CN110269691B

CN110269691B - Wire drive connecting assembly, operating arm and surgical robot

Info

Publication number: CN110269691B
Application number: CN201810210918.7A
Authority: CN
Inventors: 王建辰; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2018-03-14
Filing date: 2018-03-14
Publication date: 2020-12-22
Anticipated expiration: 2038-03-14
Also published as: CN110269691A

Abstract

The invention relates to a wire driving connecting assembly, an operating arm using the connecting assembly and a surgical robot using the connecting assembly. A connection assembly, comprising: the joint assembly comprises a plurality of connecting units, a plurality of rotating parts and a driving wire, wherein each rotating part is connected with two adjacent connecting units, at least two connecting units and the rotating parts connected with the connecting units form a joint assembly, at least one rotating part in the joint assembly comprises two rotating shafts which are respectively positioned on the two connecting units connected with the rotating parts, the connecting units rotate along the rotating shafts corresponding to the connecting units so as to enable the joint assembly to rotate, and the joint assembly is provided with an active joint assembly; the driving wire is used for driving the joint component to rotate and is provided with a main driving wire used for driving the driving joint component to rotate.

Description

Wire drive connecting assembly, operating arm and surgical robot

Technical Field

The invention relates to the field of minimally invasive surgery, in particular to a connecting assembly, an operating arm applying the connecting assembly and a surgical robot.

Background

The minimally invasive surgery is a surgery mode for performing surgery in a human body cavity by using modern medical instruments such as a laparoscope, a thoracoscope and the like and related equipment. Compared with the traditional minimally invasive surgery, the minimally invasive surgery has the advantages of small wound, light pain, quick recovery and the like.

With the progress of science and technology, the minimally invasive surgery robot technology is gradually mature and widely applied. The minimally invasive surgery robot generally comprises a main operation table and a slave operation device, wherein the main operation table is used for sending control commands to the slave operation device according to the operation of a doctor so as to control the slave operation device, and the slave operation device is used for responding to the control commands sent by the main operation table and carrying out corresponding surgery operation.

The slave manipulator generally includes a manipulator for adjusting a position of the manipulator and an operation arm provided on the manipulator for extending into a body and performing a surgical operation, wherein the manipulator has a connection assembly to flexibly perform the surgical operation. However, the stability of the connecting component of the slave operation equipment is poor at present, and the operation precision of the surgical robot in the operation process is influenced.

Disclosure of Invention

Accordingly, there is a need for a connection assembly with good stability, and an operation arm and a surgical robot using the connection assembly.

A wire drive connection assembly comprising:

a plurality of connection units;

each rotating part is connected with two adjacent connecting units, at least two connecting units and the rotating part connected with the connecting units form a joint assembly, at least one rotating part in the joint assembly comprises two rotating shafts which are respectively positioned on the two connecting units connected with the rotating parts, the connecting units rotate along the rotating shafts corresponding to the connecting units so as to enable the joint assembly to rotate, and the joint assembly is provided with an active joint assembly;

the driving wire is used for driving the joint component to rotate and is provided with a main driving wire used for driving the driving joint component to rotate.

An operation arm comprises the connecting component and a terminal instrument, wherein the terminal instrument is arranged on the connecting unit at the far end in the connecting component.

A surgical robot, comprising: a main operating platform and a slave operating device,

the main operating table is used for sending control commands to the slave operating equipment according to the operation of a doctor so as to control the slave operating equipment,

the slave operation equipment is used for responding to the control command sent by the main operation table and carrying out corresponding operation,

the slave operation apparatus includes: the manipulator comprises a mechanical arm, a power mechanism arranged on the mechanical arm and an operating arm arranged on the power mechanism, wherein the mechanical arm is used for adjusting the position of the operating arm, the power mechanism is used for driving the operating arm to execute corresponding operation, and the operating arm is used for extending into a body and executing operation.

Drawings

FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 3 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 4 is a schematic structural diagram of an embodiment of an operating arm according to the present invention;

FIG. 5 is a schematic structural view of a connecting member according to an embodiment of the present invention;

FIG. 6 is a schematic view of the linkage assembly of FIG. 5 in another configuration;

FIG. 7 is a schematic structural view of a connecting assembly according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a connecting assembly according to an embodiment of the present invention;

FIG. 9 is a schematic structural view of a connecting assembly according to an embodiment of the present invention;

FIG. 10 is a schematic structural view of a connecting assembly according to an embodiment of the present invention;

FIG. 11 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 12 is a schematic structural view of a connecting assembly according to an embodiment of the present invention;

FIG. 13 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 14 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 15 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 16 is a schematic structural view of one embodiment of the articulating assembly of the coupling assembly of the present invention;

FIG. 17 is a schematic structural view of one embodiment of the articulating assembly of the coupling assembly of the present invention;

FIG. 18 is a schematic structural diagram of a connection unit of the connection assembly of the present invention;

FIG. 19 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 20 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 21 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 22 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 23 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 24 is a schematic structural view of a connecting element according to an embodiment of the present invention;

FIG. 25 is a partial schematic view of an embodiment of an arm according to the present invention;

FIG. 26 is a partial schematic view of an embodiment of an arm according to the present invention;

FIG. 27 is a partial schematic view of an embodiment of an arm according to the present invention;

FIG. 28 is a partial schematic view of an embodiment of an actuator arm according to the present invention;

FIG. 29 is a partial schematic view of an embodiment of an actuator arm according to the present invention;

FIG. 30 is a partial schematic view of an embodiment of an arm according to the present invention;

FIG. 31 is a partial schematic view of an embodiment of an arm according to the present invention;

FIG. 32 is a partial schematic view of an embodiment of an actuator arm according to the present invention;

FIG. 33 is a partial schematic view of an embodiment of an arm according to the present invention;

FIG. 34 is a partial schematic view of an embodiment of an arm according to the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Fig. 1 to 3 are schematic structural diagrams of an embodiment of a surgical robot according to the present invention, and partial schematic diagrams of different embodiments of a slave operation device, respectively.

The surgical robot includes a master operation table 1000 and a slave operation device 2000. The master console 1000 is configured to transmit a control command to the slave console device 2000 according to the operation of the doctor to control the slave console device 2000, and is further configured to display the image acquired by the slave device 2000. The slave operation device 2000 is used to respond to a control command sent from the master operation console 1000 and perform a corresponding operation, and the slave operation device 2000 is also used to acquire an image of the inside of the body.

Specifically, the slave operation device 2000 includes a robot arm 1, a power mechanism 2 provided on the robot arm 1, an operation arm 3 provided on the power mechanism 2, and a sleeve 4 provided around the operation arm 3. The mechanical arm 1 is used for adjusting the position of the operating arm 3; the power mechanism 2 is used for driving the operating arm 3 to execute corresponding operation; manipulator arm 3 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located end instrument 20. Specifically, as shown in fig. 2 and 3, the operation arm 3 is inserted through the cannula 4, and the distal end instrument 20 thereof extends out of the cannula 4 and is driven to perform an operation by the power mechanism 2. In fig. 2, the region of the operating arm 3 located within the casing 4 is a rigid region; in fig. 3, the region of the operating arm 3 located within the sleeve 4 is a flexible region, with which the sleeve bends. In other embodiments, the sleeve 4 may be omitted, in which case the sleeve is not required.

