Instrument joint group and surgical instrument comprising same

Abstract

Disclosed are an instrument joint group and a surgical instrument comprising the same, comprising at least two groups of joints, at least one group of driving cables, and at least one group of passive cables. Each group of joints comprises two joints in rolling contact with each other. Each group of passive cables passes through the joint in parallel and is arranged on two sides of a rolling contact point. The joint comprises a passive cable outlet, a driving cable outlet, and a rolling arc. A line connecting centers of two passive cable outlets forms a passive cable outlet line. In each group of joints, a ratio of a perpendicular distance between a rolling center of each joint and the passive cable outlet line to a diameter is not greater than 0.5. The instrument joint group and the surgical instrument comprising the same reduce the influence of a change in an active driving angle on a length of the passive cable, such that the length of the passive cable tends to be a fixed value, the connection rigidity between joint groups is improved, and the deviation between a passive driving angle and an active driving angle of a distal joint is reduced, thereby improving the driving precision. Therefore, the size of the active driving angle is not limited, and the adaptability and flexibility are improved.

Description

Instrument joint set and surgical instrument comprising same

[0001] This application claims priority to Chinese Patent Application No. 202411381362X, filed on September 29, 2024. This application incorporates the entirety of the aforementioned Chinese Patent Application. TECHNICAL FIELD

[0002] The present application relates to the technical field of surgical robots, in particular to an instrument joint set and a surgical instrument comprising same. BACKGROUND

[0003] With the progress of science and technology, surgical robot technology has gradually matured and is widely used. A surgical robot generally comprises an operating device and a surgical instrument connected to the operating device. Specifically, the surgical instrument is connected to a driving device of the operating device for performing a surgical operation. The surgical instrument comprises an end instrument at a distal end thereof, which can perform a surgical operation at different angular directions, simulating joint movement to perform a surgical operation.

[0004] As shown in FIG. 1, in order to achieve a wider field of view of the surgical robot, a larger operable space of the end instrument, and more flexible movement freedom, the existing technology adopts a parallelogram structure for the end instrument joint set (i.e., the passive rope forms a parallelogram structure when connecting the joints), which can maintain an approximately parallel spatial geometric relationship between the two parts of the parallelogram during movement.

[0005] At present, the end instrument joint set of the surgical robot with a parallelogram structure on the market mostly controls the active driving angle of the parallelogram to about 30°. Because of the configuration problem, the driving accuracy of the parallelogram will decrease with the increase of the active driving angle. As shown in FIG. 2, when the rolling joint radius R = 0.8 mm, the deviation angle of the passive end joint relative to the active end joint is 10 degrees when the active driving angle reaches 60 degrees. This deviation of the passive end joint represents the driving accuracy of the entire instrument joint set. And with the increase of the rolling joint radius and the active angle, the deviation of the passive angle will become larger. The deviation of the passive angle not only makes the driving accuracy of the instrument joint set with a parallelogram structure worse, but also causes the passive end to form a virtual position within the deviation angle, i.e., there is no rigidity within the deviation angle. When the passive end bears an external load, the passive end will move within the virtual position. In order to avoid the above situation, the active driving angle of the existing parallelogram is limited to about 30 degrees, which cannot achieve large-angle driving. SUMMARY

[0006] The technical problem solved by the present application is to overcome the defects of poor driving precision and limited active driving angle of the end joint of the surgical robot in the prior art, and to provide an instrument joint set and a surgical instrument comprising the same.

