CN115844541A - Powerful continuum apparatus arm for intracavity diagnosis and treatment - Google Patents

Abstract

The application relates to a powerful continuum instrument arm is diagnose in intracavity, it includes: the end joint, the tail joint, the middle joint and the driving rope; a first gear meshing surface is arranged on the end joint; a second gear meshing surface is arranged on the tail joint; the middle joints are provided with a plurality of groups, two ends of each middle joint are respectively provided with two groups of third gear meshing surfaces, the extension direction of the axis of one group of the third gear meshing surfaces is intersected with the extension direction of the axis of the other group of the third gear meshing surfaces, and the third gear meshing surface on one group of the middle joints is meshed with the third gear meshing surface on the other group of the middle joints between the two adjacent groups of the middle joints; the first gear meshing surface and the second gear meshing surface are meshed with a third gear meshing surface; the invention realizes the miniaturization of the rolling joint and has larger load, and compared with the traditional scheme, the invention has the advantages of lower tension of the driving rope, higher integration level, long service life and quicker control response capability.

Description

Powerful continuum apparatus arm for intracavity diagnosis and treatment

Technical Field

The application relates to the technical field of medical instruments, in particular to a powerful continuum instrument arm for intracavity diagnosis and treatment.

Background

With the trend of minimally invasive surgery, manipulators are required to achieve more accessibility, flexibility and miniaturization. Wherein, natural orifice endoscopic surgery (NOTES) is carried out by utilizing natural orifice of human body to carry out endoscopic surgery without opening on the body surface of human body, thus minimally invasive surgery can be realized to the utmost extent; however, the conventional manipulator is not flexible, compact or strong enough to perform a surgical operation in a narrow depth; traditionally, surgeons have used endoscopes for minimally invasive surgery, and surgical instruments often have isotropic curvatures with the endoscope, resulting in poor flexibility of the interventional instrument.

Through the search discovery of prior art documents, chinese patent with application publication No. CN113183144A introduces a cable-driven rolling joint continuum robot arm, which mainly comprises a plurality of curved rolling joint bodies, and the rolling joint bodies are connected together by a plurality of groups of driving cables, when in use, the driving cables are pulled to drive the rolling joint bodies to roll along a curved surface, thereby achieving the bending effect of the whole robot arm, but in the patent, two adjacent rolling joint bodies are in rolling contact, so that when in use, relative sliding can be generated between the two rolling joint bodies, and thus the strength of the whole robot arm can only be supported and stressed by the driving cables, so that the continuous joints have redundancy and compliance characteristics when in use, and thus the stiffness of the robot arm can be reduced, and the problems of shape deformation, deflection and wire overstretching can be generated in the process of effective load treatment.

Aiming at the problems, a powerful continuum instrument arm for intracavity diagnosis and treatment is designed.

Disclosure of Invention

The embodiment of the application provides a powerful continuum manipulator for intracavity diagnosis and treatment, and aims to solve the problems that in the related art, the manipulator is low in rigidity and can deform in shape, deflect and excessively stretch a wire rod in a payload treatment process.

In a first aspect, a powerful continuum instrument arm for intracavity diagnosis and treatment is provided, which includes:

the end joint, the tail joint, the middle joint and the driving rope;

the middle joints are provided with a plurality of groups, and the end joints, the middle joints and the tail joints are sequentially connected end to end;

one end of the end joint is provided with a first gear meshing surface;

one end of the tail joint is provided with a second gear meshing surface;

the middle joints are provided with a plurality of groups, two ends of each middle joint are respectively provided with two groups of third gear meshing surfaces, the extension direction of the axis of one group of the third gear meshing surfaces is crossed with the extension direction of the axis of the other group of the third gear meshing surfaces, and the third gear meshing surfaces on one group of the middle joints are meshed with the third gear meshing surfaces on the other group of the middle joints between the two adjacent groups of the middle joints;

the first gear meshing surface on the end joint and the second gear meshing surface on the tail joint are meshed with the third gear meshing surface on the middle joint;

the driving rope is arranged on the end joint and penetrates through the middle joints and the tail joint.

