Multi-fulcrum controllable flexible snake bone structure

Abstract

The utility model relates to a multi-fulcrum controllable flexible snake bone structure, and belongs to the field of medical instruments. The snake bone structure comprises a snake bone head end, a plurality of snake bone middle ends and a snake bone tail end, the snake bone head end is connected with the snake bone middle ends, every two adjacent snake bone middle ends are connected, and the snake bone middle ends are connected with the snake bone tail end. The two sides of the snake bone middle ends are provided with middle end protruding shafts and middle end grooves respectively, the snake bone tail ends are provided with tail end grooves, the head end protruding shafts are located in the middle end grooves, one middle end protruding shaft of every two adjacent snake bone middle ends is located in the other middle end groove, the middle end protruding shafts are located in the tail end grooves, and the tail end protruding shafts are located in the tail end grooves. The included angle between the middle end convex shaft and the axis of the middle end groove is 45 degrees.

Description

Technical Field

[0001] This utility model relates to a multi-support controllable flexible snake bone structure, belonging to the field of medical devices. Background Technology

[0002] Currently, flexible structures both domestically and internationally generally employ concentric support points with concave and convex surfaces of the same dimension, pre-set angles on all four sides, and utilize four flexible steel cables to adjust the angles in the four directions (e.g., Figure 1 As shown in the figure, the same forward and reverse angles are mostly controlled by a motor through a mechanical structure, using the distance change of two steel ropes (one pulled and one loosened) to achieve the angle change requirements of the snake bone.

[0003] The snake-like structure is made of four steel ropes that connect multiple curved beads, resulting in poor rigidity. To enhance the rigidity of the snake-like structure, the tension of the steel ropes is usually increased during assembly. This increases resistance in actual use. Moreover, due to the long length of the steel ropes, they are under load for a long time, which inevitably causes deformation of the steel ropes. As a result, the rigidity of the snake-like structure does not meet the design requirements, thus reducing the effectiveness of the surgical robotic arm. Utility Model Content

[0004] The purpose of this invention is to overcome the above-mentioned deficiencies in the prior art and to provide a multi-point controllable flexible snake bone structure for the robotic arm of a surgical robot with a reasonable structural design.

[0005] The technical solution adopted by this utility model to solve the above problems is as follows: the multi-support controllable flexible snake bone structure includes a snake head end, a multi-segment snake bone middle end, and a snake bone tail end. The snake head end is connected to the snake bone middle end, two adjacent snake bone middle ends are connected, and the snake bone middle end is connected to the snake bone tail end. Its structural features are: a head end convex shaft is provided on the snake head end, a middle end convex shaft and a middle end groove are respectively provided on both sides of the snake bone middle end, a tail end groove is provided on the snake bone tail end, the head end convex shaft is located in the middle end groove, one middle end convex shaft of two adjacent snake bone middle ends is located in the other middle end groove, the middle end convex shaft is located in the tail end groove, and the included angle between the axis of the middle end convex shaft and the middle end groove is 45°.

[0006] Furthermore, a head-end traction hole is provided on the head end of the snake bone, a middle-end traction hole is provided on the middle end of the snake bone, and a tail-end traction hole is provided on the tail end of the snake bone. The head-end traction hole, the middle-end traction hole, and the tail-end traction hole all pass through the snake bone traction rope.

[0007] Furthermore, the snake bone has a head-end inclined surface on the head end, an upper inclined surface and a lower inclined surface on the middle end of the snake bone, respectively, and a tail-end inclined surface on the tail end.

[0008] Furthermore, the number of head-end traction holes is four, arranged in a square; the number of middle-end traction holes is four, arranged in a square; and the number of tail-end traction holes is four, arranged in a square.

