Line drive motion module and minimally invasive surgical forceps

Abstract

The present application discloses a line drive motion module and a minimally invasive surgical forceps. The line drive motion module comprises a joint structure, a positioning structure, and two connecting lines. The joint structure comprises a plurality of joint units connected to each other; the positioning structure is installed between two adjacent joint units. The positioning structure comprises a first positioning member and a second positioning member that are movably connected and can move closer to or further away from each other in a first direction. The connecting line is installed through all joint units and the positioning structure. Both ends of any one connecting line installed through the positioning structure are positionally connected to the first positioning member and the second positioning member, respectively, thereby limiting the length of the connecting line connected within the positioning structure to be constant. The line drive motion module can adjust the movement trajectory of the joint structure, expand the range of motion of the joint structure, and enhance the smooth operation performance of the minimally invasive device.

Description

Technology Field

[0001] This application was filed with the Chinese Intellectual Property Office on August 31, 2022, and claims priority to a Chinese patent application with application number 202211062457.6 and invention title “Line drive motion module and minimally invasive surgical forceps”, and incorporates all of the contents of the same by reference into this application.

[0002] This application relates to the field of medical device technology, specifically to a line drive motion module and a minimally invasive surgical forceps. Background Technology

[0003] Joint structures are equipped with good strength and the ability to fit smoothly into spatial motion, making them widely used in fields such as machinery and medicine. Currently, among medical devices, for example in minimally invasive surgery, physicians use corresponding manipulative mechanisms to enable the minimally invasive device to perform desired actions according to control movements and commands, thereby realizing medical and diagnostic purposes for the human body.

[0004] In the prior art, a minimally invasive device is generally composed of a joint structure and a plurality of connecting lines, the connecting lines are connected to the joint structure, one end of the plurality of connecting lines is connected to an external driving device, and the other end of the plurality of connecting lines is connected to an external operating device. When bending adjustment of the joint structure of the minimally invasive device is required, the connecting lines are pulled and retrieved through the external driving device so that adjacent joints located at the wire pulling end are brought closer to each other, and the angle between adjacent joints is reduced and contracted. Then, the connecting lines are fed and extended through the external driving device so that adjacent joints located at the wire feeding end are moved further apart from each other, and the angle between adjacent joints is increased and expanded, thereby completing the bending and folding operation of the joints and realizing the desired operation process.

[0005] However, when the equipment is driven with the structure described above to control the operation of the joint structure, the movement trajectory of the distal node of the joint structure is always maintained only on a spherical surface centered on a fixed point, and the distal node of the joint structure can only move on a spherical surface. This limits the movement trajectory of the joint structure, and when a doctor performs operations such as clamping or suturing in the direction of length extension of the distal end, the distal node of the joint structure must be displaced along the corresponding length direction. The structure described above is difficult to adapt to displacement in the length direction and has a limited range of motion, which presents a problem of limiting the smooth operation performance of the minimally invasive device. In this regard, U.S. Patent Published US2021 / 0372360 (Date of publication: Dec. 02, 2021) discloses a dynamic power generation turbine system using electronic torque control.

[0006] The present application aims to solve the technical problem in which, in the prior art, the movement trajectory of the joint structure is limited, resulting in a lack of range of motion and a limitation on the smooth operation of the minimally invasive device.

[0007] In a first aspect, the present application provides a line drive motion module, and

[0008] A joint structure comprising a plurality of interconnected joint units, wherein one end is suitable for connecting to an external driving mechanism and the other end is suitable for connecting to an external operating mechanism;

[0009] A positioning structure installed between two adjacent joint units and comprising a first positioning member and a second positioning member, wherein the first positioning member and the second positioning member are movably connected and can approach or move away from each other in a first direction;

[0010] At least two connecting lines, wherein the connecting lines are installed through all of the joint units and the positioning structure, and one of the connecting lines is installed through both ends of the positioning structure, and the first positioning member and the second positioning member position limit the connecting lines within the positioning structure; comprising at least two connecting lines.

[0011] Here, when the first positioning member and the second positioning member approach each other along the first direction, the connecting line is positionally restricted and accommodated within a wire receiving chamber jointly surrounded by the first positioning member and the second positioning member; when the first positioning member and the second positioning member move away from each other along the first direction, the connecting line is straightened within the wire receiving chamber.

[0012] Optionally, in the line drive motion module described above, the positioning structure further comprises at least two positioning sleeves, the positioning sleeves are installed corresponding to the connection line and are positioned to accommodate the connection line, the positioning sleeves are installed within the wire receiving chamber, and both ends of the positioning sleeves are respectively connected to the same connection line at the first line connection port of the first positioning member and the second line connection port of the second positioning member.

[0013] Optionally, in the line drive motion module described above, the positioning sleeve is a flexible tube;

[0014] When the first positioning member and the second positioning member approach each other along the first direction, the flexible tube and the connecting line are synchronized within the wire receiving chamber to be folded, coiled, or wound;

[0015] When the first positioning member and the second positioning member move away from each other along the first direction, the flexible tube and the connecting line are deployed or pulled in synchronization.

[0016] Optionally, the line drive motion module described above further comprises a first adapter structure and a second adapter structure installed spaced apart from each other, wherein the first adapter structure and the second adapter structure are installed at both ends of the joint structure, the first adapter structure is suitable for connecting to an external driving mechanism, and the second adapter structure is suitable for connecting to an operating mechanism;

[0017] The line drive motion module has a bending state in which the first adapter structure pulls the connecting line under the action of an external force so that the second adapter structure and the joint are synchronized and bend in tandem with respect to the first adapter structure; and an initial state in which the first adapter structure, the positioning structure and the second adapter structure are set on the same axis, and the line drive motion module is switched between the bending state and the initial state.

[0018] Optionally, in the line drive motion module described above, the first positioning member has a first connection part, and the second positioning member has a second connection part;

[0019] The first connecting part and the second connecting part are a spiral structure joined to each other, and when the first connecting part and the second connecting part are screw-joined, the first positioning member and the second positioning member move closer to each other or further apart along a first direction, and the first direction is the axial direction of the spiral structure.

[0020] Optionally, in the line drive motion module described above, the first positioning member and the second positioning member are a barrel structure that is sleeve-connected to each other, the first connection is formed on the inner wall surface of the first positioning member; the second connection is formed on the outer wall surface of the second positioning member; and the wire receiving chamfer is a chamber within the barrel structure.

[0021] Optionally, in the line drive motion module described above, the same connection line is installed through the first line connection port of the first positioning member and the second line connection port of the second positioning member; wherein, when the first positioning member is screw-connected to the first rotational position of the second positioning member, the direction of the connection line of the first line connection port and the second line connection port is installed in the same direction as the first direction; and the line drive motion module has a first bending state in which the first adapter structure pulls the connection line under the action of an external force, so that the second adapter structure and the joint are synchronized and interlocked with respect to the first adapter structure to perform an S-shaped motion.

[0022] Optionally, in the line drive motion module described above, in the bending state, the first cross section of the first adapter structure connected while moving away from one side of the joint structure and the second cross section of the second adapter structure connected while moving away from one side of the joint structure are installed parallel to each other.

[0023] Optionally, in the line drive motion module described above, the same connection line is installed through the first line connection port of the first positioning member and the second line connection port of the second positioning member; wherein, when the first positioning member is screw-connected to the second rotational position of the second positioning member, the first plane in which the first line connection port and the first direction are located and the second plane in which the second line connection port and the first direction are located form a 90-degree angle; and the line drive motion module has a second bending state in which the first adapter structure pulls the connection line under the action of an external force, so that the second adapter structure and the joint are synchronized and interlocked bending with respect to the first adapter sphere to perform an S-shaped movement.

