CN113208737A - Restricted continuum capable of being used for single-hole surgical robot - Google Patents
Restricted continuum capable of being used for single-hole surgical robot Download PDFInfo
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- CN113208737A CN113208737A CN202110638628.4A CN202110638628A CN113208737A CN 113208737 A CN113208737 A CN 113208737A CN 202110638628 A CN202110638628 A CN 202110638628A CN 113208737 A CN113208737 A CN 113208737A
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses a limited continuum capable of being used for a single-hole surgical robot, which solves the problem that the working space of the surgical robot in the prior art is limited, has the beneficial effects of ensuring the working space of the robot and avoiding interference with other instruments, and has the following specific scheme: a restricted continuum capable of being used for a single-hole surgical robot comprises at least two sections, wherein each section comprises a plurality of sequentially and movably connected structural bodies, the end part of one section of flexible arm is fixedly connected with a fixed platform, a group of driving wires penetrate through each section of flexible arm, each group of driving wires are connected with the structural bodies of the corresponding section, and the flexible arms are driven to move through the movement of the driving wires; the driving mechanism is connected with at least one group of driving wires and is used for driving at least one section of flexible arm to move; and the wire tightening mechanism is connected with a driving wire in at least one section of flexible arm close to the fixed table and is used for driving the corresponding section of flexible arm close to the fixed table to move.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a limited continuum capable of being used for a single-hole surgical robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In the process of operating a patient by a doctor, the surgical robot is more and more widely used. The surgical robot has high efficiency, small incision and stable operation, and the requirements are difficult to meet by common routine operations.
Because the traditional surgical robot is composed of rigid joint connecting rods, the motion flexibility is poor, the space occupation is large, the surgical operation can not be freely and flexibly carried out in the natural cavity or minimally invasive incision of the human body, and the continuous surgical robot with good bending capability becomes an important research direction. Due to the narrow interior and complex structure of a natural orifice or a minimally invasive incision of a human body, the traditional rigid connecting rod actuator has limited motion capability in space, is difficult to effectively enter a target focus of a patient, and is difficult to meet the possibility that a surgical robot system performs surgical operation in a narrow nonlinear environment. Because the traditional surgical robot can not expand enough operating space, the phenomena of incapability of normally expanding and mutual collision caused by mutual interference between instruments during working are easy to occur, and the traditional surgical robot system needs to adopt a multi-section continuum or a rigid structure with complex series connection, has a complex structure, increases the volume of the surgical robot and is not beneficial to miniaturization.
Therefore, the inventor finds that the problem that the operation space of the traditional surgical robot system is limited is not solved well, and the phenomenon that the operation space is insufficient during operation still exists.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a limited continuum capable of being used for a single-hole surgical robot, wherein the limited continuum can automatically expand an operation space, and the effects of avoiding the phenomena that the instruments are interfered with each other, cannot be normally expanded and collide with each other during working can be achieved. At the same time, the continuum simplifies the mechanical structure for unfolding the operating triangles, reducing the complexity and cost of operation to a certain extent.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a constrained continuum usable with a single-hole surgical robot, comprising:
the flexible arm comprises at least two sections, two adjacent sections of flexible arms are connected, each section comprises a plurality of structural bodies which are sequentially and movably connected, the end part of one section of flexible arm is fixedly connected with the fixed platform, a group of driving wires penetrate through the interior of each section of flexible arm, each group of driving wires is connected with the structural body of the corresponding section, and the flexible arm is driven to move through the driving wires;
the driving mechanism is connected with at least one group of driving wires and is used for driving at least one section of flexible arm to move;
and the wire tightening mechanism is connected with a driving wire in at least one section of flexible arm close to the fixed table and is used for driving the corresponding section of flexible arm close to the fixed table to move.
The flexible arm of the limited continuum comprises a plurality of sections, each section is controlled by a group of driving wires, and the driving wires drive the flexible arms to act by the driving mechanisms and the wire-tightening mechanisms respectively, so that the flexible arms can freely expand a working space required by an operation, the surgical robot system is ensured to flexibly perform the operation, the expansion mode of the operation space of the single-hole robot is improved, a complex mechanical structure is avoided, and the cost and the volume of an actuator are reduced; on the basis of completely meeting the operation requirements, the operation steps are simplified, the operation difficulty is reduced, and the operation time is saved.
The limited continuum capable of being used for the single-hole surgical robot further comprises a feeding mechanism, and the feeding mechanism is connected with the driving mechanism to drive the flexible arm to realize linear motion;
the fixed station is fixedly connected with the fixed end of the driving mechanism, and the wire tightening mechanism part is supported by the fixed end of the feeding mechanism, so that the driving mechanism can enable the fixed station to move simultaneously when moving along with the feeding mechanism.
The constrained continuum for the single-hole surgical robot comprises two connected sections, wherein one end of one flexible arm is connected with the fixed station through a connecting pipe, and the connecting pipe is usually a rigid pipe;
the driving mechanism is connected with a first group of driving wires, the wire tightening mechanism is connected with a second group of driving wires, the two groups of driving wires sequentially penetrate through the fixed table and the connecting pipe, and each driving wire in the first group of driving wires penetrates through one section of flexible arm close to the connecting pipe and then is connected with the other section of the flexible arm.
The drive mechanism comprises a plurality of linear push mechanisms, each linear push mechanism is connected with one drive line in the first group of drive lines, the linear push mechanisms drive the drive lines in the first group of drive lines to move, and the flexible arms are driven to move through different actions of the drive lines.