In one embodiment, a plurality of operation arms 3 are disposed on the same power mechanism 2, and distal ends of the plurality of operation arms 3 extend into the body through an incision on the body, so that the distal end instrument 20 moves to a position near the lesion 3000 for performing an operation. Specifically, the power mechanism is provided with a plurality of power parts, and each power part is correspondingly connected with one operation arm. In other embodiments, there are multiple power mechanisms, each power mechanism 2 is provided with one operating arm 3, and the multiple operating arms extend into the body from one notch, at this time, the multiple power mechanisms 2 may be disposed on one robot arm 1, or may be disposed on multiple robot arms 1. It should be noted that a plurality of manipulation arms 3 may also extend into the body from a plurality of incisions, for example, two manipulation arms in each incision, and for example, one manipulation arm in each incision.

In an embodiment, the slave operation device 2 further includes a poking card, the poking card is used for penetrating through an incision on a human body and is fixedly arranged in an incision area, and the operation arm extends into the human body through the poking card.

Fig. 4 is a schematic structural diagram of an embodiment of the operation arm 3 according to the present invention.

The operation arm 3 includes: the surgical instrument comprises a tail end instrument 20, a connecting assembly 10, a connecting rod 90 and a driving mechanism 91 which are connected in sequence, wherein the tail end instrument 20 is used for performing surgical operation, the connecting assembly 10 is used for changing the position and the posture of the tail end instrument 20, and the driving mechanism 91 is used for driving the connecting assembly 10 and the tail end instrument 20. In other embodiments, the linkage 90 may be omitted, in which case the linkage assembly is directly connected to the drive mechanism.

Fig. 5 to 9 are schematic structural views of different embodiments of the connecting component according to the present invention.

The connection assembly 10 includes a plurality of connection units 100 connected in sequence. Wherein, two adjacent connection units 100 form a rotatable joint assembly, the joint assembly comprises a first joint assembly 210, and at least two first joint assemblies 210 are coupled, and the coupled first joint assemblies 210 rotate correspondingly according to the coupling relationship. As shown in fig. 5 and 6, when the coupled first joint assembly 210 rotates, the posture of the connection unit 100 located at the distal end in the coupled first joint assembly 210 is substantially kept unchanged, so that the posture of the unit or the distal instrument connected thereto is kept unchanged, i.e., other units or distal instruments connected to the distal connection unit 100 in the coupled first joint assembly are translated with the distal connection unit. Wherein the connection unit 100 located at the distal end in the coupled first joint assembly 210 refers to the last connection unit 100 located at the distal end in the coupled first joint assembly 210.

In other embodiments, the joint assembly may also comprise a plurality of connecting units, for example three or four connecting units connected in series to form one joint assembly. In the coupled joint assemblies, the number of the connecting units of each joint assembly may be different, for example, two joint assemblies are coupled, one joint assembly includes two connecting units, and the other joint assembly includes three connecting units.

The above described coupling assembly 10 allows for more flexibility in translating the unit or end instrument to which it is coupled without changing the pose of the distal coupling unit 100.

As shown in fig. 7 and 8, the first joint assemblies 210 include two sets, each set has two coupled first joint assemblies 210, and the rotational axes of the coupled first joint assemblies 210 in each set are parallel, and the rotational axes of the two sets of first joint assemblies 210 are disposed non-parallel, so that the distal end instrument or unit connected to the distal end connection unit 100 of the coupled first joint assemblies 210 has two degrees of freedom. For example, the axes of rotation of the two sets of first joint components 210 are orthogonal; alternatively, the axes of rotation of the two sets of first joint components 210 are disposed non-orthogonally. Wherein, the two coupled first joint assemblies 210 in each group rotate in opposite directions and at the same angle.

The coupled first joint components may be disposed either adjacently or in spaced apart relation. When the first joint assemblies 210 include two sets, the two sets of first joint assemblies 210 may be arranged in a cross manner or in a sequential manner. Specifically, as shown in FIG. 7, in one embodiment, two first joint components 210A coupled to each other in a first set are positioned between two first joint components 210B coupled to each other in a second set. Namely, the first and fourth first joint assemblies 210 are coupled, and the second and third first joint assemblies 210 are coupled, among the four first joint assemblies 210. As shown in fig. 8, in one embodiment, two first joint components 210A coupled to each other in the first set are sequentially and alternately arranged with two first joint components 210B coupled to each other in the second set. In other embodiments, two first joint assemblies 210 coupled to each other in the first set and two first joint assemblies 210 coupled to each other in the second set may be arranged in sequence, that is, the first and second first joint assemblies 210 are coupled, and the third and fourth first joint assemblies 210 are coupled (not shown).

In other embodiments, the number of sets of first joint assemblies 210 may be other numbers, such as three sets, four sets, etc., wherein the first joint assemblies 210 in each set have different rotation axes, which makes the connecting assembly 10 more flexible.

In other embodiments, the number of the coupled first joint assemblies 210 in each group may be other, wherein the sum of the rotation angles in the directions when the coupled first joint assemblies 210 rotate is substantially the same. Specifically, the sum of the rotation angles of the first joint assemblies 210 rotating in the forward direction in each group is the same as the sum of the rotation angles of the first joint assemblies 210 rotating in the reverse direction, wherein the forward direction and the reverse direction can be set according to the requirement. For example, there are three first joint assemblies 210 coupled in each group, two first joint assemblies 210 rotate in the forward direction, one first joint assembly 210 rotates in the reverse direction, and the sum of the rotation angles of the two first joint assemblies 210 rotating in the forward direction is the rotation angle of the first joint assembly 210 rotating in the reverse direction, at this time, the distal connection unit 100 is the distal connection unit 100 in the first joint assembly 210 rotating in the reverse direction.

The joint component can be an active joint component or a follow-up joint component. In one embodiment, the coupled first joint components 210 include a driving joint component and a following joint component, that is, at least one of the coupled first joint components 210 is a driving joint component, and one of the coupled first joint components is a following joint component, wherein the driving joint component rotationally drives the following joint component to rotate, and the following joint component correspondingly rotates according to the coupling relationship with the driving joint component. For example, when a follower joint component is coupled to an active joint component, the two joint components rotate at the same angle and in opposite directions. For another example, when two driving joint components are coupled to one following joint component, the rotation directions of the two driving joint components are the same and opposite to the rotation direction of the following joint component, and the rotation angle of the following joint component is the sum of the rotation angles of the two driving joint components. For another example, when two active joint components are coupled to one follower joint component, the two active joint components rotate in opposite directions, and the follower joint component rotates in the same direction as one of the active joint components. The driving joint component is a joint component which rotates under the control of a driving mechanism, and the following joint component is a joint component which rotates along with the rotation of the driving switching rotation.