[0007] The present application solves the above technical problem by the following technical scheme:

[0008] An instrument joint set comprises at least two joint sets, at least one driving rope set and at least one passive rope set. Each joint set comprises two joints in mutual rolling contact. When the rotation angle between all the joints is zero, two passive ropes of each passive rope set pass through all the joints and are arranged on both sides of the rolling contact points of two adjacent joints in parallel and / or symmetry, and the two ends of the passive ropes are connected to the joints at both ends of the instrument joint set. Two driving ropes of each driving rope set pass through the joints and are arranged on both sides of the rolling contact points of two adjacent joints, and one end of the driving rope is fixed to one of the driven joints. The joint comprises a passive rope outlet through which the passive rope passes and a rolling arc, and the center line of the two passive rope outlets through which the passive ropes of each passive rope set pass constitutes a passive rope outlet line, and the rolling arc comprises a rolling center. In each joint set, the ratio of the vertical distance between the rolling center of each joint and the passive rope outlet line to the diameter is not greater than 0.5.

[0009] In the present scheme, the instrument joint set is arranged by arranging each passive rope set on both sides of the rolling contact points of two adjacent joints in parallel and / or symmetry, and the joint set connected to each passive rope set constitutes a parallelogram structure. By adjusting the positions of the rolling arc of the joint and the passive rope outlet line and making the ratio of the vertical distance between the rolling center and the passive rope outlet line to the diameter not greater than 0.5, the instrument joint set can reduce the influence of the change of the active driving angle on the length of the passive rope, so that the length of the passive rope tends to a fixed value, and when the joints at both ends of the instrument joint set are connected by the passive rope, the connection rigidity between the joint sets is improved, the deviation between the passive driving angle and the active driving angle of the end joint is reduced, and thus the driving precision of the instrument joint set is improved, and the size of the active driving angle is not limited, i.e. the surgical instrument can perform surgical operation in a larger active driving angle range, and the adaptability and flexibility are improved.

[0010] Preferably, in each joint set, the distance between the rolling center of at least one joint and the passive rope outlet line is zero.

[0011] In the present scheme, in each group of joints, the distance between the rolling circle center of at least one joint and the passive rope outlet line is set to zero, i.e. the rolling circle center is in the same straight line with the passive rope outlet line, further reducing the influence of the change of the active driving angle on the length of the passive rope. When the distance between the rolling circle center of two joints and the passive rope outlet line is zero, the length of the passive rope is a fixed value, eliminating the deviation between the passive driving angle and the active driving angle, and further improving the driving accuracy of the joint group of the device.

[0012] Preferably, in each group of the joints, the radii of the rolling circle arcs of the two joints are equal, and the lengths of the two passive rope outlet lines corresponding to the two joints in each group of the passive ropes are equal.

[0013] In the present scheme, through the above settings, the shape of each group of joints is regular, facilitating manufacturing, and being conducive to reducing the distance between the rolling circle center and the passive rope outlet line. Among them, the lengths of the two passive rope outlet lines corresponding to the two joints in each group of passive ropes are set to be equal, so that the passive rope outlets of the adjacent two joints form an isosceles trapezoidal structure, which is conducive to making the rolling circle center and the passive rope outlet line tend to be in the same straight line.

[0014] Preferably, the joint group of the device includes multiple groups of the passive ropes, and all the passive rope outlet lines corresponding to each group of the passive ropes in the same joint are arranged on the same plane with the rolling circle center.

[0015] In the present scheme, the joint group of the device can form multiple parallel quadrilateral structures through multiple passive ropes, realizing more flexible movement freedom. When the joint group of the device has multiple groups of passive ropes, in the same joint, all the passive rope outlet lines corresponding to each group of the passive ropes are arranged on the same plane with the rolling circle center, ensuring that the lengths of each group of the passive ropes are not affected by the driving angle, thereby enhancing the movement freedom while improving the overall driving accuracy.

[0016] Preferably, the lengths of the passive rope outlet lines corresponding to different groups of the passive ropes are not equal.

[0017] In the present scheme, due to the unequal lengths of different groups of passive ropes, the distances from the passive rope outlets to the joint center are different when the passive ropes pass through the joint, which can adapt to different driving needs.

[0018] Preferably, the joint group of the device includes at least two different rotation directions, and multiple groups of the passive ropes are arranged to rotate in at least two different rotation directions.

