CN216569870U

CN216569870U - Bendable multi-link device

Info

Publication number: CN216569870U
Application number: CN202122391468.6U
Authority: CN
Inventors: 徐凯; 任义唐
Original assignee: Shurui Shanghai Technology Co ltd
Current assignee: Shurui Shanghai Technology Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-05-24
Anticipated expiration: 2031-09-30

Abstract

The present disclosure relates to the field of medical equipment, and discloses a bendable multi-link device, including: a first link; the second connecting rod is rotatably connected with the first connecting rod; the connecting seat is rotationally connected with the second connecting rod; the third connecting rod is connected with the connecting seat in a sliding manner; and the traction mechanism is rotationally connected with the first connecting rod, the third connecting rod and the connecting seat, wherein the third connecting rod is used for sliding relative to the connecting seat so as to drive the traction mechanism to draw the first connecting rod and the second connecting rod to rotationally bend. The bendable multi-link device can go deep into the body, wipes the lens of the endoscope on site without withdrawing the endoscope out of the body, saves the time for withdrawing the endoscope from the body during the operation process, and increases the safety of the operation.

Description

Bendable multi-link device

Technical Field

The present disclosure relates to the field of medical devices, and more particularly, to a bendable multi-link apparatus.

Background

In the minimally invasive surgery process, especially in the medical robot-assisted minimally invasive surgery process, surgical tools or endoscopes which penetrate into the abdominal cavity may be polluted by blood splashed out when tissue structures are cut, the visual field of an operating doctor is shielded, and the normal operation of the surgery is affected. However, this operation greatly slows down the progress of the operation, and may also cause medical accidents, which affects the efficiency and reliability of the operation.

SUMMERY OF THE UTILITY MODEL

To address the problems in the background, some embodiments of the present disclosure provide a bendable multi-link apparatus, including: a first link; the second connecting rod is rotatably connected with the first connecting rod; the connecting seat is rotatably connected with the second connecting rod; the third connecting rod is connected with the connecting seat in a sliding manner; and the traction mechanism is rotationally connected with the first connecting rod, the third connecting rod and the connecting seat, wherein the third connecting rod is used for sliding relative to the connecting seat so as to drive the traction mechanism to draw the first connecting rod and the second connecting rod to rotationally bend.

In some embodiments, the third link is configured to slide relative to the connecting seat to drive the traction mechanism to pull the first link and the second link to rotate and bend, and forms a U shape with the third link.

In some embodiments, the traction mechanism comprises:

a first traction rod; and

the second traction rod is respectively and rotatably connected with the first connecting rod and the connecting seat, and the first traction rod is respectively and rotatably connected with the third connecting rod and the second traction rod.

In some embodiments, the second drawbar comprises:

a rod body with a break angle;

the first connecting part is positioned at one end of the rod body;

the second connecting part is positioned at the folding angle of the rod body; and

and the third connecting part is positioned at the other end of the rod body.

In some embodiments, the first connecting portion of the second traction rod is rotatably connected to the first connecting rod, and the third connecting portion of the second traction rod is rotatably connected to the connecting seat.

In some embodiments, a first end of the first drawbar is pivotally connected to the third link, and a second end of the first drawbar is pivotally connected to the second coupling portion of the second drawbar.

In some embodiments, the connection point of the first connection is closer to the end of the first link than the connection point of the first link and the second link.

In some embodiments, a connection point of the second link to the connection seat is closer to an end of the connection seat than a connection point of the third connection part, and a connection point of the third connection part is closer to the end of the connection seat than a connection point of the first drawbar to the third link.

In some embodiments, the traction mechanism comprises:

a first traction rod; and

the second traction rod is respectively and rotatably connected with the first connecting rod and the connecting seat, and the first traction rod is respectively and rotatably connected with the third connecting rod and the second connecting rod.

In some embodiments, the connection point of the second drawbar to the first link is closer to the end of the first link than the connection point of the first link to the second link.

In some embodiments, the connection point of the first drawbar and the second link is closer to the end of the connection socket than the connection point of the second link and the connection socket.

In some embodiments, the connection point of the second link to the connection seat is closer to the end of the connection seat than the connection point of the second drawbar to the connection seat.