The coupled first joint components 210 may also be all active joint components. For example, the first coupled joint assembly 210 includes two coupled active joint assemblies, wherein the two active joint assemblies rotate at the same angle and in opposite directions. For another example, the coupled first joint assembly 210 includes three active joint assemblies, two of which rotate in a forward direction and one of which rotates in a reverse direction, wherein the rotation angle of the active joint assembly rotating in the reverse direction is the sum of the rotation angles of the two active joint assemblies rotating in the forward direction.

When the coupled first joint assembly 210 includes a follower joint assembly, in an embodiment, the connecting assembly 10 further includes an adjusting joint assembly for compensating for the rotation of the follower joint assembly so as to make the translation of the distal connecting unit 100 in the coupled first joint assembly 210 more accurate, wherein the adjusting joint assembly is an active joint assembly. It should be noted that the adjusting joint assembly may be coupled to the follower joint assembly or may rotate independently of the follower joint assembly.

Fig. 9 is a schematic structural diagram of a connecting component 10 according to an embodiment of the invention.

The linkage assembly 10 includes a plurality of link units 100 connected in series, with adjacent link units 100 forming a rotatable joint assembly. The joint assembly includes two coupled second joint assemblies 220, and the coupled second joint assemblies 220 rotate correspondingly according to the coupling relationship and are both active joint assemblies. Thus, the movement can be more accurate and is easy to control. In other embodiments, the joint assembly may also include more than three connecting units, which will not be repeated here.

In one embodiment, the two second joint assemblies 220 coupled are rotated in a proportional angle and in the same direction, which simplifies the control of the linkage assembly 10. In other embodiments, the two coupled second joint assemblies 220 may rotate in different directions. For example, the two second joint assemblies rotate in opposite directions; for another example, the two second joint assembly axes of rotation are disposed non-parallel. Furthermore, the angle of rotation of the coupled second joint component may also be a function.

It should be noted that the number of the coupled second joint assemblies 220 may be other, for example, three or four, and the rotation angles of the second joint assemblies 220 are all proportional.

As shown in fig. 9, the second joint assemblies 220 include two sets, each set having two coupled second joint assemblies 220, and the rotation directions of the coupled second joint assemblies 220 in each set are the same, and the rotation axes of the two sets of second joint assemblies 220 are arranged in non-parallel, so that the terminal instrument or unit connected to the distal end connection unit 100 in the coupled second joint assemblies 220 has two degrees of freedom. Like the first joint assembly 210, the second joint assembly 220 may also be multi-set to provide multiple degrees of freedom to the end instrument or unit.

It should be noted that the coupled second joint assemblies 220 may be disposed adjacently or disposed at intervals. When the second joint assemblies 220 include two groups, the two groups of second joint assemblies 220 may be arranged in sequence, that is, two joint assemblies in the first group and two second joint assemblies 220 in the second group are arranged in sequence, or may be arranged in a cross manner, for example, two second assemblies 220 in the first group and two second joint assemblies 220 in the second group are arranged in turn and alternately in fig. 9; as another example, one second joint assembly 220 in the first set is located between two second joint assemblies 220 in the second set.

In one embodiment, the linkage assembly 10 includes a plurality of link units 100 connected in series, with at least two link units 100 forming a rotatable joint assembly. Wherein the joint assembly comprises two first joint assemblies 210 coupled and two second joint assemblies 220 coupled.

As shown in fig. 10, each joint assembly includes two adjacent connection units 100, two sets of coupled first joint assemblies 210, each set including two first joint assemblies 210, and two sets of coupled second joint assemblies 220, each set including two second joint assemblies 220. Specifically, the first joint component 210 is adjacent to the second joint component 220, and the adjacent first joint component 210 and second joint component 220 are coupled to the same connecting unit 100, that is, the first joint component 210 and the second joint component 220 share the same connecting unit 100 in the adjacent regions. When the first joint assembly 210 rotates, the posture of the connection unit 100 located at the distal end of the coupled first joint assembly 210 is substantially maintained. The related contents of the first joint component 210 and the second joint component 220, including but not limited to the structure, distribution and number, are referred to the above embodiments and will not be repeated here.

In this embodiment, the second joint components 220 are both located at the distal ends of the two first joint components 210, i.e. the distal end connection unit 100 of the first joint component 210 located at the distal end is the proximal end connection unit 100 of the second joint component 220 located at the proximal end. Similarly, in other embodiments, the second joint components 220 may both be located at the proximal end of the first joint component 210. Alternatively, the second joint component 220 may be located between the coupled first joint components 210, in which case the connection units 100 at the distal and proximal ends of the first joint components 210 are shared with the second joint component 220. Or the two first joint components and the two second joint components are alternately arranged in sequence.

Fig. 11 is a schematic structural view of a connecting element 10 according to an embodiment of the invention.

The linkage assembly 10 includes a plurality of link units 100 connected in series, with adjacent link units 100 forming a rotatable joint assembly 200. Wherein the plurality of joint assemblies 200 form at least two coupled joint segments 300, the plurality of joint segments 300 may be disposed either adjacently or at intervals. In other embodiments, the joint assembly may also include more than three connecting units, which will not be repeated here.

When the joint assembly in the joint segment 300 is rotated, the posture of the distal connection unit 100 in the coupled joint segment 300 is substantially maintained, that is, the distal joint assembly in the plurality of coupled joint segments, the distal posture thereof is maintained. Specifically, when the coupled joint segments rotate, the sum of the rotation angles of the joint components in each coupled joint segment in each direction is basically the same.

In one embodiment, the joint segment has two swing directions, and the two swing directions are orthogonal. That is, the joint assemblies in the joint segment include two sets, with the axes of rotation of the two sets of joint assemblies being orthogonal, so that the end instrument or other joint assembly attached to the distal end of the joint segment has two degrees of freedom. In other embodiments, the two swing directions may be non-orthogonal, or the swing direction of the joint segment may be multiple.

At least one joint segment 300 of the coupled joint segments 300 includes two active joint assemblies 200. For example, two joint segments 300 are coupled, wherein one joint segment 300 comprises two coupled second joint assemblies 220, and the other joint segment 300 comprises two follower joint assemblies correspondingly coupled with the two second joint assemblies 220, i.e. the follower joint assemblies rotate in opposite directions and at the same rotation angles as the corresponding second joint assemblies. As another example, two joint segments 300 may be coupled, wherein one joint segment 300 may include two coupled second joint assemblies 220 and the other joint segment 300 may include one active joint assembly and one slave joint assembly.

When the coupled joint segments include a follower joint component, in one embodiment, the linkage assembly further includes an adjustment joint component to compensate for rotation of the follower joint component. The adjustment joint assembly may be located in both the joint segment with the follower joint and the joint segment coupled thereto.

It should be noted that, in an embodiment, the connecting assembly may also include only one joint segment, and the joint segment includes two second joint assemblies, and in this case, the connecting assembly further includes a third joint assembly, and the third joint assembly is coupled to the joint segment, so that when the joint segment rotates, the posture of the distal end of the third joint assembly is kept unchanged. Specifically, the rotation angle of the third joint assembly is the sum of the rotation angles of the second joint assemblies, and the rotation direction is opposite to the rotation direction of the second joint assemblies.

