CN110464466B - Flexible robot for abdominal cavity minimally invasive surgery - Google Patents

Abstract

A flexible robot for abdominal cavity minimally invasive surgery relates to the technical field of abdominal cavity minimally invasive surgery medical equipment, and comprises a driving system, a soft robot main body and a tail end operating forceps mechanism; the driving system comprises a linear feeding system, a linear driving system and an air driving system; the line driving system is connected with the linear feeding system, the soft robot body is arranged on the line driving system, the gas driving system supplies gas to the soft robot body through a gas pipe passing through the line driving system, a front end gripper of the tail end operating forceps mechanism is arranged at the front end of the soft robot body, a tail end hand-held grip of the tail end operating forceps mechanism is arranged on the line driving system, and the front end gripper is connected with the tail end hand-held grip through a steel wire rope penetrating through the line driving system and the soft robot body. The invention has compact structure, adopts flexible materials, realizes the multi-form change and self rigidity change effect by multi-module design, improves the space motion capability of the robot, and has the functions of realizing visual detection and biological tissue sampling.

Description

Flexible robot for abdominal cavity minimally invasive surgery

Technical Field

The invention relates to the technical field of abdominal cavity minimally invasive surgery medical equipment, in particular to a flexible robot system which keeps a rigid driving device, wherein a robot main body is made of flexible materials, and the flexible robot system is used for abdominal cavity minimally invasive surgery, and particularly relates to a flexible robot used for the abdominal cavity minimally invasive surgery.

Background

With the continuous development and progress of science and technology, more and more industrial works have been operated by robots instead of human beings. The traditional rigid robot is almost made of rigid materials, has high strength and good movement capability in a general structural environment, but often cannot achieve ideal working effect when meeting a harder working environment; the reflecting soft robots have infinite freedom degrees due to soft materials, can continuously operate in a chaotic dangerous environment, such as minimally invasive surgery, mineral exploration and the like, and have performance characteristics of flexibility, safety, adaptability and the like which are obviously superior to those of the traditional rigid robot, so that the research of the soft robots becomes a large research hot tide in the world, and the reflecting soft robots have very wide potential value.

With the development of the robot technology, the robot developed by combining the robot technology and the minimally invasive surgery has higher precision and flexibility, and the surgery can be optimized to a certain extent. However, the current implementation of robot-assisted minimally invasive surgery is only to replace doctors with robots from an operating table, and the existing surgical robots are basically rigid robots, have limited degrees of freedom, are difficult to adapt to various complex environments, are easy to cause collision interference or a chopstick effect in a patient body, have low fault tolerance and are not excellent enough in robot motion capability; in addition, the existing flexible surgical robot similar to the gastrointestinal endoscope has single function, can only realize simple operations such as image acquisition and the like, has low integration degree, is difficult to complete complex surgical operations, and has great limitation.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a flexible robot for abdominal cavity minimally invasive surgery, wherein a robot main body is made of flexible materials, has very excellent deformation capacity and safety, can be flexibly bent in a patient body, realizes rigidity change by the robot, completes the space positioning of a robot end operating forceps, and can complete the image acquisition and sampling operation of pathological tissues in a narrow and complex space. The robot adopts a gas drive mode and a line drive mode for hybrid drive, and the pneumatic drive can provide larger driving force to finish the main deformation of the robot body; the rope line drive is used as an auxiliary drive to finish the accurate positioning of the robot main body, and the rope line drive and the pneumatic drive form an antagonistic action to improve the rigidity of the robot main body. The gas-line hybrid drive can improve the fault tolerance rate and redundancy of the robot drive and realize the increase in rigidity, thereby improving the motion capability of the robot.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

a flexible robot for abdominal cavity minimally invasive surgery comprises a tail end surgical clamp mechanism, a driving system and a soft robot main body; the driving system comprises a linear feeding system, a linear driving system and an air driving system; the wire drive system is connected with the linear feed system, the soft robot body is arranged on the wire drive system, the gas drive system supplies gas to the soft robot body through a gas pipe penetrating through the wire drive system, the gas drive system and the wire drive system control the deformation of the soft robot body, the linear feed system controls the horizontal motion of the wire drive system and the soft robot body, the front end gripper of the tail end surgical forceps mechanism is arranged at the front end of the soft robot body, the tail end hand-held grip of the tail end surgical forceps mechanism is arranged on the wire drive system, the front end gripper is connected with the tail end hand-held grip through a steel wire rope penetrating through the wire drive system and the soft robot body, and the steel wire rope is pulled to realize the opening and closing of the front end gripper.

Further, the linear feeding system comprises an upper layer feeding system and a lower layer feeding system; the lower layer feeding system comprises a base, a lead screw sliding rail pair and a lead screw driving motor; the screw rod slide rail pair comprises a screw rod pair, a pair of linear lower guide rails and a lower slide block; the screw driving motor is installed on the base, a screw of the screw pair is installed on the base in a rotating mode, one end of the screw is installed at the output end of the screw driving motor, the pair of linear lower guide rails are symmetrically distributed on two sides of the screw and installed on the base, the lower sliding blocks are arranged on the pair of linear lower guide rails in a sliding mode and fixedly connected with nuts on the screw pair, the upper feeding system is installed on the lower sliding blocks, and the screw driving motor controls the rotation of the screw to achieve linear displacement of the upper feeding system.

Further, the soft robot main body comprises a rigid limiting layer and a flexible module; the rigid limiting layer comprises a top end cover, a front middle section limiting layer, a middle and rear section limiting layer and a bottom end cover, and the flexible module comprises a front end module, a middle end module and a rear end module which can be bent and deformed; the top end cover, the front end module, the front middle section limiting layer, the middle end module, the middle and rear section limiting layer, the rear end module and the bottom end cover are sequentially connected together, the bottom end cover is fixed in a front end hole of the robot sleeve, and the front end clamp holder is installed at the front end of the top end cover; the middle parts of the top end cover, the front end module, the front middle section limiting layer, the middle end module, the middle rear end limiting layer, the rear end module and the bottom end cover are provided with instrument tool channels, and the peripheries of the instrument tool channels on the middle end module, the middle rear end limiting layer, the rear end module and the bottom end cover are provided with eight rope line channels; the front end module is provided with three air chamber groups, and each air chamber group is provided with a front air channel opening; the middle-end module and the rear-end module are respectively provided with two air chamber groups, each air chamber group on the middle-end module is provided with a middle air passage opening, and each air chamber group on the rear-end module is provided with a rear air passage opening; three front pneumatic hose channels leading to a front air channel opening are arranged on the front middle section limiting layer, the middle end module, the middle and rear end limiting layers, the rear end module and the bottom end cover; the middle-rear end limiting layer, the rear end module and the bottom end cover are also provided with two middle pneumatic flexible pipe channels leading to the middle gas channel opening; two rear pneumatic hose channels leading to the rear air channel are arranged on the bottom end cover.

