CN109984806B - Joint structure, flexible joint and minimally invasive surgery forceps - Google Patents
Joint structure, flexible joint and minimally invasive surgery forceps Download PDFInfo
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- CN109984806B CN109984806B CN201711476438.7A CN201711476438A CN109984806B CN 109984806 B CN109984806 B CN 109984806B CN 201711476438 A CN201711476438 A CN 201711476438A CN 109984806 B CN109984806 B CN 109984806B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2947—Pivots
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Abstract
The invention relates to the technical field of mechanical joints, in particular to a joint structure, a flexible joint and minimally invasive surgery forceps. The joint structure is suitable for a plurality of flexible joints formed by connecting in series and comprises a rotating part, wherein a limiting part is arranged on the circumferential direction of the rotating part; one side of the base is fixedly connected with the rotating piece, and the other side of the base is provided with an accommodating cavity which is suitable for the rotating piece of the adjacent joint structure to rotate; the limiting part is matched with the limiting part of the rotating part of the adjacent joint structure, and the rotating part of the adjacent joint structure is limited to be arranged on the base in a circumferential rotating mode. The joint structure, the flexible joint and the minimally invasive surgical forceps are high in transmission efficiency and high in operation precision.
Description
Technical Field
The invention relates to the technical field of mechanical joints, in particular to a joint structure, a flexible joint and minimally invasive surgery forceps.
Background
A joint is a structure necessary for transmission of a shear force, a compression force, and a torsion force and various motions, can rotate in a plurality of degrees of freedom, is flexible in motion, and is suitable for working in a narrow space, and thus is widely used in the field of machinery.
Currently, the prior art, such as US20170095922a1, discloses an articulation joint comprising a plurality of joints, the articulation joint comprising an alternating connection of links and universal joints, the universal joints providing rotation in the same plane about two orthogonal axes, with cables running through one or more of the joints, the movement of the articulation joint being effected when the cables are selectively pulled or released.
In the multi-joint articulation joint of the above patent document, the repeating unit includes a single link and a single universal joint, and one repeating unit can only realize the rotation of one orthogonal axis, and when the rotation of two orthogonal axes is realized, the series connection of two repeating units is required, so that when the free rotation of the articulation joint on two orthogonal axes is realized, more repeating units are required, and the transmission efficiency is reduced by more repeating units.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the problem of low transmission efficiency of the existing articulated joint, and provide a joint structure with high transmission efficiency, a flexible joint and a minimally invasive surgical forceps.
To solve the above problems, a joint structure of the present invention is adapted to a plurality of joints connected in series to form a flexible joint, including: a rotating member having a circumferential direction provided with a limit portion; one side of the base is fixedly connected with the rotating part, and the other side of the base is provided with an accommodating cavity which is suitable for the rotating part of the adjacent joint structure to rotate; the limiting part is matched with the limiting part of the rotating part of the adjacent joint structure and limits the rotating part of the adjacent joint structure to be arranged on the base in a circumferential rotating mode.
The axis of the limiting part is perpendicular to the plane of the limiting part.
The limiting parts are provided with two limiting parts, and the connecting line of the two limiting parts passes through the center of the rotating part.
The limiting part is a sphere or a cylinder arranged at the notch of the accommodating cavity.
When the limiting part is a cylinder, the limiting part penetrates through the rotating part.
The rotating member is a sphere.
The inner surface of the accommodating cavity is a spherical surface matched with the rotating part of the adjacent joint structure.
The inner surface of the accommodating cavity is a hemispherical surface.
The limiting part is a limiting groove which is arranged on the circumferential direction of the rotating part and is along the radial direction of the rotating part, the limiting part can move along the extending direction of the limiting groove.
The plane of the limiting groove passes through the center of the rotating piece and the connecting line of the center of the connecting part of the rotating piece and the base.
The limiting groove is an arc-shaped groove.
The radian of the arc-shaped groove is less than 1/2 pi.
The arc-shaped groove is arranged around the maximum circumference of the rotating part.
The limiting groove penetrates through the rotating piece.
The limiting groove divides the rotating piece into two parts on average.
Spacing portion is for setting up rotate ascending edge of rotation piece the radial outside outstanding arch of rotating the piece, the locating part is for setting up the holding intracavity is followed the radial outside spacing groove that extends in holding chamber, the arch can the spacing inslot removes along the extending direction of spacing groove.