In some embodiments, the end joint comprises an end sleeve and two sets of meshing components, the two sets of meshing components are arranged in parallel, each meshing component comprises a fixing plate and a half gear which are connected with each other, the end sleeve is connected with one end, far away from the half gear, of each meshing component, and the two sets of half gears on the end sleeve form a first gear meshing surface;

the middle joint comprises four groups of meshing parts which are connected with each other, wherein two groups of meshing parts are symmetrically arranged in the front-back direction, two half gears in the two groups of meshing parts form a third gear meshing surface at one end of the middle joint, the other two groups of meshing parts are symmetrically arranged in the left-right direction, and two half gears in the two groups of meshing parts form a third gear meshing surface at the other end of the middle joint;

the tail joint comprises a tail sleeve and two groups of meshing components, the two groups of meshing components are arranged in parallel, the tail sleeve is connected with one end, far away from the half gears, of the two groups of meshing components, and the two groups of half gears on the tail sleeve form a second gear meshing surface.

In some embodiments, the fixing plate is provided with first through holes, and the end sleeve and the tail sleeve are provided with two groups of second through holes;

the driving rope is provided with four groups, one end of each driving rope is arranged on the end sleeve, the other ends of the driving ropes sequentially penetrate two groups of first through holes in the end joints, two groups of first through holes in the middle joints and two groups of second through holes in the tail joints, and the other ends of the driving ropes sequentially penetrate two groups of second through holes in the end joints, the other two groups of first through holes in the middle joints and the two groups of first through holes in the tail joints.

In some embodiments, the tail joint comprises a plurality of connecting pieces, and the end joints and the middle joint, the middle joint and the tail joint are hinged through the connecting pieces.

In some embodiments, the fixing plates are provided with mounting holes, and the axes of the mounting holes are coincident with the axes of the upper half gear of the fixing plates;

the connecting piece comprises a connecting piece body and two groups of pin shafts, the pin shafts are matched with the mounting holes, and the two groups of pin shafts on the connecting piece body are respectively mounted in the mounting holes on the two groups of half gears which are meshed with each other.

In some embodiments, the connector body has elasticity, and when two sets of pins on the connector body are respectively installed in the installation holes on the two sets of half gears which are meshed with each other, the connector body is in a pulling state so as to pull the two sets of half gears which are meshed with each other to approach each other.

In some embodiments, the two ends of the connecting piece body are provided with first rolling curved surfaces, and the axes of the two groups of first rolling curved surfaces are respectively superposed with the axes of the two groups of pin shafts;

the fixed plate is provided with second rolling curved surfaces matched with the first rolling curved surfaces, a virtual circle formed by the first rolling curved surfaces is tangent to a virtual circle formed by the second rolling curved surfaces, and the diameter of the virtual circle formed by the first rolling curved surfaces is equal to that of the virtual circle formed by the second rolling curved surfaces.

In some embodiments, the end of the pin away from the connector body is chamfered.

In some embodiments, a threading channel for the driving rope to pass through is formed in the connecting piece body, and the threading channel corresponds to the first through hole.

In some embodiments, the first rolling curved surface at both ends of the connecting piece body is provided with a port communicated with the threading channel, the port is in a trumpet shape, and the opening area of the port at one end close to the first rolling curved surface is larger than that of the port at the other end.

The beneficial effect that technical scheme that this application provided brought includes: this application is through making to adopt gear engagement contact between each joint, can make and can not produce relative slip between the joint, thereby guarantee rolling stability between the joint, just so can avoid continuous joint redundancy and compliance characteristic to appear, lead to the rigidity reduction of manipulator even, can produce the shape deformation in payload processing procedure, the problem of deflection, gear engagement contact's mode can be for playing certain supporting role between two adjacent joints simultaneously, improve the load capacity of this arm, just so need not make the cable tighten in order to guarantee the joint strength between two joints, can avoid the wire rod to appear overstretching when using, can reduce wire rod life's problem, simultaneously this application compares with other arms, because the load of this application is stronger, consequently under same service load environment, the device can do littleer with the size, be favorable to the miniaturization more.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic three-dimensional structure provided in an embodiment of the present application;

fig. 2 is a schematic diagram of a three-dimensional explosive structure provided in an embodiment of the present application;

FIG. 3 is a schematic three-dimensional structure of an end joint provided in an embodiment of the present application;

FIG. 4 is a schematic three-dimensional view of a medial joint provided in accordance with an embodiment of the present application;

FIG. 5 is a schematic three-dimensional structure of a caudal joint provided by an embodiment of the present application;

fig. 6 is a schematic diagram of a three-dimensional matching structure of a first rolling curved surface and a second rolling curved surface according to an embodiment of the present application;

FIG. 7 is a schematic three-dimensional connection structure of a connecting member and a middle joint provided by an embodiment of the present application;

fig. 8 is a schematic three-dimensional structure diagram of a connecting member according to an embodiment of the present application.