[0009] Furthermore, this multi-point controllable flexible snake-bone structure is used in medical clamps. The medical clamps include a snake-bone traction rope, a traction rope screw, a traction rope sleeve, a traction motor, a mounting sleeve, a mounting tube, a clamp head seat, a clamp head, a clamp head soft steel rope, a clamp rod, and a clamp tube. The clamp head is mounted on the clamp head seat. One end of the mounting tube is connected to the mounting sleeve. The clamp head is connected to one end of the clamp head soft steel rope. The other end of the clamp head soft steel rope is connected to one end of the clamp rod. The clamp rod is fitted with a clamp tube, which is installed inside the mounting sleeve. The other end of the mounting tube is connected to one end of the multi-point controllable flexible snake-bone structure. The other end of the multi-point controllable flexible snake-bone structure is connected to the clamp head seat. The other end of the multi-point controllable flexible snake-bone structure is connected to one end of the snake-bone traction rope. The other end of the snake-bone traction rope is connected to the traction rope screw. The traction rope screw is threadedly connected to the traction rope sleeve. The traction rope sleeve is mounted on the motor shaft of the traction motor.

[0010] Furthermore, the multi-support controllable flexible snake bone structure is fitted with a snake bone sleeve.

[0011] Furthermore, the snake-bone traction rope is fitted with a traction rope guide tube, which is installed inside the mounting sleeve.

[0012] Furthermore, the other end of the mounting tube is connected to the tail end of the snake bone, and the head end of the snake bone is connected to the clamp head seat.

[0013] Furthermore, one end of the snake bone traction rope passes through the tail end and the middle end of the snake bone in sequence and then connects to the head end of the snake bone.

[0014] Furthermore, the pliers head soft steel rope is flexible.

[0015] Compared with existing technologies, this utility model has the following advantages: The multi-support controllable flexible snake bone structure is a completely different improvement on the original design. The multi-support controllable flexible snake bone structure is composed of snake head ends, snake middle ends, and snake tail ends of different dimensions. The angle between the central convex axis and the central groove axis of the snake middle end is 45°, with a concentric support design of concave and convex surfaces (e.g., Figure 7 , 8 As shown); the angle between the central convex axis and the central groove axis at the middle end of the snake bone is 45°, which allows it to generate 8 directions (such as...). Figure 13 The bending direction (as shown) allows for greater diversity in the use of dimensions. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the snake bone structure in an embodiment of the prior art.

[0017] Figure 2 This is a three-dimensional structural diagram of the multi-support controllable flexible snake bone structure according to an embodiment of the present invention.

[0018] Figure 3 This is a three-dimensional structural diagram of the snake head end according to an embodiment of the present invention.

[0019] Figure 4 This is a three-dimensional structural diagram of the middle end of the snake bone in an embodiment of this utility model.

[0020] Figure 5 This is a three-dimensional structural diagram of the middle end of the snake bone in an embodiment of this utility model.

[0021] Figure 6 This is a three-dimensional structural diagram of the snake tail end according to an embodiment of the present invention.

[0022] Figure 7 This is a schematic diagram of the front view of the middle section of the snake bone in an embodiment of this utility model.

[0023] Figure 8 This is a top view of the middle section of the snake bone in an embodiment of this utility model.

[0024] Figure 9 This is a cross-sectional structural diagram of the medical clamp according to an embodiment of the present invention.

[0025] Figure 10 This is a right-side view of the medical clamp according to an embodiment of the present invention.

[0026] Figure 11 This is a front view schematic diagram of the medical clamp according to an embodiment of the present invention.

[0027] Figure 12 yes Figure 11 A schematic diagram of the AA cross-sectional structure.

[0028] Figure 13 This is a schematic diagram illustrating the working principle of the medical clamp according to an embodiment of the present invention.

[0029] In the diagram: 1. Snake head end; 2. Snake middle end; 3. Snake tail end; 4. Snake traction rope; 5. Traction rope guide tube; 6. Traction rope screw; 7. Traction rope sheath; 8. Traction motor; 9. Mounting sleeve; 10. Mounting tube; 10. Clamp head seat; 101. Clamp head; 102. Clamp head soft steel rope; 103. Clamp bar; 104. Clamp tube; 105.

[0030] Head end convex shaft 11, head end traction hole 12, head end inclined surface 13

[0031] Mid-end convex shaft 21, mid-end groove 22, mid-end traction hole 23, mid-end upper inclined surface 24, mid-end lower inclined surface 25.