Fig. 12 to 14 are schematic structural views of different embodiments of the connecting component according to the present invention.

The connecting assembly 10 includes: a plurality of connecting units 100 and a driving wire connected in sequence. Wherein adjacent link units 100 form a rotatable joint assembly having an active joint assembly with a master drive wire for driving the active joint assembly in rotation. In other embodiments, the joint assembly may also include more than three connecting units, which will not be repeated here.

The main drive wires include a first main drive wire 410A, a second main drive wire 410A. The distal end of the first main driving wire 410A is disposed on a connection unit 100 located at the distal end of the driving joint assembly 200A driven by the first main driving wire, and the proximal end is used for connecting a driving mechanism to drive the driving joint assembly 200A to rotate. The distal end of the second main driving wire 410a is disposed on the distal connection unit 100 of the driving active joint assembly 200a driven by the second main driving wire, and the proximal end is used for connecting the driving mechanism. The connection unit 100 at the distal end of the active joint assembly 200A does not include the connection unit 100 forming the active unit. Also, the active joint component 200A driven by the first main driving wire 410A rotates independently of the remaining joint components between the connection unit 100 where the first main driving wire 410A is disposed and the connection unit 100 at the proximal end of the connection component 10.

It should be noted that, the first main driving wire and the second main driving wire may also drive the same joint component, and at this time, the joint component has two degrees of freedom. In other embodiments, the second main driving wire may be omitted, and at this time, the two driving joint components are both driven by the first main driving wire, for example, the two driving joint components are both driven by the first main driving wire, and the distal ends of the driving wires are both disposed on the connecting unit located at the distal ends of the two driving joint components, and at this time, the rotation axes of the two driving joint components are different.

As shown in FIG. 12, in one embodiment, the proximal active joint component 200A is driven by a first master drive wire 410A and the distal active joint component 200A is driven by a second master drive wire 410A. Wherein the rotation axes of the two active joint components are arranged non-parallel, i.e. the connecting component 10 has two degrees of freedom. Specifically, the distal ends of the first main driving wire 410A and the second main driving wire 410A are both disposed on the connection unit 100 of the distal active joint component 200A. When the proximal active joint element 200A rotates, it does not drive the distal active joint element 200A to rotate, and similarly, when the distal active joint element 200A rotates, it does not drive the proximal active joint element 200A to rotate. In other embodiments, the first main driving wire 410A and the second main driving wire 410A may also be disposed on different connection units 100.

As shown in fig. 13, in one embodiment, the connecting assembly includes four connecting units 100 connected in sequence, and three active joint components, wherein the active joint component 200A located at the proximal end is driven by a first main driving wire 410A, and the active joint components 200A located at the middle and distal ends are driven by a second main driving wire 410A. Wherein the rotating shafts of the plurality of active joint components are arranged in parallel. Specifically, the first main driving wire 410A is disposed on the distal connection unit 100 of the connection assembly 10, i.e., on the distal connection unit 100 of the distal active joint assembly. While the first master drive wire 410A drives the proximal master joint component to rotate, the second master drive wire 420B locks the proximal master joint component to the middle and distal master joint components so that the proximal joint component rotates independently of the other two joint components.

It should be noted that the active joint components in the foregoing embodiments can be driven by the main driving wire. For example, the joint assembly includes two coupled first joint assemblies 210, and the two first joint assemblies 210 are both active joint assemblies and are driven by the first main driving wire 410A. For another example, the joint assembly includes two sets of first joint assemblies 210, each set has two coupled first joint assemblies 210, and at least one of the two coupled first joint assemblies is an active joint assembly, wherein the active joint assembly of the first set of first joint assemblies 210 is driven by the first main driving wire 410A, and the active joint assembly of the second set of first joint assemblies 210 is driven by the second main driving wire 410A, which will not be described again here.

As shown in fig. 14, in one embodiment, the linkage assembly 10 further includes a follower joint assembly 200B coupled to at least one of the active joint assemblies 200A, and the drive wire includes a slave drive wire 420 that drives the follower joint assembly 200B. Specifically, the slave driving wire 420 is a fixed-length driving wire, and one end thereof is disposed on the distal end connection unit 100 of the slave joint assembly 200B, and the other end thereof is disposed on the proximal end connection unit 100 of the master joint assembly 200A coupled thereto.

In other embodiments, one end of the driven wire 420 may be disposed on the connection unit 100 at the distal end of the follower joint assembly 200B, and the other end may be disposed on the connection unit 100 at the proximal end of the master joint assembly 200A.

It should be noted that, when the joint assembly includes three or more connecting units, the driving wire and/or the driven wire sequentially penetrates through the connecting units driven by the driving wire and drives the driving wire to rotate. As shown in fig. 15, in an embodiment, the active joint assembly 200a includes three connection units 100, and the main driving wire 410a for driving the active joint assembly to rotate sequentially penetrates through the three connection units 100 and is disposed on the connection unit 100 at the far end of the active joint assembly 200 a. In other embodiments, one active joint component coupled to the slave joint component includes three connection units, and in this case, the slave drive wire for driving the slave joint component is disposed on the proximal or intermediate connection unit in the active joint component coupled thereto.

In one embodiment, the joint components are driven by two or three driving wires, that is, each driving joint component is driven to rotate by two or three main driving wires, and each following joint component is driven to rotate by two or three auxiliary driving wires. The driving wires driving the same joint component are disposed on the same connecting unit 100, as shown in fig. 12 to 15, the distal ends of the driving wires driving the same driving joint component are disposed on the same connecting unit 100, as shown in fig. 14, the proximal ends of the driving wires driving the same following joint component are disposed on the same connecting unit 100, and the distal ends are also disposed on the same connecting unit 100. In other embodiments, multiple driving wires driving the same joint assembly may be disposed on different connection units 100, as long as they can work normally. It should be noted that the driving wire can drive the joint assembly to rotate either by driving the connecting unit or by driving the rotating part, which will be described in detail below.

Fig. 16-17 are schematic views of different embodiments of the joint assembly of the coupling assembly 10 of the present invention.

The joint assembly 200 further includes a rotation part 230 for connecting adjacent connection units 100. Specifically, the rotating portion 230 includes two rotating shafts 231 and a connecting member 232 connecting the rotating shafts, the two rotating shafts being respectively located on two adjacent connecting units 100 connected thereto, so that the two adjacent connecting units 100 are rotated by the two rotating shafts 231. The rotation shafts 231 may be formed on the connection unit or may be provided independently, and the two rotation shafts may be coupled to each other or may be in a non-coupled relationship. In other embodiments, the connector 232 may be omitted, and the connector 232 may not be required. When the joint assembly includes a plurality of connection units, the number of the rotation portions is plural, and the rotation portions are used to connect the plurality of connection units.

Compared with a connecting assembly with two adjacent connecting units rotating only through one rotating shaft, the joint assembly 200 is more stable in rotation and longer in service life.

In other embodiments, the rotating portion may have only one rotating shaft, and in this case, the connecting member 232 is omitted. Alternatively, the joint assembly may have two rotation axes in a partial rotation portion and one rotation axis in a partial rotation portion.

