CN110464466A - A kind of flexible robot for abdominal minimally invasive surgery - Google Patents
A kind of flexible robot for abdominal minimally invasive surgery Download PDFInfo
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- CN110464466A CN110464466A CN201910769916.6A CN201910769916A CN110464466A CN 110464466 A CN110464466 A CN 110464466A CN 201910769916 A CN201910769916 A CN 201910769916A CN 110464466 A CN110464466 A CN 110464466A
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- drive system
- module
- rope yarn
- line
- robot
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2904—Details of shaft curved, but rigid
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
-
- 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
Abstract
A kind of flexible robot for abdominal minimally invasive surgery, it is related to abdominal minimally invasive surgery technical field of medical equipment, it includes drive system, soft robot main body and end operation jaw mechanism；Drive system includes linear feeding system, the gentle drive system of line drive system；Line drive system is connect with linear feeding system, soft robot main body is installed on line drive system, gas drive system is supplied by passing through the tracheae of line drive system to soft robot main body, the front end clamper of end operation jaw mechanism is mounted on the front end of soft robot main body, the end hand grip of end operation jaw mechanism is installed on online drive system, and front end clamper is connect by wearing the wirerope in online drive system and soft robot main body with end hand grip.Structure of the invention is compact, and using flexible material, polymorphic variation and itself variation rigidity effect is can be achieved in multimode design, improves the spatial movement ability of robot, and has the function of realizing visual detection and biological tissue's sampling.
Description
Technical field
The present invention relates to abdominal minimally invasive surgery technical field of medical equipment, are a kind of rigid driving device of reservation, machine
The flexible robot system that device human agent selects flexible material to make is used for abdominal minimally invasive surgery, in particular to a kind of use
In the flexible robot of abdominal minimally invasive surgery.
Background technique
It improves with the continuous development of science and technology, more and more industrial operations are carried out by robot instead of artificial
Operation.Traditional rigid machine people is nearly all made of rigid material, and self-strength is high, has in general structure environment good
Good locomitivity, but when encountering more difficult working environment, ideal working effect is often not achieved；Review software machine
People, they possess infinite number of freedom degree due to own material softness, can the continuous operation under chaotic hazardous environment, than
If Minimally Invasive Surgery, mine point are detected etc., it is substantially better than flexibility, safety and adaptability of conventional rigid body robot etc.
Performance characteristics have made soft robot research become worldwide one big research boom, have very wide potential valence
Value.
By means of the development of robot technology, robot technology is combined to the robot tool developed with Minimally Invasive Surgery
There are higher precision and flexibility ratio, operation can be optimized to a certain extent.However, current robot assisted Minimally Invasive Surgery
Embodiment is only substituted doctor with robot from operating table, and existing operating robot is substantially rigidity
Robot, freedom degree are limited, it is difficult to be suitable for various complex environments, surgical instrument is easy to appear collision in patient's body
Interference or " chopsticks " effect, serious forgiveness is lower, and robot motion's ability is not excellent enough；In addition, existing at present be similar to stomach and intestine
The flexible operating robot of endoscope has a single function, and is only able to achieve the simple operations such as Image Acquisition, and integration degree is not high, it is difficult to
Complicated surgical procedure is completed, is existed compared with big limitation.
Summary of the invention
The present invention, should to overcome the shortcomings of the existing technology, provide a kind of flexible robot for abdominal minimally invasive surgery
Robot body selects flexible material to make, and has very superior deformability and safety, can carry out in patient's body
Flexible bending, and variation rigidity is realized by itself, the space orientation to robot end's surgical clamp is completed, it can be in narrow complexity
The Image Acquisition and sampling operation to pathological tissues are completed in space.The present patent application drives two ways using gas drive and line
Combination drive, pneumatic actuation can provide the main deformation that robot body is completed compared with large driving force；Rope yarn driving is driven as auxiliary
It is dynamic, the accurate positioning of robot body is completed, and form antagonism with pneumatic actuation, improves the rigidity of robot body.
The increase in robotically-driven serious forgiveness, redundancy and realization rigidity can be improved in gas-line combination drive, to improve machine
The locomitivity of device people.
To achieve the goals above, the technical solution used in the present invention is:
A kind of flexible robot for abdominal minimally invasive surgery, it includes end operation jaw mechanism, it further includes driving
Dynamic system and soft robot main body；Drive system includes linear feeding system, the gentle drive system of line drive system；Line drive system with
Linear feeding system connection, soft robot main body are installed on line drive system, and gas drive system passes through the gas across line drive system
Pipe is supplied to soft robot main body, and gas drive system and line drive system control soft robot construction deformation, linear feeding system
The front end clamper of the horizontal movement of control line drive system and soft robot main body, end operation jaw mechanism is mounted on software machine
The end hand grip of the front end of device human agent, end operation jaw mechanism is installed on online drive system, and front end clamper is by wearing
The wirerope being located in line drive system and soft robot main body is connect with end hand grip, and wirerope is pulled to realize front end folder
The folding of holder.
