CN109909990A - Insertion type software mechanical arm for internal medicine operation - Google Patents
Insertion type software mechanical arm for internal medicine operation Download PDFInfo
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- CN109909990A CN109909990A CN201910338133.2A CN201910338133A CN109909990A CN 109909990 A CN109909990 A CN 109909990A CN 201910338133 A CN201910338133 A CN 201910338133A CN 109909990 A CN109909990 A CN 109909990A
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Abstract
The invention discloses a kind of insertion type software mechanical arms for internal medicine operation, the software mechanical arm includes several bending module, torsion modulus and stretching module being arranged in series, the bending module under different air pressures for occurring corresponding bending deformation, the torsion modulus under different air pressures for occurring corresponding torsional deflection, and the stretching module under different air pressures for occurring corresponding stretcher strain.Software mechanical arm delicate structure of the invention, has biggish load capacity, and mechanical arm tail end can reach designated position by the different distortion of three serial module structures around the certain positions of human body, complicated internal medicine operation can be completed while reducing surgical wound.
Description
Technical field
The present invention relates to software robotic arm technical fields, more particularly to a kind of insertion type software machine for internal medicine operation
Tool arm.
Background technique
Soft robot is emerging hot spot and the future development forward position of current robot technology, with conventional rigid robot phase
Than showing unprecedented adaptability, sensitivity and agility, and constantly expand the application field of robot, being
One of the main trend of robot future development.
Software mechanical arm is one of the Main way of soft robot research, is currently based on line drive and pneumatic driving method,
Develop a variety of different types of software mechanical arms.
But all types of software mechanical arms developed at present all only have single freedom degree, are merely able to complete simple dynamic
Make.Simultaneously because the flexibility of its structure, causes mechanical arm control precision lower, and load capacity is poor, it is unbearable larger
Power.
Therefore, in view of the above technical problems, it is necessary to which a kind of insertion type software mechanical arm for internal medicine operation is provided.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of insertion type software mechanical arm for internal medicine operation, knot
Structure is exquisite, has biggish load capacity, and mechanical arm tail end can bypass human body by the different distortion of three serial module structures
A little positions reach designated position, and complicated internal medicine operation can be completed while reducing surgical wound.
To achieve the goals above, the technical solution that one embodiment of the invention provides is as follows:
A kind of insertion type software mechanical arm for internal medicine operation, the software mechanical arm include it is several be arranged in series it is curved
Bent module, torsion modulus and stretching module, the bending module are described for corresponding bending deformation to occur under different air pressures
Torsion modulus under different air pressures for occurring corresponding torsional deflection, and the stretching module is for occurring phase under different air pressures
The stretcher strain answered.
As a further improvement of the present invention, the bending module includes the first cavity elastomer and the winding of semi- cylindrical
In the first fiber and the second fiber on the first cavity elastomer.
As a further improvement of the present invention, the first cavity elastomer includes semi-cylindrical and rectangular surfaces, and described
One fiber and the second fiber on semi-cylindrical perpendicular to the first cavity elasticity body axis and uniform parallel is distributed, the first fiber and
Second fiber intersects in rectangular surfaces.
As a further improvement of the present invention, first fiber is in rectangular surfaces between the first cavity elasticity body axis
Angle be the first angle, angle of second fiber in rectangular surfaces between the first cavity elasticity body axis is the second angle,
The sum of first angle and the second angle are 180 °, and the first angle is 60 °~80 °, and the second angle is 100 °~120 °.
As a further improvement of the present invention, the torsion modulus includes the second cavity elastomer and the winding of semi- cylindrical
Third fiber on the second cavity elastomer.
As a further improvement of the present invention, the second cavity elastomer includes semi-cylindrical and rectangular surfaces, and described
Three fibers are at an acute angle with the first cavity elasticity body axis on semi-cylindrical, and third fiber is in rectangular surfaces perpendicular to the second cavity
Elastic body axis and uniform parallel distribution.
As a further improvement of the present invention, the third fiber on semi-cylindrical with the first cavity elasticity body axis
Angle is 50 °~70 °.
As a further improvement of the present invention, the stretching module includes third cavity elastomer and the winding of semi- cylindrical
In the 4th fiber and the 5th fiber on third cavity elastomer.
As a further improvement of the present invention, the third cavity elastomer includes semi-cylindrical and rectangular surfaces, and described
Four fibers and the 5th fiber intersect on semi-cylindrical, and the 4th fiber and the 5th fiber are in rectangular surfaces perpendicular to third cavity bullet
Property body axis and uniform parallel be distributed.
