CN114938996A - Flexible joint and flexible endoscope robot for minimally invasive surgery - Google Patents
Flexible joint and flexible endoscope robot for minimally invasive surgery Download PDFInfo
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 35
- 229910000831 Steel Inorganic materials 0.000 claims description 24
- 239000010959 steel Substances 0.000 claims description 24
- 210000000078 claw Anatomy 0.000 claims description 20
- 229910001000 nickel titanium Inorganic materials 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000005452 bending Methods 0.000 abstract description 32
- 230000002457 bidirectional effect Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 241000309551 Arthraxon hispidus Species 0.000 description 4
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- 238000007906 compression Methods 0.000 description 3
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- 239000011148 porous material Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000007480 spreading Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
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- 230000001575 pathological effect Effects 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention relates to a flexible joint and a robot arm for a flexible endoscope minimally invasive surgery robot; wherein: the flexible joint comprises a continuous body in a columnar structure, a plurality of outer side notches which are arranged in parallel and have triangular longitudinal sections are formed in the radial outer side of the continuous body, and the width of each outer side notch is gradually reduced from the radial outer side to the radial inner side; a plurality of inner side notches which are arranged in parallel are arranged on the radially inner side of the continuum; the shapes and the depths of the inner side notches and the outer side notches are the same and are alternately arranged; the plurality of outer side notches are symmetrical relative to the bus A, the plurality of inner side notches are symmetrical relative to the bus B, and the bus A, the bus B and the central axis of the continuum are located on the same plane. The flexible joint has two-degree-of-freedom bending motion which is not possessed by most of unidirectional or bidirectional asymmetric slot-type flexible joints, the flexibility and the reachable working space of the continuum joint are obviously improved, and the bending controllability of the flexible joint and the safety of operation are effectively improved.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a flexible joint and a mechanical arm for a flexible endoscope minimally invasive surgery robot.
Background
Robot-assisted flexible endoscopic minimally invasive surgery is an emerging technology for applying robotics to the medical field, and robots are generally provided with flexible joints and install specific surgical equipment such as endoscopes, surgical forceps and the like through the flexible joints. When a doctor needs to repair the pathological tissue, the robot carries a surgical instrument to a focus through a narrow and limited natural cavity of a human body, and the posture of the flexible joint is changed to adjust the angle and the position of surgical equipment at the tail end, so that the surgical operation is completed. In practical application, the flexible joint needs to have sufficient flexibility and flexibility to adapt to a complex curved natural cavity, and also needs to have sufficient rigidity to provide a stable support for applying sufficient force during operation of a surgical instrument. However, most of the existing flexible joints are difficult to satisfy the 'stiffness and softness coordination', namely: meanwhile, the surgical operation tool has the characteristics of flexibility and high bearing capacity', and accordingly, more potential safety hazards exist in the surgical operation process. Meanwhile, when the existing most of flexible joints are stressed and bent, the deformation posture cannot be determined, the expected deformation effect cannot be achieved, and accurate operation cannot be implemented.
On the other hand, in the flexible endoscope minimally invasive surgery robot, the placement positions of surgical instruments are concentrated, the operation space is limited, an operation triangular area is difficult to form, the surgical instruments are easy to interfere with each other to collide, the operation visual field is limited, and the operation is difficult.
Disclosure of Invention
The invention aims to solve the technical problem of providing a flexible joint capable of realizing two-degree-of-freedom bending motion and a mechanical arm for a flexible endoscope minimally invasive surgery robot designed on the basis of the flexible joint.
The technical scheme adopted by the invention for solving the technical problems is as follows: a flexible joint comprising a continuum in a columnar structure, wherein:
a plurality of outer side notches which are arranged in parallel and have triangular longitudinal sections are formed in the radial outer side of the continuum, and the groove width of each outer side notch is gradually reduced from the radial outer side to the radial inner side;
a plurality of inner side notches which are arranged in parallel and have triangular longitudinal sections are formed on the radial inner side of the continuum, and the groove width of each inner side notch is gradually reduced from the radial inner side to the radial outer side;
the shapes and the depths of the outer side notches and the inner side notches are the same and are alternately arranged;
the outer side notches are symmetrical relative to a bus A of the columnar structure continuum, the inner side notches are symmetrical relative to a bus B of the columnar structure continuum, and the bus A, the bus B and the central axis of the continuum are located on the same plane.