Furthermore, the wire driving system comprises a front baffle, a rear baffle, an upper bottom plate, a lower bottom plate, a robot sleeve, eight groups of motor wire wheel devices and eight wire guide groups; the front baffle and the rear baffle are respectively provided with two tool passage holes and seven trachea passage holes, and the front baffle is also provided with eight rope passage holes; the lower bottom plate is fixedly connected with the upper sliding block; the front baffle and the rear baffle are vertically arranged and are respectively fixedly connected with the upper base plate and the lower base plate; wherein, four groups of motor wire wheel devices are arranged on the lower surface of the upper bottom plate, and the rest four groups of motor wire wheel devices are arranged on the upper surface of the lower bottom plate; eight groups of motor line wheel devices are arranged symmetrically from top to bottom, the axial directions of the line wheels of the eight groups of motor line wheel devices are axially vertical to eight rope line passage holes in the front baffle, a rope line guide group arranged on the inner side surface of the front baffle is arranged at each rope line passage hole, and the robot sleeve is arranged on the outer side surface of the front baffle.

Compared with the prior art, the invention has the beneficial effects that:

(1) the soft robot made of the silica gel material is adopted, the degree of freedom is increased, the complex deformation of the robot in a human body can be realized, the human body cannot be injured, and the safety and the movement capacity are improved.

(2) The main body of the soft robot is designed to be modularized, and a limiting layer structure is added, so that the space motion capability of the soft robot is improved, and the local rigidity of the module connection part is improved on the premise of not influencing the flexibility of the robot.

(3) And a gas-wire hybrid driving mode is adopted, so that not only is enough driving force and positioning accuracy ensured, but also the variable stiffness effect can be realized.

(4) Through the layout design of the motor group in the line driving system and the layout design of the rope line guide group, the interference-free transmission of the rope line is realized, the space size of the line driving system is greatly reduced, and the structure is more compact.

(5) The robot software part adopts a segmented structure, and can realize the polymorphic motion advancing (C-shaped and S-shaped) of the robot so as to adapt to the morphological change of the physiological structure of the viscera.

(6) The surgical operation of visual detection, image acquisition and pathological tissue sampling can be realized simultaneously.

The technical solution of the present invention will be further described with reference to the accompanying drawings and the detailed description.

Drawings

FIG. 1 is an isometric overall view of a flexible robotic system for minimally invasive abdominal surgery of the present invention;

FIG. 2 is an isometric view of the drive system;

FIG. 3 is a front view of the linear feed system;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a cross-sectional view taken along line K-K of FIG. 3;

FIG. 6 is an R-view of FIG. 3;

FIG. 7 is a cross-sectional view taken along line A-A of FIG. 5;

FIG. 8 is a schematic view of a wire drive system and wire rope routing;

FIG. 9 is a side view of FIG. 8;

FIG. 10 is a cross-sectional view taken along line B-B of FIG. 8;

FIG. 11 is a schematic view of a gas drive system;

FIG. 12 is a schematic view of a motor reel arrangement;

FIG. 13 is a side view of FIG. 12;

FIG. 14 is a top view of FIG. 12;

FIG. 15 is a schematic view of a cord guide set;

FIG. 16 is a side view of FIG. 15;

FIG. 17 is a cross-sectional view taken along line C-C of FIG. 15;

FIG. 18 is an assembled schematic view of a soft body robot;

FIG. 19 is a schematic view of the tool access hole, trachea access hole and tether access hole of the front baffle arrangement;

FIG. 20 is a schematic view of the top end cap;

FIG. 21 is a schematic diagram of front end module 2-2;

FIG. 22 is a cross-sectional view taken along line Q-Q of FIG. 21;

FIG. 23 is a side view of FIG. 21;

FIG. 24 is a cross-sectional view taken along line P-P of FIG. 21;

FIG. 25 is a schematic view of the anterior mid-zone restriction layer 2-3;

FIG. 26 is a schematic view of a middle module 2-4;

FIG. 27 is a cross-sectional view taken along line Y-Y of FIG. 26;

FIG. 28 is a side view of FIG. 26;

FIG. 29 is a sectional view taken along line X-X of FIG. 26;

FIG. 30 is a schematic illustration of the posterior-medial confinement layer 2-5;

FIG. 31 is a schematic view of a back end module 2-6;

FIG. 32 is a sectional view taken along line H-H of FIG. 31;

FIG. 33 is a side view of FIG. 31;

FIG. 34 is a cross-sectional view taken along line W-W of FIG. 31;

FIG. 35 is a schematic view of the bottom end cap;

FIG. 36 is a block diagram of the end effector mechanism;

Detailed Description

Referring to fig. 1, 2 and 36, a flexible robot for minimally invasive abdominal surgery includes an end effector mechanism; it also comprises a driving system 1 and a soft robot main body 2; the driving system 1 comprises a linear feeding system 1-1, a linear driving system 1-2 and an air driving system 1-3; the line driving system 1-2 is connected with the line feeding system 1-1, the soft robot main body 2 is arranged on the line driving system 1-2, the gas driving system 1-3 supplies gas to the soft robot main body 2 through a gas pipe passing through the line driving system 1-2, the gas driving system 1-3 and the line driving system 1-2 control the deformation of the soft robot main body, the line feeding system 1-1 controls the horizontal movement of the line driving system 1-2 and the soft robot main body 2, the front end gripper 3-1 of the end operating forceps mechanism is arranged at the front end of the soft robot main body 2, the tail end hand grip 3-2 of the end operating forceps mechanism is arranged on the line driving system 1-2, the front end gripper 3-1 is connected with the tail end hand grip 3-2 through a steel wire rope penetrating through the line driving system 1-2 and the soft robot main body 2, the front end clamp 3-1 is opened and closed by pulling the steel wire rope.