[0032] Tail end groove 31, tail end traction hole 32, tail end inclined surface 33

[0033] Traction motor No. 1 (81), traction motor No. 2 (82), traction motor No. 3 (83), and traction motor No. 4 (84). Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and through embodiments. The following embodiments are explanations of the present invention, but the present invention is not limited to the following embodiments.

[0035] Example

[0036] See Figures 2 to 13 As shown in the accompanying drawings, the structures, proportions, sizes, etc., depicted in this specification are merely for illustrative purposes to aid those skilled in the art and to provide a clear understanding. They are not intended to limit the scope of this invention and therefore have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, provided they do not affect the effectiveness or purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the use of terms such as "upper," "lower," "left," "right," "middle," and "one" in this specification is solely for clarity and not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0037] The multi-support controllable flexible snake bone structure in this embodiment includes a snake head end 1, a multi-segment snake bone middle end 2, and a snake bone tail end 3. The snake head end 1 is connected to the snake bone middle end 2, two adjacent snake bone middle ends 2 are connected, and the snake bone middle end 2 is connected to the snake bone tail end 3.

[0038] In this embodiment, the head end 1 of the snake bone is provided with a head end convex shaft 11, a head end traction hole 12 and a head end inclined surface 13. The middle end 2 of the snake bone is provided with a middle end convex shaft 21, a middle end groove 22, a middle end traction hole 23, a middle end upper inclined surface 24 and a middle end lower inclined surface 25. The middle end convex shaft 21 and the middle end groove 22 are respectively provided on both sides of the middle end 2 of the snake bone. The middle end upper inclined surface 24 and the middle end lower inclined surface 25 are respectively provided on both sides of the middle end 2 of the snake bone. The tail end 3 of the snake bone is provided with a tail end groove 31, a tail end traction hole 32 and a tail end inclined surface 33.

[0039] In this embodiment, the head end protrusion 11 is located in the middle end groove 22, one middle end protrusion 21 of two adjacent snake bone middle ends 2 is located in the other middle end groove 22, the middle end protrusion 21 is located in the tail end groove 31, and the included angle between the axis of the middle end protrusion 21 and the axis of the middle end groove 22 is 45°.

[0040] In this embodiment, the head traction hole 12, the middle traction hole 23, and the tail traction hole 32 all pass through the snake bone traction rope 4. There are four head traction holes 12 arranged in a square. There are four middle traction holes 23 arranged in a square. There are four tail traction holes 32 arranged in a square.

[0041] The medical clamp in this embodiment includes a snake-bone traction rope 4, a traction rope conduit 5, a traction rope screw 6, a traction rope sheath 7, a traction motor 8, a mounting sleeve 9, a mounting tube 10, a clamp head seat 101, a clamp head 102, a clamp head soft steel rope 103, a clamp rod 104, a clamp tube 105, and a multi-point controllable flexible snake-bone structure. The multi-point controllable flexible snake-bone structure is covered with a snake-bone sheath.

[0042] In this embodiment, one end of the mounting tube 10 is connected to the mounting sleeve 9, and the other end of the mounting tube 10 is connected to one end of the multi-support controllable flexible snake bone structure. The other end of the multi-support controllable flexible snake bone structure is connected to the pliers head seat 101, and the pliers head 102 is mounted on the pliers head seat 101. That is to say, the other end of the mounting tube 10 is connected to the snake bone tail end 3, and the snake bone head end 1 is connected to the pliers head seat 101.

[0043] In this embodiment, the pliers head 102 is connected to one end of the pliers head soft steel rope 103, and the other end of the pliers head soft steel rope 103 is connected to one end of the pliers bar 104. The pliers bar 104 is fitted with a pliers tube 105, which is installed inside the mounting sleeve 9. The pliers head soft steel rope 103 is flexible.