[0024] Optionally, in the line drive motion module described above, the same connection line is installed through the first line connection port of the first positioning member and the second line connection port of the second positioning member; wherein, when the first positioning member is screw-connected to the third rotational position of the second positioning member, the first plane in which the first line connection port and the first direction are located and the second plane in which the second line connection port and the first direction are located form a 180-degree angle;

[0025] The above line drive motion module has a third bending state in which the first adapter structure pulls the connecting line under the action of an external force, so that the second adapter structure and the joint are synchronized and interlocked with respect to the first adapter structure to perform a C-shaped motion.

[0026] Optionally, in the line drive motion module described above, the first positioning member has a third connecting member, and the second positioning member has a fourth connecting member; the third connecting member and the fourth connecting member are a sliding structure coupled to each other, and when the third connecting member and the fourth connecting member slide relative to each other, the first positioning member and the second positioning member move closer to each other or further apart along a first direction, and the first direction is the sliding direction of the sliding structure.

[0027] Optionally, in the line drive motion module described above, the line drive motion module further has a rotational state in which the first adapter structure rotates under the action of an external force to pull the connecting line and the second adapter structure and the joint structure are to be twisted in synchronization with the first adapter structure.

[0028] Optionally, in the line drive motion module described above, the joint unit

[0029] A rotating member having a position limiting part installed in the circumferential direction;

[0030] It comprises at least one receiving chamber fixedly connected to the rotating member and movably connected to the rotating member of an adjacent joint unit, and further comprises a position limiting member within the receiving chamber, and a position limiting base in which the position limiting member and the position limiting part of the adjacent joint unit are coupled to position limit the axial rotation of the rotating member of the adjacent joint unit.

[0031] Optionally, in the line drive motion module described above, the rotating member is a sphere, and the outer wall surface of the rotating member of the joint unit adjacent to the inner wall surface of the receiving chamber is fitted to each other;

[0032] Two of the above-mentioned position limiting parts are installed, and the two of the above-mentioned position limiting parts are combined to form the sphere;

[0033] The two aforementioned position limiting members are spaced apart to form an assembly space that limits the position of the position limiting member, and the position limiting member is activably connected to the assembly space.

[0034] Optionally, in the line drive motion module described above, the first positioning member includes a first connecting hole extending in the same direction as its extension direction;

[0035] The second positioning member includes a second connecting hole extending in the same direction as its extension direction;

[0036] One of the adapter structures has a third connecting hole extending in the same direction as its extension direction;

[0037] One joint unit is provided with a core hole, and all of the core holes, all of the second connecting holes, and the first connecting holes jointly form an intervening passage, and the intervening passage is suitable for the through installation of an external pipe fitting.

[0038] Optionally, in the line drive motion module described above, the first positioning member further comprises a first joining member, the first joining member is installed on one side of the first positioning member approaching the end, and the first joining member is movably connected to the fabric of the joint structure;

[0039] The second positioning member further comprises a second joining member, the second joining member is installed on one side of the second positioning member away from the root end, and the second joining member is activably connected to the root end of the joint structure;

[0040] The first joint and the second joint are the same as the rotating member structure or the position limiting base structure.

[0041] Optionally, in the line drive motion module described above, the first adapter structure includes a third joining part, and the third joining part is activably connected to the joint unit;

[0042] The second adapter structure includes a fourth joint, and the fourth joint is activably connected to the joint unit;

[0043] The third joint and the fourth joint are the same as the rotating member structure or the position limiting base structure.

[0044] In a second embodiment, the present application provides a minimally invasive surgical forceps comprising a line drive motion module described in the first embodiment above.

[0045] The technical solution provided in this application has the following advantages.

[0046] 1. The line drive motion module provided in this application comprises a joint structure, a positioning structure, and two connecting lines, wherein one end of the joint structure is suitable for connecting to an external driving mechanism and the other end of the joint structure is suitable for connecting to an external operating mechanism, and the joint structure comprises a plurality of joint units connected to each other; the positioning structure is installed between two adjacent joint units, and the positioning structure comprises a first positioning member and a second positioning member, wherein the first positioning member and the second positioning member are movably connected and can approach or move away from each other in a first direction; the connecting line is installed through all joint units and the positioning structure, wherein one connecting line is installed through both ends within the positioning structure and the first positioning member and the second positioning member restrict the position of the connecting line within the positioning structure; wherein, when the first positioning member and the second positioning member approach each other along the first direction, the connecting line is restricted in position within a wire receiving chamber jointly surrounded by the first positioning member and the second positioning member; When the first positioning member and the second positioning member move away from each other along the first direction, the connecting line is straightened within the wire receiving chamber.

[0047] A line drive motion module of this structure achieves the purpose of controlling the motion trajectory of a joint structure in a first direction through a positioning structure by adjusting the motion position of the joint structure through the movement of the first positioning member and the second positioning member, by activably connecting a first positioning member and a second positioning member so that they approach or move away from each other in a first direction, thereby causing the joint structure connected to the first positioning member and the joint structure connected to the second positioning member to move while correspondingly displaced to approach or displaced to move away in the first direction; and restricts the position of a connection line within a positioning structure through the positioning coupling of the first positioning member and the second positioning member, specifically, when the first positioning member and the second positioning member approach each other along the first direction, the connection line is positionally restricted and received within a wire receiving chamfer, and the joint structure performs a retraction recovery motion; When the first positioning member and the second positioning member move away from each other along the first direction, the connection line is released within the wire receiving chamber, and at this time, the connection line is extended and straightened, and the joint structure performs an extension and expansion movement; the first positioning member and the second positioning member restrict the length of the distance between both ends within the positioning structure with respect to the connection line to ensure that the length of the connection line within the positioning structure remains constant, and this does not change according to the sliding of the first positioning member and the second positioning member along the first direction, and the change movement of the connection line within the positioning structure adapts to the relative movement of the first positioning member and the second positioning member and the movement trajectory position of the joint structure located at both ends of the positioning structure, thereby optimizing the movement trajectory of the joint structure and expanding the range of motion of the joint structure to realize the purpose of enhancing the smooth operation performance of the minimally invasive device.

[0048] 2. In the line drive motion module provided in the present application, the positioning structure further comprises two positioning sleeves, the positioning sleeves are installed corresponding to a connection line and are positioned to accommodate the connection line within a position limit, the positioning sleeves are installed within a wire receiving chamber, and both ends of the positioning sleeves are each connected to the same connection line at a first line connection port of a first positioning member and a second line connection port of a second positioning member; the positioning sleeves are flexible tubes; when the first positioning member and the second positioning member approach each other along a first direction, the flexible tube and the connection line are synchronously folded, coiled, or wound within the wire receiving chamber; when the first positioning member and the second positioning member move away from each other along a first direction, the flexible tube and the connection line are synchronously unfolded or pulled.

[0049] In a line drive motion module of this structure, the movement of a connecting line is positionally restricted through the joint coupling of a first positioning member, a second positioning member, and a positioning sleeve, and both ends of the positioning sleeve are fixedly connected to the first positioning member and the second positioning member, respectively, and are installed through the connection within the positioning sleeve, thereby positionally restricting the axial displacement of the connecting line through the positioning sleeve, and by using a flexible member as the positioning sleeve, when the first positioning member and the second positioning member approach each other along a first direction, the two ends of the positioning sleeve are respectively guided to approach each other to the middle through the first positioning member and the second positioning member, and at the same time, the positioning sleeve restricts the position of the connecting line within it and pushes it, so that the connecting line and the positioning sleeve synchronize within the wire receiving chamber to perform folding, coiling, or winding movements; When the first positioning member and the second positioning member move away from each other along the first direction, the first positioning member and the second positioning member each cause the two ends of the positioning sleeve to move away from each other relative to the middle, and at the same time, the two ends of the positioning sleeve limit the position of the connecting line within and perform a pulling action, so that the connecting line and the positioning sleeve move in synchronization for unfolding or pulling motion, and the displacement of the connecting line is matched to the distance between the first positioning member and the second positioning member, and the range of motion of the joint structure can be promoted.

