CN115413991A - Bending joints and joint drive systems - Google Patents

Abstract

The invention relates to a bending joint which comprises a joint main body and at least one pair of control wires, wherein the joint main body comprises a plurality of joint pieces, the joint pieces are arranged along the extension direction of the joint main body, each joint piece is provided with a first end surface and a second end surface, the first end surface is provided with an arc surface contact area, the second end surface is provided with a plane contact area, the arc surface contact areas and the plane contact areas between the adjacent joint pieces are in rolling contact with each other, and the control wires are movably connected with the joint pieces along the extension direction of the joint main body and used for controlling the adjacent joint pieces to deflect. What adopt between the adjacent joint spare in this bending joint is the rolling contact form between cambered surface contact area and the plane contact area, and the joint spare between adjacent relies on the control silk to form the connection to utilize the control silk to constitute continuous joint main part, this kind of contact form does not have fixed turning point, can make the rotation between the adjacent joint spare more nimble, gives the good experience of controlling of operator.

Description

Bending joints and joint drive systems

technical field

The invention relates to the technical field of medical instruments, in particular to a bending joint and a joint driving system.

Background technique

Surgical instruments used in minimally invasive surgery include end instruments, bending joints, instrument tubes, and control devices. The control device can control the bending of the bending joints through control wires, and then transmit the output force to the working end. For example, an endoscope may include a bending joint composed of multiple snake bones. By pulling the control wire connected to the snake bone, the bending action of the bending joint can be realized, thereby controlling the bending and changing direction of the head of the endoscope. , the multi-section snake bones of the bending joints in the existing surgical instruments are generally connected with each other by connecting shafts, not only the assembly is more complicated, but also the adjacent snake bones have fixed rotation points when they rotate relative to each other, which affects the flexibility of the bending joints when performing bending movements Sexuality, affecting the smooth progress of the operation, and bringing poor control experience to the operator.

Contents of the invention

The present application provides a bending joint and a joint driving system to solve the technical problem that the bending joint of a surgical instrument has poor flexibility when performing a bending action.

A flex joint comprising:

The joint body, the joint body includes a plurality of joint parts, the plurality of joint parts are arranged along the extension direction of the joint body, the joint parts have a first end surface and a second end surface, and the first end surface has an arc A surface contact area, the second end surface has a plane contact area, and the arc surface contact area and the plane contact area between adjacent joint parts are in rolling contact with each other;

At least one pair of control wires, the control wires are movably connected to a plurality of the joint parts along the extension direction of the joint body, and are used to control the deflection of the adjacent joint parts.

In this embodiment, the rolling contact form between the adjacent joint parts in the bending joint is adopted between the arc surface contact area and the plane contact area, and there is no actual connection form such as hinge between adjacent joint parts. Instead, it relies entirely on the control wires to form a mutually stable control connection, and uses the control wires to form a continuous joint body. Therefore, this contact form between adjacent joint parts does not have a fixed rotation point. There is no fixed point of rotation, which makes the rotation between adjacent joint parts more flexible.

In one of the embodiments, the joint body has a straight line state and a curved state, and the arc surface contact area and the plane contact area between adjacent joint parts can roll in contact with each other and form a rolling contact line; wherein, adjacent The deflection direction of the joint parts is perpendicular to the rolling contact line between the adjacent joint parts; each pair of the control wires is in the same control reference plane, and in the straight line state of the joint body, the adjacent joint parts The rolling contact line between the joint parts is perpendicular to the control reference plane where the pair of control wires that control the deflection of the adjacent joint parts are located, and the center of the rolling contact line is at the control reference plane inside.

In this embodiment, multiple joint parts of the joint body are movably connected by control wires, and the center of a pair of control wires that control the deflection of the joint body and the rolling contact line are all in the same control reference plane, and the pair of control wires pull and control When the adjacent joints deflect, they just rotate along the rolling contact line, and the pulling force when the adjacent joints deflect and the rolling contact line form a mutually perpendicular matching relationship, so that the deflection between adjacent joints is accurately controlled. Control, no deviation will occur, ensure that the deflection between adjacent joints in the joint body maintains a high degree of consistency and stability, and reduce the deflection error caused by the inconsistent deflection of adjacent joints. Adjacent joints There is no fixed point of rotation between the parts, which will make the rotation between adjacent joint parts more flexible and give the operator a good control experience.

In one of the embodiments, the control wires are two pairs, and the two pairs of control wires are divided into a first pair of control wires and a second pair of control wires, and the first pair of control wires and the second pair of control wires A plurality of joint parts are movably connected along the extension direction of the joint body, the first pair of control wires is in the first control reference plane, and the second pair of control wires is in the second control reference plane; The rolling contact straight lines include a plurality of first rolling contact straight lines and a plurality of second rolling contact straight lines, the plurality of first rolling contact straight lines are perpendicular to the first control reference plane, and the plurality of first rolling contact straight lines The center of the contact line is in the first control reference plane, the plurality of second rolling contact lines are perpendicular to the second control reference plane, and the centers of the plurality of second rolling contact lines are in the first control reference plane. 2. Inside the control datum plane.

In this embodiment, two control wires constitute a pair that can control the deflection of the joint body in one direction. When the number of control wires is four, the four control wires are divided into a first pair of control wires and a second pair of control wires. For the control wires, the first pair of control wires and the second pair of control wires can be used to control the deflection of the joint body in two directions, thereby improving the flexibility of the joint body.

In one of the embodiments, in the straight state of the joint body, the first control reference plane and the second control reference plane are perpendicular to each other.

In this embodiment, the first pair of control wires and the second pair of control wires can be used to control the deflection of the joint body in two directions perpendicular to each other.

In one embodiment, the first rolling contact straight lines and the second rolling contact straight lines are distributed alternately and misplaced along the extending direction of the joint body.

In this embodiment, the staggered distribution of the first rolling contact straight line and the second rolling contact straight line can make the deflection of the joint body in both directions more flexible.

In one of the embodiments, a pair of first deflection contact positions and a pair of second deflection contact positions are respectively provided on the first end surface and the second end surface of the adjacent joint member, and the first deflection contact position and the The second deflection contact position is in the control reference plane where a pair of control wires that control the deflection of the adjacent joint parts are located; in the straight state of the joint body, the first deflection contact position and the second deflection contact position The deflection contact positions are equal in vertical distance with respect to the rolling contact line between the adjacent joint members.

In this embodiment, when each pair of control wires controls the bending and deflection of the bending joint, it is ensured that the elongation of one side of each pair of control wires is basically the same as the shrinkage of the other side of the control wires, forming basically the same return stroke The error makes the bending control of the bending joint more flexible and precise.

In one of the embodiments, four joint holes are opened on the joint member, and the four joint holes are divided into a first pair of joint holes and a second pair of joint holes in pairs, and the first pair of control wires The second pair of control wires are threaded through the first pair of joint holes of the joint parts along the extending direction of the joint body, and the second pair of control wires are threaded in the plurality of joint holes along the extending direction of the joint body. In the second pair of articular holes of the joint member, the first pair of articular holes are both in the first control reference plane, the second pair of articular holes are both in the second control reference plane, and the first pair of articular holes are both in the second control reference plane. The line between a pair of articular holes and the line between the second pair of articular holes are perpendicular to each other.

In this embodiment, the four joint holes can be matched with four control wires, so that the adjacent joint parts are connected through the joint holes and the control wires, and the joint holes are used to limit the control wires, so that the four control wires When the wire controls the deflection of the joint body, it can ensure a stable relative positional relationship.

