CN112826593B - Continuum robot for narrow cavity surgery - Google Patents
Continuum robot for narrow cavity surgery Download PDFInfo
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- CN112826593B CN112826593B CN202110015358.1A CN202110015358A CN112826593B CN 112826593 B CN112826593 B CN 112826593B CN 202110015358 A CN202110015358 A CN 202110015358A CN 112826593 B CN112826593 B CN 112826593B
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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
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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Abstract
The invention provides a continuum robot for narrow cavity surgery, which comprises a flexible arm, an inner arm driving device and an outer arm driving device, wherein the flexible arm consists of an inner arm and an outer arm; the inner arm driving device comprises an inner arm line driving mechanism, an inner arm rotation driving mechanism and an inner arm linear motion driving mechanism, wherein the inner arm line driving mechanism can drive the inner arm to bend in space, the inner arm rotation driving mechanism can drive the inner arm to axially rotate, and the inner arm linear motion driving mechanism can drive the inner arm to linearly move along the axis direction of the inner arm; the outer arm driving device comprises an outer arm line driving mechanism and an outer arm linear motion driving mechanism, the outer arm line driving mechanism can drive the outer arm to bend in space, and the outer arm linear motion driving mechanism can drive the outer arm to do linear motion along the axis direction of the outer arm; the inner arm is embedded in the outer arm, the inner arm can extend out of and retract back from the outer arm, and the rigidity of the outer arm is higher than that of the inner arm. The invention has the advantage of strong movement flexibility.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a continuum robot for a narrow cavity surgery.
Background
In recent years, minimally invasive surgery has rapidly become widespread in various fields of surgery due to its advantages of small incision, light wound, less postoperative pain, fast recovery time, less complications, and the like, and has gradually become the leading type of surgical operation.
The problems of poor complicated 3D visual field, limited activity of an end effector, vibration of hands of a surgeon and the like in a narrow operation space still exist in the conventional narrow cavity operation, so that the operation effect is limited, and the robot technology is introduced into the medical field.
A wire-driven robot and a concentric tube robot, which are typical representatives of surgical robots, have been widely used in neurosurgery, urology, and intracardiac surgeries.
The line-driven robot is connected in series by a plurality of hollow units, and adjusts the position and posture of the end of the robot by controlling the lengths of drive lines uniformly arranged in the circumferential direction. The traditional line-driven robot has two degrees of freedom in bending direction and one degree of freedom in moving direction, and usually adopts a structure of overlapping a plurality of line-driven robots in series in order to increase the degree of freedom of robot motion, and the robot under the structure has the defects of low rigidity, uncontrollable length of each section of continuum and the like.
The concentric tube robot is formed by mutually nesting two or more pre-bent high-elasticity concentric tubes. Each concentric tube has two degrees of freedom of rotation and translation, and the robot tip reaches a target position by controlling the amount of telescoping and rotation of each concentric tube. However, since the curvature of the pre-bending of the concentric tube in the robot is constant, the robot has limited reachable space and poor motion flexibility, and the pre-bending rate of the concentric tube changes with the use time and frequency, which results in low precision of the operation.
Based on this, the invention provides a continuum robot for narrow lumen surgery.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a continuum robot for narrow cavity surgery, which has the advantage of strong motion flexibility.
In order to achieve the above object, the present invention provides a continuum robot for narrow lumen surgery, comprising a flexible arm consisting of at least an inner arm and an outer arm, an inner arm driving means and an outer arm driving means;
the inner arm driving device comprises an inner arm line driving mechanism, an inner arm rotation driving mechanism and an inner arm linear motion driving mechanism, wherein the inner arm line driving mechanism can drive the inner arm to bend in space, the inner arm rotation driving mechanism can drive the inner arm to axially rotate, and the inner arm linear motion driving mechanism can drive the inner arm to linearly move along the axis direction of the inner arm;
the outer arm driving device comprises an outer arm line driving mechanism and an outer arm linear motion driving mechanism, the outer arm line driving mechanism can drive the outer arm to bend in space, and the outer arm linear motion driving mechanism can drive the outer arm to do linear motion along the axis direction of the outer arm;
the inner arm is embedded in the outer arm, the inner arm can extend out of and retract back from the outer arm, the rigidity of the outer arm is larger than that of the inner arm, the curvature of the inner arm positioned in the outer arm is controlled and adjusted through the outer arm line driving mechanism, and the curvature of the inner arm positioned outside the outer arm is controlled and adjusted through the inner arm line driving mechanism.