[0044] In this embodiment, the other end of the multi-point controllable flexible snake bone structure is connected to one end of the snake bone traction rope 4. That is, one end of the snake bone traction rope 4 passes through the snake bone tail end 3 and the snake bone middle end 2 in sequence and then connects to the snake bone head end 1. The other end of the snake bone traction rope 4 is connected to the traction rope screw 6. The traction rope screw 6 is threadedly connected to the traction rope sleeve 7. The traction rope sleeve 7 is installed on the motor shaft of the traction motor 8. The snake bone traction rope 4 is fitted with a traction rope guide tube 5, which is installed inside the mounting sleeve 9.

[0045] Specifically, this multi-support controllable flexible snake bone structure is composed of snake bone head end 1, snake bone middle end 2, and snake bone tail end 3 of different dimensions. The angle between the axis of the middle convex shaft 21 and the middle groove 22 of the snake bone middle end 2 is 45°. The concentric support point design of the concave and convex surfaces (e.g.) Figure 7 , 8As shown); the angle between the axis of the central convex shaft 21 and the central groove 22 of the snake bone middle end 2 is 45°, which allows it to generate 8 directions (such as...). Figure 13 The bending direction (as shown) allows for greater diversity in the use of dimensions.

[0046] When the medical clamp is in operation, one end of each of the four snake bone traction ropes 4 passes through the snake bone tail end 3, the snake bone middle end 2, and the snake bone head end 1 in sequence and is connected to the snake bone head end 1. The other end of the snake bone traction rope 4 is connected to the traction rope screw 6. The traction rope sleeve 7 is driven to rotate by the traction motor 8. Since the traction rope sleeve 7 is threadedly connected to the traction rope screw 6, the traction rope screw 6 can move to pull the snake bone traction rope 4. The snake bone traction rope 4 pulls the multi-support controllable flexible snake bone structure, thereby realizing the bending action of the clamp head seat 101 and the clamp head 102.

[0047] The medical clamp uses at least two traction motors 8 to simultaneously control the rotation of the traction rope sleeve 7 in different directions, so that the traction rope rod 6 moves linearly in different directions, thereby achieving multi-support controllable flexible snake-bone structure bending (e.g. Figure 13 (as shown)

[0048] When the bending direction is A1, if traction motor 81 rotates clockwise, traction motor 82 rotates counterclockwise.

[0049] When the bending direction is A2, if traction motor 81 rotates counterclockwise, traction motor 82 rotates clockwise.

[0050] When bending in direction B1, if traction motor 83 rotates clockwise, traction motor 84 rotates counterclockwise.

[0051] When bending in direction B2, if traction motor 83 rotates counterclockwise, traction motor 84 rotates clockwise.

[0052] When the bending direction is C1, if traction motor 81 and traction motor 84 rotate clockwise, traction motor 82 and traction motor 83 rotate counterclockwise.

[0053] When the bending direction is C2, if traction motor 81 and traction motor 84 rotate counterclockwise, traction motor 82 and traction motor 83 rotate clockwise.

[0054] When bending in direction D1, if traction motor 81 and traction motor 83 rotate clockwise, traction motor 82 and traction motor 84 rotate counterclockwise.

[0055] When bending in direction D2, if traction motor 81 and traction motor 83 rotate counterclockwise, traction motor 82 and traction motor 84 will rotate clockwise.

[0056] When stopped, the control system uses motor resistance sensing to tighten the corresponding snake bone traction rope 4 via traction motor 8, so that the multi-support controllable flexible snake bone structure is always in a rigid state. "Multi-support" refers to the concentric support design of the concave and convex surfaces with an angle of 45° between the axis of the central convex shaft 21 and the central groove 22 of the snake bone middle end 2, which can achieve bending in all directions.

[0057] Furthermore, it should be noted that the specific embodiments described in this specification may differ in the shape and name of their components. The above description is merely illustrative of the structure of this utility model. All equivalent or simple variations made based on the structure, features, and principles described in this utility model patent concept are included within the protection scope of this utility model patent. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, as long as they do not deviate from the structure of this utility model or exceed the scope defined in these claims, all of which should fall within the protection scope of this utility model.