In some embodiments, the first link is a unitary structure, or the first link includes a rod body and a mounting seat, and the rod body is fixedly connected with the mounting seat; and/or

The first link includes a tab at an end distal from the pulling mechanism.

In some embodiments, further comprising:

a handle connected with the third link and used for pushing and pulling the third link; and

and the locking rod is arranged on the handle and is used for locking the handle to push and pull the third connecting rod.

In some embodiments, further comprising: the far end of the fourth connecting rod is fixedly connected with the connecting seat, the near end of the fourth connecting rod is fixedly connected with the handle or can be rotatably connected with the handle, and the third connecting rod penetrates through the fourth connecting rod and is connected with the handle.

In some embodiments, further comprising:

the rotatable piece is sleeved at the far end of the handle in a rotatable mode along the circumferential direction, and the far end of the rotatable piece is detachably connected with the near end of the fourth connecting rod.

In some embodiments, the rotatable member comprises a fixed portion and a connecting portion, wherein a proximal end of the fixed portion is fixedly connected to a distal end of the handle, a distal end of the fixed portion is rotatably connected to a proximal end of the connecting portion, and a distal end of the connecting portion is detachably connected to a proximal end of the fourth link.

In some embodiments, the rotatable member further comprises a bend indicating structure disposed on the connecting portion for indicating a direction of bending of the first link and the second link.

In some embodiments, the bend indicating structure comprises a notch, scale, marking, or screw for securing the fourth link.

During the operation, the endoscope is polluted by blood splashed by the tissue structure, the visual field of an operating doctor is shielded, and the normal operation is hindered. In some embodiments of the present disclosure, the bendable connecting rod can go deep into the abdominal cavity to wipe the endoscope inside the abdominal cavity, so as to save the time for withdrawing the external wiping device during the operation.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the description of the embodiments of the present disclosure will be briefly described below. The drawings in the following description illustrate only some embodiments of the disclosure, and other embodiments will become apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein.

FIG. 1 illustrates a structural schematic of a curved state of a bendable multi-link apparatus according to some embodiments of the present disclosure;

FIG. 2 illustrates a structural schematic of a straightened state of the bendable multi-link apparatus according to some embodiments of the present disclosure;

FIG. 3 illustrates a schematic longitudinal cross-sectional structural view of a curved state of a bendable multi-link apparatus according to some embodiments of the present disclosure;

FIG. 4 illustrates a partial structural schematic of a curved state of a flexible multi-link apparatus according to some embodiments of the present disclosure;

FIG. 5 illustrates a partial structural schematic view of another bendable multi-link apparatus according to some embodiments of the present disclosure in a bent state;

FIG. 6 is a partial schematic structural view showing a bent state of the bendable multi-link apparatus shown in FIG. 5;

FIG. 7 shows a partial structural schematic of the bendable multi-link apparatus shown in FIG. 5 in a straightened state.

Detailed Description

In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present disclosure clearer, the technical solutions of the embodiments of the present disclosure will be described in further detail below with reference to the accompanying drawings, and it is apparent that the described embodiments are only exemplary embodiments of the present disclosure, and not all embodiments.

In the description of the present disclosure, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing and simplifying the present disclosure, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the present disclosure, the end close to the operator (e.g. doctor) is defined as proximal, proximal or posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. One skilled in the art will appreciate that embodiments of the present disclosure may be used in the field of medical devices, as well as in the field of other non-medical devices.

Fig. 1 and 2 illustrate structural schematic views of a bendable multi-link apparatus 100 in a bent state and a straightened state, respectively, according to some embodiments of the present disclosure. As shown in fig. 1 and 2, the bendable multi-link apparatus 100 may include a first link 110, a second link 120, a connecting link 130, and a third link 140. The first link 110 is rotatably connected to the second link 120, for example, by a pin. The second link 120 is rotatably connected to the connecting base 130, for example, by a pin. The third link 140 is slidably connected to the connecting base 130. For example, the connecting base 130 has a sliding slot therein, and at least a portion of the third link 140 is slidably disposed in the sliding slot.

