CN115847478A

CN115847478A - Bending steering structure

Info

Publication number: CN115847478A
Application number: CN202211576408.4A
Authority: CN
Inventors: 何裕源; 请求不公布姓名; 何超
Original assignee: Shanghai Microport Medbot Group Co Ltd
Current assignee: Shanghai Microport Medbot Group Co Ltd
Priority date: 2022-12-09
Filing date: 2022-12-09
Publication date: 2023-03-28

Abstract

The invention relates to a bending steering structure, wherein a second joint element is rotationally connected with a first joint element, a first traction body and a second traction body are movably connected with the second joint element and the first joint element, the first traction body and the second traction body are respectively used for controlling the same second joint element to rotate towards opposite directions relative to the first joint element, at least one of the first traction body and the second traction body can keep the required length release amount of the first traction body and the second traction body to be larger than or equal to the actual length release amount in the rotating process, namely the release amounts of the first traction body and the second traction body are kept to be balanced, the first traction body and the second traction body are enabled not to be loosened when the first joint element and the second joint element rotate, the first joint element and the second joint element can keep accurate position control in the rotating process, the overall rigidity is improved, and the tail end of a surgical instrument can be ensured to accurately reach a surgical target position.

Description

Bending steering structure

Technical Field

The invention relates to the technical field of medical instruments, in particular to a bending steering structure.

Background

With the application and development of related technologies of robots, particularly the development of computing technologies, the medical surgical robot has more and more important clinical effects, wherein the minimally invasive surgical robot system can relieve the physical labor of doctors in the surgical process in an interventional therapy mode, and simultaneously achieves the purpose of precise surgery, so that the surgery of patients has the advantages of small trauma, less blood loss, less postoperative infection, quick postoperative recovery and the like.

The surgical robot usually adopts corresponding surgical instruments to implement corresponding surgical operations, so the quality of the design of the surgical instruments directly determines whether the minimally invasive surgical robot system is successful or not, the performance of the surgical instruments is a key factor influencing the performance level of the minimally invasive surgical robot system, and the surgical instruments with superior design can better help doctors to complete the surgical operations.

For example, when the surgical instrument with a snake-bone bending structure is used for bending control, the length change of an inner wire is easily larger than that of an outer wire, which easily causes the situation that the outer wire of the surgical instrument is loosened during the bending control, so that the stiffness of the snake-bone joint of the surgical instrument is reduced, and the accurate control of the bending steering position cannot be ensured.

Disclosure of Invention

In view of the above, it is necessary to provide a bending deflection structure for solving the above-mentioned technical problems.

The present invention provides a bend-turning structure, comprising:

a first joint element;

at least one second joint element, the second joint element being rotationally connected to the first joint element;

at least one first retractor and at least one second retractor, at least a portion of at least one of said first retractor and said second retractor being of a telescopic configuration, said first retractor and said second retractor being operatively coupled to said second joint element and said first joint element, wherein said first retractor and said second retractor are each adapted to control the rotation of the same second joint element in opposite directions relative to said first joint element;

a balance system for controlling at least one of the first and second drag bodies to maintain a desired length release greater than or equal to an actual length release during rotation.

In one embodiment, the first joint element has a pair of first hinges on opposite sides thereof, the hinge axes of the first hinges being non-collinear, the second joint element has a pair of second hinges on opposite sides thereof, the hinge axes of the second hinges being non-collinear, and the first and second hinges on the same side of the first and second joint elements are hinged by a hinge element.

In one embodiment, the curved diverting structure comprises:

at least one third retractor and at least one fourth retractor, at least a portion of at least one of the third retractor and the fourth retractor being a retractable structure, the first retractor, the second retractor, the third retractor and the fourth retractor movably coupling the second joint element and the first joint element; wherein the first traction body and the fourth traction body form a first traction group, the second traction body and the third traction body form a second traction group, or the first traction body and the third traction body form a first traction group, and the second traction body and the fourth traction body form a second traction group;

the first traction group and the second traction group are respectively used for controlling the same second joint element to rotate towards opposite directions relative to the first joint element, and at least one of the first traction body, the second traction body, the third traction body and the fourth traction body can keep the required length release amount of the traction body to be larger than or equal to the actual length release amount in the rotating process.

In one embodiment, the second joint element comprises:

a proximal second joint element rotationally coupled to a proximal end of the first joint element, the first and fourth pull bodies for controlling rotation of the proximal second joint element relative to the first joint element in a first direction, the second and third pull bodies for controlling rotation of the proximal second joint element relative to the first joint element in a second direction, the first and second directions being opposite; and/or the presence of a gas in the gas,

a distal second joint element rotationally coupled to a distal end of the first joint element, the first and third pull bodies for controlling rotation of the distal second joint element relative to the first joint element in a third direction, the second and fourth pull bodies for controlling rotation of the distal second joint element relative to the first joint element in a fourth direction, the third direction being opposite the fourth direction.

In one embodiment, the balancing system comprises:

a length compensation structure disposed on at least one of the first joint element and the second joint element, the length compensation structure being in resilient contact with the first retractor, the second retractor, the third retractor, and the fourth retractor for adjusting a desired length release of at least one of the first retractor, the second retractor, the third retractor, and the fourth retractor to be greater than or equal to an actual length release.

In one embodiment, the length compensation structure comprises:

a compensating guide wheel, which is fixed-axis rotationally mounted on the second joint element, wherein the diameter of the compensating guide wheel can be elastically changed, and the compensating guide wheel is elastically contacted with the first traction group and the second traction group.

In one embodiment, the middle part of the second joint element is provided with an internal channel, the number of the compensating guide wheels is two, and the two compensating guide wheels are symmetrically arranged on two sides of the second joint element.

In one embodiment, the axis of rotation of the compensating guide wheel is perpendicular to the direction of rotation of the second joint element.

In one embodiment, at least a part of the structure of the compensation guide wheel is made of elastic materials.

In one embodiment, the compensating guide wheel comprises a central rotating shaft and a plurality of circumferentially distributed guide lobes which are resiliently connected to the central rotating shaft by resilient elements.

In one embodiment, the compensating guide wheel comprises at least one link element, the guide lobe being connected to a link element, which is connected to the central rotary shaft via the elastic element.

In one embodiment, the guide wheel petal comprises a first wheel petal and a second wheel petal, the link element comprises a first link, a second link, a third link, a fourth link, a fifth link and a sixth link, the first wheel petal is connected with the first link, the second wheel petal is connected with the second link, one end of the third link and one end of the fourth link are both connected with the first link, one end of the fifth link and one end of the sixth link are both connected with the second link, the other end of the third link is connected with the other end of the fifth link, and the fourth link is connected with the other end of the sixth link.

