CN111956328A - Continuum robot for minimally invasive surgery - Google Patents
Continuum robot for minimally invasive surgery Download PDFInfo
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- CN111956328A CN111956328A CN202010740192.5A CN202010740192A CN111956328A CN 111956328 A CN111956328 A CN 111956328A CN 202010740192 A CN202010740192 A CN 202010740192A CN 111956328 A CN111956328 A CN 111956328A
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- module
- support plate
- robot
- suspension support
- flexible arm
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- 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
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- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Abstract
The invention provides a continuum robot for minimally invasive surgery, which comprises a line driving module, a suspension support plate module, a robot flexible arm module, a linear driving module and a robot support module, wherein the suspension support plate module is installed on the robot support module, the linear driving module and the line driving module are respectively installed on the suspension support plate module, the line driving module is connected with the robot flexible arm module and drives the robot flexible arm module to perform bending motion, the suspension support plate module is connected with the robot flexible arm module, the linear driving module drives the suspension support plate module to perform front-back motion, and the robot flexible arm module follows the suspension support plate module to perform front-back motion. The invention has the beneficial effects that: the flexible arm module is smaller in appearance and higher in flexibility, effectively avoids the limitation of the constant initial curvature of each concentric tube of the traditional concentric tube robot, and overcomes the defect of large size of the traditional line-driven robot.
Description
Technical Field
The invention relates to a medical instrument, in particular to a continuum robot for minimally invasive surgery.
Background
With the rapid development of the technology in the related field of medical treatment, the minimally invasive surgery becomes an important development stage in the clinical surgery, and the surgical robot is increasingly applied to the minimally invasive surgery of the cavity and the viscera of the human body.
Most of traditional surgical robots are rigid structures, have large body sizes, cannot track the position of a nonlinear focus, and are easy to damage when contacting with body cavities, organs, blood vessels and sensitive tissues. Compared with the traditional rigid surgical instrument and surgical robot, the flexible surgical robot is increasingly applied to minimally invasive surgery because of the characteristics of compact size, flexibility, active control and the like. Concentric tube robots and wire driven robots are typical representatives of flexible surgical robots. A concentric tube robot is generally made up of a set of pre-bent, highly elastic concentric tubes nested within each other, each having two degrees of freedom in translation and rotation. Concentric tubes nested together, different constant curvature curve segments can be formed because of the difference in translation and rotation; the wire-driven robot is generally formed by sequentially connecting a plurality of tiny hollow joints, holes are punched and threaded on the periphery of each joint, the wire-driven robot can regularly move at the tail end of the previous joint through the pulling force of a wire rope, and the plurality of joints are combined to form a fixed curve shape. Therefore, the concentric tube robot and the wire drive can complete the tracking task of three-dimensional curves in the cavity organs, and have active control and certain deformation capacity, and the other two robots are hollow inside to complete the guiding function of the surgical instrument. Concentric tube robots and wire driven robots have been proposed for use in neurosurgical, urological and intracardiac procedures.
However, the concentric tube robot needs to be formed by mutually nesting a plurality of pre-bent concentric tubes, the pre-bent curvatures of the concentric tubes change due to time and use, and the rotational freedom of the concentric tubes has the defect of instability. The linear driving robot has the defects of single shape change, poor curve adaptability and relatively large size. Therefore, a flexible minimally invasive surgical robot which is actively controlled, stable, reliable, capable of tracking complex and changeable three-dimensional curves and small in size is urgently needed to be developed.
Disclosure of Invention
To solve the problems in the prior art, the present invention provides a continuum robot for minimally invasive surgery.
The invention provides a continuum robot for minimally invasive surgery, which comprises a line driving module, a suspension support plate module, a robot flexible arm module, a linear driving module and a robot support module, wherein the suspension support plate module is installed on the robot support module, the linear driving module and the line driving module are respectively installed on the suspension support plate module, the line driving module is connected with the robot flexible arm module and drives the robot flexible arm module to perform bending motion, the suspension support plate module is connected with the robot flexible arm module, the linear driving module drives the suspension support plate module to perform front-back motion, and the robot flexible arm module follows the suspension support plate module to perform front-back motion.