As a further improvement of the present invention, the 4th fiber on semi-cylindrical with third cavity elasticity body axis it
Between angle be third angle, angle of the 5th fiber on semi-cylindrical between third cavity elasticity body axis is the 4th folder
Angle, the sum of third angle and the 4th angle are 180 °, and third angle is 60 °~80 °, and the 4th angle is 100 °~120 °.
The beneficial effects of the present invention are:
The software mechanical arm that the present invention designs is made of modular deformation module, can carry out software according to actual needs
Mechanical arm re-assemblies debugging, and application range is wider；
Software mechanical arm is connected in series by the deformation module of multiple semi- cylindricals, compact-sized exquisiteness, have it is a variety of from
It can be operated from lesser surgical wound into human body by degree；
Deformation module uses filament wound structure, which can greatly enhance the load capacity and inflation of deformation module
When external rigidity；
Deformation module is mutually indepedent, and when work can take the method controlled respectively, can be realized the essence of software mechanical arm
Really control；
The gas circuit conduit of each deformation module is all arranged in the inside of drive module by software mechanical arm, is reduced to machine
The interference of tool arm.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in invention, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of software mechanical arm in a specific embodiment of the invention；
Fig. 2 is the structural schematic diagram of the first cavity elastomer in a specific embodiment of the invention；
Fig. 3 is the winding arrangement schematic diagram of the first fiber and the second fiber in a specific embodiment of the invention；
Fig. 4 is the structural schematic diagram of the second cavity elastomer in a specific embodiment of the invention；
Fig. 5 is the winding arrangement schematic diagram of third fiber in a specific embodiment of the invention；
Fig. 6 is the structural schematic diagram of third cavity elastomer in a specific embodiment of the invention；
Fig. 7 is the winding arrangement schematic diagram of the 4th fiber and the 5th fiber in a specific embodiment of the invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, below in conjunction with of the invention real
The attached drawing in example is applied, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work, all should belong to protection of the present invention
Range.
The art of the representation spaces relative position such as such as " left side " used herein, " left side ", " right side ", " right side ", "upper", "lower"
Language be for convenient for explanation purpose come describe as shown in the drawings a unit or feature relative to another unit or spy
The relationship of sign.The term of relative space position can be intended to include equipment in use or work other than orientation as shown in the figure
Different direction.For example, being described as being located at the unit of other units or feature " left side " if the equipment in figure overturn
Other units or feature " right side " will be located at.Therefore, exemplary term " left side " can include both orientation of left and right side.
Equipment can otherwise be directed (be rotated by 90 ° or other directions), and used herein and space correlation is interpreted accordingly
Description language.
In description herein, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in text.
The invention discloses a kind of insertion type software mechanical arms for internal medicine operation, including several bendings being arranged in series
Module, torsion modulus and stretching module, bending module are used for corresponding bending deformation, torsion modulus to occur under different air pressures
In corresponding torsional deflection occurs under different air pressures, stretching module under different air pressures for occurring corresponding stretcher strain.
Below in conjunction with specific embodiment, the invention will be further described.
Join shown in Fig. 1, the insertion type software mechanical arm of internal medicine operation is used in a specific embodiment of the invention comprising if
The dry bending module 10 being arranged in series, torsion modulus 20 and stretching module 30, bending module 10, torsion modulus 20 and stretching module
30 be modular software driver.Bending module 10 under different air pressures for occurring corresponding bending deformation, torsion modulus
20 under different air pressures for occurring corresponding torsional deflection, and stretching module 30 is used to that corresponding stretch to occur under different air pressures
Deformation.
It is illustrated by taking a bending module, a torsion modulus and a stretching module series connection as an example in the present embodiment,
It in other embodiments also may include multiple bending modules and/or multiple torsion modulus and/or multiple stretching modules, Ke Yigen
The assembling and debugging of software mechanical arm are carried out according to actual conditions, application range is wide.
To join Fig. 1 and combines shown in Fig. 2, Fig. 3, corresponding bending deformation can occur under different air pressures for bending module 10,
Software mechanical arm is enabled to generate bending to certain direction.
Specifically, bending module 10 includes the first cavity elastomer 11 of semi- cylindrical and is wound in the first cavity elastomer
On the first fiber 12 and the second fiber 13, the material of the first cavity elastomer 11 is silica gel.