Referring to fig. 3, 4, 5 and 7, the linear feed system 1-1 includes an upper layer feed system and a lower layer feed system; the lower layer feeding system comprises a base 1-1-24, a lead screw sliding rail pair and a lead screw driving motor 1-1-10; the screw rod sliding rail pair comprises a screw rod pair, a pair of linear lower guide rails 1-1-4 and lower sliding blocks 1-1-6; a screw rod driving motor 1-1-10 is arranged on a base 1-1-24, a screw rod 1-1-14 of a screw rod pair is rotationally arranged on the base 1-1-24, one end of the screw is arranged at the output end of the screw driving motor 1-1-10, a pair of linear lower guide rails 1-1-4 are symmetrically distributed at the two sides of the screw 1-1-14 and are arranged on the base 1-1-24, the lower sliding block 1-1-6 is arranged on the pair of linear lower guide rails 1-1-4 in a sliding way, and the upper layer feeding system is fixedly connected with a nut on the screw pair, the upper layer feeding system is arranged on the lower sliding block 1-1-6, and the screw driving motor 1-1-10 controls the rotation of the screw 1-1-14 to realize the linear displacement of the upper layer feeding system. Two bearing seats are arranged in front of and behind the base 1-1-24, the front end bearing end cover 1-1-17 is connected with the bearing seats, and the rear end bearing end cover 1-1-22 is fixed with the bearing seats through two locking nuts 1-1-23; the lead screw 1-1-14 is connected with the front and rear bearing seats through a pair of angular contact ball bearings 1-1-18 and is connected with the lead screw driving motor 1-1-10 through a quincunx elastic coupling 1-1-9; the screw rod driving motor 1-1-10 is connected with a supporting seat on the base 1-1-24; the direct current servo lead screw driving motor 1-1-10 realizes the linear feeding of the upper layer feeding system by controlling the rotation of the lead screw 1-1-14.

Referring to fig. 3, 4 and 6, the upper layer feeding system comprises a bottom plate 1-1-8, a linear slide rail and slide block pair, and a wire rope driving motor 1-1-11;

the linear slide rail slide block pair comprises a pair of linear upper guide rails 1-1-3 and upper slide blocks 1-1-5; the bottom plate 1-1-8 is fixedly connected with the lower sliding block 1-1-6; a pair of linear upper guide rails 1-1-3 are symmetrically distributed on two sides of the bottom plate 1-1-8 and are fixedly connected with the bottom plate 1-1-8; the upper sliding block 1-1-5 is arranged on a pair of linear upper guide rails 1-1-3, the reel 1-1-1 is rotatably arranged at the rear end of the bottom plate 1-1-8, the wire rope driving motor 1-1-11 is axially and vertically arranged and arranged at the front end of the bottom plate 1-1-8, the wire fixing wheel 1-1-12 is fixedly arranged on the output shaft of the wire rope driving motor 1-1-11, and the wire driving system 1-2 is arranged on the upper sliding block 1-1-5;

the steel wire rope linearly fed by the control wire driving system 1 and the soft robot main body 2 has the following trend:

one end of a steel wire rope is fixedly connected in a front wire hole 1-2-12 corresponding to the bottom of the wire drive system 1, the steel wire rope changes the running direction around the reel 1-1-1 half turn, the steel wire rope penetrates through the upper sliding block 1-1-5 in a sliding mode, and the other end of the steel wire rope is fixedly connected with a wire groove of the wire fixing wheel 1-1-12; one end of another steel wire rope is fixedly connected in a corresponding rear wire hole 1-2-13 at the bottom of the wire drive system 1, and the other end of the another steel wire rope is fixedly connected with another wire groove of the wire fixing wheel 1-1-12.

The rear end of the bottom plate 1-1-8 is provided with a bearing seat, and the reel 1-1-1 is matched with the deep groove ball bearing 1-1-13 and then is fixedly connected with the bearing seat through a locking nut 1-1-2; the wire rope driving motor 1-1-11 is vertically arranged at the front end of the bottom plate 1-1-8 and is fixedly connected with the bottom plate, and the linear motion of the wire driving system 1-2 and the soft robot main body 2 which are arranged on the upper layer feeding system is controlled by the wire rope driving motor 1-1-11 and a corresponding steel wire rope. A pair of linear lower guide rails 1-1-4 and a pair of linear upper guide rails 1-1-3 are respectively arranged on the base 1-1-24 and the bottom plate 1-1-8 through bolts 1-1-15.

The linear motion of the lower bottom plate 1-2-11 is realized by controlling the positive and negative rotation of the wire rope driving motor 1-1-11.

Referring to fig. 8-10, the wire drive system 1-2 comprises a front baffle 1-2-3, a rear baffle 1-2-8, an upper base plate 1-2-5, a lower base plate 1-2-11, a robot sleeve 1-2-1, eight groups of motor wire wheel devices 1-2-7 and eight wire guide groups 1-2-10; the front baffle 1-2-3 and the rear baffle 1-2-8 are respectively provided with two tool passage holes and seven trachea passage holes T, and the front baffle 1-2-3 is also provided with eight rope passage holes 1-2-3-1; the lower bottom plate 1-2-11 is fixedly connected with the upper sliding block 1-1-5; the front baffle 1-2-3 and the rear baffle 1-2-8 are vertically arranged and are respectively fixedly connected with the upper base plate 1-2-5 and the lower base plate 1-2-11;

wherein, four groups of motor wire wheel devices 1-2-7 are arranged on the lower surface of the upper bottom plate 1-2-5, and the rest four groups of motor wire wheel devices 1-2-7 are arranged on the upper surface of the lower bottom plate 1-2-11; eight groups of motor wire wheel devices 1-2-7 are arranged up and down symmetrically, the axial direction of the wire wheels of the eight groups of motor wire wheel devices 1-2-7 is axially vertical to eight wire passage holes on the front baffle plate 1-2-3, each wire passage hole is provided with a wire guide group 1-2-10 arranged on the inner side surface of the front baffle plate 1-2-3, and the robot sleeve 1-2-1 is arranged on the outer side surface of the front baffle plate 1-2-3. The tool passage holes and the seven trachea passage holes on the front baffle and the rear baffle are communicated one by one.