In one embodiment, the first end surface and the second end surface are parallel to each other, and the rolling contact line is parallel to the first end surface.

In one of the embodiments, a protruding portion is provided on the first end surface, the protruding portion has an arc-shaped surface, and the arc-shaped surface constitutes the arc surface contact area; and/or, the The entire surface of the second end face forms the planar contact area.

A joint drive system, the joint drive system comprising:

said flexure joint;

a deployment joint, the distal end of the deployment joint is connected to the proximal end of the bending joint;

a terminal instrument connected to the distal end of the flex joint;

A control device, the control device is in control connection with the unfolding joint and the bending joint.

In this embodiment, the joint driving system adopts the above-mentioned curved joint, and the centers of the pair of control wires that control the deflection of the joint body and the rolling contact line are in the same control reference plane, and the pair of control wires pull and control the adjacent joint parts When deflecting, it just rotates along the rolling contact line, and forms a vertical matching relationship between the pulling force of the adjacent joint parts and the rolling contact line when they deflect, so that the deflection between adjacent joint parts is precisely controlled and will not Any deviation occurs, ensuring that the deflection between adjacent joint parts in the joint body maintains a high degree of consistency and stability, reducing the deflection error caused by the inconsistent deflection of adjacent joint parts, and there is no gap between adjacent joint parts The existence of any fixed rotation point will make the rotation between adjacent joint parts more flexible and provide the operator with a good control experience. At the same time, the bending joint and the yaw joint form a cooperation, which can realize the bending and yaw operation of the entire joint drive system, and precisely control the position and angle of the end device.

In one of the embodiments, the joint drive system includes:

An articulation, the distal end of the expansion joint is connected to the proximal end of the articulation, the distal end of the articulation is connected to the proximal end of the bending joint, and the distal end of the expansion joint passes through the an articulation member is connected to the proximal end of the bending joint;

An instrument tube body, the control device is connected to the proximal end of the instrument tube body, and the distal end of the instrument tube body is connected to the proximal end of the deployment joint.

In this embodiment, the joint connection part and the instrument tube body can form a matching connection between the deployment joint and the joint connection part to form a complete joint driving system.

In one of the embodiments, the deployment joint has a first yaw direction, and the deployment joint includes:

first yaw base;

The first yaw main body, the proximal end of the first yaw main body is hinged to the first yaw base, and the first yaw main body can move relative to the first yaw along the first yaw direction. The pendulum base deflects;

The first yaw top seat, the distal end of the first yaw main body is hinged to the first yaw top seat, and the first yaw top seat can be moved along the first yaw direction relative to the The first deflecting body deflects;

The first active control wire is movably connected to the first yaw base, the first yaw main body and the first yaw top seat, and the distal end of the first active control wire It is fixedly connected with the first yaw top seat, and is used for actively controlling the yaw of the first yaw main body relative to the first yaw base;

The first passive control wire is movably connected to the first yaw base, the first yaw main body and the first yaw top seat, and the distal end of the first passive control wire is Fixedly connected with the first yaw top seat, the length of the first active control wire and the first passive control wire are equal, for actively controlling the first yaw on the first active control wire In the state where the main body is swaying, the first yaw top seat is passively controlled to yaw relative to the first yaw main body, and the yaw direction of the first yaw top seat is the same as that of the first yaw top seat. The yaw direction of the yaw body is opposite.

In this embodiment, when the first active control wire is stretched and the first passive control wire is relaxed, the first deflection top seat can be deflected relative to the first deflection body along the first deflection direction , so that the deployment joints complete the parallel deployment in the left and right directions.

In one of the embodiments, the maximum deflection angle of the first deflection body relative to the first deflection base is equal to the maximum deflection angle of the first deflection top seat relative to the first deflection body angle.

In one of the embodiments, the first yaw base has a pair of first yaw limiting parts, the proximal end of the first yaw main body has a pair of second yaw limiting parts, and a pair of the yaw limiting parts. The first yaw limiting portion can limit contact with a pair of the second yaw limiting portions;

There is a pair of third yaw limiting portions on the first yaw top seat, a pair of fourth yaw limiting portions at the distal end of the first yaw main body, and a pair of third yaw limiting portions. The position portion can limit contact with a pair of the fourth deflection limit portions.

In this embodiment, the pair of first yaw limiting portions can limit contact with the pair of second yaw limiting portions, thereby limiting the yaw of the first yaw main body relative to the first yaw base to the maximum. yaw angle and maintain this yaw state, similarly, a pair of third yaw limiting parts can limit contact with a pair of fourth yaw limiting parts, so that the first yaw top seat is relative to the first yaw The deflection of the main body 2200 is limited to the maximum deflection angle and maintains this deflection state.

In one of the embodiments, the deployment joint has a second yaw direction, and the first yaw main body includes a first main body unit, a first base unit and a first top seat unit;

The proximal end of the first base unit is hinged to the distal end of the first swing base, the distal end of the first base unit is hinged to the proximal end of the first main body unit, and the first main body unit can yaw relative to the first base unit along the second yaw direction;

The proximal end of the first top seat unit is hinged to the distal end of the first main body unit, the distal end of the first top seat unit is hinged to the proximal end of the first swing top seat, and the first the top seat unit is capable of pivoting relative to the first main body unit along the second pivoting direction;

The second active control wire is movably connected to the first main body unit, the first base unit and the first top unit, and the distal end of the second active control wire is connected to the The first top unit is fixedly connected, and is used for actively controlling the deflection of the first main body unit relative to the first base unit;

The second passive control wire is movably connected to the first main body unit, the first base unit and the first top unit, and the distal end of the second passive control wire is connected to the The first top seat unit is fixedly connected, the length of the second active control wire and the second passive control wire are equal, and is used for actively controlling the deflection of the first main body unit when the second active control wire actively controls the deflection of the first main body unit In this state, the first top seat unit is passively controlled to yaw relative to the first main body unit, and the yaw direction of the first top seat unit is opposite to the yaw direction of the first main body unit.

In this embodiment, when the second active control wire is stretched and the second passive control wire is relaxed, the first top seat unit can be deflected relative to the first main body unit along the second deflection direction, so that Expand joints to achieve parallel expansion in the front-to-back direction.

In one of the embodiments, the first yaw direction and the second yaw direction are perpendicular to each other.

In this embodiment, the first yaw direction and the second yaw direction are perpendicular to each other, enabling the yaw joint to yaw in two mutually perpendicular directions, and realize parallel deployment in two mutually perpendicular directions.

In one of the embodiments, the maximum deflection angle of the first main body unit relative to the first base unit is equal to the maximum deflection angle of the first top base unit relative to the first main body unit.

In one of the embodiments, the distal end of the first base unit has a pair of fifth yaw limiting parts, the proximal end of the first main body unit has a pair of sixth yaw limiting parts, and a pair of the The fifth yaw limiting portion can limit contact with a pair of the sixth yaw limiting portions;

The proximal end of the first top seat unit has a pair of seventh yaw limiting parts, the distal end of the first main body unit has a pair of eighth yaw limiting parts, and a pair of the seventh yaw limiting parts The position portion can limit contact with a pair of the eighth deflection limit portions.

In this embodiment, each yaw limiting part can limit the yaw to the maximum yaw angle and maintain the yaw state through mutual contact, so as to maintain the stability of the yaw.