Preferably, the opening distance between any adjacent outer notches is the same as the opening distance between any adjacent inner notches.
Preferably, a central hole is formed in the center of the continuous body of the columnar structure, and a nickel-titanium alloy rod is arranged in the central hole.
Preferably, the groove depth of the outer notch is larger than the radius of the columnar structure continuum.
Preferably, the ratio of the groove depth of the outer notch to the diameter of the columnar structure continuum is 0.6-0.9: 1.
Preferably, the ratio of the opening distance between adjacent outer side notches to the width of the groove at the bottom end of each outer side notch is 1.2-2: 1.
Preferably, the continuous body is provided with a joint head part and a joint tail part, and the number of the outer side notches between the joint head part and the joint tail part is the same as that of the inner side notches.
The invention also provides a mechanical arm for the flexible endoscope minimally invasive surgery robot, which comprises any one of the flexible joint, the steel wire flexible shaft and the front end unfolding mechanism, wherein:
a steel wire flexible shaft channel is arranged on the flexible joint;
the steel wire flexible shaft penetrates through the steel wire flexible shaft channel and is connected with the front end unfolding mechanism;
the front-end unfolding mechanism can realize opening and closing actions under the pushing and pulling action of the steel wire flexible shaft and can provide an operation triangular area for surgical instruments in an unfolding state.
Further, the front-end unfolding mechanism comprises an unfolding mechanism head, two unfolding claws, a push rod and two connecting rods; wherein:
the head of the unfolding mechanism is connected with the flexible joint;
the two unfolding claws are symmetrically arranged and are respectively hinged on the head part of the unfolding mechanism;
the push rod is connected with the steel wire flexible shaft;
the two connecting rods are symmetrically arranged relative to the push rod, one end of each connecting rod is hinged with the push rod, and the other end of each connecting rod is hinged with the corresponding unfolding claw; in the unfolding state, a triangular operation space can be formed by the two unfolding claws and the head of the unfolding mechanism in an enclosing mode.
Preferably, the maximum spreading angle between the two spreading claws is set to 30-33 °.
Compared with the prior art, the invention has the following advantages and effects:
1. the invention alternately arranges the notches with the same shape and depth on the radial inner side and the radial outer side of the continuum, the longitudinal sections of the notches are triangular, and the triangular notches gradually shrink inwards; meanwhile, a plurality of outer side notches are symmetrical about a bus A of the columnar structure continuum, a plurality of inner side notches are symmetrical about a bus B of the columnar structure continuum, and the bus A, the bus B and the central axis of the continuum are located on the same plane; the shape and the layout of the notch enable the flexible joint based on the triangular notch design to have two-degree-of-freedom bending motion which is not possessed by most of unidirectional or bidirectional asymmetric notch type flexible joints, and the flexibility and the reachable working space of the continuum joint are obviously improved.
2. The flexible joint designed based on the triangular cutting groove can achieve the effect of two-degree-of-freedom bending deformation, effectively improves the bending controllability of the continuous flexible joint and is beneficial to improving the safety of operation.
3. In the invention, the opening distance between any adjacent outer side notches is the same as the opening distance between any adjacent inner side notches, and the thicknesses of all the continuous body joint pieces correspondingly formed between the adjacent outer side notches and the inner side notches are the same; on the other hand, the flexible joint has the advantages of minimum deformation per unit length and stress, difficult fracture and high bearing capacity relative to other continuous bodies in the form of the cutting groove.
