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WO2018177040A1 - 手术机器人用蛇形关节、手术器械及内窥镜 - Google Patents

手术机器人用蛇形关节、手术器械及内窥镜 Download PDF

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Publication number
WO2018177040A1
WO2018177040A1 PCT/CN2018/076315 CN2018076315W WO2018177040A1 WO 2018177040 A1 WO2018177040 A1 WO 2018177040A1 CN 2018076315 W CN2018076315 W CN 2018076315W WO 2018177040 A1 WO2018177040 A1 WO 2018177040A1
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WO
WIPO (PCT)
Prior art keywords
joint
support structure
serpentine
chassis
surgical robot
Prior art date
Application number
PCT/CN2018/076315
Other languages
English (en)
French (fr)
Inventor
何裕源
何超
王常春
李涛
Original Assignee
微创（上海）医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 微创（上海）医疗机器人有限公司 filed Critical 微创（上海）医疗机器人有限公司
Priority to EP18777117.5A priority Critical patent/EP3603900B1/en
Priority to BR112019020315-0A priority patent/BR112019020315B1/pt
Priority to JP2019553215A priority patent/JP6931074B2/ja
Publication of WO2018177040A1 publication Critical patent/WO2018177040A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/0069—Aspects not otherwise provided for with universal joint, cardan joint
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A61B2034/306—Wrists with multiple vertebrae

Definitions

  • the present invention relates to the field of medical device technology, and in particular to a serpentine joint, a surgical instrument and an endoscope for a surgical robot.
  • snake-shaped robots for medical operations have also appeared slowly.
  • the surgical instruments of the serpentine joint are often used to realize other organs during the operation. Avoidance. This advantage makes the surgical instruments of the serpentine joints well applicable in the medical field.
  • US Patent No. 2016/0066937 A1 proposes a serpentine joint, the single joint 110 comprising a first joint portion 202 and a second joint portion 232 which are relatively oscillating, and a short link mechanism between the two joint portions 226, 228 connections.
  • the short link mechanism 226 as an example, the first bearing 227 disposed in the bearing hole 254 of the second joint portion 232 and the second bearing 225 disposed in the groove 210 of the first joint portion 202, the first The bearing 227 forms a rotational axis of the second joint portion 232, and the second bearing 225 forms a rotational axis of the second joint portion 202.
  • the serpentine joint can realize the torsional movement of the space by different arrangement manners, but in the process of bending and torsion, there are disadvantages of low motion precision and complicated structure.
  • the Chinese patent CN105078398A discloses a snake bone tube unit section 100, which includes a cylinder body 110 and a lug 120.
  • the cylinder body 110 is provided with a connecting hole 113
  • the lug 120 is provided with a pin 121.
  • the present invention provides a serpentine joint for a surgical robot having at least one degree of freedom with a serpentine joint, and comprising: at least one joint joint pair and a flexible structure; wherein
  • Each joint joint pair includes a first joint joint at a lower end and a second joint joint at an upper end;
  • the first joint joint includes a first chassis, and the first surface of the first chassis is provided with a first support structure and a second supporting structure, the first supporting structure has a first protruding portion, the second supporting structure has a first connecting hole;
  • the second joint joint comprises a second chassis, and the second chassis is second a third support structure and a fourth support structure are disposed on the surface, the third support structure has a second protrusion on the fourth support structure; and the first joint joint and the When the second joint joint is engaged, the first surface and the second surface are oppositely disposed, the first protrusion is located in the second connection hole, and is rotatable relative to the second connection hole, a second protrusion is located in the first connection hole and is rotatable relative to the first connection hole;
  • the flexible structure controls the articulation pair to oscillate about a joint axis.
  • the first protruding portion is a rotating body structure formed by a straight line or a curve around the first axis
  • the first connecting hole is a straight line or a curve.
  • a rotating surface structure formed around the second axis, the first axis and the second axis both intersect perpendicularly to an axis of the first chassis;
  • the second protrusion is in a straight line or a curve forms around the third axis a rotating body structure,
  • the second connecting hole is a straight line or a curved surface structure formed by a curve around the fourth axis, and
  • the joint axis, the first axis, the second axis, the third axis, and the fourth axis are collinear when the first joint joint and the second joint joint are mated.
  • the first protrusion and the second protrusion are both a cylindrical structure, a truncated cone structure or a conical structure; the first connection hole and the first connection hole
  • the second connecting holes are all cylindrical surface structures, round mesa structures or conical surface structures.
  • the first protrusion is located on a first side of the first support structure, and the first side is the first support structure away from the first a side of the chassis axis;
  • a side of the first support structure adjacent to the first chassis axis is a fifth side
  • the second protrusion is located on a second side of the third support structure, and the second side is a side of the third support structure away from the second chassis axis;
  • a side of the third support structure adjacent to the second chassis axis is a sixth side
  • a side of the second support structure adjacent to the first chassis axis is a third side
  • a side of the fourth supporting structure adjacent to the axis of the second chassis is a fourth side
  • the distance l1 between the first side surface and the third side surface and the distance l2 between the second side surface and the fourth side surface have the following relationship:
  • lp1 is the axial length of the first protrusion
  • lp2 is the axial length of the second protrusion
  • a sum of a distance between the first side surface and the fifth side surface and an axial length of the first protrusion portion is smaller than a distance between the fourth side surface and the sixth side surface;
  • the sum of the distance between the second side and the sixth side and the axial length of the second protrusion is smaller than the distance between the third side and the fifth side.
  • a distance between a first side of the first support structure and a seventh side of the second support structure and an axis of the first protrusion The sum of the lengths is less than or equal to the diameter of the first chassis, wherein the side of the second support structure away from the first chassis axis is the seventh side;
  • a sum of a distance between a second side of the third support structure and an eighth side of the fourth support structure and an axial length of the second protrusion is less than or equal to a diameter of the second chassis, wherein The side of the fourth supporting structure away from the axis of the second chassis is the eighth side;
  • a distance between an outer end surface of the first protrusion to an outer end surface of the second protrusion is less than or equal to a diameter of the first chassis, and the first protrusion of the joint joint The distance between the outer end surface of the portion to the outer end surface of the second protrusion is also less than or equal to the diameter of the second chassis.
  • the side of the second supporting structure adjacent to the first chassis axis is a third side
  • a side of the fourth supporting structure adjacent to the axis of the second chassis is a fourth side
  • the first protrusion is located at a fifth side of the first support structure, and the fifth side is a side of the first support structure adjacent to the first chassis axis;
  • the second protrusion is located at a sixth side of the third support structure, and the sixth side is a side of the third support structure adjacent to the second chassis axis;
  • a side of the second support structure away from the first chassis axis is a seventh side
  • the side of the fourth supporting structure away from the axis of the second chassis is an eighth side;
  • the distance l3 between the fifth side and the seventh side and the distance l4 between the sixth side and the eighth side have the following relationship:
  • lp1 is the axial length of the first protrusion
  • lp2 is the axial length of the second protrusion
  • a distance between the fourth side surface and the eighth side surface is smaller than a difference between a distance between the third side surface and the fifth side surface and an axial length of the first protruding portion
  • the distance between the third side and the seventh side is smaller than the difference between the distance between the fourth side and the sixth side and the axial length of the second protrusion.
  • a distance between a first side of the first support structure and a seventh side of the second support structure is less than or equal to a diameter of the first chassis Wherein the first side is a side of the first support structure away from the first chassis axis;
  • a distance between a second side of the third support structure and an eighth side of the fourth support structure is less than or equal to a diameter of the second chassis, wherein the second side is away from the third support structure a side of the second chassis axis;
  • a distance between the first side surface and the second side surface is less than or equal to a diameter of the first chassis, and the first side to the second side of the joint joint pair The distance between them is also less than or equal to the diameter of the second chassis.
  • the thickness of the first support structure, the thickness of the second support structure, and the axial length of the first protrusion are equal;
  • the thickness of the third support structure, the thickness of the fourth support structure, and the axial length of the second protrusion are equal.
  • the first surface includes a first subsurface and a second subsurface intersecting the first subsurface, the first support structure and the a second support structure is respectively disposed on the first sub-surface;
  • the second surface includes a third sub-surface and a fourth sub-surface intersecting the third sub-surface, the third support structure and the fourth The support structure respectively places the third partial surface.
  • the second sub-surface is a plane, and the joint axis passes through a plane where the second sub-surface is located;
  • the fourth sub-surface is a plane, and the joint axis passes through a plane in which the fourth sub-surface is located.
  • the angle between the second sub-surface and the first sub-surface is 0° to 45°; the fourth sub-surface and the third The angle between the subsurfaces is 0° to 45°.
  • the second sub-surface and the fourth sub-surface are both curved surfaces, and the curved surface is configured to swing to the same side when the joint joint is swung
  • the second sub-surface forms a contact portion with the fourth sub-surface, and a common slice exists between the curved surfaces of the contact portion.
  • the first axis passes through the co-cut surface.
  • an angle between the common cut surface and the first partial surface is greater than 0° and less than or equal to 45°, and the common cut surface and the first The angle between the three-part surfaces is greater than 0° and less than or equal to 45°.
  • a swing angle between the first joint joint and the second joint joint in each joint joint pair is greater than 0° and less than or equal to 90°.
  • a circumference of the first chassis is provided with a first axial through hole, and the first axial through hole extends through the flexible structure;
  • the circumference of the second chassis is provided with a second axial through hole through which the flexible structure extends.
  • the number of the first axial through holes and the number of the second axial through holes are both plural, and at least two of the first The axial through hole corresponds to the position of at least two of the second axial through holes.
  • each joint joint is centered, the number of the first axial through holes is the same as the number of the second axial through holes, and the The position of an axial through hole corresponds to the position of the second axial through hole.
  • the flexible structure is at least 2n, wherein n is a natural number greater than or equal to 1.
  • the surgical robot uses a serpentine joint to include a plurality of the joint joint pairs, and the adjacent two joint joint pairs are detachably connected or fixedly connected.
  • a first fastening mechanism is disposed on a third surface of the first chassis, and the third surface is opposite to the first surface;
  • a second fastening mechanism is disposed on the fourth surface of the second chassis, the fourth surface is opposite to the second surface; the second fastening mechanism and the first fastening mechanism of the adjacent two joint joints are capable of Buckle so that the second joint joint and the first joint joint of the adjacent two joint joint pairs are detachably connected.
  • the first fastening mechanism includes a plurality of first bosses and a plurality of first recesses, the first bosses and the first recesses
  • the second fastening mechanism includes a plurality of second bosses and a plurality of second recesses, the second bosses and the second recesses are spaced apart; the first bosses The shape, number and position correspond to the second recess, and the shape, number and position of the second boss correspond to the first recess.
  • the adjacent two joint joints are centered, and the second joint joint of the proximal joint joint pair and the first joint joint of the distal joint joint pair are integrally formed. .
  • the circumferential relative deflection angle of the adjacent two joint joint pairs is greater than or equal to 0° and less than or equal to 180°.
  • the present invention also provides a surgical instrument including an instrument end, a serpentine joint for a surgical robot, a tubular member, a flexible member, and a controller as described above; wherein the instrument end, the surgical robot uses a snake a joint, the tubular and the controller are connected in sequence; the flexible member is connected to the controller at one end, and the other end is connected to the end of the instrument through the tubular; the flexibility of the serpentine joint of the surgical robot a proximal end of the structure is coupled to the controller via the tubular member; the controller controls movement of the end of the instrument by the flexible member, and the surgical robot uses a flexible structure of a serpentine joint to control the serpentine joint of the surgical robot swing.
  • the present invention also provides an endoscope including an imaging system, a serpentine joint for a surgical robot, a tubular, and a controller as described above; wherein the imaging system, the surgical robot uses a serpentine shape a joint, the tubular, and the controller are sequentially connected; the proximal end of the surgical robot with a flexible structure of a serpentine joint is connected to the controller after passing through the tubular; the controller passes the surgical robot
  • the flexible structure of the serpentine joint is used to control the surgical robot to swing with a serpentine joint to adjust the posture of the imaging system.