[0050] 3. In the line drive motion module provided in the present application, it further includes a first adapter structure and a second adapter structure installed spaced apart from each other, wherein the first adapter structure and the second adapter structure are installed at both ends of a joint structure, the first adapter structure is suitable for connecting to an external driving mechanism, and the second adapter structure is suitable for connecting to an operating mechanism; all connection lines have the same length, and the line drive motion module has a bending state in which the first adapter structure pulls the connection line under the action of an external force so that the second adapter structure and the joint are synchronized to cause the first adapter structure to bend in conjunction; and an initial state in which the first adapter structure, the positioning structure and the second adapter structure are set on the same axis, and the line drive motion module is set to switch between the bending state and the initial state.

[0051] In a line drive motion module of this structure, the motion position of the first adapter structure is controlled by driving an external drive mechanism, and the second adapter structure is driven through the combination of a connecting line and a joint structure. When the line drive motion module switches between a bending state and an initial state, the first adapter structure and the second adapter structure perform corresponding movements around a positioning structure. By setting the length of the connecting line to be equal, the synchronization between the second adapter structure and the first adapter structure can be promoted, thereby enabling the second adapter structure to reach the desired motion and position. Through the overall module design, the stability of the connecting line leading the joint unit is improved, the connection is tight, the connection strength of the joint structure is enhanced, and the balance of the overall motion performance of the line drive motion module is advantageous. Brief explanation of the drawing

[0052] In order to more clearly explain the specific embodiments of the present application or the technical methods of the prior art, the attached drawings necessary for explaining the specific embodiments or prior art will be briefly described below. The attached drawings described below are merely some embodiments of the present application, and it is obvious to those skilled in the art that other attached drawings can be obtained based on these attached drawings without requiring creative labor. FIG. 1 is a schematic diagram of the structure of a line drive motion module provided in an embodiment of the present application. FIG. 2 is a schematic diagram of the connection of a positioning structure among the line drive motion modules provided in an embodiment of the present application. FIG. 3 is a schematic diagram of the perspective structure of a first positioning member among the line drive motion modules provided in an embodiment of the present application. FIG. 4 is a schematic diagram of the side structure of the first positioning member among the line drive motion modules provided in an embodiment of the present application. FIG. 5 is a schematic diagram of the front structure of the first positioning member among the line drive motion modules provided in an embodiment of the present application. FIG. 6 is a schematic diagram of the perspective structure of a second positioning member among the line drive motion modules provided in an embodiment of the present application. FIG. 7 is a schematic diagram of the front structure of a second positioning member among the line drive motion modules provided in an embodiment of the present application. FIG. 8 is a schematic diagram of the side structure of a second positioning member among the line drive motion modules provided in an embodiment of the present application. FIG. 9 is a schematic diagram of the structure of a line drive motion module in a first bending state provided in an embodiment of the present application. FIG. 10 is a schematic diagram of the structure of a line drive motion module in a second bending state provided in an embodiment of the present application. FIG. 11 is a schematic diagram of the structure of a joint unit among the line drive motion modules provided in an embodiment of the present application. FIG. 12 is a schematic perspective view of a joint unit among the line drive motion modules provided in an embodiment of the present application. FIG. 13 is a schematic diagram of the structure of the first adapter structure among the line drive motion modules provided in the embodiment of the present application. FIG. 14 is a schematic diagram of a structure in which a first adapter structure among the line drive motion modules provided in an embodiment of the present application is located on the fabric side. Specific details for implementing the invention

[0053] The technical solution of the present application will be explained clearly and completely in conjunction with the attached drawings below. It is obvious that the described embodiments are merely some embodiments of the present application and not all embodiments. All other embodiments that can be obtained by a person skilled in the art without requiring creative labor based on the embodiments of the present application fall within the scope of protection of the present invention.

[0054] In the description of this application, the orientations or positional relationships indicated by terms such as "center," "top," "bottom," "left," "right," "vertical," "horizontal," "inside," "outside," etc., are those illustrated in the accompanying drawings and are merely intended to facilitate the description and simplified explanation of this application. They do not indicate or imply that the device or element indicated must possess a specific orientation, be configured in a specific orientation, or be operated in a specific orientation, and therefore should not be understood as a limitation to this application. Furthermore, the terms "first," "second," and "third" are used solely for illustrative purposes and should not be understood as indicating or implying relative importance.

[0055] In the description of this application, it should be noted that, unless otherwise explicitly defined or explained, the terms “connection,” “interconnection,” and “connection” should be understood in a broad sense and may, for example, be a fixed connection or a detachable connection or an integral connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or communication within two elements. Those skilled in the art will understand the specific meaning of the terms described above in this application in specific situations.

[0056] In the following description, the side of the device closest to the operator during use is designated as the proximal end, and the side furthest from the operator is designated as the distal end.

[0057] In addition, technical features according to the various embodiments of the present application described below may be combined with one another as long as they do not conflict with one another.

[0058] Example 1

[0059] The present embodiment provides a line drive motion module, which can be used as a mechanical device for medical and diagnostic purposes, and of course can also be applied to an application environment of a human body's own motion joint. As shown in FIGS. 1 and 2, the line drive motion module includes a joint structure, a positioning structure, and two connecting lines (4). One end of the joint structure is suitable for connecting to an external driving mechanism, and the other end of the joint structure is suitable for connecting to an external operating mechanism. The joint structure includes a plurality of joint units (1) connected to each other; the positioning structure is installed between two adjacent joint units (1); the connecting lines (4) are installed through all joint units (1) and the positioning structure; and the connecting lines (4) are used to control the movement of adjacent joint units (1) in response to the movement of the external driving mechanism.

[0060] The positioning structure includes a first positioning member (2) and a second positioning member (3), and the first positioning member (2) and the second positioning member (3) are movably connected and can move closer to or further away from each other in a first direction, and the positioning structure actively adjusts the position of the joint structure connected thereto in the first direction; one of the connecting lines (4) is installed through both ends within the positioning structure, and the first positioning member (2) and the second positioning member (3) restrict the position of the connecting line (4) within the positioning structure.

[0061] In the line drive motion module provided in this embodiment, when the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the connecting line (4) is positionally restricted and accommodated within a wire receiving chamber that is jointly surrounded by the first positioning member (2) and the second positioning member (3); through the relative movement position of the first positioning member (2) and the second positioning member (3), the displacement of the connecting line (4) in the first direction can be controlled, and by adapting to the position of the joint structure, interference with the initial tension level of the connecting line (4) can be avoided, and through the combination of the positioning structure and the connecting line (4), the retraction recovery movement and extension expansion movement of the joint structure are realized, the movement trajectory of the joint structure is optimized, the degree of freedom of movement along the first direction of the line drive motion module and the degree of freedom of rotation around the first direction are increased, and furthermore, the range of motion of the joint structure is widened, thereby realizing the purpose of enhancing the smooth operation performance of the minimally invasive device.

[0062] As illustrated in FIGS. 3 to 8, the first positioning member (2) further comprises a first joining member (24), the first joining member (24) is installed on one side of the first positioning member (2) that approaches the root end, and the first joining member (24) is activably connected to an adjacent joint unit (1); the second positioning member (3) further comprises a second joining member (34), the second joining member (34) is installed on one side of the second positioning member (3) that moves away from the root end, and the second joining member (34) is activably connected to an adjacent joint unit (1). The adjacent joint unit (1) is guided to move through the first joining member (24) and the second joining member, so that the entire joint structure performs retraction recovery movement and extension expansion movement. The first joint part (24) and the second joint part can perform position restriction with respect to the adjacent joint unit (1), thereby ensuring that the joint activity between the positioning structure and the adjacent joint unit (1) is stable, so that the joint structure can be bent smoothly.