Preferably, referring to fig. 12-14, each set of the motor reel devices 1-2-7 includes a motor 1-2-7-5, a motor support 1-2-7-3 and a take-up reel 1-2-7-1; the wire connecting wheel 1-2-7-1 is arranged on an output shaft of the motor 1-2-7-5; the wire connecting wheel 1-2-7-1 is provided with two parallel wire grooves, the motor 1-2-7-5 is arranged on the motor bracket 1-2-7-3, and the motor bracket 1-2-7-3 is arranged on the upper base plate 1-2-5 and the lower base plate 1-2-11. The wire connecting wheels 1-2-7-1 are arranged inside and have axes parallel to the surface of the lower bottom plate 1-2-11 and perpendicular to the axis of the wire passage hole 1-2-3-1 on the front baffle plate 1-2-3; the outer surface of an output shaft sleeve of the motor 1-2-7-5 is provided with a spline, the wire connecting wheel 1-2-7-1 is fixedly connected with a motor shaft through the spline, the wire connecting wheel 1-2-7-1 is provided with a right-angled groove, and the bottom of the groove is provided with two parallel wire grooves, so that two driving ropes on one wire connecting wheel 1-2-7-1 can be ensured not to interfere with each other and move along the wire cutting direction of the wire connecting wheel all the time without friction with the inner wall of the wire connecting wheel.

In one embodiment, as shown in FIGS. 15-17, each of the cord guide sets 1-2-10 includes a guide pulley seat 1-2-10-1, a grooved guide pulley 1-2-10-4, and a guide pulley shaft 1-2-10-5; two guide wheel shafts 1-2-10-5 are fixedly arranged on the guide wheel seats 1-2-10-1 in parallel, each guide wheel shaft 1-2-10-5 is provided with a rotatable guide wheel 1-2-10-4 with a groove, the guide wheel seats 1-2-10-1 are arranged on the inner side surface of the front baffle plate 1-2-3, guide rope line channel holes are formed in the guide wheel seats 1-2-10-1 between the two guide wheel shafts 1-2-10-5, and the guide rope line channel holes are coincided with the axes of the corresponding rope line channel holes 1-2-3-1. The guide wheel seat 1-2-10-1 is provided with two side plates, the bottom of the guide wheel seat is provided with a guide rope passage hole, the side plates are respectively provided with two shaft holes, the axes of the shaft holes are symmetrically distributed at two sides of the rope passage hole, the guide rope passage hole is superposed with the axis of the rope passage hole 1-2-3-1 on the front baffle plate 1-2-3, and the axis of the guide wheel shaft 1-2-10-5 is parallel to the lower bottom plate 1-2-11; one end of the guide wheel shaft 1-2-10-5 is provided with a positioning shaft shoulder, and the other end is provided with an external thread which penetrates through a shaft hole of the side plate; the guide wheel is in transition fit with the guide wheel shaft and is fixed by a clamp spring 1-2-10-3; the guide wheel shaft 1-2-10-5 and the lock nut 1-2-10-2 are connected and fixed through threads.

In another embodiment, referring to fig. 18, 20-35, the soft robotic body 2 comprises a rigid constraining layer and a flexible module; the rigid limiting layer comprises a top end cover 2-1, a front middle limiting layer 2-3, a middle and rear limiting layer 2-5 and a bottom end cover 2-7, and the flexible module comprises a front end module 2-2, a middle end module 2-4 and a rear end module 2-6 which can be bent and deformed; the top end cover 2-1, the front end module 2-2, the front middle limiting layer 2-3, the middle end module 2-3, the middle and rear limiting layers 2-5, the rear end module 2-6 and the bottom end cover 2-7 are sequentially connected together, the bottom end cover 2-7 is fixed in a front end hole of the robot sleeve 1-2-1, and the front end clamp 3-1 is installed at the front end of the top end cover 2-1; the middle parts of the top end cover 2-1, the front end module 2-2, the front middle limiting layer 2-3, the middle end module 2-4, the middle rear limiting layer 2-5, the rear end module 2-6 and the bottom end cover 2-7 are provided with an instrument tool channel D, and the periphery of the instrument tool channel D is provided with eight rope line channels N on the middle end module 2-4, the middle rear limiting layer 2-5, the rear end module 2-6 and the bottom end cover 2-7; the front-end module 2-2 is provided with three air chamber groups, and each air chamber group is provided with a front air channel opening 2-2-3; two air chamber groups are respectively arranged on the middle-end module 2-4 and the rear-end module 2-6, each air chamber group on the middle-end module 2-4 is provided with a middle air passage port 2-4-6, and each air chamber group on the rear-end module 2-6 is provided with a rear air passage port 2-6-6; three front pneumatic hose channels E leading to the front air channel opening 2-2-3 are arranged on the front middle section limiting layer 2-3, the middle end module 2-4, the middle and rear end limiting layers 2-5, the rear end module 2-6 and the bottom end cover 2-7; the middle rear end limiting layer 2-5, the rear end module 2-6 and the bottom end cover 2-7 are also provided with two middle pneumatic hose channels F leading to the middle pneumatic pipeline openings 2-4-6; two rear pneumatic hose channels M leading to the rear air channel ports 2-6-6 are arranged on the bottom end cover 2-7.