In the figure: 1. an end joint; 11. an end sleeve; 12. an engaging member; 121. a fixing plate; 122. a half gear; 2. a caudal joint; 21. a tail sleeve; 3. a middle joint; 4. a drive rope; 6. a first gear mesh surface; 7. a second gear engagement surface; 8. a third gear mesh surface; 9. a first perforation; 10. a second perforation; 20. a connecting member; 201. a connector body; 202. a pin shaft; 30. mounting holes; 40. a first rolling surface; 50. a second rolling surface; 60. a threading channel; 70. a port.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The embodiment of the application provides a powerful continuum manipulator for intracavity diagnosis and treatment, which can solve the problems that in the related art, the manipulator is low in rigidity and can deform in shape, deflect and excessively stretch wires in the process of processing effective loads.

Referring to fig. 1-8, a powerful continuum manipulator for intracavity diagnosis and treatment includes: the end part joint 1, the tail part joint 2, the middle joint 3 and the driving rope 4, wherein the middle joint 3 is provided with a plurality of groups, and the end part joint 1, the middle joints 3 and the tail part joint 2 are sequentially connected end to end;

a first gear meshing surface 6 is arranged at one end of the end part joint 1, a second gear meshing surface 7 is arranged at one end of the tail joint 2, the middle joint 3 is provided with a plurality of groups, two groups of third gear meshing surfaces 8 are respectively arranged at two ends of the middle joint 3, the extending direction of the axis of one group of the third gear meshing surfaces 8 is intersected with the extending direction of the axis of the other group of the third gear meshing surfaces 8, and the third gear meshing surface 8 on one group of the middle joint 3 is meshed with the third gear meshing surface 8 on the other group of the middle joint 3 between the two adjacent groups of the middle joints 3;

therefore, two adjacent middle joints 3 can only rotate at the end part of the other middle joint 3 along the surface of the third gear meshing surface 8 through the meshing action of the third gear meshing surfaces 8 at the two ends, so that the two adjacent middle joints 3 are prevented from slipping;

the first gear meshing surface 6 on the end joint 1 and the second gear meshing surface 7 on the tail joint 2 are meshed with the third gear meshing surface 8 on the middle joint 3, so that the end joint 1 can only rotate along the surface of the third gear meshing surface 8 through the meshing action of the first gear meshing surface 6 on the end part and the third gear meshing surface 8, meanwhile, the tail joint 2 can only rotate along the surface of the third gear meshing surface 8 through the meshing action of the second gear meshing surface 7 on the end part and the third gear meshing surface 8, and the end joint 1 and the tail joint 2 can be prevented from slipping at the end part of the middle joint 3;

the driving rope 4 is arranged on the end part joint 1 and penetrates through the middle joints 3 and the tail joint 2, all joints are connected in series through the driving rope 4 to form the mechanical arm, and therefore when the mechanical arm is used, the middle joints 3 can be rotated and bent by pulling the driving rope 4, the bending effect of the whole mechanical arm is achieved, meanwhile, gear surface meshing contact is adopted among all joints in the mechanical arm, relative sliding can be avoided among the joints, rolling stability among the joints is guaranteed, redundancy and flexibility of the continuous joints can be avoided, even rigidity of the mechanical arm is reduced, the problems of shape deformation and deflection can be caused in an effective load processing process, meanwhile, a certain supporting effect can be achieved between every two adjacent joints through the gear surface meshing contact mode, the load capacity of the mechanical arm is improved, the driving rope 4 does not need to be tightened to guarantee connection strength among the joints, excessive stretching of the driving rope 4 can be avoided when the mechanical arm is used, and the service life of the driving rope 4 can be shortened.

