fourth snake-bone joint 404 is the second connection position 342. The first connection position 341 is shifted by 180 degrees from the second connection position 342 based on the central axis M of the second flexible joint assembly 32.

[0068] In some embodiments, the first vertical distance between the first connecting position 341 and the central axis M can be equal to the second vertical distance between the second connecting position 342 and the central axis M, so that the bending angles of the two most adjacent snake joints 4 with the same bendable direction are equal; in other embodiments, the first vertical distance between the first connecting position 341 and the central axis M can also be greater than or less than the second vertical distance between the second connecting position 342 and the central axis M, so that the bending angles of the two most adjacent snake joints 4 with the same bendable direction are not equal.

[0069] In this embodiment, for two snake joints 4 with the same pivot extension direction A (bending direction) and the closest positions in the same flexible joint assembly 30, four constraint cables 34, arranged with a 180-degree displacement based on the central axis M, are connected to ensure that each snake joint 4 has a fixed bending angle when it deflects to one side at a specified angle. This is because the length of the four constraint cables 34 is fixed, and the constraint position (i.e., connection position 340 or insertion position) of each constraint cable 34 to each snake joint 4 is fixed. When a constraint cable 34 is pulled to one side by a bending snake joint 4, since the length of each constraint cable 34 remains unchanged and the connection position 340 remains unchanged, the other snake joint 4 will also be pulled by the constraint cable 34, resulting in bending and displacement. The two snake joints 4 are connected by a 180° displacement of at least two constraint cables 34 to a specified position, thereby determining a unique bending angle.

[0070] like Figure 4 As shown, the second flexible joint assembly 32 may include two sets of double snake joints 40 with the same bendable direction. Each double snake joint 40 may include two snake joints 4 with pivot extension directions A perpendicular to each other. That is, the bendable directions of the two snake joints 4 in each set of double snake joints 40 can be perpendicular to each other. Therefore, the second flexible joint assembly 32 can use the cooperation of four constraint cables 34 and four drive cables 33 to jointly pull the four snake joints 4 to bend or deflect. This allows the second flexible joint assembly 32 to achieve a specified deflection angle according to a specified deflection direction. Based on the unique bending angle that each snake joint 4 can achieve, it has a uniquely determined deflection posture, which is difficult to deform due to external forces. This improves the load deformation resistance of the flexible joint assembly 30, thereby improving the deflection accuracy of the flexible joint assembly 30 and the reliability of the surgical operation of the surgical robot 1.

[0071] Please see Figures 6 to 7 , Figure 6 This is a schematic diagram of the overall structure of the double snake-bone joint 40 shown in some embodiments of this application; Figure 7 This is a schematic diagram of the overall structure of the double serpentine joint 40 shown in other embodiments of this application. For example... Figure 6 and Figure 7 As shown, this application embodiment provides a double snake-bone joint 40, which may include two snake-bone joints 4 with different pivot extension directions A. Further, the double snake-bone joint 40 may include two snake-bone joints 4 with pivot extension directions A (i.e., bending directions) perpendicular to each other.

[0072] Specifically, each snake joint 4 may include two snake components 5, which can rotate relative to each other through the engagement of mating surfaces 500. Furthermore, each snake joint 4 may also include a support structure 41 connected between the two snake components 5 to maintain a constant center distance between the two snake components 5.

[0073] In this embodiment, the snake-bone component 5 refers to a segmental unit used to form the snake-bone joint 4 and support the bending movement of the snake-bone joint 4; the support structure 41 refers to a structure disposed between two snake-bone components 5, which provides support and restricts the centers (or pivots 50) of the two snake-bone components 5 from moving closer or further apart. In some embodiments, the support structure 41 can be a separate component or integrally formed with the snake-bone component 5; the pivot 50 can refer to an actual structure in the snake-bone joint 4 or a specific axial position on each snake-bone component 5. In this embodiment, the pivot 50 is the reference axis around which each snake-bone component 5 rotates, typically a straight line position on the snake-bone component 5.

[0074] In the above technical solution, the snake joint 4 can limit the center distance between the two snake components 5 to remain unchanged or no longer shrink through the support structure 41, thereby effectively improving the bending accuracy and bending stability of the snake joint 4; in addition, the support structure 41 can bear part of the pressure load that exists when the snake components 5 are pulled and tightened by the drive cable 33, thereby reducing the wear of the snake components 5, extending the service life of the snake components 5, and improving the bending accuracy of the snake joint 4.

