CN215651505U

CN215651505U - Flexible mechanical arm and surgical equipment

Info

Publication number: CN215651505U
Application number: CN202120555627.9U
Authority: CN
Inventors: 杨嘉林; 胡庆浩; 陈剑箫; 刘飞; 龙飞
Original assignee: Shenzhen Robo Medical Technology Co ltd
Current assignee: Shenzhen Robo Medical Technology Co ltd
Priority date: 2021-03-18
Filing date: 2021-03-18
Publication date: 2022-01-28
Anticipated expiration: 2031-03-18

Abstract

The utility model discloses a flexible mechanical arm and surgical equipment. The flexible mechanical arm in the embodiment of the utility model comprises an execution tail end, a feeding assembly and a flexible arm. The clamping mechanism can clamp, the feeding assembly comprises a first connecting piece and a second connecting piece, the first connecting piece can move relative to the second connecting piece, and the clamped mucosa and other parts are lifted. The flexible arm can be bent at least to two directions, so that the executing tail end can flexibly adjust the self posture. The flexible mechanical arm in the embodiment of the utility model is suitable for surgical operations such as endoscopic mucosal cutting operation and the like, can reduce the operation difficulty of doctors, improves the operation efficiency and reduces the time required by the operation. The surgical equipment in the embodiment of the utility model comprises the flexible mechanical arm.

Description

Flexible mechanical arm and surgical equipment

Technical Field

The utility model relates to the field of medical instruments, in particular to a flexible mechanical arm and surgical equipment.

Background

A conventional endoscopic mucosal resection (ESD surgery) is a resection of a diseased mucosa performed by a gastroenterologist with the aid of a digestive endoscope. At present, the flexible mechanical arm of the endoscope has the defect of insufficient freedom degree. The endoscope has low flexibility, increases the operation difficulty of doctors in the operation and prolongs the operation time.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides a flexible mechanical arm which can improve the flexibility of the operation of the flexible mechanical arm.

The utility model also provides surgical equipment comprising the flexible mechanical arm.

In an embodiment according to the first aspect of the utility model, a flexible robot arm comprises:

the device comprises an execution tail end, a clamping mechanism and a driving mechanism, wherein the execution tail end comprises a clamping mechanism, and is connected with a first driving rope which is used for driving the clamping mechanism to perform clamping action;

the feeding assembly comprises a first connecting piece and a second connecting piece, the execution tail end is connected with the first connecting piece, the first connecting piece can move relative to the second connecting piece, the first connecting piece is connected with a second driving rope, and the second driving rope is used for driving the first connecting piece to move relative to the second connecting piece;

and the flexible arm is connected to the second connecting piece and can be bent at least in two directions.

The flexible mechanical arm provided by the embodiment of the utility model has at least the following beneficial effects: the first connecting piece can move relative to the second connecting piece, the flexible arm can bend in at least two directions, the clamping mechanism can clamp the flexible arm, and the flexible arm at least has four degrees of freedom and good flexibility.

According to some embodiments of the utility model, the first connecting member is rotatably connected to the actuating end, and the first driving rope can drive the actuating end to rotate around an axis of the first driving rope.

According to some embodiments of the present invention, the flexible mechanical arm further includes a first sleeve and a second sleeve, the second driving rope is hollow inside to form a first driving rope channel, the first sleeve is sleeved on the first driving rope, the first sleeve is inserted into the first driving rope channel, the feeding assembly and the flexible arm are hollow inside and communicated to form a second driving rope channel, the second sleeve is sleeved on the second driving rope, and the second sleeve is inserted into the second driving rope channel.

According to some embodiments of the utility model, the execution terminal further comprises a pull rod and a mounting seat, the mounting seat is connected with the first driving rope, the clamping mechanism comprises a clamping forceps and two connecting rods, the mounting seat is provided with a mounting groove, the clamping forceps are connected with the mounting seat, the connecting rods and the pull rod are located in the mounting groove, the two connecting rods are connected between the pull rod and the clamping forceps, one end of each connecting rod is hinged with two forceps knives of the clamping forceps, the other end of each connecting rod is hinged with the pull rod, and the pull rod is connected with the first driving rope.

According to some embodiments of the utility model, the first connector is provided with a sliding groove, and the second connector comprises two sliding portions which are in sliding contact with groove walls of the sliding groove.

According to some embodiments of the present invention, the first connecting member is provided with a first limiting groove, the first limiting groove is communicated with the sliding groove, the width of the first limiting groove is greater than the width of the sliding groove, one end of the second driving rope, which is used for connecting the first connecting member, is connected with a limiting block, the limiting block is located in the first limiting groove, and the width of the limiting block is greater than the width of the sliding groove.

According to some embodiments of the utility model, the flexible arm comprises:

a first arm section connected with the second connecting piece;

a second arm segment connected with the first arm segment;

the first arm section can be driven by the third driving rope to bend along a first direction;

the second arm section can be driven by the fourth driving rope to bend along a second direction, and the first direction is perpendicular to the second direction;

and the first arm section and the second arm section are respectively connected to two ends of the joint connecting piece.