The plane of the bulge passes through the connecting line of the center of the rotating piece and the center of the connecting part of the rotating piece and the base.
One side of the base is fixedly connected with the rotating piece through a connecting rod.
The portion of the connecting rod connected to the rotating piece is not more than one-half of the length of the rotating piece in the axial direction of the connecting rod.
The base is a cylinder.
The base is including the seat body that is the cylinder, and set up the boss of at least one side of seat body.
Still including setting up be used for sheltering from on the base rotate the exposure of piece the lid of base part, the internal surface of lid with the surface looks adaptation of rotating the piece, rotate the piece with the one end that the base is connected stretches out the lid.
The limiting piece is arranged on the base through the cover body.
The cover body is provided with a mounting hole, and the limiting part is fixedly mounted in the mounting hole.
The base and the rotating piece are coaxially arranged.
The invention provides a joint structure suitable for connecting a plurality of joints in series to form a flexible joint, which comprises: a rotating member having a circumferential direction provided with a limit portion; one side of the base is provided with an accommodating cavity suitable for the rotating part to rotate, and the other side of the base is fixedly connected with the rotating part of the adjacent joint structure; the limiting part is matched with the limiting part of the rotating part and limits the rotating part to be arranged on the base in a circumferential rotating mode.
The invention discloses a flexible joint, which comprises a joint body, wherein the joint body is formed by connecting at least two joint structures in series, at least one connecting hole is formed in a base of each joint structure, and the connecting hole is a through hole which penetrates through the base along the axial direction; and the control wire penetrates through the connecting hole and penetrates through the joint body, one end of the control wire is connected with the base positioned at the end part of the joint body, and the other end of the control wire is connected with a joint driving structure suitable for controlling the joint body to move.
The axis of the connecting hole is parallel to the axis of the base.
The connecting holes are provided with a plurality of connecting holes and are uniformly distributed along the circumferential direction of the base.
The connecting holes are four.
The base with it is equipped with the wear to establish the hole that the axial runs through respectively to rotate the piece, flexible joint still includes: and the elastic shaft is arranged in the through hole in a penetrating way, one end of the elastic shaft is connected with the driving device, and the other end of the elastic shaft is connected with a moving part which is driven to move by the movement of the flexible joint.
The elastic shaft is a spring flexible shaft.
The minimally invasive surgical forceps comprise the flexible joint.
The technical scheme of the invention has the following advantages:
1. the joint structure is suitable for a plurality of flexible joints formed by connecting in series, and comprises a rotating part, a base and a limiting part: a limiting part is arranged on the circumferential direction of the rotating part; one side of the base is fixedly connected with the rotating part, and the other side of the base is provided with an accommodating cavity which is suitable for the rotating part of the adjacent joint structure to rotate; the limiting part is matched with the limiting part of the rotating part of the adjacent joint structure, and the rotating part of the adjacent joint structure is limited to be arranged on the base in a circumferential rotating mode. According to the joint structure, when the rotation of the two orthogonal axes is required to be realized, only the two joint structures are required to be connected in series, the number of the required joint structures in series is relatively small when the free rotation on the two orthogonal axes is realized, and the transmission errors caused by the transmission of the joint structures can be reduced due to the small number of the joint structures in series, so that the transmission efficiency is high.
2. In the joint structure, the rotating part which is a sphere and the accommodating cavity of which the inner surface is the sphere have better adaptation effect, the contact area of the sphere and the sphere is large when the sphere and the sphere are matched, and the matched structure strength is high, so that the structure is more stable and the service life is long.
3. In the joint structure of the present invention, the limiting portion is a limiting groove provided in the circumferential direction of the rotating member and recessed inward in the radial direction of the rotating member, and the limiting member is movable in the extending direction of the limiting groove. The matching structure of the limiting part and the limiting groove is simple, and the corresponding processing technology is simple.
4. In the joint structure, one side of the base is fixedly connected with the rotating piece through the connecting rod. The connecting rod can increase the distance between the base and the rotating part, and the use requirement can be met only by increasing the length of the connecting rod without changing the sizes of the rotating part and the base under the condition that the joint structure is required to be longer; and the connecting rod can avoid the interference between the bases of the adjacent serial joint structures.