  • the serpentine joint for a surgical robot provided by the present invention, plane torsion or spatial torsion is realized by the swing of the joint joint pair, and the complexity of the structure is reduced with respect to the serpentine joint of the prior art.
  • the serpentine joint of the surgical robot is included, thereby enabling the end of the instrument or the imaging system to reach a desired position and posture.
  • FIG. 1 is a perspective view showing a separated state of a joint joint of a serpentine joint for a surgical robot according to an embodiment of the present invention
  • Figure 2 is a front elevational view of a joint joint pair shown in Figure 1;
  • Figure 3 is a front elevational view showing the connection state of a joint joint pair shown in Figure 2;
  • FIG. 4 is a top plan view of a first chassis/second chassis in a serpentine joint for a surgical robot according to an embodiment of the present invention
  • FIG. 5 is another top plan view of a first chassis/second chassis in a serpentine joint for a surgical robot according to an embodiment of the present invention
  • FIG. 6 is a perspective view showing a separated state of a second joint joint and a first joint joint of two adjacent joint joints in a serpentine joint for a surgical robot according to an embodiment of the present invention
  • Figure 7 is a front elevational view of the adjacent second joint joint and the first joint joint of the adjacent two joint joint pairs shown in Figure 6;
  • Figure 8 is a front elevational view showing the connection state of the adjacent second joint joint and the first joint joint of the adjacent two joint joint pairs shown in Figure 7;
  • FIG. 9 is a perspective view showing a separated state of a second joint joint and a first joint joint of two adjacent joint joints in a serpentine joint for a surgical robot according to an embodiment of the present invention.
  • Figure 10 is a front elevational view of the adjacent second joint joint and the first joint joint of the adjacent two joint joint pairs shown in Figure 9;
  • Figure 11 is a front elevational view showing the connection state of the adjacent second joint joint and the first joint joint of the adjacent two joint joint pairs shown in Figure 10;
  • FIG. 12 is a perspective view showing a separated state of a plurality of joint joint pairs in a serpentine joint for a surgical robot according to an embodiment of the present invention
  • Figure 13 is a perspective view showing a curved state of a plurality of joint joint pairs shown in Figure 12;
  • Figure 14 is a front elevational view showing the curved state of the plurality of joint joint pairs shown in Figure 13;
  • Figure 15 is a schematic structural view showing a natural state of a surgical instrument according to an embodiment of the present invention.
  • Figure 16 is a schematic structural view showing a state of rotation of a surgical instrument according to an embodiment of the present invention.
  • Figure 17 is a schematic view of a serpentine joint in the prior art
  • Figure 18 is a schematic view of a serpentine tube unit section in the prior art
  • proximal and distal are relative orientations, relative positions, directions of elements or actions relative to each other from the perspective of a physician using the medical device, although “Proximal” and “distal”, “upper” and “lower” are not limiting, but “near” and “lower” generally refer to the end of the medical device that is close to the operator during normal operation, and “ The distal end, “upper end” generally refers to the end that is remote from the operator.
  • the core idea of the present invention is to provide a serpentine joint for a surgical robot, the serpentine joint of the surgical robot comprising: at least one joint joint pair and a flexible structure; wherein each joint joint pair includes a first joint at a lower end a joint and a second joint joint at an upper end; the first joint joint includes a first chassis, and the first surface of the first chassis is provided with a first support structure and a second support structure, the first support structure
  • the first support structure has a first connecting hole;
  • the second joint joint includes a second chassis, and the second surface of the second chassis is provided with a third support structure and a fourth support a structure, the third support structure has a second protrusion, the fourth support structure has a second connection hole; the first surface and the second surface are oppositely disposed, and the first protrusion is located at the
  • the second connecting hole is rotatable relative to the second connecting hole, the second protruding portion is located in the first connecting hole, and is rotatable relative to the first connecting hole
  • Planar torsion or spatial torsion is achieved by the oscillation of the joint pair, which reduces the complexity of the structure relative to prior art serpentine joints.
  • a surgical instrument and an endoscope are provided, including a serpentine joint for the surgical robot, such that the end of the instrument or imaging system can be brought to a desired position and posture.
  • FIG. 1 is a perspective view showing a state of separation of an articulated joint in an embodiment of a serpentine joint for a surgical robot according to the present invention
  • FIG. 2 is an articulated joint shown in FIG. 1 .
  • Fig. 3 is a front view showing the connection state of a joint joint pair shown in Fig. 2.
  • each joint joint pair 10 includes a first joint joint 11 at a lower end and a second joint joint 12 at an upper end; the first joint joint 11 includes a first chassis 110, the first A first support structure 111 and a second support structure 112 are disposed on the first surface of a chassis 110.
  • the first support structure 111 has a first protrusion 113 thereon, and the second support structure 112 has a first connection hole.
  • the second joint joint 12 includes a second chassis 120, and the second surface of the second chassis 120 is provided with a third support structure 121 and a fourth support structure 122, and the third support structure 121 has a first a second protruding portion 123 having a second connecting hole 124; the first surface and the second surface are oppositely disposed, and the first protruding portion 113 is located in the second connecting hole 124 And rotating relative to the second connecting hole, the second protruding portion 123 is located in the first connecting hole 114, and is rotatable relative to the first connecting hole.
  • the first protruding portion 113 is a rotating body structure formed by a straight line or a curved line around the first axis
  • the first connecting hole 114 is a straight line or a curve formed around the second axis.
  • a surface structure, the first axis and the second axis both intersect perpendicularly to an axis of the first chassis 110
  • the second protrusion 123 is a linear structure formed by a straight line or a curve around the third axis
  • the second connecting hole 124 is a straight line or a curved surface structure formed by a curve around the fourth axis
  • the third axis and the fourth axis both intersect perpendicularly to the axis of the second chassis 120.
  • first axis and the second axis are collinear; the third axis and the fourth axis are collinear, and the joint joint pair is 10 in the connected state of the joint joint pair shown in FIG.
  • the first axis, the second axis, the third axis, and the fourth axis are collinear. It is apparent that the first axis, the second axis, the third axis, the fourth axis, and the joint axis of the joint joint pair 10 are also collinear.
  • the first protruding portion 113 and the second connecting hole 124 are well fitted, and the second protruding portion 123 is in good contact with the first connecting hole 114, thereby ensuring the The stability and reliability of the first joint joint 11 and the second joint joint 12 during the swinging process are described.
  • the first protruding portion 113 and the second protruding portion 123 may be a cylindrical structure, a truncated cone structure or a conical structure;
  • the first connecting hole 114 and the second connecting hole 124 may be a cylinder Structures such as surface structures, round mesa structures, or conical structures.
  • the first protrusion 113 is located at a first side of the first support structure 111, and the first side is a side of the first support structure 111 away from the axis of the first chassis 110; the first support structure A side surface of the 111 near the axis of the first chassis 110 is a fifth side; the second protrusion 123 is located at a second side of the third supporting structure 121, and the second side is away from the third supporting structure 121 a side of the axis of the second chassis 120; a side of the third supporting structure 121 adjacent to the axis of the second chassis 120 is a sixth side; and a side of the second supporting structure 112 adjacent to the axis of the first chassis 110 is a third side; a side of the fourth supporting structure 122 adjacent to the axis of the second chassis 120 is the fourth side; and a side of the second supporting structure 112 away from the axis of the first chassis 110 is the seventh side a side surface; a side of the fourth supporting structure 122 away from the axis of
  • the first side to the eighth side are all parallel to each other.
  • the distance l1 between the first side surface and the third side surface and the distance l2 between the second side surface and the fourth side surface have the following relationship: l1-lp2 ⁇ l2 ⁇ l1+lp1, or L2-lp1 ⁇ l1 ⁇ l2+lp2, wherein lp2 is the axial length of the second protrusion, lp1 is the axial length of the first protrusion; meanwhile, the first side and the fifth a sum of a distance between the sides and an axial length of the first protrusion, less than a distance between the fourth side and the sixth side; between the second side and the sixth side The sum of the distance from the axial length of the second protrusion is smaller than the distance between the third side and the fifth side.
  • the distance from one side to the other side is measured by the length of the joint axis defined by the two sides.
  • the lengths of the first protruding portion and the second protruding portion are also measured by the length of the joint axis defined by the end surface of the protruding portion and the side surface adjacent to the protruding portion.
  • the first joint joint 11 and the second joint joint 12 can be connected, that is, the first protruding portion 113 can be placed in the second connecting hole 124, and the second protruding portion 123 can be placed in the first connecting hole 114. in.
  • the sum of the distance between the first side of the first support structure 111 and the seventh side of the second support structure 112 and the axial length of the first protrusion 113 is less than or equal to the first a diameter of a chassis 110; a sum of a distance between a second side of the third support structure 121 to an eighth side of the fourth support structure 122 and an axial length of the second protrusion 123 is less than or equal to The diameter of the second chassis 120; after assembly, the distance between the outer end surface of the first protrusion 113 of the joint joint pair and the outer end surface of the second protrusion 123 is less than or equal to the diameter of the first chassis 110, It is also less than or equal to the diameter of the second chassis 120.
  • first support structure 111, the second support structure 112, and the first protrusion 113 are all located within the projection of the first chassis 110, and the third support structure 121, the fourth The support structure 122 and the second protrusion 123 are all located within the projection of the second chassis 120, so that the safety and reliability of the serpentine joint of the surgical robot can be made higher, and the first part is avoided.
  • a protruding portion 113 or the second protruding portion 123 scratches human tissue or the like.
  • the side of the second supporting structure 112 adjacent to the axis of the first chassis 110 is a third side; the side of the fourth supporting structure 122 adjacent to the axis of the second chassis 120 is a fourth side; the first protrusion 113 may also be located at a fifth side of the first support structure 111, and the fifth side is a side of the first support structure 111 near the axis of the first chassis 110
  • the second protrusion 123 is located at a sixth side of the third support structure 121, and the sixth side is a side of the third support structure 121 near the axis of the second chassis 120;
  • the second support The side of the structure 112 away from the axis of the first chassis 110 is the seventh side; the side of the fourth supporting structure 122 away from the axis of the second chassis 120 is the eighth side; the first supporting structure 111 A side away from the axis of the first chassis 110 is a first side; a side of the third supporting structure 121 away from the axis of the second chassis 120
  • the first side to the eighth side are all parallel to each other.
  • the distance l3 between the fifth side and the seventh side and the distance l4 between the sixth side and the eighth side have the following relationship: l3-lp1 ⁇ l4 ⁇ l3+lp2, where lp2 is The axial length of the second protrusion, or l4-lp2 ⁇ l3 ⁇ l4+lp1, wherein lp1 is the axial length of the first protrusion, and the fourth side and the eighth side
  • the distance between the third side and the fifth side is smaller than the axial length of the first protrusion; the distance between the third side and the seventh side a difference between a distance between the fourth side and the sixth side and an axial length of the second protrusion.
  • the distance between the first side of the first supporting structure 111 to the seventh side of the second supporting structure 112 is less than or equal to the diameter of the first chassis 110; the second of the third supporting structure 121 a distance from a side to an eighth side of the fourth support structure 122 is less than or equal to a diameter of the second chassis 120; after assembly, a distance between the first side to the second side of the pair of joint joints is less than It is equal to the diameter of the first chassis 110 and is also less than or equal to the diameter of the second chassis 120.
  • first support structure 111, the second support structure 112, and the first protrusion 113 are all located within the projection of the first chassis 110, and the third support structure 121, the fourth The support structure 122 and the second protrusion 123 are all located within the projection of the second chassis 120, so that the safety and reliability of the serpentine joint of the surgical robot can be made higher, and the first part is avoided.
  • One side and the second side scratch the human tissue.
