Flexible surgical arms and endoluminal surgical robots

Abstract

The utility model provides a kind of flexible surgical arm and cavity operation robot, wherein flexible surgical arm includes: first arm part, flexible surgical arm is defined with axis, first arm part is equipped with first shaft body, and first shaft body is located in the radial plane of first arm part and perpendicular to axis;Second arm part, with first arm part connection, second arm part is located in the side of first arm part, and second arm part is equipped with second shaft body, and second shaft body is located in the radial plane of second arm part and perpendicular to axis, and second shaft body is perpendicular to first shaft body;Third arm part, with second arm part connection, third arm part is located in the side of second arm part away from first arm part;Flexible operation structure is used to realize surgical action;Power structure, with first arm part, second arm part and flexible operation structure connection, power structure is used to drive first arm part to rotate around first shaft body, and power structure is used to drive second arm part to rotate around second shaft body.By using the above technical scheme, flexible, accurate surgical operation function is realized.

Description

Technical Field

[0001] This utility model relates to the technical field of intracavitary surgical robots, and more specifically, to a flexible surgical arm and an intracavitary surgical robot. Background Technology

[0002] In the field of minimally invasive surgery, flexible surgical arms have become key instruments due to their high flexibility and adaptability to confined spaces. Traditional flexible surgical arms mostly adopt a series of multi-joint structures, which achieve bending motion through multiple parallel universal joints. However, these structures generally suffer from limited degrees of freedom of movement and insufficient end-effector positioning accuracy: the rotation axis design within a single bending plane makes it difficult for the instrument tip to achieve complex spatial trajectories, especially when dealing with deep tissues, which can easily lead to motion interference; the multi-joint coupled drive also amplifies the cumulative error of the distal joints, affecting the precision of the surgical operation. Utility Model Content

[0003] The purpose of this invention is to provide a flexible surgical arm and a cavity surgical robot to solve the technical problems of limited freedom of movement and insufficient positioning accuracy of the flexible surgical arm in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] In a first aspect, a flexible surgical arm is provided, comprising:

[0006] The first arm portion, the flexible surgical arm, is defined with a centerline, and the first arm portion is provided with a first shaft body, which is located in the radial plane of the first arm portion and perpendicular to the centerline.

[0007] The second arm is connected to the first arm and is located on one side of the first arm. The second arm is provided with a second shaft, which is located in the radial plane of the second arm and is perpendicular to the axis line. The second shaft is perpendicular to the first shaft.

[0008] The third arm is connected to the second arm, and the third arm is located on the side of the second arm that is away from the first arm;

[0009] A flexible operating structure is provided on the side of the first arm portion away from the second arm portion, and the flexible operating structure is used to perform surgical actions;

[0010] A power structure is connected to the first arm, the second arm, and the flexible operating structure. The power structure is used to drive the first arm to rotate around the first axis and the power structure is used to drive the second arm to rotate around the second axis.

[0011] By adopting the above technical solution, this flexible surgical arm achieves flexible and precise surgical operation functions through the connection of multiple arm parts and the design of different axes, as well as the coordination of flexible operating structure and power structure, providing an effective instrument solution for minimally invasive surgery and other fields.

[0012] In one embodiment, the flexible surgical arm further includes a first soft portion, which flexibly connects the first arm portion and the second arm portion, and the first shaft is disposed on the first soft portion.

[0013] In one embodiment, the power structure includes a first drive unit, which has a first drive line segment and a second drive line segment located on both sides of the axis, respectively. The first drive unit is used to retract the first drive line segment and the second drive line segment, and the first drive line segment and the second drive line segment are respectively connected to the opposite sides of the first arm located on the axis.

[0014] In one embodiment, the first arm is provided with a first connecting portion and a second connecting portion on opposite sides of the axis; the first arm is provided with a first through hole and a second through hole that are respectively connected to the first connecting portion and the second connecting portion, the first driving line segment passes through the first through hole and is connected to the first connecting portion, and the second driving line segment passes through the second through hole and is connected to the second connecting portion.

[0015] In one embodiment, the flexible surgical arm further includes a second soft portion, which flexibly connects the second arm portion and the third arm portion, and the second shaft is disposed on the second soft portion.