[0019] In the present scheme, multiple groups of passive ropes are arranged in at least two different rotation directions, which can be driven in the form of a parallelogram structure in different rotation directions, improving the flexibility of movement.

[0020] Preferably, the two driving ropes of each group of driving ropes are arranged in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints.

[0021] In this solution, each group of driving ropes adopts the above arrangement, and the driving rope structure is regular, which is conducive to reducing the influence of the change of the active driving angle on the length of the passive rope.

[0022] Preferably, the joint further comprises a driving rope outlet through which each group of driving ropes passes, and the center line of the two driving rope outlets through which each group of driving ropes passes constitutes a driving rope outlet line.

[0023] In each group of joints, the driving rope outlet line, the passive rope outlet line, and the rolling circle center of each joint are arranged on the same plane.

[0024] In this solution, in each group of joints, the driving rope outlet line, the passive rope outlet line, and the rolling circle center of each joint are arranged on the same plane, which is conducive to reducing the number of driving parameters (such as length, position, etc.) of the driving rope and reducing the complexity of driving calculation. Arranging the passive rope outlet line and the rolling circle center of each joint on the same plane is conducive to improving the movement accuracy of the passive joint, so that the running angle of the passive joint is theoretically equal to the running angle of the active joint, and also eliminates the virtual position caused by the difference between the running angles of the active joint and the passive joint.

[0025] Preferably, the joint further comprises a driving rope outlet through which each group of driving ropes passes, and in each group of joints, each joint is provided with a avoiding slot at the passive rope outlet and the driving rope outlet which are oppositely arranged and move away from or close to each other with the rotation of the joint, the two avoiding slots are oppositely arranged, and the inclination angle of the avoiding slot is not less than the maximum rotation angle of the joint.

[0026] In this solution, the avoiding slot is arranged as described above, which avoids the driving rope and the passive rope from being scratched or affecting the driving accuracy due to frictional resistance during rotation, and at the same time, ensures that the position of the passive rope outlet or the driving rope outlet forming a parallelogram structure does not change with the movement of the joint, thereby facilitating the reduction or elimination of the deviation between the passive driving angle and the active driving angle.

[0027] A surgical instrument, comprising a joint group as described above.

[0028] In the scheme, the surgical instrument reduces the influence of the change of the active driving angle on the passive rope length by adopting the above-mentioned instrument joint group, makes the length of the passive rope tend to a fixed value, improves the connection rigidity between the joint groups, reduces the deviation of the passive driving angle of the terminal joint from the active driving angle, thereby improving the driving accuracy of the instrument joint group, and makes the size of the active driving angle not be limited, that is, the surgical instrument can perform surgical operation in a larger active driving angle range, and improves the adaptability and flexibility.

[0029] The positive progress effect of the present application is that the instrument joint group and the surgical instrument comprising the same reduces the influence of the change of the active driving angle on the passive rope length, makes the length of the passive rope tend to a fixed value, improves the connection rigidity between the joint groups, reduces the deviation of the passive driving angle of the terminal joint from the active driving angle, thereby improving the driving accuracy of the instrument joint group, and makes the size of the active driving angle not be limited, that is, the surgical instrument can perform surgical operation in a larger active driving angle range, and improves the adaptability and flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0030] Fig. 1 is a structural schematic view of an instrument joint group in the prior art in a parallelogram structure and located at an initial position.

[0031] Fig. 2 is a relationship diagram of the passive deviation angle with the change of the active driving angle in the instrument joint group with the parallelogram structure in the prior art.

[0032] Fig. 3 is a three-dimensional structural schematic view of the instrument joint group with the parallelogram structure in the embodiment of the present application when rotating.

[0033] Fig. 4 is a planar structural schematic view of the instrument joint group with the parallelogram structure in the embodiment of the present application when rotating.

[0034] Fig. 5 is a structural schematic view of the first group of joints of the instrument joint group in the embodiment of the present application when rotating.