Referring to fig. 3 to 5, in this embodiment, the end joint 1 includes an end sleeve 11 and two sets of engaging elements 12, the two sets of engaging elements 12 are disposed in parallel, each engaging element 12 includes a fixing plate 121 and a half gear 122 connected to each other, the end sleeve 11 is connected to one end of each of the two sets of engaging elements 12 away from the half gear 122, and the two sets of half gears 122 on the end sleeve 11 form a first gear engaging surface 6;

the middle joint 3 comprises four groups of meshing parts 12 which are connected with each other, wherein the two groups of meshing parts 12 are symmetrically arranged in the front-back direction, two groups of half gears 122 in the two groups of meshing parts 12 form a third gear meshing surface 8 at one end of the middle joint 3, the other two groups of meshing parts 12 are symmetrically arranged in the left-right direction, and two groups of half gears 122 in the two groups of meshing parts 12 form a third gear meshing surface 8 at the other end of the middle joint 3, so that the two groups of third gear meshing surfaces 8 at two ends of the middle joint 3 are orthogonally distributed, then a plurality of middle joints 3 are combined together, and the third gear meshing surfaces 8 at two ends of a plurality of middle joints 3 respectively form a plurality of pitching curved surfaces and rolling curved surfaces in the front-back direction and the left-right direction of the whole instrument arm, so that when the driving rope 4 is pulled, the whole instrument arm can realize four-direction bending through the matching action of the plurality of pitching curved surfaces and the rolling curved surfaces;

the caudal joint 2 comprises a caudal sleeve 21 and two groups of engaging members 12, the two groups of engaging members 12 are arranged in parallel, the caudal sleeve 21 is connected with one ends of the two groups of engaging members 12 far away from the half-gears 122, the two groups of half-gears 122 on the caudal sleeve 21 form a second gear engaging surface 7, so that the two groups of half-gears 122 on the end joints 1 and the caudal joint 2 can be engaged with the two groups of half-gears 122 on the middle joint 3, and the joints are in engaged contact with each other by adopting the half-gears 122, so that the bending radius between two adjacent joints can be reduced, and the rotation amplitude of a single joint is increased, so that compared with a traditional instrument arm, the curvature radius of the instrument arm is smaller, for example, the traditional instrument arm needs to be bent by 45 degrees and can be completed by 20 centimeters, and the instrument arm of the application needs to be bent by 14 centimeters in length, so that the instrument arm of the application can be bent by 45 degrees, and the instrument arm of the application can be more compact in structure and can independently realize high-effective load while can not exceed an expected track;

the data in the above are only examples for easy understanding, and do not represent the actual size of the arm;

meanwhile, the end joint 1, the middle joint 3 and the tail joint 2 which are designed in a hollow mode can reserve an installation space for the mechanical claw, so that the mechanical claw can be installed in the instrument arm to perform operation subsequently, meanwhile, the joint structure which is designed in a hollow mode can reduce the whole weight of the instrument arm, the load of the instrument arm caused by the weight of the instrument arm is reduced, and therefore the whole instrument arm is more flexible and stronger in load.

Specifically, in this embodiment, the fixing plate 121 is provided with first through holes 9, the end sleeve 11 and the tail sleeve 21 are provided with two sets of second through holes 10, the driving ropes 4 are provided with four sets, one ends of the four sets of driving ropes 4 are provided on the end sleeve 11, the other ends of the two sets of driving ropes 4 respectively pass through the two sets of first through holes 9 on the end joint 1, two sets of first through holes 9 on the middle joint 3 and two sets of second through holes 10 on the tail joint 2 in sequence, and the other ends of the other two sets of driving ropes 4 respectively pass through the two sets of second through holes 10 on the end joint 1, the other two sets of first through holes 9 on the middle joint 3 and the two sets of first through holes 9 on the tail joint 2 in sequence;

in the using process, the end joint 1, the middle joints 3 and the tail joint 2 can be connected together through the four groups of driving ropes 4, the mechanical arm can be bent in a pitching mode by pulling the two driving ropes 4 in the two groups of second through holes 10 in the tail joint 2, the mechanical arm can be bent in a rolling mode by pulling the two driving ropes 4 in the two groups of first through holes 9 in the tail joint 2, and therefore the whole mechanical arm can be bent in any direction by pulling the four groups of driving ropes 4.

Further, in this embodiment, the mechanical arm further includes a plurality of connecting pieces 20, the end joints 1 and the middle joints 3, the middle joints 3 and the middle joints 3, and the middle joints 3 and the tail joints 2 are all hinged and connected through the connecting pieces 20, so that the plurality of joints can be connected together through the plurality of connecting pieces 20, and a mode of connecting the plurality of joints together through tightening the driving ropes 4 in the conventional technology is not needed, so that the connecting strength of the whole mechanical arm can be enhanced, the stress of the driving ropes 4 can be reduced, and the service life of the driving ropes 4 is ensured.