In one embodiment, the length compensation structure comprises:

the sensing device is arranged on the second joint element and used for acquiring the stress information of the compensation guide wheel;

the length compensation structure further comprises a shaft sleeve element, a central rotating shaft of the compensation guide wheel is rotatably assembled with a central shaft hole of the second joint element through the shaft sleeve element, and the sensing device is located between the shaft sleeve element and the second joint element and used for acquiring stress information of the compensation guide wheel; and/or the length compensation structure further comprises a guide rod element, the compensation guide wheel is connected with the guide rod element, the guide rod element is elastically connected with the second joint element, the guide rod element is in force contact with the sensing device, and the sensing device is used for indirectly acquiring stress information of the compensation guide wheel through the force contact with the guide rod element.

In one embodiment, the length compensation structure comprises:

at least one cantilever member having one end connected to the second articulation member, at least a portion of the cantilever member being resilient, the cantilever member being in resilient contact with the first traction group and the second traction group; and/or the presence of a gas in the gas,

the elastic sheet element is connected with the second joint element and elastically contacted with the first traction group and the second traction group.

In one embodiment, the second joint element is provided with a switching groove, the elastic sheet element comprises an elastic part and a switching part, the switching part is rotatably assembled with the switching groove, and the elastic part is elastically contacted with the first traction group and the second traction group.

In the bending steering structure, in the process of relative rotation of the first joint element and the second joint element, the first traction body and the second traction body can keep the length release amount of the first traction body and the second traction body larger than or equal to the actual length release amount when being wound or released, which is equivalent to keeping the release amounts of the first traction body and the second traction body balanced, and ensuring that the first traction body and the second traction body do not have loose condition when the first joint element and the second joint element rotate, so that the first joint element and the second joint element can keep accurate position control in the rotating process, the integral rigidity of the first joint element and the second joint element is improved, and the tail end of a surgical instrument can accurately reach a surgical target position.

Drawings

FIGS. 1 and 2 are schematic views illustrating a bending principle of a bending deflection structure in the prior art;

FIG. 3 is an exploded view of a curved deflecting structure according to one embodiment of the present application;

FIG. 4 is an exploded view of a curved diverter structure according to another embodiment of the present application;

FIG. 5 is an assembled structural view of the curved diverting structure shown in FIG. 4;

FIG. 6 is a schematic structural diagram of a first embodiment of a compensating guide wheel of the present application;

FIG. 7 is a schematic view of an assembled structure of the curved steering structure having the compensating guide wheels shown in FIG. 6;

FIG. 8 is a schematic structural view of a second embodiment of a compensating guide wheel according to the present application;

FIG. 9 is an exploded view of the curved steering mechanism with the compensating guide wheels shown in FIG. 8;

FIG. 10 is a schematic view of an assembled structure of the curved steering structure having the compensating guide wheels shown in FIG. 8;

FIG. 11 is a schematic structural diagram of a third embodiment of a compensating guide wheel of the present application;

FIG. 12 is a schematic structural view of a fourth embodiment of a compensating guide wheel according to the present application;

FIG. 13 is a schematic view of a fifth embodiment of a compensating guide wheel according to the present application;

FIG. 14 is a schematic structural view of a sixth embodiment of a compensating guide wheel according to the present application;

FIG. 15 is a schematic view of a sensor device according to an embodiment of the present application;

FIG. 16 is a schematic view of a sensor device according to another embodiment of the present application;

FIG. 17a is a schematic view of an assembly of link elements provided in accordance with an embodiment of the present application;

FIG. 17b is an exploded view of the linkage element shown in FIG. 17 a;

FIG. 18a is an assembled view of a linkage element provided in accordance with another embodiment of the present application;

FIG. 18b is an exploded view of the linkage element shown in FIG. 18 a;

FIGS. 19 a-19 c are schematic views of an assembly of cantilever members provided in accordance with an embodiment of the present application;

FIG. 20 is a schematic view of the linkage element shown in FIG. 19a in use;

fig. 21 is an assembly view of a resilient member according to an embodiment of the present application;

fig. 22 is a schematic view of a use state of the elastic sheet element shown in fig. 21;

fig. 23 is an exploded view of the bending deflection structure having the resilient member shown in fig. 21;

FIGS. 24 and 25 are schematic views of the bending principle of the bent steering structure provided in one embodiment of the present application;

FIG. 26 is a schematic view of a hinge member according to one embodiment of the present application in use;

FIG. 27 is an exploded view of the bend diverting structure with the hinge element shown in FIG. 26;

FIGS. 28 a-28 d are schematic views of a compensating guide wheel and a hinge member in accordance with an embodiment of the present application;

FIGS. 29 and 30 are schematic views of a compensating guide wheel and hinge member engagement provided in accordance with one embodiment of the present application;

FIGS. 31 and 32 are schematic views of the bending principle of another prior art bending deflection structure;

FIGS. 33 and 34 are schematic views of the bending principle of another bending deflection structure provided in an embodiment of the present application;

FIG. 35 is a graphical illustration of the effect of the angle of rotation of a curved deflecting structure on the length of a geometric path according to one embodiment of the present application.

Detailed Description

To more clearly describe the curved steering arrangement, the term "distal" is defined herein to mean the end that is distal from the operator during a surgical procedure, and "proximal" to mean the end that is proximal to the operator during the surgical 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 in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Referring to fig. 1 and 2, fig. 1 and 2 are schematic views illustrating a turning principle of a single snake bone unit in the prior art, and it can be seen from an analysis of the turning motion process of the single snake bone unit that when the single snake bone unit is in a zero position and is not bent, the length of the first traction body 109a in the snake bone unit is L1, and the length of the second traction body 109b in the snake bone unit is L2, wherein L1= L2. When the snake bone unit bends, the length of the first traction body 109a in the snake bone unit becomes L1', the length change Δ s1= L1' -L1I, and the length of the second traction body 109b in the snake bone unit becomes L2', the length change Δ s2= L2-L2', the hinge point geometry of the snake bone unit is characterized by L1'+ L2' < L1+ L2, i.e. Δ s1 < [ Δ s2 ], for example, the snake bone unit is driven by the instrument box driving wheel 1200 in the instrument driving box 12, the instrument box driving wheel 1200 is circular, as shown in FIG. 2, the deflection of the instrument box driving wheel 1200 can control the first traction body 109a or the second traction body 109b to be wound or released on the corresponding side thereof, when the instrument box driving wheel 1200 is actively rotated by an angle θ, the second traction body 109b corresponds to the wound Δ s2, and the first traction body 109a releases the change Δ s2, but the length of the snake bone unit 109a is larger than the actual change Δ s1, the length of the first traction body 109a releases the instrument box driving wheel 1200.

Assuming that the instrument box driving wheel 1200 is fixed, because the first traction body 109a on the right side is loose, the snake bone unit can rotate randomly within the loose length range, so that the instrument box driving wheel 1200 cannot accurately control the steering position of the snake bone unit, the joint stiffness of the snake bone unit is low, and the wire outlet angle of the first traction body 109a is alpha. Therefore, the imbalance between the actual length release amount and the required length release amount of the traction body of the snake bone unit is one of the reasons of inaccurate steering position control and rigidity reduction of the snake bone unit.