[0063] As illustrated in FIG. 2, the positioning structure further includes a positioning sleeve (5), the positioning sleeve (5) is positioned to accommodate a connection line (4) for positioning limitations, the number of positioning sleeves (5) corresponds to the number of connection lines (4), the positioning sleeve (5) is installed within the line chamber of the positioning structure, and both ends of the positioning sleeve (5) are connected to each other at the same connection line (4) and at the first line connection port (21) of the first positioning member (2) and the second line connection port (31) of the second positioning member (3). Through the joint coupling of the first positioning member (2), the second positioning member (3), and the positioning sleeve (5), the positioning is limited for movement of the connection line (4), and the positioning sleeve (5) is used to limit position for axial displacement of the connection line (4).

[0064] In this embodiment, the positioning sleeve (5) is a flexible tube. When the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the first positioning member (2) and the second positioning member (3) each lead the two ends of the positioning sleeve (5) to approach the middle thereof, and at the same time, the positioning sleeve (5) is pushed and positioned against the connecting line (4) inside it, so that the positioning sleeve (5) and the connecting line (4) are coiled or wound in synchronization within the wire receiving chamber; When the first positioning member (2) and the second positioning member (3) move away from each other along the first direction, the first positioning member (2) and the second positioning member (3) each cause the two ends of the positioning sleeve (5) to move away from the middle, and at the same time, the two ends of the positioning sleeve (5) are position-limited with respect to the connecting line (4) inside and perform a pulling action, so that the connecting line (4) and the positioning sleeve (5) move in sync with each other, and the displacement of the connecting line (4) is matched to the distance between the first positioning member (2) and the second positioning member (3), thereby promoting the range of motion of the joint structure. In the bending state and initial state of the line drive motion module, the total length in which the connecting line (4) is position-limited within the positioning sleeve (5) does not change.

[0065] In this embodiment, as shown in FIG. 11, a mounting hole (123) is disposed in the joint unit (1) and is movably connected to a connecting line (4), and the connecting line (4) contacts the mounting hole (123) and drives the adjacent joint unit (1). The first line connecting port and the second line connecting port are each connected to the mounting hole on the joint unit accessed through the connecting line.

[0066] In the line drive motion module provided in the present application, as illustrated in FIGS. 2 to 8, the first position determining member (2) has a first connecting part (22), and the second position determining member (3) has a second connecting part (32).

[0067] In this embodiment, the first connecting part (22) and the second connecting part are a spiral structure joined to each other, and when the first connecting part (22) and the second connecting part (32) are screwed together, the first positioning member (2) and the second positioning member (3) move closer to each other or further apart along the first direction, and the first direction is the axial direction of the spiral structure (the Z-axis direction shown in FIG. 1).

[0068] In this embodiment, the first positioning member (2) and the second positioning member (3) are barrel structures that are sleeve-connected to each other, the first positioning member (2) is installed in a pivot sleeve on the second positioning member (3), the first connecting part (22) is formed on the inner wall surface of the first positioning member (2); the second connecting part (32) is formed on the outer wall surface of the second positioning member (3); and the wire receiving chamfer is a chamber within the barrel structure.

[0069] When adjusting the range of motion of the line drive motion module, during specific operation, the first position determining member (2) can be fixed and the second position determining member (3) can be rotated so that the line drive motion module is displaced in the first direction and the joint structure adjacent to the second position determining member (3) can be rotated around the first direction; by fixing the second position determining member (3) and rotating the first position determining member (2), the line drive motion module can be displaced in the first direction and the joint structure adjacent to the first position determining member (2) can be rotated around the first direction; and by rotating the first position determining member (2) and the second position determining member (3) simultaneously, the line drive motion module can be displaced in the first direction and the joint structures adjacent to the first position determining member (2) and the second position determining member (3), respectively, can be rotated around the first direction, and these three operation methods can be selected and adapted according to the actual operating situation required.

[0070] In the line drive motion module provided in this embodiment, the rotation angle between the first position determining member (2) and the second position determining member (3) is related to the number of wheels, and the relative rotation angle between the first position determining member (2) and the second position determining member (3) is not specifically limited here. In this embodiment, the number of wheels on which the first position determining member (2) and the second position determining member (3) can rotate is set to 3 wheels, and the first position determining member (2) and the second position determining member (3) can be screw-connected to each other at any angle from 0 to 1080 degrees, and the first position determining member (2) and the second position determining member (3) can be fixed to each other through an external fixed connecting member. Of course, the first position determining member (2) and the external connecting member may be fixed to each other, and a gear member may be installed on the second position determining member (3) by an external sleeve and seated thereon, and an external driving member may be driven to the gear member, and the second position determining member (3) may be rotated relative to the first position determining member (2) through the gear member so that the relative rotation angle between the first position determining member (2) and the second position determining member (3) may be changed within 0 to 1080 degrees. Correspondingly, the second position determining member (3) and the external connecting member may be fixed to each other, and a gear member may be installed on the first position determining member (2) by an external sleeve and seated thereon, and an external driving member may be driven to the gear member, and the first position determining member (2) may be rotated relative to the second position determining member (3) through the gear member so that the relative rotation angle between the first position determining member (2) and the second position determining member (3) may be changed within 0 to 1080 degrees.

[0071] In the line drive motion module provided in this embodiment, the helical structure uses equal-pitch screw threads, the length to which the connecting line (4) is extended or retracted is equal to the relative displacement between the first positioning member (2) and the second positioning member (3), and the number of rotational wheels forms a linear relationship in direct proportion to the pitch of the helical structure and the amount of change in the length of the connecting line (4). The pitch is arranged according to the direction of change in the length of the connecting line (4) as required by the operating situation.

[0072] The length and material of the entire positioning structure are not specifically limited, and the materials of the first positioning member (2) and the second positioning member (3) may be steel, medical plastic, etc., and the length and material are selected and applied according to the actual application situation.

[0073] In the line drive motion module provided in this embodiment, as shown in FIG. 1, it further includes a first adapter structure (6) and a second adapter structure (7) installed spaced apart from each other, and the first adapter structure (6) and the second adapter structure (7) are installed at both ends of a joint structure, the first adapter structure (6) is suitable for connecting to an external driving mechanism, and the second adapter structure (7) is suitable for connecting to an operating mechanism; and a positioning structure is mounted between the first adapter structure (6) and the second adapter structure (7).

[0074] In this embodiment, the line drive motion module has a bending state in which the first adapter structure (6) pulls the connecting line (4) under the action of an external force, so that the second adapter structure (7) and the joint are synchronized and the first adapter structure (6) bends in conjunction.

[0075] In this embodiment, the line drive motion module has an initial state in which the first adapter structure (6), the positioning structure, and the second adapter structure (7) are set on the same axis by the first adapter structure (6) pulling the connecting line (4) under the action of an external force.

[0076] The movement of the first adapter structure (6) is driven and controlled through an external driving mechanism, and the second adapter structure (7) is driven through the connection line (4) and the joint structure combination, so that the line drive motion module can switch between a bending state and an initial state. In the bending state and the initial state, the first adapter structure (6) and the second adapter structure (7) move correspondingly around the positioning structure. Here, in the initial state, the lengths of all connection lines (4) can be set equally, and the second adapter structure (7) and the first adapter structure (6) can be synchronized, thereby enabling the second adapter structure (7) to realize the desired movement and position. Through the overall module design, the stability of the connection line (4) leading the joint unit (1) is improved, and the connection strength of the joint structure is enhanced, which is advantageous for the balance of the overall movement performance of the line drive motion module.