Further, the linear feeding system includes upper layer feed system and lower layer's feed system；Lower layer's feeding
System includes pedestal, screw slide rails pair and lead screw driving motor；Screw slide rails pair include lead screw pair, a pair of of straight line lower guideway and under
Sliding block；Lead screw driving motor is mounted on the base, and the lead screw of lead screw pair is rotatably installed on pedestal, and described lead screw one end is installed
On the output end of lead screw driving motor, a pair of of straight line lower guideway is symmetrically distributed in the two sides of lead screw and is mounted on the base, under
Sliding block is slidably arranged on a pair of of straight line lower guideway, and affixed with the nut in the lead screw pair, and upper layer feed system is mounted on
On sliding block, the straight-line displacement of upper layer feed system is realized in the rotation that lead screw driving motor controls lead screw.
Further, soft robot main body includes rigid restriction layer and flexible module；The rigid restriction layer includes top
End cap, preceding middle section limiting layer, posterior segment limiting layer and bottom cover, flexible module include bending deformed front-end module, middle-end
Module and rear module；Top cover, front-end module, preceding middle section limiting layer, middle end module, posterior segment limiting layer, rear module and
Bottom cover is sequentially connected with together, and bottom cover is fixed in robot sleeve front aperture, and the front end clamper is mounted on top
The front end of lid；Top cover, front-end module, preceding middle section limiting layer, middle end module, middle rear end limiting layer, rear module and bottom cover
Middle part be provided with instrument tool channel, in instrument tool channel on middle end module, middle rear end limiting layer, rear module and bottom cover
Periphery is provided with eight rope yarn channels；It is set on front-end module there are three gas chamber group, each gas chamber group is equipped with a preceding gas port；In
Two gas chamber groups are respectively equipped in end module and rear module, each gas chamber group in middle end module is equipped with a middle air flue
Mouthful, gas port after each gas chamber group of rear module is equipped with one；Preceding middle section limiting layer, middle end module, middle rear end limiting layer,
Three preceding pneumatic hose channels towards preceding gas port are provided in rear module and bottom cover；Middle rear end limiting layer, rear module
With two middle pneumatic hose channels towards middle gas port are also provided on bottom cover；Two towards rear gas port are provided on bottom cover
Pneumatic hose channel after a.
Further, the line drive system includes front apron, rear baffle, upper plate, lower plate, robot sleeve, eight groups
Motor lines wheel apparatus and eight rope yarn guiding groups；Tool passage hole and seven tracheaes are logical there are two being all provided on front apron and rear baffle
Road hole, front apron are additionally provided with eight rope yarn access openings；Lower plate is affixed with top shoe；Front apron and rear baffle are vertically arranged,
And it is affixed with upper plate and lower plate respectively；Wherein four groups of motor lines wheel apparatus are mounted on the lower surface of upper plate, four groups remaining
Motor lines wheel apparatus is mounted on the upper surface of lower plate；Eight groups of motor lines wheel apparatus arrangements symmetrical above and below, eight groups of motor line wheel dresses
Eight rope yarn access openings are axially vertical in the axial direction and front apron of the line wheel set, and an installation is disposed at each rope yarn access opening
In the rope yarn guiding group on front apron medial surface, robot sleeve is mounted on the lateral surface of front apron.
Compared with the prior art, the invention has the advantages that:
(1), using the soft robot made by silica gel material, freedom degree is increased, it can be achieved that robot is in human body
It interior complicated deformation and will not cause harm to the human body, improve safety and locomitivity.
(2), it is modularization by soft robot body design, and limiting layer structure is added, not only increases software machine
The spatial movement ability of people, and improve under the premise of not influencing robot flexibility the local stiffness of module junction.
(3), gas-line combination drive mode is used, not only guarantees enough driving forces and positioning accuracy, but also itself
Variation rigidity effect can be achieved.
(4), by the layout designs of layout and rope yarn guiding group to motor group in line drive system, rope yarn transmission is realized
Without interference, substantially reduce line drive system bulk, keep structure more compact.
(5), robot software part uses segmental structure, it can be achieved that (C-shaped, S-shaped) is advanced in the polymorphic movement of robot,
To adapt to the metamorphosis of internal organs physiological structure.
(6), the surgical procedure of visual detection, Image Acquisition and pathological tissue sampling can be achieved at the same time.
With reference to the accompanying drawing and specific embodiment is further described technical solution of the present invention.