Based on the technical analysis, the actual release length of the instrument box driving wheel 1200 for releasing the first traction body 109a is the actual length release amount of the first traction body 109a, the required release length of the snake bone unit in the geometric space for the first traction body 109a is the required length release amount of the first traction body 109a, and similarly, the actual release length of the instrument box driving wheel 1200 for releasing other traction bodies is also the actual length release amount of the corresponding traction body, and the required release length of the snake bone unit in the geometric space for other traction bodies is also the required length release amount of the corresponding traction body, which is not described herein again.

Referring to fig. 3, in order to solve the technical problems of inaccurate steering position control and reduced stiffness of the snake bone unit, an embodiment of the present invention provides a bending steering structure 10, wherein the bending steering structure 10 comprises a first joint element 10c, a second joint element 10d, a first traction body 109a, a second traction body 109b and a balance system, the second joint element 10d is rotatably connected with the first joint element 10c, the first traction body 109a and the second traction body 109b movably connect the second joint element 10d with the first joint element 10c, wherein the first traction body 109a and the second traction body 109b are respectively used for controlling the same second joint element 10d to rotate in opposite directions relative to the first joint element 10c, for example, the first traction body 109a is configured to control the second joint element 10d to rotate relative to the first joint element 10c in a first rotation direction, the second traction body 109b is configured to control the same second joint element 10d to rotate relative to the first joint element 10c in a first rotation direction, the first rotation direction and the second rotation direction are opposite rotation directions, specifically, the first rotation direction may be a clockwise direction, and the second rotation direction may be a counterclockwise direction, and those skilled in the art set two opposite rotation directions as required, and the balance system is configured to control at least one of the first traction body 109a and the second traction body 109b to maintain a required length release amount greater than or equal to an actual length release amount during rotation.

The number of the second joint element 10d may be one or more, for example, referring to fig. 3, when the number of the second joint element 10d is one, the second joint element 10d may be rotationally connected to the appropriate position of the first joint element 10c, including rotationally connecting the second joint element 10d to the proximal end of the first joint element 10c, or rotationally connecting the second joint element 10d to the distal end of the first joint element 10 c.

Referring to fig. 4 and 5, when the number of the second joint elements 10d is two, in order to facilitate the distinction between the two second joint elements 10d, for example, the two second joint elements 10d are respectively referred to as a proximal second joint element 10d and a distal second joint element 10d, so that the proximal second joint element 10d may be rotatably connected to the proximal end of the first joint element 10c and the distal second joint element 10d may be rotatably connected to the distal end of the first joint element 10c, wherein the proximal second joint element 10d and the first joint element 10c may constitute a first snake bone unit 10a and the distal second joint element 10d and the first joint element 10c may constitute a second snake bone unit 10b.

The rotation directions of the proximal second joint element 10d and the distal second joint element 10d relative to the first joint element 10c may be the same or different, for example, the rotation directions of the proximal second joint element 10d and the distal second joint element 10d relative to the first joint element 10c are perpendicular to each other or at other specific angles, and those skilled in the art can arrange them as required, and are not limited herein.

The first joint element 10c may be an integral structure formed by independent components or a split structure formed by a plurality of split components, for example, referring to fig. 3, the first joint element 10c may be formed by assembling a first inner connecting piece 106 and a first outer connecting piece 107, the first inner connecting piece 106 may be specifically configured to be rotatably connected with the second joint element 10d, the first outer connecting piece 107 has a corresponding inner cavity, may be sleeved outside the first inner connecting piece 106 to serve as a structure of a housing, and may be fixedly connected by a pin, welding, or the like after being sleeved.

The second joint element 10d may be an integral structure formed by independent components or a separate structure formed by a plurality of separate components, for example, referring to fig. 3, the second joint element 10d may be formed by assembling a second inner connecting member 105 and two second outer connecting unit pieces 108, the second inner connecting member 105 is assembled between the two second outer connecting unit pieces 108, the second inner connecting member 105 may be used to be specifically rotatably connected with the first joint element 10c, and the two second outer connecting unit pieces 108 may be oppositely assembled outside the second inner connecting member 105 to form a structure of a housing.

For example, referring to fig. 4, the proximal second joint element 10d may be assembled by a second inner connecting member 105 and two second outer connecting element pieces 108, the second inner connecting member 105 may be assembled between the two second outer connecting element pieces 108, the second inner connecting member 105 may be configured to be rotatably coupled to the first joint element 10c in particular, the two second outer connecting element pieces 108 may be assembled with respect to each other outside the second inner connecting member 105 to constitute a structure of the housing, the distal second joint element 10d may be assembled by the second inner connecting member 105, the first snake bone joint flap 101 and the second snake bone joint flap 102, the second inner connecting member 105 may be assembled between the first snake bone joint flap 101 and the second snake bone joint flap 102, the second inner connecting member 105 may be configured to be rotatably coupled to the first joint element 10c in particular, and the first snake bone joint flap 101 and the second snake bone joint flap 102 may be assembled with respect to constitute a structure of the housing outside the second inner connecting member 105.

The second outer connecting unit piece 108 of the proximal second joint element 10d may be the same as or different from the first and second serpentine

joint petals

101 and 102 of the distal second joint element 10d, and those skilled in the art may be purposefully arranged according to the assembling parts of the proximal and distal second

joint elements

10d and 10d, which are not limited herein.

The first and

second traction bodies

109a, 109b are identical traction bodies 109, except that the first and

second traction bodies

109a, 109b control the direction of rotation of the first and

second articulation elements

10c, 10d differently, and are referred to as first and

second traction bodies

109a, 109b for ease of distinguishing between the different traction bodies 109. Furthermore, the traction bodies 109 include, but are not limited to, the first traction body 109a and the second traction body 109b, and other traction bodies 109 such as the third traction body 109c and the fourth traction body 109d may also be introduced to help clarify the technical solution, and similarly, the third traction body 109c and the fourth traction body 109d are the same traction body 109, and only the third traction body 109c and the fourth traction body 109d control the rotation direction of the first joint element 10c and the second joint element 10d to be different, and are referred to as the third traction body 109c and the fourth traction body 109d for the convenience of distinguishing different traction bodies 109. The traction body 109 may be a wire or a thread, and the traction body 109 may be made of a steel material, a nickel-titanium alloy or other metals, or a nylon material or other non-metals, and those skilled in the art may select a suitable material or a suitable diameter of the wire according to the requirement, which is not limited herein.