4. According to the invention, the nickel-titanium alloy rod is used as a central framework and is bonded to two ends of a central pore channel of the continuous body, so that the continuous body is restrained by a plurality of points, and the axial compression resistance of the flexible joint can be effectively improved; on the other hand, the nickel-titanium alloy rod has super elasticity and incompressibility, is arranged at the center of the flexible joint as a central framework, and can further improve the overall bearing capacity of the joint on the basis of the original bearing performance of the flexible joint.
5. According to the invention, through optimizing and adjusting grooving parameters of the outer side notches (inner side notches), when the groove depth P of the outer side notches is larger than the radius of the columnar structure continuum, the arrangement number of the outer side notches is the same as that of the inner side notches, and the ratio of the opening distance between adjacent outer side notches to the groove width at the bottom ends of the outer side notches is limited to 1.2-2:1, the flexible joint based on the triangular bidirectional asymmetric grooving design is designed, and has the best bearing performance, the best compliance performance and the best torsion resistance while realizing two-degree-of-freedom bending.
6. In the mechanical arm, the front-end unfolding mechanism comprises an unfolding mechanism head, a push rod, two unfolding claws and two connecting rods; wherein: two expansion claws and two connecting rods are symmetrically arranged, a push rod driven by a steel wire flexible shaft is shared, the two expansion claws are driven by a push-pull push rod to generate opening and closing operation, a stable operation triangular area is formed, the problem that surgical instruments easily collide or interfere in the operation process is effectively solved, meanwhile, the visual field in the operation is increased, and compared with the design mode that surgical instruments extend out in parallel in the existing flexible endoscope mechanical arm, the flexibility and effectiveness of the operation are obviously improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without paying creative labor.
Fig. 1 is a schematic perspective view of a flexible joint according to an embodiment of the present invention.
FIG. 2 is a front view of a flexible joint according to an embodiment of the present invention.
FIG. 3 is a side view of a flexible joint according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a desired bending attitude of a flexible joint in an embodiment of the present invention.
Fig. 5 is a schematic perspective view of an instrument arm for a flexible endoscope minimally invasive surgery robot in an embodiment of the invention.
FIG. 6 is a schematic structural diagram of a front deployment mechanism in an embodiment of the present invention.
Description of reference numerals: 1. a continuum; 11. an outer side notch; 12. an inner side notch; 13. an articulating head; 14. a joint tail; 2. an endoscope channel; 3. an instrument channel; 4. a water-gas channel; 5. a central bore; 51. a steel wire flexible shaft; 6. a steel wire flexible shaft channel; 7. a drive wire channel; 71. a drive wire; 8. a front end deployment mechanism; 81. A deployment mechanism head; 82. a push rod; 83. unfolding the claw; 84. a connecting rod.
Detailed Description
The present invention will be described in further detail with reference to examples, which are illustrative of the present invention and are not to be construed as being limited thereto.
Example 1: as shown in fig. 1 to 3, a flexible joint includes a continuous body 1 having a columnar structure, in which: the axial extension direction of the columnar structure continuum 1 is defined as the axial direction of the flexible joint, the direction perpendicular to the axial direction is the radial direction of the flexible joint, one radial side is defined as the radial outer side, and the other radial side is defined as the radial inner side; specifically, the structure of the continuum 1 is set as follows:
a plurality of outer notches 11 which are arranged in parallel and have triangular longitudinal sections are formed in the radial outer side of the continuum 1, and the groove width of each outer notch 11 is gradually reduced from the radial outer side to the radial inner side;
a plurality of inner side notches 12 which are arranged in parallel and have triangular longitudinal sections are formed in the radial inner side of the continuum 1, and the groove width of each inner side notch 12 is gradually reduced from the radial inner side to the radial outer side;
the shapes and the depths of the outer side notches 11 and the inner side notches 12 are the same, and the outer side notches and the inner side notches are alternately arranged;
the plurality of outer side notches are symmetrical relative to a bus A of the columnar structure continuum, the plurality of inner side notches are symmetrical relative to a bus B of the columnar structure continuum, and the bus A, the bus B and a central axis of the continuum are located on the same plane.