[0016] In one embodiment, the power structure includes a second drive unit, which has a third drive segment and a fourth drive segment located on both sides of the axis, respectively. The second drive unit is used to retract the third drive segment and the fourth drive segment, which are respectively connected to the opposite sides of the second arm located on the axis.

[0017] In one embodiment, the second arm is provided with a third connecting portion and a fourth connecting portion on opposite sides of the axis; the second arm is provided with a third through hole and a fourth through hole that respectively communicate with the third connecting portion and the fourth connecting portion, the third driving line segment passes through the third through hole and is connected to the third connecting portion, and the fourth driving line segment passes through the fourth through hole and is connected to the fourth connecting portion.

[0018] In one embodiment, the flexible surgical arm further includes a fourth arm portion connected to the third arm portion, the fourth arm portion being located on the side of the third arm portion opposite to the second arm portion; the third arm portion is provided with a third shaft, the third shaft being located in the radial plane of the third arm portion and perpendicular to the axis, the third shaft being parallel to the second shaft; the flexible surgical arm further includes a third soft portion, the third soft portion flexibly connecting the third arm portion and the fourth arm portion, the third shaft being disposed on the third soft portion; the power structure includes a third drive portion, the third drive portion being provided with a fifth drive segment and a sixth drive segment respectively located on both sides of the axis, the third drive portion being used to retract the fifth drive segment and the sixth drive segment, the fifth drive segment and the sixth drive segment being respectively connected to the opposite sides of the third arm portion located on the axis.

[0019] In one embodiment, the third arm is provided with a fifth connecting portion and a sixth connecting portion on opposite sides of the axis; the third arm is provided with a fifth through hole and a sixth through hole that respectively communicate with the fifth connecting portion and the sixth connecting portion; the fifth driving line segment passes through the fifth through hole and is connected to the fifth connecting portion; the sixth driving line segment passes through the sixth through hole and is connected to the sixth connecting portion.

[0020] In a second aspect, a cavity surgical robot is provided, comprising a cavity surgical robot body and the aforementioned flexible surgical arm, wherein the flexible surgical arm is connected to the cavity surgical robot body.

[0021] By adopting the above technical solution, the cavity surgical robot of this embodiment, in addition to having the advantages of the flexible surgical arm of the above embodiment, also has the advantage of flexible movement. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a three-dimensional structural diagram of the flexible surgical arm provided in one embodiment of the present invention.

[0024] Figure 2 This is an exploded view of the flexible surgical arm provided in an embodiment of the present invention.

[0025] Figure 3This is a three-dimensional structural diagram of the flexible surgical arm provided in another embodiment of the present invention.

[0026] Figure 4 This is an exploded view from another perspective of the flexible surgical arm provided in this embodiment of the present invention.

[0027] The labels for the attached figures are as follows:

[0028] 100. Flexible surgical arm;

[0029] 1. First arm; 2. Second arm; 3. Third arm; 4. Flexible operating structure; 5. Power structure; 6. First soft part; 7. Second soft part; 8. Fourth arm; 9. Third soft part; X, axis; R1, first shaft; R2, second shaft; R3, third shaft;

[0030] 51. First drive segment; 52. Second drive segment; 53. Third drive segment; 54. Fourth drive segment; 55. Fifth drive segment; 56. Sixth drive segment; 11. First connecting part; 12. Second connecting part; 13. First through hole; 14. Second through hole; 21. Third connecting part; 22. Fourth connecting part; 23. Third through hole; 24. Fourth through hole; 31. Fifth connecting part; 32. Sixth connecting part; 33. Fifth through hole; 34. Sixth through hole. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0032] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be located directly on or indirectly on the other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to the other component.

[0033] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate that the device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating relative importance or the number of technical features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. The specific implementation of this utility model is described in more detail below with reference to specific embodiments:

[0035] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a flexible surgical arm 100, comprising:

[0036] The first arm 1 and the flexible surgical arm 100 are defined with an axis X. The first arm 1 is provided with a first shaft R1, which is located in the radial plane of the first arm 1 and is perpendicular to the axis X.