Detailed description of the invention
Fig. 1 is a kind of whole axonometric drawing of the flexible robot system for abdominal minimally invasive surgery of the present invention；
Fig. 2 is the axonometric drawing of drive system；
Fig. 3 is the main view of linear feeding system；
Fig. 4 is the top view of Fig. 3；
Fig. 5 is the cross-sectional view of the K-K line along Fig. 3；
Fig. 6 is the R direction view of Fig. 3；
Fig. 7 is the cross-sectional view of the line A-A along Fig. 5；
Fig. 8 is the schematic diagram of line drive system and wirerope cabling；
Fig. 9 is the side view of Fig. 8；
Figure 10 is the cross-sectional view of the line B-B along Fig. 8；
Figure 11 is the schematic diagram of gas drive system；
Figure 12 is the schematic diagram of motor lines wheel apparatus；
Figure 13 is the side view of Figure 12；
Figure 14 is the top view of Figure 12；
Figure 15 is the schematic diagram of rope yarn guiding group；
Figure 16 is the side view of Figure 15；
Figure 17 is the cross-sectional view of the line C-C along Figure 15；
Figure 18 is the assembling schematic diagram of soft robot main body；
Figure 19 is the schematic diagram in the tool passage hole of front apron arrangement, air pipe passway hole and rope yarn access opening；
Figure 20 is the schematic diagram of top cover；
Figure 21 is the schematic diagram of front-end module 2-2；
Figure 22 is the cross-sectional view of the Q-Q line along Figure 21；
Figure 23 is the side view of Figure 21；
Figure 24 is the cross-sectional view of the P-P line along Figure 21；
Figure 25 is the schematic diagram of preceding middle section limiting layer 2-3；
Figure 26 is the schematic diagram of middle end module 2-4；
Figure 27 is the cross-sectional view of the Y-Y line along Figure 26；
Figure 28 is the side view of Figure 26；
Figure 29 is the cross-sectional view of the X-X line along Figure 26；
Figure 30 is the schematic diagram of posterior segment limiting layer 2-5；
Figure 31 is the schematic diagram of rear module 2-6；
Figure 32 is the cross-sectional view of the H-H line along Figure 31；
Figure 33 is the side view of Figure 31；
Figure 34 is the cross-sectional view of the W-W line along Figure 31；
Figure 35 is the schematic diagram of bottom cover；
Figure 36 is the structure chart of end operation jaw mechanism；
Specific embodiment
Referring to shown in Fig. 1, Fig. 2 and Figure 36, a kind of flexible robot for abdominal minimally invasive surgery, it includes end
Operation jaw mechanism；It further includes drive system 1 and soft robot main body 2；Drive system 1 includes linear feeding system 1-1, line
The gentle drive system 1-3 of drive system 1-2；Line drive system 1-2 is connect with linear feeding system 1-1, and soft robot main body 2 is installed on
On line drive system 1-2, gas drive system 1-3 is supplied by the tracheae across line drive system 1-2 to soft robot main body 2, gas drive
System 1-3 and line drive system 1-2 control soft robot construction deformation, linear feeding system 1-1 control line drive system 1-2 and soft
The front end clamper 3-1 of the horizontal movement of body robot body 2, end operation jaw mechanism is mounted on soft robot main body 2
The end hand grip 3-2 of front end, end operation jaw mechanism is installed on online drive system 1-2, and front end clamper 3-1 is by wearing
Wirerope in online drive system 1-2 and soft robot main body 2 connect with end hand grip 3-2, pulling wirerope realization
The folding of front end clamper 3-1.
Referring to shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 7, the linear feeding system 1-1 include upper layer feed system and lower layer into
To system；Lower layer's feed system includes pedestal 1-1-24, screw slide rails pair and lead screw driving motor 1-1-10；Screw slide rails
Pair includes lead screw pair, a pair of straight line lower guideway 1-1-4 and sliding block 1-1-6；Lead screw driving motor 1-1-10 is mounted on pedestal 1-
On 1-24, the lead screw 1-1-14 of lead screw pair is rotatably installed on pedestal 1-1-24, and described lead screw one end is mounted on lead screw driving
On the output end of motor 1-1-10, a pair of of straight line lower guideway 1-1-4 is symmetrically distributed in the two sides of lead screw 1-1-14 and is mounted on bottom
Seat 1-1-24 on, sliding block 1-1-6 is slidably arranged on a pair of of straight line lower guideway 1-1-4, and with the nut in the lead screw pair
Affixed, upper layer feed system is mounted on sliding block 1-1-6, and the rotation that lead screw driving motor 1-1-10 controls lead screw 1-1-14 is real
The straight-line displacement of existing upper layer feed system.Bearing block, front end bearing (ball) cover 1-1-17 and axis there are two being set before and after pedestal 1-1-24
Seat connection is held, rear end bearing end cap 1-1-22 is fixed by two locking nut 1-1-23 with bearing block；Lead screw 1-1-14 passes through
A pair of of angular contact ball bearing 1-1-18 is connect with front and back bearings seat, and is joined with lead screw driving motor 1-1-10 by quincunx elasticity
The 1-1-9 connection of axis device；Lead screw driving motor 1-1-10 is connect with the support base on pedestal 1-1-24；The lead screw of DC servo drives
Motor 1-1-10 realizes the straight-line feed of upper layer feed system by the rotation of control lead screw 1-1-14.
