CN110123458A - A kind of variation rigidity surgery mechanical arm, operation device and method - Google Patents
A kind of variation rigidity surgery mechanical arm, operation device and method Download PDFInfo
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- CN110123458A CN110123458A CN201910470475.XA CN201910470475A CN110123458A CN 110123458 A CN110123458 A CN 110123458A CN 201910470475 A CN201910470475 A CN 201910470475A CN 110123458 A CN110123458 A CN 110123458A
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- rigidity
- mechanical arm
- pipe
- bottom plate
- surgery mechanical
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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
- A61B34/30—Surgical robots
-
- 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
-
- 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
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
Abstract
The present invention relates to a kind of variation rigidity surgery mechanical arms, operation device and method, including multiple joints, adjacent segment sphere-contact, all joints, which pass through, the flexible pipe being arranged concentrically with joint, the flexible temperature control tube being wrapped in outside flexible pipe, the rigidity change pipe being wrapped in outside flexible temperature control tube and at least one set of rope yarn, the quantity of every group of rope yarn is two, more rope yarns are evenly distributed on the circumference being arranged concentrically with joint, the diameter of circumference is greater than the outer diameter of rigidity change pipe, two rope yarns in same group are located at the both ends of circle diameter, rigidity change pipe can be heated or cooled in flexible temperature control tube, change the rigidity state of rigidity change pipe, surgery mechanical arm configuration of the invention is small in size, both it had adapted to advance in the cavity of human body complications, enough rigidity can be provided again, meet operation demand.
Description
Technical field
The present invention relates to the field of medical instrument technology, and in particular to a kind of variation rigidity surgery mechanical arm, operation device and side
Method.
Background technique
Endoscope intervention operation in, flexibility operation mechanical arm can in narrow space flexible adaptation human body complications
Path, without hurting tissue；But when the work of end surgical instrument, and it is enough rigid to need surgery mechanical arm to have
Degree is to resist external load.Rigidity under both of these case differs greatly, inventors have found that existing operating robot has failed
The two the conflicting requirements of full up foot, which has limited the performance of operating robot and uses.
Surgery mechanical arm is re-assemblied or again by the attachable and releasable rod connection using inside configuration at present
Connecting component adjusts rigidity.It can get consistency when dismantling part, can get high rigidity when part is reinstalled.Such as use base
Switch the state (compliance or rigidity) of cannula system in the locking mechanism of sliding block and stopper, but inventors have found that this
The design of method structure is considerably complicated, and overall structure is huge, can not narrow space in the course of surgery use；Using particle
The reversible interference and vacuum pressure of medium (sand or ground coffee) carry out the rigidity of regulating system, inventors have found that high rigidity needs
A large amount of particle is wanted, it is excessively huge that this will lead to structure；The rigidity of surgery mechanical arm, hair are improved by increasing the tension of cable
Bright people's discovery, the cable material and trace arrangements that such method needs high-strength abrasion-proof good are more complicated；Utilize cylindrical silicon
Glue conduit simultaneously constitutes stiffness variable surgery mechanical arm being internally embedded reticular structure plastic tube, inventors have found that such method needs
Pressure control rigidity is used, noise and structure size are all bigger, are not suitable for applying during surgery, and therefore, there is presently no full
The stiffness tuning technology of the more piece non-individual body operating robot of sufficient clinical application.
Summary of the invention
The purpose of the present invention is to overcome above-mentioned the deficiencies in the prior art, provide variation rigidity surgery mechanical arm, structural volume
It is small, rigidity can be changed, be suitble to apply during surgery.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of variation rigidity surgery mechanical arm, including multiple joints, adjacent segment sphere-contact, all joints, which pass through, to be had and closes
Save the flexible pipe being arranged concentrically, the flexible temperature control tube being wrapped in outside flexible pipe, the variation rigidity being wrapped in outside flexible temperature control tube
Pipe, all joints, which pass through, at least one set of rope yarn, and the quantity of every group of rope yarn is two, and more rope yarns are evenly distributed on same with joint
On the circumference of heart setting, the diameter of circumference is greater than the outer diameter of rigidity change pipe, and two rope yarns in same group are located at circle diameter
Rigidity change pipe can be heated or cooled in both ends, flexible temperature control tube, change the rigidity state of rigidity change pipe.