In one of the embodiments, the deployment joint has a third yaw direction, and the deployment joint includes:

second yaw base;

The second yaw main body, the proximal end of the second yaw main body is hinged to the second yaw base, and the second yaw main body can move relative to the second yaw along the third yaw direction. The pendulum base deflects;

A pair of first yaw control wires, a pair of first yaw control wires are arranged symmetrically along the third yaw direction and are movably connected to the second yaw base and the second yaw body, a The distal end of the first yaw control is fixedly connected with the second yaw main body, and is used for controlling the yaw of the second yaw main body relative to the second yaw base.

In this embodiment, when the left first yaw control wire of the pair of first yaw control wires is stretched and the right first yaw control wire is relaxed, the second yaw main body can move along the first yaw control wire. The three yaw directions are yaw relative to the second yaw base, so that the unfolding joint is deployed toward the left or right.

In one of the embodiments, the deployment joint has a fourth yaw direction, and the deployment joint includes:

A second yaw top seat, the second yaw top seat is hinged to the distal end of the second yaw main body, the second yaw top seat can be moved along the fourth yaw direction relative to the The second deflecting body deflects;

A pair of second yaw control wires, the pair of second yaw control wires are arranged symmetrically along the fourth yaw direction and are movably connected to the second yaw base, the second yaw body and the first yaw Two yaw top seats, a pair of distal ends of the first yaw control are fixedly connected to the second yaw top seat, for controlling the second yaw top seat relative to the second yaw main body Deflection occurs.

In this embodiment, when the front second yaw control wire of the pair of second yaw control wires is stretched and the rear second yaw control wire is relaxed, the second yaw main body can move along the fourth yaw control wire. The pendulum direction is deflected relative to the second deflection base, so that the unfolding joint is deployed forward and backward.

Description of drawings

Fig. 1 is a schematic diagram of a linear state structure of a bending joint provided by an embodiment of the present invention;

Fig. 2 is a schematic structural diagram of a bending state of a bending joint provided by an embodiment of the present invention;

Fig. 3 is a schematic diagram of the first angle structure of the joint provided by an embodiment of the present invention;

Fig. 4 is a schematic diagram of the second angle structure of the joint provided by an embodiment of the present invention;

Fig. 5 is a schematic diagram of the assembly structure of adjacent joint parts provided by an embodiment of the present invention;

Fig. 6 is a schematic structural diagram of a joint driving system provided by an embodiment of the present invention;

Fig. 7 is a schematic structural diagram of a joint connector provided by an embodiment of the present invention;

Fig. 8 is a schematic structural view of a terminal instrument provided by an embodiment of the present invention;

Fig. 9 is a schematic diagram of a linear state structure of an unfolded joint provided by an embodiment of the present invention;

Fig. 10 is a schematic structural diagram of a bent state of an unfolded joint provided by an embodiment of the present invention;

Fig. 11 is a schematic structural diagram 1 of the use state of the unfolded joint provided by an embodiment of the present invention;

Fig. 12 is a schematic structural diagram 2 of the use state of the unfolded joint provided by an embodiment of the present invention;

Fig. 13 is a schematic diagram of the linear state structure of the unfolded joint provided by another embodiment of the present invention;

Fig. 14 is a schematic structural diagram of the bent state of the unfolded joint provided by another embodiment of the present invention;

Fig. 15 is a schematic structural diagram of the use state of the deployment joint provided by another embodiment of the present invention.

detailed description

In order to make the above objects, features and advantages of the present invention more comprehensible, specific implementations of the present invention will be described in detail below in conjunction with the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described here, and those skilled in the art can make similar improvements without departing from the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

In order to describe the structure of the bending joint 1000 and the joint driving system more clearly, the term "distal end" is defined here to mean the end away from the operator during the operation, and "proximal" means the end close to the operator during the operation. Unless otherwise defined, all technical and scientific terms used in the present invention have the same meaning as commonly understood by one of ordinary skill in the technical field of the present invention. The terms used in the description of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

1 to 5, an embodiment of the present invention provides a bending joint 1000, the bending joint 1000 includes a joint body and at least one pair of control wires 1200, the joint body includes a plurality of joint parts 1100, a plurality of joint parts 1100 Arranged along the extension direction of the joint body, the joint member 1100 has a first end surface 1110 and a second end surface 1120, the first end surface 1110 has an arcuate contact area 1110a, and the second end surface 1120 has a planar contact area 1120a, between adjacent joint members 1100 The arcuate contact area 1110a and the planar contact area 1120a between them can be in rolling contact with each other, and the control wire 1200 is movably connected to a plurality of joint parts 1100 along the extension direction of the joint body, so as to control the deflection of adjacent joint parts 1100 .

In the bending joint 1000, the rolling contact form between the adjacent joint parts 1100 is adopted between the arc surface contact area 1110a and the planar contact area 1120a, and there is no actual connection form such as hinges between the adjacent joint parts 1100, but It relies entirely on the control wire 1200 to form a stable control connection with each other, and uses the control wire to form a continuous joint body. Therefore, this contact form between adjacent joint parts 1100 does not have a fixed rotation point, because the adjacent joint parts 1100 There is no fixed rotation point between them, which makes the rotation between adjacent joint parts 1100 more flexible.

Continuing to refer to FIGS. 1 to 5 , the joint body has a straight line state and a curved state, and the arcuate contact area 1110a and the planar contact area 1120a between adjacent joint parts 1100 can be in rolling contact with each other and form a rolling contact line 1110b, wherein , the deflection direction of the adjacent joint parts 1100 is perpendicular to the rolling contact line 1110b between the adjacent joint parts 1100; each pair of control wires 1200 is in the same control reference plane, and in the straight line state of the joint body, the adjacent joint parts The rolling contact line 1110b between 1100 is perpendicular to the control reference plane where the pair of control wires 1200 that control the deflection of the adjacent joints 1100 is located, and the center of the rolling contact line 1110b is within the control reference plane.

It should be noted that the linear state of the joint body is, for example, the state shown in FIG. The arrangement of the extension direction of the joint body is the direction of the straight line trajectory up and down in Fig. 1 . The bending state of the joint body is, for example, as shown in Figure 2. The bending state of the joint body is also the use state of the joint body. The joint body is formed from a straight line through the control of the control wire 1200 to form a curved state and then transforms into a curved state. In the bent state, a plurality of joint parts 1100 are arranged sequentially along the curved track, and the formed joint body is a curved structure. At this time, the arrangement of the extension direction of the joint body is the direction of the curved track in FIG. 2 .

Therefore, when a plurality of joint parts 1100 are arranged along the extension direction of the joint body, between every two adjacent joint parts 1100, the first end surface 1110 of the joint part 1100 near the proximal end is aligned with the joint part near the distal end. The second end surface 1120 of 1100 forms an opposite surface, so that the arc surface contact area 1110a of the first end surface 1110 and the plane contact area 1120a of the second end surface 1120 form mutual contact, and the arc surface contact area between two adjacent joint parts 1100 1110a and the planar contact area 1120a will form a rolling contact line 1110b after rolling contact with each other. It should be emphasized that the rolling contact line 1110b constructed at the mutual rolling contact position of the arcuate contact area 1110a and the planar contact area 1120a is a "line segment" , therefore, the rolling contact relationship between the arcuate contact area 1110a and the planar contact area 1120a is actually a "line contact relationship", which is obviously able to make The friction between the arc contact area 1110a and the planar contact area 1120a is greatly reduced, which improves the service life. At the same time, since there is no fixed rotation point between the adjacent joint parts 1100, the friction between the adjacent joint parts 1100 will be reduced. The rotation is more flexible.