The limited continuum capable of being used for the single-hole surgical robot is characterized in that one end of each driving wire in the first group of driving wires is connected with the wire tightening knob, the other end of each driving wire in the first group of driving wires is connected to the flexible arm by sequentially bypassing the plurality of guide wheels, and the wire tightening knob is rotated to tighten the driving wires before use;
the tightening knob is fixed on the bottom plate, and the bottom plate is used for supporting the linear pushing mechanism.
The constrained continuum used for the single-hole surgical robot is characterized in that a plurality of driving lines are arranged in the first group of driving lines, the linear pushing mechanism comprises a plurality of positions, and each linear pushing mechanism is connected with one driving line;
when the linear pushing mechanism is arranged at the position 4, the plane where the central axis of the linear pushing mechanism at the position 4 is located forms a cross plane, and thus the four driving wires are arranged up and down and left and right to provide deflection and pitching freedom degrees for the flexible arm.
The drive mechanism is supported by a first plate and a second plate which are oppositely arranged, a side plate is arranged between the first plate and the second plate, the first plate and the second plate are arranged up and down, the side plate is respectively connected with the first plate and the second plate, and a bottom plate is supported by the first plate, the second plate and the side plate;
the second plate is connected with the feeding mechanism and the fixed table.
The limited continuum capable of being used for the single-hole surgical robot comprises a screw feeding mechanism, wherein a sliding table of the screw feeding mechanism is connected with a driving mechanism;
one end of the feeding mechanism is provided with a connecting plate, and at least one side of the connecting plate is fixed with a wire tightening knob fixing platform.
The constrained continuum capable of being used for the single-hole surgical robot comprises a wire tensioning knob for fixing one end of the second group of driving wires, wherein the wire tensioning knob is fixed on a wire tensioning knob fixing platform;
the other end of the second group of driving wires rounds a plurality of guide wheels, penetrates through the fixed table and then is connected with the flexible arm, and part of the guide wheels are fixed on the fixed table;
the second group of driving wires are provided with a plurality of driving wires, specifically 4 driving wires, the plurality of driving wires are divided into two groups, one end of each driving wire of each group of driving wires is fixed on a corresponding wire tightening knob, the tightness degree of each driving wire in the second group of driving wires can be adjusted through the wire tightening knobs, when the feeding mechanism drives the driving mechanism to do linear motion, guide wheels arranged on the fixed table move together, the second group of driving wires are arranged around the guide wheels, the tensioning of the second group of driving wires can be driven, and then the flexible arm is driven to be unfolded into an S shape, so that the operation space can be conveniently unfolded.
The limited continuum capable of being used for the single-hole surgical robot comprises a lead screw, wherein the lead screw is provided with a sliding table lead screw nut, a guide wheel is installed on the sliding table lead screw nut, a stringing knob is fixed on a stringing fixing plate, the stringing fixing plate is provided with the guide wheel, and a guide wheel fixing block or a guide wheel fixing table is arranged close to the fixing table;
each driving wire in part of the first group of driving wires sequentially bypasses a guide wheel arranged on the wire tightening fixing plate, a guide wheel arranged on the guide wheel fixing block, a guide wheel at the position of a sliding table lead screw nut and a guide wheel arranged on the guide wheel fixing table, and the height and the movement track of the driving wires can be effectively restrained through the arrangement of a plurality of guide wheels, so that the wire winding and unwinding accuracy is improved;
and part of the driving wires in the first group of driving wires sequentially bypass the guide wheel arranged on the wire tightening fixing plate, the guide wheel arranged on the guide wheel fixing block and the guide wheel at the position of the sliding table screw nut, then pass through the fixing table to enter the flexible arm, pass through one section of the flexible arm close to the connecting pipe and then be connected with one section of the flexible arm far away from the connecting pipe, pass through each structural body of the section of the flexible arm and are fixedly connected with each structural body.
The beneficial effects of the invention are as follows:
1) the flexible arm driving mechanism drives one section of the flexible arm through one group of driving wires of the feeding mechanism, so that the flexible arm can freely expand a working space required by an operation, the problem that the operation is obstructed due to mutual interference of instruments in the operation process can be avoided, and meanwhile, the driving mechanism controls the other group of driving wires to drive the other section of the flexible arm, so that the operation robot system can be ensured to flexibly carry out the operation.
2) The invention reduces the volume of the operation system by the arrangement of the integral structure, and is beneficial to the trend of the operation robot system to the miniaturization; on the premise of ensuring that the operation space is completely expanded, the mechanical structure of the operation triangle is simplified, the size and the operation difficulty of the end effector are reduced, and meanwhile, the strength of the flexible arm is improved; the overall design can better improve the performance of the surgical robot, meet the surgical requirements, improve the success rate of the surgery and enable the surgical robot to better serve the medical industry.
3) According to the invention, through the arrangement of the feeding mechanism, the linear motion of the driving mechanism and the flexible arm can be effectively driven, the wire tightening mechanism can be supported, and the arrangement of other structures is matched, so that the whole structure of the limited continuum is reasonable in arrangement.
4) According to the invention, the flexible arms are arranged in sections, and the action of each section of flexible arm is controlled by each driving wire, so that the flexible arms have multiple degrees of freedom, the flexibility of the flexible arms is improved, the complete expansion of an operation space can be realized, and the space requirement of an operation is met.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a first schematic diagram of a constrained continuum that may be used in a single-hole surgical robot according to one or more embodiments of the invention.