Further, described joint one end end face is equipped with boss, and the boss has spherical end face, and the other end in joint has
There is the spherical groove face to match with the spherical end face, adjacent segment realizes sphere-contact by spherical end face and spherical groove face.
Further, the flexible pipe is made of rubber material.
Further, the flexible temperature control tube is spiral helicine flexible metallic hose, is internally provided with runner, end be equipped with into
The mouth of a river and water outlet, cooling water can be entered runner by water inlet and be flowed out by water outlet.
Further, the rigidity change pipe is made of PET plastic material.
It is a further object to provide a kind of operation devices, and high degree of automation is easy to operate, labor intensity
It is low, it adopts the following technical scheme that
A kind of operation device, including the variation rigidity surgery mechanical arm, variation rigidity surgery mechanical arm one end end
It being fixedly connected with mechanical arm support, mechanical arm support is fixed on bottom plate, and bottom plate is provided at least one first driving mechanism, the
One driving mechanism is respectively connected with turntable, two rope yarns in same group of variation rigidity surgery mechanical arm pass through mechanical arm support with it is same
A turntable connection, the first driving mechanism are able to drive turntable rotation, and turntable rotation is able to drive in same group a wherein rope yarn
While packing up, another rope yarn is discharged.
Further, the rope yarn of the variation rigidity surgery mechanical arm is connect with directive wheel solderless wrapped connection, and rope yarn passes through directive wheel
It is connect after guiding with turntable, the directive wheel is connect with guiding wheel seat, and the guiding wheel seat is connect with bottom plate.
Further, the bottom plate is provided with sliding slot, is oriented on wheel seat and is connected with fixing bolt, the fixing bolt passes through
Conducting wire wheel seat is fixedly connected by sliding slot and the nut that is tightened with bottom plate.
Further, the bottom plate is connect with the second driving mechanism, and the second driving mechanism can drive bottom plate along variation rigidity
Axis direction movement of the surgery mechanical arm in straightened condition.
Third object of the present invention is to provide a kind of working method of operation device, easy to operate, working efficiencies
Height, surgery mechanical arm can switch in rigidity and flexible state, meet operation needs, adopt the following technical scheme that
A kind of working method of operation device: surgical instrument is fixedly connected with surgery mechanical arm, flexible temperature control tube is to change
The heating of stiffness pipe makes the rigidity state of rigidity change pipe by rigid transition flexibility, and the first driving mechanism drives turntable rotation, same
Two rope yarns one of a turntable packs up, another release, is able to drive the bending rotation of variation rigidity surgery mechanical arm, at this time hand
Art instrument arm is able to drive surgical instrument and flexibly advances in human intracavity path, arrives at the destination surgical instrument, surgical device
After tool arrives at the destination, it can be passed through cooling water in temperature control tube, rigidity change pipe is cooled down, make the rigidity state of rigidity change pipe
Rigidity is become from flexibility, is able to carry out surgical procedure at this time.
Beneficial effects of the present invention:
1. surgery mechanical arm of the invention only need to be arranged through the flexible pipe in joint, flexible temperature control tube, rigidity change pipe and
Rope yarn, structure is simple, small in size, by the way that rigidity change pipe is heated or cooled using flexible temperature control tube, realizes variation rigidity
Pipe makes surgery mechanical arm realize the switching of flexible and rigid different conditions in the switching of flexible and rigid different conditions, both full
The needs that foot advances in tortuous chamber road in flexible adaptation human body in narrow space, and when meeting the work of end surgical instrument
Resist the needs of external load.
2. surgery mechanical arm of the invention, rigidity change pipe is made of PET plastic material, and nontoxic, phase transition temperature is low, will not
It causes harm to the human body.
3. surgery mechanical arm of the invention, flexible temperature control tube is spiral helicine flexible metallic hose, can to rigidity change pipe into
The quick heating and cooling of row, the time required for phase transformation is few, and work efficiency is high.
4. surgery mechanical arm of the invention, the driven by rotary disc rope yarn that is connected by the first driving mechanism is packed up and is discharged,
To drive the bending of surgery mechanical arm, high degree of automation reduces the labor intensity of operator.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation do not constitute the restriction to the application for explaining the application.