As a further improvement of the present invention, the flexible arm module of the robot includes at least two concentric tubes with high elasticity nested in each other, the outer wall of the concentric tube with high elasticity includes at least 2 through holes, each through hole contains a string, one end of the string is connected to the front end of the concentric tube with high elasticity, the other end of the string is connected to the line driving module, the rear end of the concentric tube with high elasticity is fixed to the suspended carrier plate module, the concentric tubes with high elasticity correspond to the suspended carrier plate modules one by one, different concentric tubes with high elasticity are correspondingly installed on different suspended carrier plate modules, each suspended carrier plate module is correspondingly installed with one linear driving module and one line driving module, and different concentric tubes with high elasticity are driven by different linear driving modules and line driving modules.
As a further improvement of the invention, the front end of each high-elasticity concentric tube is provided with a hollow part, the length of the hollow part of each high-elasticity concentric tube is sequentially increased from the outermost tube to the innermost tube, and the rigidity of each high-elasticity concentric tube is sequentially decreased from the outermost tube to the innermost tube.
As a further improvement of the invention, the high-elasticity concentric tube is made of nickel-titanium alloy or polycaprolactone, and when the flexible arm module of the robot is subjected to the pulling force of a cord in the tube wall, the high-elasticity concentric tube deforms, and the elastic deformation is different due to different pulling forces; after the pulling force of the thread rope is removed, the high-elasticity concentric tube is restored to the initial state.
As a further improvement of the invention, the high-elasticity concentric tubes are three and are respectively a concentric tube inner tube, a concentric tube middle tube and a concentric tube outer tube which are nested with each other.
As a further improvement of the present invention, the line driving module includes a line driving servo motor, a line driving servo motor support frame, and a cord wrapping post, the line driving servo motor is mounted on the line driving servo motor support frame, the line driving servo motor support frame is fixed on the suspended support plate module, the cord wrapping post is connected with the line driving servo motor, and a cord of the robot flexible arm module is wrapped on the cord wrapping post.
As a further improvement of the present invention, the robot support module includes a rear support plate, a front support plate, a flexible arm support, a polish rod, a lead screw and a bottom plate, the front support plate and the rear support plate are respectively and fixedly mounted on the bottom plate, the polish rod and the lead screw are respectively fixed between the front support plate and the rear support plate through a horizontal bearing seat, the flexible arm support is fixed on the front support plate through a horizontal bearing seat, the polish rod, the lead screw and the bottom plate are parallel to each other and perpendicular to the rear support plate and the front support plate, and the high elasticity concentric tube passes through the flexible arm support.
As a further improvement of the invention, the number of the suspension support plate modules is at least 2, the suspension support plate modules are respectively an odd number suspension support plate module and an even number suspension support plate module which are arranged at intervals, the odd number suspension support plate module comprises an odd number suspension support plate, the even number suspension support plate module comprises an even number suspension support plate, the odd number suspension support plate and the even number suspension support plate are respectively provided with a concentric tube thin-wall fixing seat, a linear bearing, a limiter fixing seat, a linear driving servo motor notch, a bearing notch and a linear driving servo motor fixing seat, and the positions of the linear driving servo motor notch and the linear driving servo motor fixing seat on the odd number suspension support plate and the even number suspension; the high-elasticity concentric tube is fixed on the concentric tube thin-wall fixing seat, the linear bearing is installed on the polished rod, the limiter is installed on the limiter fixing seat, and the limiter limits the safe movement range of the suspension support plate module.
As a further improvement of the present invention, the linear driving module includes a linear driving servo motor, a driving synchronous wheel, a synchronous belt, a driven synchronous wheel, a nut sleeve, a nut, a back retainer ring, a bearing and a front retainer ring, an output end of the linear driving servo motor is connected to the driving synchronous wheel, the synchronous belt and the driven synchronous wheel form a belt transmission mechanism, the driven synchronous wheel is connected to the nut sleeve, the nut sleeve is connected to the nut, the nut is installed in a fitting manner with the lead screw, the back retainer ring and the front retainer ring fixedly install the bearing on a bearing notch of the suspension carrier plate module, the nut sleeve is fixedly installed in an interference manner with an inner side of the bearing, and the linear driving servo motor is installed on the linear driving servo motor fixing seat.
As a further improvement of the present invention, the continuum robot further comprises a motor driving device and a system control device, the system control device is connected to the motor driving device, and the motor driving device is respectively connected to the line driving module and the linear driving module.