[0037] The second arm 2 is connected to the first arm 1. The second arm 2 is located on one side of the first arm 1. The second arm 2 is provided with a second shaft R2. The second shaft R2 is located in the radial plane of the second arm 2 and is perpendicular to the axis X. The second shaft R2 is perpendicular to the first shaft R1.

[0038] The third arm 3 is connected to the second arm 2, and the third arm 3 is located on the side of the second arm 2 that is away from the first arm 1;

[0039] The flexible operating structure 4 is located on the side of the first arm 1 away from the second arm 2. The flexible operating structure 4 is used to perform surgical actions.

[0040] The power structure 5 is connected to the first arm 1, the second arm 2 and the flexible operating structure 4. The power structure 5 is used to drive the first arm 1 to rotate around the first shaft R1 and the power structure 5 is used to drive the second arm 2 to rotate around the second shaft R2.

[0041] Specifically, the first arm 1 is part of the flexible surgical arm 100 and has a first axis R1. The first axis R1 lies in the radial plane of the first arm 1 and is perpendicular to the axis X of the flexible surgical arm 100, which allows the first arm 1 to rotate about the first axis R1, providing a directional degree of freedom of movement for the surgical arm. It should be further explained that the axis X of the flexible surgical arm 100 refers to the line connecting the centers of the first arm 1, the second arm 2, and the third arm 3 when the flexible surgical arm 100 is in its initial position. The first axis R1 can be a solid axis or a virtual axis. The radial plane of the first arm 1 refers to the plane containing the radial direction of the first arm 1.

[0042] The second arm 2 is connected to the first arm 1 and located on one side of the first arm 1, and is provided with a second shaft R2. The second shaft R2 is also within the radial plane of the second arm 2 and perpendicular to the axis X, and perpendicular to the first shaft R1. This design allows the second arm 2 to rotate around the second shaft R2 in a direction different from that of the first arm 1, adding another degree of freedom of movement to the surgical arm, making its movement more flexible and enabling operations in different planes. It should be further explained that the second shaft R2 can be a solid shaft or a virtual shaft. The radial plane of the second arm 2 refers to the plane containing the radial direction of the second arm 2.

[0043] The third arm 3 is connected to the side of the second arm 2 opposite to the first arm 1. Its existence is to further expand the operating range of the surgical arm and provide better support and balance. It works in conjunction with the first arm 1 and the second arm 2 to enable the entire surgical arm to adapt to different surgical scenarios and operational needs.

[0044] The flexible operating structure 4 is located on the side of the first arm 1 opposite to the second arm 2 and is the part that directly performs surgical actions. It can be designed according to the specific requirements of the surgery, such as installing surgical tools, clamps, cutters, etc. Through coordinated movement with the first arm 1 and the second arm 2, it accurately positions the surgical tools to the surgical site and performs delicate operations.

[0045] The power structure 5 is connected to the first arm 1, the second arm 2, and the flexible operating structure 4, and is the power source for the entire flexible surgical arm 100. It drives the first arm 1 to rotate around the first axis R1 and the second arm 2 to rotate around the second axis R2, thereby enabling various movements of the surgical arm. The power structure 5 may employ electric, hydraulic, or pneumatic drive methods, and through precise control, enables the surgical arm to move accurately and stably according to the surgeon's operational requirements.

[0046] By adopting the above technical solution, the flexible surgical arm 100, through the connection of multiple arm parts and the design of different axes, as well as the cooperation of the flexible operation structure 4 and the power structure 5, realizes flexible and precise surgical operation functions, providing an effective instrument solution for minimally invasive surgery and other fields.

[0047] In one embodiment, the flexible surgical arm 100 further includes a first soft part 6, which flexibly connects the first arm part 1 and the second arm part 2, and a first shaft R1 is disposed on the first soft part 6.

[0048] Specifically, the flexible surgical arm 100 includes a first soft portion 6, which flexibly connects the first arm portion 1 and the second arm portion 2. Compared to a rigid connection, this flexible connection allows for more flexible and natural relative movement between the first arm portion 1 and the second arm portion 2. During surgical procedures, the flexible connection can better adapt to complex surgical environments and changes in operating angles, avoiding the movement limitations and stress concentration problems caused by rigid connections, thereby improving the operational performance and adaptability of the surgical arm.