[0075] Please see Figures 8 to 10 , Figure 8 This is a schematic diagram of the overall structure of the snake-bone component 5 shown in some embodiments of this application; Figure 9 This is a schematic diagram of the overall structure of the snake-bone component 5 shown in some other embodiments of this application; Figure 10 This is a front view schematic diagram of the snake-bone component 5 shown in other embodiments of this application. For example... Figures 8 to 10 As shown, this application embodiment provides a snake bone component 5, which is configured to rotate in conjunction with another snake bone component 5 to form a flexible snake bone joint 4.

[0076] Specifically, each snake-bone component 5 may include a rotating base 51 and a mating portion 520. The rotating base 51 may have at least one first end face 510 capable of rotating based on a pivot 50, at least one mating portion 520 is provided on the first end face 510, and each mating portion 520 has a mating curved surface 500 on the side away from the first end face 510. In the snake joint 4, two snake components 5 are rotatably connected by the mating surface 500; the mating surface 500 includes multiple mating contour lines 503 arranged in the first extension direction B, that is, the mating surface 500 can be regarded as being fitted by multiple mating contour lines 503 arranged in the first extension direction B; the multiple mating contour lines 503 arranged in sequence are formed based on multiple reference circles 504 arranged in sequence, and the multiple reference circles 504 are all centered on the pivot 50 and projected to coincide along the pivot extension direction A; each mating contour line 503 is a curve formed with a point on the circumference of a reference circle 504 as the center point; the first extension direction B and the pivot extension direction A are non-perpendicularly intersecting on the orthographic projection of the first end face 510.

[0077] In this embodiment, the first end face 510 refers to the adjacent and opposite surfaces when two snake-bone components 5 are combined to form a snake-bone joint 4; the mating part 520 refers to the structure in the snake-bone component 5 used to realize the bending of the snake-bone joint 4 and the mating rotation between the snake-bone component 5; the rotating base 51 refers to the structure used to set the mating part 520 and pass through the cable; the pivot 50 refers to the axis around which the snake-bone component 5 rotates. Thus, the mating surface 500 in the snake-bone component 5 that plays the actual mating role, when considered as being fitted by multiple mating contour lines 503 formed based on reference circles 504, should be limited to the reference circles 504 being projected to coincide along the pivot extension direction A. In this way, when two snake-bone components 5 form a snake-bone joint 4 and the two snake-bone components 5 rotate in coordination through the mating surface 500, each snake-bone component 5 can rotate smoothly based on the pivot 50, and the center of the reference circle 504 falls at the pivot 50 position of the first end face 510. Correspondingly, within the same serpentine joint 4, the pivots 50 upon which the rotation of the two serpentine components 5 is based should be parallel to each other to determine the bendable direction of the serpentine joint 4. In the above technical solution, the mating contour line 503 formed based on the coincident reference circle 504 ensures that the mating surface 500 on the serpentine component 5 used for mating rotation has a consistent design reference at all positions, thereby improving the smoothness and reliability of the mating rotation between the serpentine components 5.

[0078] Based on this, each mating surface 500 is considered to be fitted by multiple mating contour lines 503 staggered and stacked along the first extension direction B. The first extension direction B and the pivot extension direction A are non-perpendicularly intersected by their projections on the first end face 510, which can increase the continuous mating angle of the snake-bone component 5 when relative rotation occurs. Alternatively, several cross sections perpendicular to the pivot 50 can be defined to pass through the same mating part 520. For the mating surface 500 of the mating part 520, the contour line intercepted on each cross section is the mating contour line 503. All the mating contour lines 503 on the cross sections are staggered and stacked according to the first extension direction B, and the first extension direction B and the pivot extension direction A are non-perpendicularly intersected by their projections on the first end face 510. That is, along the normal direction of the first end face 510, the projections of the first extension direction B and the pivot extension direction A on the first end face 510 are non-perpendicularly intersected (with an included angle α, 90°>α>0°). Therefore, during the rotation of the two snake-bone components 5, there is always a mating contour line 503 on the cross-section that shows a mutual mating relationship, thereby increasing the continuous mating angle between the snake-bone components 5, reducing the idle angle and rotational clearance, and improving the bending accuracy and positioning accuracy of the snake-bone joint 4. In this embodiment, when the reference circle 504 is sufficiently large, the two snake-bone components 5 in the snake-bone joint 4 can achieve ±90° rotation.

[0079] In the above technical solution, the contour line 503 is arranged according to the first extension direction B, and the orthographic projection of the first extension direction B and the pivot extension direction A is in a non-perpendicular intersection state, so that when the snake bone component 5 rotates, the continuous rotation angle of the mating relationship can be increased. That is, the embodiment of this application can reduce the rotation gap and improve the bending accuracy of the snake bone joint 4 by the inclined extension of the mating contour or the mating surface 500.