  • the thickness of the first support structure 111 ie, the distance between the first side and the fifth side
  • the thickness of the second support structure 112 ie, the distance between the third side and the seventh side
  • the axial lengths of the first protrusions 113 are equal
  • the thickness of the third support structure 121 ie, the distance between the second side and the sixth side
  • the thickness of the fourth support structure 122 i.e., the distance between the fourth side and the eighth side
  • the axial length of the second protrusion 123 are equal, thereby making the joint joint 10 more stable and the joint joint easier. replace.
  • the first surface includes a first sub-surface 115 and two second portions intersecting the first sub-surface 115 and disposed on two sides of the joint axis.
  • the first support structure 111 and the second support structure 112 are respectively disposed, preferably perpendicular to the first sub-surface 115.
  • the two second partial surfaces 116 are preferably arranged symmetrically about the joint axis.
  • the second surface includes a third partial surface 125 and two fourth partial surfaces 126 that intersect the third partial surface 125 and are disposed on either side of the joint axis.
  • the third support structure 121 and the fourth support structure 122 are respectively disposed, preferably perpendicular to the third partial surface 125.
  • the two fourth partial surfaces 126 are preferably arranged symmetrically about the joint axis.
  • the two are in the same plane, and at the same time An axis, the third axis is also located on the plane.
  • an angle between the second sub-surface 116 and the first sub-surface 115 is 0° to 45°; an angle between the fourth sub-surface 126 and the third sub-surface 125 is 0° to 45° °.
  • the second sub-surface 116 may be a first curved surface
  • the fourth sub-surface 126 may be a second curved surface
  • the first curved surface and the second curved surface are configured to swing to the same side when the joint joint pair
  • the second sub-surface 116 is in contact with the fourth sub-surface 126
  • the second sub-surface 116 forms a contact portion with the fourth sub-surface 126
  • a surface is formed at the contact portion, the plane respectively corresponding to the first curved surface
  • the second curved surface is tangent, that is, the plane is a common cut surface of the first curved surface and the second curved surface, and the first axis passes through the common cut surface.
  • an angle between the common section and the first sub-surface 115 is greater than 0° and less than or equal to 45°
  • an angle between the common section and the third sub-surface 125 is greater than 0° and less than or equal to 45. °.
  • an angle between the co-cut surface and the first sub-surface 115 is greater than 0° and less than or equal to 22.5°
  • an angle between the co-cut surface and the third sub-surface 125 is greater than 0° and less than or equal to 22.5 °.
  • the swing angle is based on the angle between the first surface and the second surface, if the first surface comprises a first partial surface 115, a second partial surface 116 and the second surface comprises a third partial surface 125, a fourth partial surface 126, based on the angle between the first sub-surface 115 and the third sub-surface 125. That is, when the serpentine joint is placed, if the plane in which the first sub-surface 115 and the third sub-surface 125 are located is a horizontal plane, the second sub-surface 116 and the fourth sub-surface 126 are a slope.
  • the first joint joint 11 of the proximal end can be given to the distal second joint joint 12 during the swing of the joint joint 10 Supporting to ensure the reliability of the surgical robot with a serpentine joint; on the other hand, by adjusting the angle between the second sub-surface 116 and the first sub-surface 115 and the fourth sub-surface 126 The angle of the third sub-surface 125 can adjust the angle of oscillation between the joint pairs 10.
  • the first chassis 110 is circumferentially provided with a first axial through hole 117, and the first axial through hole 117 extends the flexible structure.
  • the second chassis 120 is circumferentially provided with a second axial through hole 127, the second axial through hole 127 extending the flexible structure.
  • the number of the first axial through holes 117 and the number of the second axial through holes 127 are both at least two, and at least two of the first axial through holes 117 and the first The positions of the two axial through holes 127 correspond.
  • the number of the first axial through holes 117 is in one-to-one correspondence with the number and positions of the second axial through holes 127.
  • first axial through holes 117 are distributed on the first chassis 110 and the manner in which the second axial through holes 127 are distributed on the second chassis 120 can be referred to FIG. 4 and FIG. 5 .
  • first axial through hole 117 and the second axial through hole 127 are uniformly arranged circumferentially in groups, wherein each set of axial through holes includes at least one axial through hole. As shown in FIG.
  • each set of first axial through hole groups includes only one first axial through hole 117, and each set of second axial through holes includes only one second axial through hole 127;
  • each set of first axial through hole groups includes three first axial through holes 117, each set of second axial through holes including three second axial through holes 127, preferably each set of first axes
  • the first axial through holes 117 in the through hole group are evenly arranged, and the second axial through holes 127 in each of the second axial through hole groups are evenly arranged.
  • the flexible structure is a wire.
  • the first chassis 110 that is, the second chassis 120
  • the two wires pass through different groups.
  • the through holes in the through holes ie, the first axial through holes 117, that is, the second axial through holes 127
  • the two sets of through holes should be distributed on both sides of the first axis of the pair of joint joints.
  • the wires are also configured as such.
  • control of the swing of an articulating joint pair can improve the reliability of the joint pair without a wire break, resulting in failure of the joint joint.
  • control of the swing of an articulating joint pair can also be achieved by four or six wires.
  • the surgical robot uses a serpentine joint including a plurality of joint joint pairs 10, for example, any one of two to ten natural numbers, for example, five, six, eight or ten, etc., the joint
  • the connector pair 10 is detachably or fixedly connected in sequence.
  • the first surface of the first chassis 110 is provided with a first fastening mechanism 118, the third surface is opposite to the first surface; and the fourth surface of the second chassis 120 is disposed on the fourth surface a second fastening mechanism 128, the fourth surface is opposite to the second surface; the second fastening mechanism 128 of the adjacent two joint joint pairs 10 and the first fastening mechanism 118 can be interlocked to
  • the second joint joint 12 of the two joint joint pairs 10 and the first joint joint 11 are fixed.
  • the second joint joint 12 and the first joint joint 11 of the adjacent two joint joint pairs 10 may also be fixedly connected in other manners, and may be integrally formed.
  • the fastening mechanism includes a boss that cooperates with a recess in the adjacent fastening mechanism, and a recess that receives the boss in the adjacent fastening mechanism.
  • the manner in which the bosses and the recesses are distributed is not particularly limited.
  • the first fastening mechanism 118 includes a plurality of first bosses and a plurality of first recesses, the first bosses and the first recesses are spaced apart;
  • the second The fastening mechanism 128 includes a plurality of second bosses and a plurality of second recesses, the second bosses and the second recesses are spaced apart; the shape, the number and the position of the first bosses are The second recess corresponds to the same. Similarly, the shape, number and position of the second boss correspond to the first recess.
  • joint joint pair 10 has different swing directions through different cooperation relations between the joint joint pairs 10, so that the surgical robot has multiple degrees of freedom with the serpentine joint.
  • the angle between the third axis of the second joint joint 12 at the proximal end of the adjacent two joint joint pairs 10 and the first axis of the first joint joint 11 located at the distal end is changed, thereby causing the phase
  • the circumferential relative deflection angles of the two adjacent joint joints are different, so that different swing directions of the adjacent two joint joints can be realized.
  • the circumferential relative deflection angle of the adjacent two joint joint pairs 10 is greater than or equal to 0° and less than or equal to 180°.
  • FIG. 6 to FIG. 8 and FIG. 9 to FIG. 11 are schematic structural diagrams of adjacent second joint joints and first joint joints of two adjacent joint joint pairs according to an embodiment of the present invention.
  • the second joint joint 12 of the proximal joint joint pair and the first joint joint 11 of the distal joint joint pair are shown.
  • FIG. 6 to FIG. 8 it shows a case where the circumferential relative deflection angles of two adjacent joint joint pairs are 90°, thereby enabling the two adjacent joint joints to oscillate in two directions, so that Surgical robots have two degrees of freedom with a serpentine joint.
  • the adjacent two joint joint pairs can be A large angle swing in one direction (ie, a larger swing angle than a joint joint pair) is achieved, in which case the surgical robot has only one degree of freedom with a serpentine joint.
  • FIG. 12 to FIG. 14 are schematic structural views of a plurality of joint joint pairs in the embodiment of the serpentine joint for a surgical robot according to the present invention.
  • the surgical robot of the present embodiment has two degrees of freedom with a serpentine joint, and includes four pairs of joint joints 10 as shown in Figs.
  • from the proximal end to the distal end (or bottom-up) are the first joint joint pair 10a, the second joint joint pair 10b, the third joint joint pair 10c, and the fourth joint joint pair 10d, respectively.
  • the second joint joint pair 10b and the third joint joint pair 10c are swung in the same direction
  • the first joint joint pair 10a and the fourth joint joint pair 10d are swung in the same direction
  • the swinging direction of the pair of joint joints 10b and the third joint joint 10c is perpendicular to the swinging direction of the first joint joint pair 10a and the fourth joint joint pair 10d
  • the corresponding surgical robot has two serpentine joints. Degree of freedom.
  • each joint joint pair ie, the first joint joint pair 10a, the second joint joint pair 10b, the third joint joint pair 10c, and the fourth joint joint pair 10d
  • the maximum swing angle between them is 45°, whereby by arranging the swing directions of the two joint joint pairs 10 to be the same, it is possible to achieve a maximum swing angle of 90° in each swing direction.
  • the maximum swing angle of 90° in each swing direction is achieved by the two joint joint pairs 10, which reduces the maximum swing angle of a single joint joint pair 10, which makes the surgical robot with a serpentine joint more High reliability and stability.
  • the surgical robot with a serpentine joint may be designed according to degrees of freedom, maximum swing angle, etc., including more joint pairs 10, such as five, six or ten, and the like.
  • the circumferential relative deflection angle between adjacent pairs of joint joints 10 may be 0°-180°, such as 0°, 30°, 45°, 60°, 90°, 120°, 150° or 180. °, etc., thus achieving a more abundant space to reverse.
  • the first joint joint pair 10a at the proximal end and the fourth joint joint pair 10d at the distal end are controlled by two wires
  • the second joint joint pair at the proximal end 10b and the third joint joint pair 10c at the distal end are controlled by two additional wires.
  • one ends of the two wires controlling the first joint joint pair 10a and the fourth joint joint pair 10d are fixed to the second joint joint 12d of the fourth joint joint pair 10d
  • One end of the two wires of the second joint joint pair 10b and the third joint joint pair 10c may be fixed to the second joint joint 12c of the third joint joint pair 10c, or may be fixed to the fourth joint.
  • the joint is on the second joint joint 12d of the pair 10d.
  • the space twist of the serpentine joint for the surgical robot can be realized by controlling the four wires to control the swing of the serpentine joint of the surgical robot having two degrees of freedom.
  • the number of wires in the embodiment may be more.
  • the number of wires is eight, and each two controls one joint joint, so that the swing of the serpentine joint can be controlled more accurately. angle.
  • the serpentine joint has n (n is a natural number greater than or equal to 1) degrees of freedom, that is, when the swinging direction of the joint joint pair in the serpentine joint is n kinds, the joint joint pair is greater than or equal n, the number of flexible structures is at least 2n. Based on this, the serpentine joint can increase the number of the flexible structures (for example, the joint joints of the same swing direction are each controlled by two flexible structures to swing the angle) to achieve more precise control of the joint of the joint.
  • the fixed position of the flexible joint of the joint joint to the swinging direction may be on the second joint joint of the joint joint pair or the second joint joint of the joint joint pair of the distal end of the joint joint pair (if Have).
  • the distal end of at least 2 flexible structures is secured to the second joint joint of the most distally located joint joint of the pair of articulating joints. More preferably, one end of the flexible structure is fixed to a second joint joint of a pair of joint joints located at the most distal end of the plurality of joint joint pairs.
  • the wire passes through the first axial through hole and the second axial through hole on each joint joint pair and is then fixed to the second end face of the second joint joint in the most distal one joint joint pair, thereby
  • the bending (motion) control of the serpentine joint for the surgical robot is achieved by the stretching of the wire rope.
  • the number of the first axial through holes 117 and the second axial through holes 127 may be the same or different in a joint joint pair.
