CN105287000A - Single-gas-drive flexible minimally invasive surgery operating arm and manufacturing method thereof - Google Patents
Single-gas-drive flexible minimally invasive surgery operating arm and manufacturing method thereof Download PDFInfo
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- CN105287000A CN105287000A CN201510670424.3A CN201510670424A CN105287000A CN 105287000 A CN105287000 A CN 105287000A CN 201510670424 A CN201510670424 A CN 201510670424A CN 105287000 A CN105287000 A CN 105287000A
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Abstract
The invention discloses a single-gas-drive flexible minimally invasive surgery operating arm and a manufacturing method thereof. The manufacturing method is characterized by including the steps: 1), utilizing flexible pneumatic muscles ( silicone rubber material) and fibers Jamming for compositing to realize anisotropic modification of a soft material; 2), circumferentially distributing multiple independent fiber Jamming units on a cylindrical barrel of the operating arm, and independently controlling the Jamming units to realize a multi-degree-of-freedom bending function of the operating arm; 3), enabling the fiber Jamming units to work simultaneously to realize posture fixing and rigidity adjusting functions of the operating arm; 4), doping nano copper ions into an encapsulated silicone rubber thin film to reduce bacterial breeding on the surface of the operating arm.
Description
Technical field
The present invention relates to a kind of Minimally Invasive Surgery apparatus and manufacture, particularly one intellectual material (dielectric elastomer DE) is as air impeller unit and the one how free Grazing condition Minimally Invasive Surgery motion arm prepared of binding fiber Jamming (obstruction) stiffness tuning mechanism.
Background technology
Along with clinical medicine is for reducing operation risk, reducing the urgent needs of operating time, and patient is for the eager needs of little wound, hypodynia sense, fast prognostic capabilities, Minimally Invasive Surgery obtains general concern as a kind of new operative model fast-developing in recent years, and develop into gradually already clinical in the most frequently used a kind of modus operandi.But along with the development of science and technology, the development of clinical invasive surgery will move towards direction that is more convenient and diversification more, comprises multiple development trends such as clinical reliability, compatibility, flexibility.
So far, the new operating robot artificially represented with DaVinci surgical machine successfully attracts the sight from all circles, and has applied for multinomial Patents (WO2007146987A3 and WO2007120952A3).And at home, also there are invention and the improvement of relevant rigidity surgery mechanical structure, comprise the integrated mechanical arm (document number: CN101889900B and CN102973317A) of University Of Tianjin and driven type multiple degrees of freedom Minimally Invasive Surgery motion arm structure (document number: CN102973317A) etc. of Harbin Institute of Technology.But as the representative of new operating robot, DaVinci operating robot still will rely on the cooperation of rigid metal motion arm to perform the operation with the design of above-mentioned dependency structure and improvement.Therefore some intrinsic drawbacks such as the maintenance of operation consent apparatus and the injury to tissue that may cause because rigidity is excessive in preparing complicated, operation, the cleaning of Post operation apparatus and test-based examination be complicated are caused to a certain extent.So the research for flexible Minimally Invasive Surgery arm just causes the concern of numerous Chinese scholars, and also just seems most important for the base structure research of flexible mechanical arm.The development of flexible pneumatic artificial-muscle technology, for the Grazing condition multiple degrees of freedom driving design of Minimally Invasive Surgery motion arm provides a kind of new thought.The fiber that the toughness such as the usual sharp nylon fiber of artificial pneumatic muscles material are stronger carries out certain compound with soft silica gel or latex material and obtains.Such as, by orderly for fibers parallel is strapped in the cylindrical hoop of silicone rubber, under the influence of air pressure, because silicone rubber cylindrical tube is subject to fiber constraint in hoop direction, equally can not heaves to balloon, and can only extend at cylindrical generatrix direction.When a certain side bus of above-mentioned this structure is in bond and when can not extend, then the direction that cylinder can not be able to extend towards bus bends.And this novel operation motion arm utilize just this deformation mechanism to realize many free bends distortion.Be dispersed with four fiber Jamming unit in driver surrounding, by the mode of evacuation, the constraint of 4 direction buses can be realized, thus realize the control to driver bending direction.When surgical arm is by distortion realize target attitude, to the Jamming unit evacuation simultaneously of four direction, thus realize attitude sizing and the stiffness tuning function of surgical arm.