[0035] Fig. 6 is a structural schematic view of the instrument joint group when the rolling center of each joint and the passive rope outlet line are in the same straight line in the embodiment of the present application.

[0036] Fig. 7 is a three-dimensional structural schematic view of a single joint in the embodiment of the present application.

[0037] Fig. 8 is a structural schematic view of the instrument joint group provided with an avoiding groove in the embodiment of the present application.

[0038] Fig. 9 is a structural schematic view of a single joint provided with an avoiding groove in the embodiment of the present application.

[0039] Figure 10 is a diagram showing the relationship between driving accuracy and outlet position in the instrument joint set with parallelogram structure in the embodiment of the present application.

[0040] Reference signs: joint 100, joint 1, joint 2, joint 3, joint 4, driving rope 5, passive rope 6, rolling arc 7, rolling center 71, rolling center plane 72, rolling contact point 73, passive rope outlet 9, passive rope outlet line bd, ce, avoiding slot 10, active driving angle 11, passive driving angle 12, rotation direction A, rotation direction B. DETAILED DESCRIPTION

[0041] The present application will be further described by way of examples without limiting the present application to the described examples.

[0042] The present embodiment provides an instrument joint set for a surgical robot, which is installed at the end of a surgical instrument.

[0043] As shown in Figures 3-8, the instrument joint set comprises at least two joint sets 100, at least one driving rope set 5 and at least one passive rope set 6, each joint set 100 comprises two joints 100 which roll against each other, when the rotation angle between all joints 100 is zero, two passive ropes 6 of each passive rope set 6 pass through all joints and are arranged symmetrically and in parallel on both sides of the rolling contact point 73 of the adjacent two joints, the two ends of the passive ropes 6 are connected to the joints 100 at the two ends of the instrument joint set respectively, two driving ropes 5 of each driving rope set 5 pass through the joints and are arranged on both sides of the rolling contact point 73 of the adjacent two joints, one end of the driving rope 5 is fixed to one of the driven joints, the joint 100 comprises a passive rope outlet 9 and a rolling arc 7, the center line of the two passive rope outlets 9 through which the passive rope set 6 passes constitutes a passive rope outlet line bd, ce, and the rolling arc 7 comprises a rolling center 71.

[0044] In each joint set, the ratio of the vertical distance between the rolling center 71 of each joint and the passive rope outlet line to the diameter is not greater than 0.5 (the vertical distance between the rolling center 71 and the passive rope outlet line is the length of L9 in Figure 5).

[0045] Specifically, in this embodiment, the instrument joint set includes two sets of joints 100, one set of driving ropes 5 and one set of passive ropes 6, wherein joint one 1 and joint two 2 constitute the first set of joints, joint three 3 and joint four 4 constitute the second set of joints, each set of driving ropes includes two driving ropes 5, and each set of passive ropes includes two passive ropes 6. In FIG. 4, the upper passive rope 6 and the lower passive rope 6 pass through the four joints and are arranged in parallel and symmetrically on both sides of each rolling contact point 73. When the four joints do not rotate relative to each other, i.e., are in a zero angle position, the upper and lower passive ropes 6 form a parallelogram structure with each joint. After the two driving ropes pass through joint one, one end of each driving rope is fixed to joint two 2 (joint two 2 is a driven joint relative to joint one 1). Under the driving action of the driving rope 5, the passive rope 6 drives joint two 2 to roll relative to joint one 1, forming a rotation angle that is the active driving angle 11; joint two 2 and joint three 3 are fixedly connected through an intermediate connecting piece and rotate synchronously; joint four 4 rolls relative to joint three 3, forming a rotation angle that is the passive driving angle 12.

[0046] In the first set of joints, the vertical distance between the rolling center 71 of joint one 1 and the passive rope outlet line bd is a first distance, and the vertical distance between the rolling center 71 of joint two 2 and the passive rope outlet line ce is a second distance. The ratio of the first distance and the second distance to the diameter of the joint is not greater than 0.5. Similarly, in the second set of joints, the vertical distance between the rolling center 71 of joint three 3 and the passive rope outlet line and the vertical distance between the rolling center 71 of joint four 4 and the passive rope outlet line are each not greater than 0.5 times the diameter of the corresponding joint.