[0080] Each serpentine component 5 has a rotating base 51 that may have two opposing first end faces 510. Each first end face 510 may have at least one mating portion 520 formed based on a pivot 50 or a pivot extension direction A. Further, the pivots 50 or pivot extension directions A corresponding to the mating portions 520 on the two first end faces 510 may be parallel to each other, so that the two serpentine joints 4 formed by the serpentine component 5 through the mating portions 520 on the two first end faces 510 have the same bendable direction; alternatively, the pivots 50 or pivot extension directions A corresponding to the mating portions 520 on the two first end faces 510 may not be parallel, and the orthographic projections of the two pivots 50 onto either first end face 510 may intersect. Even further, the pivot extension directions A corresponding to the mating portions 520 on the two first end faces 510 may be perpendicular to each other.

[0081] Therefore, as Figure 8As shown, a single snake-bone component 5 can be used simultaneously to construct two snake-bone joints 4 with different or even perpendicular bending directions. This is achieved simply by designing the mating portions 520 on the two opposing first end faces 510 as structures formed by pivots 50 extending in different directions. This technical solution allows a single snake-bone component 5 to be used in the construction of two snake-bone joints 4, thereby improving the compactness and simplicity of the overall structure of the flexible joint assembly 30, saving materials required for processing the snake-bone component 5, and reducing manufacturing costs for both the snake-bone component 5 and the snake-bone joint 4.

[0082] Please see Figures 11 to 12 , Figure 11 This is a schematic diagram illustrating the geometric principle of the snake-bone joint 4 in some embodiments of this application. Figure 12 This is a schematic diagram illustrating the geometric principle of the symmetrical motion configuration of the snake-bone joint 4 as shown in some embodiments of this application. Please refer to... Figures 8 to 12 As shown, when the two snake-bone components 5 constituting the same snake-bone joint 4 are assembled, the corresponding mating parts 520 on the two snake-bone components 5 are matched one-to-one and their shapes are complementary. Specifically, in the same snake-bone joint 4, when the mating surface 500 of a certain mating part 520 on one snake-bone component 5 is convex, the mating surface 500 of the corresponding mating part 520 on the other snake-bone component 5 should be concave to properly accommodate the convex mating surface 500. This provides a limiting constraint when the two snake-bone components 5 rotate together. Under the symmetrical motion configuration, the two snake-bone components 5 rotate towards each other with equal rotation angles, reducing the probability of misalignment and slippage between the snake-bone components 5.

[0083] In some embodiments, the mating surface 500 is either a mating convex surface 501 or a mating concave surface 502. A mating convex surface 501 on one snake-bone member 5 mates with and rolls into contact with a mating concave surface 502 on another snake-bone member 5. All mating convex surfaces 501 and all mating concave surfaces 502 in the same snake-bone joint 4 have the same radius as the reference circle 504 corresponding to their mating contour lines 503. In this embodiment, the two snake-bone members 5 achieve a symmetrical motion configuration of the snake-bone joint 4 during bending through the accommodation, mating, and rolling contact of the mating surfaces 500 formed by reference circles 504 with equal radii and coinciding orthographic projection along the pivot 50, reducing the probability of uncertain deformation of the snake-bone joint 4 due to external force loads. Based on this, the drive cables 33 on each snake-bone member 5 are symmetrically arranged along the pivot, which, combined with the symmetrical motion configuration of the snake-bone joint 4, ensures consistent extension and retraction of the drive cables 33 on both sides of the snake-bone joint 4 and balanced lever arms.

[0084] like Figures 11 to 12As shown, in the same serpentine joint 4, the radii of the reference circles 504 corresponding to all mating surfaces 500 of the two serpentine components 5 are equal, which is a prerequisite for the symmetrical rotation of the two serpentine components 5 based on the constraint mating structure 52. If the radii of the reference circles 504 corresponding to the two serpentine components 5 (or the mating surfaces 500 on the two serpentine components 5) are one large and one small, when the two reference circles 504 roll in a tangent state without misalignment or slippage, their rotation angles will be unequal, and the two serpentine components 5 will not be able to maintain symmetrical rotation. Therefore, the radii of the reference circles 504 corresponding to the mating contour lines 503 of all mating surfaces 500 in the same serpentine joint 4 are equal to achieve a symmetrical motion configuration when the serpentine joint 4 bends.