[0049] Specifically, the first soft part 6 includes, but is not limited to, holding soft objects.

[0050] The first flexible part 6 not only serves as a connector but also supports the first shaft R1, which is mounted on the first flexible part 6. This means that while providing a flexible connection, the first flexible part 6 must also ensure the installation stability of the first shaft R1, allowing the first arm 1 to reliably rotate around the first shaft R1. The first flexible part 6 may need to possess a certain strength and flexibility to withstand the forces and torques generated when the first arm 1 rotates, while maintaining good flexibility so as not to affect the relative movement between the first arm 1 and the second arm 2.

[0051] By adopting the above technical solution, the structural layers of the flexible surgical arm 100 are enriched, enabling better coordination among its various parts. The presence of the first soft part 6 organically combines the first arm part 1 and the second arm part 2 into a unified flexible structure, further enhancing the flexible manipulation capability of the surgical arm. In practical applications, this structure allows the surgical arm to more closely resemble the natural movement patterns of the human body, helping doctors to control surgical tools more precisely and improving the success rate and safety of surgery.

[0052] Please refer to the following: Figure 3 and Figure 4 In one embodiment, the power structure 5 includes a first drive unit, which has a first drive line segment 51 and a second drive line segment 52 located on both sides of the axis X. The first drive unit is used to retract the first drive line segment 51 and the second drive line segment 52. The first drive line segment 51 and the second drive line segment 52 are respectively connected to the opposite sides of the first arm 1 located on the axis X.

[0053] Specifically, the power structure 5 includes a first drive unit, which is a key component of the power structure 5. The first drive unit has a first drive segment 51 and a second drive segment 52 located on both sides of the axis X. The first drive unit is designed with a symmetrical distribution structure, unfolding around the axis X of the flexible surgical arm 100. This symmetrical distribution design helps to transmit power more evenly and control the movement of the surgical arm.

[0054] The main function of the first drive unit is to retract and extend the first drive segment 51 and the second drive segment 52. By retracting and extending these two drive segments, the first drive unit can control the movement of the first arm 1. For example, when the first drive segment 51 retracts and the second drive segment 52 extends, the first arm 1 rotates around the first shaft R1 to one side; conversely, when the second drive segment 52 retracts and the first drive segment 51 extends, the first arm 1 may rotate to the other side. This retraction and extension drive provides the power source for the rotation of the first arm 1.

[0055] The first drive segment 51 and the second drive segment 52 are respectively connected to the opposite sides of the first arm 1 along the axis X. This connection method ensures that the power generated by the first drive unit can be effectively transmitted to the first arm 1, thereby realizing the rotation of the first arm 1. By connecting the drive segments to the opposite sides of the axis X of the first arm 1, the forces acting on the first arm 1 can be better balanced, making the rotation of the first arm 1 more stable and precise.

[0056] By adopting the above technical solution, the flexible surgical arm 100 becomes more flexible and precise in motion control. Through the first drive unit's control of the extension and retraction of the first drive segment 51 and the second drive segment 52, rotation of the first arm 1 at different angles and directions can be achieved, thereby increasing the overall operational freedom and flexibility of the surgical arm. This helps surgeons operate surgical instruments more accurately during surgery, improving the quality and effectiveness of the procedure.

[0057] In one embodiment, the first arm portion 1 has a first connecting portion 11 and a second connecting portion 12 on opposite sides of the axis X. The first arm portion 1 has a first through hole 13 and a second through hole 14 that are respectively connected to the first connecting portion 11 and the second connecting portion 12. The first driving line segment 51 passes through the first through hole 13 and is connected to the first connecting portion 11, and the second driving line segment 52 passes through the second through hole 14 and is connected to the second connecting portion 12.

[0058] Specifically, the first arm 1 has a first connecting portion 11 and a second connecting portion 12 respectively located on opposite sides of the axis X. These two connecting portions are for connecting with the first drive segment 51 and the second drive segment 52 in the power structure 5, thereby enabling power transmission. This arrangement of connecting portions on opposite sides of the axis X ensures the symmetry of the forces acting on the first arm 1, contributing to its smooth rotation.