[0047] In a surgical instrument that adopts a parallelogram structure, in order to improve driving accuracy and reduce the deviation of the passive driving angle and the active driving angle, it is necessary to ensure that the length of the passive rope constituting the parallelogram is a constant value in theory. If the theoretical passive rope length of the parallelogram structure is different at different driving angles, the difference in passive rope length will cause the active driving angle of the parallelogram to be different from the passive driving angle. However, for a surgical instrument composed of rolling joints in series, the contact point of the rolling joint changes on the arc of the rolling joint as the fitting position changes, which will cause the theoretical passive rope length of this parallelogram structure to become shorter, and the value of the passive rope length becoming shorter will increase as the driving angle of the rolling joint increases. Therefore, if the actual passive rope length of the parallelogram structure is greater than the theoretical passive rope length, firstly, the movement angle of the active driving joint (in this embodiment, the active driving joint is joint two) and the passive driving joint (in this embodiment, the active driving joint is joint four) of the parallelogram structure will no longer be equal, i.e., the movement angle of the passive driving joint is smaller than the movement angle of the active driving joint, and secondly, as the driving angle of the parallelogram increases, the gap between the joints also increases. The reaction on the instrument is that the driving accuracy and stiffness of the instrument become poor.

[0048] Thus, in the embodiment, the instrument joint set can reduce the influence of the change of the active driving angle 11 on the length of the passive rope by adjusting the positions of the rolling circular arc 7 and the passive rope exit lines bd, ce of the joints and making the ratio of the vertical distance between the rolling circle center 71 and the passive rope exit lines bd, ce and the diameter of the joint not greater than 0.5, so that the length of the passive rope 6 tends to a fixed value, and when the two end joints of the instrument joint set are connected by the passive rope 6, the connection rigidity between the joint sets is improved, the deviation of the passive driving angle 12 and the active driving angle 11 of the end joint is reduced, and thus the driving accuracy of the instrument joint set is improved, so that the size of the active driving angle is not limited, that is, the surgical instrument can perform surgical operation in a larger active driving angle range, and the adaptability and flexibility are improved.

[0049] Preferably, in each joint set, the distance between the rolling circle center 71 of at least one joint and the passive rope exit line is zero, that is, the rolling circle center and the passive rope exit line are on the same straight line, further reducing the influence of the change of the active driving angle on the length of the passive rope. Further, when the distances between the rolling circle centers of the two joints and the passive rope exit line are both zero, that is, the rolling circle centers of the two joints and the passive rope exit line are on the same straight line, the length of the passive rope is a fixed value, eliminating the deviation of the passive driving angle 12 and the active driving angle 11, and further improving the driving accuracy of the instrument joint set.

[0050] In each joint set, the radii of the rolling circular arcs 7 of the two joints are equal, and the lengths of the two passive ropes corresponding to the two joints are equal. Through the above setting, the shape of each joint set is regular, which is convenient for manufacturing and is conducive to reducing the distance between the rolling circle center and the passive rope exit line. The lengths of the two passive ropes corresponding to the two joints are set to be equal, so that the passive rope exits of the two adjacent joints form an isosceles trapezoidal structure, which is conducive to making the rolling circle center and the passive rope exit line tend to be on the same straight line.

[0051] The principle of the above setting is that, as shown in FIG. 4, the length L of each passive rope is: L=L1+L2+L3+L4+L5, because L4=L8, and L1+L3+L5 is a fixed value a, so L=L2+L8+a.