[0077] In the line drive motion module provided in this embodiment, as shown in FIG. 1, two or more connecting lines (4) are installed, and all connecting lines (4) are installed rotatably along the axial direction of the positioning structure. The connecting lines (4) are used to drive the rotation of the joint structure so that adjacent joint units (1) can be actively coupled. In this embodiment, the connecting lines (4) are selected from elastic materials such as elastic fiber ropes or Nitinol wires, so that the connecting lines (4) achieve the purpose of driving the joint assembly and the second adapter structure (7), and further realize the line drive motion module interlocking function.

[0078] In this embodiment, as shown in FIG. 1, four strands of connecting lines (4) are distributed and installed through each of the line drive motion modules. In this embodiment, both ends of the connecting lines (4) are fixedly connected to the first adapter structure (6) and the second adapter structure (7), respectively, and the connecting lines (4) are installed through all joint units (1) and positioning structures and are activably connected to the joint units (1) and positioning structures.

[0079] In the line drive motion module provided in this embodiment, in the initial state, the lengths of all connection lines (4) are the same, and thus the connection lines (4) can perform corresponding adjustments to the adjacent joint unit (1) and the second adapter structure (7) under the motion traction of the first adapter structure (6) to adapt to the movement of the first adapter structure (6). The line drive motion module realizes an interlocking bending process by causing the second adapter structure (7), where the other end of the connection line (4) is located, to perform an adaptive movement when the connection line (4) comes into contact with the positioning structure and the first adapter structure (6) tractions one end of the connection line (4) to move. Since the connection line (4) is closely fixedly connected between the first adapter structure (6) and the second adapter structure (7), the entire line drive motion module has good joint strength.

[0080] As illustrated in FIG. 13, the first adapter structure (6) includes a first adapter body (62), and as illustrated in FIG. 1, the second adapter structure (7) includes a second adapter body (72), and the first adapter body (62) and the second adapter body (72) are installed spaced apart from each other; the first adapter body (62) has a first cross section (623) connected while moving away from one side of the joint unit (1), and the second adapter body (72) has a second cross section (723) connected while moving away from one side of the joint unit (1), and as illustrated in FIG. 1, the first cross section (623) is located at the near end portion of the line drive motion module, and as illustrated in FIG. 9, the second cross section (721) is located at the far end portion of the line drive motion module, and in the initial state of the line drive motion module, the first cross section (623) and the second cross section (721) are installed facing each other.

[0081] Specifically, when the line drive motion module is driven to move, the first cross section (623) can be the reference plane on which the driving mechanism is driven. First, position adjustment is performed on the first adapter structure (6) through the driving action of the driving mechanism, so that the entire line drive motion module moves in three-dimensional space to realize a corresponding bending motion posture. Then, the first cross section (623) is adjusted again through the driving mechanism so that the first cross section (623) and the second cross section (721) perform corresponding movements, thereby realizing the purpose of adjusting the position and direction of the second cross section (721), so that the operating mechanism on the second adapter structure (7) can perform movements at a predetermined target position and target direction. Accordingly, the first cross section (623) may first be adjusted through a driving mechanism so that the second cross section (721) performs a corresponding operation with the first cross section (623), and then the position of the first adapter structure (6) may be adjusted again through the driving action of the driving mechanism so that the entire line drive motion module moves in three-dimensional space to realize a corresponding bending motion posture. Here, the first cross section (623) may be a mounting surface connected to the driving mechanism, and the shape of the first cross section (623) may be a flat surface, a curved surface, or a stepped surface, but is not specifically limited thereto.

[0082] In this embodiment, the first adapter structure (6) is identical to the second adapter structure (7), and the first adapter structure (6) further includes an assembly hole (622), as shown in FIGS. 13 and FIGS. 14, and a connection line (4) is installed and fixed through the assembly hole (622), and the connection between the assembly hole (622) and the connection line (4) includes, but is not limited to, welding, bonding, and locking through a fastening connection member.

[0083] As illustrated in FIGS. 1, 13 and 14, the first adapter structure (6) includes a third joining part (61), and the third joining part (61) is activably connected to the joint unit (1); the second adapter structure (7) includes a fourth joining part (71), and the fourth joining part (71) is activably connected to the joint unit (1). The power and torque of the first adapter structure (6) are transmitted to the joint structure by being connected to the connection line (4) through the third joining part (61); and the power and torque are received and transmitted to the second adapter structure (7) by being connected to the connection line (4) through the fourth joining part (71), so that the second adapter structure (7) changes in tandem according to the movement position of the first adapter structure (6).

[0084] In this embodiment, the number of joint units between the positioning structure and the first adapter structure (6) and the number of joint units between the positioning structure and the second adapter structure (7) are not specifically limited. FIG. 1 illustrates a usage situation in this embodiment where the number of joint units (1) at both ends of the positioning structure is the same.

[0085] The joint structure between the first adapter structure (6) and the positioning structure is named the first joint assembly, and the joint structure between the second adapter structure (7) and the positioning structure is named the second joint assembly. It should be noted that the first adapter structure (6) and the first joint assembly among the line drive motion modules can bend with respect to the second adapter structure (7) and the second joint assembly, and the driving mechanism acts on the first adapter structure (6) to cause displacement in three-dimensional space with respect to the positioning structure, and compensation is realized through rotation between the joint unit (1) of the adjacent connection between the first adapter structure (6) and the positioning structure and elastic contraction of the connection line (4) itself, thereby causing the first joint assembly to perform a flexible bending motion; at this time, the first cross section (623) and the second cross section (721) maintain a positional relationship in which they are originally installed parallel in space, and the second adapter structure (7) and the second joint assembly maintain their original posture without changing. Within the flexible range of motion of the first joint assembly, the driving mechanism acts to drive the first adapter structure (6), thereby causing the line drive motion module to perform bending adjustment with respect to the first joint assembly at the position during the bending motion process, so that the first joint assembly can reach the desired operating posture and the position during the bending motion process, thereby satisfying the necessary operating conditions. Correspondingly, the driving mechanism first acts to drive the first adapter structure (6) to bend the first joint assembly, and then the driving mechanism acts to drive the first adapter structure (6) to cause a bending motion to occur in the entire line drive motion module, thereby satisfying the necessary operating conditions.

[0086] It should be noted that the line drive motion module can set any one of the attainable motion positions as the initial driving position of the drive mechanism, and the line drive motion module has the advantages of smooth operation and continuous and stable motion.

[0087] In the line drive motion module provided in this embodiment, the same connection line (4) is installed through the first line connection port (21) of the first positioning member (2) and the second line connection port (31) of the second positioning member (3); whereby, when the first positioning member (2) is screw-connected to the first rotational position of the second positioning member (3), the direction of the connection line of the first line connection port (21) and the second line connection port (31) is installed in the same direction as the first direction; and as shown in FIG. 9, the line drive motion module has a first bending state in which the first adapter structure (6) pulls the connection line (4) under the action of an external force, so that the second adapter structure (7) and the joint are synchronized, causing the first adapter structure (6) to bend in conjunction and perform an S-shaped movement. By driving an external driving mechanism to act on the first adapter structure (6), the first adapter structure (6) and the second adapter structure (7) move facing each other in the XY plane, and the first adapter structure (6) and the second adapter structure (7) can be bent in opposite directions. As shown in FIG. 9, the first section (623) and the second section (721) are installed parallel to each other, and by manipulating the first section (623), the second section (721) can be synchronized to perform a corresponding operation.