The main body structures of the middle-end module 2-3 and the rear-end module 2-6 are the same;

in the above embodiment, the rigid limiting layer is preferably made of a photosensitive resin material; the flexible module is a silica gel module. The four limiting layers and the three silica gel modules are arranged at intervals according to a specific sequence and are bonded and connected through resin adhesive; the bottom end cover 2-7 is fixed in a front end hole of the robot sleeve 1-2-1 in an interference fit manner; furthermore, the rigid limiting layers are cylindrical as a whole, two through holes are formed in the axis parts, and the top channel 2-1-2, the front middle channel 2-3-2, the middle rear channel 2-5-2 and the bottom channel 2-7-2 are used as image acquisition tool channels, so that visual detection can be realized, and biological tissue sampling can be realized through the instrument tool channel D; wherein, three front pneumatic hose channels E are arranged near the instrument tool channel D of the front middle limiting layer 2-3; five front pneumatic hose channels E are arranged near the instrument tool channel D of the middle and rear limiting layers 2-5, and eight rope line channels N are arranged on the circumference of the end surface close to the outer surface; seven front pneumatic hose channels E are arranged near the instrument channel D of the bottom end cover 2-7, eight rope line channels N are also arranged at the position, close to the outer surface, of the circumference of the end face, and a boss is arranged at the rear end of the bottom end cover 2-7 and used for matching the bottom end cover 2-7 with the robot sleeve 1-2-1; the axes of the instrument tool channel D, the axis of the front pneumatic hose channel E and the axis of the rope line channel N of all the rigid limiting layers are correspondingly coincided.

Further, as shown in fig. 21-24 and 35, the whole silica gel module is cylindrical, and the axis parts are provided with the front end channel 2-2-2, the middle end channel 2-4-2, the rear end channel 2-6-2 and the instrument tool channel D of the image acquisition tool channel; the front-end module 2-2 is about 200mm in longitudinal length and 30mm in diameter, and is provided with 51 air chamber units 2-2-4 in total, wherein each 17 air chamber units form a group and are driven by an air passage, the length, width and height dimension parameters (unit millimeter mm) of each air chamber unit are approximately 8 multiplied by 4.5 multiplied by 2, the axial silica gel wall thickness is 1mm, the radial silica gel wall thickness is 2mm, and the distance between two adjacent air chambers is 6 mm; the three groups of air chambers are uniformly distributed at the left, right and bottom of the central instrument tool channel D at intervals of 90 degrees; the left air chamber controls the robot to bend rightwards, the right air chamber controls the robot to bend leftwards, and the bottom air chamber controls the robot to move 'head up', so that when different air chambers are mutually matched and driven, the front-end module can move in the space.

Referring to fig. 26-29, as shown in fig. 31-34, the middle module 2-4 is similar to the back module 2-6 in structure, and has a longitudinal length of about 400mm, only one left air chamber and one right air chamber, and each air chamber has 32 middle air chamber units 2-4-5 or back air chamber units 2-6-5, and is also driven by an air passage, and the size parameter (unit mm) of the length, width and height of each air chamber unit is approximately 10 × 4.5 × 2, and the other parameters are the same as the front module 2-2; in addition, eight rope line channels N are respectively arranged at the same geometric positions of the end surface circumferences of the middle-end module 2-4 and the rear-end module 2-6 close to the outer surface; because the middle module 2-4 and the tail end module 2-6 only have a left group of air chambers and a right group of air chambers, the S-shaped advance in a plane can be realized only, but the axial size is larger than that of the front end module, and the advance in a larger degree can be completed, so that the soft robot has the capability of macroscopically approaching to a focus and microscopically adjusting the position by matching with the space motion capability of the front end module, and the functional characteristics of the soft robot are improved to a certain degree.

Referring to fig. 11, the air driving system 1-3 comprises an air pump, a supporting base plate 1-3-4, seven groups of electromagnetic valve sets and a plurality of pneumatic hoses 1-3-7; seven groups of electromagnetic valve groups are arranged on the supporting bottom plate 1-3-4; the seven groups of electromagnetic valve groups are connected with the air pump through four-way joints 1-3-6 and a plurality of pneumatic hoses 1-3-7. As a possible implementation, referring to fig. 11, each group of solenoid valves includes a two-position three-way solenoid valve 1-3-2 and a two-position two-way solenoid valve 1-3-5; the two-position three-way electromagnetic valve 1-3-2 and the two-position two-way electromagnetic valve 1-3-5 are connected through a pneumatic hose 1-3-7; every three two-position two-way electromagnetic valves 1-3-5 are respectively connected to the same four-way joint 1-3-6 through pneumatic hoses 1-3-7, the remaining two-position two-way electromagnetic valves 1-3-5 are connected with the third four-way joint 1-3-6 through pneumatic hoses 1-3-7, the first four-way joint 1-3-6 and the second four-way joint 1-3-6 are connected with the third four-way joint 1-3-6 through pneumatic hoses 1-3-7, and the third four-way joint 1-3-6 is connected to an air pump through pneumatic hoses 1-3-7.

Wherein, the two-position two-way electromagnetic valve 1-3-5 is connected with the four-way joint 1-3-6 and is arranged near the air pump end, and the two-position three-way electromagnetic valve 1-3-2 is connected with the soft robot main body 2 through the pneumatic hose 1-3-7; the electromagnetic valve supporting plate 1-3-3 is provided with a side plate and a supporting bottom plate 1-3-4 which are provided with threaded holes; the two-position two-way electromagnetic valve 1-3-5 is fixedly connected with the bottom surface of the electromagnetic valve supporting plate 1-3-3, and the two-position three-way electromagnetic valve 1-3-2 is fixedly connected with the bottom surface of the electromagnetic valve supporting plate 1-3-3; the two-position two-way electromagnetic valve 1-3-5 controls the on-off of the airflow, and the two-position three-way electromagnetic valve 1-3-2 controls the flowing direction of the airflow.