Fig. 1 is 1 structural schematic diagram of the embodiment of the present invention；
Fig. 2 is 1 joint schematic front view of the embodiment of the present invention；
Fig. 3 is 1 joint diagrammatic cross-section of the embodiment of the present invention；
Fig. 4 is that 1 adjacent segment of the embodiment of the present invention cooperates schematic diagram；
Fig. 5 is 3 overall structure diagram of the embodiment of the present invention；
Fig. 6 is 3 diagrammatic cross-section of the embodiment of the present invention；
Fig. 7 is 3 directive wheel of the embodiment of the present invention and rope yarn distribution schematic diagram one；
Fig. 8 is 3 directive wheel of the embodiment of the present invention and rope yarn distribution schematic diagram two；
Fig. 9 is 3 directive wheel of the embodiment of the present invention and rope yarn distribution schematic diagram three；
Wherein, 1. joint, 1-1. boss, the spherical end face 1-2., the spherical groove face of 1-3., 1-4. through-hole, 1-5. perforation, 2. is soft
Property pipe, 3. flexible temperature control tubes, 3-1. water inlet, 3-2. water outlet, 4. rigidity change pipes, 5. rope yarns, 6. mechanical arm supports, 7. flanges
Terminal pad, 8. bottom plates, 9. steering engines, 10. turntables, 11. guiding wheel seats, 12. motors, 13. lead screws, 14. sliding blocks, 15. platforms, 16.
Sliding rail, 17. first rope yarns, 18. second rope yarns, 19. first directive wheels, 20. second directive wheels, 21. third directive wheels, 22.
Four directive wheels, 23. the 5th directive wheels, 24. the 6th directive wheels, 25. the 7th directive wheels, 26. the 8th directive wheels, 27. support plates,
28. fixing bolt, 29. sliding slots.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
In order to facilitate narration, if there is "upper", "lower" printed words in the present invention, the upper and lower with attached drawing itself is only indicated
To consistent, restriction effect is not played to structure, it is only for convenient for the description present invention and simplify description, rather than indicate or dark
Show that signified equipment or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
As background technique is introduced, existing surgery mechanical arm rigidity-changing method is not suitable for being applied in operation, needle
To the above problem, present applicant proposes a kind of variation rigidity surgery mechanical arms.
In a kind of exemplary embodiment embodiment 1 of the application, as shown in Figs 1-4, a kind of variation rigidity surgery mechanical arm, packet
Multiple joints 1 are included, adjacent segment is by sphere-contact, specifically, a side end face in the joint is provided with boss 1-1, boss
End face be spherical end face 1-2, another side end face in the joint is equipped with the spherical groove face 1- to match with the spherical end face
3, the spherical end face of adjacent segment is in contact with spherical groove face, realizes the sphere-contact of adjacent segment.
The centre in the joint is provided with through-hole 1-4, passes through in the through-hole in multiple joints and to be arranged concentrically with joint
Flexible pipe, flexible temperature control tube and rigidity change pipe, flexible pipe 2 has to be made of rubber material, the central part positioned at joint of flexible pipe
Position, the periphery of flexible pipe wrap flexible temperature control tube 3, and the flexibility temperature control tube uses the flexible metal of helicoidal structure
Pipe, the flexible metallic hose inside have runner, and the helicoidal structure uses double-spiral structure, the setting of flexible metal tube end
Water inlet 3-1 and water outlet 3-2 be located at the same side, cooling water can enter runner by water inlet, is discharged by water outlet,
The flexibility temperature control tube periphery is enclosed with rigidity change pipe 4, and the rigidity change pipe is made of PET plastic material, rigidity change pipe with
Through-hole interference fit connection when rigidity change pipe is bent, certain opposite sliding can be generated with joint, is circle with articulation center
The heart, joint are provided with circumferentially equally distributed four perforation 1-5, and passing through in the perforation has rope yarn 5, joint by perforation with
Rope yarn is fixedly connected, and rope yarn passes through all joints and connects with the arthrodesis of end (for connecting the end of surgical instrument),
Four rope yarns are circumferentially uniformly distributed, and the diameter both ends of circumference where every rope yarn is respectively positioned on it pull rope yarn that hand may be implemented
Bending of the art mechanical arm to any direction, wherein two rope yarns at circle diameter both ends where being located at perforation are one group of rope yarn.