[0088] When the first positioning member (2) rotates relative to the second positioning member (3) and the first positioning member (2) is screw-connected to the second rotational position of the second positioning member (3), the first plane in which the first line connection port (21) and the first direction are located and the second plane in which the second line connection port (31) and the first direction are located form a 90-degree angle; as shown in FIG. 10, the line drive motion module has a second bending state in which the first adapter structure (6) pulls the connection line (4) under the action of an external force, so that the second adapter structure (7) and the joint are synchronized and the first adapter structure (6) is bent in conjunction to perform an S-shaped movement. When the first adapter structure (6) is driven by an external driving mechanism and moves in the X-axis extension direction shown in FIG. 1, the first adapter structure (6) and the first joint assembly jointly perform a bending motion in the X-axis extension direction, and at this time, under the driving action of the connecting line (4), the second adapter structure (7) and the second joint assembly jointly perform a bending motion in the Y-axis extension direction shown in FIG. 1, and the projection of the bending direction of the first joint assembly and the bending direction of the second joint assembly in the XY plane forms a 90-degree angle, so that the joint assembly can reach a desired operating posture and a position during the back S-shaped curve operation process, and satisfy the necessary operating conditions.

[0089] When the first positioning member (2) rotates relative to the second positioning member (3) and the first positioning member (2) is screw-connected to the third rotational position of the second positioning member (3), the first plane where the first line connection port (21) and the first direction are located and the second plane where the second line connection port (31) and the first direction are located form a 180-degree angle; the line drive motion module has a third bending state in which the first adapter structure (6) pulls the connection line (4) under the action of an external force, so that the second adapter structure (7) and the joint are synchronized, causing the first adapter structure (6) to bend in conjunction and perform a C-shaped movement. By driving the first adapter structure (6) through an external driving mechanism, the first adapter structure (6) and the second adapter structure (7) can be made to move while approaching each other along the radial plane of the positioning body in the circumferential plane, thereby allowing the joint assembly to reach the desired operation and position, and satisfying the desired operating situation.

[0090] In the line drive motion module provided in this embodiment, the line drive motion module further has a rotational state in which the first adapter structure (6) rotates under the action of an external force to pull the connecting line (4), and the second adapter structure (7) and the joint structure and the first adapter structure (6) are synchronously twisted. In this embodiment, when the entire thing rotates, the first positioning member (2) and the second positioning member (3) are fixed to each other, and the positioning structure and the external support ring are rotatably connected to each other, thereby realizing the purpose of the line drive motion module rotating around the axis line of the positioning structure.

[0091] In one embodiment, for example, since the rotational limit position of the first position determining member (2) and the second position determining member (3) is the third rotational position, during the rotation process of the first position determining member (2) and the second position determining member (3), the first line connection port (21) and the second line connection port (31) can pass through positions corresponding to the first rotational position and the second rotational position multiple times, thereby allowing various rotational positions of the first position determining member (2) and the second position determining member (3), such as the first rotational position, the second rotational position, and the third rotational position, to be satisfied with a single position determining structure, and furthermore, the user's needs are satisfied.

[0092] In other modified embodiments, the first rotational position may be an extreme position where the first position determining member (2) and the second position determining member (3) rotate, and correspondingly, the second rotational position and the third rotational position may be process positions. Similarly, the second rotational position may be an extreme position where the first position determining member (2) and the second position determining member (3) rotate, and correspondingly, the first rotational position and the third rotational position may both be process positions.

[0093] In the line drive motion module provided in this embodiment, as shown in FIGS. 11 and 12, the joint unit (1) includes a rotating member (11) and a position limiting base (12), and a position limiting portion (111) is installed in the circumferential direction of the rotating member (11); the position limiting base (12) is fixedly connected to the rotating member (11), and a receiving chamber (121) is provided within the position limiting base (12) to allow the rotating member (11) of an adjacent joint unit (1) to be movably connected, and a position limiting member (13) is further provided within the receiving chamber (121), and the position limiting portion (111) of the adjacent joint unit (1) is coupled with the position limiting member (13) to limit the position of the rotating member (11) of the adjacent joint unit (1) in the axial rotation. An adjacent joint unit (1) has two vertical axes, one of which is parallel to the extension direction of the position limiting member (13), and the other axe is parallel to the intersection line of the radial plane of the position limiting member (13) and the extension direction of the position limiting member (13).

[0094] In this embodiment, the rotating member (11) is a sphere, and the outer wall surface of the rotating member (11) of the joint unit (1) adjacent to the inner wall surface of the receiving chamber (121) is fitted together; two position limiting members (111) are installed, and the two position limiting members (111) are combined to form a sphere; wherein the two position limiting members (111) are spaced apart to form an assembly space for the position limiting member (13), and the position limiting member (13) is movably connected to the assembly space.

[0095] In the line drive motion module provided in this embodiment, as shown in FIGS. 3 and 5, a first positioning member (2) includes a first connecting hole (23) extending in the same direction as its extension direction; as shown in FIG. 7, a second positioning member (3) includes a second connecting hole (33) extending in the same direction as its extension direction; as shown in FIGS. 13 and 14, one of the adapter structures has a third connecting hole (621) extending in the same direction as its extension direction; as shown in FIGS. 11 and 12, one of the joint units (1) has a core hole (122), and all of the core holes (122), all of the second connecting holes (33) and the first connecting hole (23) jointly form an intervening passage, and the intervening passage is suitable for the through installation of an external pipe fitting. Arranging holes that fit into the adapter structure, joint structure, and positioning structure is intended to form an intervention passage for medical or other purposes, and through the operation space formed by the intervention passage, a flexible tube fitting can be connected within the intervention passage, and when the bending of the line drive motion module changes, the pipe fitting is bent jointly to satisfy the desired operating conditions.

[0096] In the line drive motion module provided in this embodiment, the first joining part (24) and the second joining part (34) have the same structure as the rotating member (11), and the third joining part (61) and the fourth joining part (71) have the same structure as the position limiting base (12). The joining part acts to transmit power and torque, thereby driving the connecting line (4) so ​​that the joint structure and the adapter structure are interconnected; at the same time, the joining part is used for a rotational connection that limits the position of the joint structure.

[0097] In one alternative embodiment of the present invention, the first joining part (24) and the second joining part (34) have the same structure as the position limiting base (12), and the third joining part (61) and the fourth joining part (71) have the same structure as the rotating member (11).

[0098] As one alternative embodiment of the present embodiment, the first positioning member (2) has a third connecting member, and the second positioning member (3) has a fourth connecting member; the third connecting member and the fourth connecting member are a sliding structure coupled to each other, and when the third connecting member and the fourth connecting member slide relative to each other, the first positioning member (2) and the second positioning member (3) move closer to each other or further apart from each other along a first direction, and the first direction is the sliding direction of the sliding structure. The third connecting member and the fourth connecting member are joined and slide together so that the first positioning member (2) and the second positioning member (3) can move closer or further apart, thereby allowing the joint structure connected to the first positioning member (2) and the joint structure connected to the second positioning member (3) to perform a contraction recovery movement or an extension expansion movement. Here, the positioning sleeve (5) can perform a bending movement in the receiving chamber formed by surrounding the first positioning member (2) and the second positioning member (3). When the first positioning member (2) and the second positioning member (3) move closer to each other along the first direction, the positioning sleeve (5) and the connecting line (4) are jointly bent and folded, and when the first positioning member (2) and the second positioning member (3) move further apart from each other along the first direction, the positioning sleeve (5) and the connecting line (4) are jointly pulled and unfolded.