FIG. 2 is a schematic diagram of a feed mechanism in a constrained continuum that may be used in a single-hole surgical robot according to one or more embodiments of the invention.
FIG. 3 is a second schematic illustration of a constrained continuum that may be used in a single-hole surgical robot in accordance with one or more embodiments of the invention.
FIG. 4 is a schematic illustration of a first linear pushing mechanism in a constrained continuum that may be used in a single-hole surgical robot in accordance with one or more embodiments of the present invention.
FIG. 5 is a schematic illustration of a second linear pushing mechanism in a constrained continuum usable with a single-hole surgical robot in accordance with one or more embodiments of the present invention.
FIG. 6 is a schematic illustration of a third linear pushing mechanism in a constrained continuum that may be used in a single-hole surgical robot according to one or more embodiments of the present invention.
FIG. 7 is a schematic diagram of a fourth linear pushing mechanism in a constrained continuum that may be used in a single-hole surgical robot according to one or more embodiments of the present invention.
FIG. 8 is a schematic diagram of a wire tensioning mechanism in a constrained continuum that may be used in a single-hole surgical robot according to one or more embodiments of the present invention.
FIG. 9 is a schematic diagram of a flexible arm in a constrained continuum that may be used in a single-hole surgical robot according to one or more embodiments of the present invention.
In the figure: the spacing or dimensions between each other are exaggerated to show the location of the various parts, and the schematic is shown only schematically.
Wherein: the device comprises a mechanical arm 1, a steel pipe 2, a fixing base 3, a first stringing knob fixing platform 4, a first stringing knob fixing plate 5, a second stringing knob fixing plate 6, a first plate 7, a first bottom plate 8, a first side plate 9, a first corner fixing piece 10, a second corner fixing piece 11, a second side plate 12, a second bottom plate 13, a third corner fixing piece 14, a fourth corner fixing piece 15, a second plate 16, a third stringing knob fixing plate 17 and a second stringing knob fixing platform 18, wherein the mechanical arm is a steel pipe;
19 is a connecting plate, 20 is a left side plate, 21 is a first sliding table, 22 is a first heightening block, 23 is a second heightening block, 24 is a first track, 25 is a lead screw, 26 is a lead screw supporting block, 27 is a bearing, 28 is a coupler, 29 is a motor, 30 is a right side plate, 31 is a second track, 32 is a nut, and 33 is a bottom plate;
34 is a fifth corner fixing member, 35 is a first stringing knob, 36 is a second stringing knob, 37 is a first guide wheel, 38 is a second guide wheel, 39 is a third side plate, 40 is a third stringing knob, 41 is a third guide wheel, 42 is a sixth corner fixing member, 43 is a fourth guide wheel, 44 is a fourth stringing knob, 45 is a fifth stringing knob, 46 is a fifth guide wheel, 47 is a sixth guide wheel, 48 is a third bottom plate, 49 is a seventh guide wheel, 50 is a seventh guide wheel fixing block, 51 is a fourth side plate, 52 is a sixth stringing knob, 53 is an eighth guide wheel, 54 is a seventh stringing knob, and 55 is an eighth stringing knob;
56 is a fourth bottom plate, 57 is a first guide rail, 58 is a first sliding block, 59 is a first bearing, 60 is a first supporting block, 61 is a first lead screw fixing table, 62 is a ninth guide wheel, 63 is a first driving wire, 64 is a tenth guide wheel, 65 is an eleventh guide wheel, 66 is a guide wheel fixing block, 67 is a twelfth guide wheel, 68 is a first stringing platform, 69 is a first sliding block connection, 70 is a first sliding table lead screw nut, 71 is a first lead screw, 72 is a first coupler, 73 is a first motor fixing table, and 74 is a first motor;
75 is a second driving wire, 76 is a second supporting block, 77 is a second bearing, 78 is a second lead screw fixing table, 79 is a second lead screw, 80 is a second sliding block, 81 is a second sliding block connecting piece, 82 is a second sliding table lead screw nut, 83 is a second guide rail, 84 is a second coupling, 85 is a second motor fixing table, 86 is a second motor, 87 is a second stringing platform, and 88 is a thirteenth guide wheel;
89 is a third driving wire, 90 is a guide wheel fixing table, 91 is a fourteenth guide wheel, 92 is a fifteenth guide wheel, 93 is a sixteenth guide wheel, 94 is a third supporting block, 95 is a seventeenth guide wheel, 96 is a third bearing, 97 is a third lead screw fixing table, 98 is a third lead screw, 99 is a third stringing platform, 100 is a third sliding block, 101 is a third sliding block connection, 102 is a third sliding table lead screw nut, 103 is a third guide rail, 104 is a third coupler, and 105 is a third motor;
106 is a fourth driving wire, 107 is an eighteenth guide wheel, 108 is a nineteenth guide wheel, 109 is a fourth slider connecting piece, 110 is a fourth sliding table lead screw nut, 111 is a fourth slider, 112 is a twentieth guide wheel, 113 is a fourth tightening platform, 114 is a fourth guide rail, 115 is a fourth lead screw, 116 is a fourth coupler four, 117 is a fourth motor fixing table, 118 is a fourth motor, 119 is a fourth lead screw fixing table, 120 is a fourth bearing, and 121 is a fourth supporting block;
122 is a twenty-first guide wheel, 123 is a first guide wheel support, 124 is a twenty-second guide wheel, 125 is a fifth drive line, 126 is a sixth drive line, 127 is a twenty-third guide wheel, 128 is a second guide wheel support, 129 is a twenty-fourth guide wheel, 130 is a branch guide plate, 131 is a twenty-fifth guide wheel, 132 is a third guide wheel support, 133 is a twenty-sixth guide wheel, 134 is a seventh drive line, 135 is an eighth drive line, 136 is a twenty-seventh guide wheel, 137 is a twenty-eighth guide wheel, 138 is a fourth guide wheel support, and 139 is a third motor mount.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
term interpretation section: the terms "mounted," "connected," "fixed," and the like in the present invention are to be understood in a broad sense, and for example, the terms "mounted," "connected," and "fixed" may be fixed, detachable, or integrated; the two components can be connected mechanically or electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the terms used in the present invention should be understood as having specific meanings to those skilled in the art.