In the technical scheme of the invention, the inner arm and the outer arm which are nested mutually form the flexible arm together, the bending, linear movement and rotary movement of the inner arm in the space can be realized through the inner arm driving device, the bending and linear movement of the outer arm in the space can be realized through the outer arm driving device, and meanwhile, the relative position between the inner arm and the outer arm can be changed to adjust the bending length and the angle of the extending part of the inner arm.
Further, the outer arm as a dominant stiffness arm determines the curvature of the partial inner arm overlapping with the outer arm, and is controlled and adjusted by the outer arm wire drive mechanism, and the curvature of the partial inner arm protruding from the inside of the outer arm is controlled and adjusted by the inner arm wire drive mechanism.
According to another embodiment of the invention, the robot further comprises a fixed seat, an inner arm support plate and an outer arm support plate, the inner arm linear motion driving mechanism is arranged on the fixed seat and can drive the inner arm support plate to extend or retract on the fixed seat, and the outer arm linear motion driving mechanism is arranged on the fixed seat and can drive the outer arm support plate to extend or retract on the fixed seat.
According to another embodiment of the invention, the inner arm supporting plate is positioned at one side above the fixed seat and is a U-shaped plate with an upward opening; the outer arm supporting plate is positioned on one side below the fixed seat and is a U-shaped plate with a downward opening.
According to another embodiment of the present invention, the inner arm linear motion driving mechanism is a screw type driving mechanism, and the outer arm linear motion driving mechanism is a screw type driving mechanism.
The screw rod type driving mechanism can be driven by a motor or a steering engine.
According to another specific embodiment of the present invention, the inner arm driving mechanism includes two rotating side plates disposed opposite to each other and three or more (including three) inner arm driving units, each inner arm driving unit includes an inner arm driving motor, an inner arm driving lead screw, an inner arm driving nut connector, an inner arm driving wire, and an inner arm driving wire fixing frame, the inner arm driving motor is disposed on one of the rotating side plates through a motor base, the inner arm driving lead screw is connected to the inner arm driving motor, the inner arm driving wire fixing frame is disposed on the inner arm driving lead screw through the inner arm driving nut connector, one end of the inner arm driving wire is connected to the inner arm driving wire fixing frame, and the other end of the inner arm driving wire is connected to the inner arm.
According to another specific embodiment of the invention, the inner arm supporting plate is provided with a first through hole for penetrating the inner arm driving wire, and the plurality of groups of inner arm wire driving units are distributed in an array or in a relative manner by taking the first through hole as a center.
According to another embodiment of the present invention, the inner arm rotation driving mechanism includes a bearing flange seat, a flange connection seat, a rotation driving shaft, a transmission assembly and an inner arm rotation driving motor, wherein the bearing flange seat is disposed on the inner arm support plate, one end of the rotation driving shaft is rotatably disposed on the bearing flange seat, the other end of the rotation driving shaft is connected to the other rotation side plate through the flange connection seat, the inner arm rotation driving motor is disposed on the inner arm support plate, and the rotation driving shaft and an output shaft of the inner arm rotation driving motor are connected through the transmission assembly and synchronously revolve.
Wherein the transmission assembly includes, but is not limited to, a timing belt assembly, a gear assembly.