The number of the pulling bodies 109 can be chosen arbitrarily, for example, when the number of the pulling bodies 109 is two, the two pulling bodies 109 can comprise a first pulling body 109a and a second pulling body 109b, and a first pulling body 109a and a second pulling body 109b are symmetrically arranged on both sides of the first joint element 10c and the second joint element 10d, so that the first joint element 10c and the second joint element 10d can be controlled to rotate in opposite directions by a first pulling body 109a and a second pulling body 109b, respectively. For example, when the number of the pulling bodies 109 is four, the four pulling bodies 109 may include a first pulling body 109a, a second pulling body 109b, a third pulling body 109c and a fourth pulling body 109d, the four pulling bodies 109 are symmetrically arranged on two sides of the first joint element 10c and the second joint element 10d, and the two pulling bodies 109 on different sides are combined into a group to control the first joint element 10c and the second joint element 10d to rotate in two opposite directions, and those skilled in the art may design the number of the pulling bodies 109 according to the requirement, which is not limited herein.

The number of second articulation elements 10d may be adapted to the number of traction bodies 109, e.g. one second articulation element 10d may be rotatably connected to the proximal or distal end of the first articulation element 10c, two traction bodies 109 may be formed by a first traction body 109a and a second traction body 109b, the first traction body 109a and the second traction body 109b may be symmetrically arranged on both sides of the second articulation element 10d and the first articulation element 10c, thereby controlling the rotation of the second articulation element 10d and the first articulation element 10c in opposite directions, e.g. when the second articulation element 10d is provided with a proximal second articulation element 10d and a distal second articulation element 10d, if the proximal second articulation element 10d and the distal second articulation element 10d are perpendicular or at other specific angles to the direction of rotation of the first articulation element 10c, four traction bodies 109 may be arranged by the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth articulation element 109d, and the proximal second articulation element 10d and the second articulation element 109c may be arranged by the first traction body 109a, second traction body 109d, the second traction body 109c and the second articulation element 109c may be arranged in a square configuration with the proximal and the second traction body 109d, the proximal second articulation element 10d, the second traction body 109d, the distal articulation element 109c and the second articulation element 10d may be arranged by the proximal articulation element 10d, the proximal articulation element 109c and the fourth traction body 109d.

In one embodiment, the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d may simultaneously articulate the second joint element 10d and the first joint element 10c, wherein the first traction body 109a and the fourth traction body 109d constitute a first traction group, the second traction body 109b and the third traction body 109c constitute a second traction group, in a first manner of grouping two by two, or the first traction body 109a and the third traction body 109c constitute a first traction group, the second traction body 109b and the fourth traction body 109d constitute a second traction group, in a second manner of grouping two by two, i.e. ensuring that two traction bodies 109 connected in circumferential direction can be grouped in combination.

In this embodiment, it is specifically possible to selectively control the rotation of the proximal second joint element 10d with respect to the first joint element 10c in a first direction by means of the first traction body 109a and the fourth traction body 109d, and to control the rotation of the proximal second joint element 10d with respect to the first joint element 10c in a second direction by means of the second traction body 109b and the third traction body 109c, the first direction and the second direction being opposite to each other. Similarly, it is specifically contemplated that the first retractor 109a and the third retractor 109c may be used to control rotation of the distal second joint element 10d in a third direction relative to the first joint element 10c, and the second retractor 109b and the fourth retractor 109d may be used to control rotation of the distal second joint element 10d in a fourth direction relative to the first joint element 10c, the third direction being opposite to the fourth direction.

Based on the cooperation between the plurality of traction bodies 109 as listed above, the first traction group and the second traction group can be used to control the rotation of the same second joint element 10d (the proximal second joint element 10d or the distal second joint element 10 d) in opposite directions relative to the first joint element 10c, respectively, but the actual number of traction bodies 109 and the cooperation with the first joint element 10c and the second joint element 10d can be set according to actual requirements, which are not limited herein, and at least one of the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d can keep its required length release amount greater than or equal to the actual length release amount during the rotation.

Therefore, no matter any number of the traction bodies 109 including, but not limited to, the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d are adopted, as long as the traction bodies 109 can ensure that each traction body 109 keeps the length release amount thereof larger than or equal to the actual length release amount (which is equivalent to keeping the release amount balance of the traction bodies 109) when winding or releasing the traction bodies 109 in the process of controlling the rotation of the first joint element 10c and the second joint element 10d, the situation that any traction body 109 is loosened does not exist when the first joint element 10c and the second joint element 10d rotate can be ensured, so that the first joint element 10c and the second joint element 10d keep accurate position control in the rotating process, the overall rigidity of the first joint element 10c and the second joint element 10d is improved, and the end of the surgical instrument 1 can be ensured to accurately reach the target surgical position.

When the length release amount of the traction body 109 itself, including but not limited to the first traction body 109a, the second traction body 109b, the third traction body 109c, and the fourth traction body 109d, is ensured to be greater than or equal to the actual length release amount, various structural forms may be adopted to achieve the adjustment purpose, for example, the characteristics of the traction body 109 itself, the characteristics of the first joint element 10c and the second joint element 10d themselves may be changed, or other elements may be added to the curved steering structure 10, and the added elements are used to cooperate with the respective traction bodies 109, the first joint element 10c, and the second joint element 10d to achieve the purpose of adjusting the length release amount of the traction body 109 itself to be greater than or equal to the actual length release amount.

The improvement of various structural forms can be based on adding an elastic function in the curved turning structure 10, and using the elastic function to achieve the purpose of adjusting the length release amount of the traction body 109 itself to be greater than or equal to the actual length release amount, or can also be based on adding a damping function in the curved turning structure 10, and using the damping function to achieve the purpose of adjusting the length release amount of the traction body 109 itself to be greater than or equal to the actual length release amount, besides, a person skilled in the art can also achieve the technical purpose of adjusting the length release amount of the traction body 109 itself to be greater than or equal to the actual length release amount through other technical paths, and various feasible technical paths can be referred to as an adjusting system integrated in the curved turning structure 10, and are not specifically limited herein.

In one embodiment, at least a portion of at least one of the plurality of pulling bodies 109 including, but not limited to, the first pulling body 109a, the second pulling body 109b, the third pulling body 109c, and the fourth pulling body 109d is a stretchable structure, and the balance system is formed by a stretchable structure of at least a portion of at least one of the plurality of pulling bodies 109, that is, a structure of at least one of the plurality of pulling bodies 109, that is, a stretchable structure is a deformable structure, and the stretchable structure is capable of being deformed by an elastic function, a damping function, and other functions, and the stretchable structure is designed to enable any one of the plurality of pulling bodies 109 to dynamically adjust its length during winding or releasing, so as to ensure that a length releasing amount of the pulling body 109 itself is greater than or equal to an actual length releasing amount, and avoid a slack during winding or releasing.

Referring to fig. 6 to 18b, in one embodiment, the balance system includes a length compensation structure, which is equivalent to adding a length compensation structure on at least one of the first articulation element 10c and the second articulation element 10d to construct a balance system, and the length compensation structure is elastically contacted with the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d, so that the length of each traction body 109 can be dynamically adjusted based on the elastic contact with the length compensation structure during winding or releasing, thereby adjusting the required length of at least one of the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d to be greater than or equal to the actual length, and avoiding the situation that any one traction body 109 is loosened during winding or releasing.