5. In the joint structure, the base is provided with the cover body, and the cover body can shield the part of the rotating part, which is exposed out of the base, so that the joint structure is more attractive, and meanwhile, the influence on the precision and the service life of the serial joint structure caused by the fact that small objects enter a space where the rotating part is in contact with the accommodating cavity is avoided; and secondly, the rotating angle of the rotating part on the base can be limited, and when the joint structures are connected in series in a large number, the transmission precision of the plurality of joint structures connected in series to the motion can be increased by limiting the rotating angle of the rotating part.
6. The joint structure is suitable for a plurality of flexible joints formed by connecting in series and comprises a rotating part, a base and a limiting part. A limiting part is arranged on the circumferential direction of the rotating part; one side of the base is provided with an accommodating cavity suitable for the rotating part to rotate, and the other side of the base is fixedly connected with the rotating part of the adjacent joint structure; the limiting part is matched with the limiting part of the rotating part and limits the rotating part to be arranged on the base in a circumferential rotating mode. The minimum action units of the joint structure are the rotating part, the base and the limiting part arranged on the base, when the rotation of two orthogonal axes is required to be realized, only one minimum action unit is required to realize the rotation, when the free rotation on the two orthogonal axes is realized, the series quantity of the required minimum action units is relatively less, and the transmission errors caused by the transmission of a plurality of joint structures can be reduced due to the fact that the number of the minimum action units in series connection is small, so that the transmission efficiency is high.
7. The flexible joint has the advantages of the joint structure, and the control wire in the flexible joint is used for controlling the movement of the joint body.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural view of a perspective view of embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of another perspective view of FIG. 1;
FIG. 3 is a schematic structural diagram of a perspective view of the joint structure and the base of the adjacent joint structure after being connected in example 1 of the present invention;
fig. 4 is a schematic sectional view of a perspective view of embodiment 1 of the present invention;
FIG. 5 is a schematic perspective view of embodiment 3 of the present invention;
FIG. 6 is a schematic perspective view of embodiment 3 of the present invention;
FIG. 7 is a schematic perspective view of embodiment 3 of the present invention;
FIG. 8 is a schematic perspective view of embodiment 5 of the present invention;
FIG. 9 is a schematic perspective view showing the structure of embodiment 6 of the present invention;
FIG. 10 is a schematic perspective view showing the structure of embodiment 5 of the present invention;
FIG. 11 is a schematic perspective view showing the structure of example 7 of the present invention;
FIG. 12 is a schematic perspective view showing the structure of embodiment 4 of the present invention;
FIG. 13 is a schematic perspective view of example 10 of the present invention;
FIG. 14 is a schematic perspective view of example 10 of the present invention;
FIG. 15 is a schematic perspective view of example 15 of the present invention;
FIG. 16 is a schematic perspective view showing a structure of example 15 of the present invention;
description of reference numerals:
1-a rotating member; 11-a limiting part; 2-a base; 21-an accommodating cavity; 22-seat body; 23-a boss; 24-a bump; 25-a receiving groove; 3-a limiting part; 4-a connecting rod; 61-connecting hole; 64-through holes.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
Example 1:
a joint structure of this embodiment, as shown in fig. 1-4, is suitable for a plurality of joints connected in series to form a flexible joint, and includes a rotating member 1, a base 2, and a limiting member 3.
The rotor 1 is provided with a stopper 11 in the circumferential direction.
One side of the base 2 is fixedly connected with the rotating part 1, and the other side is provided with an accommodating cavity 21 suitable for the rotating part 1 of the adjacent joint structure to rotate.
The limiting piece 3 is matched with the limiting part 11 of the rotating piece 1 of the adjacent joint structure, and the rotating piece 1 of the adjacent joint structure is arranged on the base 2 in a circumferential rotation limiting mode.
The joint structure of this embodiment, when the rotation of two quadrature axles needs to be realized, only need the series connection of two joint structures, when realizing the free rotation on two quadrature axles, the series connection quantity of the joint structure of needs is also less relatively, and the joint structure of series connection can reduce the transmission error that arouses when a plurality of joint structures transmit less, consequently, transmission efficiency is high.
The axis of the limiting member 3 is perpendicular to the plane of the limiting portion 11.