According to some embodiments of the present invention, the first arm section and the second arm section respectively include a plurality of bone segments arranged in an axial direction, one end of each bone segment in the axial direction is provided with two symmetrical first bosses, and the other end of each bone segment in the axial direction is provided with a first groove at a position corresponding to the first boss; the first bosses of the bone segments are accommodated in the first grooves of the adjacent bone segments and are attached to the groove walls of the first grooves, the connecting line between the two first bosses of the bone segments of the first arm section is consistent with the second direction, and the connecting line between the two first bosses of the bone segments of the second arm section is consistent with the first direction.

According to some embodiments of the utility model, the condyle is provided with a central bushing through hole and a plurality of first through holes, the second driving rope is inserted into the central bushing through hole, and the third driving rope and the fourth driving rope are inserted into the first through holes.

According to some embodiments of the utility model the condyle of the one end of the first arm segment is connected to the second link, the third drive rope is connected to the second link, the condyle of the one end of the second arm segment is connected to the articulation link, and the fourth drive rope is connected to the articulation link or the second link.

According to some embodiments of the present invention, the second connecting member is provided with a fixing groove and a second through hole, the fixing groove is located at two sides of the second groove, the second through hole is communicated with the fixing groove, and the third driving rope is inserted into the second through hole and fixed in the fixing groove.

According to some embodiments of the utility model, the articulating member includes a third link and a fourth link, the third link being coupled to the second arm segment, the fourth link being coupled to the first arm segment, the third link being coupled to the fourth link.

According to some embodiments of the present invention, the fourth connecting member is provided with a connecting hole, the third connecting member includes a plurality of second bosses, the second bosses are disposed in the connecting hole, one side surfaces of the second bosses are attached to an inner wall of the connecting hole, the fourth connecting member includes a plurality of limiting boss portions, the third connecting member is provided with a plurality of second limiting grooves, the limiting boss portions are received in the second limiting grooves, the limiting boss portions are attached to groove walls of the second limiting grooves, and the third connecting member and the fourth connecting member are correspondingly provided with through holes through which the third driving rope passes.

According to some embodiments of the present invention, the second arm section further includes a fifth connecting member, the fifth connecting member is located at an end away from the first arm section, and the fifth connecting member is provided with a rope threading hole through which the first driving rope, the second driving rope, the third driving rope and the fourth driving rope are respectively threaded.

According to some embodiments of the utility model, the joint connecting member includes a third connecting member and a fourth connecting member, the third connecting member is connected to the second arm section, the fourth connecting member is connected to the first arm section, the third connecting member is provided with a connecting groove, a first boss of the condyle at one end of the second arm section connected to the third connecting member is accommodated in the connecting groove, the first boss is attached to a groove wall of the connecting groove, the fourth connecting member is provided with a connecting boss, a first groove of the condyle at one end of the first arm section connected to the fourth connecting member is accommodated in the connecting boss, the connecting boss is attached to a groove wall of the first groove, and the third connecting member is connected to the fourth connecting member.

According to some embodiments of the present invention, the fourth connecting member is provided with a connecting hole, the third connecting member includes a plurality of the second bosses, the second bosses are disposed in the connecting hole, one side surfaces of the second bosses are attached to an inner wall of the connecting hole, the fourth connecting member includes a plurality of limiting boss portions, the third connecting member is provided with a plurality of second limiting grooves, the limiting boss portions are received in the second limiting grooves, and the limiting boss portions are attached to groove walls of the second limiting grooves.

According to some embodiments of the utility model, the second arm section further includes a fifth connecting member, the fifth connecting member is connected to the condyle of the second arm section at the end far from the first arm section, a gap is provided between the fifth connecting member and the condyle, and rope passing holes for the first driving rope, the second driving rope, the third driving rope and the fourth driving rope to pass through are formed in the fifth connecting member and the fifth connecting member.

According to some embodiments of the utility model, the fifth connecting element includes a third curved surface portion, the third curved surface portion is provided with two symmetrical third bosses, a concave direction of the third curved surface portion is opposite to a concave direction of the second curved surface portion, the third bosses are accommodated in the first grooves of the condyle far away from one end of the first arm section, and one end of each third boss is attached to a groove wall of the first groove.

According to some embodiments of the utility model, the flexible mechanical arm further comprises a flexible tube, the fifth connecting piece is further provided with a connecting part opposite to the far end of the first arm section, the flexible tube is sleeved on the connecting part, and the parts of the first driving rope, the second driving rope, the third driving rope and the fourth driving rope which penetrate out of the fifth connecting piece from the threading hole are arranged in a tube cavity of the flexible tube.

According to some embodiments of the present invention, the fifth connecting member is provided with a plurality of limiting through holes, the third driving rope is inserted into the limiting through holes, the rope insertion hole of the third driving rope at a position of one side of the limiting through hole, which is far away from the condyle, comprises a plurality of limiting through holes, the third driving rope and the fourth driving rope are respectively inserted into the limiting through holes, and a spring tube is sleeved on one end of the third driving rope and one end of the fourth driving rope, which is far away from the condyle, of the limiting through hole.