[0052] As shown in Fig. 5, the active driving angle θ = θ1 = 2*θ2, L6 = 2R, bd and ce are the lines connecting the outlets of joint one 1 and joint two 2 respectively, L7 is the line connecting the midpoints of bd and ce, and L9 is the line connecting the rolling circle center and the midpoint of ce, i.e. L9 is the distance between the rolling circle center and the passive rope outlet line in the same joint. According to the calculation formula of the length of a triangle side, L7 = 2R - 2*L9*SIN(θ / 2). Since the line cbde connecting the passive rope outlets is an isosceles trapezoid, L2 + L8 = 2*L7, and thus L = a + 4R - 4*L9*SIN(θ / 2).

[0053] Therefore, in each joint group, when the distance L9 between the rolling circle center of each joint and the passive rope outlet line is zero (i.e. the rolling circle center and the passive rope outlet line are on the same line), the passive rope length L = a + 4R, which is a fixed value, and the passive rope length is not affected by the change of the active driving angle θ.

[0054] In the embodiment, the radius R1 of the rolling circle arc of joint one 1 is equal to the radius R2 of the rolling circle arc of joint two 2, and both are R; and the radius R3 of the rolling circle arc of joint three 3 is equal to the radius R4 of the rolling circle arc of joint four 4, and both are R. However, in other embodiments, R1 and R2 can not be equal due to manufacturing errors or other factors, and there is a certain deviation between the two. However, according to the above principle, as long as the value of L9 can be reduced, the passive rope length L can also tend to or equal to a fixed value, and the driving accuracy of the instrument joint group can also be improved. Similarly, in other embodiments, R3 and R4 can also not be equal, or R3 and R4 are equal but not equal to R1 and R2.

[0055] In the embodiment, the lengths of the passive rope outlet lines bd of joint one 1 and ce of joint two 2 are equal, so that the line cbde forms an isosceles trapezoid, and thus L2 + L8 = 2*L7. However, in other embodiments, even if the lengths of the passive rope outlet lines bd of joint one 1 and ce of joint two 2 are not equal, the trapezoid formed by the line cbde is not isosceles, and there is a certain proportional relationship between L7 and L2 + L8. At this time, as long as the value of L9 can be reduced, the passive rope length L can also tend to or equal to a fixed value, and the driving accuracy of the instrument joint group can also be improved. However, in the embodiment, the lengths of the two passive rope outlet lines are equal, and the shape is more regular, which is convenient for calculation and manufacturing.

[0056] As shown in Fig. 6, in the same joint group, the distances between the rolling circle centers of the two joints and the passive rope outlet lines are both zero, at this time, the two rolling circle centers are respectively on the same line with the corresponding passive rope outlet line, and L7 is just at the midline position of the isosceles trapezoid.

[0057] In the instrument joint group, the passive ropes of different groups can also be arranged in parallel, as shown in FIG. 7. In the same joint 100, the outlet lines of all passive ropes corresponding to each group of passive ropes 6 are arranged on the same plane as the rolling center 71, i.e., on the plane 72 where the rolling center is located. The instrument joint group can form multiple parallelograms through multiple passive ropes, achieving more flexible movement freedom. When the instrument joint group has multiple groups of passive ropes, in the same joint, by arranging the outlet lines of all passive ropes corresponding to each group of passive ropes on the same plane as the rolling center, the lengths of the passive ropes of different groups are ensured to be unaffected by the driving angle, thereby improving the overall driving precision while enhancing the movement freedom.

[0058] In the instrument joint group, the passive ropes of different groups can also be arranged in parallel, as shown in FIG. 7. In the same joint 100, the outlet lines of all passive ropes corresponding to each group of passive ropes 6 are arranged on the same plane as the rolling center 71, i.e., on the plane 72 where the rolling center is located. The instrument joint group can form multiple parallelograms through multiple passive ropes, achieving more flexible movement freedom. When the instrument joint group has multiple groups of passive ropes, in the same joint, by arranging the outlet lines of all passive ropes corresponding to each group of passive ropes on the same plane as the rolling center, the lengths of the passive ropes of different groups are ensured to be unaffected by the driving angle, thereby improving the overall driving precision while enhancing the movement freedom.