In the present embodiment, there are two limiting members 3, and a connection line of the two limiting members 3 passes through the center of the rotating member 1. The limiting member 3 is a sphere disposed at the notch of the accommodating cavity 21. As shown in fig. 1, one half of the ball is disposed on the inner surface of the receiving chamber 21, and the other half is disposed on the upper wall of the notch.
In the present embodiment, the rotating member 1 is a sphere.
The inner surface of the accommodating cavity 21 is a spherical surface matched with the rotating part 1 of the adjacent joint structure. In the present embodiment, the inner surface of the accommodating cavity 21 is a hemispherical surface, but not limited thereto, the inner surface of the accommodating cavity 21 may be smaller than the hemispherical surface, for example, two fifths of a spherical surface, except that the inner surface of the accommodating cavity 21 is smaller than the hemispherical surface, and the intersection point of the two orthogonal axes is between the center of sphere of the spherical surface where the inner surface of the accommodating cavity 21 is located and the inner surface, that is, when the notch of the accommodating cavity 21 faces upward, the intersection point of the two orthogonal axes is directly below the center of sphere, and when the inner surface of the accommodating cavity 21 is a hemispherical surface, the structural connection of the intersection point of the two orthogonal axes is unstable in the case of the center of sphere of the inner surface.
In the present embodiment, the limiting portion 11 is a limiting groove which is provided in the circumferential direction of the rotating member 1 and is recessed inward in the radial direction of the rotating member 1, and the limiting member 3 is movable in the extending direction of the limiting groove. The plane where the limiting groove is located passes through the center of the rotating part 1 and the connecting line of the center of the connecting part of the rotating part 1 and the base 2. In this embodiment, the limiting groove is an arc-shaped groove, and the arc-shaped groove is arranged around the maximum circumference of the rotating member 1.
In the present embodiment, one side of the base 2 is fixedly connected to the rotating member 1 through the connecting rod 4. The portion of the connecting rod 4 connected to the rotating member 1 is less than one-half of the length of the rotating member 1 in the axial direction of the connecting rod 4. The connecting rod 4 is cylindrical, but is not limited thereto, and the cross-sectional area of the connecting rod 4 may be oval, quadrilateral, or trapezoid.
In this embodiment, the base 2 is a cylinder, and the base 2 and the rotating member 1 are coaxially disposed. Of course, the base 2 is not limited to this, and may be a cube, a rectangular parallelepiped, or a cylindrical support.
In the joint structure of the present embodiment, as shown in fig. 3, under the condition that there is no limiting member 3, the rotating member 1 can rotate in the accommodating cavity 21 of the base 2 along three directions of the X axis, the Y axis and the Z axis, and the limiting member 3 and the limiting portion 11 cooperate to limit the rotation of the rotating member 1 in the Z axis direction, so that after two adjacent joint structures are connected, the rotation in the two directions of the X axis and the Y axis can be realized.
Example 2:
the present embodiment is different from embodiment 1 in that one ball stopper 3 is provided in the present embodiment. When locating part 3 was provided with one, in order to guarantee to rotate the rotation of piece 1 in holding chamber 21 and satisfy the transmission requirement, then the surface that will guarantee to rotate piece 1 and the cooperation of holding chamber 21 internal surface be transition fit, and the transition fit can ensure the transmission efficiency after a plurality of joint structures establish ties, and control the precision, but the machining precision requirement to joint structure is high.
Example 3:
the difference between the present embodiment and the above-mentioned embodiments is that, as shown in fig. 5, fig. 6 and fig. 7, the limiting member 3 is a cylinder disposed at the notch of the accommodating cavity 21, two limiting members 3 are also disposed, and a connection line of the two limiting members 3 passes through a connection line of the center of the rotating member 1 and the center of the connection between the rotating member 1 and the base 2. Of course, the number of the position-limiting members 3 of the cylinder is not limited to this, but it is also required that the outer surface of the rotating member 1 and the inner surface of the accommodating cavity 21 are in transition fit.
Example 4:
the difference between this embodiment and embodiment 3 is that, as shown in fig. 8 and 12, the limiting member 3 is a cylinder disposed at the notch of the accommodating cavity 21, and one limiting member 3 is disposed, but one limiting member 3 in this embodiment penetrates through the rotating member 1, and the limiting member 3 passes through the center of the rotating member 1.