A surgical device according to an embodiment of the second aspect of the present invention comprises a drive mechanism and the flexible robotic arm of any embodiment of the first aspect of the present invention, the drive mechanism being connected to the first drive cable, the second drive cable and the flexible arm.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The utility model is further described with reference to the following figures and examples, in which:

FIG. 1 is a schematic view of a flexible robotic arm in one embodiment of the utility model;

FIG. 2 is a schematic diagram of a portion of the flexible robotic arm of the embodiment of FIG. 1 in accordance with the present invention;

FIG. 3 is a schematic view of a clamping mechanism of the flexible robotic arm of the embodiment of FIG. 1 in accordance with the present invention;

FIG. 4 is a schematic diagram of a portion of the structure of the flexible robotic arm of the embodiment of FIG. 1 in accordance with the present invention;

FIG. 5 is a schematic view of a first link of the flexible robotic arm of the embodiment of FIG. 1 in accordance with the present invention;

FIG. 6 is a schematic view of a second linkage of the flexible robotic arm of the embodiment of FIG. 1 in accordance with the present invention;

FIG. 7 is a schematic illustration of a condyle of the flexible mechanical arm of the embodiment of FIG. 1 of the present invention;

FIG. 8 is a schematic view of a third linkage of the flexible robotic arm of the embodiment of FIG. 1 in accordance with the present invention;

FIG. 9 is a schematic view of a fourth linkage of the flexible robotic arm of the embodiment of FIG. 1 in accordance with the present invention;

figure 10 is a schematic view of a fifth linkage of the flexible robotic arm of the embodiment of figure 1 in accordance with the present invention.

Reference numerals:

the actuating end 100, the pull rod 110, the mounting seat 120, the mounting groove 121, the clamping forceps 130, the connecting rod 140, the feeding assembly 200, the first connecting member 210, the first limiting groove 211, the limiting block 212, the sliding groove 213, the first sleeve via hole 214, the second connecting member 220, the second sleeve via hole 221, the sliding portion 222, the second groove 223, the fixing groove 224, the second through hole 225, the first arm section 300, the condyle 310, the first curved surface portion 311, the first boss 312, the second curved surface portion 313, the first groove 314, the first through hole 315, the central sleeve via hole 316, the fourth connecting member 320, the fifth sleeve via hole 321, the connecting hole 322, the fifth through hole 323, the limiting boss portion 324, the connecting boss 325, the second arm section 400, the third through hole 415, the third sleeve via hole 416, the third connecting member 420, the connecting groove 421, the fourth sleeve via hole 422, the fourth through hole 423, the second boss 424, the second limiting groove 425, and the fifth connecting member 430, the flexible arm comprises a sixth sleeve via hole 431, a limiting through hole 432, a third boss 433, a connecting part 434, a third curved surface part 435, a first driving rope 500, a first sleeve 510, a second driving rope 600, a second sleeve 610, a third driving rope 700, a spring tube 710, a fourth driving rope 720, a joint connector 800 and a flexible arm 900.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality means two or more, and greater than, less than, more than, etc. are understood as not including the essential numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to fig. 1 and 2, an embodiment of the present invention provides a flexible robotic arm including an implement tip 100, a feeding assembly 200, and a flexible arm 900. The execution terminal 100 comprises a clamping mechanism, the execution terminal 100 is connected with a first driving rope 500, and the first driving rope 500 is used for driving the clamping mechanism to perform clamping action. The feeding assembly 200 includes a first connecting element 210 and a second connecting element 220, the actuating terminal 100 is connected to the first connecting element 210, the first connecting element 210 is connected to the second connecting element 220, the first connecting element 210 can move relative to the second connecting element 220, the first connecting element 210 is connected to a second driving rope 600, and the second driving rope 600 is used for driving the first connecting element 210 to move relative to the second connecting element 220. The flexible arm 900 is connected to the second link 220, and the flexible arm 900 can be bent in at least two directions.

The clamping mechanism can be a pair of tweezers, a pair of pliers and the like with a clamping function. The driving rope in the embodiment of the application is a rope-shaped or wire-shaped structure which has certain flexibility and can move along the axial direction and rotate around the axial direction under the driving of the driving piece. The driving rope can be made of steel alloy materials with certain flexibility, and the driving rope can transmit the pulling force or the pushing force of the driving piece. For example, the driving member is a cylinder which pushes or pulls a driving rope, and the driving rope can correspondingly push and pull a mechanical structure connected with the driving rope. The driving piece is a motor, the motor drives the driving rope to rotate, and the driving rope can also drive a mechanical mechanism connected with the driving rope to correspondingly rotate. The driving member in the embodiment of the present application includes, but is not limited to, various types of electric motors, air cylinders, and hydraulic cylinders. It will be appreciated that the drive cord is somewhat flexible and therefore capable of some degree of bending deformation under the influence of an external force.

The flexible arm 900 may be a multi-part articulating joint mechanism that allows bending by articulation, such as various types of serpentine mechanisms. The joint mechanism is hinged in different directions to realize bending in different directions. For example, the flexible arm 900 includes three arm segments, each of which is a serpentine mechanism, but the direction in which the serpentine can be bent is different among the three arm segments, so that the flexible arm 900 can be bent in three directions as a whole.

The first connecting member 210 and the second connecting member 220 may be connected by a sliding connection, so that the first connecting member 210 can move relative to the second connecting member 220. For example: a sliding rail is arranged in the first connecting piece 210, a sliding groove is arranged in the second connecting piece 220, the sliding rail slides in the sliding groove, and the first connecting piece 210 and the second connecting piece 220 move relatively. The first connector 210 and the second connector 220 may also be connected by threads, such as: the first connector 210 is hollow and provided with an internal thread, the second connector 220 is provided with an external thread on the outer surface thereof, and the first connector 210 and the second connector 220 are relatively moved by rotating the first connector 210 or the second connector 220. The relative movement between the first link 210 and the second link 220 can change the position of the execution end 100 connected with the first link 210, and extend or shorten the flexible mechanical arm.