As described in the background art, there is a problem in the prior art that the working space of the surgical robot is limited, and in order to solve the above technical problem, the present invention provides a limited continuum which can be used for a single-hole surgical robot.
In a typical embodiment of the present invention, referring to fig. 1, a limited continuum for a single-hole surgical robot includes a feeding mechanism, a driving mechanism, a wire-tightening mechanism and a flexible arm, wherein the driving mechanism is used for driving one group of driving wires, the wire-tightening mechanism is used for adjusting the tension of the other group of driving wires, each driving wire of the two groups of driving wires passes through the flexible arm, and the feeding mechanism is connected with the driving mechanism and used for driving the flexible arm to move through the driving mechanism.
Referring to fig. 2, the feeding mechanism includes a sliding table 21, the sliding table 21 is located under the test platform, and the upper surface of the sliding table 21 can be provided with a height increasing block and is connected with the driving mechanism through the height increasing block, a lead screw 25 passes through the sliding table 21, one end of the lead screw is connected with a motor 29, and the other end of the lead screw is connected with the connecting plate.
It can be understood that, the both ends of lead screw are supported through the curb plate respectively, one side is left side board 20, the opposite side is right side board 30, the bottom of both sides board is bottom plate 33, the bottom plate realizes being connected of left side board and right side board, bottom plate 33 sets up the guide rail respectively in the both sides of lead screw, one side is first track 24, the opposite side is second track 31, linear movement can be realized along two tracks to first slip table, the bottom plate lateral part sets up a plurality of movable nut 32, movable nut can cooperate with the screw, before not twisting the screw, movable nut is can transversely freely remove. After tightening the screw, the screw abuts the base plate and the movable nut will be fixed. Therefore, the position of the nut on the bottom plate can be flexibly adjusted according to the hole position on the bottom plate, and the bottom plate can be more conveniently fixed; and the bottom plate adopts the aluminum alloy section bar, and the outline is processed, and it is comparatively troublesome to beat the screw hole, so set up movable nut.
In addition, the motor is located one side of right side board, and sets up shaft coupling 28 after the motor shaft passes right side board, and shaft coupling 28 and screw connection, lead screw supporting block 26 locate between lead screw and the shaft coupling, set up bearing 27 between lead screw supporting block and the lead screw for the lead screw rotates.
The connecting plate 19 is L-shaped, one shorter side of the connecting plate is connected with one end of the screw rod, the other side of the connecting plate is parallel to the direction of the screw rod, a clamping groove is formed in the lower portion of the shorter side of the connecting plate, the longitudinal section of the clamping groove is U-shaped, the clamping groove can be clamped with the left side plate, and the connecting plate is mounted on the left side plate; the both sides of the longer one side of connecting plate set up the extension respectively, and the extension is used for being connected with wire grip mechanism.
The connecting plate 19 has a notch of a predetermined length in the middle of the inner side.
In this embodiment, increase the piece and set up two altogether, including first increase piece 22 and second increase piece 23, two increase the piece and set up from top to bottom to link firmly with first slip table 21.
Further, referring to fig. 1 and 3, the driving mechanism includes a plurality of linear pushing mechanisms, each linear pushing mechanism drives each driving line of the feeding mechanism to move, the driving mechanism includes a first plate 7 and a second plate 16, the first plate and the second plate are arranged up and down and spaced by a set distance, the second plate is connected with the feeding mechanism, and the first plate and the second plate are connected through a plurality of side plates.
In some examples, there are 4 side plates, where the 4 side plates are located on two sides of the feeding mechanism, a distance is set between two side plates of each side, each side plate is respectively perpendicular to the first plate, and the side plates are connected to the first plate and the second plate by corner fasteners, for example, the first side plate 9 is fixed to the first plate by the first corner fastener 10, the first side plate is opposite to the second side plate, the second side plate 12 is connected to the first plate by the second corner fastener 11, the second side plate is connected to the second plate by the fourth corner fastener 15, and the fourth side plate is fastened to the first plate by the third corner fastener 14.
It can be understood that each corner fixing piece is L-shaped, and the structure is the same, specifically, each corner fixing piece is provided with a second elongated hole, the first plate, the second plate or each side plate is provided with a first elongated hole, and the connection between the first plate and the side plate or between the second plate and the side plate is realized by bolts penetrating through the second elongated hole and the first elongated hole.
It should be noted that the length of the first elongated hole is greater than the length of the second elongated hole, and the length direction of the first elongated hole is perpendicular to the length direction of the second elongated hole.