[0059] In the instrument joint group, the passive ropes of different groups can also be arranged in parallel, as shown in FIG. 7. In the same joint 100, the outlet lines of all passive ropes corresponding to each group of passive ropes 6 are arranged on the same plane as the rolling center 71, i.e., on the plane 72 where the rolling center is located. The instrument joint group can form multiple parallelograms through multiple passive ropes, achieving more flexible movement freedom. When the instrument joint group has multiple groups of passive ropes, in the same joint, by arranging the outlet lines of all passive ropes corresponding to each group of passive ropes on the same plane as the rolling center, the lengths of the passive ropes of different groups are ensured to be unaffected by the driving angle, thereby improving the overall driving precision while enhancing the movement freedom.

[0060] In the instrument joint group, the passive ropes of different groups can also be arranged in parallel, as shown in FIG. 7. In the same joint 100, the outlet lines of all passive ropes corresponding to each group of passive ropes 6 are arranged on the same plane as the rolling center 71, i.e., on the plane 72 where the rolling center is located. The instrument joint group can form multiple parallelograms through multiple passive ropes, achieving more flexible movement freedom. When the instrument joint group has multiple groups of passive ropes, in the same joint, by arranging the outlet lines of all passive ropes corresponding to each group of passive ropes on the same plane as the rolling center, the lengths of the passive ropes of different groups are ensured to be unaffected by the driving angle, thereby improving the overall driving precision while enhancing the movement freedom.

[0061] The joint further comprises a driving rope outlet (not shown in the figure) for each group of driving ropes to pass through, and the center line of the two driving rope outlets through which each group of driving ropes passes constitutes a driving rope outlet line; in each group of joints, the driving rope outlet line, the passive rope outlet line and the rolling circle center corresponding to each joint are arranged on the same plane. In each group of joints, the driving rope outlet line, the passive rope outlet line and the rolling circle center of each joint are arranged on the same plane, which is beneficial to reduce the number of driving parameters (such as length, position, etc.) of the driving rope and reduce the complexity of driving calculation; if the driving rope outlet line, the passive rope outlet line and the rolling circle center are not on the same plane, when calculating the driving rotation angle difference of the driving joint acting on the passive joint, the length change of the driving rope and the degree of its position deviation from the plane need to be converted accordingly, thus increasing the complexity of calculation and being not easy to control. The passive rope outlet line and the rolling circle center corresponding to each joint are arranged on the same plane, which is beneficial to improve the movement accuracy of the passive joint and make the running angle of the passive joint theoretically equal to the running angle of the active joint, and also eliminates the virtual position caused by the difference between the running angles of the active joint and the passive joint.

[0062] As shown in FIGS. 8 and 9, the joint further comprises a driving rope outlet for each group of driving ropes to pass through; in each group of joints, each joint is provided with an avoiding slot 10 at the passive rope outlet 9 and the driving rope outlet which are oppositely arranged and away from or close to each other with the rotation of the joint, and the two avoiding slots 10 are oppositely arranged, and the inclination angle of the avoiding slot is not less than the maximum rotation angle of the joint. Through the avoiding slot arranged above, the driving rope and the passive rope are prevented from being scratched or affecting the driving accuracy due to friction resistance in the process of rotation, and at the same time, the position of the passive rope outlet or the driving rope outlet forming a parallelogram structure is ensured not to change with the joint movement, thereby being beneficial to ensure that the deviation between the passive driving angle and the active driving angle is reduced or eliminated.

[0063] As shown in FIG. 10, when the rolling joint radius R is 0.8 mm and the active driving angle is 60°, the change range of the parallelogram passive rope length of the instrument joint group of the embodiment is obtained from the graph, and the distance between the parallelogram passive rope outlet line and the rolling circle center is positively correlated with the driving accuracy. When the distance between the driving rope outlet line and the rolling circle center is 0, the parallelogram passive driving angle is equal to the active driving angle.