In the flexible mechanical arm in the embodiment of the present invention, the first connecting element 210 can move relative to the second connecting element 220, the flexible arm 900 can bend in at least two directions, the clamping mechanism can clamp the flexible mechanical arm, and the flexible mechanical arm has at least four degrees of freedom and good flexibility. The flexible mechanical arm in the embodiment of the utility model is suitable for surgical operations such as endoscopic mucosa cutting operation, and the like, and after the clamping mechanism can clamp, the first connecting piece 210 can move relative to the second connecting piece 220 to lift and pull clamped mucosa and other parts. The flexible arm 900 can be bent, so that the position of the executing terminal 100 can be flexibly adjusted, the operation difficulty of a doctor is reduced, the operation efficiency is improved, and the time required by the operation is reduced.

In some embodiments of the present invention, the first connecting element 210 is rotatably connected to the actuating tip 100, and the first driving rope 500 can drive the actuating tip 100 to rotate around the axis of the first driving rope 500. The driving member can drive the first driving rope 500 to rotate around the axis, and the first connecting member 210 is rotatably connected to the actuating tip 100, so that the actuating tip 100 connected to the first driving rope 500 also rotates correspondingly. With the rotation of the execution tip 100, the clamping mechanism on the execution tip 100 can clamp from different angles, so that the flexibility of the execution tip 100 is increased, and the clamping angle of the clamping mechanism on the execution tip 100 can be adjusted more conveniently.

Referring to fig. 1, in some embodiments of the present invention, the flexible robot further includes a first sleeve 510 and a second sleeve 610, the interior of the second driving rope 600 is hollow to form a channel of the first driving rope 500, the first sleeve 510 is sleeved on the first driving rope 500, the first sleeve 510 is inserted into the channel of the first driving rope 500, the interiors of the feeding assembly 200 and the flexible arm 900 are both hollow and communicated to form a channel of the second driving rope 600, the second sleeve 610 is sleeved on the second driving rope 600, and the second sleeve 610 is inserted into the channel of the second driving rope 600. The second driving rope 600 is sleeved outside the first driving rope 500, so that the space occupied by the flexible mechanical arm is saved, and the structure of the flexible mechanical arm is simplified. The first and

second bushings

510, 610 protect the first and

second drive cords

500, 600, respectively, and prevent interference with other components of the flexible robot arm.

Referring to fig. 3 and 4, in some embodiments of the present invention, the actuating tip 100 further includes a pull rod 110 and a mounting seat 120, the mounting seat 120 is connected to a first driving rope 500, the clamping mechanism includes a clamping jaw 130 and two connecting rods 140, the mounting seat 120 is provided with a mounting groove 121, the clamping jaw 130 is connected to the mounting seat 120, the connecting rods 140 and the pull rod 110 are located in the mounting groove 121, the two connecting rods 140 are connected between the pull rod 110 and the clamping jaw 130, one ends of the two connecting rods 140 are respectively hinged to two jaws of the clamping jaw 130, the other ends of the two connecting rods 140 are hinged to the pull rod 110, and the pull rod 110 is connected to the first driving rope 500. The pull rod 110 is pulled through the first driving rope 500, the pull rod 110 drives the connecting rod 140, and the connecting rod 140 drives the forceps knife of the clamping forceps 130 to clamp. In some embodiments of the present invention, the pull rod 110 is a T-shaped pull rod, and the T-shaped pull rod can be held by a hole or a groove having a width smaller than that of the T-shaped pull rod, so that the T-shaped pull rod can be held by disposing the first driving rope 500 in a hole or a groove having a width smaller than that of the T-shaped pull rod, so that the clamping of the clamping pincers 130 is more stable.

Referring to fig. 5 and 6, in some embodiments of the present invention, the first link 210 is provided with a sliding groove 213 and the second link 220 includes two sliding portions 222, and the two sliding portions 222 are in sliding contact with groove walls of the sliding groove 213. The second driving rope 600 drives the sliding portion 222 to slide in the sliding groove 213, thereby changing the relative position between the first link 210 and the second link 220. For example, referring to fig. 1, 5 and 6, the second driving rope 600 drives the sliding portion 222 to slide forward in the sliding groove 213, the length of the entire flexible mechanical arm is increased, and the actuating tip 100 can reach a further position. The second driving rope 600 drives the sliding part 222 to slide backwards in the sliding groove 213, the length of the whole flexible mechanical arm is reduced, and the execution terminal 100 can drive the clamping mechanism to carry out the pulling action.

Wherein, the mode of setting up of second drive rope 600 can be that first connecting piece 210 is provided with first sleeve via hole 214, second connecting piece 220 is provided with second sleeve via hole 221, first drive rope 500 wears to locate among first sleeve via hole 214, second drive rope 600 wears to locate among the second sleeve via hole 221, thereby first drive rope 500, second drive rope 600 can drive the motion of flexible arm from the inside of flexible arm, the size of flexible arm has been reduced, more suitable flexible arm is operated in narrow and small space.