Summary of the invention
Straight rod-shaped structure mostly is and the problem such as rigidity is larger for Minimally Invasive Surgery arm clinical used at present, the object of the invention is to, provide a kind of based on pneumatic muscles and fiber Jamming technology, rely on that air pressure drives, that the adjustable multiple degrees of freedom of Grazing condition, rigidity is bending Minimally Invasive Surgery operating apparatus.
In order to reach above object, the present invention takes following technical scheme to be achieved:
A kind of flexible Minimally Invasive Surgery motion arm of single gas-powered, it is characterized in that, comprise the flexible actuator of at least one joint sealing, wherein, this flexible actuator comprises support frame, stiffness tuning layer, and the pedestal that described support frame connects two ends by a silicone rubber tube is formed; It is fibrous that described stiffness tuning layer presss from both sides one deck by inside and outside two-layer silicone rubber cylindrical shell, wherein internal layer silicone rubber barrel wrap lives support frame, the fiber constraint locating slot of multiple circumference and the unit fibers locating slot of at least three circumferential uniform axis is provided with vertically outside cylindrical shell, Jamming ribbon is equipped with in each unit fibers locating slot, establish one to fetter fiber in each fiber constraint locating slot, one end of each unit fibers locating slot is provided with vacuum tube locating slot and is provided with a vacuum tube be communicated with this unit fibers locating slot; Described outer silicone rubber barrel jacket is being provided with the internal layer silicone rubber cylindrical shell periphery of Jamming ribbon and constraint fiber, and two ends are provided with sealing clamp, and fastening with band.
In such scheme, described Jamming ribbon by multiple nylon fiber curtain from bottom to top staggered floor be bonded in unit fibers locating slot.Described each nylon fiber curtain is by many nylon fiber bonding one-tenth pectination bundles with an adhesive tape.Described uniform four of unit fibers locating slot circumference, shared by each locating slot, the center of circle angle of inner silicone cylindrical shell is 10 °.
The preparation method of the flexible Minimally Invasive Surgery motion arm of aforementioned single gas-powered, is characterized in that, comprise the steps:
(1) form support frame a silicone rubber tube two ends mounted base, each base central all has thief hole and is communicated with silicone rubber tube, wherein bottom base also has the entrance of driving gas;
(2) die casting internal layer silicone rubber cylindrical shell is utilized, make it outside cylindrical shell, to form the fiber constraint locating slot of multiple circumference and the unit fibers locating slot of uniform at least three axis of circumference vertically, one end of each unit fibers locating slot all has an axial vacuum pipe locating slot, and is provided with a vacuum tube be communicated with this unit fibers locating slot;
(3) by step (2) gained silicone rubber barrel jacket in the support frame periphery of step (1), this internal layer silicone rubber cylindrical shell with form the cavity be communicated with driving gas entrance between support frame;
(4) on each unit fibers locating slot, paste Jamming ribbon, then be wrapped with a constraint fiber on each fiber constraint locating slot, then put outer silicone rubber tube, and on the cover of two ends sealing clamp, with band, sealing clamp is fastening.
In said method, described Jamming ribbon by multiple nylon fiber curtain from bottom to top staggered floor be bonded in unit fibers locating slot.Each nylon fiber curtain is by many nylon fiber bonding one-tenth pectination bundles with an adhesive tape.Uniform four of unit fibers locating slot circumference, shared by each locating slot, the center of circle angle of inner silicone cylindrical shell is 10 °.
Described inside and outside layer silicone rubber cylindrical shell adopts ultra-soft silicone rubber Ecoflex0010, AB component 1:1 mixing preparation, and adds Nanometer Copper Ar ion mixing evenly, at room temperature solidifies the demoulding after 24 hours and makes.
Novel pneumatic operation technique arm of the present invention utilizes the uniform Jamming ribbon of many groups quick control single-unit operation driver can realize multivariant stiffness tuning, and ensure that in operation process and can realize entering and withdrawing from of operation technique arm smoothly.Use silicone rubber and nylon fiber stiffness tuning material, there is good bio-compatibility and ductility, adopt Nanometer Copper ion encapsulation sterilization, can avoid causing human infection, reduce the misery of patient.
Accompanying drawing explanation
Fig. 1 ~ Fig. 2 is operation technique arm base construction figure of the present invention.Wherein: Fig. 1 is top base; Fig. 2 is bottom base.B figure often in figure is the sectional view of a figure.
Fig. 3 is preparation technology's schematic diagram of silicone rubber cylinder.Wherein a figure is respectively the mould (interior) of silicone rubber injection moulding and mould (outward) with b figure; C figure is the installation diagram of a figure and b figure; D figure is the schematic diagram watering the silicone rubber cylindrical drum outpoured in c figure.