A first bottom plate 8 is connected between the first side plate and the third side plate 39, a second bottom plate 13 is connected between the second side plate and the fourth side plate, a third bottom plate is installed below the first plate, a fourth bottom plate is installed above the second plate, each bottom plate is used for supporting each linear pushing mechanism, and the linear pushing mechanisms are used for driving the paying-off or taking-up of each driving wire of the feeding mechanism.
In this embodiment, the linear pushing mechanism is a screw mechanism, but in other examples, the linear pushing mechanism may also be other types of linear pushing mechanisms.
Referring to fig. 4, the first linear pushing mechanism includes a first driving motor, a first driving motor 74 is installed on a first motor fixing table 73, the first motor fixing table is supported by the fourth bottom plate 56, and the first driving motor controls the first lead screw 71 to rotate, so that the first sliding table lead screw nut 70 moves along the first lead screw to drive the first driving wire 63 to take up and pay off.
Further, a first guide rail 57 is fixed on the fourth bottom plate, a first sliding table lead screw nut 70 is matched with the first guide rail 57 through a first sliding block 58, a first coupler 72 is arranged between the first lead screw and the first driving motor, the other end of the first lead screw is supported on the fourth bottom plate through a first lead screw fixing table 61, the first lead screw fixing table 61 supports the first lead screw through a first bearing 59, a first supporting block 60 is arranged at the end part, far away from the first lead screw, of the first lead screw fixing table 61, the first supporting block 60 is used for supporting the first bearing 59, a guide wheel fixing block 66 is arranged on one side of the first supporting block, the guide wheel fixing block 66 is used for supporting a fourth guide wheel 64 and an eleventh guide wheel 65, and the eleventh guide wheel 65 is arranged higher than the fourth guide wheel 64 relative to the fourth bottom plate.
One end of the first driving wire is fixed on the sixth stringing knob 52 through a plurality of guide wheels, and the other end of the first driving wire penetrates through the interior of the flexible arm through the guide wheels to drive the flexible arm to complete required actions. The first driving wire is tightened by rotating the sixth tightening knob before use, and in this embodiment, the sixth tightening knob 52 is fixed to a side portion of the fourth base plate 56.
From the sixth stringing knob 52 to the fixed base, the first driving wire is provided around a plurality of guide wheels, specifically, a ninth guide wheel 62, an eighth guide wheel 53, a tenth guide wheel 64, and a twelfth guide wheel 67, and in the present embodiment, the ninth guide wheel 62, the eighth guide wheel 53, and the tenth guide wheel 64 are located at three vertices of a right triangle in consideration of the arrangement of the structure.
A first stringing platform 68 is arranged on one side surface of the first sliding table screw nut 70, a twelfth guide wheel 67 is arranged on the first stringing platform 68, and a first slider connecting piece 69 is arranged on the other side surface of the first sliding table screw nut 70 and used for installing the first slider 58.
Further, the sixth tightening knob 52 is supported by the third tightening knob fixing plate 17, and the third tightening knob fixing plate 17 is attached to the outer side of the fourth side plate 51.
Referring to fig. 5, the second linear pushing mechanism for driving the take-up and pay-off line of the second driving line 75 includes a second motor 86 fixed to the third bottom plate via a second motor fixing table, the second motor is connected to a second lead screw via a second coupling 84, so that the second lead screw 79 is located below the third bottom plate, the other end of the third lead screw, which is far away from the second coupling, is supported via the second lead screw fixing table 78, a second supporting block 76 is installed at one side of the second lead screw fixing table 78, the second lead screw is supported at the second lead screw fixing table via a second bearing 77, accordingly, the second bottom plate is provided with a second guide rail 83, and a second sliding table lead screw nut 82 provided with the second lead screw is engaged with the second guide rail 83.
In order to realize the driving of the second driving wire, a thirteenth guide wheel 88 is fixed on the second sliding table lead screw nut 82, one end of the second driving wire is fixed on the third stringing knob 40, and then sequentially bypasses the second guide wheel 38, the first guide wheel 37, the eleventh guide wheel 65 and the thirteenth guide wheel 88 of the guide wheel fixing block, and then reaches the flexible arm, wherein the second guide wheel 38, the first guide wheel 37 and the eleventh guide wheel 65 are positioned at three vertexes of the right triangle.
A second stringing platform 87 is arranged on one side surface of the second sliding table lead screw nut 82, a thirteenth guide wheel 88 is arranged on the second stringing platform, and a second slider connecting piece 81 is arranged on the other side surface of the second sliding table lead screw nut 82 and used for installing a second slider 80.
The third stringing knob 40 is supported by the first stringing knob fixing plate 5, and the first stringing knob fixing plate 5 is installed at the outer side of the third side plate.
Referring to fig. 6, the third linear pushing mechanism for driving the third driving wire take-up and pay-off line includes a third motor 105, the third motor is supported on the first bottom plate 8 through a third motor fixing table 139, the third motor is connected to a third lead screw 98 through a third coupling 104, the third lead screw is provided with a third sliding table lead screw nut 102, the third sliding table lead screw nut is matched with a third guide rail 103 through a third sliding block 100, the end of the third lead screw is also supported through a third lead screw fixing table 94, and the third lead screw is supported by the third lead screw fixing table 94 through a third bearing 96.
One end of the third driving wire 89 is fixed by the fifth stringing knob 45, and then sequentially goes around the fourth guide wheel 43, the third guide wheel 41, the fifteenth guide wheel 92 and the fourteenth guide wheel 91, and then enters the flexible arm through the fixing base 3.