Referring to fig. 1 and 5, in some embodiments of the present invention, the first connecting member 210 is provided with a first limiting groove 211, the first limiting groove 211 is communicated with the sliding groove 213, the width of the first limiting groove 211 is greater than the width of the sliding groove 213, one end of the second driving rope 600 connected to the first connecting member 210 is connected to a limiting block 212, the limiting block 212 is located in the first limiting groove 211, and the width of the limiting block 212 is greater than the width of the sliding groove 213. The stopper 212 increases a force-bearing surface between the second driving rope 600 and the first connecting member 210, and prevents the second driving rope 600 from being pulled apart. In addition, since the width of the limiting block 212 is greater than that of the sliding groove 213, the limiting block 212 cannot enter the sliding groove 213 and is supported by the groove wall at one end of the sliding groove 213, so that the second driving member can pull the first connecting member 210 in a direction approaching the second connecting member 220.

In some embodiments of the present invention, flexible arm 900 includes first arm segment 300, second arm segment 400, third drive line 700, and fourth drive line 720 and articulation link 800, first arm segment 300 being connected to second link 220; second arm segment 400 is connected to first arm segment 300; the first arm segment 300 can be bent in a first direction by the third driving rope 700; the second arm segment 400 can be driven by the fourth driving rope 720 to bend along a second direction, and the first direction is perpendicular to the second direction; the first arm segment 300 and the second arm segment 400 are connected to both ends of the knuckle connector 800, respectively.

Referring to fig. 2, the first direction is a left-right direction shown in fig. 2, the second direction is an up-down direction shown in fig. 2, and the actuating tip 100, the first arm segment 300, and the second arm segment 400 are sequentially arranged in a front-back direction, so that the position of the actuating tip 100 is relatively swung in a corresponding direction when the first arm segment 300 or the second arm segment 400 is bent. The actuating tip 100 can swing in two directions perpendicular to each other, and the swing amplitude of the actuating tip 100 in the two directions can be adjusted by adjusting the traction of the third driving rope 700 and the fourth driving rope 720, so that more positions can be reached, and the flexibility of the flexible mechanical part is improved. The first arm segment 300 and the second arm segment 400 may be a joint mechanism formed by multiple parts hinged together, and the joint mechanism can be used for bending through hinge rotation, such as various snake bone mechanisms.

Referring to fig. 2 and fig. 7, in some embodiments of the present invention, each of the first arm segment 300 and the second arm segment 400 includes a plurality of bone segments 310 arranged in an axial direction, two symmetrical first bosses 312 are disposed at one axial end of each bone segment 310, and a first groove 314 is disposed at the other axial end of each bone segment 310 at a position corresponding to the first boss 312. Adjacent condyles 310 are spaced apart to provide space for relative rotation of the adjacent condyles to allow for the overall bending of first arm segment 300 and second arm segment 400.

The line between the two first bosses 312 of the condyle 310 of the first arm segment 300 coincides with the second direction, and the line between the two first bosses 312 of the condyle 310 of the second arm segment 400 coincides with the first direction. For example, referring to fig. 2 and 7, the first direction is a vertical direction, the second direction is a horizontal direction, the two first bosses 312 of the condyle 310 of the first arm segment 300 are disposed in the vertical direction, and the third driving rope 700 is inserted into the upper and lower sides of the condyle and connected to the condyle or the actuating tip 100 at the front end of the first arm segment 300. The two first bosses 312 of the rib section 310 of the second arm section 400 are arranged along the left-right direction, and the fourth driving rope 720 is inserted into the left and right sides of the rib section 310 and connected to the rib section 310 or the joint connector 800 at the front end of the second arm section 400. Therefore, the condyle 310 of the first arm segment 300 can be inclined in the left-right direction by the traction of the third driving rope 700, thereby bending the first arm segment 300 in the left-right direction. The condyles 310 of the second arm segment 400 can be inclined in the up-down direction by the traction of the fourth driving rope 720, thereby bending the second arm segment 400 in the up-down direction. Thus, the bending directions of the first arm segment 300 and the second arm segment 400 are perpendicular to each other. Two adjacent condyles 310 are arranged: the first projection 312 of one condyle 310 is received in the first recess 314 of the other condyle 310, and one end of the first projection 312 abuts against a groove wall of the first recess 314 of the other condyle 310.

Referring to fig. 1 and 7, the condyle 310 includes a first curved surface portion 311 and a second curved surface portion 313, the first curved surface portion 311 and the second curved surface portion 313 are respectively located at two ends of the condyle 310, the first curved surface portion 311 is provided with two symmetrical first bosses 312, the second curved surface portion 313 is provided with a first groove 314 at a position opposite to the first bosses 312, the first curved surface portion 311 is recessed from two sides of the first bosses 312 to a middle of the condyle to form a curved surface, the second curved surface portion 313 is recessed from two sides of the first groove 314 to the middle of the condyle to form a curved surface, so that the recessed directions of the first curved surface portion 311 and the second curved surface portion 313 are opposite. Among two adjacent condyles 310, the first curved surface portion 311 of the posterior condyle 310 is recessed in a direction opposite to the second curved surface portion 313 of the anterior condyle 310, so that a gap is formed between the two adjacent condyles 310, and the two condyles 310 are connected to the first groove 314 by the first boss 312.

The third driving rope 700 on one side of the first boss 312 can be pushed forward or pulled back by the driving member, and a gap is formed between two adjacent condyles 310, so that the condyle 310 connected to the third driving rope 700 is inclined to the side and transmits a pulling or pushing force to the next condyle, so that the next condyle is also inclined to the side, and finally the joint in the first arm section 300 is bent to the side on which the external force is applied by the third driving rope 700 as a whole.