Fig. 4 is the assembly drawing of pedestal and silicone rubber cylinder.Wherein b figure is the sectional view of a figure.
The assembly drawing that Fig. 5 is Fig. 4 pastes the assembly drawing of the Jamming unit that upper nylon fiber is formed.
Fig. 6 is the operation technique arm assembly drawing that the assembly drawing of Fig. 5 coordinates 4 vacuum tubes formation.
Fig. 7 is the assembly drawing that operation technique arm assembly drawing adds after silicone rubber packaging film overcoat.
In Fig. 8, a figure is Fig. 7 assembly drawing A-A sectional view; B figure is Fig. 7 assembly drawing B-B sectional view.
Fig. 9 is the overall operation motion arm assembly drawing utilizing sealing clamp to carry out sealing; B figure is the sectional view of a figure.
In Fig. 1-Fig. 9: 1, top base, 2, bottom base, 3, sample of tissue mouth, 4, driving gas entrance, 5, mould (interior), 6, mould (outward), 7, silicone rubber cylindrical shell, 8, fiber constraint locating slot, 9, unit fibers locating slot, 10, vacuum tube locating slot, 11, silicone rubber tube, 12, nylon fiber bar, 13, silicone rubber packaging film, 14, vacuum tube, 15 sealing clamps, 16, band.
Detailed description of the invention
With reference to figure 1 ~ Fig. 2, operation technique arm of the present invention comprises top base 1 and bottom base 2, and each base central is designed with the sample of tissue mouth 3 of convenient sampling, wherein bottom base also has the entrance 4 of driving gas; Base construction all adopts 3D to print and manufactures.
With reference to figure 3, silicone rubber cylindrical shell 7 is by the method molding of injection moulding, and injection molding mould is also printed by 3D to form, and is made up of, mould (interior) 5, mould (outward) 6 respectively as shown in a figure and b figure in Fig. 3.After being nested together by inside and outside set of molds assembly, mould (interior) and mould (outward) just cooperation define a unitary mould, as c figure.In the mold wall shown in c figure, pour into the Ecoflex0030 silicone rubber of mix homogeneously, its component A and B carries out proportioning with 1:1.Then mold integral is put into vacuum tank, get rid of the bubble in silicone rubber.Finally, from vacuum tank, take out mould solidify at normal temperatures and get final product stripping forming in 24 hours.As shown in Figure 3d.Silicone rubber drum surface is dispersed with three kinds of locating slots, and be respectively fiber constraint locating slot 8, unit fibers locating slot 9 and the vacuum tube locating slot 10 of circumference, wherein central angle shared by unit fibers locating slot is 10 °.
With reference to figure 4, assemble by elastic silicone rubber pipe 11 between top base and bottom base, form the inner skeleton structure of surgical arm, and provide a path for the sampling in operation process.Then, silicone rubber cylindrical shell 7 and pedestal skeleton are assembled.
With reference to figure 5 ~ Fig. 6, nylon fiber bar 12 is pasted onto in the uniform vertical unit fibers locating slot 9 of 4 circumferences.Wherein, nylon fiber bar 12 bondingly to form by multiple nylon fiber curtain is staggered from bottom to top as Jamming fiber element.Each nylon fiber curtain is by the many bonding one-tenth pectinations of nylon fiber (Fig. 5 partial enlarged drawing) with an adhesive tape.Utilize the Ecoflex0030 solution partly solidified successively to be bonded on silicone rubber cylindrical shell along locating slot 9 by nylon fiber curtain, and placement can complete stickup in 4 hours in the calorstat of 40 degrees Celsius.When 4 directions Jamming ribbon structure all bonding complete after, cylindrical shell each fiber constraint locating slot 8 on be wound around single nylon fiber, in vacuum tube locating slot 10, then embed 4 silica gel tubules successively as vacuum tube 14.
With reference to figure 7 ~ Fig. 8, except Jamming ribbon is the barrel surface of exterior domain to be smeared the Ecoflex0030 solution that partly solidifies and to be enclosed within outside silicone rubber cylindrical shell by outer silicone rubber packaging film 13 (mixing Nanometer Copper ion in Ecoflex0010), finally put into the calorstat solidification 4 hours of 40 degrees Celsius.After solidification, by radial compact siro spinning technology together, and fiber Jamming region is by naturally separated, defines four independently cavitys for internal layer silicone rubber cylindrical shell 7, bonding Jamming ribbon outside it and constraint fiber and outer envelope thin film 13.