Claims

1. A multi-support controllable flexible snake bone structure, comprising a snake head end (1), multiple snake bone middle ends (2), and a snake bone tail end (3), wherein the snake head end (1) is connected to the snake bone middle ends (2), two adjacent snake bone middle ends (2) are connected, and the snake bone middle ends (2) are connected to the snake bone tail end (3), characterized in that: The head end (1) of the snake bone is provided with a head end protrusion (11), the middle end (2) of the snake bone is provided with a middle end protrusion (21) and a middle end groove (22) on both sides respectively, the tail end (3) of the snake bone is provided with a tail end groove (31), the head end protrusion (11) is located in the middle end groove (22), one middle end protrusion (21) of two adjacent middle ends (2) of the snake bone is located in the other middle end groove (22), the middle end protrusion (21) is located in the tail end groove (31), and the included angle between the axis of the middle end protrusion (21) and the middle end groove (22) is 45°.

2. The multi-support controllable flexible serpentine structure according to claim 1, characterized in that: The snake head end (1) is provided with a head end traction hole (12), the middle end (2) of the snake bone is provided with a middle end traction hole (23), and the tail end (3) of the snake bone is provided with a tail end traction hole (32). The head end traction hole (12), the middle end traction hole (23) and the tail end traction hole (32) all pass through the snake bone traction rope (4).

3. The multi-support controllable flexible serpentine structure according to claim 1, characterized in that: The head end (1) of the snake bone is provided with a head end inclined surface (13), the middle end (2) of the snake bone is provided with a middle end upper inclined surface (24) and a middle end lower inclined surface (25) on both sides respectively, and the tail end (3) of the snake bone is provided with a tail end inclined surface (33).

4. The multi-support controllable flexible serpentine structure according to claim 2, characterized in that: The number of head end traction holes (12) is four, and the four head end traction holes (12) are arranged in a square. The number of middle end traction holes (23) is four, and the four middle end traction holes (23) are arranged in a square. The number of tail end traction holes (32) is four, and the four tail end traction holes (32) are arranged in a square.

5. The multi-support controllable flexible serpentine structure according to claim 1, characterized in that: This multi-point controllable flexible snake bone structure is used for medical clamps. The medical clamps include a snake bone traction rope (4), a traction rope screw (6), a traction rope sheath (7), a traction motor (8), a mounting sleeve (9), a mounting tube (10), a clamp head seat (101), a clamp head (102), a clamp head soft steel rope (103), a clamp bar (104), and a clamp tube (105). The clamp head (102) is mounted on the clamp head seat (101), and one end of the mounting tube (10) is connected to the mounting sleeve (9). The clamp head (102) is connected to one end of the clamp head soft steel rope (103), and the other end of the clamp head soft steel rope (103) is connected to one end of the clamp bar (104). The clamp bar (104) is fitted with a clamp tube (105), which is installed inside the mounting sleeve (9). The other end of the mounting tube (10) is connected to one end of the multi-point controllable flexible snake bone structure. The other end of the multi-point controllable flexible snake bone structure is connected to the clamp head seat (101). The other end of the multi-point controllable flexible snake bone structure is connected to one end of the snake bone traction rope (4). The other end of the snake bone traction rope (4) is connected to the traction rope screw (6). The traction rope screw (6) is threadedly connected to the traction rope sleeve (7). The traction rope sleeve (7) is installed on the motor shaft of the traction motor (8).

6. The multi-support controllable flexible serpentine structure according to claim 5, characterized in that: The multi-support controllable flexible snake bone structure is fitted with a snake bone sleeve.

7. The multi-support controllable flexible serpentine structure according to claim 5, characterized in that: The snake-bone traction rope (4) is fitted with a traction rope conduit (5), which is installed inside the mounting sleeve (9).

8. The multi-support controllable flexible serpentine structure according to claim 5, characterized in that: The other end of the mounting tube (10) is connected to the snake tail end (3), and the snake head end (1) is connected to the pliers head seat (101).

9. The multi-support controllable flexible serpentine structure according to claim 5, characterized in that: One end of the snake bone traction rope (4) passes through the snake bone tail end (3) and the snake bone middle end (2) in sequence and then connects to the snake bone head end (1).

10. The multi-support controllable flexible serpentine structure according to claim 5, characterized in that: The clamp head soft steel rope (103) is flexible.

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