It is connect respectively with the cathode of the anode of power supply and power supply at the inlet and outlet of temperature control tube, power supply can be to temperature
Keyholed back plate is powered, and temperature control tube heating power made of metal material heats the rigidity change pipe made of PET plastic material,
When being heated to 67 DEG C or more, rigidity change pipe is flexibility by rigid transition, is pulled rope yarn, surgery mechanical arm at this time by undergoing phase transition
It is able to carry out bending, the convenient advance in human intracavity path is flexible warm after surgery mechanical arm end reaches target position
It is passed through cooling water inside keyholed back plate, cools down to rigidity change pipe, rigidity change pipe is undergone phase transition, and is changed into rigidity by flexibility, can
Undertake the external load generated in surgical procedure.
Rigidity change pipe is made of PET plastic material, and nontoxic, phase transition temperature is low, will not be caused harm to the human body, flexible temperature
Keyholed back plate is spiral helicine flexible metallic hose, can carry out quick heating and cooling to rigidity change pipe, the time required for phase transformation is few, work
Make high-efficient.
Embodiment 2:
Present embodiment discloses a kind of operation device, including bottom plate, the bottom plate side is provided with mechanical arm support, described
Mechanical arm support and one end of variation rigidity surgery mechanical arm described in embodiment 1 are bolted to connection, specifically, variation rigidity
The joint that surgery mechanical arm is used to connect with mechanical arm support is connected with flange terminal pad 7, and flange terminal pad passes through bolt and machine
Tool arm support is fixedly connected.
There are two the first driving mechanisms, the first driving mechanism to use steering engine for setting on the bottom plate, and the steering engine is fixed on
In support plate, support plate is bolted to connection with bottom plate, and the output shaft of the steering engine is connect with turntable, variation rigidity surgical engine
Two rope yarns in tool arm in one group pass through mechanical arm support, and after the directive wheel by being arranged on solderless wrapped connection bottom plate with one of them
First driving mechanism connection turntable be fixedly connected, two rope yarns in another group of rope yarn pass through mechanical arm support, and by around
The turntable connecting after the directive wheel being arranged on bottom plate with another first driving mechanism is connect to be fixedly connected.
Turntable rotation while capable of packing up a rope yarn in one group, discharges another rope yarn in one group, thus band
It has an operation the bending of mechanical arm.
The directive wheel is connect with guiding wheel seat, and the guiding wheel seat is fixedly connected with bottom plate, the guiding wheel seat connection
There is fixing bolt 29, the fixing bolt passes through guiding wheel seat and sliding slot 30, and the nut that is tightened, by guiding wheel seat and bottom plate
It is fixedly connected, unclamps fixture nut, guiding wheel seat can be slided along the chute, can be tensioned to rope yarn.
The bottom plate is connect with the second driving mechanism, and second driving mechanism can drive bottom plate to do and perform the operation along variation rigidity
The movement of mechanical arm axis direction in a straightened condition, second driving mechanism includes motor, after the output shaft of the motor
It is connect with lead screw, lead screw is connected with sliding block, and the sliding block is slidably connected with the sliding rail that platform two sides are arranged in, and the sliding block passes through
Bolt is fixedly connected with bottom plate, and lead screw both ends are supported using bearing block.
In the present embodiment, the steering engine, motor are connect with controller, control its work by controller.
Embodiment 3:
Present embodiment discloses a kind of operation devices, as seen in figs. 5-6, in the present embodiment, variation rigidity surgery mechanical arm packet
First mechanical arm portion and second mechanical arm portion are included, the quantity of rope yarn is eight, totally four groups of rope yarns, wherein two groups rope yarn (four
Rope) all joints in first mechanical arm portion and second mechanical arm portion are passed through, and connect with the arthrodesis of second mechanical arm end,
Other two groups of rope yarns (in addition four ropes) (are used to connect second just through first mechanical arm portion, and with first mechanical arm portion end
The end of mechanical arm) arthrodesis connection, wherein first mechanical arm portion with mechanical arm support 6 for connect, the second machinery
The end of arm rope yarn just through first mechanical arm and passes through first mechanical arm and second mechanical arm for connecting surgical instrument
Rope yarn be circumferentially uniformly interspersed.