Furthermore, in this embodiment, the fixing plate 121 is provided with mounting holes 30, the axes of the mounting holes 30 coincide with the axes of the upper half gear 122 of the fixing plate 121, the connecting element 20 includes a connecting element body 201 and two sets of pins 202, the pins 202 are matched with the mounting holes 30, and the two sets of pins 202 on the connecting element body 201 are respectively mounted in the mounting holes 30 on the two sets of half gears 122 that are engaged with each other;

therefore, when the connecting piece is used, the two pin shafts 202 on the connecting piece body 201 can be respectively inserted into the mounting holes 30 on the two half gears 122, so that when the two joints rotate relatively, the axis of one half gear 122 can rotate around the axis of the other half gear 122 through the connection limiting effect of the connecting piece body 201, and the two half gears 122 which are meshed with each other can always keep corresponding states in the process of rotating along with the joints, so that the two half gears 122 can be meshed all the time, and the continuity of joint rotation is ensured.

More specifically, in the present embodiment, the connector body 201 has elasticity, and when two sets of pins 202 on the connector body 201 are respectively installed in the installation holes 30 on the two sets of half gears 122 that are engaged with each other, the connector body 201 is in a pulling state to pull the two sets of half gears 122 that are engaged with each other to approach each other;

thus, through the arrangement of the elastic connecting piece body 201, the two half gears 122 which are meshed with each other can be close to each other and abutted together through the elastic force, so that the gap between the meshing of the gears is supplemented through the elastic force, the meshing of the half gears 122 between the two joints can be tighter, the backlash is effectively eliminated, the deviation of the mechanical arm caused by the backlash generated during the meshing of the two half gears 122 is avoided, meanwhile, the elastic connecting piece body 201 is connected with each joint to mechanically constrain a redundant structure, a certain tension can be borne by the driving rope 4, the main body load capacity is effectively improved, the excessive pulling of the driving rope 4 is further avoided, the service life of the driving rope 4 is ensured, the stability and the accuracy of the mechanical arm during the movement can be further enhanced, and the transmission efficiency and the control response speed are improved;

the connecting piece body 201 can be made of elastic materials, such as silicon rubber and Tpu, so as to achieve an elastic effect, and the connecting piece body 201 is preferably made of silicon rubber materials, and has the outstanding characteristics of physiological inertia and no coagulation, so that the connecting piece body 201 is widely applied to the medical field;

meanwhile, the connecting piece body 201 can also achieve an elastic effect through a structure, for example, a spring is arranged between the connecting piece bodies 201, and the two half gears 122 can also be pulled to be close to each other through the elastic force of the spring;

in practical application, the connector body 201 can also use a memory metal material to realize the elastic effect of the connector body 201, the memory metal controls the deformation amount through temperature or voltage, after plastic deformation occurs in a certain temperature range, the special metal material with the original macroscopic shape can be recovered in another temperature range, because the memory metal is equivalent to be switched between two states, when the memory metal is switched to an extension state, the connector body 201 only plays a role in connecting two joints, but does not provide a force for tensioning the two half gears 122 to approach each other, when the memory metal is switched to a contraction state, the connector body 201 contracts to pull the two half gears 122 to approach each other, so that the two half gears 122 are meshed more tightly, therefore, the memory metal is equivalent to the elasticity in another meaning, and the effect is equivalent.

Referring to fig. 6, two ends of the connecting member body 201 are both provided with first rolling curved surfaces 40, axes of the two groups of first rolling curved surfaces 40 are respectively overlapped with axes of the two groups of pin shafts 202, the fixing plate 121 is provided with second rolling curved surfaces 50 matched with the first rolling curved surfaces 40, a virtual circle formed by the first rolling curved surfaces 40 is tangent to a virtual circle formed by the second rolling curved surfaces 50, and a diameter of the virtual circle formed by the first rolling curved surfaces 40 is equal to a diameter of the virtual circle formed by the second rolling curved surfaces 50;