The invention has the beneficial effects that: the continuum robot does not need a pre-bent concentric tube, but forms different space curve tracks through the linear driving action according to the operation requirement; the wire is used for replacing the rotary motion, so that the stability and the flexibility of the system are improved; the tail ends of the concentric tubes are hollowed out, so that the rigidity of the concentric tubes in different directions is changed, the overall dimension of the robot is reduced compared with that of a conventional linear driving robot, and the flexibility of the robot and the adaptability of a complex variable space curve are improved.
Drawings
Fig. 1 is a diagram of a continuum robot in an embodiment of the invention.
Fig. 2 is a schematic three-dimensional structure diagram of a robot support module according to an embodiment of the present invention.
Fig. 3 is a schematic three-dimensional structure diagram of a line driving module according to an embodiment of the invention.
Fig. 4a is a schematic three-dimensional structure diagram of an initial state of a robot flexible arm module composed of 3 concentric tubes according to an embodiment of the invention.
Fig. 4b is a schematic diagram of a three-dimensional structure of a robot flexible arm module composed of 3 concentric tubes in a tension state according to an embodiment of the present invention.
Fig. 5 is a schematic three-dimensional structure diagram of a suspension carrier board module according to an embodiment of the present invention.
Fig. 6 is a schematic three-dimensional structure diagram of a linear driving module according to an embodiment of the present invention.
Figure 7 is a cross-sectional view of a linear drive module assembly in accordance with one embodiment of the present invention.
FIG. 8 is a schematic view of a continuum robot system in one embodiment of the invention.
Detailed Description
The invention is further described with reference to the following description and embodiments in conjunction with the accompanying drawings.
The invention provides a continuum robot for minimally invasive surgery, and fig. 1 is a structural diagram of the continuum robot in one embodiment of the invention, and the continuum robot comprises a line driving module 100, a suspension carrier plate module 200, a robot flexible arm module 300, a linear driving module 400 and a robot support module 500. The robot flexible arm module 300 is formed by mutually nesting a group of high-elasticity concentric tubes 31, the outer walls of the concentric tubes 31 comprise at least 2 through holes, a cord 32 is arranged in each through hole, one end of the cord 32 is connected with the front end of the concentric tube 31, and the other end of the cord 32 is connected with the line driving module 100; while the front end of each concentric tube 31 is hollowed out. The rear end of the concentric tube 31 is fixed to the suspension carrier module 200, and can move back and forth under the action of the linear driving module 400 and can move in a bending way under the action of the linear driving module 100.
Fig. 2 is a schematic three-dimensional structure diagram of a robot support module 500 according to an embodiment of the present invention, which includes a rear support plate 501, a front support plate 502, a flexible arm support 503, a horizontal bearing seat 504, a polish rod 505, a lead screw 506, and a bottom plate 507. A front support plate 502 and a rear support plate 501 are fixedly mounted on the bottom plate 507, a polish rod 505 and a lead screw 506 are fixed between the front support plate 502 and the rear support plate 501 by a horizontal bearing seat 504, and a flexible arm support 503 is fixed on the front support plate 502 by the horizontal bearing seat 504. The polished rod 505 is used for fixing and guiding the suspension support plate module 200, and the lead screw 506 is used for being matched with the nut 406 to complete the back-and-forth movement of the suspension support plate module 200 under the driving of the linear driving servo motor.
Fig. 3 is a schematic three-dimensional structure diagram of a wire driving module in an embodiment of the present invention, in which the wire driving module 100 includes a wire driving servo motor 101, a wire driving servo motor support frame 102, and a wire winding post 103, the wire driving servo motor support frame 102 fixes the wire driving servo motor 101 to the suspension carrier module 200, and the wire driving servo motor 101 rotates to drive the end wire winding post 103 to rotate, so as to apply a pulling force to the wire 32.