The length compensation structure may take various forms, for example, the compensation guide wheel 103, the cantilever element 101a, the elastic sheet element 1010 and other elements are added, and the added elements provide an elastic function, a damping function and the like, it should be noted that the elastic contact formed between the length compensation structure and the traction bodies 109, such as the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d, may be caused by an elastic change of the traction body 109 itself, may also be caused by an elastic change of the length compensation structure itself, or may be caused by an elastic change of the traction body 109 and the length compensation structure which cooperate with each other, and those skilled in the art may select an appropriate matching form according to the needs, which is not limited herein.

As shown in fig. 6 and 7, for example, the length compensation structure includes a compensation guide wheel 103, the compensation guide wheel 103 is fixed-axis and rotatably mounted on the second joint element 10d, the diameter of the compensation guide wheel 103 itself can be elastically changed, the compensation guide wheel 103 is in elastic contact with the first traction group and the second traction group, wherein in the first traction group and the second traction group, the traction bodies 109 such as the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d can be partially in elastic contact with the compensation guide wheel 103 or fully in elastic contact with the compensation guide wheel 103, and the traction bodies 109 such as the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d can be in elastic contact with the compensation guide wheel 103 by virtue of an inelastic structure 1013, that only the elastic change of the compensation guide wheel 103 is realized, or the elastic contact of the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d can be realized by at least one elastic change of the elastic structure 1013 of the compensation guide wheel 103 itself, that the elastic change of the elastic structure 109d can be realized by both.

The number of compensating guide wheels 103 and the mounting on the first joint element 10c or the second joint element 10d can be set as desired, for example, when an inner passage is not required in the middle of the second joint element 10d, only one compensating guide wheel 103 between the first joint element 10c and one second joint element 10d can be used, and the compensating guide wheel 103 can be arranged in the central position of the first joint element 10c and the second joint element 10d, and correspondingly, the traction body 109 can also be fitted to the compensating guide wheel 103 in the central position with the first traction body 109a and the second traction body 109b. Alternatively, when the middle portion of the second joint element 10d has an inner channel, in order to avoid the inner channel of the second joint element 10d, the number of the compensating guide wheels 103 may be two, two compensating guide wheels 103 are symmetrically arranged on both sides of the second joint element 10d, and accordingly, the traction body 109 may also be configured by using the first traction body 109a, the second traction body 109b, the third traction body 109c and the fourth traction body 109d to cooperate with the compensating guide wheels 103, which is not limited herein.

Moreover, when the compensation guide wheel 103 is assembled on the second joint element 10d, the rotation axis of the compensation guide wheel 103 and the rotation direction of the second joint element 10d may form any assembly angle, for example, the rotation axis of the compensation guide wheel 103 and the rotation direction of the second joint element 10d are perpendicular to each other, and a person skilled in the art may set the assembly position and angle of the compensation guide wheel 103 on the second joint element 10d as required, which is not limited herein.

The manner of implementing the elastic change of the diameter of the compensation guide wheel 103 may take various forms, and as shown in fig. 6 and fig. 7, for example, in one embodiment, at least a part of the structure of the compensation guide wheel 103 may be made of an elastic material, and the elastic material includes a silicone rubber or a thermoplastic polyurethane elastomer (TPU), and therefore, the elastic change of the diameter of the compensation guide wheel 103 may be implemented by a simpler scheme, and the compensation guide wheel 103 is convenient to manufacture. Alternatively, referring to fig. 8 to 13, the compensating guide wheel 103 includes a central rotation shaft 1034 and a plurality of circumferentially distributed guide wheel petals 1031, the guide wheel petals 1031 have an arc structure, the plurality of guide wheel petals 1031 are circumferentially distributed to form a complete and circular compensating guide wheel 103, and the guide wheel petals 1031 are elastically connected to the central rotation shaft 1034 through an elastic element 1032, so that the elastic force applied between the guide wheel petals 1031 and the central rotation shaft 1034 by the elastic element 1032 can elastically change the diameter of the compensating guide wheel 103.

The plurality of guide wheel petals 1031 may be arranged in a central symmetry manner or in a left-right symmetry manner with respect to the central rotating shaft 1034, and due to the existence of the elastic element 1032, when the rigidity of the traction body 109 is high, for example, the traction body 109 is a steel belt, a nitinol wire, a high-rigidity steel wire rope, etc., the position of the guide wheel petals 1031 may be compressed into a smaller diameter range, so as to ensure that the first external connection member 107 reaches a unique target position, and simultaneously avoid the situation that the high-rigidity traction body 109 is accidentally broken due to the length variation exceeding the limit of the material stretching length range thereof, so that the compatibility of the compensation guide wheel 103 with the traction body 109 may be improved.

The elastic element 1032 may include various structural forms and various materials, and those skilled in the art can design the actual structure and the material of the elastic element 1032 according to the requirement, which is not limited herein.

Referring to fig. 14, the compensating guide wheel 103 may further include a link element 1036, the number of the link element 1036 may be set to one or more according to the requirement, the guide wheel flap 1031 is connected to the link element 1036, and the link element 1036 is connected to the central rotation shaft 1034 through the elastic element 1032, so that the guide wheel flap 1031 may be indirectly connected to the elastic element 1032 through the link element 1036, and then further connected to the central rotation shaft 1034 through the elastic element 1032.

The number of guide petals 1031 and the number of link elements 1036 and the connection therebetween may include various specific structural forms, for example, in one embodiment, the guide petals 1031 include a first petal and a second petal, and the link elements 1036 include a first link connected to the first link, a second link connected to the second link, a third link, a fourth link, a fifth link, and a sixth link, wherein the first link may be disposed at a specific angle inside the first petal, and the second link may be disposed at a specific angle inside the second petal.

By means of the first link member and the second link member, one end of the third link member and one end of the fourth link member may be both connected to the first link member, and one end of the third link member and one end of the fourth link member may be concentratedly connected to the same hinge point 1035 of the first link member, one end of the fifth link member and one end of the sixth link member are both connected to the second link member, and one end of the fifth link member and one end of the sixth link member may be concentratedly connected to the same hinge point 1035 of the second link member, and the other end of the third link member and the other end of the fifth link member are connected to the same hinge point 1035, and the fourth link member and the other end of the sixth link member are connected to the same hinge point 1035, thereby constructing a peripheral link structure of the elastic element between the first wheel lobe and the second wheel lobe through the first link member, the second link member, the third link member, the fourth link member, the fifth link member and the sixth link member form a peripheral link structure around the elastic element 1032, and the peripheral link structure are connected through the rotating shaft 1034.

As shown in fig. 14, the link element 1036 can rotate relative to the hinge points 1035, wherein two hinge points 1035 at opposite corners are connected to the central rotation shaft 1034 through the elastic element 1032, and the other two hinge points 1035 are fixedly connected to the first wheel flap and the second wheel flap, when the traction body 109 is made of a high-rigidity material, it can be ensured that the first external connection member 107 reaches a unique target position when the instrument box driving wheel 1200 rotates, and meanwhile, the situation that the traction body 109 with high rigidity is accidentally broken due to the length variation exceeding the limit of the material stretching length range thereof is avoided, and the compatibility of the compensation guide wheel 103 with the traction body 109 is improved.