The bendable multi-link apparatus 100 may also include a traction mechanism. The traction mechanism is rotatably connected with the first link 110, the third link 140 and the connecting base 130, for example, by a pin. The third link 140 can slide relative to the connecting base 130 to drive the traction mechanism to pull the first link 110 and the second link 120 to rotate and bend. As shown in fig. 1, in some embodiments, the first link 110 and the second link 120 are rotationally bent, and may form a U-shape with the third link 140, as shown in fig. 1. It should be understood that the rotational bending of the first link 110 and the second link 120 may also form a "J-shape", "V-shape", or form an irregular semi-enclosed structure with the third link 140, so that the distal end of the first link 110 is bent in the proximal direction.

As shown in fig. 1, in some embodiments, the bendable multi-link apparatus 100 may further include a handle 170 and a lock lever 180. The handle 170 may be coupled to the third link 140 to push or pull the third link 140 to move closer to or away from the coupling base 130. The locking lever 180 is provided on the handle 170 for locking the push-pull operation of the third link 140 by the handle 170. In some embodiments, the handle 170 may include a handle body 172 and a snap ring 171 disposed at an end of the handle body 172. As shown in fig. 2, in some embodiments, the retaining ring 171 can include retaining

rings

171a and 171b, and the handle body 172 can include handle

bodies

172a and 172 b. The retaining rings 171a and 171b are fixedly provided or integrally formed at the proximal end portions of the

handle bodies

172a and 172b, respectively. The proximal portion of the handle body 172a is hingedly connected to the handle body 172b, and the proximal end of the third link 140 is connected, e.g., fixedly or detachably, to the distal end of the handle body 172 a. The retaining ring 171a at the proximal end of the handle body 172a moves toward or away from the retaining ring 171b at the proximal end of the handle body 172b, and the distal end of the handle body 172a pushes or pulls the third link 140 to bend or straighten the first link 110 and the second link 120. For example, the operator holds the two

snap rings

171a and 171b, operates to decrease the angle between the driving handle

main bodies

172a and 172b, may pull the third link 140, and increases the angle between the driving handle

main bodies

172a and 172b, may push the third link 140. The first link 110 and the second link 120 are driven to bend, for example, form a U-shape, or the first link 110 and the second link 120 are driven to straighten, for example, substantially in line with the third link 140 by pushing or pulling the third link 140.

In some embodiments, a locking lever 180 may be fixedly disposed on the handle body 172b for locking an angle between the

handle bodies

172a and 172b, thereby controlling a distance that the push-pull third link 140 moves. In some embodiments, the lock lever 180 can include serrations and the handle body 172a can include serrations that mate with serrations on the lock lever 180 to lock the position of the handle body 172 a. It should be understood that the serrations on the lock bar 180 may be disposed along at least one circumferential surface of the lock bar 180. For example, it may be disposed along the circumference of the lock lever 180 away from the

snap rings

171a and 171b, or along the circumference of the lock lever 180 near the

snap rings

171a and 171 b. In some embodiments, the

handle bodies

172a and 172b are provided with through passages through which at least a portion of the locking bar 180 can pass and extend through the

handle bodies

172a and 172 b. The portion of the locking lever 180 extending through the handle body 172a may be used to lock with the handle body 172 a. For example, serrations are formed on an inner surface of the through-passage of the handle body 172a corresponding to a circumferential surface of the locking lever 180 on which the serrations are formed, and the locking lever 180 is locked by the engagement of the serrations on the inner surface of the through-passage with the serrations on the locking lever 180. In some embodiments, the locking lever 180 may be disposed adjacent to the

handle bodies

172a and 172b, and the locking lever 180 and the handle body 172a may be provided with serrations on their respective circumferential surfaces facing each other to lock the position of the handle body 172a when the handle body 172a is rotated relative to the handle body 172 b. The handle 170 and the lock lever 180 may facilitate the operator's manipulation of the flexible multi-link apparatus. In some embodiments, the serrations on the lock lever 180 can be unidirectional serrations such that rotation of the handle body 172a in a direction toward the handle body 172b is limited to rotation of the handle body 172a in a direction away from the handle body 172 b.