[0059] The first arm portion 1 is provided with a first through hole 13 and a second through hole 14 that respectively penetrate the first connecting portion 11 and the second connecting portion 12. These through holes allow the first drive segment 51 and the second drive segment 52 to pass through the first arm portion 1 and reach their respective connecting portions for connection. The through holes facilitate smoother connection between the first drive segment 51 and the second drive segment 52 and the first arm portion 1, while also providing positioning and guidance for the drive segments, ensuring that they do not deviate or wobble during power transmission.

[0060] By adopting the above technical solutions, a reliable connection allows doctors to control the movements of the surgical arm more precisely, improving the success rate and safety of the surgery. It also helps to extend the service life of the surgical arm and reduce malfunctions caused by unstable connections.

[0061] In one embodiment, the flexible surgical arm 100 further includes a second soft portion 7, which flexibly connects the second arm portion 2 and the third arm portion 3, and the second shaft R2 is disposed on the second soft portion 7.

[0062] Specifically, the flexible surgical arm 100 includes a second soft portion 7, which flexibly connects the second arm portion 2 and the third arm portion 3. This flexible connection method is similar to the previous flexible connection of the first soft portion 6 to the first arm portion 1 and the second arm portion 2, giving the surgical arm greater flexibility and bendability. During surgical procedures, this flexible connection allows for more natural and smooth relative movement between the second arm portion 2 and the third arm portion 3, adapting to complex and varied surgical spaces and angle requirements, and avoiding movement restrictions and potential damage to the surgical site caused by rigid connections.

[0063] The second shaft R2 is mounted on the second flexible part 7, indicating that the second flexible part 7 not only connects the second arm 2 and the third arm 3, but also provides mounting support for the second shaft R2. It needs to possess a certain degree of strength and flexibility to ensure the stability of the second shaft R2 installation, allowing the second arm 2 to reliably rotate around the second shaft R2, while also being able to deform appropriately during relative movement between the second arm 2 and the third arm 3 to adapt to different motion states without affecting the overall connection effect and motion performance.

[0064] By adopting the above technical solutions, the structure and performance of the flexible surgical arm 100 have been further optimized, providing strong technical support for achieving safer and more effective surgical operations.

[0065] In one embodiment, the power structure 5 includes a second drive unit, which has a third drive segment 53 and a fourth drive segment 54 located on both sides of the axis X. The second drive unit is used to retract the third drive segment 53 and the fourth drive segment 54, which are respectively connected to the opposite sides of the second arm 2 located on the axis X.

[0066] Specifically, the power structure 5 includes a second drive unit, which is an important component of the power structure 5. Similar to the first drive unit, the second drive unit also has a specific structure, namely, a third drive segment 53 and a fourth drive segment 54 located on both sides of the axis X. This symmetrically distributed structure around the axis X helps to provide more balanced power to the second arm 2 and achieve control over its movement.

[0067] The main function of the second drive unit is to retract and extend the third drive segment 53 and the fourth drive segment 54. By retracting and extending these two drive segments, the second drive unit can control the movement of the second arm 2. Specifically, when the third drive segment 53 retracts and the fourth drive segment 54 extends, the second arm 2 may rotate to one side around the second axis R2; conversely, when the fourth drive segment 54 retracts and the third drive segment 53 extends, the second arm 2 may rotate to the other side. This retraction and extension drive mechanism provides the power source for the rotation of the second arm 2 and enables relatively flexible and precise angle control.

[0068] The third drive segment 53 and the fourth drive segment 54 are respectively connected to the opposite sides of the second arm 2 along the axis X. This connection method ensures that the power generated by the second drive unit can be effectively transmitted to the second arm 2, thereby realizing the rotation of the second arm 2. Connecting the drive segments to the opposite sides of the axis X of the second arm 2 can better balance the forces acting on the second arm 2, making the rotation of the second arm 2 more stable and precise, and avoiding swaying or movement deviation caused by uneven force.