  • the number of the first axial through holes between the plurality of joint joints in the serpentine joint may be the same or different, and the number of the second axial through holes is also the same, but the serpentine joint is required to be provided at this time.
  • At least two channels are provided for the flexible structure to extend therethrough.
  • At least two of the first axial through holes 117 of one of the joint joints correspond to the positions of the second axial through holes 127, so as to control the flexible structure of the joint joint to extend
  • at least the joint joints of the proximal joints provide a first axial through hole 117 and a second axial through hole 127 at corresponding positions to form a passage for the flexible structure to extend. That is, the first axial through hole 117 of the pair of joint joints also corresponds to the position of the second axial through hole 127 of the proximal joint joint pair, and the proximal joint joint is centered
  • the second axial through hole 127 corresponds to the position of the first axial through hole 117 of the same joint joint pair, and so on.
  • the joint joint to the distal joint joint pair is provided with a first axial through hole 117 and a second axial through hole 127 at corresponding positions to form a passage for the flexible structure to extend through (ie, At this point the flexible structure is secured to the distal joint joint pair).
  • the present invention also provides a surgical instrument, as shown in FIGS. 15 and 16, the surgical instrument includes an instrument end 2, a serpentine joint 1 for a surgical robot (the serpentine joint 1 for a surgical robot includes a plurality of joints) Pair 10 and a flexible structure 20), a tubular member, a flexible member, and a controller; wherein the end of the instrument, the surgical robot is sequentially connected with a serpentine joint, the tubular, and the controller; one end of the flexible member Connecting the controller, the other end of which is connected to the surgical robot with a serpentine joint and the end of the instrument through the tubular; the surgical robot uses the proximal end of the flexible structure of the serpentine joint to pass through the tubular object and The controller is connected; the controller controls movement of the end of the instrument by the flexible member, and the movement of the serpentine joint of the surgical robot is controlled by the surgical robot with a flexible structure of a serpentine joint.
  • the end of the instrument mainly includes a surgical tool such as a scissors, a pliers, an electric hook, etc., which is directly operated in a human body;
  • the surgical robot uses a serpentine joint to connect the instrument end and the tubular body respectively, and the tubular body is hollow.
  • a thin-walled tube for supporting the end of the instrument such that the end of the instrument can extend into the body while the front end of the surgical instrument is placed outside the body;
  • the controller is for controlling the movement of the end of the instrument and the movement of the serpentine joint of the surgical robot;
  • the flexible member is coupled to the controller at one end and to the end of the instrument via a tubular end;
  • the surgical robot is coupled to the controller via the tubular proximal end of the flexible structure of the serpentine joint.
  • the surgical instrument controls the posture of the serpentine joint of the surgical robot to bring the end of the instrument to a desired position and posture, and controls the end of the instrument to perform clamping, cutting, and the like at the end of the instrument.
  • the present invention also provides an endoscope including an imaging system, a serpentine joint for a surgical robot, a tube, and a controller; wherein the imaging system and the surgical robot use a serpentine shape a joint, the tubular, and the controller are sequentially connected; the surgical robot is connected to the controller via the tubular proximal end of the flexible structure of the serpentine joint; the controller is used by the surgical robot
  • the flexible structure of the serpentine joint controls the surgical robot to move with a serpentine joint.
  • the imaging system includes an objective lens group of an endoscope for acquiring a picture in an endoscope field of view; the surgical robot uses a serpentine joint for connecting an imaging system and a tubular object to adjust an attitude of the imaging system; a hollow thin-walled tube for supporting the end and the leading end of the endoscope such that the end of the endoscope can be inserted into the human body while the end of the endoscope is placed outside the body; the controller is used to control the operation
  • the robot moves with a serpentine joint; the surgical robot is connected to the controller via a tubular proximal end of the flexible structure of the serpentine joint.
  • the endoscope realizes control of the posture of the serpentine joint of the surgical robot by the controller, so that the endoscopic imaging system can reach a desired posture.
  • the serpentine joint of the surgical robot is included, thereby enabling the end of the instrument or the imaging system to reach a desired position and posture.

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Abstract