In some embodiments, the bendable multi-link apparatus may further include a return mechanism. At least another portion of the lock lever 180 is connected to a reset mechanism for rotating the handle body 172a in a direction away from the handle body 172b when the lock lever 180 is unlocked from the handle body 172 a. In some embodiments, the return mechanism may include a resilient member and a return link. One end of the elastic element is fixedly arranged on the handle main body 172b, and the other end abuts against the locking rod 180. One end of the reset connecting rod is hinged with the handle main body 172b, and the other end is a clamping end for clamping with the locking rod 180. In some embodiments, the locking lever 180 may include a locking segment and a connecting segment. At least a portion of the locking segment is provided with serrations for mating with corresponding serrations on the handle body 172a to effect locking. At least a portion of the locking segment adjacent to the connecting segment includes a folded corner for abutting against the handle body 172a to limit further rotation of the handle body 172a in a direction adjacent to the handle body 172 b. One end of the connecting section is fixedly connected with the locking section, and the other end of the connecting section is a free end and is used for being clamped with the reset connecting rod. It should be understood that the free end of the connecting section may be provided with a snap groove and the snap end of the reset link may be provided with a protrusion adapted to the snap groove. For example, the engaging groove may have a semicircular cross section, and the protrusion may have a cylindrical shape. It will be appreciated that the free end of the connecting section may also be provided with a guide surface, for example, the guide surface may be inclined in a curve. The operator operates the retaining rings 171a and 171b to rotate the handle body 172a in a direction approaching the handle body 172b until the handle body 172a abuts against the bent corner of the locking lever 180 to restrict the rotation of the handle body 172 a. The reset link is rotated toward the direction close to the free end of the connection section, so that the protrusion of the engaging end of the reset link slides along the guide surface of the free end of the connection section until engaging with the engaging groove to compress the elastic member, so that the locking section rotates toward the direction away from the retaining rings 171a and 171b, so that the saw teeth on the locking lever 180 are separated from the saw teeth on the handle body 172a to realize unlocking, and the handle body 172a can rotate toward the direction away from the handle body 172 b.

FIG. 3 illustrates a longitudinal cross-sectional structural view of a curved state of the flexible multi-link apparatus 100 according to some embodiments of the present disclosure. In some embodiments, as shown in fig. 2 and 3, the handle 170 may further include a handle body 172 c. The handle body 172c is fixedly attached to or integrally formed with the distal end of the handle body 172 b. In some embodiments, as shown in fig. 3, the bendable multi-link apparatus 100 may further include a fourth link 190. The distal end of the fourth link 190 may be fixedly or detachably connected to the connecting section 130, and the proximal end is fixedly or rotatably connected to the distal end of the handle body 172 c. The fourth link 190 includes a hollow passage through which the proximal end of the third link 140 extends and is connected to the handle body 172 a.

In some embodiments, the proximal end of the fourth link 190 is rotatably coupled to the distal end of the handle body 172 c. For example, as shown in fig. 3, the distal end of the handle body 172c may include a rotatable member 173. The rotatable member 173 is rotatably fitted around the distal end of the handle main body 172c in the circumferential direction. The proximal end of the fourth link 190 is removably fixedly coupled to the rotatable member 173. The handle body 172c may include a through hole disposed along the axial direction, and the proximal end of the third link 140 passes through the fourth link 190 and is connected to the handle body 172 a. The rotatable member 173 drives the fourth link 190 to rotate when rotating in the circumferential direction, so as to drive the flexible multi-link apparatus 100 to rotate. The fourth link 190 can rotate to drive the first link 110 and the second link 120 to rotate in the bending direction. Thus, the bending direction of the front end of the bendable multi-link apparatus 100 can be flexibly adjusted.

In some embodiments, as shown in fig. 3, the rotatable member 173 may include a fixed portion 1731 and a connecting portion 1732. The proximal end of the fixing portion 1731 is fixedly connected to the distal end of the handle body 172c, and the distal end of the fixing portion 1731 is rotatably connected to the proximal end of the connecting portion 1732. The distal end of the connecting portion 1732 is detachably connected to the proximal end of the fourth link 190. When the connecting portion 1732 rotates relative to the fixing portion 1731, the fourth link 190 fixedly connected to the connecting portion 1732 may be driven to rotate, so as to drive the first link 110 and the second link 120 to rotate in the bending direction.