The rolling contact line 1110b is equivalent to the rotational axis of rotation between adjacent joint parts 1100, but since the rolling contact is formed between the adjacent joint parts 1100 through the arc surface contact area 1110a and the planar contact area 1120a, the adjacent joint parts 1100 rotate relatively , it is equivalent to the rolling of the planar contact area 1120a relative to the arcuate contact area 1110a. Therefore, the rolling contact line 1110b will continue to change position along with the dynamic rolling contact between the arcuate contact area 1110a and the planar contact area 1120a. That is, the position of the arc contact area 1110a is constantly changed, and the position of the planar contact area 1120a is also changed. However, although the position of the rolling contact line 1110b changes, the multiple rolling contact lines 1110b formed between adjacent joint parts 1100 are parallel to each other. The fact that the plurality of rolling contact straight lines 1110b are parallel to each other determines the consistency and stability of the deflection directions between adjacent joint parts 1100 .

The first end surface 1110 and the second end surface 1120 can be parallel to each other, or a certain degree of relative inclination can be formed between the first end surface 1110 and the second end surface 1120, as long as the relative inclination does not affect the bending action of the joint body That is, for example, the relative angle formed between the first end surface 1110 and the second end surface 1120 is within a reasonable range of 1° to 5°. In addition, the rolling contact line 1110b may be parallel to the first end surface 1110, or the rolling contact line 1110b may also form a certain degree of relative inclination relative to the first end surface 1110, for example, the relative angle formed by the rolling contact line 1110b relative to the first end surface 1110 is Within a reasonable range of 1° to 5°, those skilled in the art can set it according to requirements, and it is not limited here.

The control wires 1200 usually appear in pairs, and the pairing of the control wires 1200 can be understood as a pair of control wires 1200. Two control wires 1200 form a pair, and the two control wires 1200 are located in radially symmetrical positions of the joint body. The pulling control makes the joint body bidirectionally deflect along the radially opposite directions of a pair of control wires 1200, wherein a pair of control wires 1200 can also be understood as the number of control wires 1200 is not necessarily two, and more than two control wires 1200 If it can also be located in the radially relative position of the joint body, the joint body can be bidirectionally deflected along the radially opposite direction of the pair of control wires 1200 through pulling control, that is, a pair of control wires 1200, those skilled in the art can according to The requirements are reasonably set.

The control wire 1200 is movably connected to multiple joint parts 1100 along the extension direction of the joint body. For example, joint holes or joint rings can be opened on the joint parts 1100 to provide a structure for the control wire 1200 to pass through, and then the control wire 1200 can be inserted. 1200 is movably installed in the joint hole or joint ring, and then movably connects multiple joint parts 1100 to control the deflection of adjacent joint parts 1100. The assembly structure of connecting multiple joint parts 1100 through the control wire 1200 is simpler, making The bending joint 1000 also has more advantages in overall length and manufacturing cost.

It should be noted that the deflection direction of the adjacent joint parts 1100 is perpendicular to the rolling contact line 1110b between the adjacent joint parts 1100, which also confirms that the rolling contact line 1110b is equivalent to the rotation axis of the rotation between the adjacent joint parts 1100 , the deflection between adjacent joint parts 1100 can be formed along the rolling contact line 1110b, and the deflection direction between adjacent joint parts 1100 is limited along the rolling contact line 1110b, ensuring the rotation between adjacent joint parts 1100 Consistency and stability, in the state where the rolling contact straight line 1110b between adjacent joint parts 1100 is constantly changing in parallel, it can still deflect toward the preset deflection direction stably and consistently, so that the entire joint body has Consistency and stability of deflection.

Regardless of whether there are one pair or more pairs of control wires 1200, each pair of control wires 1200 is in the same control reference plane, and the control reference plane where each pair of control wires 1200 is located is also the movement of each pair of control wires 1200 along the extension direction of the joint body After connecting multiple joint parts 1100, a plane or a curved surface is formed on the entire joint body. The control reference plane indicates the deflection direction of the joint body under the control of a pair of control wires 1200 in the control reference plane. In a straight line state, the rolling contact line 1110b between adjacent joint parts 1100 is perpendicular to the control reference plane where a pair of control wires 1200 that control the deflection of the adjacent joint parts 1100 are located, and the center of the rolling contact line 1110b is at the within the control plane.

That is to say, if there is only one pair of control wires 1200, then the multiple joint parts 1100 of the joint body are arranged in a consistent manner, and the multiple rolling contact lines 1110b formed between the multiple joint parts 1100 are also parallel to each other. , then all the rolling contact lines 1110b are perpendicular to the control reference plane where the pair of control wires 1200 are located, and the center of the rolling contact line 1110b is in the control reference plane. Under the assembly structure of the joint body, the control The centers of the pair of control wires 1200 and the rolling contact line 1110b for the deflection of the joint body are both in the same control reference plane. The pulling force when the adjacent joint parts 1100 deflect and the rolling contact line 1110b form a mutually perpendicular matching relationship, so that the deflection between the adjacent joint parts 1100 is precisely controlled without any deviation, ensuring that the joints The deflection between adjacent joint parts 1100 in the main body maintains a high degree of consistency and stability, reducing the deflection error caused by the inconsistent deflection of adjacent joint parts 1100, and there is no fixed rotation between adjacent joint parts 1100 point, it will make the rotation between adjacent joint parts 1100 more flexible, and give the operator a good manipulation experience.

As shown in Figure 1 and Figure 2, taking a pair of control wires 1200 as two radially opposite control wires 1200 as an example, when the right control wire 1200 in a pair of control wires 1200 is pulled and controlled, the adjacent joints The gap on the right side of the component 1100 will be reduced, so that each adjacent joint component 1100 can form a rightward deflection along the rolling contact line 1110b formed between its neighbors, so that the entire joint body can form a The deflection to the right and the stretching amount of the control wire 1200 on the right side is the sum of the reduced distances between the gaps between multiple adjacent joint parts 1100 controlled by it. Similarly, when the left control wire 1200 of a pair of control wires 1200 is pulled and controlled, the left gap between the adjacent joint parts 1100 will be reduced, thereby enabling each adjacent joint part 1100 to The leftward deflection is formed along the rolling contact straight line 1110b formed between them, so that the entire joint body forms a leftward deflection, and the stretching amount of the left control wire 1200 is the multiple adjacent joint components controlled by it. The sum of the reduced distances between gaps between 1100. When deflection occurs between adjacent joint parts 1100, the centers of a pair of control wires 1200 and the rolling contact line 1110b are in the same control reference plane, and the direction of the pulling force between adjacent joint parts 1100 is the same as that of the rolling contact line 1110b. Forming a mutually perpendicular matching relationship, the deflection between adjacent joint parts 1100 will not have any offset, and has a high degree of consistency and stability.

Similarly, if there are multiple pairs of control wires 1200, the multiple pairs of control wires 1200 can be arranged in different directions in the radial direction of the joint body, so that each pair of control wires 1200 can control different adjacent joint parts 1100 by pulling, so that the entire The joint body forms bends in different directions. When there are multiple pairs of control wires 1200, the multiple joint parts 1100 in the joint body need to be arranged in different radial directions accordingly, so that the rolling contact line 1110b between different adjacent joint parts 1100 can be consistent with that of each pair. The control directions of the control wires 1200 are matched, that is, the centers of different pairs of control wires 1200 and the matching rolling contact line 1110b are all in the same control reference plane, and accordingly the direction of the pulling force between adjacent joint parts 1100 is the same as The rolling contact straight lines 1110b form a mutually perpendicular matching relationship.