一种手术机器人用蛇形关节，包括至少一个关节接头对(10)和柔性结构,每个关节接头对(10)包括位于下端的第一关节接头(11)和位于上端的第二关节接头(12)；第一关节接头(11)包括第一底盘(110)，第一底盘(110)的第一表面上设置有第一支撑结构(111)和第二支撑结构(112)，第一支撑结构(111)上具有第一突出部(113)，第二支撑结构(112)上具有第一连接孔(114)；第二关节接头(12)包括第二底盘(120)，第二底盘(120)的第二表面上设置有第三支撑结构(121)和第四支撑结构(122)，第三支撑结构(121)上具有第二突出部(123)，第四支撑结构(122)上具有第二连接孔(124)；当第一关节接头(11)和第二关节接头(12)配合时，第一表面和第二表面相对设置，第一突出部(113)位于第二连接孔(124)中，并可相对于第二连接孔(124)转动，第二突出部(123)位于第一连接孔(114)中，并可相对于第一连接孔(114)转动；柔性结构控制关节接头对(10)围绕一关节轴线摆动。通过关节接头对(10)的摆动实现了平面扭转或者空间扭转。一种手术器械和内窥镜，包括手术机器人用蛇形关节，从而能够使得器械末端或者成像系统到达期望的位置和姿态。

Description

手术机器人用蛇形关节、手术器械及内窥镜 技术领域
本发明涉及医疗器械技术领域，特别涉及一种手术机器人用蛇形关节、手术器械及内窥镜。
背景技术
随着机器人的快速发展，各种具有特色的机器人不断地涌现，而其中，对于仿生机器人的研究则显得越发突出，蛇形机器人的研究也越来越多。蛇形机器人产生和发展的根本原因在于其可以完成正常机器人所不能完成的动作。其运动与自然界中的蛇类似，可以实现平面扭转和空间扭转，在运动过程中躲避障碍物，用来完成人或其他机器无法完成的任务。
鉴于这一特征，用于医疗手术的蛇形机器人也慢慢地出现了。特别是在微创伤手术过程中，由于创口很小，为达到更佳的治疗效果，减少手术过程中对于其他组织的损害，多采用蛇形关节的手术器械，以实现手术过程中对于其他器官的避让。这一优势使得蛇形关节的手术器械可以很好的应用在医疗领域。
然而，目前用于医疗器械的蛇形关节存结构复杂，零部件多，装配繁琐的缺点。
如图7所示，美国专利US2016/0066937A1提出了一种蛇形关节，单个关节110包括可相对摆动的第一关节部分202和第二关节部分232，两个关节部分之间通过短连杆机构226、228连接。以短连杆机构226为例，其包括设置于第二关节部分232的轴承孔254中的第一轴承227以及设置于第一关节部分202的槽210内的第二轴承225，所述第一轴承227形成所述第二关节部分232的转动轴，所述第二轴承225形成所述第二关节部分202的转动轴。该蛇形关节通过不同的排布方式可实现空间的扭转运动，但是在弯曲扭转过程中，存在运动精度低，结构复杂的缺点。
如图18所示，中国专利CN105078398A公开了一种蛇骨管单元节100，包括筒体110和支耳120，筒体110上开有连接孔113，支耳120上设有柱销121，当多个所述蛇骨管单元节100通过连接孔113和柱销121首尾依次铰接时，可 形成一个蛇骨管结构。但是该蛇骨管结构仅具有一个自由度，无法实现复杂的空间扭转，因而限制了其应用。
发明内容
本发明的目的在于提供一种手术机器人用蛇形关节，以提高蛇形关节的运动精度或者降低其结构复杂度；本发明的目的还在于提供一种具有蛇形关节的手术器械以及一种具有蛇形关节的内窥镜。
基于上述目的，本发明提供一种手术机器人用蛇形关节，所述手术机器人用蛇形关节具有至少一个自由度，并包括：至少一个关节接头对和柔性结构；其中，
每个关节接头对包括位于下端的第一关节接头和位于上端的第二关节接头；所述第一关节接头包括第一底盘，所述第一底盘的第一表面上设置有第一支撑结构和第二支撑结构，所述第一支撑结构上具有第一突出部，所述第二支撑结构上具有第一连接孔；所述第二关节接头包括第二底盘，所述第二底盘的第二表面上设置有第三支撑结构和第四支撑结构，所述第三支撑结构上具有第二突出部，所述第四支撑结构上具有第二连接孔；当所述第一关节接头和所述第二关节接头配合时，所述第一表面和所述第二表面相对设置，所述第一突出部位于所述第二连接孔中，并可相对于所述第二连接孔转动，所述第二突出部位于所述第一连接孔中，并可相对于所述第一连接孔转动；
所述柔性结构控制所述关节接头对围绕一关节轴线摆动。
可选的，在所述的手术机器人用蛇形关节中，所述第一突出部为一直线或一曲线围绕第一轴线形成的回转体结构，所述第一连接孔为一直线或一曲线围绕第二轴线形成的回转面结构，所述第一轴线和所述第二轴线均与所述第一底盘的轴线垂直相交；所述第二突出部为一直线或一曲线围绕第三轴线形成的回转体结构，所述第二连接孔为一直线或一曲线围绕第四轴线形成的回转面结构，且
当所述第一关节接头和所述第二关节接头配合时，所述关节轴线、所述第一轴线、所述第二轴线、所述第三轴线及所述第四轴线共线。
可选的，在所述的手术机器人用蛇形关节中，所述第一突出部和所述第二突出部均为圆柱体结构、圆台结构或者圆锥结构；所述第一连接孔和所述第二连接孔均为圆柱面结构、圆台面结构或者圆锥面结构。
可选的，在所述的手术机器人用蛇形关节中，所述第一突出部位于所述第一支撑结构的第一侧面，所述第一侧面为所述第一支撑结构远离所述第一底盘轴线的侧面；
所述第一支撑结构靠近所述第一底盘轴线的侧面为第五侧面；
所述第二突出部位于所述第三支撑结构的第二侧面，所述第二侧面为所述第三支撑结构远离所述第二底盘轴线的侧面；
所述第三支撑结构靠近所述第二底盘轴线的侧面为第六侧面；
所述第二支撑结构靠近所述第一底盘轴线的侧面为第三侧面；
所述第四支撑结构靠近所述第二底盘轴线的侧面为第四侧面；
所述第一侧面与所述第三侧面之间的距离l1与所述第二侧面与所述第四侧面之间的距离l2存在以下的关系：
l1-lp2＜l2＜l1+lp1，
或者，
l2-lp1＜l1＜l2+lp2，
其中，lp1为所述第一突出部的轴向长度，lp2为所述第二突出部的轴向长度；
同时，
所述第一侧面与所述第五侧面之间的距离与所述第一突出部的轴向长度之和，小于所述第四侧面与所述第六侧面之间的距离；
所述第二侧面与所述第六侧面之间的距离与所述第二突出部的轴向长度之和，小于所述第三侧面与所述第五侧面之间的距离。
可选的，在所述的手术机器人用蛇形关节中，所述第一支撑结构的第一侧面至所述第二支撑结构的第七侧面之间的距离与所述第一突出部的轴向长度之和小于等于所述第一底盘的直径，其中，所述第二支撑结构远离所述第一底盘轴线的侧面为所述第七侧面；
所述第三支撑结构的第二侧面至所述第四支撑结构的第八侧面之间的距离与所述第二突出部的轴向长度之和小于等于所述第二底盘的直径，其中，所述第四支撑结构远离所述第二底盘轴线的侧面为所述第八侧面；
在关节接头对中，所述第一突出部的外侧端面到第二突出部的外侧端面之间的距离小于等于所述第一底盘的直径，同时所述关节接头对中的所述第一突出部的外侧端面到所述第二突出部的外侧端面之间的距离也小于等于所述第二底盘的直径。
可选的，在所述的手术机器人用蛇形关节中，所述第二支撑结构靠近所述第一底盘轴线的侧面为第三侧面；
所述第四支撑结构靠近所述第二底盘轴线的侧面为第四侧面；
所述第一突出部位于所述第一支撑结构的第五侧面，所述第五侧面为所述第一支撑结构靠近所述第一底盘轴线的侧面；
所述第二突出部位于所述第三支撑结构的第六侧面，所述第六侧面为所述第三支撑结构靠近所述第二底盘轴线的侧面；
所述第二支撑结构远离所述第一底盘轴线的侧面为第七侧面；
所述第四支撑结构远离所述第二底盘轴线的侧面为第八侧面；
所述第五侧面与第七侧面之间的距离l3与所述第六侧面与第八侧面之间的距离l4存在以下的关系：
l3-lp1＜l4＜l3+lp2，
或者，
l4-lp2＜l3＜l4+lp1，
其中，lp1为所述第一突出部的轴向长度，lp2为所述第二突出部的轴向长度；
同时，
所述第四侧面与所述第八侧面之间的距离，小于所述第三侧面与所述第五侧面之间的距离与所述第一突出部的轴向长度之差值；
所述第三侧面与所述第七侧面之间的距离，小于所述第四侧面与所述第六侧面之间的距离与所述第二突出部的轴向长度之差值。
可选的，在所述的手术机器人用蛇形关节中，所述第一支撑结构的第一侧面至所述第二支撑结构的第七侧面之间的距离小于等于所述第一底盘的直径，其中，所述第一侧面为所述第一支撑结构远离所述第一底盘轴线的侧面；
所述第三支撑结构的第二侧面至所述第四支撑结构的第八侧面之间的距离小于等于所述第二底盘的直径，其中，所述第二侧面为所述第三支撑结构远离所述第二底盘轴线的侧面；
在关节接头对中，所述第一侧面到所述第二侧面之间的距离小于等于所述第一底盘的直径，所述关节接头对中的所述第一侧面到所述第二侧面之间的距离同时也小于等于所述第二底盘的直径。
可选的，在所述的手术机器人用蛇形关节中，所述第一支撑结构的厚度、所述第二支撑结构的厚度及所述第一突出部的轴向长度三者相等；所述第三支撑结构的厚度、所述第四支撑结构的厚度及所述第二突出部的轴向长度三者相等。
可选的，在所述的手术机器人用蛇形关节中，所述第一表面包括第一分表面及与所述第一分表面相交的第二分表面，所述第一支撑结构及所述第二支撑结构分别置于所述第一分表面；所述第二表面包括第三分表面及与所述第三分表面相交的第四分表面，所述第三支撑结构及所述第四支撑结构分别置所述第三分表面。
可选的，在所述的手术机器人用蛇形关节中，所述第二分表面为一平面，且所述关节轴线经过所述第二分表面所在的平面；
所述第四分表面为一平面，且所述关节轴线经过所述第四分表面所在的平面。
可选的，在所述的手术机器人用蛇形关节中，所述第二分表面与所述第一分表面的夹角为0°～45°；所述第四分表面与所述第三分表面的夹角为0°～45°。
可选的，在所述的手术机器人用蛇形关节中，所述第二分表面与所述第四分表面均为曲面，且所述曲面被配置为，当关节接头对摆动至同侧的所述第二分表面与所述第四分表面相接时，所述第二分表面与所述第四分表面形成一接触部位，在所述接触部位的所述曲面之间存在一共切面，且所述第一轴线经过 所述共切面。
可选的，在所述的手术机器人用蛇形关节中，所述共切面与所述第一分表面之间的夹角为大于0°且小于等于45°，所述共切面与所述第三分表面之间的夹角为大于0°且小于等于45°。
可选的，在所述的手术机器人用蛇形关节中，每个关节接头对中所述第一关节接头和所述第二关节接头之间的摆动角度为大于0°且小于等于90°。
可选的，在所述的手术机器人用蛇形关节中，所述第一底盘的圆周设置有第一轴向通孔，所述第一轴向通孔供所述柔性结构延伸通过；所述第二底盘的圆周设置有第二轴向通孔，所述第二轴向通孔供所述柔性结构延伸通过。
可选的，在所述的手术机器人用蛇形关节中，所述第一轴向通孔的数量和所述第二轴向通孔的数量均为多个，并且至少两个所述第一轴向通孔和至少两个所述第二轴向通孔的位置相对应。
可选的，在所述的手术机器人用蛇形关节中，每个关节接头对中，所述第一轴向通孔的数量与所述第二轴向通孔的数量相同，并且所述第一轴向通孔的位置与所述第二轴向通孔的位置一一对应。
可选的，在所述的手术机器人用蛇形关节中，当所述手术机器人用蛇形关节具有n个自由度时，所述柔性结构至少为2n个，其中n为大于等于1的自然数。
可选的，所述的手术机器人用蛇形关节包括多个所述关节接头对，相邻的两个关节接头对可拆卸连接或固定连接。
可选的，在所述的手术机器人用蛇形关节中，所述第一底盘的第三表面上设置有第一扣合机构，所述第三表面与所述第一表面相对；所述第二底盘的第四表面上设置有第二扣合机构，所述第四表面与所述第二表面相对；相邻两个关节接头对中的第二扣合机构和第一扣合机构能够相扣，以使得相邻两个关节接头对中的第二关节接头和第一关节接头可拆卸连接。
可选的，在所述的手术机器人用蛇形关节中，所述第一扣合机构包括多个第一凸台和多个第一凹台，所述第一凸台和所述第一凹台间隔排布；所述第二扣合机构包括多个第二凸台和多个第二凹台，所述第二凸台和所述第二凹台间 隔排布；所述第一凸台的形状、数量和位置与所述第二凹台相对应，并且，所述第二凸台的形状、数量和位置与所述第一凹台相对应。
可选的，在所述的手术机器人用蛇形关节中，相邻两个关节接头对中，近端关节接头对中的第二关节接头和远端关节接头对中的第一关节接头一体成型。
可选的，在所述的手术机器人用蛇形关节中，相邻两个关节接头对的周向相对偏转角度为大于等于0°且小于等于180°。
本发明还提供一种手术器械，所述手术器械包括器械末端、如上所述的手术机器人用蛇形关节、管状物、柔性件以及控制器；其中，所述器械末端、所述手术机器人用蛇形关节、所述管状物和所述控制器依次连接；所述柔性件一端连接所述控制器，另一端经过所述管状物与所述器械末端连接；所述手术机器人用蛇形关节的柔性结构的近端经过所述管状物与控制器连接；所述控制器通过所述柔性件控制所述器械末端运动，通过手术机器人用蛇形关节的柔性结构控制所述手术机器人用蛇形关节的摆动。