[0085] Based on this, without using the constraint fit structure 52 to restrict the sliding of the snake bone component 5 to either side, the flexible joint assembly 30 and the snake bone joint 4 do not have a uniquely determined posture when bending based on a specified bending angle. For example, if the specified bending angle of the snake bone joint 4 is 60 degrees, then without the limiting fit of the fitting surface 500, the two snake bone components 5 may rotate towards each other based on their respective pivots 50, each rotating 30 degrees; they may also rotate towards each other based on their respective pivots 50, but one rotates 20 degrees and the other rotates 40 degrees; or they may even rotate in the same direction based on their respective pivots 50, with one rotating 90 degrees and the other rotating 30 degrees.

[0086] Furthermore, assuming the snake joint 4 completes its bending motion based on a specified bending angle (60 degrees), and the two snake components 5 achieve the ideal bending of the snake joint 4, for example, the two snake components 5 rotate towards each other based on their respective pivots 50, each rotating 30 degrees, when the surgical arm 2 performs surgical operations based on the snake joint 4 in this posture, the snake joint 4 may still change to other postures due to external force interference, i.e., uncertain deformation occurs. For example, when the tool head 21 contacts an organ or blood vessel when it is inserted into the human body, the contact pressure is transmitted from the tool head 21 to the snake joint 4, and the two snake components 5 will change from both rotating 30 degrees to one rotating 20 degrees and the other rotating 40 degrees, and the snake joint 4 changes to other postures. This will prevent the tool head 21 from applying force to the surgical target position to perform the surgical operation, and may even cause an incorrect wound due to the sudden change in the surgical target position caused by external force. Therefore, between the snake bone components 5 that constitute the flexible snake bone joint 4, a constraint fit structure 52 is required to achieve a symmetrical motion configuration, so as to reduce the probability of the snake bone joint 4 undergoing uncertain deformation (which can be called S-shaped deformation or parallelogram deformation) due to external forces.

[0087] like Figure 11As shown, for the same snake joint 4, when the radii of the reference circles 504 corresponding to all mating surfaces 500 of the two snake components 5 are equal, a mating convex surface 501 is housed within a mating concave surface 502 and they are in rolling contact with each other. This ensures that when the two snake components 5 rotate, the tangent positions of the two reference circles 504 change synchronously with the rotation of the two snake components 5, and the change angles are equal. Regardless of which side the snake component 5 with the mating convex surface 501 tends to slip, it will be essentially restrained by the snake component 5 with the mating concave surface 502. Therefore, in this embodiment, the snake components 5 are in essentially rolling contact, making slippage unlikely. This solution reduces the probability of uncertain deformation of the snake joint 4 due to external loads and improves the bending accuracy and load-bearing deformation resistance of the snake joint 4.

[0088] like Figure 11 As shown, when the connection positions (passing positions) of the drive cables 33 on both sides of the snake joint 4 with each snake component 5 are symmetrical and equidistant from the pivot 50 (the vertical distance between the passing position and the pivot is L), the snake joint 4, which bends from a straight state to any angle, can form an isosceles trapezoid (or an isosceles triangle in extreme cases) motion configuration with the drive cables 33. When the drive cables 33 on both sides of the snake joint 4 are pulling the snake joint 4 to bend, the shortening length of one side of the cable is equal to the elongation length of the other side of the cable, that is, the drive cables 33 on both sides of the snake joint 4 extend and retract in the same way.

[0089] Furthermore, the vertical distance between the two drive cables 33 and the tangent point O of the reference circle 504 can be considered as the lever arm corresponding to the tightening of the drive cable 33 when the snake joint 4 is in any posture, and the drive cable 33 on one side drives the snake joint 4 to continue bending or returning to its original position (or it can be considered as the drive cable 33 driving the snake joint 4 to bend to either side). Figure 11 For example, snake joint 4 in Figure 11 In the shown posture, the lever arm required for the right drive cable 33 to tighten and drive the snake joint 4 to continue bending to the right is equal to the lever arm required for the left drive cable 33 to tighten and drive the snake joint to return to a straight position to the left. This state of equal lever arm magnitude can be considered as lever arm balance. That is, regardless of the posture of the snake joint 4 or which side it is about to bend to, the force required to tighten the drive cables 33 on both sides of the snake joint 4 is equal. As a result, the probability of deformation of the drive cables 33 on both sides of the snake joint 4 is reduced, and the problem of excessive difference in force deformation of the drive cables 33 due to long-term accumulation of lever arm imbalance is effectively alleviated. This reduces the wear of the drive cables 33, increases their service life, and improves the consistency of the service life of each drive cable 33.