In the present embodiment, the axis of the limiting member 3 is in the plane of the limiting portion 11.
Example 5:
in this embodiment, as shown in fig. 9 and 10, the limiting groove is also an arc-shaped groove, but the radian of the arc-shaped groove is less than 1/2 pi, and one limiting member 3 is also provided, that is, only the arc-shaped groove on one side of the rotating member 1 is matched with the limiting member 3 to limit the circumferential rotation of the rotating member 1, and in this embodiment, the outer surface of the rotating member 1 is also required to be in transition fit with the inner surface of the accommodating cavity 21.
Example 6:
the difference between this embodiment and embodiment 1 is that, as shown in fig. 9, the limiting groove in this embodiment penetrates through the rotating member 1, and both the end of the rotating member 1 close to the base 2 and the other end of the rotating member away from the base 2 are of a non-penetrating structure, and the limiting groove does not penetrate through both ends of the rotating member 1, so that the strength of the rotating member 1 can be ensured, and the service life of the joint structure can be ensured.
Example 7:
the difference between this embodiment and embodiment 1 is that, as shown in fig. 11, the limiting groove in this embodiment equally divides the rotating member 1 into two parts, that is, the rotating member 1 is a part of less than one half of a sphere which is oppositely disposed on the base 2. Of course, the present invention is not limited to this, and one end of the rotating member 1 close to the base 2 may be a connecting portion, and the rotating member 1 may be provided with a groove of the rotating member 1 having a notch direction away from the base 2.
Example 8:
the difference between this embodiment and the above embodiments is that the structure of the limiting part 11 and the limiting groove is:
spacing portion 11 is for setting up at 1 upwards radial outside outstanding arch of rotating the piece 1 of edge that rotates of rotating of 1 week, and locating part 3 is for setting up the spacing groove along the radial outside extension in holding chamber at the holding intracavity, and the arch can remove along the extending direction of spacing groove at the spacing inslot. The plane of the protrusion passes through the center of the rotating part 1 and the connecting line of the rotating part 1 and the base 2.
Example 9:
the present embodiment differs from the above-described embodiments in that the portion of the connecting rod 4 connected to the rotating member 1 is equal to one-half of the length of the rotating member 1 in the axial direction of the connecting rod 4, and in this case, the connecting rod 4 and the rotating member 1 can be regarded as a connecting rod 4 and a hemisphere provided on the connecting rod 4.
Example 10:
the present embodiment is different from the above-described embodiments in that, as shown in fig. 5, 13 and 14, the base 2 in the present embodiment includes a seat body 22 in the form of a column, and a boss 23 provided on one side of the seat body 22. Of course, it is not limited thereto, and it is also possible to provide the bosses 23 on both sides of the seat body 22.
Example 11:
on the basis of the above embodiment, the present embodiment further includes a cover body disposed on the base 2 and used for shielding the portion of the rotating member 1 exposed from the base 2, the inner surface of the cover body is adapted to the outer surface of the rotating member 1, and one end of the rotating member 1 connected to the base 2 extends out of the cover body.
Example 12:
the present embodiment is different from embodiment 11 in that the stopper 3 is disposed on the base 2 through the cover. The cover body is provided with a mounting hole, and the limiting part 3 is fixedly mounted in the mounting hole.
Example 13:
the joint structure of the present embodiment, which is suitable for a plurality of joints connected in series to form a flexible joint, includes a rotating member 1, a base 2, and a limiting member 3.
The rotating part 1 is a sphere, and a limiting part 11 is arranged on the circumference of the rotating part 1. The limiting part 11 is a limiting groove which is arranged on the circumferential direction of the rotating part 1 and is inwards recessed along the radial direction of the rotating part 1, and the limiting part 3 can move along the extending direction of the limiting groove. The plane where the limiting groove is located passes through the center of the rotating part 1 and the connecting line of the center of the connecting part of the rotating part 1 and the base 2. In this embodiment, the limiting groove is an arc-shaped groove, and the arc-shaped groove is arranged around the maximum circumference of the rotating member 1.