本发明还提供一种内窥镜，所述内窥镜包括成像系统、如上所述的手术机器人用蛇形关节、管状物以及控制器；其中，所述成像系统、所述手术机器人用蛇形关节、所述管状物和所述控制器依次连接；所述手术机器人用蛇形关节的柔性结构的近端经过所述管状物后与所述控制器连接；所述控制器通过所述手术机器人用蛇形关节的柔性结构控制所述手术机器人用蛇形关节摆动，进而调整所述成像系统的位姿。
在本发明提供的手术机器人用蛇形关节中，通过关节接头对的摆动实现了平面扭转或者空间扭转，相对于现有技术的蛇形关节，降低了结构的复杂度。在本发明提供的手术器械和内窥镜中，包括所述手术机器人用蛇形关节，从而能够使得器械末端或者成像系统到达期望的位置和姿态。
附图说明
图1是本发明实施例的手术机器人用蛇形关节中的一个关节接头对的分离状态立体示意图；
图2是图1所示的一个关节接头对的主视示意图；
图3是图2所示的一个关节接头对的连接状态主视示意图；
图4是本发明实施例的手术机器人用蛇形关节中的第一底盘/第二底盘的一俯视示意图；
图5是本发明实施例的手术机器人用蛇形关节中的第一底盘/第二底盘的另一俯视示意图；
图6是本发明实施例的手术机器人用蛇形关节中的相邻两个关节接头对中相邻的第二关节接头和第一关节接头的分离状态立体示意图；
图7是图6所示的相邻两个关节接头对中相邻的第二关节接头和第一关节接头的主视示意图；
图8是图7所示的相邻两个关节接头对中相邻的第二关节接头和第一关节接头的连接状态主视示意图；
图9是本发明实施例的手术机器人用蛇形关节中的相邻两个关节接头对中相邻的第二关节接头和第一关节接头的分离状态立体示意图；
图10是图9所示的相邻两个关节接头对中相邻的第二关节接头和第一关节接头的主视示意图；
图11是图10所示的相邻两个关节接头对中相邻的第二关节接头和第一关节接头的连接状态主视示意图；
图12是本发明实施例的手术机器人用蛇形关节中的多个关节接头对的分离状态立体示意图；
图13是图12所示的多个关节接头对的弯曲状态立体示意图；
图14是图13所示的多个关节接头对的弯曲状态主视示意图；
图15是本发明实施例的手术器械的自然状态的结构示意图；
图16是本发明实施例的手术器械的转动状态的结构示意图；
图17是现有技术中一种蛇形关节的示意图；
图18是现有技术中一种蛇骨管单元节的示意图；
图1～16中，关节接头对-10、10a、10b、10c、10d；第一关节接头-11、11a、11b、11c、11d；第二关节接头-12、12a、12b、12c、12d；第一支撑结构-111； 第二支撑结构-112；第三支撑结构-121；第四支撑结构-122；第一突出部-113；第二突出部-123；第一连接孔-114；第二连接孔-124；第一分表面-115；第二分表面-116；第三分表面-125；第四分表面-126；第一轴向通孔-117；第二轴向通孔-127；第一扣合机构-118；第二扣合机构-128；手术机器人用蛇形关节-1；器械末端-2。
具体实施方式
以下结合附图和具体实施例对本发明提出的手术机器人用蛇形关节、手术器械及内窥镜作进一步详细说明。根据下面说明和权利要求书，本发明的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。特别的，各附图需要展示的侧重点不同，往往都采用了不同的比例。
在本申请中，“近端”和“远端”、“上端”和“下端”是从使用该医疗器械的医生角度来看相对于彼此的元件或动作的相对方位、相对位置、方向，尽管“近端”和“远端”、“上端”和“下端”并非是限制性的，但是“近端”、“下端”通常指该医疗设备在正常操作过程中靠近操作者的一端，而“远端”、“上端”通常是指远离操作者的一端。
本发明的核心思想在于，提供一种手术机器人用蛇形关节，所述手术机器人用蛇形关节包括：至少一个关节接头对和柔性结构；其中，每个关节接头对包括位于下端的第一关节接头和位于上端的第二关节接头；所述第一关节接头包括第一底盘，所述第一底盘的第一表面上设置有第一支撑结构和第二支撑结构，所述第一支撑结构上具有第一突出部，所述第二支撑结构上具有第一连接孔；所述第二关节接头包括第二底盘，所述第二底盘的第二表面上设置有第三支撑结构和第四支撑结构，所述第三支撑结构上具有第二突出部，所述第四支撑结构上具有第二连接孔；所述第一表面和所述第二表面相对设置，所述第一突出部位于所述第二连接孔中，并可以相对于所述第二连接孔转动，所述第二突出部位于所述第一连接孔中，并可以相对于所述第一连接孔转动；所述柔性结构控制所述关节接头对围绕一关节轴线摆动。通过关节接头对的摆动实现了 平面扭转或者空间扭转，相对于现有技术的蛇形关节，降低了结构的复杂度。进一步的，提供一种手术器械和内窥镜，包括所述手术机器人用蛇形关节，从而能够使得器械末端或者成像系统到达期望的位置和姿态。
具体的，请参考图1至图3，其中，图1为本发明手术机器人用蛇形关节一实施例中的一个关节接头对的分离状态立体示意图；图2为图1所示的一个关节接头对的主视示意图；图3为图2所示的一个关节接头对的连接状态主视示意图。如图1至图3所示，每个关节接头对10包括位于下端的第一关节接头11和位于上端的第二关节接头12；所述第一关节接头11包括第一底盘110，所述第一底盘110的第一表面上设置有第一支撑结构111和第二支撑结构112，所述第一支撑结构111上具有第一突出部113，所述第二支撑结构112上具有第一连接孔114；所述第二关节接头12包括第二底盘120，所述第二底盘120的第二表面上设置有第三支撑结构121和第四支撑结构122，所述第三支撑结构121上具有第二突出部123，所述第四支撑结构122上具有第二连接孔124；所述第一表面和所述第二表面相对设置，所述第一突出部113位于所述第二连接孔124中，并可以相对于所述第二连接孔转动，所述第二突出部123位于所述第一连接孔114中，并可以相对于所述第一连接孔转动。
在本申请实施例中，所述第一突出部113为一直线或一曲线围绕第一轴线形成的回转体结构，所述第一连接孔114为一直线或一曲线围绕第二轴线形成的回转面结构，所述第一轴线和所述第二轴线均与所述第一底盘110的轴线垂直相交；所述第二突出部123为一直线或一曲线围绕第三轴线形成的回转体结构，所述第二连接孔124为一直线或一曲线围绕第四轴线形成的回转面结构，所述第三轴线和所述第四轴线均与所述第二底盘120的轴线垂直相交。进一步的，所述第一轴线和所述第二轴线共线；所述第三轴线和所述第四轴线共线，在图3所示的关节接头对的连接状态下，该关节接头对10中的第一轴线、第二轴线、第三轴线和第四轴线共线。显然这里的第一轴线、第二轴线、第三轴线、第四轴线和关节接头对10的关节轴线也共线。由此可以使得所述第一突出部113与所述第二连接孔124很好的贴合，所述第二突出部123与所述第一连接孔114很好的贴合，从而保证了所述第一关节接头11和所述第二关节接头12在摆动 过程中的稳定性与可靠性。具体的，所述第一突出部113和所述第二突出部123可以为圆柱体结构、圆台结构或者圆锥结构等结构；所述第一连接孔114和所述第二连接孔124可以为圆柱面结构、圆台面结构或者圆锥面结构等结构。
请继续参考图1至图3，在本申请实施例中，
所述第一突出部113位于所述第一支撑结构111的第一侧面，所述第一侧面为所述第一支撑结构111远离所述第一底盘110轴线的侧面；所述第一支撑结构111靠近所述第一底盘110轴线的侧面为第五侧面；所述第二突出部123位于所述第三支撑结构121的第二侧面，所述第二侧面为所述第三支撑结构121远离所述第二底盘120轴线的侧面；所述第三支撑结构121靠近所述第二底盘120轴线的侧面为第六侧面；所述第二支撑结构112靠近所述第一底盘110轴线的侧面为第三侧面；所述第四支撑结构122靠近所述第二底盘120轴线的侧面为所述第四侧面；所述第二支撑结构112远离所述第一底盘110轴线的侧面为所述第七侧面；所述第四支撑结构122远离所述第二底盘120轴线的侧面为所述第八侧面。优选，以上第一侧面至第八侧面均相互平行。所述第一侧面与所述第三侧面之间的距离l1与所述第二侧面与所述第四侧面之间的距离l2存在以下的关系：l1-lp2＜l2＜l1+lp1，或者，l2-lp1＜l1＜l2+lp2，其中，lp2为所述第二突出部的轴向长度，lp1为所述第一突出部的轴向长度；同时，所述第一侧面与所述第五侧面之间的距离与所述第一突出部的轴向长度之和，小于所述第四侧面与所述第六侧面之间的距离；所述第二侧面与所述第六侧面之间的距离与所述第二突出部的轴向长度之和，小于所述第三侧面与所述第五侧面之间的距离。这里一侧面到另一侧面的距离，以两侧面所限定的关节轴线的长度来计量。第一突出部、第二突出部的长度，也以突出部的端面、突出部邻接的侧面所限定的关节轴线长度来计量。下面实施例也是如此。由此可以实现所述第一关节接头11和所述第二关节接头12连接，即第一突出部113能够置于第二连接孔124中，第二突出部123能够置于第一连接孔114中。
较佳的，所述第一支撑结构111的第一侧面至所述第二支撑结构112的第七侧面之间的距离与所述第一突出部113的轴向长度之和小于等于所述第一底盘110的直径；所述第三支撑结构121的第二侧面至所述第四支撑结构122的第八 侧面之间的距离与所述第二突出部123的轴向长度之和小于等于所述第二底盘120的直径；装配后，所述关节接头对中的第一突出部113的外侧端面到第二突出部123的外侧端面之间的距离小于等于所述第一底盘110的直径、同时也小于等于所述第二底盘120的直径。即使得所述第一支撑结构111、所述第二支撑结构112及所述第一突出部113均位于所述第一底盘110的投影之内，所述第三支撑结构121、所述第四支撑结构122及所述第二突出部123均位于所述第二底盘120的投影之内，从而可以使得所述手术机器人用蛇形关节的安全性与可靠性更高，避免使用时所述第一突出部113或者所述第二突出部123划伤人体组织等。
在本申请的其他实施例中，所述第二支撑结构112靠近所述第一底盘110轴线的侧面为第三侧面；所述第四支撑结构122靠近所述第二底盘120轴线的侧面为所述第四侧面；所述第一突出部113也可以位于所述第一支撑结构111的第五侧面，所述第五侧面为所述第一支撑结构111靠近所述第一底盘110轴线的侧面；所述第二突出部123位于所述第三支撑结构121的第六侧面，所述第六侧面为所述第三支撑结构121靠近所述第二底盘120轴线的侧面；所述第二支撑结构112远离所述第一底盘110轴线的侧面为所述第七侧面；所述第四支撑结构122远离所述第二底盘120轴线的侧面为所述第八侧面；所述第一支撑结构111远离所述第一底盘110轴线的侧面为第一侧面；所述第三支撑结构121远离所述第二底盘120轴线的侧面为第二侧面。优选，以上第一侧面至第八侧面均相互平行。所述第五侧面与第七侧面之间的距离l3与所述第六侧面与第八侧面之间的距离l4存在以下的关系：l3-lp1＜l4＜l3+lp2，其中，lp2为所述第二突出部的轴向长度，或者，l4-lp2＜l3＜l4+lp1，其中，lp1为所述第一突出部的轴向长度，同时，所述第四侧面与所述第八侧面之间的距离，小于所述第三侧面与所述第五侧面之间的距离与所述第一突出部的轴向长度之差值；所述第三侧面与所述第七侧面之间的距离，小于所述第四侧面与所述第六侧面之间的距离与所述第二突出部的轴向长度之差值。
同样，所述第一支撑结构111的第一侧面至所述第二支撑结构112的第七侧面之间的距离小于等于所述第一底盘110的直径；所述第三支撑结构121的第 二侧面至所述第四支撑结构122的第八侧面之间的距离小于等于所述第二底盘120的直径；装配后，所述关节接头对中的第一侧面到第二侧面之间的距离小于等于所述第一底盘110的直径、同时也小于等于所述第二底盘120的直径。即使得所述第一支撑结构111、所述第二支撑结构112及所述第一突出部113均位于所述第一底盘110的投影之内，所述第三支撑结构121、所述第四支撑结构122及所述第二突出部123均位于所述第二底盘120的投影之内，从而可以使得所述手术机器人用蛇形关节的安全性与可靠性更高，避免使用时所述第一侧面、第二侧面划伤人体组织等。
更优的，所述第一支撑结构111的厚度(即第一侧面与第五侧面之间的距离)、所述第二支撑结构112的厚度(即第三侧面与第七侧面之间的距离)及所述第一突出部113的轴向长度三者相等；所述第三支撑结构121的厚度(即第二侧面与第六侧面之间的距离)、所述第四支撑结构122的厚度(即第四侧面与第八侧面之间的距离)及所述第二突出部123的轴向长度三者相等，由此可以使得所述关节接头对10的稳定性更好，关节接头较为容易替换。