With reference to figure 9, when outer envelope thin film is bonding with inner layer cylinder body complete after, utilize sealing clamp 15 and band 16 to realize the level Hermetic Package of operation technique arm (single-unit flexible actuator).
Novel pneumatic operation technique arm of the present invention mainly by surgical arm main cavity is provided a road malleation and to four road fiber Jamming unit provide respectively negative pressure come form realize multiple degrees of freedom flexural deformation control.After negative pressure is applied to motion arm side Jamming unit, under the atmospheric effect in the external world, normal pressure and the frictional force of fiber overlapping increase sharply, and cause this side bus to extend, now in main cavity, apply malleation, the direction that driver then cannot be extended to bus bends.Angle of bend controls by regulating the air pressure size applied in main cavity.When after the angle of bend that bending driver reaches required, apply negative pressure to four road Jamming unit, now the bus in 4 directions is all locked, thus achieves " sizing " of driver attitude and the lifting of the rigidity of structure simultaneously.In actual operation process, in order to enable operating theater instruments stable enter human abdominal cavity, first can apply negative pressure to 4 road Jamming unit simultaneously, and apply malleation to the main cavity of surgical arm, now operation presents larger " straight-bar " state of rigidity.After surgical arm enters human abdominal cavity, when needing to realize flexural deformation arrival human lesion position, then can apply negative pressure to 4 road Jamming unit separately and realize flexural deformation.When surgical arm end arrives lesion locations, in order to ensure the stability of operative process, again can apply negative pressure to 4 road Jamming unit, the attitude " sizing " and the rigidity that realize surgical arm promote simultaneously.After operation technique terminates, all Jamming unit and external atmosphere pressure can be connected, reduce rapidly the rigidity of surgical arm, to ensure that surgical arm withdraws from human body safely.
Claims (9)
1. the flexible Minimally Invasive Surgery motion arm of a single gas-powered, it is characterized in that, comprise the flexible actuator of at least one joint sealing, wherein, this flexible actuator comprises support frame, stiffness tuning layer, and the pedestal that described support frame connects two ends by a silicone rubber tube is formed; It is fibrous that described stiffness tuning layer presss from both sides one deck by inside and outside two-layer silicone rubber cylindrical shell, wherein internal layer silicone rubber barrel wrap lives support frame, the fiber constraint locating slot of multiple circumference and the unit fibers locating slot of at least three circumferential uniform axis is provided with vertically outside cylindrical shell, Jamming ribbon is equipped with in each unit fibers locating slot, establish one to fetter fiber in each fiber constraint locating slot, one end of each unit fibers locating slot is provided with vacuum tube locating slot and is provided with a vacuum tube be communicated with this unit fibers locating slot; Described outer silicone rubber barrel jacket is being provided with the internal layer silicone rubber cylindrical shell periphery of Jamming ribbon and constraint fiber, and two ends are provided with sealing clamp, and fastening with band.
2. the flexible Minimally Invasive Surgery motion arm of single gas-powered as claimed in claim 1, is characterized in that, described Jamming ribbon by multiple nylon fiber curtain from bottom to top staggered floor be bonded in unit fibers locating slot.
3. the flexible Minimally Invasive Surgery motion arm of single gas-powered as claimed in claim 2, is characterized in that, described each nylon fiber curtain is by many nylon fiber bonding one-tenth pectination bundles with an adhesive tape.
4. the flexible Minimally Invasive Surgery motion arm of single gas-powered as claimed in claim 1, is characterized in that, described uniform four of unit fibers locating slot circumference, shared by each locating slot, the center of circle angle of inner silicone cylindrical shell is 10 °.
5. a preparation method for the flexible Minimally Invasive Surgery motion arm of single gas-powered, is characterized in that, comprise the steps:
(1) form support frame a silicone rubber tube two ends mounted base, each base central all has thief hole and is communicated with silicone rubber tube, wherein bottom base also has the entrance of driving gas;
(2) die casting internal layer silicone rubber cylindrical shell is utilized, make it outside cylindrical shell, to form the fiber constraint locating slot of multiple circumference and the unit fibers locating slot of uniform at least three axis of circumference vertically, one end of each unit fibers locating slot all has an axial vacuum pipe locating slot, and is provided with a vacuum tube be communicated with this unit fibers locating slot;
(3) by step (2) gained silicone rubber barrel jacket in the support frame periphery of step (1), this internal layer silicone rubber cylindrical shell with form the cavity be communicated with driving gas entrance between support frame;
(4) on each unit fibers locating slot, paste Jamming ribbon, then be wrapped with a constraint fiber on each fiber constraint locating slot, then put outer silicone rubber tube, and on the cover of two ends sealing clamp, with band, sealing clamp is fastening.