For example, continue to refer to Fig. 1 and Fig. 2, the logarithm of the control wires 1200 can be two pairs, for example, the number of two pairs of control wires 1200 is actually four control wires 1200, and the four control wires 1200 can form a pair of two pairs. The pairs are matched with each other, so that the four control wires 1200 are limited to a first pair of control wires 1210 and a second pair of control wires 1220, and the first pair of control wires 1210 and the second pair of control wires 1220 are flexibly connected to each other along the extension direction of the joint body. A joint member 1100, the first pair of control wires 1210 are located in the first control reference plane, and the second pair of control wires 1220 are located in the second control reference plane; the multiple rolling contact straight lines 1110b include multiple first rolling contact straight lines 1110b1 and multiple second rolling contact straight lines 1110b2, multiple first rolling contact straight lines 1110b1 are perpendicular to the first control reference plane, and the centers of multiple first rolling contact straight lines 1110b1 are in the first control reference plane, multiple second The rolling contact straight lines 1110b2 are perpendicular to the second control reference plane, and the centers of the plurality of second rolling contact straight lines 1110b2 are located in the second control reference plane.

Therefore, the centers of the first pair of control wires 1210 and the plurality of first rolling contact straight lines 1110b1 are all in the first control reference plane, and among the plurality of joint parts 1100 controlled by the first pair of control wires 1210 The pulling force direction between them forms a vertical matching relationship with the first rolling contact line 1110b1, and the first pair of control wires 1210 can control the deflection between adjacent joint parts 1100 along the first rolling contact line 1110b1 by pulling, And the deflection direction between adjacent joint parts 1100 is limited by the first rolling contact line 1110b1. Similarly, the centers of the second pair of control wires 1220 and the plurality of second rolling contact straight lines 1110b2 are all in the second control reference plane, and among the plurality of joint parts 1100 controlled by the second pair of control wires 1220, the adjacent joint parts 1100 The pulling force direction and the second rolling contact line 1110b2 form a matching relationship perpendicular to each other, and the second pair of control wires 1220 can control the deflection between adjacent joint parts 1100 along the second rolling contact line 1110b2 by pulling. , and the deflection direction between adjacent joint members 1100 is limited by the second rolling contact line 1110b2.

In one of the embodiments, in the straight line state of the joint body, the first control reference plane and the second control reference plane may be perpendicular to each other, or the first control reference plane and the second control reference plane may also form a The included angles of other angles, for example, the included angles formed between the first control reference plane and the second control reference plane are 30°, 45°, etc., which are not limited here, and the first control reference plane and the second control reference plane Determines the direction in which the joint body deflects. Therefore, when there are multiple pairs of control wires 1200, there are correspondingly multiple control reference planes, and the multiple control reference planes can form corresponding angles according to requirements, so that the joint body has the ability to deflect in different directions.

Continuing to refer to Fig. 1 and Fig. 2, taking the logarithm of control wires 1200 as two pairs as an example, in one embodiment, different pairs of control wires 1200 will control the occurrence between adjacent joint parts 1100 in the joint main body. deflection, so that different adjacent joint parts 1100 controlled by different pairs of control wires 1200 can be arranged arbitrarily along the extension direction of the joint body, for example, between different adjacent joint parts 1100 controlled by different pairs of control wires 1200 along the The extension direction of the joint body is arranged alternately and misplaced (that is, the assembly structure shown in FIG. 1 ), or different adjacent joint parts 1100 controlled by different pairs of control wires 1200 can be concentrated in different areas of the joint body. Different setting methods will determine how different sections of the joint body deflect. Those skilled in the art can set according to requirements. For example, as shown in Figure 1, the first rolling contact line 1110b1 and the second rolling contact line 1110b2 can be set along The extension direction of the joint body is alternated and misplaced, which will make the entire stage of the joint body have the effect of deflecting in different directions, and has the effect of automatic decoupling.

Continuing to refer to FIG. 2 , in one embodiment, the first end surface 1110 and the second end surface 1120 of the adjacent joint member 1100 respectively have a pair of first deflection contact positions 1110c and a pair of second deflection contact positions 1110d, The first deflection contact position 1110c and the second deflection contact position 1110d are in the control reference plane where a pair of control wires 1200 that control the deflection of the adjacent joint member 1100 are located; in the straight state of the joint body, the first deflection contact position 1110c The vertical distance between the second deflection contact position 1110d and the rolling contact line 1110b between the adjacent joint parts 1100 is equal, which can make each pair of control wires 1200 ensure that each pair of control wires 1200 The elongation amount of the control wire 1200 on one side is basically the same as the shrinkage amount of the control wire 1200 on the other side, resulting in substantially the same return error, making the bending control of the bending joint 1000 more flexible and precise.

Referring to Fig. 5, in the process of a pair of control wires 1200 being stretched and relaxed, assuming that the length of the pair of control wires 1200 in the joint body is fixed, the amount of stretching and relaxation of the pair of control wires 1200 is BC Segment, GH segment variation (simplify a pair of control wires 1200 into a straight line, and assume that this straight line is always on the central axis of the joint body). At this time, the second deflection contact positions 1110d of the two joint members 1100 collide at point A. FIG.

At this time AB=AH, AC=AD, △ABH and △ACD are two isosceles triangles.

Let ∠CAD=∠BAH=2α, then you can get BH=AB×2sinα, CD=AC×2sinα.

In order to make the variation of the BC section and the GH section the same, f(x)=2L-2(AB+AC)sinα=0 should be satisfied.

After the arc contact area 1110a and the planar contact area 1120a are in rolling contact with each other, a rolling contact line 1110b will be constructed. The EFG section is a circular arc surface, so that the changes of the joint body during the bending process are all slow changes. The arc surface of the EFG section It can ensure that the length and bending state of one pair of control wires 1200 are not affected by the bending of the other pair of control wires 1200 as much as possible, and vice versa. It is known through simulation that during the deflection process of the joint body, the BC segment and the GH segment The difference of the variation of each pair of control wires 1200 is a monotone function, so through structural design, making f(x) infinitely close to zero, the variation of each pair of control wires 1200 can be the same, and then cooperate with the pre-tightening process of each pair of control wires 1200 , the coupling problem caused by structural bending can be eliminated as much as possible, and in a pair of control wires 1200, the elongation of one control wire 1200 is basically the same as the bending amount of the other control wire 1200. This design simplifies the algorithm control, and prevent as much as possible the loosening of the bending joint 1000 during the bending process.

The joint body can not only ensure that the centers of a pair of control wires 1200 and the rolling contact line 1110b are in the same control reference plane, but also that the direction of pulling force between adjacent joint parts 1100 and the rolling contact line 1110b form a mutually perpendicular matching relationship. , so that the deflection between the adjacent joint parts 1100 will not have any deviation, which has a high degree of consistency and stability, and the adjacent joint parts 1100 also have consistent bidirectional deflection under the control of the same pair of control wires 1200 Sex, reduce or eliminate the deflection error, improve the deflection accuracy and flexibility of the joint body.