One side of the base 2 is provided with an accommodating cavity 21 suitable for the rotating part 1 to rotate, the inner surface of the accommodating cavity 21 is a hemispherical surface matched with the rotating part 1, the other side of the base 2 is fixedly connected with the rotating part 1 of an adjacent joint structure through a connecting rod 4, the base 2 and the rotating part 1 are coaxially arranged, and the base 2 is a cylinder; the portion of the connecting rod 4 connected to the rotating member 1 is less than one-half of the length of the rotating member 1 in the axial direction of the connecting rod 4, and the connecting rod 4 is also cylindrical.
The limiting part 3 is a ball arranged at the notch of the accommodating cavity 21, and is matched with the limiting part 11 of the rotating part 1 to limit the circumferential rotation of the rotating part 1. The two limiting members 3 are provided, and a connection line of the two limiting members 3 passes through the center of the rotating member 1.
In the joint structure of the embodiment, the minimum action units are the rotation member 1, the base 2 and the limiting member 3 arranged on the base 2, when the rotation of two orthogonal axes is required, only one minimum action unit is needed, when the free rotation on the two orthogonal axes is realized, the series quantity of the required minimum action units is relatively less, the minimum action units in series connection are less, and the transmission error caused by the transmission of a plurality of joint structures can be reduced, so that the transmission efficiency is high.
Example 14:
the present embodiment differs from the above-described embodiments in that, as shown in fig. 14, the inner surface of the housing cavity 21 of the joint structure in the present embodiment may be of any shape as long as it is satisfied that the rotating member 1 can rotate in both axial directions of the housing cavity 21.
Example 15:
the difference between the present embodiment and the above-mentioned embodiment is that, as shown in fig. 15 and fig. 16, the base 2 in the present embodiment includes a seat body 22 in a cylindrical shape, and a protrusion 24 extending outward along a radial direction of the seat body 22, and a receiving groove 25 for receiving the protrusion 24 is provided on the base 2 adjacent to the joint structure, as shown in fig. 16, the joint structure will make the protrusion 24 enter the receiving groove 25 during the rotation process, and two adjacent protrusions 24 abut against each other.
Example 16:
the flexible joint in this embodiment, as shown in fig. 13, includes a joint body formed by connecting at least two joint structures in series in the above embodiments, a base 2 of the joint structure is provided with at least one connection hole 61, and the connection hole 61 is a through hole axially penetrating through the base 2;
and the control wire is arranged in the connecting hole 61 in a penetrating way and penetrates through the joint body, one end of the control wire is connected with the base 2 positioned at the end part of the joint body, and the other end of the control wire is connected with a joint driving structure suitable for controlling the joint body to move.
The axis of the attachment hole 61 is parallel to the axis of the base 2. The connection holes 61 are provided in plural and evenly distributed along the circumferential direction of the base 2. The equipartition sets up can guarantee the control accuracy to the joint body, and in this embodiment, connecting hole 61 is provided with four.
In the present embodiment, the base 2 and the rotor 1 are respectively provided with the through holes 64 penetrating in the axial direction, and the diameter of the through hole 64 may be circular or square. The flexible joint further comprises an elastic shaft arranged in the through hole 64 in a penetrating mode, one end of the elastic shaft is connected with the driving device, and the other end of the elastic shaft is connected with a moving part driven to move by the movement of the flexible joint. The elastic shaft can increase the anti-distortion capacity of the flexible joint, namely when the bending angle of the elastic shaft is larger, the elastic force of the elastic shaft acting on the flexible joint is larger, so that the bending angle of the flexible joint is limited, the flexible joint moves according to the driving direction of the driving structure, and in the embodiment, the elastic shaft is a spring flexible shaft.
Example 17:
a minimally invasive surgical clamp according to this embodiment has the flexible joint according to embodiment 16, and therefore, has the advantage of the flexible joint according to embodiment 14.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (28)
1. A joint structure adapted for a plurality of joints connected in series to form a flexible joint, comprising:
a rotating member (1) provided with a limit portion (11) in the circumferential direction;
one side of the base (2) is fixedly connected with the rotating part (1), and the other side of the base is provided with an accommodating cavity (21) which is suitable for the rotating part (1) of the adjacent joint structure to rotate; the base (2) is provided with at least one connecting hole (61), and the connecting hole (61) is a through hole which axially penetrates through the base (2);
the limiting piece (3) is matched with the limiting part (11) of the rotating piece (1) of the adjacent joint structure and is used for limiting the rotating piece (1) of the adjacent joint structure to be arranged on the base (2) in a circumferential rotating mode;
the rotating part (1) is a sphere, and the inner surface of the accommodating cavity (21) is a hemispherical surface matched with the rotating part (1) of the adjacent joint structure; the base (2) and the rotating part (1) are respectively provided with a through hole (64) which penetrates through in the axial direction;
the limiting part (11) is a limiting groove which is arranged on the circumferential direction of the rotating part (1) and is inwards recessed along the radial direction of the rotating part (1), and the limiting part (3) can move along the extending direction of the limiting groove; or, spacing portion (11) is for setting up rotate the ascending edge of piece (1) circumference the radial outside outstanding arch of rotating piece (1), locating part (3) are for setting up follow in holding chamber (21) the spacing groove of the radial outside extension in holding chamber (21), the arch can the spacing inslot moves along the extending direction of spacing groove.