Fig. 4a and 4b are diagrams illustrating the movement process of the robot flexible arm module 300 according to an embodiment of the present invention. The high-elasticity concentric tube 31 forming the robot flexible arm module 300 is made of high-elasticity materials such as nickel-titanium alloy and polycaprolactone PCL, and the robot flexible arm module 300 is characterized in that the concentric tube 31 deforms when being pulled by a wire rope 32 in the tube wall, and the concentric tube 31 deforms under different pulling forces and different elastic deformations; upon removal of the cord 32 tension, the concentric tubes 32 return to the original state. The robot flexible arm module 300 is formed by nesting at least 2 highly elastic concentric tubes 31, the length of the hollow part of each concentric tube 31 is sequentially increased from the outermost tube to the innermost tube, and the rigidity of the concentric tubes is sequentially decreased from outside to inside. The initial state of the concentric tubes is a straight tube, after the action of the tensile force of the thread rope of the thread driving module 100, the hollow parts of the concentric tubes become a bending state, and the concentric tubes interact with each other to finally generate a fixed bending shape; the resulting shape of the robot flexible arm module 300 will vary with the tension of the wire rope. The robot flexible arm module 300 in the embodiment shown in fig. 4a and 4b consists of 3 concentric tubes, including a concentric tube inner tube 301, a concentric tube middle tube 302, and a concentric tube outer tube 303. The rear ends of the 3 concentric tubes are fixed to the 3 suspended carrier plate modules 200, respectively. The linear driving servo motor 401 drives the driving synchronous wheel 402 to rotate, the driving synchronous wheel 402 drives the driven synchronous wheel 404 to rotate through the synchronous belt 403, the driven synchronous wheel 404 drives the nut sleeve 405 to rotate, the nut sleeve 405 drives the nut 406 to rotate, the nut 406 moves along the lead screw 506 to change the rotation into translation, and under the action of the nut sleeve 405, the bearing 408, the front retainer ring 407 and the rear retainer ring 408, the nut 406 drives the suspension support plate module 200 to realize the translation motion along the polish rod 505 and the lead screw 506; since the concentric tubes are fixed at their ends to the suspension carrier plate module 200, extension or retraction of the concentric tubes into the flexible arm supports 503 is achieved. After the concentric tube extends out of the flexible arm support 503, the initial straight line state is as shown in fig. 4a, the lengths of the concentric tube extending out of the flexible arm support 503 from outside to inside are sequentially increased, and the cords in the concentric tube arm are all in an unstressed state; the line drive servo motor 101 pulls in the cotton rope in the concentric tube arm through the rotation to exert different pulling forces for the cotton rope, because the cotton rope pulling force is different and the tensile property of each direction of the hollow part concentric tube is different, under the design of professional technicians, the specific design is carried out to concentric tube pipe wall and cotton rope pulling force, every concentric tube can be crooked into different arcs, simultaneously because the rigidity of concentric tube is different, generally design for reducing from outside to inside rigidity in proper order, interact between the concentric tube, thereby make flexible arm module 300 of robot finally show the tensile bending state that figure 4b shows.
Fig. 5 is a schematic diagram of a three-dimensional structure of a suspension carrier board module in an embodiment of the present invention, where the suspension carrier board module 200 in this embodiment includes an odd-numbered suspension carrier board 201, an even-numbered suspension carrier board 202, a concentric tube thin-wall fixing seat 203, a linear bearing 204, a stopper 205, a stopper fixing seat 206, a linear driving servo motor notch 207, a bearing notch 208, and a linear driving servo motor fixing seat 209, where the structures of the odd-numbered suspension carrier board 201 and the even-numbered suspension carrier board 202 are different, and one is that the positions of the linear driving servo motor notch 207 and the linear driving servo motor fixing seat 209 are opposite, the design mainly considers the length of the linear driving servo motor, thereby reducing the overall size of the; secondly, the concentric tube thin-wall fixing seat 203 is customized according to the diameter of the fixed concentric tube. The bearing notch 208 is used for installing a bearing 408, the linear driving servo motor fixing seat 209 is used for installing a linear driving servo motor 401, the concentric tube thin-wall fixing seat 203 is used for fixing a concentric tube 31 contained in the robot flexible arm module 300, the linear bearing 204 is used for installing a polished rod 505 in a matching manner, the stopper fixing seat 206 is used for fixing the stopper 205 to the suspension support plate module 200, and the stopper 205 can prevent parts from colliding and being damaged due to too close proximity of adjacent suspension support plate modules 200.
Fig. 6 is a schematic three-dimensional structure view of a linear driving module according to an embodiment of the present invention, fig. 7 is a sectional view of an assembly of the linear driving module according to an embodiment of the present invention, in this embodiment, the linear driving module 400 includes a linear driving servo motor 401, a driving synchronous wheel 402, a synchronous belt 403, a driven synchronous wheel 404, a nut sleeve 405, a nut 406, a back retainer 407, a bearing 408 and a front retainer 409, the output end of the linear driving servo motor 401 is connected to the driving synchronous wheel 402, the driving synchronous wheel 402 drives the driven synchronous wheel 404 to rotate through the synchronous belt 403, the nut 406 is installed in cooperation with the lead screw 506 for changing the selected load motion into a linear motion, the bearing 408 is fixedly installed on the suspension carrier board module 200 by the back retainer 407 and the front retainer 409, the nut sleeve 405 is used for connecting the driven synchronous wheel 404 and the nut 406 and is fixedly installed inside the bearing 408 through interference fit, thereby realizing that the linear driving servo motor 401 drives the suspension support plate module 200 to move along the polish rod 505.