[0090] In some embodiments, the mating contour lines 503 corresponding to each mating convex surface 501 and each mating concave surface 502 are all arc contour lines, and the radius of the arc contour line does not exceed half of the center distance of the snake joint 4. Furthermore, in the same snake joint 4, the radius m of the mating contour lines 503 corresponding to each mating convex surface 501 and each mating concave surface 502 is equal.

[0091] In this embodiment, the mating contour lines 503 corresponding to each mating surface 500 are arcs, which can more evenly distribute the pressure in the contact area, thereby reducing local stress concentration, enabling it to withstand higher loads under the same conditions, and also providing a larger contact area to distribute the load, thus reducing deformation and wear. Secondly, during rolling contact, the arc-shaped mating contour lines 503 can better maintain a pure rolling state, reducing sliding friction and thus reducing wear. In addition, when the mating contour lines 503 are arcs, the snake-bone component 5 has a certain degree of self-centering, and even if there is a slight offset during installation or use, it can automatically adjust to the optimal position and maintain a stable contact state. Therefore, the mating surfaces 500 with arc-shaped mating contour lines 503 can improve the bending accuracy and service life of the snake-bone joint 4, and improve the load-bearing capacity of the snake-bone joint 4.

[0092] Since the mating contour line 503 is formed based on the reference circle 504, if the radius of the mating contour line 503 corresponding to the mating surface 500 on one of the snake-bone components 5 in the same snake-bone joint 4 is too large, it may cause the mating convex surface 501 to interfere with and collide with another snake-bone component 5 at any time, or cause the mating concave surface 502 to penetrate the rotating base 51 and become impossible to machine. Therefore, the radius m of the mating contour line 503 of the mating surface 500 should not exceed the radius R of the reference circle 504, which is half of the center distance H of the snake-bone joint 4.

[0093] Furthermore, the equal radii of the mating contour lines 503 corresponding to each mating surface 500 simplify and standardize the manufacturing process of the snake-bone component 5, reducing production costs and time. The equal radii of all arc contour lines ensure that each mating surface 500 has the same geometric characteristics during rolling contact, resulting in consistent pressure distribution at each contact point during rotational mating of the two snake-bone components 5, thus improving the motion consistency of the snake-bone joint 4. The equal radii of all arc contour lines also make the relative rotation between adjacent snake-bone components 5 smoother, reducing abrupt changes and discontinuities, making the snake-bone joint 4 more continuous during bending, and improving the smoothness of the rotational mating of the snake-bone components 5. In addition, the equal radii of all arc contour lines eliminate the need for special alignment of each mating part 520 during assembly of the snake-bone components 5, simplifying the assembly process.

[0094] In some embodiments, the snake-bone member 5 includes a mating convex surface 501 and a mating concave surface 502 disposed adjacently. For example... Figure 11 As shown, in any cross-section perpendicular to the pivot extension direction A, the mating profile 503 of the mating concave surface 502 is tangent to the mating profile 503 of the mating convex surface 501. Figure 11 For example, when the mating contour line 503 of the mating surface 500 is a circular arc contour line, on any cross section perpendicular to the pivot extension direction A, the adjacent mating convex surface 501 and the mating concave surface 502 are tangent to the circular arc contour line intercepted on that cross section.

[0095] In this embodiment, the mating concave surfaces 502 and convex surfaces 501, which are adjacent to each other, are tangent to the mating contour lines 503 on each cross-section. This ensures that when the mating position of the snake-bone component 5 transitions between adjacent mating portions 520 or mating curved surfaces 500, continuous mating and continuous contact can be achieved as much as possible. This allows the snake-bone joint 4 to transition smoothly when bending, reducing abrupt changes and discontinuities. In addition, the smooth transition between adjacent mating portions 520 or mating curved surfaces 500 reduces sliding friction, thereby reducing vibration during the movement of the snake-bone component 5 and improving the smoothness and stability of the overall movement.

[0096] Please see Figure 13 , Figure 13 This is a schematic diagram illustrating the geometric principle of the snake-like joint 4 in other embodiments of this application. For example... Figures 11 to 13 As shown, each snake bone component 5 may have 3, 6, or other numbers of mating portions 520 and mating curved surfaces 500 adjacent to each other on its first end face 510. The two snake bone components 5 constituting the snake bone joint 4 have the same number and corresponding positions of mating concave surfaces 502 and mating convex surfaces 501 on their opposing first end faces 510 to achieve good fit and rolling contact.