请继续参考图1至图3，在本申请实施例中，所述第一表面包括第一分表面115及两个与所述第一分表面115相交且分置于关节轴线两侧的第二分表面116。所述第一支撑结构111及所述第二支撑结构112分别置于，优选垂直于，所述第一分表面115。两个第二分表面116优选关于关节轴线对称布置。所述第二表面包括第三分表面125及两个与所述第三分表面125相交且分置于关节轴线两侧的第四分表面126。所述第三支撑结构121及所述第四支撑结构122分别置于，优选垂直于，所述第三分表面125。两个第四分表面126优选关于关节轴线对称布置。优选，在图3所示的关节接头对的连接状态下，所述第二分表面116中的一个与第四分表面126中的同侧一个相接触时，两者位于同一平面内，同时第一轴线，第三轴线也位于所述的平面上。进一步，所述第二分表面116与所述第一分表面115的夹角为0°～45°；所述第四分表面126与所述第三分表面125的夹角为0°～45°。此外，所述第二分表面116可以为第一曲面，所述第四分表面126可以为第二曲面，且所述第一曲面、第二曲面被配置为，当关节接头对摆动至同侧的第二分表面116与第四分表面126相接时，第二分表面116与所 述第四分表面126形成一接触部位，在所述的接触部位有一平面，该平面分别与第一曲面、第二曲面相切，即该平面为所述第一曲面、第二曲面的共切面，且所述第一轴线经过所述共切面。进一步，所述共切面与第一分表面115之间的夹角为大于0°且小于等于45°，所述共切面与第三分表面125之间的夹角为大于0°且小于等于45°。优选，所述共切面与第一分表面115之间的夹角为大于0°且小于等于22.5°，所述共切面与第三分表面125之间的夹角为大于0°且小于等于22.5°。由此能够使得每个关节接头对10中所述第一关节接头11和所述第二关节接头12之间的摆动角度为0°～90°，优选为0～45°。此处摆动角度以第一表面与第二表面之间的夹角计，如果第一表面包含第一分表面115、第二分表面116且第二表面包含第三分表面125、第四分表面126，则以第一分表面115与第三分表面125之间的夹角计。即在此，蛇形关节放置时，如所述第一分表面115和所述第三分表面125所在的平面为一水平面，则所述第二分表面116和所述第四分表面126为一斜面。通过将所述第二分表面116和所述第四分表面126设置为斜面，可以在关节接头对10摆动过程中，使得近端的第一关节接头11给予远端的第二关节接头12一定的支撑，从而保证所述手术机器人用蛇形关节的可靠性；另一方面通过调节所述第二分表面116与所述第一分表面115的夹角以及所述第四分表面126与所述第三分表面125的夹角可以调整关节接头对10之间的摆动角度。
如图4、图5所示，在本申请实施例中，所述第一底盘110的周向设置有第一轴向通孔117，所述第一轴向通孔117使所述柔性结构延伸通过；所述第二底盘120的周向设置有第二轴向通孔127，所述第二轴向通孔127使所述柔性结构延伸通过。进一步的，所述第一轴向通孔117的数量和所述第二轴向通孔127的数量均为至少两个，并且至少有两个所述第一轴向通孔117和所述第二轴向通孔127的位置相对应。优选，所述第一轴向通孔117的数量和所述第二轴向通孔127的数量、位置一一对应。进一步，所述第一轴向通孔117在所述第一底盘110上的分布方式以及所述第二轴向通孔127在所述第二底盘120上的分布方式可以参考图4及图5。具体的，所述第一轴向通孔117、所述第二轴向通孔127以多组的形式周向均匀布置，其中每组轴向通孔组包含至少一个轴向通 孔。如图4所示，所述每组第一轴向通孔组只包含一个第一轴向通孔117，每组第二轴向通孔只包含一个第二轴向通孔127；如图5所示，所述每组第一轴向通孔组包含三个第一轴向通孔117，每组第二轴向通孔包含三个第二轴向通孔127，优选每组第一轴向通孔组中的第一轴向通孔117均匀布置，每组第二轴向通孔组中的第二轴向通孔127均匀布置。
在本申请实施例中，所述柔性结构为金属丝。对于图4所示的底盘(即第一底盘110，也即第二底盘120)结构而言，两个金属丝如要控制一关节接头对的摆动，则这两根金属丝分别穿过不同组通孔中的通孔(即第一轴向通孔117，也即第二轴向通孔127)，且这两组通孔应分布在该关节接头对的第一轴线的两侧。对于图5所示的底盘(即第一底盘110，也即第二底盘120)结构而言，金属丝亦是如此配置。采用更多根金属丝对一个关节接头对的摆动控制，可以提高所述关节接头对的可靠性，不会出现一根金属丝断裂，导致该关节接头对失效。在本申请的其他实施例中，还可以通过四根、六根金属丝实现对于一个关节接头对的摆动的控制。
进一步的，所述手术机器人用蛇形关节包含有多个关节接头对10，例如为两个至十个中任一自然数，例如为五个、六个、八个或者十个等，所述关节接头对10依次可拆卸连接或者固定连接。较佳的，所述第一底盘110的第三表面上设置有第一扣合机构118，所述第三表面与所述第一表面相对；所述第二底盘120的第四表面上设置有第二扣合机构128，所述第四表面与所述第二表面相对；相邻两个关节接头对10中的第二扣合机构128和第一扣合机构118能够相扣，以使得相邻两个关节接头对10中的第二关节接头12和第一关节接头11固定。在本申请的其他实施例中，相邻两个关节接头对10中的第二关节接头12和第一关节接头11也可以其他方式固定连接，可以是一体成型。
具体而言，如图6、图7所示，所述扣合机构包括与邻接的扣合机构中的凹台相配合的凸台，以及容纳邻接的扣合机构中的凸台的凹台，其中所述凸台、凹台的分布方式没有特别的限制。在一个实施例中，所述第一扣合机构118包括多个第一凸台和多个第一凹台，所述第一凸台和所述第一凹台间隔排布；所 述第二扣合机构128包括多个第二凸台和多个第二凹台，所述第二凸台和所述第二凹台间隔排布；所述第一凸台的形状、数量和位置与所述第二凹台相对应，同样，所述第二凸台的形状、数量和位置与所述第一凹台相对应。
进一步的，通过关节接头对10之间不同的配合关系，实现关节接头对10具有不同的摆动方向，使手术机器人用蛇形关节具有多个自由度。
具体而言，改变相邻两个关节接头对10中的位于近端的第二关节接头12的第三轴线与位于远端的第一关节接头11的第一轴线之间的角度，从而使得相邻两个关节接头对的周向相对偏转角度不同，即可实现相邻两个关节接头对不同的摆动方向。较佳的，相邻两个关节接头对10的周向相对偏转角度为大于等于0°且小于等于180°。
接着，请参考图6至图8以及图9至图11，其为本发明实施例的相邻两个关节接头对中相邻的第二关节接头和第一关节接头的结构示意图，在此仅示出了近端关节接头对中的第二关节接头12及远端关节接头对中的第一关节接头11。如图6至图8所示，其示出了相邻两个关节接头对的周向相对偏转角度为90°的情况，由此可以实现相邻两个关节接头对向两个方向摆动，使手术机器人用蛇形关节具有两个自由度。如图9至图11所示，其示出了相邻两个关节接头对不存在周向相对偏转，即周向相对偏转角度为0°的情况，此时通过相邻两个关节接头对可以实现一个方向的大角度摆动(即较一个关节接头对的摆动角度大)，此时手术机器人用蛇形关节只具有一个自由度。
接着，请同时参考图1至图3以及图12至图14，其中，图12至图14是本发明手术机器人用蛇形关节实施例中的多个关节接头对的结构示意图。与上一实施例相比，本实施例的手术机器人用蛇形关节具有两个自由度，包括四对如图1至图3所示的关节接头对10。在此，由近端至远端(或者说自下而上)分别为第一个关节接头对10a、第二个关节接头对10b、第三个关节接头对10c以及第四个关节接头对10d，其中，第二个关节接头对10b与第一个关节接头对10a之间的周向相对偏转角度为90°，第三个关节接头对10c与第二个关节接头对10b之间的周向相对偏转角度为0°(即相互平行)，第四个关节接头对10d与第三个关节接头对10c之间的周向相对偏转角度为90°。在图12至图14中， 第二个关节接头对10b和第三个关节接头对10c的摆动方向相同，第一个关节接头对10a和第四个关节接头对10d的摆动方向相同，并且第二个关节接头对10b和第三个关节接头对10c的摆动方向，与第一个关节接头对10a和第四个关节接头对10d的摆动方向相互垂直，相应的手术机器人用蛇形关节具有两个自由度。由此，通过配置关节接头对10之间相对位置关系，使蛇形关节具有多个自由度，实现蛇形关节平面扭转或者空间扭转。
进一步的，在图12至图14中，每个关节接头对(即第一个关节接头对10a、第二个关节接头对10b、第三个关节接头对10c以及第四个关节接头对10d)之间的最大摆动角度为45°，由此，通过配置两个关节接头对10的摆动方向相同，可以实现在每个摆动方向上最大摆动角度为90°。在此，通过两个关节接头对10实现在每个摆动方向上最大摆动角度为90°，减小了单独一个关节接头对10的最大摆动角度，可以使得所述手术机器人用蛇形关节具有更高的可靠性和稳定性。
在本申请的其他实施例中，所述手术机器人用蛇形关节可以根据自由度、最大摆动角度等设计需求，包括更多个关节接头对10，例如五个、六个或者十个等。进一步的，相邻两个关节接头对10之间的周向相对偏转角度可以为0°～180°，例如0°、30°、45°、60°、90°、120°、150°或者180°等，从而实现更加丰富的空间扭转。
接着可相应参考图12至图14，具体的，近端的第一个关节接头对10a和远端的第四个关节接头对10d通过两根金属丝控制，近端的第二个关节接头对10b和远端的第三个关节接头对10c通过另外两根金属丝控制。在本申请实施例中，控制第一个关节接头对10a和第四个关节接头对10d的两根金属丝的一端固定于所述第四个关节接头对10d的第二关节接头12d上；控制第二个关节接头对10b和第三个关节接头对10c的两根金属丝的一端可以固定于所述第三个关节接头对10c的第二关节接头12c上，也可以固定在第四个关节接头对10d的第二关节接头12d上。由此，通过控制四根金属丝能够控制具有两个自由度的手术机器人用蛇形关节的摆动，即可实现手术机器人用蛇形关节的空间扭转。当然，本领域人员应理解，本实施例中金属丝的数量可以更多，例如，金属丝的数量 为八根，每两根控制一关节接头对，这样可以更加精准的控制蛇形关节的摆动角度。
进一步的，所述蛇形关节具有n(n为大于等于1的自然数)个自由度，即所述蛇形关节中的关节接头对的摆动方向为n种时，所述关节接头对为大于等于n个，所述柔性结构的数量至少为2n个。在此基础上，所述蛇形关节可以增加所述柔性结构的数量(例如，同一摆动方向的关节接头对各自都由两个柔性结构控制摆动角度)以实现关节接头对摆动更加精准的控制。
进一步，控制关节接头对摆动方向的柔性结构的固定位置，可以在该关节接头对的第二关节接头上，也可以在该关节接头对的远端的关节接头对的第二关节接头上(如果有)。因此，至少2个柔性结构的远端与关节接头对中位于最远端的一个关节接头对中的第二关节接头固定。更优选的，所述柔性结构的一端均与多个关节接头对中位于最远端的一个关节接头对中的第二关节接头固定。在此为金属丝穿过每个关节接头对上的第一轴向通孔和第二轴向通孔后固定于最远端的一个关节接头对中的第二关节接头的第二端面，从而通过钢丝绳的拉伸实现对于手术机器人用蛇形关节的弯曲(运动)控制。
进一步，在一关节接头对上所述第一轴向通孔117与所述第二轴向通孔127的数量可以相同，也可以不相同。同样，蛇形关节中多个关节接头对之间的第一轴向通孔数量可以相同，也可以不相同，第二轴向通孔数量亦是如此，但此时要求所述蛇形关节提供至少两个通道供所述柔性结构延伸通过。具体而言，一个关节接头对中至少有两个所述第一轴向通孔117与所述第二轴向通孔127的位置相对应，以便于控制该关节接头对的柔性结构延伸通过，同时至少该关节接头对近端的所有关节接头对在对应位置上都要提供第一轴向通孔117与第二轴向通孔127，形成一通道以便于所述柔性结构延伸通过。即该关节接头对的所述第一轴向通孔117还与近端相邻的关节接头对中的第二轴向通孔127的位置相对应，而该近端相邻的关节接头对中的第二轴向通孔127与同一个关节接头对中的第一轴向通孔117位置对应，以此类推。优选，该关节接头对远端的关节接头对在对应位置上都要提供第一轴向通孔117与所述第二轴向通孔127，形成一通道以便于所述柔性结构延伸通过(即此时柔性结构固定在远端的关节 接头对上)。
本发明还提供了一种手术器械，如图15和图16所示，所述手术器械包括器械末端2、手术机器人用蛇形关节1(所述手术机器人用蛇形关节1包括多个关节接头对10和柔性结构20)、管状物、柔性件以及控制器；其中，所述器械末端、所述手术机器人用蛇形关节、所述管状物和所述控制器依次连接；所述柔性件一端连接所述控制器，另一端经过所述管状物分别与所述手术机器人用蛇形关节和所述器械末端连接；所述手术机器人用蛇形关节的柔性结构的近端经过所述管状物与控制器连接；所述控制器通过所述柔性件控制所述器械末端运动，通过所述手术机器人用蛇形关节的柔性结构控制所述手术机器人用蛇形关节的运动。具体而言，所述器械末端主要包括直接在人体内进行手术操作的剪刀、钳子、电钩等手术工具；手术机器人用蛇形关节两端分别连接器械末端和管状物，所述管状物为中空薄壁管，用于支撑器械末端，使器械末端可伸入人体内的同时，而手术器械的前端置于体外；所述控制器用于控制器械末端运动和手术机器人用蛇形关节运动；所述柔性件一端连接控制器，一端经过管状物与器械末端连接；所述手术机器人用蛇形关节的柔性结构的近端经过所述管状物与控制器连接。手术器械通过对所述手术机器人用蛇形关节姿态的控制，使器械末端到达期望的位置和姿态，通过对器械末端的控制，使器械末端实现夹持，切割等动作。