In another embodiment, referring to fig. 18-35, the pneumatic hose controlling the deformation of the soft robotic body runs as follows:

the external three pneumatic hoses respectively penetrate through the front pneumatic hose channel E, and one ends of the three pneumatic hoses are connected to the three front air channel openings 2-2-3 of the front end module 2-2;

two external pneumatic hoses respectively penetrate through the middle pneumatic hose channel F, and one ends of the two pneumatic hoses are connected to two middle pneumatic pipe openings 2-4-6 of the middle module 2-4;

two external pneumatic hoses respectively penetrate through the rear pneumatic hose channel M, and one ends of the two pneumatic hoses are connected to two rear air duct openings 2-6-6 of the rear end module 2-6;

the other ends of the seven pneumatic hoses extend out of the bottom end cover 2-7, penetrate through the robot sleeve 1-2-1 and air pipe channel holes T of front and rear baffles of the wire drive system and are connected with corresponding joints 1-3-1 of the electromagnetic valve group; each pneumatic hose corresponds to one group of electromagnetic valves respectively and is driven independently;

the driving rope line for controlling the deformation of the soft robot main body has the following trend:

the 16 driving ropes are divided into 8 front-end ropes and 8 rear-end ropes; one end of 8 front end ropes is fixed on the end face of the front middle limiting layer 2-3 and penetrates through eight rope passage channels N on the middle end module 2-4, the middle and rear limiting layers 2-5, the rear end module 2-6 and the bottom end cover 2-7;

one end of 8 rear end ropes is fixed on the end face of the middle rear end limiting layer 2-5 and penetrates through eight rope passage N on the rear end module 2-6 and the bottom end cover 2-7;

the other ends of the 16 driving ropes extend out of the bottom end cover 2-7, penetrate through rope passage holes in the robot sleeve 1-2-1 and a front baffle plate 1-2-3 of the line driving system, and are fixed on a line groove of the line splicing wheel 1-2-7-1; a front end rope and a rear end rope are arranged in the same rope channel N; the front end rope and the rear end rope in the same rope passage N extend out of a rope passage hole 1-2-3-1 on the front baffle plate 1-2-3 to share a rope guide group 1-2-10 and are lapped on two grooved guide wheels 1-2-10-4 of the rope guide group 1-2-10; as shown in fig. 18, the eight cord passage holes are divided into groups i, ii, iii and iv; two rope passage holes 1-2-3-1 in each group are arranged up and down symmetrically, and two front-end ropes and two rear-end ropes led out from the two rope passage holes 1-2-3-1 in each group are respectively fixed on two wire grooves of the same wire-connecting wheel 1-2-7-1. Therefore, each driving motor 1-2-7-5 controls two driving ropes with the same deformation quantity all the time, and the moment is balanced. As shown in fig. 1 and fig. 36, the front end gripper 3-1 of the end forceps mechanism is fixed in an instrument workpiece channel D (forceps channel) on the top end cover 2-1 of the soft robot, a steel wire rope connected with the front end gripper is fixed with the end handheld grip 3-2 by penetrating through the soft robot main body 2, the robot sleeve 1-2-1 and the wire driving system 1-2, and the end handheld grip 3-2 is pulled to drive the steel wire rope to move so as to realize the opening and closing of the front end gripper 3-1.

Working process

When the air pump works, the two-position two-way electromagnetic valve 1-3-5 and the two-position three-way electromagnetic valve 1-3-2 are both positioned in a passage, the valve passage is corresponding to the air chamber and is inflated and expanded, so that the silica gel module bends towards the opposite side of the side where the air chamber is positioned, the bending angle is increased along with the increase of the pressure in the air chamber, and the motor 1-2-7-5 of the motor wire wheel device is in a wire releasing state at the working stage of the air; when the line driving system 1-2 works, pulling force is sequentially applied to the front end from the rear end of the soft robot main body 2, namely, a rear end rope in the rear end module 2-6 is contracted under the control of the motor 1-2-7-5, driving force is increased, auxiliary deformation of a flexible module (taking a silica gel module as an example) is completed, rigidity is improved, and after the rear end rope works, the front end rope works; after the soft robot main body 2 is positioned, the two-position two-way electromagnetic valve 1-3-5 is changed to be open circuit in a reversing way, and the air pressure in the system is kept; similarly, when the two-position three-way electromagnetic valve 1-3-2 is reversed, the silica gel module is deflated and recovered. Two driving motors controlling the same silica gel module to drive the rope on the same side always perform the same work at the same time.

The variable stiffness process: the robot main body is driven by the pneumatic driving system to advance in a multi-form mode in a flexible state, semi-rigid effect is achieved by means of air pressure inside the robot main body, after the robot reaches a focus designated position, the wire driving system works to provide tension force, self positioning and fixing of the robot are completed, overall rigidity of the robot is increased through antagonism of pneumatic pressure and tensile force of the rope wire, and the rigidity changing effect of the robot is achieved.

Flexible robots, which have improved flexibility, variability and can assist surgeons in performing surgery on complex sites of organ tissue within a body cavity, while robots can also be equipped with a variety of surgical instruments, which overcome the deficiencies of conventional surgical tools and related instruments. The use of flexible robots can help physicians avoid damage to dangerous structures, such as structures near blood vessels, and thus more effectively perform appropriate robotic surgery on a variety of patients.

The present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made by the technical essence of the present invention by those skilled in the art can be made without departing from the scope of the present invention.

Claims (9)

1. A flexible robot for minimally invasive abdominal surgery comprises a tail end surgical clamp mechanism and is characterized in that: the robot also comprises a driving system (1) and a soft robot main body (2);

the driving system (1) comprises a linear feeding system (1-1), a line driving system (1-2) and an air driving system (1-3); the line driving system (1-2) is connected with the linear feeding system (1-1), the soft robot main body (2) is arranged on the line driving system (1-2), the gas driving system (1-3) supplies gas to the soft robot main body (2) through a gas pipe penetrating through the line driving system (1-2), the gas driving system (1-3) and the line driving system (1-2) control the deformation of the soft robot main body, the linear feeding system (1-1) controls the horizontal movement of the line driving system (1-2) and the soft robot main body (2), a front end gripper (3-1) of the tail end operating forceps mechanism is arranged at the front end of the soft robot main body (2), a tail end hand holding grip (3-2) of the tail end operating forceps mechanism is arranged on the line driving system (1-2), and the front end gripper (3-1) is arranged in the line driving system (1-2) and the soft robot main body (2) in a penetrating mode The steel wire rope is connected with the tail end hand-held grip (3-2), and the steel wire rope is pulled to realize the opening and closing of the front end gripper (3-1);