[0069] By adopting the above technical solution, the second drive unit works in conjunction with the first drive unit and other power components, enabling the surgical arm to achieve multi-dimensional flexible movement. During surgical operations, the surgeon can precisely adjust the movement of the second arm 2 by controlling the second drive unit, and in conjunction with the movement of the first arm 1, the surgical tools can reach the surgical site more accurately and perform delicate operations, improving the success rate and quality of the surgery, while also enhancing the adaptability of the surgical arm in complex surgical environments.

[0070] In one embodiment, the second arm 2 has a third connecting portion 21 and a fourth connecting portion 22 on opposite sides of the axis X, respectively; the second arm 2 has a third through hole 23 and a fourth through hole 24 that respectively communicate with the third connecting portion 21 and the fourth connecting portion 22, the third drive line segment 53 passes through the third through hole 23 and is connected to the third connecting portion 21, and the fourth drive line segment 54 passes through the fourth through hole 24 and is connected to the fourth connecting portion 22.

[0071] Specifically, the second arm 2 has a third connecting portion 21 and a fourth connecting portion 22 respectively provided on opposite sides of its axis X. This is to establish connections with the third drive segment 53 and the fourth drive segment 54 in the power structure 5, thereby achieving effective power transmission. By providing connecting portions on opposite sides of the axis X, the second arm 2 can receive forces more evenly when subjected to the force transmitted by the drive segments, ensuring the smoothness and accuracy of the rotation of the second arm 2.

[0072] The second arm 2 is provided with a third through hole 23 and a fourth through hole 24 that respectively communicate with the third connecting part 21 and the fourth connecting part 22. These through holes provide channels for the third drive segment 53 and the fourth drive segment 54 to pass through the second arm 2, allowing them to connect smoothly to their corresponding connecting parts. The precise placement of these through holes not only positions and guides the drive segments, ensuring they do not deviate during movement, but also makes the connection between the drive segments and the second arm 2 tighter and more stable, reducing energy loss during power transmission.

[0073] By adopting the above technical solution, it is ensured that the second drive unit in the power structure 5 can accurately and reliably transmit power to the second arm 2, thereby enabling the surgical arm to achieve precise motion control.

[0074] In one embodiment, the flexible surgical arm 100 further includes a fourth arm portion 8, which is connected to the third arm portion 3 and is located on the side of the third arm portion 3 opposite to the second arm portion 2. The third arm portion 3 is provided with a third shaft R3, which is located in the radial plane of the third arm portion 3 and perpendicular to the axis X, and is parallel to the second shaft R2. The flexible surgical arm 100 also includes a third soft portion 9, which flexibly connects the third arm portion 3 and the fourth arm portion 8, and the third shaft R3 is disposed on the third soft portion 9. The power structure 5 includes a third drive portion, which is provided with a fifth drive segment 55 and a sixth drive segment 56 located on both sides of the axis X, respectively. The third drive portion is used to retract and extend the fifth drive segment 55 and the sixth drive segment 56, which are respectively connected to the opposite sides of the third arm portion 3 located on the axis X.

[0075] Specifically, the flexible surgical arm 100 adds a fourth arm portion 8, which is connected to the third arm portion 3 and located on the side of the third arm portion 3 opposite to the second arm portion 2. This new structure further expands the operating range and flexibility of the surgical arm, allowing it to operate in a wider space and adapt to more complex surgical scenarios. More arms mean that the surgical arm can achieve more degrees of freedom of movement, helping doctors to deliver surgical instruments to the target location more precisely.

[0076] The third arm 3 is provided with a third axis R3, which is located in the radial plane of the third arm 3 and perpendicular to the axis X, while being parallel to the second axis R2. The third axis R3 provides the third arm 3 with an independent axis of rotation, allowing the third arm 3 to rotate around it. The design perpendicular to the second axis R2 increases the spatial dimension of the surgical arm, making its movements more diverse and flexible, and enabling complex adjustments in different planes.

[0077] The third soft section 9 flexibly connects the third arm section 3 and the fourth arm section 8, and the third shaft R3 is disposed on the third soft section 9. The function of the third soft section 9 is similar to that of the first soft section 6 and the second soft section 7, providing a flexible connection to ensure flexible relative movement between adjacent arms, while supporting the third shaft R3 to ensure the stability and reliability of the third arm section 3's rotation around the third shaft R3. This flexible connection method helps reduce rigid impact during movement, making the movement of the surgical arm smoother and more natural, and reducing the potential risk of damage to the surgical site.