Referring to fig. 1 and 7, the flexible mechanical arm is provided with two third driving ropes 700 and two fourth driving ropes 720, wherein the two third driving ropes 700 sequentially pass through the second arm segment 400 and the first boss 312 of the first arm segment 300, and when one of the two third driving ropes 700 is pulled, the second arm segment 400 bends towards the side where the one third driving rope 700 is located; the other two fourth driving ropes 720 pass through the first boss 312 and the first arm segment 300 of the second arm segment 400 in sequence, and when one of the two fourth driving ropes 720 is pulled, the first arm segment 300 bends to the side of the third driving rope 700. The longer the distance the third drive line 700 is pulled back, the more the first arm segment 300 bends; the longer the fourth drive cord 720 is pulled back, the more the second arm segment 400 bends. First arm section 300, the second arm section 400 that a plurality of condyle 310 are constituteed, through the clearance fit between two adjacent condyle 310, can realize that the minor width is crooked, other crooked modes such as relative articulated, and is more nimble, more is applicable to and operates in the narrow and small space.

In some embodiments of the present invention, the condyle 310 is provided with a central cannulation hole 316 and a plurality of first through holes 315, a second drive cord 600 is threaded into the central cannulation hole 316, and a third drive cord 700 and a fourth drive cord 720 are threaded into the first through holes 315. Therefore, the second driving rope 600, the third driving rope 700 and the fourth driving rope 720 can drive the flexible mechanical arm to move from the inside of the flexible mechanical arm, the size of the flexible mechanical arm is reduced, and the flexible mechanical arm is more suitable for being operated in a narrow space.

In some embodiments of the utility model, the condyle 310 at one end of the first arm segment 300 is connected to the second link 220, the third drive line 700 is connected to the second link 220, the condyle 310 at one end of the second arm segment 400 is connected to the articulation link 800, and the fourth drive line 720 is connected to the articulation link 800 or the second link 220.

The third driving string 700 is connected to the second connecting member 220, for example, referring to fig. 6, a second groove 223, a fixing groove 224 and a second through hole 225 are disposed at one end of the second connecting member 220 connected to the condyle 310, two sides of the second groove 223 are recessed toward the other end of the second connecting member 220 to form a curved surface, the first boss 312 of the condyle 310 at one end of the first arm segment 300 is received in the second groove 223, one end of the first boss 312 is attached to a groove wall of the second groove 223, the fixing groove 224 is disposed at two sides of the second groove 223, the second through hole 225 is communicated with the fixing groove 224, and the third driving string 700 is inserted into the second through hole 225 and fixed in the fixing groove 224. Two sides of the second groove 223 are recessed towards the other end of the second connecting member 220 to form a curved surface, two sides of the first boss 312 are recessed towards the middle of the condyle to form a curved surface, and a gap exists between the condyle 310 and the second connecting member 220, so that the second connecting member 220 can also be inclined under the driving of the third driving rope 700.

The connection of the fourth drive cord 720 to the articulation link 800 or the second link 220 may be in the same arrangement as the connection of the third drive cord 700 to the second link 220 described above. The third driving rope 700 and the fourth driving rope 720 are both connected to the second connecting member 220, and the pushing force or the pulling force of the fourth driving rope 720 acts on the first arm segment 300 first, which is more beneficial to the overall bending of the flexible arm 900.

Referring to fig. 1, in some embodiments of the present invention, both ends of the joint connecting member 800 are curved, and a gap is formed between the joint connecting member 800 and the connected condyle 310, so that the joint connecting member 800 can also be tilted by the third driving rope 700 or the fourth driving rope 720, so that the entire flexible manipulator is bent integrally.

Referring to fig. 1 and 8, in some embodiments of the present invention, the articulation link 800 includes a third link 420 and a fourth link 320, the third link 420 being coupled to the first arm segment 300, the fourth link 320 being coupled to the first arm segment 300, and the third link 420 being coupled to the fourth link 320. The first arm segment 300 and the second arm segment 400 are respectively connected with the fourth connecting piece 320 and the third connecting piece 420, and are connected with the fourth connecting piece 320 through the third connecting piece 420, so that the first arm segment 300 and the second arm segment 400 can be assembled respectively conveniently.

In some embodiments of the present invention, the third connecting member 420 is provided with a connecting groove 421, the first protrusion 312 of the condyle 310 at one end of the second arm segment 400 is received in the connecting groove 421, the first protrusion 312 is engaged with the groove wall of the connecting groove 421, so that the condyle 310 can be supported by the groove wall of the connecting groove 421, and the condyle 310 is fixed in the connecting groove 421. In some embodiments of the present invention, the third connecting member 420 further includes a fourth sleeve via hole 422 and a fourth via hole 423, the second driving rope 600 is disposed in the fourth sleeve via hole 422, and the third driving rope 700 and the fourth driving rope 720 are disposed in the fourth via hole 423, so as to reduce the size of the flexible manipulator, and better adapt to the operation of the flexible manipulator in a narrow space.