the linear feeding system (1-1) comprises an upper layer feeding system and a lower layer feeding system; the lower layer feeding system comprises a base (1-1-24), a lead screw sliding rail pair and a lead screw driving motor (1-1-10); the screw rod slide rail pair comprises a screw rod pair, a pair of linear lower guide rails (1-1-4) and a lower sliding block (1-1-6); a screw rod driving motor (1-1-10) is arranged on a base (1-1-24), a screw rod (1-1-14) of a screw rod pair is rotatably arranged on the base (1-1-24), one end of the screw rod is arranged on the output end of the screw rod driving motor (1-1-10), a pair of linear lower guide rails (1-1-4) are symmetrically distributed on two sides of the screw rod (1-1-14) and are arranged on the base (1-1-24), a lower sliding block (1-1-6) is arranged on the pair of linear lower guide rails (1-1-4) in a sliding manner and is fixedly connected with a nut on the screw rod pair, an upper layer feeding system is arranged on the lower sliding block (1-1-6), and the screw rod driving motor (1-1-10) controls the rotation of the screw rod (1-1-14) to realize the linear displacement of the upper layer feeding system .

2. The flexible robot for minimally invasive laparoscopic surgery of claim 1, wherein: the upper layer feeding system comprises a bottom plate (1-1-8), a linear slide rail slide block pair and a wire rope driving motor (1-1-11);

the linear slide rail slide block pair comprises a pair of linear upper guide rails (1-1-3) and upper slide blocks (1-1-5);

the bottom plate (1-1-8) is fixedly connected with the lower sliding block (1-1-6); a pair of linear upper guide rails (1-1-3) are symmetrically distributed on two sides of the bottom plate (1-1-8) and are fixedly connected with the bottom plate (1-1-8); the upper sliding block (1-1-5) is arranged on a pair of linear upper guide rails (1-1-3), the winding wheel (1-1-1) is rotatably arranged at the front end of the bottom plate (1-1-8), the wire rope driving motor (1-1-11) is axially and vertically arranged and arranged at the rear end of the bottom plate (1-1-8), the wire fixing wheel (1-1-12) is fixedly arranged on an output shaft of the wire rope driving motor (1-1-11), and the wire driving system (1-2) is arranged on the upper sliding block (1-1-5);

the steel wire rope linearly fed by the control wire driving system (1-2) and the soft robot main body (2) has the following trend:

one end of a steel wire rope is fixedly connected in a front wire hole (1-2-12) corresponding to the bottom of the wire drive system (1-2), the steel wire rope changes the running direction around the reel (1-1-1) in a half-circle manner, the steel wire rope penetrates through the upper sliding block (1-1-5) in a sliding manner, and the other end of the steel wire rope is fixedly connected with a wire groove of the wire fixing wheel (1-1-12); one end of another steel wire rope is fixedly connected in a corresponding rear wire hole (1-2-13) at the bottom of the wire drive system (1-2), and the other end of the another steel wire rope is fixedly connected with another wire groove of the wire fixing wheel (1-1-12).

3. The flexible robot for minimally invasive laparoscopic surgery of claim 2, wherein: the wire driving system (1-2) comprises a front baffle (1-2-3), a rear baffle (1-2-8), an upper bottom plate (1-2-5), a lower bottom plate (1-2-11), a robot sleeve (1-2-1), eight groups of motor wire wheel devices (1-2-7) and eight rope wire guide groups (1-2-10);

the front baffle (1-2-3) and the rear baffle (1-2-8) are respectively provided with two tool passage holes and seven trachea passage holes (T), and the front baffle (1-2-3) is also provided with eight rope passage holes (1-2-3-1); the lower bottom plate (1-2-11) is fixedly connected with the upper sliding block (1-1-5); the front baffle (1-2-3) and the rear baffle (1-2-8) are vertically arranged and are respectively fixedly connected with the upper bottom plate (1-2-5) and the lower bottom plate (1-2-11);

wherein, four groups of motor wire wheel devices (1-2-7) are arranged on the lower surface of the upper bottom plate (1-2-5), and the rest four groups of motor wire wheel devices (1-2-7) are arranged on the upper surface of the lower bottom plate (1-2-11); eight groups of motor wire wheel devices (1-2-7) are arranged up and down symmetrically, the axial directions of wire wheels of the eight groups of motor wire wheel devices (1-2-7) are axially vertical to eight wire passage holes on a front baffle (1-2-3), each wire passage hole is provided with a wire guide group (1-2-10) arranged on the inner side surface of the front baffle (1-2-3), and a robot sleeve (1-2-1) is arranged on the outer side surface of the front baffle (1-2-3).

4. The flexible robot for minimally invasive laparoscopic surgery of claim 3, wherein: each group of the motor wire wheel devices (1-2-7) comprises a motor (1-2-7-5), a motor bracket (1-2-7-3) and a wire connecting wheel (1-2-7-1); the wire connecting wheel (1-2-7-1) is arranged on the output shaft of the motor (1-2-7-5); two parallel wire grooves are arranged on the wire connecting wheel (1-2-7-1), the motor (1-2-7-5) is arranged on the motor bracket (1-2-7-3), and the motor bracket (1-2-7-3) is arranged on the upper bottom plate (1-2-5) and the lower bottom plate (1-2-11).

5. The flexible robot for minimally invasive laparoscopic surgery of claim 4, wherein: each rope line guide group (1-2-10) comprises a guide wheel seat (1-2-10-1), a guide wheel with a groove (1-2-10-4) and a guide wheel shaft (1-2-10-5);

two guide wheel shafts (1-2-10-5) are fixedly arranged on guide wheel seats (1-2-10-1) in parallel, each guide wheel shaft (1-2-10-5) is provided with a rotatable guide wheel (1-2-10-4) with a groove, the guide wheel seats (1-2-10-1) are arranged on the inner side surface of a front baffle (1-2-3), guide rope line channel holes are formed in the guide wheel seats (1-2-10-1) between the two guide wheel shafts (1-2-10-5), and the guide rope line channel holes are overlapped with the axes of the corresponding rope line channel holes (1-2-3-1).