In some embodiments, as shown in fig. 3, the rotatable member 173 may further include a curved indicator structure 1733 fixedly disposed on the connecting portion 1732. The bending indication structure 1733 may be used to indicate a bending direction of the first and

second links

110 and 120. For example, the bending indicator 1733 may be positioned opposite or in the same direction as the bending direction of the first and

second links

110 and 120. It should be appreciated that the bend indicating structure 1733 may include, but is not limited to, notches, graduations, markings, or screws for securing the fourth link 190. For example, as shown in fig. 3, the bend indicating structure 1733 is a screw provided on the connecting portion 1732 for abutting a proximal end portion of the fourth link 190 to fix the fourth link 190. The fourth link 190 may be provided with an opening to mate with the screw 1733. When the distal end portion of the bendable multi-link apparatus 100 is inserted into the body, the connecting portion 1732 can be rotated to judge the bending direction of the front end of the bendable multi-link apparatus 100 based on the position of the bending instruction structure 1733, thereby improving the control accuracy. For example, when the bending indication structure 1733 is disposed opposite to the bending direction of the first link 110 and the second link 120, it may be determined that the bending direction of the front end of the bendable multi-link apparatus 100 is opposite to the disposed direction of the bending indication structure 1733. When the bending instruction structure 1733 is disposed in the same direction as the bending directions of the first link 110 and the second link 120, it may be determined that the bending direction of the front end of the bendable multi-link apparatus 100 is the same as the disposed direction of the bending instruction structure 1733. The bending indication structure 1733 enables an operator to quickly adjust the bending direction of the front end of the bendable multi-link apparatus 100 to facilitate quick wiping of the endoscope lens.

It should be appreciated that in some embodiments, the distal end of the handle body 172c can also be removably coupled, e.g., threaded, snapped, etc., to the proximal end of the fourth link 190, and the proximal end of the third link 140 can be snapped through the fourth link, the through hole, and the handle body 172 a.

FIG. 4 illustrates a partial structural schematic of a curved state of the flexible multi-link apparatus 100 according to some embodiments of the present disclosure. As shown in fig. 4, the bendable multi-link apparatus 100 may include a first link 110, a second link 120, and a third link 140. In some embodiments, the first link 110 includes a rod 111 and a mounting base 112, and the rod 111 is fixedly connected to the mounting base 112. In some embodiments, the shaft 111 is detachably connected to the mounting base 112. For example, the first link 110 has an external thread at one end of the rod body 111 and an internal thread on the inner side of the mounting seat 112 to match the external thread. Alternatively, the first link 110 is a unitary structure, and the rod 111 and the mounting seat 112 may be integrally formed. In some embodiments, the shaft 111 of the first link 110 includes a tab at an end distal from the traction mechanism. For example, the bumps may be spherical to facilitate placement of a wiping sponge or other wiping implement without damaging the tissue in the body.

The mounting base 112 is rotatably connected to the second link 120, for example, by a pin, and forms a first rotating portion. The second link 120 is rotatably connected to the connecting base 130, for example, by a pin, and forms a second rotating portion. The third link 140 is slidably connected to the connecting seat 130. For example, the connecting seat 130 has a sliding slot, and the third link 140 is slidably disposed in the sliding slot.

The bendable multi-link apparatus 100 may also include a traction mechanism. The traction mechanism is rotatably connected to the mounting base 112, the third link 140 and the connecting base 130, for example, by a pin. The third link 140 can slide relative to the connecting base 130 to drive the traction mechanism to pull the first link 110 and the second link 120 to rotate, bend or unbend. In some embodiments, the first link 110 and the second link 120 are rotationally bent to form a U-shape with the third link 140, as shown in fig. 1. In some embodiments, the first link 110 and the second link 120 rotate to straighten and form a straight line with the third link 140, as shown in fig. 2.