[0097] Please see Figure 14 , Figure 14 This is a top view schematic diagram illustrating the snake-bone component 5 in some embodiments of this application. For example... Figure 14 As shown, each snake-bone member 5 has at least one constraint-fitting structure 52 on its first end face 510. Each constraint-fitting structure 52 may include at least one fitting portion 520 extending obliquely relative to the pivot 50. In some embodiments, each constraint-fitting structure 52 may include a plurality of adjacent fitting portions 520 that all extend obliquely relative to the pivot 50. Further, there may be two constraint-fitting structures 52, which are respectively provided at both ends of a first end face 510 along the pivot extension direction A.

[0098] Along the normal direction of the first end face 510, each of the limiting convex surfaces and each of the limiting concave surfaces are located on the side of the constraint fit structure 52 away from the first end face 510. Furthermore, the angle α between the first extension direction B and the pivot extension direction A corresponding to the mating surfaces 500 on the two constraint fit structures 52 can be equal. In the above technical solution, mating portions 520 for rotational fit are provided at both ends of the first end face 510 of the snake-bone member 5, which can improve the stability of the rotational fit of the snake-bone member 5; based on this, the mating portions 520 or mating surfaces 500 located at both ends of the first end face 510 have equal inclined extension angles relative to the pivot 50 (the mating portions 520 or mating surfaces 500 located at both ends are symmetrically configured), thereby improving the rotational alignment of the snake-bone member 5 during rotational fit.

[0099] Please see Figure 15 , Figure 15 This is a schematic diagram illustrating the geometric principle of the mating surface 500 as shown in some embodiments of this application. For example... Figure 15 As shown, when a constraint fit structure 52 includes a plurality of adjacent fit parts 520, and the fit surface 500 of the fit part 520 extends obliquely relative to the pivot 50 in the first extension direction B, the embodiments of this application can improve the bending accuracy of the snake joint 4 by further restricting the orthographic projection angle α between the first extension direction B and the pivot extension direction A.

[0100] Please combine Figures 8 to 15 As shown, in some embodiments, the snake-bone member 5 may include a first mating portion 521 and a second mating portion 522 disposed adjacently along a direction perpendicular to the pivot extension A. In all cross-sections perpendicular to the pivot extension direction A, the mating surface 500 of the first mating portion 521 and the mating surface 500 of the second mating portion 522 can both extend from the first cross-section to the second cross-section.

[0101] Wherein, the first mating part 521 has a mating contour line 503 on the first cross-section as the first contour line 5211, the first mating part 521 has a mating contour line 503 on the second cross-section as the second contour line 5212, and the second mating part 522 has a mating contour line 503 on the first cross-section as the third contour line 5213. The orthographic projection of the center point O2 of the second contour line 5212 on the first cross-section and the center point O1 of the first contour line 5211 can be located on opposite sides of the center point O3 of the third contour line 5213. Figure 15 (not shown in the image); or, the orthographic projection of the center point O2 of the second contour line 5212 onto the first cross section may coincide with the center point O3 of the third contour line 5213 (e.g., ...). Figure 15(As shown). The above technical solution allows the snake bone component 5 to begin its mating relationship in the next mating part 520 before the previous mating relationship has ended, thereby further eliminating rotational clearance, extending the continuous mating distance, and improving the bending accuracy of the snake bone joint 4.

[0102] like Figures 8 to 14 As shown, the rotating base 51 may also have multiple sets of rope holes 511, each rope hole 511 being located on the first end face 510 and extending in a direction C perpendicular to the first end face 510. These multiple sets of rope holes 511 are arranged on both sides of the pivot 50, and are used to accommodate the drive cable 33 or the constraint cable 34. Furthermore, the multiple rope holes 511 for threading or connecting the drive cable 33 can be symmetrically arranged on both sides of the pivot 50. For example, each side of the pivot 50 may have two rope holes 511 for connecting the drive cable 33. The snake joint 4 can achieve a bending motion towards one side by tightening and loosening the two drive cables 33. The above technical solution makes the overall structure of the snake joint 4 and the flexible joint assembly 30 more compact, and also reduces the pulling and interference on the constraint cable 34 or the drive cable 33 when the snake component 5 rotates.

[0103] Please combine Figures 8 to 14 As shown, in some embodiments, on any first end face 510, along a direction perpendicular to the pivot 50, both ends of the first end face 510 are provided with limiting inclined surfaces 512 that are inclined relative to the first end face 510 and have equal inclination angles. The above technical solution, through the setting of the limiting inclined surfaces 512, can limit the maximum rotatable angle of the snake bone component 5 when it rotates to one side, that is, limit the maximum bendable angle of the snake bone joint 4 to one side, thereby reducing edge collisions between snake bone components 5 and extending the service life of the snake bone component 5.