According to the embodiment shown in fig. 4a and 4b, the flexible arm module 300 of the robot has a hollow inner cavity, and can be used to guide various surgical instruments to the lesion site for performing surgical operations according to the surgical requirements, such as a camera, a forceps, a scissors, etc., and can also be other surgical tools or devices as long as they can pass through the innermost concentric tube.
In a preferred embodiment, parameters such as the number of concentric tubes, inner and outer diameter parameters, length, and hollow shape can be purposefully optimized, and in order to meet surgical requirements, through the design of a professional, the number of concentric tubes included in the flexible arm module 300 of the robot can be changed by increasing or decreasing the number of the suspension carrier plate modules 200, so as to meet different minimally invasive surgical requirements.
Fig. 8 is a schematic diagram of a continuum robot system in an embodiment of the invention, which includes a motor driving device 600 and a system control device 700 in addition to the continuum robot body. The motor driving device 600 is used for driving the motors of the linear driving module 400 and the linear driving module 100 to move, and receiving feedback signals of the motors; the system control device 700 is mainly composed of a processor, a human-computer interaction interface, an input and output device, and the like.
The continuum robot for minimally invasive surgery provided by the invention has the advantages that the flexible arm module is smaller in appearance and higher in flexibility, the limitation of the constant initial curvature of each concentric tube of the traditional concentric tube robot is effectively avoided, the defect of larger size of the traditional line-driven robot is overcome, the replaceability of the flexible arm module of the robot is strong, and the precision of the minimally invasive surgery robot and the adaptability of complex surgery tasks are effectively improved.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. A continuum robot for minimally invasive surgery, characterized by: the robot flexible arm module comprises a line driving module, a suspension support plate module, a robot flexible arm module, a linear driving module and a robot support module, wherein the suspension support plate module is installed on the robot support module, the linear driving module and the line driving module are respectively installed on the suspension support plate module, the line driving module is connected with the robot flexible arm module and drives the robot flexible arm module to perform bending motion, the suspension support plate module is connected with the robot flexible arm module, the linear driving module drives the suspension support plate module to perform front-back motion, and the robot flexible arm module follows the suspension support plate module to perform front-back motion.
2. The continuum robot for minimally invasive surgery of claim 1, wherein: the flexible arm module of the robot comprises at least two high-elasticity concentric tubes which are nested with each other, the outer walls of the high-elasticity concentric tubes comprise at least 2 through holes, the through holes contain ropes, one ends of the ropes are connected with the front ends of the high-elasticity concentric tubes, the other ends of the ropes are connected with the line driving modules, the rear ends of the high-elasticity concentric tubes are fixed on the suspension support plate modules, the high-elasticity concentric tubes correspond to the suspension support plate modules one to one, different high-elasticity concentric tubes are correspondingly installed on different suspension support plate modules, each suspension support plate module is correspondingly provided with a linear driving module and a line driving module, and different high-elasticity concentric tubes are driven by different linear driving modules and line driving modules.
3. The continuum robot for minimally invasive surgery of claim 2, wherein: the front end of each high-elasticity concentric tube is provided with a hollowed-out part, the length of the hollowed-out part of each high-elasticity concentric tube is sequentially increased from the outermost tube to the innermost tube, and the rigidity of each high-elasticity concentric tube is sequentially decreased from the outermost tube to the innermost tube.
4. The continuum robot for minimally invasive surgery of claim 3, wherein: the high-elasticity concentric tube is made of nickel-titanium alloy or polycaprolactone, and when the flexible arm module of the robot is subjected to the pulling force of a cord in the tube wall, the high-elasticity concentric tube deforms, and the pulling force and the elastic deformation are different; after the pulling force of the thread rope is removed, the high-elasticity concentric tube is restored to the initial state.
5. The continuum robot for minimally invasive surgery of claim 3, wherein: the three high-elasticity concentric tubes are respectively an inner tube of the concentric tube, a middle tube of the concentric tube and an outer tube of the concentric tube which are nested with each other.