[0078] The power structure 5 includes a third drive unit, which has a fifth drive segment 55 and a sixth drive segment 56 located on both sides of the axis X. The function of the third drive unit is to extend and retract the fifth drive segment 55 and the sixth drive segment 56, and these two drive segments are respectively connected to the opposite sides of the third arm 3 located on the axis X. This is similar to the working principle of the first drive unit and the second drive unit, providing power for the rotation of the third arm 3 by extending and retracting the drive segments. The symmetrical connection ensures that the force on the third arm 3 is even, making the rotation of the third arm 3 more stable and precise, and enabling accurate angle adjustment according to the doctor's operating intention.

[0079] By adopting the above technical solutions, the fourth arm 8, the third shaft R3, the third soft part 9, and the third drive part are added to further improve the overall architecture and power system of the flexible surgical arm 100, thereby enhancing the operating flexibility, motion accuracy, and ability to adapt to complex surgical environments.

[0080] In one embodiment, the third arm 3 has a fifth connecting portion 31 and a sixth connecting portion 32 on opposite sides of the axis X; the third arm 3 has a fifth through hole 33 and a sixth through hole 34 that respectively communicate with the fifth connecting portion 31 and the sixth connecting portion 32; the fifth drive line segment 55 passes through the fifth through hole 33 and is connected to the fifth connecting portion 31; the sixth drive line segment 56 passes through the sixth through hole 34 and is connected to the sixth connecting portion 32.

[0081] Specifically, the third arm 3 has a fifth connecting part 31 and a sixth connecting part 32 respectively located on opposite sides of its axis X. These are for connecting with the fifth drive segment 55 and the sixth drive segment 56 in the power structure 5, thereby transmitting power to drive the third arm 3. Positioning the connecting parts on opposite sides of the axis X ensures that the third arm 3 experiences balanced force during rotation, guaranteeing smooth and precise movement and preventing swaying or deviation caused by uneven force distribution.

[0082] The third arm 3 is provided with a fifth through hole 33 and a sixth through hole 34 that respectively penetrate the fifth connecting part 31 and the sixth connecting part 32. These through holes provide channels for the fifth drive segment 55 and the sixth drive segment 56 to pass through the third arm 3, allowing the drive segments to connect smoothly to their corresponding connecting parts. The precise placement of the through holes positions and guides the drive segments, ensuring they do not deviate from their predetermined trajectory during movement. It also makes the connection between the drive segments and the third arm 3 more stable, reducing power loss during transmission and improving power transmission efficiency.

[0083] The fifth drive segment 55 passes through the fifth through hole 33 and connects to the fifth connecting part 31, while the sixth drive segment 56 passes through the sixth through hole 34 and connects to the sixth connecting part 32. This connection method clarifies the specific connection relationship between the fifth drive segment 55 and the sixth drive segment 56 of the third drive unit and the third arm 3. Through this passing and connecting method, the third drive unit can effectively drive the third arm 3 to rotate around the third axis R3 by extending and retracting the fifth drive segment 55 and the sixth drive segment 56. The connection between the connecting part and the drive segment needs to have sufficient strength and reliability to withstand the force and torque transmitted by the drive segment, ensuring that the third arm 3 can rotate in the expected manner and achieve precise motion control.

[0084] By adopting the above technical solution, it is ensured that the third drive unit in the power structure 5 can accurately and stably transmit power to the third arm 3, enabling the surgical arm to achieve multi-dimensional precise movement.

[0085] Secondly, a cavity surgical robot is provided, including a cavity surgical robot body and the aforementioned flexible surgical arm 100, wherein the flexible surgical arm 100 is connected to the cavity surgical robot body.

[0086] By adopting the above technical solution, the cavity surgical robot of this embodiment has the advantage of flexible movement in addition to the advantages of the flexible surgical arm 100 of the above embodiment.