Referring to shown in Fig. 3, Fig. 4 and Fig. 6, the upper layer feed system includes bottom plate 1-1-8, line slide rail sliding block pair, silk
Restrict driving motor 1-1-11；
Line slide rail sliding block pair includes a pair of straight line upper rail 1-1-3 and top shoe 1-1-5；Bottom plate 1-1-8 and sliding block
1-1-6 is affixed；A pair of of straight line upper rail 1-1-3 is symmetrically distributed in two sides bottom plate 1-1-8 and affixed with bottom plate 1-1-8；Top shoe
1-1-5 is mounted on a pair of of straight line upper rail 1-1-3, and reel 1-1-1 is rotatably installed in the rear end of bottom plate 1-1-8, and cord is driven
Dynamic motor 1-1-11 axially arranges vertically and is mounted on the front end of bottom plate 1-1-8, on the output shaft of cord driving motor 1-1-11
It is fixed with solidus wheel 1-1-12, line drive system 1-2 is mounted on top shoe 1-1-5；
The wirerope trend of 2 straight-line feed of control line drive system 1 and soft robot main body is as follows:
In the corresponding preceding string holes 1-2-12 in affixed online 1 bottom of drive system in one end of steel cable, the steel cable
Change around reel 1-1-1 half-turn and walks backward, after which wears top shoe 1-1-5, the other end and solidus wheel 1-1-
12 wire casing is affixed；One end of another steel cable is affixed in the corresponding rear string holes 1-2-13 in 1 bottom of line drive system,
The other end of the another steel cable and another wire casing of solidus wheel 1-1-12 are affixed.
The rear end bottom plate 1-1-8 is equipped with a bearing block, passes through one after reel 1-1-1 and deep groove ball bearing 1-1-13 cooperation
A locking nut 1-1-2 is connected and fixed with bearing block；Cord driving motor 1-1-11 be placed on vertically the front end bottom plate 1-1-8 and with
Its is affixed, and the linear motion of the line drive system 1-2 and soft robot main body 2 that are mounted in the feed system of upper layer are driven by the cord
Dynamic motor 1-1-11 and the control of corresponding wirerope.A pair of of straight line lower guideway 1-1-4 and a pair of straight line upper rail 1-1-3 pass through respectively
Bolt 1-1-15 is respectively mounted on pedestal 1-1-24 and bottom plate 1-1-8.
The linear motion of lower plate 1-2-11 is realized by controlling the positive and negative rotation of cord driving motor 1-1-11.
Referring to shown in Fig. 8-Figure 10, the line drive system 1-2 includes front apron 1-2-3, rear baffle 1-2-8, upper plate 1-
2-5, lower plate 1-2-11, robot sleeve 1-2-1, eight groups of motor lines wheel apparatus 1-2-7 and eight rope yarn guiding group 1-2-10；
Tool passage hole and seven air pipe passway hole T there are two being all provided on front apron 1-2-3 and rear baffle 1-2-8, front apron 1-2-3 is also
Equipped with eight rope yarn access opening 1-2-3-1；Lower plate 1-2-11 and top shoe 1-1-5 are affixed；Front apron 1-2-3 and rear baffle 1-
2-8 is vertically arranged, and affixed with upper plate 1-2-5 and lower plate 1-2-11 respectively；
Wherein four groups of motor lines wheel apparatus 1-2-7 are mounted on the lower surface of upper plate 1-2-5, remaining four groups of motor line wheels dress
Set the upper surface that 1-2-7 is mounted on lower plate 1-2-11；Eight groups of motor lines wheel apparatus 1-2-7 arrangements symmetrical above and below, eight groups of motors
The axial direction of the line wheel of line wheel device 1-2-7 and the upper eight rope yarn access openings of front apron 1-2-3 are axially vertical, each rope yarn access opening
Place is disposed with the rope yarn guiding group 1-2-10 being installed on front apron 1-2-3 medial surface, and robot sleeve 1-2-1 is mounted on
On the lateral surface of front apron 1-2-3.Tool passage hole, seven air pipe passway holes on front and rear baffle correspond perforation.