In this embodiment, two rotation shafts 231 of two adjacent connection units in the joint assembly are arranged in parallel. In other embodiments, the two rotating shafts 231 of two adjacent connecting units in the joint assembly may also be disposed in a non-parallel manner, for example, the included angle between the two rotating shafts 231 is 5 degrees to 45 degrees. The non-parallel arrangement of the rotation shafts 231 further increases the range of motion of the connecting assembly 10.

The rotation angle of the joint assembly 200 is the sum of the rotation angles of the plurality of rotation shafts 231 in the joint assembly. In one embodiment, the joint assembly comprises two connection units, and the rotation angle of the joint assembly is the sum of the rotation angles of the two rotation shafts, wherein the rotation angles of the two rotation shafts 231 are the same when the two rotation shafts are rotated, that is, the rotation angle of each rotation shaft 231 is half of the rotation angle of the joint assembly 200 when the joint assembly 200 is rotated. In other embodiments, the two rotating shafts 231 connecting the two adjacent connecting units rotate at different angles.

When the joint assembly 200 includes two coupled first joint assemblies 210 and the first joint assembly 210 has two connecting units, the rotating shafts 231 of the two first joint assemblies 210 are correspondingly coupled, and the two coupled rotating shafts 231 rotate at the same angle and in opposite directions. Specifically, in the coupled first joint assembly, the proximal rotational shaft 231 of the proximal joint assembly is coupled to the distal rotational shaft 231 of the distal joint assembly, and the distal rotational shaft 231 of the proximal joint assembly is coupled to the proximal rotational shaft 231 of the distal joint assembly. When the joint assembly 200 includes two second joint assemblies coupled and the second joint assembly 210 has two connecting units, the respective rotating shafts 231 of the two second joint assemblies are correspondingly coupled, and the rotating shafts 231 coupled are rotated at the same direction and in a proportional angle.

When one joint assembly is driven by a plurality of driving wires, the length of each driving wire that drives the joint assembly 200 changes the same when the joint assembly 200 rotates. For example, as shown in fig. 14, the active joint assembly 200A is driven by two first main driving wires 410A, and when the first main driving wire 410A located at the upper side is shortened to rotate the rotating unit 100 toward the side, the first main driving wire 410A located at the lower side is correspondingly lengthened by the same length. Similarly, the two slave drive wires 420 of the drive joint assembly 200B change in length during rotation in the same manner. Specifically, in this embodiment, the connecting member keeps the distance between the two rotating shafts 231 constant, and the driving wires for driving the same joint assembly 200 are symmetrically disposed with respect to the connecting member.

As shown in fig. 17, in one embodiment, the joint assembly 200 further has a reinforcing shaft 240 connected to each of the connection units 100 in the joint assembly 200. Wherein the reinforcing shaft is formed on one of the connection units 100 in the joint assembly 200, and the connection unit 100 adjacent thereto has a groove matched thereto to be coupled thereto in a fitting manner. In other embodiments, the reinforcing shaft 240 may be a separate component.

Further, as shown in fig. 18, the connection unit 100 has a main body 110 and a connection region 120 on the main body 110, and the rotation portion rotatably connects the connection regions 120 of two adjacent connection units 100 to rotate the joint assembly. In this embodiment, the main body 110 and the connection region 120 are integrally formed; in other embodiments, the main body 110 and the connecting region 120 may be formed non-integrally, for example, the connecting region is welded to the main body or adhered to the main body.

The lengths of the bodies 110 of the respective connection units 100 may be the same or different. For example, in two coupled first joint assemblies 210, the length of the main body 110 of one connecting unit 100 in one first joint assembly 210 is greater than the length of the main body 110 of the other connecting unit 100, and the connecting unit 100 with the longer length of the main body 110 is a non-proximal connecting unit 100, so as to increase the translation range of the distal end. In other embodiments, two adjacent connection units may be connected by a connection tube to extend and increase the range of motion of the distal connection unit after articulation. In addition, the structures of the connection units 100 may be the same or different to meet different requirements.

For convenience of understanding, the joint assembly, which includes the main body and the connection region of each connection unit forming the joint assembly, is indicated only schematically by broken lines in fig. 7, 8, 11, 14, and 15.

In one embodiment, at least one joint assembly has two or more degrees of freedom, as shown in fig. 19. Specifically, the two sets of coupled first joint assemblies include three joint assemblies, one of the joint assemblies is a follower joint assembly 200B and has two degrees of freedom, the other two joint assemblies are active joint assemblies 200A and both have one degree of freedom, and the rotation directions of the two active joint assemblies are orthogonal. The two groups of coupled joint components comprise the follow-up joint component, namely the first group of joint components comprise one driving joint component and a follow-up joint component, and the second group of joint components comprise the other driving joint component and the follow-up joint component. Two sets of coupled joint components share the same follow-up joint component, when any one driving joint component rotates, the driving joint component can correspondingly rotate, the follow-up joint component has two degrees of freedom, on one hand, the length of the connecting component 10 can be shortened, and on the other hand, the rotation precision of the follow-up joint component can be further ensured due to the fact that the follow-up joint component is coupled with the two driving joint components with one degree of freedom. It should be noted that the joint component having two or more degrees of freedom may also be an active joint, wherein the motions of the respective degrees of freedom are all driven by a driving mechanism; or a joint assembly having two or more degrees of freedom with movement of at least one degree of freedom driven by a drive mechanism.

As shown in fig. 20, in an embodiment, one connection unit 101 in the connection assembly 10 is connected to a plurality of connection units 100, and at this time, one end of the connection unit 101 has two sets of connection areas 120, which are respectively connected to the connection areas of two connection units 100. When the connection unit 101 is a distal connection unit in the coupled first joint assembly, the two connection units connected to the distal ends thereof are kept unchanged in posture when the coupled first joint assembly rotates.

As shown in fig. 21 and 22, in other embodiments, the connection region 120 may be omitted from the connection units in the connection assembly, in which case, the connection units may be disk-shaped knots, and a plurality of connection units 100 are connected in sequence by the driving wire.

Specifically, the connecting assembly 10 includes: a plurality of connection units 100, and a driving wire 400. Wherein the driving wire 400 connects the plurality of connection units 100 in sequence, and at least two connection units 100 form a bendable joint assembly 200. The driving wire 400 is an elastic wire having a certain rigidity, and can transmit a tensile force and a thrust force and also can be bent. The joint assembly in fig. 21 includes two connection units, and the joint assembly in fig. 22 includes four connection units 100.

The joint assembly 200 may include at least one of a first joint assembly, a second joint assembly, and a third joint assembly. The relevant contents of the joint components are similar to the above embodiments and will not be repeated here.

In this embodiment, the driving joint assembly 200a is driven to rotate by the driving wire 410 a. Specifically, the distal end of the main driving wire 410a is disposed on the distal connection unit 100 of the active joint component 200a driven by the main driving wire 410a, the proximal end is used for connecting the driving mechanism, and the main driving wire 410a drives the connection unit 100 of the active joint component to move, so as to drive the active joint component 200a to bend.