2. Joint construction according to claim 1, wherein the axis of the stop element (3) is perpendicular to the plane of the stop element (11).
3. The joint structure according to claim 2, wherein the limiting member (3) has two, and a line connecting the two limiting members (3) passes through the center of the rotating member (1).
4. A joint structure according to any one of claims 1-3, wherein the retaining member (3) is a sphere or a cylinder disposed at the notch of the receiving cavity (21).
5. The joint structure according to claim 4, wherein the retaining member (3) penetrates the rotating member (1) when the retaining member (3) is a cylinder.
6. The joint structure according to claim 1, wherein the plane of the limiting groove passes through a line connecting the center of the rotating member (1) and the center of the joint of the rotating member (1) and the base (2).
7. The joint structure of claim 6, wherein the limiting groove is an arc-shaped groove.
8. The articulating structure of claim 7, wherein the arc of said arcuate slot is less than 1/2 n.
9. Joint construction according to claim 7, characterised in that the arc-shaped slots are arranged around the largest circumference of the rotation element (1).
10. A joint construction according to any one of claims 7-9, characterised in that the limiting groove extends through the rotation element (1).
11. A joint construction according to any one of claims 7-9, characterised in that the limiting groove divides the rotor (1) equally into two parts.
12. Joint construction according to claim 1, characterised in that the plane of the projection is through the line between the centre of the rotation element (1) and the centre of the connection of the rotation element (1) to the base (2).
13. Joint construction according to claim 1, characterised in that one side of the base (2) is fixedly connected to the rotary part (1) by means of a connecting rod (4).
14. The joint structure according to claim 13, wherein the portion of the connecting rod (4) connected to the rotation member (1) is not more than one-half of the length of the rotation member (1) in the axial direction of the connecting rod (4).
15. Joint construction according to claim 1, characterised in that the base (2) is a cylinder.
16. Joint construction according to claim 1, characterised in that the base (2) comprises a seat body (22) in the form of a cylinder, and a boss (23) provided on at least one side of the seat body (22).
17. The joint structure according to claim 1, further comprising a cover body disposed on the base (2) for shielding the portion of the rotating member (1) exposed from the base (2), wherein an inner surface of the cover body is adapted to an outer surface of the rotating member (1), and one end of the rotating member (1) connected to the base (2) extends out of the cover body.
18. A joint construction according to claim 17, characterised in that the stop (3) is arranged on the base (2) via the cover.
19. A joint construction according to claim 18, wherein the cover is provided with a mounting hole in which the retainer (3) is fixedly mounted.
20. Joint construction according to claim 1, characterised in that the base (2) and the rotor (1) are arranged coaxially.
21. A joint structure adapted for a plurality of joints connected in series to form a flexible joint, comprising:
a rotating member (1) provided with a limit portion (11) in the circumferential direction;
one side of the base (2) is provided with an accommodating cavity (21) suitable for the rotation of the rotating part (1), and the other side of the base is fixedly connected with the rotating part (1) of the adjacent joint structure; the base (2) is provided with at least one connecting hole (61), and the connecting hole (61) is a through hole which axially penetrates through the base (2); the base (2) and the rotating part (1) are respectively provided with a through hole (64) which penetrates through in the axial direction;
the limiting piece (3) is matched with the limiting part (11) of the rotating piece (1) and is arranged on the base (2) in a manner of limiting the circumferential rotation of the rotating piece (1);
the limiting part (11) is a limiting groove which is arranged on the circumferential direction of the rotating part (1) and is inwards recessed along the radial direction of the rotating part (1), and the limiting part (3) can move along the extending direction of the limiting groove; or, spacing portion (11) is for setting up rotate the ascending edge of piece (1) circumference the radial outside outstanding arch of rotating piece (1), locating part (3) are for setting up follow in holding chamber (21) the spacing groove of the radial outside extension in holding chamber (21), the arch can the spacing inslot moves along the extending direction of spacing groove.