6. the preparation method of the flexible Minimally Invasive Surgery motion arm of single gas-powered as claimed in claim 5, is characterized in that, described Jamming ribbon by multiple nylon fiber curtain from bottom to top staggered floor be bonded in unit fibers locating slot.
7. the preparation method of the flexible Minimally Invasive Surgery motion arm of single gas-powered as claimed in claim 6, is characterized in that, described each nylon fiber curtain is by many nylon fiber bonding one-tenth pectination bundles with an adhesive tape.
8. the preparation method of the flexible Minimally Invasive Surgery motion arm of single gas-powered as claimed in claim 5, is characterized in that, described uniform four of unit fibers locating slot circumference, shared by each locating slot, the center of circle angle of inner silicone cylindrical shell is 10 °.
9. the preparation method of the flexible Minimally Invasive Surgery motion arm of single gas-powered as claimed in claim 5, it is characterized in that, described inside and outside layer silicone rubber cylindrical shell adopts ultra-soft silicone rubber Ecoflex0010, AB component 1:1 mixing preparation, and add Nanometer Copper Ar ion mixing evenly, at room temperature solidify the demoulding after 24 hours and make.
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| CN201510670424.3A CN105287000B (en) | 2015-10-13 | 2015-10-13 | The flexible Minimally Invasive Surgery motion arm and preparation method of single gas-powered |
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| CN105751210A (en) * | 2016-04-13 | 2016-07-13 | 上海交通大学 | Modular high-redundancy multi-freedom-degree flexible mechanical arm system |
| CN106388937A (en) * | 2016-09-28 | 2017-02-15 | 西安交通大学 | Multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
| CN109015741A (en) * | 2018-08-24 | 2018-12-18 | 哈尔滨工业大学 | A kind of aerodynamic twist joint of particle strengthen rigidity |
| CN109571820A (en) * | 2018-11-09 | 2019-04-05 | 江南大学 | A kind of rubber product processing method based on the demoulding of wax-pattern core |
| CN110248583A (en) * | 2016-12-02 | 2019-09-17 | 范德比尔特大学 | Endoscope is manipulated with non-individual body operator |
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| CN106388937A (en) * | 2016-09-28 | 2017-02-15 | 西安交通大学 | Multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm |
| CN106388937B (en) * | 2016-09-28 | 2018-12-18 | 西安交通大学 | A kind of adjustable Pneumatic flexible surgical procedure arm of multiple degrees of freedom rigidity |
| US11793394B2 (en) | 2016-12-02 | 2023-10-24 | Vanderbilt University | Steerable endoscope with continuum manipulator |
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| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
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| US11897129B2 (en) | 2017-09-13 | 2024-02-13 | Vanderbilt University | Continuum robots with multi-scale motion through equilibrium modulation |
| CN109015741A (en) * | 2018-08-24 | 2018-12-18 | 哈尔滨工业大学 | A kind of aerodynamic twist joint of particle strengthen rigidity |
| CN109571820A (en) * | 2018-11-09 | 2019-04-05 | 江南大学 | A kind of rubber product processing method based on the demoulding of wax-pattern core |
| CN112720544A (en) * | 2020-12-29 | 2021-04-30 | 江西理工大学 | Large-load netted soft body grabbing mechanism based on paper folding structure and fiber interference |
| CN112790798A (en) * | 2021-01-12 | 2021-05-14 | 天津大学 | Variable-rigidity folding and unfolding protective sheath based on layer blocking principle and using method thereof |
| CN114391898A (en) * | 2022-02-10 | 2022-04-26 | 天津大学 | Variable stiffness fold-and-unfold road carrier based on elastic corrugated hose and layer blocking principle |
| CN114391898B (en) * | 2022-02-10 | 2024-02-23 | 天津大学 | Variable-rigidity folding access carrier based on elastic corrugated hose and layer blocking principle |
| CN115922786A (en) * | 2023-02-15 | 2023-04-07 | 北京航空航天大学 | Soft body variable tensile rigidity mechanism |
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