The fourth connecting member 320 is provided with a connecting boss 325, the first groove 314 of the condyle 310 at one end of the first arm segment 300 connected with the fourth connecting member 320 is accommodated in the connecting boss 325, the connecting boss 325 is attached to the groove wall of the first groove 314, and the third connecting member 420 is connected with the fourth connecting member 320. The first arm section 300 can incline relative to the fourth connecting piece 320, the second arm section 400 can incline relative to the third connecting piece 420, and connecting structures such as welding and bolts are not arranged between the first arm section 300 and the fourth connecting piece 320 and between the second arm section 400 and the third connecting piece 420, so that the flexible mechanical arm has good flexibility, and the flexible mechanical arm can be suitable for bending integrally.

In some embodiments of the present invention, the fourth link 320 is provided with a fifth sleeve through hole 321 and a fifth through hole 323, the second driving rope 600 is inserted into the fifth sleeve through hole 321, and the third driving rope 700 and the fourth driving rope 720 are inserted into the fifth through hole 323, so as to reduce the size of the flexible robot arm, and better adapt to the operation of the flexible robot arm in a narrow space.

Referring to fig. 1, 8 and 9, in some embodiments of the present invention, the third connection member 420 includes a plurality of second bosses 424, the second bosses 424 are disposed in the connection holes 322, one side surface of the second bosses 424 is attached to an inner wall of the connection holes 322, the fourth connection member 320 includes a plurality of limiting boss parts 324, a plurality of second limiting grooves 425 are disposed on the third connection member 420, the limiting boss parts 324 are received in the second limiting grooves 425, and the limiting boss parts 324 are attached to groove walls of the second limiting grooves 425.

One side surface of the second boss 424 is attached to the inner wall of the connection hole 322, and the limiting boss portion 324 is attached to the groove wall of the second limiting groove 425, so that the third connecting member 420 and the fourth connecting member 320 are abutted to each other and connected together, and connection structures such as welding and bolts are not arranged between the third connecting member 420 and the fourth connecting member 320, so that the third connecting member has certain flexibility, and can adapt to bending of the first arm section 300 or the second arm section 400.

In some embodiments of the utility model, the second arm segment 400 further comprises a fifth connector 430, the fifth connector 430 being connected to the condyle 310 at the end of the second arm segment 400 remote from the first arm segment 300, the fifth connector 430 having a gap with the condyle 310. For example, referring to fig. 1 and 10, the fifth connecting element 430 includes a third curved surface portion 435, one end of the fifth connecting element 430 is provided with two symmetrical third bosses 433, two sides of the third bosses 433 are recessed toward the other end of the fifth connecting element 430 to form a curved surface, the third bosses 433 are accommodated in the first groove 314 of the condyle 310 at the end far away from the first arm segment 300, and one end of the third bosses 433 is attached to the groove wall of the first groove 314. The depression direction of the third curved surface part 435 is opposite to that of the second curved surface part 313 so that a gap is provided between the fifth link 430 and the condyle 310, and thus the condyle 310 connected to the fifth link 430 can be inclined at a side to which an external force is applied to the third driving rope 700.

In some embodiments of the present invention, the fifth connecting member 430 is provided with a rope passing hole for the first driving rope 500, the second driving rope 600, the third driving rope 700 and the fourth driving rope 720 to pass through, the rope passing hole includes a sixth bushing through hole 431 and a plurality of limiting through holes 432, the second driving rope 600 passes through the sixth bushing through hole 431, and the third driving rope 700 and the fourth driving rope 720 pass through the limiting through holes 432, so as to reduce the size of the flexible mechanical arm, and is more suitable for the flexible mechanical arm to operate in a narrow space. During specific implementation, the sixth bushing via hole 431 is formed in the middle of the fifth connecting member 430, four limiting through holes 432 are formed around the sixth bushing via hole 431, and the four limiting through holes 432 are respectively formed in the positions, corresponding to the third boss 433 and the first groove 314, of the fifth connecting member 430, so that the third driving rope 700 and the fourth driving rope 720 are conveniently penetrated through.

In some embodiments of the present invention, the flexible mechanical arm further includes a flexible tube (not shown), the fifth connecting element 430 further includes a connecting portion 434 opposite to the distal end of the first arm segment 300, the connecting portion 434 is located at the other end opposite to the end where the third boss 433 is located, the flexible tube is sleeved on the connecting portion 434, and the first driving rope 500, the second driving rope 600, the third driving rope 700 and the fourth driving rope 720 are disposed in a lumen of the flexible tube. The flexible pipe is a pipeline structure which has certain flexibility and can be bent. The flexible tube may be made of a plastic material or an alloy material having flexibility. The flexible tube can prevent the first, second, third and fourth driving

ropes

500, 600, 700 and 720 from contacting the outside.

In some embodiments of the present invention, the connection part 434 is provided with a plurality of contact grooves, and the flexible tube and the connection part 434 are connected with the connection part 434 through the contact grooves. The connection mode of the flexible pipe and the connection part 434 with the connection part 434 through the contact groove may be a screwing mode, a clamping mode, or the like.

Referring to fig. 2, in some embodiments of the present invention, a spring tube 710 is sleeved on the third driving rope 700 at a position of the limiting through hole 432 far away from the side of the condyle 310. The spring tube 710 increases the width of the third driving rope 700 at one side of the limiting through hole 432, the spring tube 710 has elasticity, and after the third driving rope 700 at one side of the limiting through hole 432 enters the limiting through hole 432, the spring tube 710 is compressed and abuts against the fifth connecting piece 430, so that the third driving rope 700 can be prevented from continuously entering the limiting through hole 432, and the limiting effect on the third driving rope 700 is achieved.