Preferably, motor lines wheel apparatus 1-2-7 described in every group includes motor 1-2-7-5, electricity referring to shown in Figure 12-Figure 14
Machine support 1-2-7-3 and wiring wheel 1-2-7-1；Wiring wheel 1-2-7-1 is mounted on the output shaft of motor 1-2-7-5；Wiring wheel
It is set on 1-2-7-1 there are two parallel wire casing, motor 1-2-7-5 is mounted on electric machine support 1-2-7-3, electric machine support 1-2-7-
3 are mounted on upper plate 1-2-5 and lower plate 1-2-11.Wiring wheel 1-2-7-1 be arranged in inside and axis with lower plate 1-
The surface 2-11 is parallel, and perpendicular to the axis of the rope yarn access opening 1-2-3-1 on front apron 1-2-3；Motor 1-2-7-5 output shaft
Sleeve outer surface is equipped with spline, and wiring wheel 1-2-7-1 and motor shaft are connected and fixed by spline, and wiring wheel 1-2-7-1 is equipped with straight
Angle groove, bottom portion of groove are set there are two parallel wire casing, it is ensured that two driving rope yarns on a wiring wheel 1-2-7-1 are mutually not
Interference, wheel tangential direction movement along the line, does not form with line wheel inner wall and rubs always.
In one embodiment, referring to shown in Figure 15-Figure 17, each rope yarn guiding group 1-2-10 includes wheel stand 1-
2-10-1, band groove guide whee 1-2-10-4 and guide wheel shaft 1-2-10-5；Two guide wheel shaft 1-2-10-5 are packed in wheel stand 1- side by side
On 2-10-1, rotatable band groove guide whee 1-2-10-4, wheel stand 1-2-10-1 peace is installed on each guide wheel shaft 1-2-10-5
On the medial surface of front apron 1-2-3, it is provided with and leads on the wheel stand 1-2-10-1 between two guide wheel shaft 1-2-10-5
To rope yarn access opening, guide rope line passage hole is overlapped with the axis of corresponding rope yarn access opening 1-2-3-1.Wheel stand 1-2-10-1
If bottom is equipped with guide rope line passage hole there are two side plate, two axis holes are respectively equipped on side plate, axis hole axisymmetrical is distributed in
Rope yarn access opening two sides, guide rope line passage hole are overlapped cloth with the axis of the rope yarn access opening 1-2-3-1 on front apron 1-2-3
It sets, the axially bored line of guide wheel shaft 1-2-10-5 is parallel with lower plate 1-2-11；The one end guide wheel shaft 1-2-10-5 is equipped with positioning shaft shoulder, separately
One end is equipped with external screw thread, through side plate axis hole；Guide wheel and guide wheel shaft transition fit, and fixed by circlip 1-2-10-3；Guide wheel
Axis 1-2-10-5 and lock nut 1-2-10-2 are connected through a screw thread fixation.
In another embodiment, referring to shown in Figure 18, Figure 20-Figure 35, soft robot main body 2 include rigid restriction layer and
Flexible module；The rigid restriction layer includes top cover 2-1, preceding middle section limiting layer 2-3, posterior segment limiting layer 2-5 and bottom cover
2-7, flexible module include bending deformed front-end module 2-2, middle end module 2-4 and rear module 2-6；It is top cover 2-1, preceding
End module 2-2, preceding middle section limiting layer 2-3, middle end module 2-3, posterior segment limiting layer 2-5, rear module 2-6 and bottom cover 2-7
It is sequentially connected with together, bottom cover 2-7 is fixed in robot sleeve 1-2-1 front aperture, and the front end clamper 3-1 is mounted on
The front end of top cover 2-1；Top cover 2-1, front-end module 2-2, preceding middle section limiting layer 2-3, middle end module 2-4, the limitation of middle rear end
Instrument tool channel D, middle end module 2-4, middle rear end limiting layer are provided in the middle part of layer 2-5, rear module 2-6 and bottom cover 2-7
Eight rope yarn channel N are provided on the instrument tool channel periphery D on 2-5, rear module 2-6 and bottom cover 2-7；Front-end module 2-2
On set there are three gas chamber group, each gas chamber group is equipped with a preceding gas port 2-2-3；On middle end module 2-4 and rear module 2-6
Two gas chamber groups are respectively equipped with, each gas chamber group on middle end module 2-4 is equipped with a middle gas port 2-4-6, rear module
Gas port 2-6-6 after each gas chamber group of 2-6 is equipped with one；Preceding middle section limiting layer 2-3, middle end module 2-4, the limitation of middle rear end
Three preceding pneumatic hose channel E towards preceding gas port 2-2-3 are provided on layer 2-5, rear module 2-6 and bottom cover 2-7；In after
Two middle pneumatic hoses being also provided on end limiting layer 2-5, rear module 2-6 and bottom cover 2-7 towards middle gas port 2-4-6 lead to
Road F；Pneumatic hose channel M after being provided on bottom cover 2-7 towards two of rear gas port 2-6-6.