According to another embodiment of the present invention, the outer arm driving mechanism includes three or more sets of outer arm driving units, each of the outer arm driving units includes an outer arm driving motor, an outer arm driving lead screw, an outer arm driving nut connector, an outer arm driving wire, and an outer arm driving wire holder, the outer arm driving motor is disposed on the outer arm support plate through a motor base, the outer arm driving lead screw is connected to the outer arm driving motor, the outer arm driving wire holder is disposed on the outer arm driving lead screw through the outer arm driving nut connector, one end of the outer arm driving wire is connected to the outer arm driving wire holder, and the other end of the outer arm driving wire is connected to the outer arm.
According to another embodiment of the invention, a plurality of second through holes for the penetration of the outer arm driving wire are arranged on the outer arm supporting plate, and the plurality of second through holes are linearly distributed;
an outer arm driving wire guide plate is arranged on the outer arm support plate, and a guide pulley block for guiding and steering the outer arm driving wire and a third through hole communicated with the inner part of the outer arm are arranged on the outer arm driving wire guide plate;
and the outer arm driving wires penetrating out of the second through holes pass through the corresponding guide pulley blocks, penetrate out of the third through holes and are connected with the outer arms.
According to another embodiment of the invention, the outer arm comprises a plurality of outer arm subunits hinged to each other, and the inner arm comprises a plurality of inner arm subunits hinged to each other, wherein the outer arm subunits and the inner arm subunits are respectively provided with guide holes for driving the wire to pass through.
The invention has the following beneficial effects:
1. the flexible arm is formed by the inner arm and the outer arm which are nested with each other, the inner arm and the outer arm are respectively driven, and compared with a traditional multi-arm wire-driven robot, the multi-arm wire-driven robot is smaller in size and smaller in operation wound on the premise of meeting the working freedom degree.
2. The inner arm can rotate, move and bend in space, and the outer arm can move and bend in space.
3. Each movement can be independently controlled, compared with a concentric tube robot with a pre-bending rate, the robot has the advantage that the curvature of the flexible arm can be adjusted, the bending length and the bending angle of the extending part of the inner arm can be adjusted by changing the relative position between the inner arm and the outer arm, and the effective working space of the robot tail end execution device is larger.
4. The control structure of the inner arm and the control structure of the outer arm are preferably arranged up and down in a symmetrical mode, so that the length of the non-effective working part of the inner arm is shortened, the influence on the integral rigidity of the inner arm is avoided, and meanwhile, the control length of the driving wire is shortened to reduce unnecessary friction.
5. After the tail end execution point reaches the target position, the position and the posture of the inner arm can be kept unchanged in the process that the inner arm rotates around the axis of the inner arm, and the method can be realized by the cooperative control of the inner arm line driving mechanism and the inner arm rotation driving mechanism; at the moment, the inner arm can not form a sweeping phenomenon, so that the injury and the influence on surrounding tissues can be reduced, and the operation can be performed in a small space.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a multi-arm continuum of the present invention;
FIG. 2 is a schematic view of the inner arm driving apparatus according to the present invention;
FIG. 3 is a schematic view of the two rotating sides of the inner arm wire driving mechanism according to the present invention;
FIG. 4 is a schematic view of the inner arm rotation drive mechanism of the present invention;
FIG. 5 is a schematic structural view of the inner arm linear motion drive mechanism of the present invention;
FIG. 6 is a schematic structural view of the outer arm wire drive mechanism of the present invention;
FIG. 7 is a schematic view of the structure of the outer arm of the present invention at the drive line guide plate;
FIG. 8 is a schematic view of the construction of the outer arm of the present invention;
FIG. 9 is a schematic view of the construction of the inner arm of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Example 1
The present embodiment provides a continuum robot for narrow lumen surgery, as shown in fig. 1-9, comprising an inner arm 100, an outer arm 200, an inner arm driving device 300, an outer arm driving device 400, a fixing base 500, an inner arm supporting plate 600 and an outer arm supporting plate 700.
Referring to fig. 1, 8-9, the inner arm 100 and the outer arm 200 are both hollow, elongated flexible structures, the inner arm 100 includes a plurality of inner arm subunits hinged to each other to form a flexible bending effect, the outer arm 200 includes a plurality of outer arm subunits hinged to each other to form a flexible bending effect, the outer diameter of the inner arm 100 is smaller than the inner diameter of the outer arm 200 so that the inner arm 100 can be disposed inside the outer arm 200 in a nested manner, and the inner arm 100 can be extended and retracted from the outer arm 200.