The follower joint assembly 200B is rotated by the slave drive wire 420. The distal end of the driving wire 420 is disposed on the distal end of the connection unit 100 of the driven joint assembly 200B, the proximal end of the driving wire is disposed on the proximal end of the connection unit 100 of the driving joint assembly 200a, and the driving joint assembly 200a is disposed at the proximal end of the driven joint assembly 200B. When the follower joint component 200B is coupled to the plurality of active joint components 200A, the slave drive wire 420 is disposed proximally on the proximally located active joint component of the plurality of active joint components.

Fig. 23 to 24 are schematic structural views of different embodiments of the connecting assembly according to the present invention.

In one embodiment, the connection assembly further includes a frame 500 connecting the plurality of connection units 100 for maintaining a space between the plurality of connection units 100.

As shown in fig. 23, the frame 500 includes flexible rods, which are inserted through the plurality of connection units 100 and are bendable with the joint assembly 200. Specifically, the plurality of link units 100 are disposed on the flexible rod, and the flexible rod is bent along with the link units when the drive wire 400 drives the link units to rotate. Wherein, a plurality of linkage elements both can with flexible pole fixed connection spare, also can the activity set up on the connecting rod to when guaranteeing the interval between a plurality of linkage elements, reduce the crooked degree of flexible pole, and then the resistance when reducing to bend.

In one embodiment, the skeleton comprises steel wires, which are similar to flexible rods and will not be repeated here. In this embodiment, the drive wire may be a steel wire.

In one embodiment, as shown in fig. 24, the frame 500 includes an elastic member, and two ends of the elastic member are respectively connected to two adjacent connection units 100. Specifically, a plurality of elastic members are disposed between two adjacent connection units 100, and the plurality of elastic members are symmetrically disposed with respect to an axis of the connection assembly. In this embodiment, two elastic members are disposed between the two connection units.

Fig. 25 and 26 are schematic partial structural diagrams of different embodiments of the present invention, respectively.

The driving mechanism 91 includes a driving portion 600 and a roller 610, wherein the driving portion 600 drives the roller 610 to rotate, and the driving wire 400 is disposed on the roller 610, so that the driving portion 600 drives the connecting assembly to move. In other embodiments, the roller 610 in the drive mechanism may be omitted, in which case the drive wire is directly connected to the drive portion.

As shown in fig. 25, in one embodiment, a driving portion 600 drives a roller 610 to rotate, and a plurality of driving wires are disposed on the roller 610. Specifically, the roller 610 has different diameter regions, and the diameter regions have different diameters, and are each provided with a driving wire, i.e., a driving wire is wound around the diameter region. In this way, the coupled joint assemblies can be driven in rotation, wherein the rotation angles of the coupled joint assemblies are proportional, for example driving the second joint assembly. In other embodiments, multiple drive wires may be disposed on a diameter region to drive the corresponding joint assembly.

The driving wire 400 can be wound on the roller 610 clockwise or counterclockwise, in this embodiment, the winding directions of the driving wire 400 disposed on the areas with different diameters of the roller 610 are different, and when the roller 610 rotates, if the clockwise wound driving wire releases the length, the counterclockwise wound driving wire shortens the length. Wherein the release length command drives the wire to wrap the roller 610 shorter in length and longer in length in the non-wrapped portion; the decrease in length commands the drive wire to increase in length in the portion wound on the roller 610 and decrease in length in the non-wound portion. For example, the two coupled first joint assemblies are active joint assemblies, the driving wires of the active joint assemblies are wound on the same diameter area of the roller, the winding directions of the driving wires are opposite, and when the driving wires drive the two first joint assemblies to rotate, the rotation angles of the two first joint assemblies are the same, and the directions of the two first joint assemblies are opposite. For another example, a joint assembly is driven by two driving wires, the two driving wires are wound on the same diameter area of the roller, the winding directions are opposite, and when the joint assembly rotates, the two driving wires extend and contract one by one to ensure stable rotation of the joint assembly.

As shown in fig. 26, in an embodiment, one driving portion 600 drives a plurality of rollers 610 to rotate, the rotation directions of the plurality of rollers 610 are the same, and the rotation axes are parallel. The driving portion 600 drives the plurality of rollers 610 to rotate through the transmission assembly 620, specifically, the transmission assembly 620 is a gear mechanism, an end of each driving portion 600 is connected to one of the main gears in the transmission assembly 620 to drive the slave gears engaged with the main gear to rotate, and the slave gears are connected to the rollers 610 to drive the rollers to rotate. In other embodiments, the rotation directions of the plurality of rollers 610 driven by the same driving portion 600 may be opposite, and the rotation axes of the plurality of rollers 610 may be disposed in a non-parallel manner, or a portion of the parallel portion may be non-parallel.

The driving mechanism simplifies the control of the connecting assembly 10, makes the internal structure of the driving mechanism more compact and reduces the volume of the driving mechanism.

Fig. 27 is a partial schematic structural diagram according to an embodiment of the invention.

The operation arm 3 includes: a distal instrument 20, a connecting assembly 10 and a first drive unit 30. Wherein the distal end of the distal instrument 20 is used for performing the operation, and the proximal end is rotatably connected with the distal end of the connecting assembly 10; the distal end of the first drive unit 30 is connected to the distal end instrument 20 and drives the distal end instrument 20 to rotate relative to the connection assembly 10, so that the distal end instrument 20 rotates substantially along the axial direction of the first drive unit 30, i.e. the rotation axis of the distal end instrument is axially coaxial or parallel to the first drive unit; the connecting assembly is the connecting assembly of any one of the above embodiments.

In this embodiment, the first driving unit 30 penetrates the connecting assembly 10 along the axial direction of the connecting assembly 10, and is bendable along with the connecting assembly 10. For example, the first driving unit 30 is an elastically bendable steel rod; for another example, the first driving unit 30 is a steel rod in which a plurality of steel wires are woven or wound. When the first drive unit 30 is rotated, the distal instrument 20 connected thereto is rotated therewith. In other embodiments, the first driving unit may have other structures.

As shown in fig. 28 to 30, the operation arm 3 further includes a driving gear set 40, a driving gear 41 of which is fixedly disposed at the distal end of the first driving unit 30, and a driven gear 42 of which drives the distal end instrument 20 to rotate. When the first driving unit 30 is rotated, it drives the driving gear 41 to rotate, and further drives the driven gear 42 to rotate, so as to drive the distal end instrument to rotate.

Specifically, in fig. 28, the driving gear set 40 is a planetary gear mechanism, and the rotating shafts of the gears are all parallel to the distal end of the first driving unit 30, wherein the driving gear 41 is a sun gear, the driven gear 42 is a planetary gear, the gear ring 43 is disposed on the connecting unit 100 at the distal end of the connecting assembly 10, or a gear ring is disposed in the connecting unit 100 at the distal end, that is, the connecting unit 100 has a gear ring structure. Driven gear 42 is fixedly disposed with tip instrument 20 such that tip instrument 20 rotates with driven gear 42. In this embodiment, the driven gear 42 is provided in plural, and is symmetrically disposed with respect to the driving gear 41, and the driving gear 41 is coaxial with the first driving unit 30. In other embodiments, only one driven gear may be provided.