The fifth stringing knob 45 is supported by the second stringing knob fixing plate 6, the second stringing knob fixing plate 6 is U-shaped, the second stringing knob fixing plate 6 is positioned above the first plate and can be supported by the first plate, the fourth guide wheel 43 and the third guide wheel 41 are positioned on the side wall of the second stringing knob fixing plate 6, the central axes of the two guide wheels are in the horizontal direction, the fifteenth guide wheel 92 and the fourteenth guide wheel 91 are supported by the guide wheel fixing table 90, the fifteenth guide wheel 92 and the fourteenth guide wheel 91 are arranged at intervals, and the central axes of the fifteenth guide wheel 92 and the fourteenth guide wheel 91 are in the vertical direction, so that the height and the movement track of the third driving wire can be restricted, and the accuracy of reeling and unreeling is improved;
a third stringing platform 99 is installed on one side face of a third sliding table lead screw nut 102, a seventeenth guide wheel 95 is installed through the third stringing platform, and a third slider connecting piece 101 is installed on the other side face of the third sliding table lead screw nut 102 and used for installing a third slider 100.
The guide wheel fixing stand 90 is located inside the fixing stand and supported by a second plate, and similarly, the fixing stand is also supported by the second plate.
Referring to fig. 7, the fourth linear pushing mechanism for driving the fourth driving line 106 to move includes a fourth motor 118, the fourth motor is fixed to the second base plate 13 through a fourth motor fixing table 117, the fourth motor is connected to a fourth lead screw 115 through a fourth coupling 116, the second base plate 13 is provided with a fourth guide rail 115, the fourth lead screw is provided with a fourth sliding table lead screw nut 110, the fourth sliding table lead screw nut 110 is provided with a twentieth guide wheel 112, an end portion of the fourth lead screw is provided with a fourth lead screw fixing table 119, the fourth lead screw fixing table 119 supports the fourth lead screw through a fourth bearing 120, and the fourth lead screw fixing table 119 is provided with a fourth supporting block 121.
A fourth stringing platform 113 is installed on one side face of the fourth sliding table lead screw nut 110, a twentieth guide wheel 112 is installed through the third stringing platform, and a fourth slider connecting piece 109 is installed on the other side face of the fourth sliding table lead screw nut 110 and used for installing a fourth slider 111.
One end of a fourth driving wire is fixed to a fourth stringing knob 44, the fourth stringing knob 44 is also fixed to a second stringing knob fixing plate 6, the second stringing knob fixing plate is provided with a fifth guide wheel 46 and a sixth guide wheel 47 relative to the other side provided with the fourth guide wheel 43, and the fourth driving wire sequentially bypasses the fifth guide wheel 46, the sixth guide wheel 47, the seventh guide wheel 49, the twentieth guide wheel 112, the nineteenth guide wheel 109 and the eighteenth guide wheel 107 and then passes through the fixing base to perform flexible arm.
The central axes of the nineteenth guide wheel 109 and the eighteenth guide wheel 107 are vertical and are supported by the guide wheel fixing table, the seventh guide wheel 49 is supported by the seventh guide wheel fixing block 50, the seventh guide wheel fixing block can be supported by a side plate, and the central axes of the fifth guide wheel 46, the sixth guide wheel 47, the seventh guide wheel and the twentieth guide wheel 112 are horizontal.
Of course, in other examples, fewer guide wheels may be provided, as long as it is ensured that the first drive line can be steered between the sixth tensioning knob and the flexible mount.
One end of each driving wire is fixed on the corresponding wire tightening knob through the guide wheel, and the other end of each driving wire penetrates through each structural body of the flexible arm through the guide wheel to drive the flexible arm to complete corresponding actions.
Referring to fig. 8, a steel pipe 2 is arranged at one end of a flexible arm 1, the end of the steel pipe 2 is connected to a fixed base 3, the fixed base is connected with a fixed table, the bottom of the fixed table is fixed to a second plate 16, the second plate 16 is fixed to a second heightening block, the second plate can be located above a feeding mechanism, and the feeding mechanism can drive the second plate to move, so that the flexible arm is driven to move.
The stringing mechanism includes a plurality of drive wires, the stringing knob mounting platform and the mounting platform each support a respective guide wheel by a guide wheel support, each drive wire of the stringing mechanism is supported by a guide wheel, specifically, in some examples, the second stringing knob mounting platform supports twenty-first guide wheels 122, twenty-second guide wheels 124 up and down, the mounting platform supports twenty-third guide wheels 127, twenty-fourth guide wheels 129 by a second guide wheel support 128 relative to the inner side of the flexible arm, the fifth drive wire 125 enters the flexible arm around the twenty-second guide wheels 124 and twenty-fourth guide wheels 129, and the sixth drive wire 126 enters the flexible arm around the twenty-first guide wheels 122 and twenty-third guide wheels 127.
It can be understood that the second stringing knob fixing platform 18 supports two guide wheels through the first guide wheel support 123, the first guide wheel support 123 can be a fixed shaft, two ends of the fixed shaft are fixed on the second stringing knob fixing platform 18, the second stringing knob fixing platform 18 is provided with a stringing knob relative to the outer side of the first guide wheel support 123, one end of each driving wire is fixed on the stringing knob, for example, one end of the fifth driving wire 125 is fixed on the seventh stringing knob 54, and one end of the sixth driving wire 126 is fixed on the eighth stringing knob 55.