Middle end module 2-3 is identical with rear module 2-6 main structure；
In above-described embodiment, preferably, rigid restriction layer selects photosensitive resin material；Flexible module selects Silicon moulds
Block.Four limiting layers and three silica gel modules are alternatively arranged arrangement in particular order, and pass through resin glue bonding connection；Bottom
End cap 2-7 is fixed in robot sleeve 1-2-1 front aperture by interference fit；Furthermore, it is understood that the rigid restriction layer is whole
Body is cylindrical, and axis position is all provided with there are two through-hole, as Image Acquisition tool passage top channel 2-1-2, it is preceding in lead to
Road 2-3-2, in after channel 2-5-2 and bottom channel 2-7-2, it can be achieved that visual detection and instrument tool channel D, it can be achieved that raw
Object sample of tissue；Wherein, the instrument tool channel D of preceding middle section limiting layer 2-3 is nearby additionally provided with three preceding pneumatic hose channel E；
Preceding pneumatic hose channel E there are five being set near the instrument tool channel D of posterior segment limiting layer 2-5, and end face circumference is close to appearance
Eight rope yarn channel N are equipped at face；The instrument tool channel D of bottom cover 2-7 is nearby equipped with seven preceding pneumatic hose channel E, and
End face circumference also is provided with eight rope yarn channel N close to outer surface, and the rear end bottom cover 2-7 is equipped with boss, for bottom cover 2-7 with
The cooperation of robot sleeve 1-2-1；The axis of the axis of the instrument tool channel D of all rigid restriction layers, preceding pneumatic hose channel E
Line and the axis of rope yarn channel N are each corresponding to be overlapped.
Furthermore, it is understood that referring to fig. 2 shown in 1- Figure 24 and Figure 35, whole cylindrical, the axis of the silica gel module
Position is also equipped with front passage 2-2-2, middle-end channel 2-4-2 and the rear end channel 2-6-2 and device of Image Acquisition tool passage
Tool tool passage D；Wherein, front-end module 2-2 is longitudinally about 200mm, diameter 30mm, possesses 51 gas chamber unit 2-2-4 altogether,
In every 17 gas chamber units be one group, You Yigen air flue driving, dimensional parameters (the unit millimeter of each gas chamber unit length, width and height
It mm) is approximately 8 × 4.5 × 2, axial silica gel wall thickness 1mm, radial silica gel wall thickness 2mm, two neighboring gas chamber spacing 6mm；This three groups
Gas chamber is evenly distributed in the left and right and bottom of center instrument tool passage D apart from one another by 90 °；Left part gas chamber controls robot
It is bending to the right, the control of right part gas chamber is bending to the left, and bottom air plenum then controls " news line " movement of robot, therefore when different gas
Cooperate driving between room, then may be implemented to move in the space of front-end module.
Referring to fig. 2 shown in 6- Figure 29, shown in Figure 31-Figure 34, the middle end module 2-4 is similar with rear module 2-6 structure,
Longitudinal direction is about 400mm, the right each two groups of gas chambers of only the first from left, and every group of gas chamber has 32 middle gas chamber unit 2-4-5 or rear gas respectively
Chamber unit 2-6-5, is equally driven by an air flue, and the dimensional parameters (unit millimeter mm) of each gas chamber unit length, width and height are approximately
10 × 4.5 × 2, other parameters are identical as front-end module 2-2；In addition, middle end module 2-4 and the end face rear module 2-6 circumference lean on
Eight rope yarn channel N are further respectively had on the nearly identical geometric position of outer surface；Due to middle end module 2-4 and terminus module 2-
6 only have the two groups of gas chambers in left and right, can only realize that " S " type planar advances, but axial dimension is bigger than front-end module, can be complete
At traveling largely, therefore cooperate the spatial movement ability of front-end module, having soft robot integrally, " macroscopic view is leaned on
The ability of nearly lesion, microcosmic adjustment position ", improves the functional characteristic of soft robot to a certain extent.
Shown in Figure 11, gas drive system 1-3 includes air pump, support baseboard 1-3-4, seven groups of solenoid valve blocks and Duo Gen pneumatic
Hose 1-3-7；Seven groups of solenoid valve blocks are mounted on support baseboard 1-3-4；Seven groups of solenoid valve blocks pass through gas pass joint 1-3-6 and more
Root pneumatic hose 1-3-7 is connect with air pump.It is shown in Figure 11 as a feasible embodiment, every group of solenoid valve block packet
Include two-bit triplet solenoid valve 1-3-2 and two two-way electromagnetic valve 1-3-5；Two-bit triplet solenoid valve 1-3-2 and two
Two-way electromagnetic valve 1-3-5 is connected by pneumatic hose 1-3-7；Wherein, every three two two-way electromagnetic valve 1-3-5 are each by gas
Dynamic hose 1-3-7 is connected on the same four-way connection 1-3-6, and remaining two two-way electromagnetic valve 1-3-5 pass through pneumatic soft
Pipe 1-3-7 is connect with third four-way connection 1-3-6, and first four-way connection 1-3-6 and second four-way connection 1-3-6 are logical
It crosses pneumatic hose 1-3-7 to connect with third four-way connection 1-3-6, third four-way connection 1-3-6 passes through pneumatic hose 1-3-7
It is connected on air pump.