Each gear of the driving gear set 40 in fig. 29 is a bevel gear in which a driving gear 41 is coaxial with the distal end of the first driving unit 30, a rotation shaft of a first driven gear 42A is perpendicular to the driving gear 41, a rotation shaft of a second driven gear 42B is parallel or coaxial with the driving gear 41, and the tip instrument 20 is fixedly disposed on the second driven gear 42B. Specifically, the first driven gears 42A are disposed symmetrically with respect to the driving gear 41, and the second driven gear 42B is engaged with the first driven gears 42A, so that when the driving gear 41 drives the first driven gear 42A to rotate, the first driven gear 42A drives the second driven gear 42B to rotate, and further drives the distal instrument 20 to rotate. In other embodiments, the second driven gear may be a plurality of gears, and the plurality of second driven gears collectively drive the distal end instrument.

In one embodiment, as shown in fig. 30, the second driven gear may be omitted, in which case the rotational axis of the end instrument 20 is parallel or coaxial with the rotational axis of the first driven gear 42A and perpendicular to the rotational axis of the drive gear 41. Specifically, the first driving unit 30 includes a driving rod 31 and an instrument driving wire 32. One end of the driving rod 31 is arranged on the driving gear, and the other end of the driving rod is rotatably arranged on the connecting component; the instrument driving wire 32 extends along the connecting assembly 10, and has a distal end disposed on the driving rod 31 and a proximal end disposed on the driving mechanism to drive the driving rod 31 to rotate, so as to drive the driving gear 41 to rotate, for example, the distal end of the instrument driving wire 32 is wound on the driving rod 31.

As shown in fig. 28, the distal instrument 20 includes a connecting portion 21 and two clamping portions 22 disposed on the connecting portion 21, wherein the connecting portion 21 is connected to the distal end of the connecting assembly 10, and the clamping portions 21 are used for performing corresponding operations. In this embodiment, the connecting portion 21 is connected to the connecting assembly 10 through the driving gear set 40. Specifically, the connecting portion is fixedly connected with the driven gear, wherein the connecting portion 21 is a disk-shaped structure, and a fixing protrusion is arranged on the disk-shaped structure to be fixedly connected with the driven gear. In other embodiments, the connecting portion may also be a connecting rod structure, one end of which is inserted through the driven gear, and the other end of which is disposed on the clamping portion.

Further, the operation arm 3 further includes a second driving unit 50 for driving the distal end instrument 20 to open and close. Specifically, the second driving unit 50 is disposed through the connecting assembly 10, and the distal end thereof is connected to the distal end instrument 20. In this embodiment, the first driving unit 30 is a hollow structure and has a receiving cavity, and the second driving unit 50 penetrates through the first driving unit 30 and is received in the receiving cavity, that is, the connecting assembly 10, the first driving unit 30, and the second driving unit 50 are sequentially sleeved. At this time, the proximal end of the clamping portion 22 is provided with a sliding groove 23, and the two sliding grooves are both sleeved at the distal end of the second driving unit, so that the second driving unit drives the two clamping portions to open or close when moving along the axial direction.

In one embodiment, the first driving unit and the second driving unit are driving rods, and the driving rods are bendable along with the connecting assembly. In other embodiments, the second driving unit may also be a driving wire, and a reset mechanism is disposed on the clamping portion to enable the driving wire to drive the driving wire to open or close and then reset.

Fig. 31 and 32 are schematic partial structural views of different embodiments of the operation arm according to the present invention.

The operation arm 3 includes: a distal instrument 20, a connecting assembly 10 and a first drive unit 30. Wherein, the end instrument 20 is provided with a spiral groove 24, and the end instrument 20 is rotatably connected with the connecting component 10; the distal end of the first drive unit 30 is received in the helical slot 24 to drive the distal instrument 20 in rotation, causing the distal instrument 20 to rotate substantially axially of the distal end portion of the first drive unit 30. Specifically, when the first drive unit 30 moves axially, its distal end slides in the spiral groove 24 and drives the distal instrument 20 to rotate.

The distal instrument 20 includes a connecting portion 21 and two clamping portions 22 disposed on the connecting portion. The connecting part is provided with a columnar structure and a connecting disc, the connecting disc is connected with the far end of the connecting component 10, and the spiral groove 24 is formed in the columnar structure of the connecting part 21 so that the connecting part is driven to rotate by the first driving unit 30; the clamping portion 22 is disposed on the connecting portion 21 and rotates with the connecting portion 21.

As shown in fig. 31, in an embodiment, the connection portion 21 is sleeved on the first driving unit 30, so that the first driving unit drives the connection portion to rotate. For example, the spiral groove 24 is a through groove, so that the distal end of the first drive unit 30 extends out of the spiral groove 24 from the connecting portion 21 and is accommodated in the spiral groove 24. For another example, a helical groove is provided on the inner surface of the connecting portion, and the distal end of the first drive unit is received in the helical groove.

As shown in FIG. 32, in one embodiment, the first drive unit 30 drives rotation of the tip instrument 20 from outside thereof. Specifically, the first driving unit 30 is a driving rod, the distal end of which extends from the outside of the connecting portion 21 to the inside of the spiral groove 24 of the connecting portion, and the axial direction of the first driving unit 30 is arranged parallel to the rotation axis of the distal end instrument 20 at an interval, in which the spiral groove is arranged on the outer surface of the connecting portion, or is a through groove structure.

In the above embodiments, the first driving unit 30 is a driving rod, and the distal end thereof is bent to be received in the spiral groove. As shown in fig. 33, in one embodiment, the first driving unit 30 includes a slider 33, a connecting wire, and a first driving unit main body 35, which are connected in sequence. Wherein the slider 33 is accommodated in the spiral groove 24, when the first driving unit body 35 axially pulls the slider 33 to the proximal end, the connecting wire is tensioned, and the distal end instrument is driven to rotate by the slider 33. In this case, the operating arm further includes a restoring member 60 connected to the slider 33, and the restoring member 60 causes the slider 33 to move toward the distal end when the slider 33 is moved toward the distal end after the slider 33 is pulled toward the proximal end by the main body 35 of the first driving unit. In this embodiment, the piece that resets is the spring, and specific spring one end sets up on coupling assembling, and one end sets up on the slider, and when the slider moved towards the near-end, the spring compressed.

In addition, the first driving unit main body may be omitted, and the slider may be driven to move toward the proximal end by the connecting wire. In addition, in other embodiments, the connecting wire may be omitted, and the slider is directly disposed on the main body of the first driving unit.

Further, the operation arm further includes a second driving unit for driving the distal end instrument to open and close, and the structure thereof is the same as that of the above embodiments, and will not be repeated here. In the embodiment shown in fig. 31 to 33, the second driving unit does not need to pass through the first driving unit, and is arranged in parallel with the first driving unit.

Fig. 34 is a schematic structural diagram of an embodiment of an operation arm according to the present invention.