In some embodiments, as shown in fig. 4, the tow mechanism may include a first tow bar 150 and a second tow bar 160. The second traction bar 160 is rotatably coupled to the first link 110 (e.g., the mounting seat 112) and the coupling seat 130, respectively, and the first traction bar 150 is rotatably coupled to the third link 140 and the second traction bar 160, respectively. The second drawbar 160 may include a beveled shank, a first coupling 161 at one end of the shank, a second coupling 162 at the beveled shank, and a third coupling 163 at the other end of the shank. In some embodiments, the first coupling portion 161 of the second drawbar 160 is rotatably coupled to the mounting base 112 and forms a third rotating portion, and the third rotating portion can move around the first rotating portion. The third connecting part 163 of the second traction rod 160 is rotatably connected with the connecting seat 130. In some embodiments, a first end of the first drawbar 150 is connected to the third link 140 and a second end of the first drawbar 150 is connected to the second coupling portion 162 of the second drawbar 160. In some embodiments, the connection point of the first connection 161 is closer to the end of the first link 110 than the connection point of the first link 110 and the second link 120. In some embodiments, a connection point of the second link 120 to the connection seat 130 is closer to an end of the connection seat 130 than a connection point of the third connection part 163, and a connection point of the third connection part 163 is closer to an end of the connection seat 130 than a connection point of the first traction rod 150 to the third link 140. Thus, the first link 110 and the second link 120 may be rotated to form a U-shape and a straight line type with the third link 140.

When the bendable multi-link device 100 is changed from the straightened state to the bent state, for example, from the straightened state of the multi-link device 100 shown in fig. 2 to the bent state of the multi-link device 100 shown in fig. 1, the third link 140 is pulled, the third link 140 pulls the first pull rod 150 to move, the first pull rod 150 pulls the second connection portion 162, so that the third rotation portion rotates around the first rotation portion, and the second pull rod 160 pulls the second link 120, the first link 110 (the mounting seat 112 and the rod body 111) to rotate, thereby forming the bent state shown in fig. 1.

When the bendable link device 100 is changed from the bent state to the extended state, for example, from the bent state of the multi-link device 100 shown in fig. 1 to the extended state of the multi-link device 100 shown in fig. 2, the third link 140 is pushed, the third link 140 pushes the first pull rod 150 to move, the first pull rod 150 pushes the second pull rod 160 through the second connection portion 162, so that the third rotation portion rotates around the first rotation portion, and the second pull rod 160 pushes the second link 120, the first link 110 (the mount 112 and the rod body 111) to rotate, thereby forming the extended state shown in fig. 2.

In some embodiments, fig. 5 and 6 respectively illustrate partial structural schematic views of a bent state of the bendable multi-link apparatus 200 according to some embodiments of the present disclosure. As shown in fig. 5, the towing mechanism may include a first tow bar 250 and a second tow bar 260. In some embodiments, as shown in fig. 5 and 6, the first link 210 may include a rod body 211 and a mount 212. The rod 211 and the mounting base 212 may be fixedly connected, detachably connected, or integrally formed. The second traction rod 260 is rotatably coupled to the first link 210 (e.g., the mounting seat 212) and the coupling seat 230, respectively, and the first traction rod 250 is rotatably coupled to the third link 240 and the second link 220, respectively. A first end of the second pulling rod 260 is rotatably connected to the first connecting rod 210 (e.g., the mounting seat 212), and a second end of the second pulling rod 260 is rotatably connected to the connecting seat 230. In some embodiments, a first end of the first traction rod 250 is pivotally connected to the third link 240, and a second end of the first traction rod 250 is pivotally connected to a second end of the second link 220. In some embodiments, the connection point of the first end of the second traction rod 260 is closer to the end of the first link 210 than the connection point of the first link 210 and the second link 220. In some embodiments, the connection point of the first traction rod 250 and the second link 220 is closer to the distal end of the coupling socket 230 than the connection point of the second link 220 and the coupling socket 230. The connection point of the second link 220 with the coupling holder 230 is closer to the distal end of the coupling holder 230 than the connection point of the second traction rod 260 with the coupling holder 230. The connection point of the second traction rod 260 to the coupling socket 230 is closer to the distal end of the coupling socket 230 than the connection point of the first traction rod 250 to the third link 240. In some embodiments, the mount 212 is rotatably coupled to the second link 220, such as by a pin, and forms a first rotating portion. The second link 220 is rotatably coupled to the coupling holder 230, for example, by a pin, and forms a second rotating portion. The second end of the first traction rod 250 is rotatably connected to the second end of the second link 220 to form a third rotating portion, and the third rotating portion can move around the second rotating portion. Thus, the first and

second links

210 and 220 may rotate to form a U-shape and a straight line with the third link 240.