[0104] Please see Figure 16 , Figure 16 This is an exploded view of the connecting pin assembly 43 shown in some embodiments of this application. Please refer to... Figure 7 , Figure 16 As shown, in some embodiments, the support structure 41 may include at least one connecting pin assembly 43. Each connecting pin assembly 43 may include at least one connecting pin 431, and each connecting pin 431 may include two connecting pin shafts 4311 and a connecting rod 4312. The connecting rod 4312 is vertically connected between the two mutually parallel connecting pin shafts 4311 and is integrally formed with the connecting pin shafts 4311. In the same snake joint 4, one connecting pin shaft 4311 is rotatably connected to one snake member 5, and the axis of one connecting pin shaft 4311 is fixedly aligned with the pivot 50 of one snake member 5.

[0105] Furthermore, each connecting pin assembly 43 may include two connecting pins 431 and an anti-detachment component 432. The anti-detachment component 432 is disposed between the two connecting pins 431 and achieves connection, anti-detachment, and synchronous rotation between the two connecting pins 431 through the engagement of the limiting groove and the limiting insert plate.

[0106] like Figure 6 , Figure 8 As shown, in some embodiments, the support structure 41 may include multiple arc-shaped top units 42. In the same serpentine joint 4, the arc-shaped top units 42 may be respectively disposed on the first end faces 510 of two serpentine members 5 facing each other, and may be integrally formed with the serpentine members 5. Each arc-shaped top unit 42 has an arc-shaped top surface 420, and the axis of each arc-shaped top surface 420 may coincide with the pivot 50 corresponding to the mating curved surface 500 on its first end face 510. In the same serpentine joint 4, the radii of each arc-shaped top surface 420 are equal, and the oppositely disposed arc-shaped top surfaces 420 correspond one-to-one and roll in contact with each other.

[0107] In the above technical solution, the snake joint 4 can fix the center distance between the two snake components 5 through various types of support structures 41, making it difficult for the centers of the two snake components 5 to approach or move away from each other during the rotation process (the engagement of the arc-shaped top unit 42 and the tightening connection of the drive cable 33 to several snake components 5 can make it difficult for the snake components 5 to move away or approach each other; the connecting pin assembly 43 can also play the same role). The constant center distance ensures that the centers of the snake components 5 will not suddenly approach or move away from each other under the tension of the drive cable 33, thereby reducing the probability of "accidental impact" or "dislocation" of the snake joint 4. In addition, the support structure 41 can bear part of the pressure load, which is generated by the interaction between the snake components 5 due to the tightening of the drive cable 33, thereby reducing the wear of the snake components 5 and extending the service life of the snake components 5 and the snake joint 4. Furthermore, the constant center distance is a condition for maintaining the symmetrical motion configuration during the bending process of the snake joint 4. Therefore, the support structure 41 can further improve the bending accuracy and bending reliability of the snake joint 4.

[0108] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A snake-bone joint, characterized in that, It includes two snake-bone components, each of which includes: A rotating base having a first end face capable of rotating based on a pivot; A mating part is disposed on the first end face; the mating part has a mating curved surface, in which two snake bone components are rotatably connected through the mating of the mating curved surface in the snake bone joint; the mating curved surface includes multiple mating contour lines arranged in a first extending direction; the multiple mating contour lines arranged in sequence are formed based on multiple reference circles arranged in sequence, and the multiple reference circles are all centered on the pivot and projected to coincide along the pivot extending direction; each mating contour line is a curve formed with a point on the circumference of a reference circle as its center; the first extending direction and the pivot extending direction are non-perpendicularly intersecting on the first end face.

2. The snake-bone joint according to claim 1, characterized in that, The mating surface is either a mating convex surface or a mating concave surface; one of the mating convex surfaces on one of the snake-bone components mates with and rolls into contact with one of the mating concave surfaces on another snake-bone component; wherein, the reference circle radii corresponding to the mating contour lines of all the mating convex surfaces and all the mating concave surfaces in the same snake-bone joint are equal.

3. The snake-bone joint according to claim 2, characterized in that, The mating contour lines corresponding to the mating convex surface and the mating concave surface are arcs, and the radius of the mating contour lines does not exceed half of the center distance of the snake bone joint.