The inner arm driving device 300 in this embodiment includes an inner arm line driving mechanism 310, an inner arm rotation driving mechanism 320, and an inner arm linear motion driving mechanism 330, the inner arm line driving mechanism 310 can drive the inner arm 100 to bend in space, as shown in fig. 2, the inner arm rotation driving mechanism 320 can drive the inner arm 100 to axially rotate, and the inner arm linear motion driving mechanism 330 can drive the inner arm 100 to linearly move along the axial direction thereof;
the outer arm driving device 400 in this embodiment includes an outer arm linear driving mechanism 410 and an outer arm linear movement driving mechanism 420, the outer arm linear driving mechanism 410 being capable of driving the outer arm 200 to perform bending in space, and the outer arm linear movement driving mechanism 420 being capable of driving the outer arm 200 to perform linear movement in its axial direction.
Wherein the inner arm linear motion driving mechanism 330 is disposed on the fixing base 500 and can drive the inner arm supporting plate 600 to perform linear motion on the fixing base 500, and the outer arm linear motion driving mechanism 420 is disposed on the fixing base 500 and can drive the outer arm supporting plate 700 to perform linear motion on the fixing base 500.
Specifically, the inner arm supporting plate 600 is located at one side above the fixing base 500, and is a U-shaped plate with an upward opening; the outer arm supporting plate 700 is located at one side below the fixing base 500 and is a U-shaped plate with an opening facing downward.
Further, the inner arm linear motion driving mechanism 330 is a screw type driving mechanism, and the outer arm linear motion driving mechanism 420 is a screw type driving mechanism, as shown in fig. 5, a specific structure form is described in detail below by taking the inner arm linear motion driving mechanism 330 as an example:
the inner arm linear motion driving mechanism 330 includes a linear driving step motor 331, a step motor base 332, a ball screw base 333, a linear guide 334, a linear guide slider 335, a linear driving slider 336, a linear driving ball screw nut 337, and a linear driving ball screw 338, wherein the linear driving step motor 331 is disposed on the fixing base 500 through the step motor base 332, the linear driving ball screw 338 is mounted on the fixing base 500 through the ball screw base 333, the linear driving ball screw 338 is disposed at an output end of the linear driving step motor 331, the linear driving ball screw 338 nut 337 is engaged with the linear driving ball screw 338, the two linear guide 334 are parallel to the linear driving ball screw 338 and located at both sides of the linear driving ball screw 338, the linear driving slider 336 is assembled on the linear driving ball screw nut 337 and is assembled with the inner arm support plate 600, the linear guide slider 335 is mounted on the linear guide 334 and is mounted in connection with the inner arm support plate 600 to provide a more stable sliding support.
Correspondingly, two mounting grooves 510 may be disposed on the front and back sides of the fixing base 500 to mount the components of the inner arm linear motion driving mechanism 330 and the outer arm linear motion driving mechanism 420, respectively, in a staggered arrangement to reduce the overall space size.
The inner arm line driving mechanism 310 is disposed on the inner arm supporting plate 600, as shown in fig. 2, and comprises a left rotating side plate 319a and a right rotating side plate 319b disposed opposite to each other, and four sets of inner arm line driving units cooperatively controlling to realize bending in the space of the inner arm 100, wherein the inner arm line driving unit comprises an inner arm line driving motor 311, an inner arm line driving lead screw 312, an inner arm line driving nut connector 313, an inner arm driving line 314, and an inner arm driving line fixing frame 315, the inner arm line driving motor 311 is disposed on the right rotating side plate 319b through a motor base 316, the inner arm line driving lead screw 312 is connected to the inner arm line driving motor 311, the inner arm driving line fixing frame 315 is disposed on the inner arm line driving lead screw 312 through the inner arm line driving nut connector 313, one end of the inner arm driving line 314 is connected to the inner arm driving line fixing frame 315, each inner arm subunit has a plurality of first guiding holes, as shown in fig. 9, the other end of the inner arm driving wire 314 passes through the corresponding first guide holes of the inner arm subunits in sequence and is connected to the farthest inner arm subunit on the inner arm 100.