The embodiment of the utility model further provides surgical equipment, which comprises a driving mechanism and the flexible mechanical arm of any one of the embodiments, wherein the driving mechanism is connected to the first driving rope 500, the second driving rope 600 and the flexible arm 900, so that the first driving rope 500 is driven to drive the execution tail end 100 to clamp, the second driving rope 600 is driven to drive the first connecting piece 210 to move relative to the second connecting piece 220, the feeding motion of the execution tail end 100 is realized, and the flexible arm is driven to perform bending motion, so that the swinging motion of the execution tail end 100 is realized. Therefore, the position of the execution terminal 100 can be flexibly adjusted to adapt to different clamping requirements. In some embodiments, the driving mechanism can also drive the first driving rope 500 to drive the executing terminal 100 to rotate around the axis of the first driving rope, so that the clamping angle of the clamping mechanism can be flexibly adjusted, and further, the high flexibility of operation is further improved.

The flexible mechanical arm and the surgical equipment with the flexible mechanical arm are suitable for surgical operations such as endoscopic mucosa cutting operation and the like, can assist in operation, reduce the operation difficulty of doctors, and improve the operation efficiency, so that the time required by the operation is reduced.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims

1. Flexible mechanical arm, its characterized in that includes:

2. The flexible mechanical arm as claimed in claim 1, wherein the first connecting member is rotatably connected to the actuating tip, and the first driving rope is capable of driving the actuating tip to rotate around an axis of the first driving rope.

3. The flexible mechanical arm as claimed in claim 1, further comprising a first sleeve and a second sleeve, wherein the second driving rope is hollow to form a first driving rope channel, the first sleeve is sleeved on the first driving rope, the first sleeve is inserted into the first driving rope channel, the feeding assembly and the flexible arm are hollow and communicated to form a second driving rope channel, the second sleeve is sleeved on the second driving rope, and the second sleeve is inserted into the second driving rope channel.

4. The flexible mechanical arm as claimed in claim 1, wherein the first connecting member is provided with a sliding groove, and the second connecting member comprises two sliding portions which are in sliding contact with a groove wall of the sliding groove.

5. The flexible mechanical arm as claimed in claim 4, wherein the first connecting member is provided with a first limiting groove, the first limiting groove is communicated with the sliding groove, the width of the first limiting groove is greater than that of the sliding groove, one end of the second driving rope, which is used for connecting the first connecting member, is connected with a limiting block, the limiting block is located in the first limiting groove, and the width of the limiting block is greater than that of the sliding groove.

6. The flexible robotic arm of any one of claims 1 to 5, wherein the flexible arm comprises:

a first arm section connected with the second connecting piece;

a second arm segment connected with the first arm segment;

7. The flexible mechanical arm as claimed in claim 6, wherein the first arm segment and the second arm segment respectively comprise a plurality of bone segments arranged along the axial direction, one axial end of each bone segment is provided with two symmetrical first bosses, and the other axial end of each bone segment is provided with a first groove at a position corresponding to the first bosses; the first bosses of the bone segments are accommodated in the first grooves of the adjacent bone segments and are attached to the groove walls of the first grooves, the connecting line between the two first bosses of the bone segments of the first arm section is consistent with the second direction, and the connecting line between the two first bosses of the bone segments of the second arm section is consistent with the first direction.

8. The flexible robotic arm of claim 7, wherein said condyle of one end of said first arm segment is connected to said second link, said third drive line is connected to said second link, said condyle of one end of said second arm segment is connected to said knuckle link, and said fourth drive line is connected to said knuckle link or said second link.

9. The flexible robotic arm of claim 7, wherein the articulation link comprises a third link and a fourth link, the third link being coupled to the second arm segment, the fourth link being coupled to the first arm segment, the third link being coupled to the fourth link.

10. The flexible mechanical arm as claimed in claim 9, wherein the fourth connecting member is provided with a connecting hole, the third connecting member includes a plurality of second bosses, the second bosses are disposed in the connecting hole, a side surface of each second boss is attached to an inner wall of the connecting hole, the fourth connecting member includes a plurality of limiting boss portions, the third connecting member is provided with a plurality of second limiting grooves, the limiting boss portions are received in the second limiting grooves, the limiting boss portions are attached to groove walls of the second limiting grooves, and the third connecting member and the fourth connecting member are correspondingly provided with through holes for the third driving rope to pass through.

11. The flexible mechanical arm as claimed in claim 7, wherein the second arm section further comprises a fifth connecting member, the fifth connecting member is connected to the rib section at one end of the second arm section, which is far away from the first arm section, a gap is formed between the fifth connecting member and the rib section, and the fifth connecting member is provided with a rope threading hole through which the first driving rope, the second driving rope, the third driving rope and the fourth driving rope are threaded.

12. The flexible mechanical arm as claimed in claim 11, wherein the rope threading hole includes a plurality of limiting through holes, the third driving rope and the fourth driving rope are respectively inserted into the limiting through holes, and a spring tube is sleeved on one end of the third driving rope and one end of the fourth driving rope, which are far away from the condyle, of the limiting through holes.

13. Surgical apparatus comprising a flexible robotic arm according to any one of claims 1 to 12 and a drive mechanism, the drive mechanism being connected to the first drive cord, the second drive cord and the flexible arm.