The flexible joint disclosed by the embodiment 1 of the invention can be used in a flexible endoscope minimally invasive surgery robot system, has enough flexibility to adapt to a complex curved natural cavity, and can provide enough support for stable operation of surgical instruments.
The flexible joint of embodiment 1 of the present invention can realize two-degree-of-freedom bending motion, and the bending posture of the flexible joint is shown in fig. 4, wherein: two bending planes defining a flexible joint are called a primary bending plane and a secondary bending plane respectively, and the bending stiffness of the flexible joint in the primary bending plane is the smallest and the bending stiffness in the secondary bending plane is the largest as can be seen through simple finite element simulation.
The working principle of the flexible joint with two-degree-of-freedom bending motion characteristic is specifically described as follows:
in the invention, notches with triangular longitudinal sections and the same shape and notch depth are alternately arranged on the radial inner side and the radial outer side of the continuous body, and the triangular notches gradually shrink inwards; meanwhile, the plurality of outer side notches are symmetrical about a bus A of the columnar structure continuum, the plurality of inner side notches are symmetrical about a bus B of the columnar structure continuum, and the bus A, the bus B and the central axis of the continuum are located on the same plane; such a notch shape and layout arrangement, as shown in fig. 2, the notch arrangement of the flexible joint can be considered as a bidirectional asymmetric form in a front view; as shown in fig. 3, the notch arrangement of the flexible joint can be approximately regarded as a bidirectional symmetrical form in a side view, so that the proposed flexible joint based on the triangular notch design has two-degree-of-freedom bending motion (as shown in fig. 4) which is not possessed by most unidirectional or bidirectional asymmetric notch flexible joints, and the bending flexibility and the motion range of the continuum joint are remarkably improved.
On the other hand, the flexible joint designed based on the triangular cutting groove can achieve the effect of two-degree-of-freedom bending deformation, effectively improves the bending controllability of the continuum flexible joint and improves the safety of operation.
Further, as shown in fig. 2 to 3, in this embodiment 1, in order to improve the bending flexibility and the bending uniformity of the flexible joint, the opening distance between any adjacent outer side notches 11 and the opening distance between any adjacent inner side notches 12 may be set to be the same, so that the thicknesses of the respective continuous body joint pieces formed between any adjacent outer side notches 11 and any adjacent inner side notches 12 are also the same. On the other hand, the designed flexible joint has the advantages of minimum deformation and stress in a unit length relative to other continuous bodies in the form of cutting grooves under the same bending angle, difficulty in fracture and high bearing capacity.
Example 2: as shown in fig. 1 and 5, a flexible joint differs from the flexible joint in embodiment 1 in that a central hole 5 is formed in the center of the columnar structural continuum, and a nickel-titanium alloy rod 51 is arranged in the central hole 5.
The flexible joint can be bent in a wire driving mode, in order to prevent unnecessary axial compression when the continuum is bent under the driving of a wire driving device, a nickel-titanium alloy rod 51 with the outer diameter of 1.2mm can be used as a central framework and placed in a central pore channel 5, and two ends of the nickel-titanium alloy rod are respectively bonded with the far end and the near end of the central pore channel, so that the continuum is restrained by a plurality of points, and the axial compression resistance is improved;
on the other hand, the nickel-titanium alloy rod has super elasticity and incompressibility, and is arranged at the center of the flexible joint as a central framework, so that the overall bearing capacity of the joint can be further improved on the basis of the original bearing performance of the flexible joint.
Further, as shown in fig. 1, the flexible joint continuum according to embodiment 2 of the present invention further includes an endoscope channel 2, at least two instrument channels 3, at least two water gas channels 4, and four driving wire channels 7, so as to carry an endoscope and surgical instruments for functional surgery.