Meanwhile, a seventh driving wire 134 and an eighth driving wire 135 are supported by a fixing platform and the first stringing knob fixing platform 4, the first stringing knob fixing platform supports two guide wheels, specifically a twenty-seventh guide wheel 136 and a twenty-eighth guide wheel 137, up and down by a fourth guide wheel support 138, the fixing platform supports a twenty-fifth guide wheel 131 and a twenty-sixth guide wheel 133 by a third guide wheel support 132, the seventh driving wire enters the flexible arm after bypassing the twenty-seventh guide wheel 136 and the twenty-fifth guide wheel 131, and the eighth driving wire enters the flexible arm after bypassing the twenty-eighteen guide wheel 137 and the twenty-sixth guide wheel 133.
Similarly, one end of the seventh driving wire 134 is provided with a second tightening knob 36, one end of the eighth driving wire 135 is provided with a first tightening knob 35, and the first tightening knob 35 and the second tightening knob 36 are supported by the first tightening knob fixing platform.
It should be explained that the structures of the tightening knobs mentioned in the present embodiment are the same, each tightening knob includes a fixing plate, a connecting rod is disposed inside the fixing plate, the connecting rod is connected with the driving wire, the fixing plate is fixed, and a knob is disposed on one side of the fixing plate, and the knob passes through the fixing plate and contacts with the connecting rod.
For example, a fixing plate of a seventh stringing knob for adjusting the fifth driving wire is located at the outer side of the second stringing knob fixing platform, and the connecting rod is arranged to pass through the second stringing knob fixing platform.
In addition, a plurality of guide plates are arranged on the inner side of the fixed table to support the second guide wheel support and the third guide wheel support, and it can be understood that each guide wheel support is a fixed shaft.
Further, the flexible arm includes two sections at least, and each section all includes the structure of polylith swing joint in proper order, and in this embodiment, the flexible arm sets up two sections of connection altogether.
Specifically, flexible arm adopts snake body bionic structure, and snake body bionic structure includes the structure that the polylith set up side by side, and the structure is the joint, specifically is the massive structure, and two adjacent articulate imitate the snake body backbone, pass all joints of corresponding section flexible arm department in proper order through the drive wire, imitate snake body muscle through the drive wire.
In this embodiment, referring to fig. 9, the flexible arm is provided with two segments of snake-shaped bionic structures, the two segments of snake-shaped bionic structures are connected by joints at the ends, and each segment of snake-shaped bionic structure is provided with four drive wires, the first segment of snake-shaped bionic structure comprises a first drive wire 63, a second drive wire 75, a third drive wire 89 and a fourth drive wire 106, the four drive wires are a second group of drive wires, the second segment of snake-shaped structure comprises a fifth drive wire 135, a sixth drive wire 126, a seventh drive wire 134 and an eighth drive wire 135, and the four drive wires are a first group of drive wires.
Correspondingly, it can be understood that the four driving wires of the wire tightening mechanism are connected to the rear half section of the flexible arm, namely the first section of the snake-shaped bionic structure, and are close to one side of the fixed platform. Four driving wires of the driving mechanism penetrate through the rear half section of the flexible arm and are connected to the front half section of the flexible arm, namely the first section snake body bionic structure, namely one side far away from the fixed table, four driving wires of the wire tightening mechanism penetrate through the rear half section of the flexible arm, when the whole limited continuum runs, the screw rod in the feeding mechanism drives the sliding table to move, the four driving wires can be tightened simultaneously, the four driving wires are tensioned to the limit by the wire tightening mechanism, the tightening degrees of the four driving wires are different, the rear half section of the flexible arm is bent to face one side, therefore, the working space is expanded, the driving wires adopt steel wires and cannot stretch out and draw back, the wire tightening mechanism is not loosened, the driving mechanism moves, and the rear half section of the flexible arm does not move any more.
In addition, the one end of unable adjustment base sets up the lug, is convenient for be connected with the steel pipe, and lug department sets up a plurality of through wires holes, and each drive wire passes through the through wires hole setting.
The tightness degree of each driving wire is adjusted by rotating each wire tightening knob, and the tightness degrees of the driving wires at two sides of the driving mechanism are driven to be different, so that the corresponding driving wires are pulled when the driving mechanism feeds;
the screw rod of the feeding mechanism drives the driving mechanism to move, so that the driving wires on two sides of the driving mechanism drive the flexible arms to unfold in an S shape, thereby facilitating unfolding of an operation space;
namely, the first stringing knob, the second stringing knob, the seventh stringing knob and the eighth stringing knob are rotated at proper angles, so that the fifth driving wire, the sixth driving wire, the seventh driving wire and the eighth driving wire have different degrees of tightness.
The motor rotates, and the slip table removes, drives actuating mechanism through increasing the piece and removes. The fifth driving wire, the sixth driving wire, the seventh driving wire and the eighth driving wire are tensioned, and the flexible arm is bent into an S shape.
And the third tightening knob and the sixth tightening knob are rotated to pre-tighten the second driving wire and the first driving wire. The first motor rotates to enable the first sliding table lead screw nut to move towards the direction of the first motor, and the second motor rotates to enable the second sliding table lead screw nut to move towards the direction far away from the second motor. The first driving wire is wound up, the second driving wire is wound out, and the flexible arm bends downwards. Similarly, the flexible arms may also be bent upward.