As shown in Figures 1 to 4, in one embodiment, two pairs of joint holes can be opened on the joint member 1100, for example, the number of two pairs of joint holes is actually four joint holes, and the four joint holes can be divided into two pairs. A pair is matched with each other, so that the four joint holes are defined as a first pair of joint holes 1130 and a second pair of joint holes 1140, and the first pair of control wires 1210 are threaded through the plurality of joint parts 1100 along the extending direction of the joint body. In the first pair of joint holes 1130, the second pair of control wires 1220 are threaded in the second pair of joint holes 1140 of multiple joint parts 1100 along the extension direction of the joint body. The first pair of joint holes 1130 are also in the first control In the reference plane, the second pair of articular holes 1140 is also located in the second control reference plane, and the line between the first pair of articular holes 1130 and the line between the second pair of articular holes 1140 are perpendicular to each other.

The arc contact area 1110a and the planar contact area 1120a can be formed in various structural forms. For example, in one embodiment, a raised portion can be provided on the first end surface 1110, and the raised portion has an arc-shaped surface. The arc-shaped surface of the starting part constitutes the arc-shaped contact area 1110a, and the planar contact area 1120a can be formed by the entire surface of the second end surface 1120. In addition, those skilled in the art can also form the arc-shaped contact area 1110a according to other structural forms The contact area 1120a with the plane is not limited here.

6 to 8, the present invention also provides a joint driving system, the joint driving system includes a bending joint 1000, a deployment joint 2000, a terminal instrument 3000 and a control device 4000, the distal end of the deployment joint 2000 and the bending joint 1000 The proximal end is connected, the terminal instrument 3000 is connected to the distal end of the bending joint 1000 , and the control device 4000 is connected to the unfolding joint 2000 and the bending joint 1000 for control.

The end device 3000 can use hook cutter head 3000a, IT cutter head 3000b and other devices, which can be used to complete various operations such as marking, cutting margin, and mucosal peeling during surgery. In addition, the end device 3000 can also be used as required Use of other types of equipment is not limited here.

Moreover, the joint driving system may also include an articulation connector 5000 and an instrument tube body 6000, the distal end of the unfolding joint 2000 is connected to the proximal end of the articulation connector 5000, the distal end of the articulation connector 5000 is connected to the proximal end of the bending joint 1000, The distal end of the deployment joint 2000 is connected to the proximal end of the bending joint 1000 through the joint connector 5000 , the control device 4000 is connected to the proximal end of the instrument tube 6000 , and the distal end of the instrument tube 6000 is connected to the proximal end of the deployment joint 2000 .

The instrument tube body 6000 can be a flexible section or a rigid section. The instrument tube body 6000 can be connected to the deployment joint 2000 through a locking structure, and the instrument tube body 6000 can also be the control wire 1200 of the bending joint 1000 and the deployment joint 2000 The control wire 1200 provides a constrained channel. The control device 4000 is connected to the instrument tube body 6000. The control device 4000 has a mechanical structure inside, and can control the control wire 1200 of the bending joint 1000 and the control wire 1200 of the unfolding joint 2000 to implement the actions of elongation and shortening through the motor and related programs.

Referring to Figures 9 to 12, the first type of unfolding joint 2000 is shown. In one embodiment, the unfolding joint 2000 has a first yaw direction, and the unfolding joint 2000 includes a first yaw base 2100, a first yaw main body 2200, the first yaw top seat 2300, the first active control wire 2400 and the first passive control wire 2500, the proximal end of the first yaw main body 2200 is hinged to the first yaw base 2100, and the first yaw main body 2200 can move along As the first yaw direction yaws relative to the first yaw base 2100, the distal end of the first yaw main body 2200 is hinged to the first yaw top 2300, and the first yaw top 2300 can move along the first yaw The swing direction is deflected relative to the first swing body 2200 .

The first active control wire 2400 is movably connected to the first yaw base 2100 , the first yaw body 2200 and the first yaw top 2300 , and the distal end of the first active control wire 2400 is fixedly connected to the first yaw top 2300 . Used to actively control the first yaw main body 2200 to yaw relative to the first yaw base 2100, the first passive control wire 2500 is movably connected to the first yaw base 2100, the first yaw main body 2200 and the first yaw top Seat 2300, the distal end of the first passive control wire 2500 is fixedly connected with the first yaw top seat 2300, the length of the first active control wire 2400 and the first passive control wire 2500 are equal, and is used to actively control the first active control wire 2400 In the state where the first yaw main body 2200 is controlled to yaw, the first yaw top seat 2300 is passively controlled to yaw relative to the first yaw main body 2200, and the yaw direction of the first yaw top seat 2300 and The yaw direction of the first yaw main body 2200 is opposite.

Referring to Fig. 10, taking the first yaw direction of the deployment joint 2000 as the left-right direction in Fig. 10 as an example, when the first active control wire 2400 is stretched and the first passive control wire 2500 is relaxed, the first The yaw main body 2200 will yaw to the right in FIG. 10 relative to the first yaw base 2100 along the first yaw direction, so that the unfolding joint 2000 will deflect to the right. When the first active control wire 2400 is stretched and the first passive control wire 2500 is relaxed, since the length of the first active control wire 2400 and the first passive control wire 2500 are equal, the gap on the right side of the deployment joint 2000 becomes larger, and the first The active control wire 2400 will have a longer wire amount to be used here than before, and at the same time, the same gap must be reduced above the first passive control wire 2500, so that the first deflection top seat 2300 is along the first The yaw direction yaws to the left side in FIG. 10 relative to the first yaw main body 2200 , so that the deployment joint 2000 completes the parallel deployment in the left and right directions.

In one of the embodiments, the maximum deflection angle of the first deflection body 2200 relative to the first deflection base 2100 is equal to the maximum deflection angle of the first deflection top seat 2300 relative to the first deflection body 2200, therefore, When the first active control wire 2400 is stretched and the first passive control wire 2500 is relaxed, the first deflection body 2200 deflects to the right in FIG. 10 relative to the first deflection base 2100 , and the first deflection After the top seat 2300 yaws to the left in FIG. 10 relative to the first yaw main body 2200 , the yaw directions of the first yaw main body 2200 and the first yaw top seat 2300 are opposite, but the yaw angles are equal. , make the distal end of the deployment joint 2000 still face the original direction, so as to realize the parallel deployment of the deployment joint 2000 .

Referring to FIG. 10 , in one embodiment, the first yaw base 2100 has a pair of first yaw limiting portions 2100a, and the proximal end of the first yaw main body 2200 has a pair of second yaw limiting portions. part 2200a, there is a pair of third yaw limiting parts 2300a on the first yaw top seat 2300, and a pair of fourth yaw limiting parts 2200b are provided at the distal end of the first yaw main body 2200, therefore, a pair of first The yaw limiting part 2100a can limit contact with a pair of second yaw limiting parts 2200a, so as to limit the yaw of the first yaw main body 2200 relative to the first yaw base 2100 to the maximum yaw angle and maintain it. In the yaw state, similarly, the pair of third yaw limiting parts 2300a can limit contact with the pair of fourth yaw limiting parts 2200b, so that the position of the first yaw top seat 2300 relative to the first yaw main body 2200 The yaw is limited to the maximum yaw angle and maintained at this yaw.