Example 3: as shown in fig. 2, in order to further improve the bearing capacity, the torsion resistance and the related kinematic performance of the flexible joint of the present invention, the present invention determines the weight of each optimization target by using the entropy weight method with the maximum bending angle, the minimum processing wall thickness and the basic dimensions (total length, diameter) of the outer shape as constraints and with the deflection stiffness in the primary bending plane, the bending stiffness in the secondary bending plane and the overall torsion stiffness as targets through a finite element simulation method, comprehensively considers and determines the design parameters of the outer side notch 11 and the inner side notch 12, and performs specific optimization, wherein the optimization results are as follows:
since the outer slot 11 and the inner slot 12 have the same structure, the present invention will be specifically described by taking the outer slot 11 as an example:
as shown in FIG. 2, the present invention defines the opening distance between adjacent outer notches 11 as h2, the bottom slot width of the outer notch as h1, the slot depth of the outer notch as P, the diameter of the continuum as d, and the length as L;
(1) the groove depth P of the outer side notch is larger than the radius of the columnar structure continuum; preferably, when the ratio of the groove depth P of the outer groove opening to the diameter d of the columnar structure continuum is 0.6-0.9: 1;
(2) the ratio of the opening distance h2 between the adjacent outer side notches 11 to the groove width h1 at the bottom ends of the outer side notches is limited to 1.2-2: 1;
(3) the continuum is provided with a joint head part 13 and a joint tail part 14, and the number of the outer side notches between the joint head part 13 and the joint tail part 14 is the same as that of the inner side notches.
When the above limiting conditions are met, the designed flexible joint with the triangular bidirectional asymmetric grooving design has the best bearing performance, flexibility and torsion resistance while realizing two-degree-of-freedom bending.
Specifically, in the present invention, when the diameter d of the flexible joint continuum is 20mm and the length L is 80mm, for example, the number of the outer side notches is the same as the number of the inner side notches, and the number of the outer side notches is 13, according to the above definition, in the control modeling experiment process, the following experiment results can be obtained:
(1) continuum kinematic performance: the method for measuring the kinematic performance of the continuum generally comprises the steps of comparing the bent actual end position of the continuum with a modeling theoretical value based on a constant curvature model, and comparing errors of the two, namely positioning errors, wherein the smaller the error is, the better the constant curvature performance is; in the invention, compared with a theoretical value of a kinematic model based on the assumption of constant curvature, the maximum value of the positioning error of the far end position of the flexible joint is less than 5 percent of the total length (80mm) of the flexible joint of the continuum, which indicates that the constant curvature is good;
(2) hysteresis characteristics: the repeatability of the actual position of the far end of the continuum in the whole motion period of bending and recovering, namely the hysteresis error, reflects the repeated positioning accuracy; in the invention, the maximum hysteresis error is less than 2% of the total length by comparing the three experimental values, which shows that the repeated positioning precision is higher and the kinematic characteristics are good;
(3) carrying capacity: under the condition of 150g of load, the deformation deflection of the flexible joint is less than 10% of the total length when the flexible joint is bent to any angle; when the bending angle is 90 degrees, the effective load is as high as 500g, which indicates that the designed continuum has higher bearing capacity;
(4) torsion resistance: the flexible joint integrated structure design has higher torsion resistance, the far end of the flexible joint integrated structure can bear certain external force, and experimental results show that the torsional rigidity of the flexible joint integrated structure exceeds 8 mNm/DEG, so that the flexible joint integrated structure is favorable for providing stable support for surgical instruments in the surgical process.
Example 4: as shown in fig. 5, a robot arm for a flexible endoscopic minimally invasive surgery robot comprises a flexible joint, a flexible steel wire shaft 51 and a front end deployment mechanism 8 according to any one of embodiments 1 to 3; wherein:
a steel wire flexible shaft channel 5 is arranged on the flexible joint; the steel wire flexible shaft 51 penetrates through the steel wire flexible shaft channel 5 and is connected with the front end unfolding mechanism 8; the front-end unfolding mechanism 8 can realize opening and closing actions under the pushing and pulling action of the steel wire flexible shaft 51, and can provide a stable triangular operation space for surgical instruments in an unfolding state.