when the two joints rotate relatively, the first rolling curved surface 40 on the connecting piece body 201 can rotate around the second rolling curved surface 50 on the fixing plate 121, so that the connecting piece body 201 and the fixing plate 121 are in curved surface rolling contact, the smoothness of rotation between the two joints can be increased, hysteresis and jamming during operation of the mechanical arm are avoided, the mechanical arm can be enabled to be used as a highly integrated rigid-flexible coupling unit while the overall strength of the mechanical arm is enhanced in a gear meshing mode, the smoothness of the mechanical arm during motion is also increased in a curved surface rolling mode, and the mechanical arm is enabled to be used as a highly integrated rigid-flexible coupling unit through the matching arrangement of the elastic connecting piece body 201, so that the load of the mechanical arm is enabled to be stronger, the smoothness is also enabled to be more robust;

meanwhile, the first rolling curved surface 40 and the second rolling curved surface 50 are arranged in an equal and tangent mode, so that the first rolling curved surface 40 and the second rolling curved surface 50 can be always attached along with the rotation of the joint, the contact continuity of the first rolling curved surface 40 and the second rolling curved surface 50 can be ensured, and the smoothness of the rotation of the joint is ensured.

Referring to fig. 8, the end of the pin 202 away from the connector body 201 is chamfered, so that the pin 202 can be inserted into the mounting hole 30 more conveniently and conveniently.

Referring to fig. 7, a threading channel 60 convenient for the driving rope 4 to pass through is formed in the connecting piece body 201, the threading channel 60 corresponds to the first through hole 9, so that the driving rope 4 can be installed in the threading channel 60, all the driving ropes 4 are completely hidden in the instrument arm, the space utilization rate is effectively improved, the instrument arm is integrally more integrated and neat and attractive, meanwhile, the driving rope 4 is hidden, the driving rope 4 can be prevented from being damaged due to the fact that the driving rope 4 is exposed on the outer surface of the instrument arm, the protection effect on the driving rope 4 can be further achieved, the service life of the driving rope 4 is guaranteed, and the practicability is high.

Preferably, the first rolling curved surface 40 at the two ends of the connecting piece body 201 is provided with a port 70 communicated with the threading channel 60, the port 70 is in a horn shape, the opening area of the port 70 close to one end of the first rolling curved surface 40 is larger than that of the other end, so that the moving space of the driving rope 4 can be ensured through the arrangement of the horn-shaped port 70, thereby avoiding the operation precision of the mechanical arm influenced by the interference generated by the movement of the connecting piece body 201 and the driving rope 4 when the two joints rotate relatively, and facilitating the use.

In other embodiments, the instrument arm is equivalent to a middle joint, realizes two-way movement by adopting a parallel arrangement, and realizes a cylindrical operation space by integral rotation.

In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, should not be construed as limiting the present application. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling as well as integral coupling; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

It is noted that, in the present application, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A powerful continuum instrument arm for intracavity diagnosis and treatment is characterized by comprising:

an end joint (1), a tail joint (2), a middle joint (3) and a driving rope (4);

the middle joints (3) are provided with a plurality of groups, and the end joints (1), the middle joints (3) and the tail joints (2) are sequentially connected end to end;

one end of the end joint (1) is provided with a first gear meshing surface (6);

one end of the tail joint (2) is provided with a second gear meshing surface (7);

the middle joints (3) are provided with a plurality of groups, two ends of each middle joint (3) are respectively provided with two groups of third gear meshing surfaces (8), the extending direction of the axis of one group of the third gear meshing surfaces (8) is intersected with the extending direction of the axis of the other group of the third gear meshing surfaces (8), and the third gear meshing surfaces (8) on one group of the middle joints (3) are meshed with the third gear meshing surfaces (8) on the other group of the middle joints (3) between the two adjacent groups of the middle joints (3);

a first gear meshing surface (6) on the end joint (1) and a second gear meshing surface (7) on the tail joint (2) are meshed with a third gear meshing surface (8) on the middle joint (3);

the driving rope (4) is arranged on the end joint (1) and penetrates through the middle joints (3) and the tail joint (2).