4. The snake-bone joint according to claim 3, characterized in that, In the same snake-bone joint, the radii of the mating contour lines corresponding to each of the mating convex surfaces and each of the mating concave surfaces are equal.

5. The snake-bone joint according to claim 3, characterized in that, The snake-bone component includes a mating convex surface and a mating concave surface arranged adjacent to each other; in any cross-section perpendicular to the extension direction of the pivot, the mating contour line of the mating concave surface is tangent to the mating contour line of the mating convex surface.

6. The snake-bone joint according to any one of claims 1-5, characterized in that, The snake-bone component includes a first mating portion and a second mating portion disposed adjacent to each other along a direction perpendicular to the pivot extension direction; in a plurality of cross sections perpendicular to the pivot extension direction, the mating surfaces of the first mating portion and the second mating portion both extend from the first cross section to the second cross section; The mating contour line of the first mating part in the first cross-section is the first contour line, the mating contour line of the first mating part in the second cross-section is the second contour line, and the mating contour line of the second mating part in the first cross-section is the third contour line. The orthographic projection of the center point of the second contour line onto the first cross section is located on both sides of the center point of the third contour line, as is the center point of the first contour line; or, the orthographic projection of the center point of the second contour line onto the first cross section coincides with the center point of the third contour line.

7. The snake-bone joint according to any one of claims 1-5, characterized in that, Along the pivot extension direction, the mating parts are respectively located at both ends of the first end face; the first extension direction corresponding to the mating surfaces of the mating parts located at both ends is at the same angle as the pivot extension direction.

8. The snake-bone joint according to any one of claims 1-5, characterized in that, The rotating base has two first end faces that are opposite to each other, and each first end face is provided with at least one mating part formed based on the pivot; the mating parts on the two first end faces are respectively perpendicular to the pivot extension direction.

9. The snake-bone joint according to any one of claims 1-5, characterized in that, The rotating base has multiple sets of rope holes, each of which is located on the first end face and extends in a direction perpendicular to the first end face. The multiple sets of rope holes are symmetrically arranged on both sides of the pivot. The rope holes are used to accommodate drive cables or constraint cables.

10. The snake-bone joint according to any one of claims 1-5, characterized in that, On the first end face, along a direction perpendicular to the pivot, both ends of the first end face are provided with limiting inclined surfaces that are inclined relative to the first end face and have equal inclination angles.

11. The snake-bone joint according to any one of claims 1-5, characterized in that, The snake-bone joint also includes a support structure connecting the two snake-bone components, the support structure being used to define a constant center distance between the two snake-bone components.

12. The snake-bone joint according to claim 11, characterized in that, The support structure includes multiple arc-shaped apex units; in the same snake-bone joint, the arc-shaped apex units are respectively disposed on the first end faces of two snake-bone components facing each other; Each of the arc-shaped top units has an arc-shaped top surface, and the axis of each arc-shaped top surface coincides with the pivot corresponding to the first end face where the arc-shaped top surface is located; in the same snake joint, the radii of each arc-shaped top surface are equal, and the arc-shaped top surfaces arranged opposite each other correspond to each other and roll in contact.

13. The snake-bone joint according to claim 11, characterized in that, The support structure includes at least one connecting pin, each connecting pin including two connecting pin shafts and a connecting rod, the connecting rod being vertically connected between two mutually parallel connecting pin shafts; In the same snake joint, one of the connecting pins is rotatably connected to one of the snake components, and the axis of the connecting pin coincides with the pivot of one of the snake components.

14. A flexible joint assembly, characterized in that, The flexible joint assembly includes: At least one snake-bone joint as described in any one of claims 1-13; At least two drive cables, each of which extends and passes through each of the snake joints, and one end of each drive cable is fixed to the snake member at the farthest end of all the snake joints.

15. The flexible joint assembly according to claim 14, characterized in that, The flexible joint assembly includes at least two snake joints with the same pivot extension direction. The flexible joint assembly also includes at least two constraint cables, each of which extends and passes through a plurality of snake joints. The connection positions of the constraint cables on each snake member are symmetrical based on the pivot. Between the two snake joints that extend in the same direction and are adjacent in position, the connection position of each constraint cable to the nearest snake joint is a first connection position, and the connection position of each constraint cable to the farthest snake joint is a second connection position. The first connection position is shifted by 180° based on the central axis of the flexible joint assembly compared to the second connection position.

16. A surgical operating arm, characterized in that, The surgical arm includes at least one flexible joint assembly as described in claim 14 or 15.

17. A surgical robot, characterized in that, The surgical robot includes at least one surgical arm as described in claim 16.

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