进一步的，本发明还提供了一种内窥镜，所述内窥镜包括成像系统、手术机器人用蛇形关节、管状物以及控制器；其中，所述成像系统、所述手术机器人用蛇形关节、所述管状物和所述控制器依次连接；所述手术机器人用蛇形关节的柔性结构的近端经过所述管状物与所述控制器连接；所述控制器通过所述手术机器人用蛇形关节的柔性结构控制所述手术机器人用蛇形关节运动。所述成像系统包括内窥镜的物镜组，实现内窥镜视场中画面的采集；所述手术机器人用蛇形关节用于连接成像系统和管状物，调整成像系统的姿态；所述管状物为中空薄壁管，用于支撑内窥镜的末端和首端，使内窥镜的末端可伸入人体内的同时，内窥镜的首端置于体外；所述的控制器用于控制手术机器人用蛇形关 节运动；所述手术机器人用蛇形关节的柔性结构的近端经过管状物与控制器连接。所述内窥镜通过所述控制器实现对手术机器人用蛇形关节的姿态的控制，使内窥镜成像系统可以到达期望的位姿。
综上可见，在本发明实施例提供的手术机器人用蛇形关节中，通过关节接头对的摆动实现了平面扭转或者空间扭转，相对于现有技术的蛇形关节，降低了结构的复杂度。在本发明实施例提供的手术器械和内窥镜中，包括所述手术机器人用蛇形关节，从而能够使得器械末端或者成像系统到达期望的位置和姿态。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于权利要求书的保护范围。

Claims (25)

  1. 一种手术机器人用蛇形关节，其特征在于，所述手术机器人用蛇形关节具有至少一个自由度，并包括：至少一个关节接头对和柔性结构；其中，
    每个关节接头对包括位于下端的第一关节接头和位于上端的第二关节接头；所述第一关节接头包括第一底盘，所述第一底盘的第一表面上设置有第一支撑结构和第二支撑结构，所述第一支撑结构上具有第一突出部，所述第二支撑结构上具有第一连接孔；所述第二关节接头包括第二底盘，所述第二底盘的第二表面上设置有第三支撑结构和第四支撑结构，所述第三支撑结构上具有第二突出部，所述第四支撑结构上具有第二连接孔；当所述第一关节接头和所述第二关节接头配合时，所述第一表面和所述第二表面相对设置，所述第一突出部位于所述第二连接孔中，并可相对于所述第二连接孔转动，所述第二突出部位于所述第一连接孔中，并可相对于所述第一连接孔转动；
    所述柔性结构控制所述关节接头对围绕一关节轴线摆动。
  2. 如权利要求1所述的手术机器人用蛇形关节，其特征在于，所述第一突出部为一直线或一曲线围绕第一轴线形成的回转体结构，所述第一连接孔为一直线或一曲线围绕第二轴线形成的回转面结构，所述第一轴线和所述第二轴线均与所述第一底盘的轴线垂直相交；所述第二突出部为一直线或一曲线围绕第三轴线形成的回转体结构，所述第二连接孔为一直线或一曲线围绕第四轴线形成的回转面结构，且
    当所述第一关节接头和所述第二关节接头配合时，所述关节轴线、所述第一轴线、所述第二轴线、所述第三轴线及所述第四轴线共线。
  3. 如权利要求2所述的手术机器人用蛇形关节，其特征在于，所述第一突出部和所述第二突出部均为圆柱体结构、圆台结构或者圆锥结构；所述第一连接孔和所述第二连接孔均为圆柱面结构、圆台面结构或者圆锥面结构。
  4. 如权利要求1所述的手术机器人用蛇形关节，其特征在于，
    所述第一突出部位于所述第一支撑结构的第一侧面，所述第一侧面为所述第一支撑结构远离所述第一底盘轴线的侧面；
    所述第一支撑结构靠近所述第一底盘轴线的侧面为第五侧面；
    所述第二突出部位于所述第三支撑结构的第二侧面，所述第二侧面为所述第三支撑结构远离所述第二底盘轴线的侧面；
    所述第三支撑结构靠近所述第二底盘轴线的侧面为第六侧面；
    所述第二支撑结构靠近所述第一底盘轴线的侧面为第三侧面；
    所述第四支撑结构靠近所述第二底盘轴线的侧面为第四侧面；
    所述第一侧面与所述第三侧面之间的距离l1与所述第二侧面与所述第四侧面之间的距离l2存在以下的关系：
    l1-lp2＜l2＜l1+lp1，
    或者，
    l2-lp1＜l1＜l2+lp2，
    其中，lp1为所述第一突出部的轴向长度,lp2为所述第二突出部的轴向长度；
    同时，
    所述第一侧面与所述第五侧面之间的距离与所述第一突出部的轴向长度之和，小于所述第四侧面与所述第六侧面之间的距离；
    所述第二侧面与所述第六侧面之间的距离与所述第二突出部的轴向长度之和，小于所述第三侧面与所述第五侧面之间的距离。
  5. 如权利要求4所述的手术机器人用蛇形关节，其特征在于，
    所述第一支撑结构的第一侧面至所述第二支撑结构的第七侧面之间的距离与所述第一突出部的轴向长度之和小于等于所述第一底盘的直径，其中，所述第二支撑结构远离所述第一底盘轴线的侧面为所述第七侧面；
    所述第三支撑结构的第二侧面至所述第四支撑结构的第八侧面之间的距离与所述第二突出部的轴向长度之和小于等于所述第二底盘的直径，其中，所述第四支撑结构远离所述第二底盘轴线的侧面为所述第八侧面；
    在关节接头对中，所述第一突出部的外侧端面到第二突出部的外侧端面之间的距离小于等于所述第一底盘的直径，同时所述关节接头对中的所述第一突出部的外侧端面到所述第二突出部的外侧端面之间的距离也小于等于所述第二底盘的直径。
  6. 如权利要求1所述的手术机器人用蛇形关节，其特征在于，
    所述第二支撑结构靠近所述第一底盘轴线的侧面为第三侧面；
    所述第四支撑结构靠近所述第二底盘轴线的侧面为第四侧面；
    所述第一突出部位于所述第一支撑结构的第五侧面，所述第五侧面为所述第一支撑结构靠近所述第一底盘轴线的侧面；
    所述第二突出部位于所述第三支撑结构的第六侧面，所述第六侧面为所述第三支撑结构靠近所述第二底盘轴线的侧面；
    所述第二支撑结构远离所述第一底盘轴线的侧面为第七侧面；
    所述第四支撑结构远离所述第二底盘轴线的侧面为第八侧面；
    所述第五侧面与第七侧面之间的距离l3与所述第六侧面与第八侧面之间的距离l4存在以下的关系：
    l3-lp1＜l4＜l3+lp2，
    或者，
    l4-lp2＜l3＜l4+lp1，
    其中，lp1为所述第一突出部的轴向长度，lp2为所述第二突出部的轴向长度；
    同时，
    所述第四侧面与所述第八侧面之间的距离，小于所述第三侧面与所述第五侧面之间的距离与所述第一突出部的轴向长度之差值；
    所述第三侧面与所述第七侧面之间的距离，小于所述第四侧面与所述第六侧面之间的距离与所述第二突出部的轴向长度之差值。
  7. 如权利要求6所述的手术机器人用蛇形关节，其特征在于，
    所述第一支撑结构的第一侧面至所述第二支撑结构的第七侧面之间的距离小于等于所述第一底盘的直径，其中，所述第一侧面为所述第一支撑结构远离所述第一底盘轴线的侧面；
    所述第三支撑结构的第二侧面至所述第四支撑结构的第八侧面之间的距离小于等于所述第二底盘的直径，其中，所述第二侧面为所述第三支撑结构远离所述第二底盘轴线的侧面；
    在关节接头对中，所述第一侧面到所述第二侧面之间的距离小于等于所述第一底盘的直径，所述关节接头对中的所述第一侧面到所述第二侧面之间的距离同时也小于等于所述第二底盘的直径。
  8. 如权利要求4或6所述的手术机器人用蛇形关节，其特征在于，所述第一支撑结构的厚度、所述第二支撑结构的厚度及所述第一突出部的轴向长度三者相等；所述第三支撑结构的厚度、所述第四支撑结构的厚度及所述第二突出部的轴向长度三者相等。
  9. 如权利要求1所述的手术机器人用蛇形关节，其特征在于，所述第一表面包括第一分表面及与所述第一分表面相交的第二分表面，所述第一支撑结构及所述第二支撑结构分别置于所述第一分表面；所述第二表面包括第三分表面及与所述第三分表面相交的第四分表面，所述第三支撑结构及所述第四支撑结构分别置所述第三分表面。
  10. 如权利要求9所述的手术机器人用蛇形关节，其特征在于，
    所述第二分表面为一平面，且所述关节轴线经过所述第二分表面所在的平面；
    所述第四分表面为一平面，且所述关节轴线经过所述第四分表面所在的平面。
  11. 如权利要求10所述的手术机器人用蛇形关节，其特征在于，所述第二分表面与所述第一分表面的夹角为0°～45°；所述第四分表面与所述第三分表面的夹角为0°～45°。
  12. 如权利要求9所述的手术机器人用蛇形关节，其特征在于，
    所述第二分表面与所述第四分表面均为曲面，且所述曲面被配置为，当关节接头对摆动至同侧的所述第二分表面与所述第四分表面相接时，所述第二分表面与所述第四分表面形成一接触部位，在所述接触部位的所述曲面之间存在一共切面，且所述第一轴线经过所述共切面。
  13. 如权利要求12所述的手术机器人用蛇形关节，其特征在于，
    所述共切面与所述第一分表面之间的夹角为大于0°且小于等于45°，所述共切面与所述第三分表面之间的夹角为大于0°且小于等于45°。
  14. 如权利要求1或9所述的手术机器人用蛇形关节，其特征在于，每个关节接头对中所述第一关节接头和所述第二关节接头之间的摆动角度为大于0°且小于等于90°。
  15. 如权利要求1～3中任一项所述的手术机器人用蛇形关节，其特征在于，所述第一底盘的圆周设置有第一轴向通孔，所述第一轴向通孔供所述柔性结构延伸通过；所述第二底盘的圆周设置有第二轴向通孔，所述第二轴向通孔供所述柔性结构延伸通过。
  16. 如权利要求15所述的手术机器人用蛇形关节，其特征在于，所述第一轴向通孔的数量和所述第二轴向通孔的数量均为多个，并且至少两个所述第一轴向通孔和至少两个所述第二轴向通孔的位置相对应。
  17. 如权利要求16所述的手术机器人用蛇形关节，其特征在于，每个关节接头对中，所述第一轴向通孔的数量与所述第二轴向通孔的数量相同，并且所述第一轴向通孔的位置与所述第二轴向通孔的位置一一对应。
  18. 如权利要求1～3中任一项所述的手术机器人用蛇形关节，其特征在于，当所述手术机器人用蛇形关节具有n个自由度时，所述柔性结构至少为2n个，其中n为大于等于1的自然数。
  19. 如权利要求1～3中任一项所述的手术机器人用蛇形关节，其特征在于，所述蛇形关节包括多个所述关节接头对，相邻的两个关节接头对可拆卸连接或固定连接。
  20. 如权利要求19所述的手术机器人用蛇形关节，其特征在于，所述第一底盘的第三表面上设置有第一扣合机构，所述第三表面与所述第一表面相对；所述第二底盘的第四表面上设置有第二扣合机构，所述第四表面与所述第二表面相对；相邻两个关节接头对中的第二扣合机构和第一扣合机构能够相扣，以使得相邻两个关节接头对中的第二关节接头和第一关节接头可拆卸连接。
  21. 如权利要求20所述的手术机器人用蛇形关节，其特征在于，所述第一扣合机构包括多个第一凸台和多个第一凹台，所述第一凸台和所述第一凹台间隔排布；所述第二扣合机构包括多个第二凸台和多个第二凹台，所述第二凸台和所述第二凹台间隔排布；所述第一凸台的形状、数量和位置与所述第二凹台 相对应，并且，所述第二凸台的形状、数量和位置与所述第一凹台相对应。
  22. 如权利要求19所述的手术机器人用蛇形关节，其特征在于，相邻两个关节接头对中，近端关节接头对中的第二关节接头和远端关节接头对中的第一关节接头一体成型。
  23. 如权利要求19所述的手术机器人用蛇形关节，其特征在于，相邻两个关节接头对的周向相对偏转角度为大于等于0°且小于等于180°。
  24. 一种手术器械，其特征在于，所述手术器械包括器械末端、如权利要求1～23中任一项所述的手术机器人用蛇形关节、管状物、柔性件以及控制器；其中，所述器械末端、所述手术机器人用蛇形关节、所述管状物和所述控制器依次连接；所述柔性件一端连接所述控制器，另一端经过所述管状物与所述器械末端连接；所述手术机器人用蛇形关节的柔性结构的近端经过所述管状物与控制器连接；所述控制器通过所述柔性件控制所述器械末端运动，通过手术机器人用蛇形关节的柔性结构控制所述手术机器人用蛇形关节的摆动。
  25. 一种内窥镜，其特征在于，所述内窥镜包括成像系统、如权利要求1～23中任一项所述的手术机器人用蛇形关节、管状物以及控制器；其中，所述成像系统、所述手术机器人用蛇形关节、所述管状物和所述控制器依次连接；所述手术机器人用蛇形关节的柔性结构的近端经过所述管状物后与所述控制器连接；所述控制器通过所述手术机器人用蛇形关节的柔性结构控制所述手术机器人用蛇形关节摆动，进而调整所述成像系统的位姿。
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