2. The powerful continuum instrument arm for intracavity diagnosis and treatment of claim 1, wherein:

the end joint (1) comprises an end sleeve (11) and two groups of meshing components (12), the two groups of meshing components (12) are arranged in parallel, each meshing component (12) comprises a fixing plate (121) and a half gear (122) which are connected with each other, the end sleeve (11) is connected with one end, far away from the half gear (122), of each group of meshing components (12), and the two groups of half gears (122) on the end sleeve (11) form a first gear meshing surface (6);

the middle joint (3) comprises four groups of meshing parts (12) which are connected with each other, wherein two groups of meshing parts (12) are symmetrically arranged in the front-back direction, two groups of half gears (122) in the two groups of meshing parts (12) form a third gear meshing surface (8) at one end of the middle joint (3), the other two groups of meshing parts (12) are symmetrically arranged in the left-right direction, and two groups of half gears (122) in the two groups of meshing parts (12) form a third gear meshing surface (8) at the other end of the middle joint (3);

the tail joint (2) comprises a tail sleeve (21) and two groups of meshing components (12), the two groups of meshing components (12) are arranged in parallel, the tail sleeve (21) is connected with one ends, far away from the half gears (122), of the two groups of meshing components (12), and the two groups of half gears (122) on the tail sleeve (21) form a second gear meshing surface (7).

3. The powerful continuum instrument arm for intracavity diagnosis and treatment of claim 2, wherein:

the fixed plate (121) is provided with first through holes (9), and the end sleeve (11) and the tail sleeve (21) are provided with two groups of second through holes (10);

the driving rope (4) is equipped with four groups, four groups the one end of driving rope (4) is all established on tip sleeve (11), wherein two sets ofly the other end of driving rope (4) passes two sets of first perforation (9) on tip joint (1), wherein two sets of first perforation (9) and two sets of second perforation (10) on tail joint (2) on middle joint (3) respectively in proper order, and two sets ofly in addition the other end of driving rope (4) passes two sets of second perforation (10) on tip joint (1), two sets of first perforation (9) and two sets of first perforation (9) on tail joint (2) in addition on middle joint (3) in proper order respectively.

4. The powerful continuum instrument arm for intracavity diagnosis and treatment of claim 2, wherein:

the tail joint is characterized by further comprising a plurality of connecting pieces (20), and the end joints (1) and the middle joints (3), the middle joints (3) and the tail joints (2) are hinged through the connecting pieces (20).

5. The powerful continuum instrument arm for intracavity diagnosis and treatment of claim 4, wherein:

mounting holes (30) are formed in the fixing plate (121), and the axis of each mounting hole (30) is overlapped with the axis of the upper half gear (122) of the fixing plate (121);

the connecting piece (20) comprises a connecting piece body (201) and two groups of pin shafts (202), the pin shafts (202) are matched with the mounting holes (30), and the two groups of pin shafts (202) on the connecting piece body (201) are respectively mounted in the mounting holes (30) on the two groups of half gears (122) which are meshed with each other.

6. The powerful continuum instrument arm for intracavity diagnosis and treatment of claim 5, wherein:

the connecting piece body (201) has elasticity, and when two groups of pin shafts (202) on the connecting piece body (201) are respectively installed in the installation holes (30) on the two groups of half gears (122) which are meshed with each other, the connecting piece body (201) is in a traction state so as to pull the two groups of half gears (122) which are meshed with each other to be close to each other.

7. The powerful continuum instrument arm in a cavity of claim 5, wherein:

two ends of the connecting piece body (201) are respectively provided with a first rolling curved surface (40), and the axes of the two groups of first rolling curved surfaces (40) are respectively superposed with the axes of the two groups of pin shafts (202);

the fixed plate (121) is provided with second rolling curved surfaces (50) matched with the first rolling curved surfaces (40), a virtual circle formed by the first rolling curved surfaces (40) is tangent to a virtual circle formed by the second rolling curved surfaces (50), and the diameter of the virtual circle formed by the first rolling curved surfaces (40) is equal to that of the virtual circle formed by the second rolling curved surfaces (50).

8. The powerful continuum instrument arm for intracavity diagnosis and treatment of claim 5, wherein:

and one end of the pin shaft (202) far away from the connecting piece body (201) is chamfered.

9. The powerful continuum instrument arm in a cavity of claim 7, wherein:

a threading channel (60) convenient for the driving rope (4) to pass through is arranged in the connecting piece body (201), and the threading channel (60) corresponds to the first through hole (9).

10. The powerful continuum instrument arm in a cavity of claim 9, wherein:

the connecting piece is characterized in that ports (70) communicated with the threading channel (60) are formed in the first rolling curved surfaces (40) at the two ends of the connecting piece body (201), the ports (70) are horn-shaped, and the opening area of one end, close to the first rolling curved surface (40), of each port (70) is larger than that of the other end of each port.

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