Using such setting, surgical instrument can be made to reach target position using first mechanical arm portion, utilize the second machinery
The posture of the adjustable surgical instrument of arm makes surgery mechanical arm have more freedom of motion.
The end of the variation rigidity surgery mechanical arm, which is fixed by the way of same as Example 1 with mechanical arm support, to be connected
It connects, mechanical arm support is fixed on bottom plate 8, and there are four the first driving mechanisms, first driving mechanism to use for setting on bottom plate
Steering engine 9, bottom plate connect steering engine by support plate 27, and steering engine is fixed on the supporting plate, and support plate connects by the way that bolt and bottom plate are fixed
It connects, the output shaft of steering engine is connected with turntable 10, and two steering engines, same group of variation rigidity surgery mechanical arm is respectively set in the two sides of bottom plate
Two rope yarns of rope yarn pass through mechanical arm support and connect with the same turntable, and four groups of rope yarns are connected on four turntables.
Rope yarn solderless wrapped connection directive wheel after passing through mechanical arm support, is connect after being oriented to using directive wheel with turntable, the guiding
Wheel is connected on guiding wheel seat 11, and directive wheel can be adjusted using the identical method of embodiment 1 with the relative position of bottom plate,
To be tensioned to rope yarn, the bottom plate position between the steering engine of two sides is arranged in the directive wheel and directive wheel pedestal, arrangement
It is compact, save occupied space.
In the present embodiment, the distribution mode of directive wheel and rope yarn is as Figure 7-9, with the first rope on one of turntable
It being illustrated for line 17 and the second rope yarn 18, first rope yarn and the second rope yarn are two rope yarns in one group, first
Rope yarn is fixedly connected around the first directive wheel 19, the second directive wheel 20 and third directive wheel 21 with turntable, wherein the first directive wheel,
Second directive wheel, third directive wheel are horizontally disposed directive wheel, only change the direction of the first rope yarn, do not change its height position
It sets, the second rope yarn is around the 4th directive wheel 22, the 5th directive wheel 23, the 6th directive wheel 24, the 7th directive wheel 25 and the 8th guiding
It is connect after wheel 26 with turntable, wherein the 5th directive wheel and the 6th directive wheel are vertically arranged, the height of the second rope yarn can be changed, with
Remaining directive wheel of second rope yarn solderless wrapped connection is horizontally disposed, can only change the direction of the second rope yarn, due to the first rope yarn and second
The both ends of circle diameter are arranged in rope yarn, and height is different, so being provided with the 5th directive wheel and the 6th directive wheel to change
Become its height, the rope yarn on remaining turntable is connected on turntable after being oriented to by identical method using directive wheel, this field skill
The position of directive wheel and the solderless wrapped connection trend of rope yarn can be arranged in art personnel according to actual needs, herein without being described in detail.
The directive wheel is connect with guiding wheel seat, and the guiding wheel seat is fixedly connected with bottom plate, the guiding wheel seat connection
There is fixing bolt 28, the fixing bolt passes through guiding wheel seat and sliding slot 29, and the nut that is tightened, by guiding wheel seat and bottom plate
Be fixedly connected, unclamp fixture nut, guiding wheel seat can slide along the chute, rope yarn can be tensioned, can as needed by
Part directive wheel is fixedly connected using such mode and the relatively-movable connection of bottom plate, remaining guiding wheel seat with bottom plate.
The bottom plate is connect with the second driving mechanism, and second driving mechanism can drive bottom plate to do and perform the operation along variation rigidity
The movement of mechanical arm axis direction in a straightened condition, second driving mechanism includes motor 12, the output shaft of the motor
It is connect afterwards with lead screw 13, lead screw is connected with sliding block 14, and the sliding block is slidably connected with the sliding rail 16 that 15 two sides of platform are arranged in, institute
It states sliding block and is fixedly connected by bolt with bottom plate, lead screw both ends are supported using bearing block.