And the fourth stringing knob and the fifth stringing knob are rotated to pre-tighten the fourth driving wire and the third driving wire. The fourth motor rotates to enable the fourth sliding table lead screw nut to move towards the direction of the fourth motor, and the third motor rotates to enable the third sliding table lead screw nut to move towards the direction far away from the third motor. And the fourth driving wire is wound, the third driving wire is wound, and the flexible arm bends rightwards. Likewise, the flexible arm may also bend to the left.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A constrained continuum usable with a single-hole surgical robot, comprising:
the flexible arm comprises at least two sections, two adjacent sections of flexible arms are connected, each section comprises a plurality of structural bodies which are sequentially and movably connected, the end part of one section of flexible arm is fixedly connected with the fixed platform, a group of driving wires penetrate through the interior of each section of flexible arm, each group of driving wires is connected with the structural body of the corresponding section, and the flexible arm is driven to move through the driving wires;
the driving mechanism is connected with at least one group of driving wires and is used for driving at least one section of flexible arm to move;
and the wire tightening mechanism is connected with a driving wire in at least one section of flexible arm close to the fixed table and is used for driving the corresponding section of flexible arm close to the fixed table to move.
2. The constrained continuum of claim 1, further comprising a feeding mechanism coupled to the driving mechanism to move the flexible arm linearly;
the fixed station is fixedly connected with the fixed end of the driving mechanism, and the wire tightening mechanism part is supported by the fixed end of the feeding mechanism.
3. The constrained continuum usable with a single-port surgical robot of claim 1, wherein the flexible arm comprises two segments connected, wherein one end of one segment of flexible arm is connected to the fixed stage by a connecting tube;
the driving mechanism is connected with a first group of driving wires, the wire tightening mechanism is connected with a second group of driving wires, the two groups of driving wires sequentially penetrate through the fixed table and the connecting pipe, and each driving wire in the first group of driving wires penetrates through one section of flexible arm close to the connecting pipe and then is connected with the other section of the flexible arm.
4. A confined continuum usable with a single aperture surgical robot as claimed in claim 3 wherein said drive mechanism comprises a plurality of linear pushing mechanisms, each linear pushing mechanism being connected to one of said first set of drive lines.
5. The constrained continuum of claim 4, wherein each of the first set of actuation wires has one end connected to a tensioning knob and the other end connected to the flexible arm in sequence around a plurality of guide wheels;
the tightening knob is fixed on the bottom plate, and the bottom plate is used for supporting the linear pushing mechanism.
6. A confined continuum usable with a single aperture surgical robot as claimed in claim 4 wherein said first group of drive lines comprises a plurality of drive lines, said linear pushing mechanism comprises a plurality of positions, each linear pushing mechanism is connected to a respective one of said drive lines;
when the linear pushing mechanism is arranged at 4 positions, the plane of the central axis of the linear pushing mechanism at 4 positions forms a cross plane.
7. A constrained continuum usable with a single-aperture surgical robot as recited in claim 4 wherein said drive mechanism is supported by a first plate and a second plate, the first plate and the second plate being disposed opposite each other with a side plate disposed therebetween;
the second plate is connected with the feeding mechanism and the fixed table.
8. The constrained continuum of claim 2, wherein the feed mechanism comprises a screw feed mechanism, and a ramp of the screw feed mechanism is coupled to the drive mechanism;
one end of the feeding mechanism is provided with a connecting plate, and at least one side of the connecting plate is fixed with a wire tightening knob fixing platform.
9. A constrained continuum usable with a single-aperture surgical robot as recited in claim 8 wherein said tensioning mechanism comprises a tensioning knob for securing an end of said second set of drive wires, said tensioning knob secured to said tensioning knob securing platform;
the other end of the second group of driving wires rounds a plurality of guide wheels, penetrates through the fixed table and then is connected with the flexible arm, and part of the guide wheels are fixed on the fixed table;
a plurality of driving wires are arranged in the second group of driving wires, the plurality of driving wires are divided into two groups, and one end of each of the two driving wires of each group of driving wires is fixed on the corresponding wire tightening knob.
10. The constrained continuum for a single-hole surgical robot of claim 5, wherein the linear pushing mechanism comprises a lead screw, the lead screw is provided with a slipway lead screw nut, the slipway lead screw nut is provided with a guide wheel, the stringing knob is fixed on a stringing fixing plate, the stringing fixing plate is provided with a guide wheel, and a guide wheel fixing block or a guide wheel fixing table is arranged close to the fixing table;
each driving wire in part of the first group of driving wires sequentially bypasses a guide wheel arranged on the wire tightening fixing plate, a guide wheel arranged on the guide wheel fixing block, a guide wheel at the lead screw nut of the sliding table and a guide wheel arranged on the guide wheel fixing table;
and parts of the driving wires in the first group of driving wires sequentially bypass guide wheels arranged on the wire tightening fixing plate, guide wheels arranged on the guide wheel fixing block and guide wheels arranged on the sliding table lead screw nuts.
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| CN202110638628.4A CN113208737B (en) | 2021-06-08 | 2021-06-08 | Limited continuum for single-hole surgical robot |
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| CN202110638628.4A CN113208737B (en) | 2021-06-08 | 2021-06-08 | Limited continuum for single-hole surgical robot |
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Cited By (1)
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| CN114833813A (en) * | 2022-05-13 | 2022-08-02 | 上海交通大学 | General type dynamometry drive arrangement to super redundant arm |
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