FIG. 7 illustrates a partial structural schematic of a straightened state of the bendable multi-link apparatus 200, respectively, according to some embodiments of the present disclosure. When the bendable linkage device 200 is changed from the straightened state to the bent state, for example, from the straightened state of the multi-linkage device 200 shown in fig. 7 to the bent state of the multi-linkage device 200 shown in fig. 5 and 6, the third link 240 is pushed, the third link 240 pushes the first pull rod 250 to move, the first pull rod 250 pushes the second link 220 to rotate, so that the third rotating part rotates around the second rotating part, and the second pull rod 260 pushes the second link 220, the first link 210 (the mounting seat 212 and the rod body 211) to rotate, thereby forming the bent state shown in fig. 5 and 6.

When the bendable multi-link device 200 is changed from the bent state to the extended state, for example, from the bent state of the multi-link device 200 shown in fig. 5 and 6 to the extended state of the multi-link device 200 shown in fig. 7, the third link 240 is pulled, the third link 240 pulls the first pull rod 250 to move, the first pull rod 250 pulls the second link 220 to rotate, so that the third rotating part rotates around the second rotating part, and the second pull rod 260 pulls the second link 220, the first link 210 (the mount 212 and the rod body 211) to rotate, thereby forming the extended state shown in fig. 7.

In some embodiments, the operator may switch the bendable multi-link apparatus 100 (or 200) between the bent state and the straightened state by operating the proximal handle 170 of the bendable multi-link apparatus 100 (or 200) to push or pull the third link 140 (or 240). In addition, the operator can lock the pushing and pulling operations of the third link 140 (or 240) through the locking lever 180 to maintain the first link 110, the second link 120, and the third link 140 of the bendable multi-link apparatus 100 (or 200) in a specific bent state, facilitating the operator to perform various operations using the bendable multi-link apparatus 100 (or 200). For example, during surgery, the endoscope extends deep into the body and may become contaminated with body tissue or fluids, obstructing the view of the operating physician and preventing the normal performance of the surgery. The conventional solution is to withdraw the endoscope from the body, wipe it off, and then re-enter the body. However, this takes a longer time, increasing the risk of surgery. The bendable multi-link device 100 (or 200) according to the embodiment of the present disclosure can go deep into the body, and wipe the lens of the endoscope on site without withdrawing the endoscope out of the body, thereby saving the time for withdrawing the wiping out of the body during the operation and increasing the safety of the operation.

In some embodiments, the direction of bending of the bendable multi-link apparatus 100 may be adjusted. For example, by rotating the rotatable member 173 (see fig. 3), the fourth link 190 can be rotated, so as to drive the connecting

seat

130 or 230, the

second link

120 or 220, and the

first link

110 or 210 to rotate, thereby driving the bending directions of the

first link

110 or 210 and the

second link

120 or 220. In embodiments for surgery, the bendable

multi-link apparatus

100 or 200 may be intraoperatively deep into the body to achieve bending to wipe the endoscope lens within the body. The fourth link 190 can be rotated (e.g., the rotatable member 173 is rotated) according to the position of the endoscope to adjust the position of the end of the first link 110, so as to quickly align the position of the lens of the endoscope, save the operation time in the operation, and reduce the risk of surgical accidents caused by time delay.

In the description of the present disclosure, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, fixed and removable connections; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; there may be communication between the interiors of the two elements. The specific meaning of the above terms in the present disclosure can be understood by those of ordinary skill in the art as appropriate. In the present disclosure, the end close to the operator (e.g. doctor) is defined as proximal, proximal or posterior, and the end close to the surgical patient is defined as distal, distal or anterior, anterior. One skilled in the art will appreciate that embodiments of the present disclosure may be used with medical instruments or surgical robots, as well as other non-medical devices.