[0099] As one alternative embodiment of the present embodiment, the first connecting part (22) and the second connecting part (32) are a spiral structure that is coupled to each other, and the spiral structure has a variable pitch screw thread, and the connecting line (4) is installed directly inside the first line connecting port (21) and the second line connecting port (31) in a through-direction manner, and when the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the spiral structure performs a fastening operation, and the relative elongation amount of the connecting line (4) is positionally limited and accommodated within the wire receiving chamber by the spiral structure having the variable screw thread, so that the joint structure at both ends of the positioning structure is attracted to the first positioning member (2) and the second positioning member (3) and approaches each other to perform retraction recovery; When the first positioning member (2) and the second positioning member (3) move away from each other along the first direction, the spiral structure performs an unwinding operation, the connecting line (4) is positionally restricted and received within the wire receiving chamfer, and the joint structure at both ends of the positioning structure is pulled away from each other by the first positioning member (2) and the second positioning member (3) and performs an extension and expansion; here, the amount of change in length of the connecting line (4) is equal to the pitch of the variable pitch screw thread, the spiral structure performs positional restriction on the connecting line (4), and the variable pitch screw thread eliminates the influence of the connecting line (4) itself length having on the line drive motion module. It should be noted that, at this time, the maximum angle of relative rotation between the first connecting part (22) and the second connecting part (32) is 180 degrees.

[0100] In one alternative embodiment of the present embodiment, in the positioning structure, the first joint part (24) and the second joint part (34) are formed as a joint unit (1) to realize the purpose of transmitting power and torque. One or two joint units (1) are directly fixed to the end of the positioning structure according to the first direction, and the fixing method may be a method such as integral molding, welding, threaded connection, or plug connection, and the joint unit (1) and the joint structure are connected to each other so as to be active in series.

[0101] In one alternative embodiment of the present invention, in the third joint part (61) of the first adapter structure (6) and the fourth joint part (71) of the second adapter structure (7), either joint part is formed as a joint unit (1) to realize the purpose of transmitting power and torque. A joint unit (1) is directly fixed to the base of the first adapter structure (6) or the end of the second adapter structure (7), and the fixing method may be a method such as integral molding, welding, threaded connection, or plug connection, and the joint unit (1) and the joint structure are connected to each other so as to be active in series.

[0102] In the line drive motion module provided in this embodiment, the first position determining member (2) and the second position determining member (3) move closer to each other to adjust the movement position of the joint structure, and the usage process is as follows. The first positioning member (2) is fixed to the outside, and through the rotation of the second positioning member (3), the first positioning member (2) and the second positioning member (3) are made to move toward each other, and both ends of the positioning sleeve (5) approach the middle segment of the positioning sleeve (5) through the first positioning member (2) and the second positioning member (3), and at the same time, a winding motion occurs in the positioning sleeve (5), and the positioning sleeve (5) pushes the connecting line (4) while limiting its position, causing the connecting line (4) to move in a joint winding motion, the joint structure connected to the first positioning member (2) is in its original position and posture, and the joint structure connected to the second positioning member (3) rotates according to the rotation of the second positioning member (3) and moves toward the first positioning member (2), and at this time, the entire joint structure is in a shortened retraction posture compared to the original joint structure, and the entire line drive motion module is made to move in a retraction motion in the first direction.

[0103] In the line drive motion module provided in the present embodiment, the first positioning member (2) and the second positioning member (3) are movably connected so as to approach or move away from each other in a first direction, and the joint structure connected to the first positioning member (2) and the joint structure connected to the second positioning member (3) perform a movement in which they are displaced in a corresponding manner in the first direction to approach or move away from each other, thereby realizing the purpose of controlling the movement position of the joint structure through the movement of the first positioning member (2) and the second positioning member (3) and controlling the movement trajectory of the joint structure in the first direction through the positioning structure; the length of the connecting line (4) connected within the positioning structure is limited to be constant through the positioning coupling of the first positioning member (2) and the second positioning member (3), and specifically, when the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the connecting line (4) is positionally limited within the wire receiving chamber, and the joint structure performs a contraction recovery movement; When the first positioning member (2) and the second positioning member (3) move away from each other along the first direction, the connecting line (4) is released within the wire receiving chamber, and at this time, the connecting line (4) is extended and straightened, and the joint structure performs an extension and expansion movement;When the connection line (4) is limited so that the length of the two ends within the positioning structure does not change through the first positioning member (2) and the second positioning member (3), the length of the connection line (4) within the positioning structure remains constant and does not change due to the sliding of the first positioning member (2) and the second positioning member (3) along the first direction, and the changing movement of the connection line (4) within the positioning structure adapts to the relative movement of the first positioning member (2) and the second positioning member (3) and is located at the position of the movement trajectory of the joint structure at both ends of the positioning structure, thereby optimizing the movement trajectory of the joint structure and expanding the range of motion of the joint structure, thereby realizing the purpose of enhancing the smooth operation performance of the minimally invasive device.

[0104] Example 2

[0105] The present embodiment provides a minimally invasive surgical forceps and includes the line drive motion module of Embodiment 1, thereby having the advantages of the line drive motion module. Through the rotation of the positioning structure, the line drive motion module can have the function of the joint structure moving along a first direction and the function of the joint structure rotating at the first positioning member (2) and the second positioning member (3). By expanding the range of motion of the effective joint structure, the minimally invasive surgical forceps can have corresponding movement and rotation functions, and facilitate smooth operation of the minimally invasive surgical forceps. At the same time, the integrated module structure, compact overall connection, and high connection strength can facilitate the assembly process of the minimally invasive surgical forceps and enhance stability during use.

[0106] Of course, the embodiments described above are merely examples for clear explanation and are not intended to limit the embodiments. Those skilled in the art may further implement various forms of changes and variations based on the descriptions above. It is not possible to list all embodiments infinitely, nor is it necessary to do so. Obvious changes or variations derived thereby are still within the scope of the claims of this application. Explanation of the symbols

[0107] 1: Joint unit 11: Rotating member 111: Position restriction section 12: Position restriction base 121: Receiving chamber 122: Core hole 123: Mounting hole 13: Position limiting member 2: First positioning member 21: First line connection port 22: First connecting part 23: First connecting hole 24: 1st Joining Department 3: Second positioning member 31: Second line connection port 32: First connecting part 33: Second connecting hole 34: 2nd Joining Division 4: Connection line 5: Positioning sleeve 6: First adapter structure 61: Third joint part 62: 1st adapter body 621: 3rd connection hole 622: Assembly hole 623: First section 7: Second adapter structure 71: Fourth joint 72: Second adapter body 721: Second section