6. The flexible robot for minimally invasive laparoscopic surgery of claim 5, wherein: the soft robot main body (2) comprises a rigid limiting layer and a flexible module; the rigid limiting layer comprises a top end cover (2-1), a front middle limiting layer (2-3), a middle and rear limiting layer (2-5) and a bottom end cover (2-7), and the flexible module comprises a front end module (2-2), a middle end module (2-4) and a rear end module (2-6), which can be bent, deformed and flexible; the robot sleeve is characterized in that a top end cover (2-1), a front end module (2-2), a front middle limiting layer (2-3), a middle end module (2-4), a middle rear limiting layer (2-5), a rear end module (2-6) and a bottom end cover (2-7) are sequentially connected together, the bottom end cover (2-7) is fixed in a front end hole of the robot sleeve (1-2-1), and the front end clamp holder (3-1) is installed at the front end of the top end cover (2-1);

the middle parts of the top end cover (2-1), the front end module (2-2), the front middle limiting layer (2-3), the middle end module (2-4), the middle rear limiting layer (2-5), the rear end module (2-6) and the bottom end cover (2-7) are provided with an instrument tool channel (D), and the periphery of the instrument tool channel (D) is provided with eight rope line channels (N) on the middle end module (2-4), the middle rear limiting layer (2-5), the rear end module (2-6) and the bottom end cover (2-7);

the front-end module (2-2) is provided with three air chamber groups, and each air chamber group is provided with a front air channel opening (2-2-3);

two air chamber groups are respectively arranged on the middle-end module (2-4) and the rear-end module (2-6), each air chamber group on the middle-end module (2-4) is provided with a middle air passage opening (2-4-6), and each air chamber group on the rear-end module (2-6) is provided with a rear air passage opening (2-6-6);

three front pneumatic hose channels (E) leading to the front air channel openings (2-2-3) are arranged on the front middle section limiting layer (2-3), the middle end module (2-4), the middle and rear end limiting layer (2-5), the rear end module (2-6) and the bottom end cover (2-7);

two middle pneumatic hose channels (F) leading to the middle gas passage openings (2-4-6) are also arranged on the middle rear end limiting layer (2-5), the rear end module (2-6) and the bottom end cover (2-7);

two rear pneumatic hose channels (M) leading to the rear air channel openings (2-6-6) are arranged on the bottom end covers (2-7).

7. A flexible robot for minimally invasive surgery on the abdominal cavity according to claim 5 or 6, characterized in that: the air driving system (1-3) comprises an air pump, a supporting base plate (1-3-4), seven groups of electromagnetic valve groups and a plurality of pneumatic hoses (1-3-7); seven groups of electromagnetic valve groups are arranged on the supporting bottom plate (1-3-4); the seven groups of electromagnetic valve groups are connected with an air pump through four-way joints (1-3-6) and a plurality of pneumatic hoses (1-3-7).

8. The flexible robot for minimally invasive laparoscopic surgery of claim 7, wherein:

the trend of the pneumatic hose for controlling the deformation of the soft robot main body is as follows:

the external three pneumatic hoses respectively penetrate through the front pneumatic hose channel (E), and one ends of the three pneumatic hoses are connected to the three front air channel openings (2-2-3) of the front end module (2-2);

two external pneumatic hoses respectively penetrate through the middle pneumatic hose passage (F), and one ends of the two pneumatic hoses are connected to two middle gas opening ports (2-4-6) of the middle module (2-4);

two external pneumatic hoses respectively penetrate through the rear pneumatic hose channel (M), and one ends of the two pneumatic hoses are connected to two rear air duct openings (2-6-6) of the rear end module (2-6);

the other ends of the seven pneumatic hoses extend out of the bottom end cover (2-7), penetrate through the robot sleeve (1-2-1) and air pipe channel holes (T) of front and rear baffles of the line drive system and are connected with corresponding joints (1-3-1) of the electromagnetic valve group;

the driving rope line for controlling the deformation of the soft robot main body has the following trend:

the 16 driving ropes are divided into 8 front-end ropes and 8 rear-end ropes; one end of 8 front end ropes is fixed on the end face of the front middle limiting layer (2-3) and penetrates through eight rope passages (N) on the middle-end module (2-4), the middle-rear limiting layer (2-5), the rear-end module (2-6) and the bottom end cover (2-7),

one end of 8 rear end ropes is fixed on the end surface of the middle rear end limiting layer (2-5) and penetrates through eight rope passages (N) on the rear end module (2-6) and the bottom end cover (2-7),

the other ends of the 16 driving ropes extend out of the bottom end cover (2-7), penetrate through rope passage holes in the robot sleeve (1-2-1) and a front baffle plate (1-2-3) of the line driving system and are fixed on a wire groove of the wire splicing wheel (1-2-7-1); a front end rope and a rear end rope are arranged in the same rope channel (N); the front end rope and the rear end rope in the same rope passage (N) extend out of a rope passage hole (1-2-3-1) on the front baffle (1-2-3) and share a rope guide group (1-2-10), and are lapped on two grooved guide wheels (1-2-10-4) of the rope guide group (1-2-10); wherein, the eight rope passage holes are divided into a first group, a second group, a third group and a fourth group; two rope passage holes of each group are symmetrically arranged up and down, and two front-end ropes and two rear-end ropes led out from the two rope passage holes of each group are respectively fixed on two wire grooves of the same wire connecting wheel (1-2-7-1).

9. The flexible robot for minimally invasive laparoscopic surgery of claim 8, wherein: each group of electromagnetic valve groups comprises a two-position three-way electromagnetic valve (1-3-2) and a two-position two-way electromagnetic valve (1-3-5); the two-position three-way electromagnetic valve (1-3-2) and the two-position two-way electromagnetic valve (1-3-5) are connected through a pneumatic hose (1-3-7); every three two-position two-way electromagnetic valves (1-3-5) are respectively connected to the same four-way joint (1-3-6) through pneumatic hoses (1-3-7), the rest two-position two-way electromagnetic valves (1-3-5) are connected with the third four-way joint (1-3-6) through pneumatic hoses (1-3-7), the first four-way joint (1-3-6) and the second four-way joint (1-3-6) are connected with the third four-way joint (1-3-6) through pneumatic hoses (1-3-7), and the third four-way joint (1-3-6) is connected to an air pump through pneumatic hoses (1-3-7).

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