In the present embodiment, the steering engine, motor are connect with controller, control its work by controller.
Embodiment 4:
Present embodiment discloses a kind of working methods of operation device: being pre-entered according to surgical target position to controller
Required surgical instrument is connected to the end of variation rigidity surgery mechanical arm by the motion path of mechanical arm tail end, by flexible temperature
The water inlet of keyholed back plate and water outlet are respectively turned on the anode and cathode of power supply, and flexible metallic hose generates heat after being powered, to by PET
Rigidity change pipe made of plastic material is heated, and after being heated to certain temperature, rigidity change pipe generates phase transformation, from rigidly becoming soft
Property, at this point, the second motor works, variation rigidity surgery mechanical arm is driven integrally to advance, while advance, steering engine is worked together, root
According to the motion path work of controller setting, corresponding rope yarn is packed up or discharged, sets entire variation rigidity surgery mechanical arm generation
The bending for determining angle is advanced in human body complications chamber road, and after reaching target position, flexible temperature control tube disconnects the connection with power supply,
At this point, being passed through cooling water by water inlet, cool down to rigidity change pipe, rigidity change pipe temperature is sent out after dropping to certain value at this time
Raw phase transformation becomes rigidity from flexibility, this time-varying rigidity surgery mechanical arm is generally rigid, is able to bear surgical instrument work and generates
External load.
Above-mentioned, although the foregoing specific embodiments of the present invention is described with reference to the accompanying drawings, not protects model to the present invention
The limitation enclosed, those skilled in the art should understand that, based on the technical solutions of the present invention, those skilled in the art are not
Need to make the creative labor the various modifications or changes that can be made still within protection scope of the present invention.
Claims (10)
1. a kind of variation rigidity surgery mechanical arm, which is characterized in that including multiple joints, adjacent segment sphere-contact, all joints
Across the flexible temperature control tube for having the flexible pipe being arranged concentrically with joint, being wrapped in outside flexible pipe, it is wrapped in outside flexible temperature control tube
The rigidity change pipe in portion, all joints, which pass through, at least one set of rope yarn, and the quantity of every group of rope yarn is two, and more rope yarns are uniformly distributed
On the circumference being arranged concentrically with joint, the diameter of circumference is greater than the outer diameter of rigidity change pipe, and two rope yarns in same group are located at
Rigidity change pipe can be heated or cooled in the both ends of circle diameter, flexible temperature control tube, change the rigidity state of rigidity change pipe.
2. a kind of variation rigidity surgery mechanical arm as described in claim 1, which is characterized in that described joint one end end face is equipped with convex
Platform, the boss have spherical end face, and the other end in joint has the spherical groove face to match with the spherical end face, adjacent pass
Section realizes sphere-contact by spherical end face and spherical groove face.
3. a kind of variation rigidity surgery mechanical arm as described in claim 1, which is characterized in that the flexible pipe is by rubber material system
At.
4. a kind of variation rigidity surgery mechanical arm as described in claim 1, which is characterized in that the flexibility temperature control tube is helical form
Flexible metallic hose, be internally provided with runner, end is equipped with inlet and outlet, and cooling water can enter stream by water inlet
It is simultaneously flowed out by water outlet in road.
5. a kind of variation rigidity surgery mechanical arm as described in claim 1, which is characterized in that the rigidity change pipe is by PET plastic
Material is made.
6. a kind of operation device, which is characterized in that including the described in any item variation rigidity surgery mechanical arms of claim 1-5, institute
It states variation rigidity surgery mechanical arm one end end to be fixedly connected with mechanical arm support, mechanical arm support is fixed on bottom plate, and bottom plate is set
It is equipped at least one first driving mechanism, the first driving mechanism is respectively connected with turntable, in same group of variation rigidity surgery mechanical arm
Two rope yarns pass through mechanical arm support and connect with the same turntable, and the first driving mechanism is able to drive turntable rotation, turntable rotation
While being able to drive in same group that wherein a rope yarn is packed up, another rope yarn is discharged.