Wherein, the first cavity elastomer 11 includes semi-cylindrical and rectangular surfaces, and the first fiber 12 and the second fiber 13 are mutually
Symmetrically it is wound on the first cavity elastomer 11.
Specifically, the first fiber 12 and the second fiber 13 on semi-cylindrical perpendicular to elastic 11 body axis of the first cavity and
Uniform parallel distribution, the first fiber 12 and the second fiber 13 intersect in rectangular surfaces.First fiber is empty with first in rectangular surfaces
Angle between chamber elasticity body axis is the first angle, and the second fiber is in rectangular surfaces between the first cavity elasticity body axis
Angle is the second angle, and the sum of the first angle and the second angle are 180 °, and the first angle is 60 °~80 °, and the second angle is
100 °~120 °.Preferably, the first angle in the present embodiment is 70 °, and the second angle is 110 °.
To join Fig. 1 and combines shown in Fig. 4, Fig. 5, corresponding torsional deflection can occur under different air pressures for torsion modulus 20,
Software mechanical arm is enabled to generate torsion along certain direction.
Specifically, torsion modulus 20 includes the second cavity elastomer 21 of semi- cylindrical and is wound in the second cavity elastomer
On third fiber 22, the material of the second cavity elastomer 21 is silica gel.
Wherein, the second cavity elastomer 21 includes semi-cylindrical and rectangular surfaces, and third fiber 22 is wound in the second cavity bullet
On property body 21.
Specifically, third fiber 22 is at an acute angle with 21 axis of the first cavity elastomer on semi-cylindrical, third fiber 22
Perpendicular to 21 axis of the second cavity elastomer and uniform parallel distribution in rectangular surfaces.Third fiber is on semi-cylindrical with first
The angle of cavity elasticity body axis is 50 °~70 °, it is preferable that the angle in the present embodiment is 60 °.
To join Fig. 1 and combines shown in Fig. 6, Fig. 7, corresponding stretcher strain can occur under different air pressures for stretching module 30,
Software mechanical arm is stretched downwards elongated.
Specifically, stretching module 30 includes the third cavity elastomer 31 of semi- cylindrical and is wound in third cavity elastomer
On the 4th fiber 32 and the 5th fiber 33, the material of third cavity elastomer 31 is silica gel.
Wherein, third cavity elastomer 31 includes semi-cylindrical and rectangular surfaces, and the 4th fiber 32 and the 5th fiber 33 are mutually
Symmetrically it is wound on third cavity elastomer 31.
Specifically, the 4th fiber 32 and the 5th fiber 33 intersect on semi-cylindrical, the 4th fiber 32 and the 5th fiber 33
Perpendicular to third cavity elasticity body axis and uniform parallel distribution in rectangular surfaces.4th fiber 32 on semi-cylindrical with third
Angle between 31 axis of cavity elastomer is third angle, the 5th fiber 33 on semi-cylindrical with third cavity elastomer 31
Angle between axis is the 4th angle, and the sum of third angle and the 4th angle are 180 °, and third angle is 60 °~80 °, the
Four angles are 100 °~120 °.Preferably, the third angle in the present embodiment is 70 °, and the 4th angle is 110 °.
The gas circuit conduit (silica gel catheter) for being bent module 10, torsion modulus 20 and stretching module 30 in the present invention is all arranged
Inside the air cavity of corresponding deformation module, the interference to mechanical arm is reduced, improves the control precision of mechanical arm.And bending die
The air cavity structure of block 10, torsion modulus 20 and stretching module 30 is mutually indepedent, will not interfere at work.
The present invention is based on fibre-reinforced characteristics, devise three kinds of modular softwares that can generate different distortion effects
Driver develops a kind of multi-functional software mechanical arm of the insertion type for operation in conjunction with three kinds of deformation modules.The software is mechanical
The delicate structure of arm, has biggish load capacity, and mechanical arm tail end can be bypassed by the different distortion of three serial module structures
The certain positions of human body reach designated position, and complicated internal medicine operation can be completed while reducing surgical wound.