Wherein, two two-way electromagnetic valve 1-3-5 are connect with four-way connection 1-3-6, are arranged close to air pump end, two-bit triplet electricity
Magnet valve 1-3-2 is connect with soft robot main body 2 by pneumatic hose 1-3-7；Solenoid valve support plate 1-3-3 is equipped with side plate and branch
Bottom plate 1-3-4 is supportted, is equipped with threaded hole thereon；Two two-way electromagnetic valve 1-3-5 and the bottom surface solenoid valve support plate 1-3-3 are affixed,
Two-bit triplet solenoid valve 1-3-2 is then affixed with the bottom surface solenoid valve support plate 1-3-3；Two two-way electromagnetic valve 1-3-5 control air-flow
On-off, two-bit triplet solenoid valve 1-3-2 then controls the flow direction of air-flow.
In another embodiment, referring to shown in Figure 18-Figure 35, the pneumatic hose of soft robot construction deformation is controlled
It moves towards as follows:
Three external pneumatic hoses preceding pneumatic hose channel E before extending through, one end of three pneumatic hoses is connected to
On the preceding gas port 2-2-3 of three of front-end module 2-2；
Two external pneumatic hoses extend through middle pneumatic hose channel F, during one end of two pneumatic hoses is connected to
On the middle gas port 2-4-6 of two of end module 2-4；
Two external pneumatic hoses extend through rear pneumatic hose channel M, after one end of two pneumatic hoses is connected to
After two of end module 2-6 on gas port 2-6-6；
The other end of seven pneumatic hoses is stretched out from bottom cover 2-7, and before robot sleeve 1-2-1, line drive system
The air pipe passway hole T of rear baffle, with the connector 1-3-1 connection of corresponding solenoid valve block；Every pneumatic hose respectively corresponds one group
Solenoid valve, it is mutually indepedent to drive；
The driving rope yarn trend for controlling soft robot construction deformation is as follows:
16 driving rope yarns are divided into 8 front end rope yarns and 8 rear end rope yarns；One end of 8 front end rope yarns be fixed on before in
On the end face section limiting layer 2-3, and on middle end module 2-4, posterior segment limiting layer 2-5, rear module 2-6 and bottom cover 2-7
Eight rope yarn channel N；
One end of 8 rear end rope yarns is fixed on the middle end face rear end limiting layer 2-5, and runs through rear module 2-6 and bottom cover
Eight rope yarn channel N on 2-7；
16 driving rope yarn other ends are stretched out from bottom cover 2-7, and run through robot sleeve 1-2-1 and line drive system front
After rope yarn access opening on plate 1-2-3, it is fixed on the wire casing of wiring wheel 1-2-7-1；Arrangement one in the same rope yarn channel N
Front end rope yarn and a rear end rope yarn；Front end rope yarn and rear end rope yarn in the same rope yarn channel N is from front apron 1-2-3
One rope yarn access opening 1-2-3-1 shares a rope yarn guiding group 1-2-10 after stretching out, and rides over rope yarn guiding group 1-2-10
Two band groove guide whee 1-2-10-4 on；As shown in figure 18, wherein eight rope yarn access openings are divided into the Ith group, the IIth group, the IIIth
It organizes and the IVth group；Every group of two rope yarn access opening 1-2-3-1 arrangements symmetrical above and below, from every group of two rope yarn access opening 1-2-3-1
The two front end rope yarns and two rear end rope yarns of middle extraction are separately fixed on two wire casings of the same wiring wheel 1-2-7-1.
Therefore, each driving motor 1-2-7-5 controls deformation quantity identical two drivings rope yarn always, trimming moment.Such as Fig. 1 and figure
Shown in 36, the front end clamper 3-1 of the end operation jaw mechanism is fixed on the instrument workpiece on soft robot top cover 2-1
In channel D (surgical clamp channel), wirerope connected to it drives through soft robot main body 2, robot sleeve 1-2-1 and line
System 1-2 is fixed with end hand grip 3-2, pulls hand grip 3-2 in end that wirerope movement is driven to realize front end clamper
The folding of 3-1.