In one embodiment, the compensating guide wheel 103 has a circumferential outer contour with a circumferential guide groove 1033, for example, when the compensating guide wheel 103 is a complete wheel body, the entire wheel body outer contour of the compensating guide wheel 103 may be provided with a continuous circumferential guide groove 1033, and when the compensating guide wheel 103 includes a plurality of split guide wheel flaps 1031, the circumferential guide groove 1033 includes a plurality of unit grooves provided on the outer contour of each guide wheel flap 1031, and the plurality of unit grooves form an axial guide groove by the cooperative fit of the plurality of guide wheel flaps 1031. The circumferential guide grooves 1033 can be used for guiding and embedding the traction body 109, so that the movement of the traction body 109 is guided through the circumferential guide grooves 1033, and the traction body 109 is ensured not to move and deviate in the winding and releasing processes.

Referring to fig. 15 to 18b, in one embodiment, the length compensation structure includes a sensing device 1012, the sensing device 1012 includes a displacement sensor, a force sensor, a hall sensor, and the like, which is not limited herein, the sensing device 1012 is disposed on the second joint element 10d, and when the traction body 109 applies an acting force to the compensation guide wheel 103, the sensing device 1012 can acquire stress information of the compensation guide wheel 103 through a stress state of the compensation guide wheel 103, so as to digitize the stress state of the compensation guide wheel 103, thereby facilitating an operator to acquire data, analyze data, and intuitively understand the stress state of the compensation guide wheel 103.

For example, the sensing device 1012 may be configured to monitor whether the compensating guide wheel 103 is acted by the external traction body 109, when the bending steering structure 10 is not in the zero position, a specific force value monitored by the sensing device 1012 should be greater than a predetermined threshold force, and if the monitoring result shows that the bending steering structure 10 is not in the zero position, and the specific force value is less than the predetermined threshold force, it indicates that the traction body 109 is loose, the posture control is inaccurate, and the surgical instrument 1 needs to be repaired or scrapped.

The mounting form of the sensing device 1012 on the second joint element 10d can be various, as long as the sensing device 1012 can accurately obtain the stress information of the compensation guide wheel 103, and is not limited herein, for example, referring to fig. 15, in one embodiment, the length compensation structure includes a shaft sleeve element 1011, the compensation guide wheel 103 has a central rotating shaft 1034, the second joint element 10d has a central shaft hole capable of allowing the central rotating shaft 1034 to be rotatably mounted, the central rotating shaft 1034 of the compensation guide wheel 103 is rotatably mounted with the central shaft hole of the second joint element 10d through the shaft sleeve element 1011, at this time, the sensing device 1012 is located between the shaft sleeve element and the second joint element 10d, so that the stress of the compensation guide wheel 103 can be transmitted to the shaft sleeve element 1011 through the central rotating shaft 1011, and the sensing device can indirectly obtain the stress information of the compensation guide wheel 103 by means of the force of the shaft sleeve element 1011.

Referring to fig. 16 to 18b, or in one embodiment, the length compensation structure includes a guide rod element 1014, the number of the guide rod elements 1014 may be one or more, the compensation guide wheel 103 is connected to the guide rod element 1014, and the guide rod element 1014 is elastically connected to the second joint element 10d, wherein, for example, a guide rod through hole for the guide rod element 1014 to movably penetrate through may be formed on the second joint element 10d, the guide rod element 1014 is movably inserted into the guide rod through hole, so that the guide rod element 1014 has a basic assembly structure for relative movement with respect to the second joint element 10d, and then the guide rod element 1014 may be indirectly connected to the second joint element 10d through an additional elastic structure 1013 such as a spring, a leaf spring, an elastic beam, etc., so that the guide rod element 1014 can be elastically assembled with respect to the second joint element 10d, which is not limited herein. Therefore, the compensating guide wheel 103 can be indirectly elastically connected to the second joint element 10d via the guide rod element 1014, and thus indirectly contact the sensor 1012 by force, and the sensor 1012 indirectly obtains the force information of the compensating guide wheel 103 by contact with the guide rod element 1014 by force.

Referring to fig. 19a and 20, in one embodiment, the length compensation structure may also include one or more cantilever members 101a, one end of the cantilever member 101a is connected to the second joint member 10d, and at least a portion of the cantilever member 101a has elasticity, for example, the cantilever member 101a may be made of Polyetheretherketone (PEEK), stainless steel, or other materials with good elasticity, or the cantilever member 101a may achieve an elastic effect by virtue of a cantilever structure with one end connected to the second joint member 10d, so that the cantilever member 101a is in elastic contact with the first traction group and the second traction group, wherein in the first traction group and the second traction group, the first traction body 109a, the second traction body 109b, the third traction body 109c, and the fourth traction body 109d may be in partial elastic contact with the cantilever member 101a or in full elastic contact with the cantilever member 101 a.

Referring to fig. 21 to 23, in one embodiment, the length compensation structure may also include a leaf spring element 1010, the leaf spring element 1010 may be made of Polyetheretherketone (PEEK), stainless steel, and other materials with good elasticity, the number of the leaf spring elements 1010 may be one or more, and the leaf spring element 1010 may be in any structural form, such as a straight piece, qu Pianxing, and the like, the leaf spring element 1010 is connected to the second joint element 10d, and the leaf spring element 1010 is in elastic contact with the first traction group and the second traction group, wherein in the first traction group and the second traction group, the traction bodies 109, such as the first traction body 109a, the second traction body 109b, the third traction body 109c, and the fourth traction body 109d, may be partially in elastic contact with the leaf spring element 1010 or completely in elastic contact with the leaf spring element 1010.

In one embodiment, the second joint element 10d is provided with an adapting groove 101b, the elastic sheet element 1010 includes an elastic portion 1010b and an adapting portion 1010a, wherein the groove shape of the adapting groove 101b is matched with the shape of the adapting portion 1010a of the elastic sheet element 1010, for example, the groove shape of the adapting groove 101b and the adapting portion 1010a of the elastic sheet element 1010 are both arc-shaped or circular, at this time, the adapting portion 1010a of the elastic sheet element 1010 and the adapting groove 101b can also form a rotating assembly, and then the elastic sheet element 1010 is in elastic contact with the first traction group and the second traction group through the elastic portion 1010 b.

For the purpose of clearly explaining the technical effects of the technical solutions, the embodiment of adding the compensating guide wheel 103 to the bending steering structure 10 is specifically explained herein, except that in the embodiment of adding other types of elements such as the cantilever element 101a and the spring element 1010 to the bending steering structure 10 in the present application, the basic principle is the same as that of adding the compensating guide wheel 103, and can be considered by analogy.