The operation arm 3 includes: a distal instrument 20, a coupling assembly 10, and a rotary drive wire 70. Wherein the distal end of the connecting assembly 10 is rotatably connected to the tip instrument 20; a rotary drive wire 70 is wound around tip instrument 20 and is used in conjunction with a drive mechanism to drive rotation of tip instrument 20 relative to coupling assembly 10. When the drive mechanism drives the rotary drive wire 70 in an axial direction of the coupling assembly 10, the rotary drive wire 70 drives the distal instrument 20 in rotation. For example, tip instrument 20 rotates in the axial direction of connection assembly 10.

The tip instrument 20 includes: a connecting portion 21 and a clamping portion 22, wherein the connecting portion 21 is rotatably connected to a distal end of the connecting assembly 22, and the rotation driving wire 70 is wound around the connecting portion 21; the clamping portion 22 is disposed on the connecting portion 21 to rotate with the connecting portion 21. Specifically, a groove is formed on a side wall of the distal end connection unit, and an edge of the connection portion 21 is accommodated in the groove and slides along the groove, so that the connection portion rotates relative to the connection unit 100. For example, the connection portion 21 has a land 21A, the periphery of which is received in the recess, and a wire 21B provided on the land 21A, and the rotation driving wire 70 is wound around the wire.

The operating arm 3 also includes a pulley 80 that is stationary relative to the distal end of the linkage assembly 10. For example, the pulley 80 is provided on the connection unit at the distal end of the connection assembly 10. Wherein the pulley 80 is disposed adjacent to the distal instrument 10 and the rotational axis of the pulley 80 is perpendicular to the rotational axis of the distal instrument 10, i.e., perpendicular to the rotational axis of the connecting portion 21, such that the rotary drive wire 70 extending along the connecting assembly changes direction to wind around the connecting portion of the distal instrument.

In this embodiment, there are two pulleys 80, one rotation driving wire, and the rotation axes of the two pulleys 80 are parallel, and both ends of the rotation driving wire 70 pass through the two pulleys 80, respectively, to drive the connecting portion 21 of the distal end instrument 20 to rotate in the forward or reverse direction along the rotation axis thereof. In other embodiments, two driving wires may be provided, each of the two driving wires has one end disposed on the driving mechanism and the other end fixedly disposed on the distal instrument, and the two driving wires pass through corresponding pulleys of the two pulleys respectively.

In other embodiments, other numbers of pulleys are possible; alternatively, the pulley may be omitted, in which case the rotary drive wire extending to the distal instrument is wound directly around the connection.

In one embodiment, the operation arm further includes a second driving unit for driving the distal end instrument 20 to perform an operation, wherein the distal end of the second driving unit is connected to the distal end instrument, and the second driving unit is disposed through the connection assembly. The second driving unit has a similar structure to that of the second driving units in the previous embodiments, and will not be repeated here. The second driving unit is inserted into a region where the distal end instrument is wound around the rotary driving wire, that is, the insertion connection portion.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A wire drive connection assembly, comprising:

the connecting units are sequentially connected, at least two connecting units form a rotatable joint component, three joint components form a first joint component, one joint component in the first joint component is a follow-up joint component with two degrees of freedom, the other two joint components in the first joint component are driving joint components with one degree of freedom, and the rotating directions of the two driving joint components are orthogonal;

when the two groups of first joint components are coupled, the same follow-up joint component is shared;

a plurality of rotating parts, each of which connects two adjacent connecting units in the joint assembly, at least one of the rotating parts in the joint assembly including two rotating shafts respectively located on the two connecting units connected thereto, the connecting units rotating along the rotating shafts corresponding thereto to rotate the joint assembly;

2. The connecting assembly according to claim 1, wherein the two rotation shafts of the rotating portion are arranged in parallel.

3. The connecting assembly according to claim 1, wherein the two rotation shafts of the rotating portion are arranged non-parallel.

4. The coupling assembly of claim 1, wherein the primary drive wire comprises a first primary drive wire having a distal end disposed on one of the coupling units at the distal end of the active joint assembly driven thereby and a proximal end for coupling to a drive mechanism.

5. The coupling assembly of claim 4, wherein the active joint assembly driven by the first primary drive wire rotates independently of the remaining joint assemblies disposed between the link unit connecting the first primary drive wire and the link unit connecting the proximal end of the coupling assembly.

6. The linkage assembly of claim 4, further comprising a second main drive wire for driving rotation of the corresponding active joint assembly, wherein the distal end of the second main drive wire is located on the distal end of the connection unit of the active joint assembly driven by the second main drive wire, and the proximal end of the second main drive wire is used for connecting a drive mechanism.

7. The connection assembly according to claim 6, wherein the rotational axes of the active joint components driven by the first and second primary drive wires are non-parallel.

8. The connection assembly according to claim 6, wherein the first primary drive wire is parallel to the rotational axis of the active joint assembly driven by the second primary drive wire.

9. The connection assembly according to claim 6, wherein distal ends of the first and second main driving wires are disposed on the same connection unit, or the first main driving wires driving different active joint assemblies are disposed on the same connection unit.

10. The connecting assembly according to claim 1, wherein the two rotating shafts of the rotating portion rotate by the same rotation angle.

11. The connecting assembly according to claim 1, wherein the two rotating shafts of the rotating portion rotate by different rotation angles.

12. The coupling assembly of claim 1 wherein said joint assembly rotation angle is the sum of a plurality of said rotation axis rotation angles in said joint assembly.

13. The connecting assembly of claim 1, wherein the rotating shafts of the two joint assemblies are correspondingly coupled, and the two coupled rotating shafts rotate at the same angle and in opposite directions.

14. The connecting assembly of claim 1, wherein the rotation shafts of the two joint assemblies are correspondingly coupled, and the rotation angles of the coupled two rotation shafts are proportional and have the same direction.

15. The linkage assembly of claim 1 wherein at least one of said joint assemblies is driven by a plurality of said drive wires, said drive wires driving the same joint assembly to vary in length as said joint assembly rotates.

16. The connecting assembly according to claim 1, wherein the rotating portion includes a connecting member connecting the two rotating shafts such that a distance between the two rotating shafts is constant, and the driving wires driving the same joint assembly are symmetrically disposed with respect to the connecting member.

17. The coupling assembly according to claim 1, wherein the joint assembly further comprises a reinforcing shaft connecting adjacent two of the coupling units for reinforcing the strength of the joint assembly, the reinforcing shaft being formed on the coupling units or being independently provided.

18. An operating arm comprising a connecting assembly according to any one of claims 1 to 17 and a tip instrument disposed on the connecting unit distally in the connecting assembly.

19. A surgical robot, comprising: a main operating platform and a slave operating device,

the slave operation device is used for responding to a control command sent by a master console and carrying out corresponding operation, and the slave operation device comprises: the manipulator comprises a mechanical arm, a power mechanism arranged on the mechanical arm and an operating arm arranged on the power mechanism and used for adjusting the position of the operating arm according to claim 18, wherein the power mechanism is used for driving the operating arm to perform corresponding operation, and the operating arm is used for extending into a body and performing operation.