[0087] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A flexible surgical arm, characterized in that, include: The first arm portion, the flexible surgical arm, is defined with a centerline, and the first arm portion is provided with a first shaft body, which is located in the radial plane of the first arm portion and perpendicular to the centerline. The second arm is connected to the first arm and is located on one side of the first arm. The second arm is provided with a second shaft, which is located in the radial plane of the second arm and is perpendicular to the axis line. The second shaft is perpendicular to the first shaft. The third arm is connected to the second arm, and the third arm is located on the side of the second arm that is away from the first arm; A flexible operating structure is provided on the side of the first arm portion away from the second arm portion, and the flexible operating structure is used to perform surgical actions; A power structure is connected to the first arm, the second arm, and the flexible operating structure. The power structure is used to drive the first arm to rotate around the first axis and the power structure is used to drive the second arm to rotate around the second axis.

2. The flexible surgical arm as described in claim 1, characterized in that, The flexible surgical arm also includes a first soft part, which flexibly connects the first arm part and the second arm part, and the first shaft is disposed on the first soft part.

3. The flexible surgical arm as described in claim 2, characterized in that, The power structure includes a first drive unit, which has a first drive line segment and a second drive line segment located on both sides of the axis. The first drive unit is used to retract the first drive line segment and the second drive line segment, and the first drive line segment and the second drive line segment are respectively connected to the opposite sides of the first arm located on the axis.

4. The flexible surgical arm as described in claim 3, characterized in that, The first arm has a first connecting portion and a second connecting portion respectively located on opposite sides of the axis; the first arm has a first through hole and a second through hole respectively communicating with the first connecting portion and the second connecting portion, the first driving line segment passes through the first through hole and is connected to the first connecting portion, and the second driving line segment passes through the second through hole and is connected to the second connecting portion.

5. The flexible surgical arm as described in claim 4, characterized in that, The flexible surgical arm also includes a second soft part, which flexibly connects the second arm part and the third arm part, and the second shaft is disposed on the second soft part.

6. The flexible surgical arm as described in claim 5, characterized in that, The power structure includes a second drive unit, which has a third drive segment and a fourth drive segment located on both sides of the axis. The second drive unit is used to retract the third drive segment and the fourth drive segment, which are respectively connected to the opposite sides of the second arm located on the axis.

7. The flexible surgical arm as described in claim 6, characterized in that, The second arm is provided with a third connecting part and a fourth connecting part on opposite sides of the axis; the second arm is provided with a third through hole and a fourth through hole that respectively communicate with the third connecting part and the fourth connecting part, the third driving line segment passes through the third through hole and is connected to the third connecting part, and the fourth driving line segment passes through the fourth through hole and is connected to the fourth connecting part.

8. The flexible surgical arm as described in claim 6, characterized in that, The flexible surgical arm further includes a fourth arm portion connected to the third arm portion, the fourth arm portion being located on the side of the third arm portion opposite to the second arm portion; the third arm portion is provided with a third shaft, the third shaft being located within the radial plane of the third arm portion and perpendicular to the axis, the third shaft being located on the second shaft; the flexible surgical arm further includes a third soft portion flexibly connecting the third arm portion and the fourth arm portion, the third shaft being disposed on the third soft portion; the power structure includes a third drive portion, the third drive portion being provided with a fifth drive segment and a sixth drive segment respectively located on both sides of the axis, the third drive portion being used to retract and extend the fifth drive segment and the sixth drive segment, the fifth drive segment and the sixth drive segment being respectively connected to the opposite sides of the third arm portion located on the axis.

9. The flexible surgical arm as described in claim 8, characterized in that, The third arm is provided with a fifth connecting part and a sixth connecting part on opposite sides of the axis; the third arm is provided with a fifth through hole and a sixth through hole that respectively communicate with the fifth connecting part and the sixth connecting part; the fifth driving line segment passes through the fifth through hole and is connected to the fifth connecting part; the sixth driving line segment passes through the sixth through hole and is connected to the sixth connecting part.

10. A cavity surgical robot, characterized in that, It includes a cavity surgical robot body and a flexible surgical arm as described in any one of claims 1 to 9, wherein the flexible surgical arm is connected to the cavity surgical robot body.

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