The unfolding joint 2000 can swing in two directions at the same time. For example, in one embodiment, the unfolding joint 2000 has a second swinging direction, and the first swinging body 2200 includes a first body unit 2210 and a first base unit 2220 , the first top seat unit 2230, the second active control wire 2240 and the second passive control wire 2250, the proximal end of the first base unit 2220 is hinged with the distal end of the first yaw base 2100, the distal end of the first base unit 2220 Hinged with the proximal end of the first main body unit 2210, the first main body unit 2210 can swing relative to the first base unit 2220 along the second swing direction, and the proximal end of the first top seat unit 2230 is connected to the first main body unit 2210 The distal end of the first top seat unit 2230 is hinged with the proximal end of the first swing top seat 2300, and the first top seat unit 2230 can be biased relative to the first main body unit 2210 along the second swing direction. put.

The second active control wire 2240 is movably connected to the first body unit 2210, the first base unit 2220 and the first top unit 2230, and the distal end of the second active control wire 2240 is fixedly connected to the first top unit 2230 for actively Control the first main body unit 2210 to deflect relative to the first base unit 2220, the second passive control wire 2250 flexibly connects the first main body unit 2210, the first base unit 2220 and the first top unit 2230, the second passive control wire 2250 The distal end is fixedly connected with the first top unit 2230, the length of the second active control wire 2240 and the second passive control wire 2250 are equal, and is used to actively control the deflection of the first main body unit 2210 when the second active control wire 2240 In the state, the first top seat unit 2230 is passively controlled to swing relative to the first main body unit 2210 , and the swing direction of the first top seat unit 2230 is opposite to the swing direction of the first main body unit 2210 .

Continuing to refer to Fig. 10, the yaw of the deployment joint 2000 along the second yaw direction is the same as the first yaw direction, and the second yaw direction of the deployment joint 2000 is the front-back direction in Fig. 10 (perpendicular to screen or the front-to-back direction of the paper) as an example, when the second active control wire 2240 is stretched and the second passive control wire 2250 is relaxed, the first main body unit 2210 will move relative to the first base along the second deflection direction. The unit 2220 deflects forward in FIG. 10 , so that the deployment joint 2000 deflects forward. When the second active control wire 2240 is stretched and the second passive control wire 2250 is relaxed, because the lengths of the second active control wire 2240 and the second passive control wire 2250 are equal, the gap in front of the deployment joint 2000 becomes larger, and the second active control wire 2250 becomes larger. The control wire 2240 will have a longer wire amount to be used here than before, and at the same time, the same gap must be reduced above the second passive control wire 2250, so that the first top seat unit 2230 swings along the second deflection Relative to the first main body unit 2210 , the direction is deflected to the rear in FIG. 10 , so that the deployment joint 2000 completes the parallel deployment in the front-rear direction.

According to the unfolding requirements of the unfolding joint 2000 in different directions, the first yaw direction and the second yaw direction can face different directions of the unfolding joint 2000, thereby forming different included angles. For example, in one embodiment, the first yaw direction The swing direction and the second swing direction are perpendicular to each other.

The maximum deflection angle of the first main body unit 2210 relative to the first base unit 2220 is equal to the maximum deflection angle of the first top seat unit 2230 relative to the first main body unit 2210. Therefore, when the second active control wire 2240 is stretched, The second passive control wire 2250 is loosened, the first body unit 2210 is deflected to the front in FIG. After the yaw in the rear, although the yaw directions of the first main body unit 2210 and the first top seat unit 2230 are opposite, but the yaw angles are equal, so that the distal end of the deployment joint 2000 is still facing the original direction, and the movement of the deployment joint 2000 is realized. Parallel expansion.

In one of the embodiments, the distal end of the first base unit 2220 has a pair of fifth yaw limiting portions 2220a, the proximal end of the first main body unit 2210 has a pair of sixth yaw limiting portions 2210a, and the first top The proximal end of the seat unit 2230 has a pair of seventh yaw limiting portions 2230a, and the distal end of the first main body unit 2210 has a pair of eighth yaw limiting portions 2210b. Therefore, a pair of fifth yaw limiting portions 2220a It can limit the contact with a pair of sixth yaw limiting parts 2210a, so as to limit the yaw of the first main body unit 2210 relative to the first base unit 2220 to the maximum yaw angle and maintain this yaw state. Similarly, a pair of The seventh yaw limiting portion 2230a can limit contact with a pair of eighth yaw limiting portions 2210b, thereby limiting the yaw of the first top seat unit 2230 relative to the first main body unit 2210 to the maximum yaw angle and maintaining This swing state.

Referring to Fig. 13 to Fig. 15, what is shown is the second type of yaw joint 2000. The yaw joint 2000 has a third yaw direction. The yaw joint 2000 includes a second yaw base 2600, a second yaw main body 2700 and a pair of first yaw The pendulum control wire 2800, the proximal end of the second yaw main body 2700 is hinged to the second yaw base 2600, and the second yaw main body 2700 can yaw relative to the second yaw base 2600 along the third yaw direction. The first yaw control wire 2800 is arranged symmetrically along the third yaw direction and is movably connected to the second yaw base 2600 and the second yaw main body 2700, and a pair of distal ends of the first yaw control and the second yaw main body 2700 is fixedly connected, and is used for controlling the second yaw main body 2700 to yaw relative to the second yaw base 2600 .

Referring to FIG. 14 , taking the third yaw direction of the deployment joint 2000 as the left-right direction in FIG. When a yaw control wire 2800 is stretched and the first yaw control wire 2800 on the left side is relaxed, the second yaw main body 2700 can move toward the second yaw base 2600 in the third yaw direction in FIG. 14 . The deflection occurs in the right direction, so that the deployment joint 2000 is deployed in the right direction in FIG. 14 . Similarly, when the left first yaw control wire 2800 of the pair of first yaw control wires 2800 is stretched and the right first yaw control wire 2800 is relaxed, the second yaw main body 2700 can move along the The third yaw direction yaws to the left in FIG. 14 relative to the second yaw base 2600 , so that the deployment joint 2000 is deployed to the left in FIG. 14 .

The unfolding joint 2000 can be capable of swinging in two directions at the same time. For example, in one embodiment, the unfolding joint 2000 has a fourth swinging direction, and the unfolding joint 2000 includes a second swinging top seat 2900 and a pair of second swinging The pendulum control wire 21000, the second yaw top seat 2900 is hinged to the distal end of the second yaw main body 2700, and the second yaw top seat 2900 can yaw relative to the second yaw main body 2700 along the fourth yaw direction , a pair of second yaw control wires 21000 are arranged symmetrically along the fourth yaw direction and are movably connected to the second yaw base 2600 , the second yaw main body 2700 and the second yaw top seat 2900 , and a pair of first yaw The control distal end is fixedly connected with the second yaw top seat 2900 , and is used for controlling the second yaw top seat 2900 to yaw relative to the second yaw main body 2700 .

Referring to Fig. 14, taking the fourth yaw direction of the unfolding joint 2000 as the front-rear direction in Fig. 14 (the front-rear direction perpendicular to the screen or paper) as an example, in the fourth yaw direction, when a pair of When the front second yaw control wire 21000 of the two yaw control wires 21000 is stretched and the rear second yaw control wire 21000 is relaxed, the second yaw main body 2700 can move relative to the second yaw direction along the fourth yaw direction. The yaw base 2600 yaws forward in FIG. 14 , so that the unfolding joint 2000 is deployed forward in FIG. 14 . Similarly, when the rear second yaw control wire 21000 of the pair of second yaw control wires 21000 is stretched and the front second yaw control wire 21000 is relaxed, the second yaw main body 2700 can move along the fourth The yaw direction yaws to the rear in FIG. 14 relative to the second yaw base 2600 , so that the deployment joint 2000 is deployed to the rear in FIG. 14 .