In addition, the inner arm line driving unit may further include an inner arm line driving guide bar 317 and an inner arm line driving slider 318, wherein the inner arm line driving guide bar 317 is parallel to the inner arm line driving lead screw 312, and the inner arm line driving slider 318 is disposed on the inner arm line driving guide bar 317 and is fixedly connected to the inner arm line driving nut connector 313 so that the sliding process of the inner arm line driving nut connector 313 is more stable.
As shown in fig. 3, the left rotating side plate 319a and the right rotating side plate 319b are fixed by a guide bar 317.
The inner arm support plate 600 is provided with a first through hole 610 for the inner arm driving wire 314 to pass through, and preferably four groups of inner arm wire driving units are distributed in an array with the first through hole 610 as the center.
The bending in the space of the inner arm 100 is achieved by the cooperation of the respective inner arm wire drive units.
The inner arm rotation driving mechanism 320 includes a bearing flange seat 321, a flange connection seat 322, a rotation driving shaft 324, a transmission assembly 325, and an inner arm rotation driving motor 326, as shown in fig. 4, the bearing flange seat 321 is disposed on the inner arm support plate 600, one end of the rotation driving shaft 324 is rotatably connected to the bearing flange seat 321, the other end of the rotation driving shaft 324 passes through the flange connection seat 322 and the right rotation side plate 319b, the inner arm rotation driving motor 326 is disposed on the inner arm support plate 600, and the rotation driving shaft 324 and the output shaft 323 of the inner arm rotation driving motor 326 are connected through the transmission assembly 325 and synchronously rotate.
As shown in fig. 4, the flange coupling seat 322 is preferably prefabricated and the rotary driving shaft 324 is prefabricated as a single structure, that is, the shaft end of the rotary driving shaft 324 is formed into a flange shape to facilitate the coupling.
Wherein the first through-hole 610 preferably extends through the rotation drive shaft 324 out of the inner arm support plate 600.
A rotation support shaft 319c may be further disposed between the left rotation side plate 319a and the inner arm support plate 600 to maintain stability during rotation, and particularly, the rotation support shaft 319c is coaxial with the rotation drive shaft 324.
The outer arm line driving mechanism 410 is disposed on the outer arm support plate 700, the outer arm support plate 700 can be driven by the outer arm linear motion driving mechanism 420 disposed on the fixing base 500, as shown in fig. 5, the outer arm line driving mechanism 410 includes four sets of outer arm line driving units, the four sets of outer arm line driving units cooperatively control to realize bending in the space of the outer arm 200, wherein the four sets of outer arm line driving units are distributed in a linear shape to save space, the outer arm line driving unit includes an outer arm line driving motor 411, an outer arm line driving screw 412, an outer arm line driving nut connector 413, an outer arm driving line 414 and an outer arm driving line fixing frame 415, the outer arm line driving motor 411 is disposed on the outer arm support plate 700 through a motor base 416, the outer arm line driving screw 412 is connected with the outer arm line driving motor 411, the outer arm fixing frame driving line 415 is disposed on the outer arm line driving screw 412 through the outer arm line driving nut connector 413, one end of the outer arm driving wire 414 is connected to the outer arm driving wire fixing frame 415, and each outer arm subunit is provided with a plurality of second guiding holes, as shown in fig. 8, and the other end of the outer arm driving wire 414 sequentially passes through the corresponding second guiding holes of the outer arm subunits and is connected to the outermost outer arm subunit on the outer arm 200.
In addition, the outer arm wire driving unit may further include an outer arm wire driving guide 417 and an outer arm wire driving slider 418, wherein the outer arm wire driving guide 417 is parallel to the outer arm wire driving lead screw 412, and the outer arm wire driving slider 418 is disposed on the outer arm wire driving guide 417 and is fixedly connected to the outer arm wire driving nut connector 413 so as to make the sliding process of the outer arm wire driving nut connector 413 more smooth.