Claims

Claim 1 A line drive motion module comprises: a joint structure including a plurality of interconnected joint units (1), one end of which is suitable for connecting to an external driving mechanism and the other end of which is suitable for connecting to an external operating mechanism; a positioning structure installed between two adjacent joint units (1), including a first positioning member (2) and a second positioning member (3), wherein the first positioning member (2) and the second positioning member (3) are movably connected and can approach or move away from each other in a first direction; and at least two connecting lines (4), wherein the connecting lines (4) are installed through all of the joint units (1) and the positioning structure, and one of the connecting lines (4) is installed through both ends of the positioning structure, and the first positioning member (2) and the second positioning member (3) restrict the position of the connecting lines (4) within the positioning structure. A line drive motion module characterized in that when the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the connecting line (4) is positionally restricted and accommodated within a wire receiving chamber jointly surrounded by the first positioning member (2) and the second positioning member (3); and when the first positioning member (2) and the second positioning member (3) move away from each other along the first direction, the connecting line (4) is straightened within the wire receiving chamber. Claim 2 A line drive motion module according to claim 1, wherein the positioning structure further comprises at least two positioning sleeves (5), wherein the positioning sleeves (5) are installed corresponding to the connection line (4) and are arranged to accommodate the connection line (4) in a positional limit, wherein the positioning sleeves (5) are installed within the wire receiving chamber, and wherein both ends of the positioning sleeves (5) are respectively connected to each other at the same connection line (4) and at the first line connection port (21) of the first positioning member (2) and the second line connection port (31) of the second positioning member (3). Claim 3 A line drive motion module according to claim 2, wherein the positioning sleeve (5) is a flexible tube; when the first positioning member (2) and the second positioning member (3) approach each other along the first direction, the flexible tube and the connecting line (4) are synchronously folded, coiled, or wound within the wire receiving chamber; and when the first positioning member (2) and the second positioning member (3) move away from each other along the first direction, the flexible tube and the connecting line (4) are synchronously unfolded or pulled. Claim 4 A line drive motion module according to claim 1, further comprising a first adapter structure (6) and a second adapter structure (7) installed spaced apart from each other, wherein the first adapter structure (6) and the second adapter structure (7) are installed at both ends of the joint structure, the first adapter structure (6) is suitable for connecting to an external driving mechanism, and the second adapter structure (7) is suitable for connecting to an operating mechanism; the line drive motion module has a bending state in which the first adapter structure (6) pulls the connecting line (4) under the action of an external force so that the second adapter structure (7) and the joint structure are synchronized and bend in conjunction with the first adapter structure (6); and an initial state in which the first adapter structure (6), the positioning structure, and the second adapter structure (7) are set on the same axis, and the line drive motion module is characterized by being switched between the bending state and the initial state. Claim 5 In claim 4, the first position determining member (2) has a first connecting part (22), and the second position determining member (3) has a second connecting part (32); the first connecting part (22) and the second connecting part (32) are a spiral structure that is coupled to each other, and when the first connecting part (22) and the second connecting part (32) are screw-connected, the first position determining member (2) and the second position determining member (3) move closer to each other or further apart along a first direction, and the first direction is the axial direction of the spiral structure, characterized in that the line drive motion module is Claim 6 A line drive motion module according to claim 5, wherein the first positioning member (2) and the second positioning member (3) are barrel structures that are sleeve-connected to each other, the first connecting part (22) is formed on the inner wall surface of the first positioning member (2); the second connecting part is formed on the outer wall surface of the second positioning member (3); and the wire receiving chamfer is a chamber within the barrel structure. Claim 7 In claim 4, the same connecting line (4) is installed through the first line connecting port (21) of the first position determining member (2) and the second line connecting port (31) of the second position determining member (3), wherein when the first position determining member (2) is screw-connected to the first rotational position of the second position determining member (3), the direction of the connecting line of the first line connecting port (21) and the second line connecting port (31) is installed in the same direction as the first direction; and the line drive motion module is characterized by having a first bending state in which the first adapter structure (6) pulls the connecting line (4) under the action of an external force, so that the second adapter structure (7) and the joint structure are synchronized and interlocked with respect to the first adapter structure (6) to perform an S-shaped movement. Claim 8 A line drive motion module according to claim 7, characterized in that, in the bending state, the first cross section of the first adapter structure (6) connected while moving away from one side of the joint structure and the second cross section of the second adapter structure (7) connected while moving away from one side of the joint structure are installed parallel to each other. Claim 9 In claim 5, the same connection line (4) is installed through the first line connection port (21) of the first positioning member (2) and the second line connection port (31) of the second positioning member (3); when the first positioning member (2) is screw-connected to the second rotational position of the second positioning member (3), the first plane where the first line connection port (21) and the first direction are located and the second plane where the second line connection port (31) and the first direction are located form a 90-degree angle; and the line drive motion module is characterized by having a second bending state in which the first adapter structure (6) pulls the connection line (4) under the action of an external force, so that the second adapter structure (7) and the joint structure are synchronized and interlocked bending relative to the first adapter structure (6) to perform an S-shaped movement. Claim 10 In claim 5, the same connection line (4) is installed through the first line connection port (21) of the first positioning member (2) and the second line connection port (31) of the second positioning member (3); when the first positioning member (2) is screw-connected to the third rotational position of the second positioning member (3), the first plane where the first line connection port (21) and the first direction are located and the second plane where the second line connection port (31) and the first direction are located form a 180-degree angle; and the line drive motion module is characterized by having a third bending state in which the first adapter structure (6) pulls the connection line (4) under the action of an external force, so that the second adapter structure (7) and the joint structure are synchronized and interlocked with respect to the first adapter structure (6) to perform a C-shaped movement. Claim 11 In claim 4, the first position determining member (2) has a third connecting part, and the second position determining member (3) has a fourth connecting part; the third connecting part and the fourth connecting part are a sliding structure that is coupled to each other, and when the third connecting part and the fourth connecting part slide relative to each other, the first position determining member (2) and the second position determining member (3) move closer to each other or further apart from each other along a first direction, and the first direction is the sliding direction of the sliding structure, characterized in that the line drive motion module is Claim 12 In claim 8, the line drive motion module is further characterized by having a rotational state in which the first adapter structure (6) rotates under the action of an external force to pull the connecting line (4) and the second adapter structure (7) and the joint structure are twisted in synchronization with the first adapter structure (6). Claim 13 A line drive motion module according to claim 12, wherein the joint unit (1) comprises a rotating member (11) having a position limiting member (111) installed in the circumferential direction; at least one receiving chamber (121) fixedly connected to the rotating member (11) and configured to allow the rotating member (11) of an adjacent joint unit (1) to be movably connected, and further comprising a position limiting member (13) within the receiving chamber (121), and a position limiting base (12) wherein the position limiting member (13) and the position limiting member (111) of the adjacent joint unit (1) are coupled to limit the axial rotation of the rotating member (11) of the adjacent joint unit (1). Claim 14 In claim 13, the rotating member (11) is a sphere, and the outer wall surface of the rotating member (11) of the joint unit (1) adjacent to the inner wall surface of the receiving chamber (121) is fitted together; two position limiting members (111) are installed, and the two position limiting members (111) are combined to form the sphere; and the two position limiting members (111) are spaced apart to form an assembly space that limits the position of the position limiting member (13), and the position limiting member (13) is movably connected to the assembly space, characterized in that the line drive motion module is Claim 15 In claim 13, the first positioning member (2) includes a first connecting hole (23) extending in the same direction as its extension direction; the second positioning member (3) includes a second connecting hole (33) extending in the same direction as its extension direction; one adapter structure has a third connecting hole (621) extending in the same direction as its extension direction; and one joint unit (1) has a core hole (122), and all of the core holes (122), all of the second connecting holes (33), and the first connecting hole (23) together form an intervening passage, and the intervening passage is suitable for the through-installation of an external pipe fitting, characterized in that it is a line drive motion module. Claim 16 In claim 15, the first positioning member (2) further comprises a first joining member (24), the first joining member (24) is installed on one side of the first positioning member (2) that approaches the end, and the first joining member (24) is activably connected to the joint structure; the second positioning member (3) further comprises a second joining member (34), the second joining member (34) is installed on one side of the second positioning member (3) that moves away from the end, and the second joining member (34) is activably connected to the joint structure; and the first joining member (24) and the second joining member (34) are the same as the rotating member (11) structure or the position limiting base (12) structure, characterized in that they are a line drive motion module. Claim 17 In claim 16, the first adapter structure (6) includes a third joining part (61), and the third joining part (61) is activably connected to the joint unit (1); the second adapter structure (7) includes a fourth joining part (71), and the fourth joining part (71) is activably connected to the joint unit (1); and the third joining part (61) and the fourth joining part (71) are the same as the rotating member (11) structure or the position limiting base (12) structure, characterized in that they are a line drive motion module. Claim 18 A minimally invasive surgical forceps characterized by including a line drive motion module according to any one of claims 1 to 17.

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