Specifically, the front end deployment mechanism 8 that realizes the opening and closing operation and can form a triangular operation space is structurally configured as follows:
the front end unfolding mechanism 8 comprises an unfolding mechanism head 81, two unfolding claws 83, a push rod 82 and two connecting rods 84; wherein: the deployment mechanism head 81 is connected to a flexible joint; the two unfolding claws 83 are symmetrically arranged and are respectively hinged on the unfolding mechanism head part 81; the push rod 82 is connected with the steel wire flexible shaft 51; the two connecting rods 84 are symmetrically arranged about the push rod 82, one end of each connecting rod 84 is hinged with the push rod 82, and the other end of each connecting rod 84 is hinged with the corresponding unfolding claw 83; in the unfolded state, a triangular operation space can be formed between the two unfolding claws 83 and the unfolding mechanism head 81.
In the instrument arm according to embodiment 4 of the present invention, the head 81 of the deployment mechanism is fixedly connected to the distal end of the continuum of the flexible joint, and the arrangement of the channels is consistent with the continuum, and the channels are respectively provided with a steel wire flexible shaft channel, a driving wire channel, an endoscope channel, a water and gas channel, and two channels for surgical instruments.
In the manipulator arm according to embodiment 4 of the present invention, the flexible steel wire shaft 51 is connected to a driving device for transmitting force and torque in a curved channel; in the two groups of four-bar mechanisms consisting of the head 81 of the unfolding mechanism, the push rod 82, the two unfolding claws 83 and the two connecting rods 84 are symmetrically arranged and share the push rod 82 driven by the steel wire flexible shaft 51, and the two unfolding claws 83 are driven to open and close by pushing and pulling the push rod 82.
Further, in practical application, the endoscope is finally fixed on the head of the unfolding mechanism through the endoscope channel on the continuous body, and two surgical instruments are guided to be unfolded passively through the unfolding claws through the instrument channel on the flexible joint of the continuous body, so that a larger 'operation triangle' can be formed. As a preferred embodiment, in the front end unfolding mechanism, the maximum unfolding angle between the two unfolding claws is set to be 30-33 degrees, so that the inner wall of the cavity channel is not damaged in the operation process, and the operation safety is improved.
In addition, it should be noted that the specific embodiments described in the present specification may differ in the components, the shapes of the components, the names of the components, and the like. All equivalent or simple changes of the structure, the characteristics and the principle of the invention which are described in the patent conception of the invention are included in the protection scope of the patent of the invention. Various modifications, additions and substitutions for the specific embodiments described may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.
Claims (10)
1. A flexible joint comprising a continuum in a columnar structure, wherein:
a plurality of outer side notches which are arranged in parallel and have triangular longitudinal sections are formed in the radial outer side of the continuum, and the groove width of each outer side notch is gradually reduced from the radial outer side to the radial inner side;
a plurality of inner side notches which are arranged in parallel and have triangular longitudinal sections are formed in the radial inner side of the continuum, and the groove width of each inner side notch is gradually reduced from the radial inner side to the radial outer side;
the shapes and the depths of the outer side notches and the inner side notches are the same and are alternately arranged;
the outer side notches are symmetrical relative to a bus A of the columnar structure continuum, the inner side notches are symmetrical relative to a bus B of the columnar structure continuum, and the bus A, the bus B and the central axis of the continuum are located on the same plane.
2. The flexible joint of claim 1, wherein the opening distance between any adjacent outer notches is the same as the opening distance between any adjacent inner notches.
3. The flexible joint of claim 1 or 2, wherein a central hole is formed in the center of the continuous body of the columnar structure, and a nickel-titanium alloy rod is arranged in the central hole.
4. The flexible joint of claim 3 wherein the groove depth of the outboard notch is greater than the radius of the continuum of columnar structure.