It is noted that the foregoing is only illustrative of the embodiments of the present disclosure and the technical principles employed. Those skilled in the art will appreciate that the present disclosure is not limited to the specific embodiments illustrated herein and that various obvious changes, adaptations, and substitutions are possible, without departing from the scope of the present disclosure. Therefore, although the present disclosure has been described in greater detail with reference to the above embodiments, the present disclosure is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present disclosure, the scope of which is determined by the scope of the appended claims.

Claims

1. A bendable multi-link apparatus, comprising:

a first link;

the second connecting rod is rotatably connected with the first connecting rod;

the connecting seat is rotationally connected with the second connecting rod;

the third connecting rod is connected with the connecting seat in a sliding manner; and

the traction mechanism is rotatably connected with the first connecting rod, the third connecting rod and the connecting seat, wherein the third connecting rod is used for sliding relative to the connecting seat so as to drive the traction mechanism to draw the first connecting rod and the second connecting rod to rotate and bend.

2. The bendable multi-link apparatus according to claim 1, wherein the third link is configured to slide relative to the connecting base to drive the traction mechanism to draw the first link and the second link to bend rotationally, forming a U-shape with the third link.

3. The bendable multi-link apparatus of claim 1, wherein the traction mechanism comprises:

a first traction rod; and

4. The bendable multi-link apparatus according to claim 3, wherein the second drawbar comprises:

a rod body with a break angle;

the first connecting part is positioned at one end of the rod body;

and the third connecting part is positioned at the other end of the rod body.

5. The bendable multi-link apparatus according to claim 4, wherein the first connection part of the second drawbar is rotatably connected to the first link, and the third connection part of the second drawbar is rotatably connected to the connection seat.

6. The bendable multi-link apparatus according to claim 4, wherein a first end of the first drawbar is pivotally connected to the third link and a second end of the first drawbar is pivotally connected to the second coupling portion of the second drawbar.

7. The bendable multi-link apparatus according to claim 4, wherein a connection point of the first connection part is closer to an end of the first link than a connection point of the first link and the second link.

8. The bendable multi-link apparatus according to claim 4, wherein a connection point of the second link to the connection seat is closer to an end of the connection seat than a connection point of the third link, and a connection point of the third link is closer to the end of the connection seat than a connection point of the first drawbar to the third link.

9. The bendable multi-link apparatus according to claim 1, wherein the traction mechanism comprises:

a first traction rod; and

10. The bendable multi-link apparatus according to claim 9, wherein a connection point of a second drawbar to the first link is closer to an end of the first link than a connection point of the first link to a second link.

11. The bendable multi-link apparatus according to claim 9, wherein a connection point of a first drawbar and the second link is closer to an end of the connection seat than a connection point of the second link and the connection seat.

12. The bendable multi-link apparatus according to claim 9, wherein a connection point of the second link and the connection seat is closer to an end of the connection seat than a connection point of the second drawbar and the connection seat.

13. The bendable multi-link apparatus according to any one of claims 1-12,

the first connecting rod is of an integral structure, or comprises a rod body and a mounting seat, and the rod body is fixedly connected with the mounting seat; and/or

The first link includes a tab at an end distal from the traction mechanism.

14. The bendable multi-link apparatus according to any one of claims 1-12, further comprising:

15. The bendable multi-link apparatus according to claim 14, further comprising: the far end of the fourth connecting rod is fixedly connected with the connecting seat, the near end of the fourth connecting rod is fixedly connected with the handle or can be rotatably connected with the handle, and the third connecting rod penetrates through the fourth connecting rod and is connected with the handle.

16. The bendable multi-link apparatus according to claim 15, further comprising:

17. The bendable multi-link apparatus according to claim 16, wherein the rotatable member comprises a fixed portion and a connecting portion, a proximal end of the fixed portion is fixedly connected to the distal end of the handle, a distal end of the fixed portion is rotatably connected to a proximal end of the connecting portion, and a distal end of the connecting portion is detachably connected to a proximal end of the fourth link.

18. The bendable multi-link apparatus according to claim 17, wherein the rotatable member further comprises a bend indicating structure provided on the connecting portion for indicating a direction of bending of the first link and the second link.

19. The bendable multi-link apparatus according to claim 18, wherein the bend indicating structure comprises a notch, scale, marking, or screw for securing the fourth link.