Specifically, a plurality of second through holes 710 for the outer arm driving wires 414 to pass through are arranged on the outer arm supporting plate 700, and the plurality of second through holes 710 are linearly distributed;
an outer arm driving wire guide plate 720 is arranged on the outer arm support plate 700, and a guide pulley block 721 for guiding and steering the outer arm driving wire 414 and a third through hole 722 communicated with the inside of the outer arm 200 are arranged on the outer arm driving wire guide plate 720;
the outer arm driving wire 414 passing through the plurality of second through holes 710 passes through the corresponding guide pulley set 721, passes through the third through hole 722 and is connected to the outer arm 200.
Wherein each guide pulley set 721 has three pulleys to provide good guidance.
The inner arm 100 in the embodiment can rotate, move and bend in space, the outer arm 200 can move and bend in space, and the multi-freedom-degree dynamic system is a multi-freedom-degree dynamic system, has more degrees of freedom and stronger motion flexibility compared with a traditional single-section line-driven robot, can rotate and move relative to the outer arm and can adjust the length and the rotation angle of the extending part of the inner arm compared with a multi-section line-driven robot with multiple series-superposition lines, and provides a larger effective working space for a tail-end executing device.
In addition, after the actuator at the tail end of the inner arm in the embodiment reaches the target position, the position and the posture of the inner arm can be kept unchanged in the process that the inner arm rotates around the axis of the actuator, so that the operation in a small-range space can be performed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (9)
1. A continuum robot for narrow lumen surgery comprises a flexible arm consisting of at least an inner arm and an outer arm, an inner arm driving device and an outer arm driving device;
the outer arm comprises a plurality of outer arm subunits which are hinged with each other, the inner arm comprises a plurality of inner arm subunits which are hinged with each other, and guide holes for driving wires to pass through are respectively formed in the outer arm subunits and the inner arm subunits;
the inner arm driving device comprises an inner arm line driving mechanism, an inner arm rotation driving mechanism and an inner arm linear motion driving mechanism, the inner arm line driving mechanism can drive the inner arm to bend in space, the inner arm rotation driving mechanism can drive the inner arm to axially rotate, and the inner arm linear motion driving mechanism can drive the inner arm to linearly move along the axis direction of the inner arm;
the outer arm driving device comprises an outer arm line driving mechanism and an outer arm linear motion driving mechanism, the outer arm line driving mechanism can drive the outer arm to bend in space, and the outer arm linear motion driving mechanism can drive the outer arm to move linearly along the axis direction of the outer arm;
the inner arm is embedded in the outer arm, the inner arm can extend out of and retract back from the outer arm, the rigidity of the outer arm is larger than that of the inner arm, the curvature of the inner arm positioned in the outer arm is controlled and adjusted through the outer arm wire driving mechanism, and the curvature of the inner arm positioned outside the outer arm is controlled and adjusted through the inner arm wire driving mechanism;
the position and the posture of the inner arm are kept unchanged in the process that the inner arm rotates around the axis of the inner arm through the cooperative control of the inner arm line driving mechanism and the inner arm rotation driving mechanism.
2. The continuum robot for narrow lumen surgery of claim 1 further comprising a fixed base, an inner arm support plate and an outer arm support plate, the inner arm linear motion drive mechanism being disposed on the fixed base and being capable of driving the inner arm support plate to extend or retract on the fixed base, the outer arm linear motion drive mechanism being disposed on the fixed base and being capable of driving the outer arm support plate to extend or retract on the fixed base.
3. The continuum robot for narrow lumen procedures of claim 2 wherein the inner arm support plate is located at the upper side of the fixed base and is a U-shaped plate with an upward opening; the outer arm supporting plate is positioned on one side below the fixed seat and is a U-shaped plate with a downward opening.