6. The continuum robot for minimally invasive surgery of claim 2, wherein: the line driving module comprises a line driving servo motor, a line driving servo motor support frame and a line winding column, the line driving servo motor is installed on the line driving servo motor support frame, the line driving servo motor support frame is fixed on the suspension support plate module, the line winding column is connected with the line driving servo motor, and a line of the robot flexible arm module is wound on the line winding column.
7. The continuum robot for minimally invasive surgery of claim 2, wherein: the robot support module comprises a rear support plate, a front support plate, a flexible arm support, a polished rod, a lead screw and a bottom plate, wherein the front support plate and the rear support plate are respectively and fixedly arranged on the bottom plate, the polished rod and the lead screw are respectively fixed between the front support plate and the rear support plate through horizontal bearing seats, the flexible arm support is fixed on the front support plate through the horizontal bearing seats, the polished rod, the lead screw and the bottom plate are parallel to each other and are perpendicular to the rear support plate and the front support plate, and a high-elasticity concentric pipe penetrates through the flexible arm support.
8. The continuum robot for minimally invasive surgery of claim 7, wherein: the number of the suspension support plate modules is at least 2, the odd number suspension support plate modules and the even number suspension support plate modules are arranged at intervals respectively, the odd number suspension support plate modules comprise odd number suspension support plates, the even number suspension support plate modules comprise even number suspension support plates, concentric tube thin-wall fixing seats, linear bearings, limiters, limiter fixing seats, linear driving servo motor notches, bearing notches and linear driving servo motor fixing seats are arranged on the odd number suspension support plates and the even number suspension support plates respectively, and the positions of the linear driving servo motor notches and the linear driving servo motor fixing seats on the odd number suspension support plates and the even number suspension support plates are opposite; the high-elasticity concentric tube is fixed on the concentric tube thin-wall fixing seat, the linear bearing is installed on the polished rod, the limiter is installed on the limiter fixing seat, and the limiter limits the safe movement range of the suspension support plate module.
9. The continuum robot for minimally invasive surgery of claim 8, wherein: the linear driving module comprises a linear driving servo motor, a driving synchronous wheel, a synchronous belt, a driven synchronous wheel, a nut sleeve, a nut, a back check ring, a bearing and a front check ring, the output end of the linear driving servo motor is connected with the driving synchronous wheel, the synchronous belt and the driven synchronous wheel form a belt transmission mechanism, the driven synchronous wheel is connected with the nut sleeve, the nut sleeve is connected with the nut, the nut is installed in a screw rod matching mode, the back check ring and the front check ring enable the bearing to be fixedly installed on a bearing notch of the suspended carrier plate module, the nut sleeve is fixedly installed on the inner side of the bearing in an interference fit mode, and the linear driving servo motor is installed on a linear driving servo motor fixing seat.
10. The continuum robot for minimally invasive surgery of claim 1, wherein: the continuum robot further comprises a motor driving device and a system control device, the system control device is connected with the motor driving device, and the motor driving device is respectively connected with the linear driving module and the linear driving module.
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| CN112536789A (en) * | 2020-12-02 | 2021-03-23 | 山东大学 | Rigid-flexible combined type outer limb mechanical arm and auxiliary operation device thereof |
| CN112826593A (en) * | 2021-01-07 | 2021-05-25 | 哈尔滨工业大学（深圳） | Continuum robot for narrow cavity surgery |
| CN113017837A (en) * | 2021-03-16 | 2021-06-25 | 山东大学 | Concentric tube surgical mechanism and ophthalmic surgical device |
| CN113040917A (en) * | 2021-03-16 | 2021-06-29 | 山东大学 | Concentric tube surgical robot for natural orifice |
| CN113081279A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨工业大学（深圳） | Multi-arm concentric tube robot for minimally invasive surgery |
| CN113081280A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨工业大学（深圳） | Multi-arm robot for single-hole minimally invasive surgery |
| CN113243947A (en) * | 2021-05-19 | 2021-08-13 | 中国科学院自动化研究所 | Bronchus intervention continuum robot for small nodules of lung |
| CN113303914A (en) * | 2021-06-23 | 2021-08-27 | 山东大学 | Minimally invasive surgery robot for performing skull base tumor resection through nasal cavity |
| CN114587600A (en) * | 2022-02-22 | 2022-06-07 | 哈尔滨工业大学（深圳） | Robot for minimally invasive surgery |
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