5. The flexible joint of claim 4, wherein the ratio of the groove depth of the lateral notch to the diameter of the columnar structure continuum is 0.6-0.9: 1.
6. The flexible joint of claim 5 wherein the ratio of the open spacing between adjacent outer notches to the width of the groove at the bottom of the outer notch is 1.2-2: 1.
7. The flexible joint of claim 6, wherein the continuous body has a leading joint portion and a trailing joint portion, and the number of the outer side notches is the same as the number of the inner side notches.
8. A robot arm for a flexible endoscope minimally invasive surgery, which is characterized by comprising the flexible joint, the steel wire flexible shaft and the front end unfolding mechanism of any one of claims 1 to 7, wherein:
a steel wire flexible shaft channel is arranged on the flexible joint;
the steel wire flexible shaft penetrates through the steel wire flexible shaft channel and is connected with the front end unfolding mechanism;
the front-end unfolding mechanism can realize opening and closing actions under the pushing and pulling action of the steel wire flexible shaft and can provide an operation triangular area for surgical instruments in an unfolding state.
9. The instrument arm of claim 8, wherein the front deployment mechanism comprises a deployment mechanism head, two deployment jaws, a push rod, and two links; wherein:
the head of the unfolding mechanism is connected with the flexible joint;
the two unfolding claws are symmetrically arranged and are respectively hinged on the head part of the unfolding mechanism;
the push rod is connected with the steel wire flexible shaft;
the two connecting rods are symmetrically arranged relative to the push rod, one end of each connecting rod is hinged with the push rod, and the other end of each connecting rod is hinged with the corresponding unfolding claw; in the unfolding state, a triangular operation space can be formed by the two unfolding claws and the head of the unfolding mechanism in an enclosing mode.
10. The instrument arm of claim 9 wherein the maximum deployment angle between the two deployment jaws is set at 30-33 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210339412.2A CN114938996A (en) | 2022-04-01 | 2022-04-01 | Flexible joint and flexible endoscope robot for minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210339412.2A CN114938996A (en) | 2022-04-01 | 2022-04-01 | Flexible joint and flexible endoscope robot for minimally invasive surgery |
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| CN104116528A (en) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | Endoscopic surgery instrument outer sheath based on soft continuum mechanism |
| CN213217595U (en) * | 2020-04-30 | 2021-05-18 | 杭州康基医疗器械有限公司 | Dedicated haplopore multiple entry device of robot operation |
| CN113440184A (en) * | 2021-08-12 | 2021-09-28 | 吉林大学 | Manual-control flexible minimally invasive surgical instrument |
| CN113456231A (en) * | 2021-07-22 | 2021-10-01 | 上海交通大学 | Incision type continuum robot based on crossed bending beam structure |
| CN114027982A (en) * | 2021-12-09 | 2022-02-11 | 合肥工业大学 | Single-rod flexible driving surgical robot actuator based on continuum configuration |
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| CN104116528A (en) * | 2014-07-14 | 2014-10-29 | 上海交通大学 | Endoscopic surgery instrument outer sheath based on soft continuum mechanism |
| CN213217595U (en) * | 2020-04-30 | 2021-05-18 | 杭州康基医疗器械有限公司 | Dedicated haplopore multiple entry device of robot operation |
| CN113456231A (en) * | 2021-07-22 | 2021-10-01 | 上海交通大学 | Incision type continuum robot based on crossed bending beam structure |
| CN113440184A (en) * | 2021-08-12 | 2021-09-28 | 吉林大学 | Manual-control flexible minimally invasive surgical instrument |
| CN114027982A (en) * | 2021-12-09 | 2022-02-11 | 合肥工业大学 | Single-rod flexible driving surgical robot actuator based on continuum configuration |
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| 刘玉红: "《线驱动仿海豹尾部推进机构设计与运动学分析》", 《天津大学学报》, 31 December 2021 (2021-12-31), pages 133 - 142 * |
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