As can be seen from the above technical solutions, the invention has the following advantages:
The software mechanical arm that the present invention designs is made of modular deformation module, can carry out software according to actual needs
Mechanical arm re-assemblies debugging, and application range is wider；
Software mechanical arm is connected in series by the deformation module of multiple semi- cylindricals, compact-sized exquisiteness, have it is a variety of from
It can be operated from lesser surgical wound into human body by degree；
Deformation module uses filament wound structure, which can greatly enhance the load capacity and inflation of deformation module
When external rigidity；
Deformation module is mutually indepedent, and when work can take the method controlled respectively, can be realized the essence of software mechanical arm
Really control；
The gas circuit conduit of each deformation module is all arranged in the inside of drive module by software mechanical arm, is reduced to machine
The interference of tool arm.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of insertion type software mechanical arm for internal medicine operation, which is characterized in that the software mechanical arm includes several strings
Join bending module, torsion modulus and the stretching module of setting, the bending module is used to occur under different air pressures corresponding curved
Song deformation, the torsion modulus are used for for corresponding torsional deflection, the stretching module to occur under different air pressures in difference
Corresponding stretcher strain occurs under air pressure.
2. the insertion type software mechanical arm according to claim 1 for internal medicine operation, which is characterized in that the bending die
Block includes the first cavity elastomer of semi- cylindrical and the first fiber and the second fiber that are wound on the first cavity elastomer.
3. the insertion type software mechanical arm according to claim 2 for internal medicine operation, which is characterized in that described first is empty
Chamber elastomer includes semi-cylindrical and rectangular surfaces, and first fiber and the second fiber are on semi-cylindrical perpendicular to the first cavity
Elastic body axis and uniform parallel distribution, the first fiber and the second fiber intersect in rectangular surfaces.
4. the insertion type software mechanical arm according to claim 3 for internal medicine operation, which is characterized in that described first is fine
Tieing up angle in rectangular surfaces between the first cavity elasticity body axis is the first angle, and the second fiber is in rectangular surfaces with first
Angle between cavity elasticity body axis is the second angle, and the sum of the first angle and the second angle are 180 °, and the first angle is
60 °~80 °, the second angle is 100 °~120 °.
5. the insertion type software mechanical arm according to claim 1 for internal medicine operation, which is characterized in that the torsion mould
Block includes the second cavity elastomer of semi- cylindrical and the third fiber that is wound on the second cavity elastomer.
6. the insertion type software mechanical arm according to claim 5 for internal medicine operation, which is characterized in that described second is empty
Chamber elastomer includes semi-cylindrical and rectangular surfaces, and the third fiber is on semi-cylindrical with the first cavity elasticity body axis in sharp
Angle, third fiber is in rectangular surfaces perpendicular to the second cavity elasticity body axis and uniform parallel distribution.
7. the insertion type software mechanical arm according to claim 6 for internal medicine operation, which is characterized in that the third is fine
Dimension is 50 °~70 ° with the angle of the first cavity elasticity body axis on semi-cylindrical.
8. the insertion type software mechanical arm according to claim 1 for internal medicine operation, which is characterized in that the stretching die
Block includes the third cavity elastomer of semi- cylindrical and the 4th fiber and the 5th fiber that are wound on third cavity elastomer.
9. the insertion type software mechanical arm according to claim 8 for internal medicine operation, which is characterized in that the third is empty
Chamber elastomer includes semi-cylindrical and rectangular surfaces, and the 4th fiber and the 5th fiber intersect on semi-cylindrical, the 4th fiber
With the 5th fiber perpendicular to third cavity elasticity body axis and uniform parallel distribution in rectangular surfaces.
10. the insertion type software mechanical arm according to claim 9 for internal medicine operation, which is characterized in that the described 4th
Angle of the fiber on semi-cylindrical between third cavity elasticity body axis is third angle, and the 5th fiber is on semi-cylindrical
Angle between third cavity elasticity body axis is the 4th angle, and the sum of third angle and the 4th angle are 180 °, and third
Angle is 60 °~80 °, and the 4th angle is 100 °~120 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910338133.2A CN109909990A (en) | 2019-04-25 | 2019-04-25 | Insertion type software mechanical arm for internal medicine operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910338133.2A CN109909990A (en) | 2019-04-25 | 2019-04-25 | Insertion type software mechanical arm for internal medicine operation |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110524523A (en) * | 2019-09-27 | 2019-12-03 | 南京林业大学 | A kind of modularization software manipulator |
| CN111055299A (en) * | 2019-12-24 | 2020-04-24 | 江西理工大学 | Variable-rigidity omnidirectional movement soft driver based on line interference technology |
| CN111152248A (en) * | 2020-03-04 | 2020-05-15 | 鹏城实验室 | Soft body winding robot |
| CN111267134A (en) * | 2020-03-04 | 2020-06-12 | 鹏城实验室 | Multidirectional winding soft robot |
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