[0064] The embodiment also provides a surgical instrument comprising the instrument joint group as described above. By adopting the instrument joint group, the influence of the change of the active driving angle on the passive rope length is reduced, the length of the passive rope tends to a fixed value, the connection rigidity between the joint groups is improved, the deviation between the passive driving angle and the active driving angle of the end joint is reduced, the driving accuracy of the instrument joint group is improved, the size of the active driving angle is not limited, that is, the surgical instrument can perform surgical operation in a larger active driving angle range, and the adaptability and flexibility are improved.

[0065] Although the specific embodiments of the present application are described above, those skilled in the art should understand that this is only an illustration, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and these changes and modifications all fall within the protection scope of the present application.

Claims

1. An instrument joint set, comprising at least two sets of joints, at least one set of driving ropes and at least one set of passive ropes, each set of joints comprising two joints in mutual rolling contact; when the rotation angle between all the joints is zero, two passive ropes of each set of passive ropes pass through all the joints and are arranged in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints, and the two ends of the passive ropes are connected to the joints at both ends of the instrument joint set; two driving ropes of each set of driving ropes pass through the joints and are arranged on both sides of the rolling contact points of two adjacent joints, and one end of the driving rope is fixed to one of the driven joints; the joints comprise a passive rope outlet for the passive ropes to pass through and a rolling arc, and the center line of the two passive rope outlets through which each set of passive ropes passes constitutes a passive rope outlet line, and the rolling arc comprises a rolling center; characterized in that, in each set of joints, the ratio of the perpendicular distance between the rolling center of each joint and the passive rope outlet line to the diameter is not greater than 0.

5. In each set of joints, the distance between the rolling center of at least one joint and the passive rope outlet line is zero.

2. The instrument joint set of claim 1, wherein, In each set of joints, the radii of the rolling arcs of the two joints are equal, and the lengths of the two passive rope outlet lines corresponding to the two joints of each set of passive ropes are equal.

3. Instrument joint set according to claim 1 or 2, characterized in that The instrument joint set comprises a plurality of sets of passive ropes, and in the same joint, all the passive rope outlet lines corresponding to each set of passive ropes and the rolling center are arranged on the same plane.

4. Instrument joint set according to any one of claims 1-3, characterized in that The lengths of the passive rope outlet lines corresponding to different sets of passive ropes are different.

5. An instrument joint set as in claim 4, wherein, The instrument joint set comprises at least two different rotation directions, and a plurality of sets of passive ropes are arranged to rotate in at least two different rotation directions.

6. Instrument joint set according to claim 4 or 5, characterized in that The two driving ropes of each set of driving ropes are arranged in parallel and / or symmetrically on both sides of the rolling contact points of two adjacent joints.

7. Instrument joint set according to any one of claims 1-6, characterized in that, The joints further comprise a driving rope outlet for each set of driving ropes to pass through, and the center line of the two driving rope outlets through which each set of driving ropes passes constitutes a driving rope outlet line.

8. An instrument joint set as in claim 7, wherein, In each set of joints, the driving rope outlet line, the passive rope outlet line and the rolling center corresponding to each joint are arranged on the same plane. The joints further comprise a driving rope outlet for each set of driving ropes to pass through.

9. Instrument joint set according to any one of claims 1-7, characterized in that In each set of joints, each joint is provided with an avoidance groove at the passive rope outlet and the driving rope outlet which are oppositely arranged and move away from or close to each other with the rotation of the joint, the two avoidance grooves are oppositely arranged, and the inclination angle of the avoidance groove is not less than the maximum rotation angle of the joint. Preferably, the center line of the two driving rope outlets through which each set of driving ropes passes constitutes a driving rope outlet line, and in each set of joints, the driving rope outlet line, the passive rope outlet line and the rolling center corresponding to each joint are arranged on the same plane. ​ 10. A surgical instrument, characterized by The surgical instrument comprises an instrument joint group as claimed in any of claims 1-9.

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