7. operation device as claimed in claim 6, which is characterized in that the rope yarn and directive wheel of the variation rigidity surgery mechanical arm
Solderless wrapped connection connection, is connect by the guiding of directive wheel with turntable, and the directive wheel is connect with guiding wheel seat, the guiding wheel seat and bottom
Plate is fixedly connected.
8. operation device as claimed in claim 6, which is characterized in that the bottom plate is additionally provided with for being tensioned to rope yarn
Tensioning wheel, the tensioning wheel connect with tension pulley seat, and the tension pulley seat is connect by sliding slot and bolt with bottom plate, tensioning wheel
Seat can slide along the chute, and using bolt fastening on bottom plate.
9. operation device as claimed in claim 6, which is characterized in that the bottom plate is connect with the second driving mechanism, and second drives
Motivation structure can drive bottom plate to move along axis direction of the variation rigidity surgery mechanical arm in straightened condition.
10. a kind of working method of the described in any item operation devices of claim 6-9, which is characterized in that by surgical instrument with
Surgery mechanical arm is fixedly connected, and flexible temperature control tube heats variable steel-degree pipe, makes the rigidity state of rigidity change pipe by rigid transition
Flexibility, the first driving mechanism drive turntable rotation, and two rope yarns one of the same turntable packs up, and another release being capable of band
The bending rotation of dynamic variation rigidity surgery mechanical arm, it is clever in human intracavity path to be able to drive surgical instrument for surgical instrument arm at this time
It is living to advance, surgical instrument is arrived at the destination, after surgical instrument arrives at the destination, cooling water can be passed through in temperature control tube, to change
Rigidity pipe is cooled down, and so that the rigidity state of rigidity change pipe is become rigidity from flexibility, is able to carry out surgical procedure at this time.
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| CN201910470475.XA CN110123458B (en) | 2019-05-31 | 2019-05-31 | Variable-rigidity surgical mechanical arm, surgical device and method |
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| CN201910470475.XA CN110123458B (en) | 2019-05-31 | 2019-05-31 | Variable-rigidity surgical mechanical arm, surgical device and method |
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| CN110123458B CN110123458B (en) | 2020-10-20 |
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| CN110811840A (en) * | 2019-11-22 | 2020-02-21 | 山东大学 | Variable-rigidity wrist structure of surgical robot and surgical mechanical arm |
| CN111000599A (en) * | 2019-12-13 | 2020-04-14 | 山东大学 | Variable-rigidity snake-shaped surgical robot based on nickel-titanium alloy framework |
| CN113040943A (en) * | 2021-03-24 | 2021-06-29 | 合肥工业大学 | Flexible laparoscope actuator based on serial elastic element and continuum configuration |
| CN113729955A (en) * | 2021-10-18 | 2021-12-03 | 天津大学 | Drivable flexible device |
| CN114587600A (en) * | 2022-02-22 | 2022-06-07 | 哈尔滨工业大学（深圳） | Robot for minimally invasive surgery |
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| CN206840081U (en) * | 2017-07-06 | 2018-01-05 | 哈尔滨工业大学深圳研究生院 | A kind of line drives flexible robot |
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Cited By (7)
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| CN110811840A (en) * | 2019-11-22 | 2020-02-21 | 山东大学 | Variable-rigidity wrist structure of surgical robot and surgical mechanical arm |
| CN110811840B (en) * | 2019-11-22 | 2020-11-17 | 山东大学 | Variable-rigidity wrist structure of surgical robot and surgical mechanical arm |
| CN111000599A (en) * | 2019-12-13 | 2020-04-14 | 山东大学 | Variable-rigidity snake-shaped surgical robot based on nickel-titanium alloy framework |
| CN113040943A (en) * | 2021-03-24 | 2021-06-29 | 合肥工业大学 | Flexible laparoscope actuator based on serial elastic element and continuum configuration |
| CN113729955A (en) * | 2021-10-18 | 2021-12-03 | 天津大学 | Drivable flexible device |
| CN114587600A (en) * | 2022-02-22 | 2022-06-07 | 哈尔滨工业大学（深圳） | Robot for minimally invasive surgery |
| CN114587600B (en) * | 2022-02-22 | 2023-06-27 | 哈尔滨工业大学（深圳） | Robot for minimally invasive surgery |
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