4. The continuum robot for narrow lumen procedures of claim 2 wherein the inner arm linear motion drive is a lead screw drive and the outer arm linear motion drive is a lead screw drive.
5. The continuum robot for narrow lumen surgery of claim 2, wherein the inner arm wire driving mechanism comprises two rotating side plates arranged oppositely and more than three groups of inner arm wire driving units, the inner arm wire driving unit comprises an inner arm wire driving motor, an inner arm wire driving screw, an inner arm wire driving nut connector, an inner arm driving wire and an inner arm driving wire fixing frame, the inner arm wire driving motor is arranged on one of the rotating side plates through a motor base, the inner arm wire driving screw is connected with the inner arm wire driving motor, the inner arm driving wire fixing frame is arranged on the inner arm wire driving screw through the inner arm wire driving nut connector, one end of the inner arm driving wire is connected to the inner arm fixing frame, and the other end of the inner arm driving wire is connected to the inner arm.
6. The continuum robot for narrow lumen surgery of claim 5, wherein a first through hole for the inner arm driving wire to pass through is arranged on the inner arm supporting plate, and the plurality of groups of the inner arm wire driving units are distributed in an array or in an opposite distribution by taking the first through hole as a center.
7. The continuum robot for narrow channel surgery of claim 5, wherein the inner arm rotation driving mechanism comprises a bearing flange seat, a flange connection seat, a rotation driving shaft, a transmission assembly and an inner arm rotation driving motor, wherein the bearing flange seat is disposed on the inner arm support plate, one end of the rotation driving shaft is rotatably disposed on the bearing flange seat, the other end of the rotation driving shaft is connected with the other rotation side plate through the flange connection seat, the inner arm rotation driving motor is disposed on the inner arm support plate, and the rotation driving shaft and an output shaft of the inner arm rotation driving motor are connected through the transmission assembly and synchronously revolve.
8. The continuum robot for narrow lumen surgery of claim 1, wherein the outer arm wire drive mechanism comprises more than three sets of outer arm wire drive units, the outer arm wire drive units comprise outer arm wire drive motors, outer arm wire drive screws, outer arm wire drive nut connectors, outer arm drive wires and outer arm drive wire holders, the outer arm wire drive motors are arranged on the outer arm support plates through motor bases, the outer arm wire drive screws are connected with the outer arm wire drive motors, the outer arm drive wire holders are arranged on the outer arm wire drive screws through the outer arm wire drive nut connectors, one ends of the outer arm drive wires are connected to the outer arm drive wire holders, and the other ends of the outer arm drive wires are connected to the outer arms.
9. The continuum robot for narrow lumen surgery of claim 8, wherein a plurality of second through holes are provided on the outer arm support plate for the outer arm driving wires to pass through, and the plurality of second through holes are linearly distributed;
an outer arm driving wire guide plate is arranged on the outer arm support plate, and a guide pulley block used for guiding and steering the outer arm driving wire and a third through hole communicated with the inner part of the outer arm are arranged on the outer arm driving wire guide plate;
the outer arm driving wires penetrating out of the second through holes pass through the guide pulley blocks corresponding to the outer arm driving wires, penetrate out of the third through holes and are connected with the outer arms.
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| CN202110015358.1A CN112826593B (en) | 2021-01-07 | 2021-01-07 | Continuum robot for narrow cavity surgery |
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| CN202110015358.1A CN112826593B (en) | 2021-01-07 | 2021-01-07 | Continuum robot for narrow cavity surgery |
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| CN113208737B (en) * | 2021-06-08 | 2023-04-28 | 山东大学 | Limited continuum for single-hole surgical robot |
| CN113598949A (en) * | 2021-07-02 | 2021-11-05 | 北京理工大学 | Flexible surgical robot for natural cavity of human body |
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| CN101530347A (en) * | 2008-03-12 | 2009-09-16 | 普罗苏吉科斯有限公司 | Telescopic support |
| CN108127649A (en) * | 2017-12-20 | 2018-06-08 | 重庆同朋科技有限公司 | A kind of excavator cutter device |
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