Specifically, referring to fig. 24 and 25, when the first snake bone unit 10a is at zero position and is not bent, the length of the first traction body 109a in the first snake bone unit 10a is L1, and the length of the second traction body 109b in the first snake bone unit 10a is L2, wherein L1= L2. The compensation guide wheel 103 is rotatably mounted in the first snake bone unit 10a, the outer contour diameter of the compensation guide wheel 103 is D (or when the compensation guide wheel 103 has the circumferential guide groove 1033, the outer contour diameter of the circumferential guide groove 1033 is D), the circle center of the compensation guide wheel 103 is preferably arranged on the bilateral symmetry plane of the first snake bone unit 10a, the projection distance of the first traction body 109a and the second traction body 109b on the rotation plane of the first snake bone unit 10a is set to be s, the outer diameter of the first snake bone unit 10a is set to be D, and the relation that s is less than or equal to D and less than D is satisfied.

When the first snake unit 10a bends, the length of the first traction body 109a in the first snake unit 10a changes to L1 ″, the length change Δ s1= L1 ″ -L1 |, the length of the second traction body 109b in the first snake unit 10a changes to L2', the length change Δ s2= L2-L2 |, the length change Δ s1 ≧ Δ s2 |, i.e. Δ s1 ≧ Δ s2, since the hinge point geometry of the first snake unit 10a satisfies L1"+ L2' ≧ L1+ L2 |, for example, the first snake unit 10a is driven by a cartridge drive wheel 1200 in the cartridge drive 12, the cartridge drive wheel 1200 is circular, as shown in fig. 25, the deflection of the cartridge drive wheel 1200 can control the first traction body 109a or the second traction body 109b to wind or unwind on its respective side, when the cartridge drive wheel 1200 is rotated to the left by an angle θ, the second traction body 109b corresponds to a winding or unwinding of the length change Δ s2 of the first snake unit 109a, but no release Δ s2 occurs to the length of the first snake unit 10a, and no release Δ s2 occurs to the length change Δ s1 ≦ s2, which corresponds to the length change of the length of the first snake unit 10a, which corresponds to the release geometry of the release Δ s 2.

Assuming that the instrument box driving wheel 1200 is fixed, the right first traction body 109a is tensioned and the tensioning force is equal to the tensioning force of the left second traction body 109b, at this time, the actual length release amount and the required length release amount of the first traction body 109a can be directly kept balanced, or the right first traction body 109a is tensioned and the tensioning force is greater than the tensioning force of the left second traction body 109b, at this time, the actual length release amount and the required length release amount of the first traction body 109a can be kept balanced to a certain extent by means of the small deformation of the first traction body 109a, and particularly, when the first traction body 109a has a telescopic function and the first traction body 109a is in elastic contact with the length compensation structure, the unbalanced tensioning force between the first traction body 109a and the second traction body 109b can be further adjusted, and the actual length release amount and the required length release amount of the first traction body 109a can be kept balanced without damaging the first traction body 109 a. In one embodiment, a plurality of the tractors 109 including, but not limited to, the first, second, third and

fourth tractors

109a, 109b, 109c, 109d may define a maximum allowable extension length m, satisfying m ≧ 0.5x | Δ s2- Δ s1 |, e.g., using thinner steel wire ropes or nylon ropes, etc.

An elastic part 1010b such as a spring can be added on the extending path of the traction body 109, the elastic part 1010b is utilized to ensure the expansion characteristic, which is helpful for keeping the first snake bone unit 10a balanced in the rotation process, the tension of the first traction body 109a on the right side can be basically consistent with the tension of the second traction body 109b on the left side in the balancing process, namely, the unique position of the instrument box driving wheel 1200 can correspond to the unique position of the first external connecting piece 107, the angle of the first traction body 109a relative to the wire outlet of the second external connecting unit piece 108 is beta, and beta is less than alpha, therefore, the first snake bone unit 10a can be accurately controlled, the first traction body 109a and the second traction body 109b on the left side and the right side of the first snake bone unit 10a both have the tensions, the joint rigidity of the first snake bone unit 10a can be greatly improved, the traction body 109 moves relative to the second external connecting unit piece 108, the compensating guide wheel 103 which can rotate relative to the second external connecting unit piece 108 can reduce the included angle of the wire outlet of the traction body 109 and the second external connecting unit 108, the traction body 109 can be increased, the rolling friction and the friction service life can be further improved, and the friction of the traction body 109 can be further improved. Particularly, when the traction body 109 drives a plurality of groups of the first snake bone units 10a, such as the second snake bone unit 10b in fig. 7 is in a bending state, and the second snake bone unit 10b rotates, the compensating guide wheels 103 on the first snake bone unit 10a rotate under the action of the traction body 109, so that the dry friction and wear of the traction body 109 can be avoided, and the service life of the traction body can be prolonged.

Referring to fig. 24-28D, first articulating element 10C and second articulating element 10D may be pivotally mounted in a variety of ways, for example, first articulating element 10C may have a pair of first articulating portions on opposite sides thereof, the first articulating portions being labeled a and B, the articulating axes of the first articulating portions being non-collinear, second articulating element 10D may have a pair of second articulating portions on opposite sides thereof, the second articulating portions being labeled C and D, the articulating axes of the second articulating portions being non-collinear, and the first articulating portions and second articulating portions on the same side of first articulating element 10C and second articulating element 10D being articulated by articulating element 104.

The hinge axes of the pair of first hinge parts or the pair of second hinge parts are not collinear, an offset hinge point link mechanism can be constructed between the first joint element 10c and the second joint element 10d, and the offset hinge point link mechanism can effectively shorten the joint length of the first joint element 10c and the second joint element 10d, so that the first joint element 10c and the second joint element 10d have larger deflection angles, and therefore, in the operation process, the risk of movement interference of the surgical instrument 1 or the endoscope during movement in a narrow space area can be reduced, and the operation difficulty of the instrument can be reduced.

In order to avoid the inner passage of the second joint element 10d when the middle of the second joint element 10d has an inner passage, the number of the compensating guide wheels 103 may be two, two compensating guide wheels 103 are symmetrically arranged on both sides of the second joint element 10d, the number of the articulation elements 104 is correspondingly set to two, and the traction body 109 may also be fitted with the compensating guide wheels 103 using a first traction body 109a, a second traction body 109b, a third traction body 109c and a fourth traction body 109d. When assembling, the two compensating guide wheels 103 and the two hinge elements 104 are respectively disposed on both sides of the second joint element 10d, and the compensating guide wheels 103 may be located on the inner side or the outer side of the hinge elements 104, for example, referring to fig. 28b and 28d, the compensating guide wheels 103 are located on the outer side of the hinge elements 104, i.e., the outer side distance of the two hinge elements 104 is p, and the inner side distance of the two compensating guide wheels 103 is q, so that p ≦ q. Of course, if there is no internal channel in the middle of the second joint element 10d, there is no restriction of p ≦ q.