22. A flexible joint, comprising,
a joint body formed by connecting at least two joint structures according to any one of claims 1-21 in series;
and the control wire is arranged in the connecting hole (61) in a penetrating manner and penetrates through the joint body, one end of the control wire is connected with the base (2) positioned at the end part of the joint body, and the other end of the control wire is connected with a joint driving structure suitable for controlling the joint body to move.
23. Flexible joint according to claim 22, characterized in that the axis of the connection hole (61) is parallel to the axis of the base (2).
24. The flexible joint according to claim 22 or 23, wherein the connecting holes (61) are provided in plurality and are uniformly distributed along the circumference of the base (2).
25. The flexible joint according to claim 24, characterized in that said connection holes (61) are provided in four.
26. The flexible joint of any one of claims 22-25, further comprising:
and the elastic shaft is arranged in the through hole (64) in a penetrating way, one end of the elastic shaft is connected with the driving device, and the other end of the elastic shaft is connected with a moving part which is driven by the flexible joint to move.
27. The flexible joint of claim 26, wherein the resilient shaft is a spring flexible shaft.
28. Minimally invasive surgical forceps comprising a flexible joint according to any one of claims 22 to 27.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711476438.7A CN109984806B (en) | 2017-12-29 | 2017-12-29 | Joint structure, flexible joint and minimally invasive surgery forceps |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711476438.7A CN109984806B (en) | 2017-12-29 | 2017-12-29 | Joint structure, flexible joint and minimally invasive surgery forceps |
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| Publication Number | Publication Date |
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| CN109984806A CN109984806A (en) | 2019-07-09 |
| CN109984806B true CN109984806B (en) | 2022-06-03 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253624B (en) * | 2019-07-11 | 2021-05-25 | 北京理工大学 | Waist joint mechanism and robot |
| CN113786222B (en) * | 2020-10-19 | 2024-05-17 | 江苏木偶医疗器械有限公司 | Driving device for flexible joint of minimally invasive surgical instrument based on spherical universal joint control |
| CN115363698B (en) * | 2022-08-31 | 2024-03-22 | 精勤智造(苏州)医疗科技有限公司 | Wire drive movement module and minimally invasive surgical forceps |
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| CN106955161A (en) * | 2017-03-30 | 2017-07-18 | 微创（上海）医疗机器人有限公司 | Operating robot snakelike joint, operating theater instruments and endoscope |
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| CN87216690U (en) * | 1987-12-19 | 1988-12-14 | 机械委北京机械工业自动化研究所 | Manipulator wrist of robot |
| CN2185830Y (en) * | 1993-10-06 | 1994-12-21 | 潘云庭 | Adjustable plastic cooling pipe |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| JP2009136566A (en) * | 2007-12-07 | 2009-06-25 | Olympus Medical Systems Corp | Holding cable, and observation apparatus and endoscope apparatus including holding cable |
| GB201003516D0 (en) * | 2010-03-03 | 2010-04-21 | Surgical Innovations Ltd | Instruments |
| CN103950039A (en) * | 2014-01-22 | 2014-07-30 | 南通爱慕希机械有限公司 | Mechanical arm |
| WO2017062529A1 (en) * | 2015-10-05 | 2017-04-13 | Flexdex, Inc. | End-effector jaw closure transmission systems for remote access tools |
| CN105598991B (en) * | 2016-03-17 | 2017-11-07 | 清华大学 | Compound spherical shell joint arrangement and its control method |
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| US5215338A (en) * | 1985-04-09 | 1993-06-01 | Tsubakimoto Chain Co. | Flexible supporting sheath for cables and the like |
| CN106955161A (en) * | 2017-03-30 | 2017-07-18 | 微创（上海）医疗机器人有限公司 | Operating robot snakelike joint, operating theater instruments and endoscope |
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| CN109984806A (en) | 2019-07-09 |
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