According to the unfolding requirements of the deploying joint 2000 in different directions, the third yaw direction and the fourth yaw direction can face different directions of the deploying joint 2000, thereby forming different included angles. For example, in one embodiment, the third yaw direction The pendulum direction and the fourth yaw direction are perpendicular to each other.

The first type of deployment joint 2000 can make the direction of the first two ends of the deployment joint 2000 parallel to each other after deployment, and the second type of deployment joint 2000 can enable the deployment joint 2000 to have a larger deployment distance when the total length is the same after deployment. The first type of deployment joint 2000 and the second type of deployment joint 2000 can cooperate with the algorithm to meet the needs of the device deployment methods in different working scenarios, wherein the first type of deployment joint 2000 and the second type of deployment joint 2000 can also be used together , those skilled in the art can make reasonable collocations according to requirements, which are not limited here.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above examples only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (14)

1. A bending joint, characterized in that, said bending joint comprises: The joint main body, the joint main body includes a plurality of joint parts, the plurality of joint parts are arranged along the extension direction of the joint main body, the joint parts have a first end surface and a second end surface, and the first end surface has an arc A surface contact area, the second end surface has a plane contact area, and the arc surface contact area and the plane contact area between adjacent joint parts are in rolling contact with each other; At least one pair of control wires, the control wires are movably connected to a plurality of the joint parts along the extension direction of the joint body, and are used to control the deflection of the adjacent joint parts. 2. The bending joint according to claim 1, characterized in that, the joint body has a straight line state and a bending state, and the arc surface contact area and the plane contact area between adjacent joint parts can be in rolling contact with each other and build out of the rolling contact line; wherein, the deflection direction of the adjacent joint parts is perpendicular to the rolling contact line between the adjacent joint parts; each pair of the control wires is in the same control reference plane, and the joint In the straight state of the main body, the rolling contact line between adjacent joint parts is perpendicular to the control reference plane where the pair of control wires that control the deflection of the adjacent joint parts are located, and the rolling The center of the contact line lies within the control reference plane. 3. The bending joint according to claim 2, wherein there are two pairs of control wires, and the two pairs of control wires are divided into a first pair of control wires and a second pair of control wires, and the first pair of control wires The wires and the second pair of control wires are movably connected to multiple joint parts along the extension direction of the joint body, the first pair of control wires are in the first control reference plane, and the second pair of control wires are in the In the second control reference plane; the multiple rolling contact straight lines include multiple first rolling contact straight lines and multiple second rolling contact straight lines, and the multiple first rolling contact straight lines are perpendicular to the first control reference plane , and the centers of the plurality of first rolling contact lines are in the first control reference plane, the plurality of second rolling contact lines are perpendicular to the second control reference plane, and the plurality of second The center of the rolling contact line is within the second control reference plane. 4. The bending joint according to claim 3, characterized in that, in the straight state of the joint body, the first control reference plane and the second control reference plane are perpendicular to each other. 5 . The bending joint according to claim 3 , wherein the first rolling contact straight line and the second rolling contact straight line are distributed alternately and misplaced along the extension direction of the joint body. 6 . 6. The bending joint according to claim 3, wherein a pair of first deflection contact positions and a pair of second deflection contact positions are respectively provided on the first end surface and the second end surface of the adjacent joint parts, so The first deflection contact position and the second deflection contact position are in the control reference plane where a pair of control wires that control the deflection of the adjacent joint parts are located; in the straight line state of the joint body, the first The vertical distance between the first deflection contact position and the second deflection contact position relative to the rolling contact line between the adjacent joint members is equal. 7. The bending joint according to claim 3, characterized in that four joint holes are opened on the joint part, and the four joint holes are divided into a first pair of joint holes and a second pair of joint holes in pairs. Holes, the first pair of control wires are threaded in the first pair of joint holes of the plurality of joint parts along the extension direction of the joint body, and the second pair of control wires are threaded along the extension direction of the joint body The extension direction of the plurality of articulation holes is set in the second pair of articular holes, the first pair of articular holes are both in the first control reference plane, and the second pair of articular holes are both in the first control reference plane. In the two control reference planes, the line connecting the first pair of joint holes and the line connecting the second pair of joint holes are perpendicular to each other. 8. The bending joint according to any one of claims 1-7, wherein the first end surface and the second end surface are parallel to each other, and the rolling contact line is parallel to the first end surface. 9. The bending joint according to any one of claims 1-7, wherein a raised portion is provided on the first end surface, the raised portion has an arc-shaped surface, and the arc-shaped A surface constitutes the arcuate contact area; and/or, the entire surface of the second end surface constitutes the planar contact area. 10. A joint drive system, characterized in that the joint drive system comprises: A flex joint as claimed in any one of claims 1-9; a deployment joint, the distal end of the deployment joint is connected to the proximal end of the bending joint; a terminal instrument connected to the distal end of the flex joint; A control device, the control device is in control connection with the unfolding joint and the bending joint. 11. The joint drive system according to claim 10, further comprising: An articulation, the distal end of the expansion joint is connected to the proximal end of the articulation, the distal end of the articulation is connected to the proximal end of the bending joint, and the distal end of the expansion joint passes through the an articulation member is connected to the proximal end of the bending joint; An instrument tube body, the control device is connected to the proximal end of the instrument tube body, and the distal end of the instrument tube body is connected to the proximal end of the deployment joint. 12. The joint driving system according to claim 10, wherein the deployment joint has a first yaw direction, and the deployment joint comprises: first yaw base; The first yaw main body, the proximal end of the first yaw main body is hinged to the first yaw base, and the first yaw main body can move relative to the first yaw along the first yaw direction. The pendulum base deflects; The first yaw top seat, the distal end of the first yaw main body is hinged to the first yaw top seat, and the first yaw top seat can be moved along the first yaw direction relative to the The first deflecting body deflects; The first active control wire is movably connected to the first yaw base, the first yaw main body and the first yaw top seat, and the distal end of the first active control wire It is fixedly connected with the first yaw top seat, and is used for actively controlling the yaw of the first yaw main body relative to the first yaw base; The first passive control wire is movably connected to the first yaw base, the first yaw main body and the first yaw top seat, and the distal end of the first passive control wire is Fixedly connected with the first yaw top seat, the length of the first active control wire and the first passive control wire are equal, for actively controlling the first yaw on the first active control wire In the state where the main body is swaying, the first yaw top seat is passively controlled to yaw relative to the first yaw main body, and the yaw direction of the first yaw top seat is the same as that of the first yaw top seat. The yaw direction of the yaw body is opposite. 13. The joint driving system according to claim 12, characterized in that, the maximum yaw angle of the first yaw main body relative to the first yaw base is equal to that of the first yaw top base relative to the first yaw base. Describe the maximum yaw angle of the first yaw main body. 14. The joint driving system according to claim 13, wherein the first yaw base has a pair of first yaw limiting portions, and the proximal end of the first yaw main body has a pair of first yaw limiting portions. Two yaw limiting parts, a pair of the first yaw limiting parts can limit contact with a pair of the second yaw limiting parts; There is a pair of third yaw limiting portions on the first yaw top seat, a pair of fourth yaw limiting portions at the distal end of the first yaw main body, and a pair of third yaw limiting portions. The position portion can limit contact with a pair of the fourth deflection limit portions.

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