As shown in fig. 25, the hinge point a and the hinge point B are asymmetric in themselves, but the projections of the hinge point a and the hinge point B are symmetrically arranged, and the hinge point C and the hinge point D are asymmetric in themselves, but the projections of the hinge point C and the hinge point D are symmetrically arranged. The projection of the hinge point A and the hinge point B is also positioned on the symmetrical plane of the upper snake bone and the lower snake bone. Referring to fig. 26 and 27, the second inner connecting member 105 may have one or more passage holes inside, and guide surfaces at the inlet and outlet of the passage holes, and the first inner connecting member 106 may have one or more passage holes inside, and guide surfaces at the inlet and outlet of the passage holes. The passage holes of the second inner connecting member 105 and the first inner connecting member 106 may be used to place a slidable driving member (e.g., a push-type knife flexible shaft of an anastomat, a push-type steel wire rope for controlling opening and closing, or a nickel-titanium alloy wire with a push-pull function, etc.), or a rotatable driving member (e.g., a driving flexible shaft capable of transmitting torque, a universal joint rotating shaft, etc.), or an electrical cable, an optical fiber, a pipeline, etc. (e.g., a cable for power supply or signal transmission, or an illumination or communication optical fiber, or a pipeline for irrigation, ventilation, or sampling instruments, etc.).

In addition, as shown in fig. 29 to 32, the hinge axes of the pair of first hinge parts or the pair of second hinge parts may also be formed in a collinear manner, that is, the first joint element 10c and the second joint element 10d are rotatably connected by the collinear hinge parts, and those skilled in the art can select a suitable assembling manner according to the requirement, which is not limited herein. In which, the principle description of the bending steering structure 10 can also refer to the detailed description of fig. 1, fig. 2, fig. 24 and fig. 25 in the foregoing, which is not repeated herein,

referring to fig. 33 and 34, the present invention further provides a surgical instrument 1, where the surgical instrument 1 includes the bending steering structure 10, an instrument distal end jaw 11, an instrument driving box 12 and an instrument rod 13, where the instrument driving box 12 is disposed at a proximal end of the instrument rod 13, the bending steering structure 10 is disposed at a distal end of the instrument rod 13, the instrument distal end jaw 11 is disposed at a distal end of the bending steering structure 10, that is, the bending steering structure 10 is located between the instrument rod 13 and the instrument distal end jaw 11, and the instrument driving box 12 is in control connection with the instrument distal end jaw 11 and the bending steering structure 10, and those skilled in the art can set up the movements such as opening and closing the instrument distal end jaw 11 and steering the bending steering structure 10 according to needs, which is not limited herein.

Since the bending steering structure 10, the specific structure, the functional principle and the technical effect of the surgical instrument 1 are all detailed in the foregoing, detailed description is omitted here, and any technical content related to the bending steering structure 10 and the surgical instrument 1 can refer to the above records.

Referring to fig. 35, the bend-diverting structure 10, and the surgical instrument 1 and surgical system employing the bend-diverting structure 10, can also be experimented with to obtain corresponding data. Specifically, the length deviation amount of the compensating wheel is, for example, experimental data passing through the additional compensating guide wheel 103, and the length deviation amount of the uncompensated wheel is, for example, experimental data of the existing structure not passing through the additional compensating guide wheel 103.

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 should be subject to the appended claims.

Claims

1. A curved diverting structure, characterized in that it comprises:

a first joint element;

2. The bend steering structure according to claim 1, wherein the first joint element has a pair of first hinges on opposite sides thereof, the hinge axes of the pair of first hinges being non-collinear, the second joint element has a pair of second hinges on opposite sides thereof, the hinge axes of the pair of second hinges being non-collinear, and the first and second hinges on the same side of the first and second joint elements are hinged by a hinge element.

3. The curved diverting structure according to claim 1, characterized in that it comprises:

at least one third retractor and at least one fourth retractor, at least a portion of at least one of the third retractor and the fourth retractor being a retractable structure, the first retractor, the second retractor, the third retractor and the fourth retractor movably coupling the second joint element and the first joint element; the first traction body and the fourth traction body form a first traction group, the second traction body and the third traction body form a second traction group, or the first traction body and the third traction body form a first traction group, and the second traction body and the fourth traction body form a second traction group;

4. The curved diverting structure according to claim 3, characterized in that the second articulation element comprises:

5. The curved steering structure of claim 3, wherein the counterbalance system comprises:

6. The bend-diverting structure according to claim 5, characterized in that said length-compensating structure comprises:

7. The bend steering structure according to claim 6, wherein the second joint member has an inner passage in a middle portion thereof, the number of the compensating guide wheels is two, and the two compensating guide wheels are symmetrically disposed on both sides of the second joint member.

8. The bend steering arrangement according to claim 6, characterized in that the axis of rotation of the compensating guide wheel is perpendicular to the direction of rotation of the second articulation element.

9. The curved divert structure of claim 6, wherein at least a portion of the structure of the compensating guide wheel is formed of an elastomeric material.

10. The curved steering structure according to claim 6, wherein the compensating guide wheel comprises a central rotating shaft and a plurality of circumferentially distributed guide lobes, the guide lobes being resiliently connected to the central rotating shaft by resilient elements.

11. The bend steering arrangement according to claim 10, characterized in that the compensating guide wheel comprises at least one link element, the guide wheel lobe being connected to a link element, which link element is connected to the central pivot shaft via the elastic element.

12. The bend steering structure according to claim 11, wherein the guide lobe includes a first lobe and a second lobe, the link member includes a first link member, a second link member, a third link member, a fourth link member, a fifth link member, and a sixth link member, the first lobe is connected to the first link member, the second lobe is connected to the second link member, one ends of the third link member and the fourth link member are connected to the first link member, one ends of the fifth link member and the sixth link member are connected to the second link member, the other end of the third link member is connected to the other end of the fifth link member, and the fourth link member is connected to the other end of the sixth link member.

13. The bend-diverting structure according to claim 6, characterized in that said length-compensating structure comprises:

the length compensation structure further comprises a shaft sleeve element, a central rotating shaft of the compensation guide wheel is rotatably assembled with a central shaft hole of the second joint element through the shaft sleeve element, and the sensing device is located between the shaft sleeve element and the second joint element and used for acquiring stress information of the compensation guide wheel; and/or the length compensation structure further comprises a guide rod element, the compensation guide wheel is connected with the guide rod element, the guide rod element is elastically connected with the second joint element, the guide rod element is in force contact with the sensing device, and the sensing device is used for indirectly acquiring the stress information of the compensation guide wheel through the force contact with the guide rod element.

14. The bend-diverting structure according to claim 5, characterized in that said length-compensating structure comprises:

15. The bending steering structure according to claim 14, wherein the second joint element is provided with an adapter groove, the spring element comprises an elastic part and an adapter part, the adapter part is rotatably assembled with the adapter groove, and the elastic part is elastically contacted with the first traction group and the second traction group.