The course of work
When air pump works, two two-way electromagnetic valve 1-3-5 and two-bit triplet solenoid valve 1-3-2 are in access, valve road pair
It answers chamber inflated to expand, causes opposition lateral bend of the silica gel module to gas chamber side, bending angle increases with gas room pressure
Add and increase, the motor 1-2-7-5 of air pump working stage, motor lines wheel apparatus is in unwrapping wire state；Line drive system 1-2 work
When, pulling force is successively applied by 2 rear end forward end of soft robot main body, i.e. rear end rope yarn in rear module 2-6 is in motor 1-
It is shunk under the control of 2-7-5, increases driving force, complete the auxiliary deformation of flexible module (by taking silica gel module as an example) and improved
Rigidity, after rear end rope yarn completes work, the work of front end rope yarn；After soft robot main body 2 is completed to position, two two energizations
Magnet valve 1-3-5 commutation becomes open circuit, and air pressure is kept in system；Similarly, when two-bit triplet solenoid valve 1-3-2 commutation, silica gel module
It deflates and restores.The same work for controlling two driving motors of the ipsilateral driving rope yarn of same silica gel module always while carrying out
Make.
Variation rigidity process: robot body realizes polymorphic advance by Pneumatic drive system driving under flexible state, and
Reach semi-rigid effect by therein air pressure, after robot reaches lesion designated position, the work of line drive system provides drawing
Clamp force completes self poisoning and the fixation of robot, and passes through the antagonism of Pneumatic pressure and rope yarn pulling force, increases robot
Overall stiffness, reach the variation rigidity effect of robot.
Flexible robot, improved Flexibility and variability and can help operating doctor in the intracavitary organ group of human body
The complex region knitted is performed the operation, while robot can also equip a variety of surgical instruments, it overcome traditional operation tool and
The deficiency of pertinent instruments.The use of flexible robot can help doctor to avoid making dangerous structure (structures of such as near vessels)
At damage, to more effectively carry out robotic surgery appropriate to various patients.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, according to the technical essence of the invention to the above case study on implementation institute
Any simple modification, equivalent change and modification done still belong to technical solution of the present invention range.
Claims (10)
1. a kind of flexible robot for abdominal minimally invasive surgery, it includes end operation jaw mechanism, it is characterised in that: it
It further include drive system (1) and soft robot main body (2)；
Drive system (1) includes linear feeding system (1-1), line drive system (1-2) gentle drive system (1-3)；Line drive system (1-
2) it is connect with linear feeding system (1-1), soft robot main body (2) is installed on line drive system (1-2), gas drive system (1-
3) it is supplied by the tracheae across line drive system (1-2) to soft robot main body (2), gas drive system (1-3) and line drive system
(1-2) controls soft robot construction deformation, linear feeding system (1-1) control line drive system (1-2) and soft robot master
The front end clamper (3-1) of the horizontal movement of body (2), end operation jaw mechanism is mounted on the front end of soft robot main body (2),
The end hand grip (3-2) of end operation jaw mechanism is installed on online drive system (1-2), and front end clamper (3-1) is by wearing
The wirerope being located in line drive system (1-2) and soft robot main body (2) is connect with end hand grip (3-2), pulls steel
Cord realizes the folding of front end clamper (3-1).
2. a kind of flexible robot for abdominal minimally invasive surgery according to claim 1, it is characterised in that: described straight
Line feed system (1-1) includes upper layer feed system and lower layer's feed system；Lower layer's feed system includes pedestal (1-1-
24), screw slide rails pair and lead screw driving motor (1-1-10)；Screw slide rails pair includes lead screw pair, a pair of of straight line lower guideway (1-1-
And sliding block (1-1-6) 4)；Lead screw driving motor (1-1-10) is mounted on pedestal (1-1-24), the lead screw (1-1- of lead screw pair
14) it is rotatably installed on pedestal (1-1-24), and described lead screw one end is mounted on the output end of lead screw driving motor (1-1-10)
On, a pair of of straight line lower guideway (1-1-4) is symmetrically distributed in the two sides of lead screw (1-1-14) and is mounted on pedestal (1-1-24), under
Sliding block (1-1-6) is slidably arranged on a pair of of straight line lower guideway (1-1-4), and, upper layer affixed with the nut in the lead screw pair
Feed system is mounted on sliding block (1-1-6), and the rotation that lead screw driving motor (1-1-10) controls lead screw (1-1-14) is realized
The straight-line displacement of upper layer feed system.
3. a kind of flexible robot for abdominal minimally invasive surgery according to claim 2, it is characterised in that: on described
Layer feed system includes bottom plate (1-1-8), line slide rail sliding block pair, cord driving motor (1-1-11)；
Line slide rail sliding block pair includes a pair of of straight line upper rail (1-1-3) and top shoe (1-1-5)；
Bottom plate (1-1-8) and sliding block (1-1-6) are affixed；A pair of of straight line upper rail (1-1-3) is symmetrically distributed in bottom plate (1-1-8)
Two sides are simultaneously affixed with bottom plate (1-1-8)；Top shoe (1-1-5) is mounted on a pair of of straight line upper rail (1-1-3), reel (1-
It 1-1) is rotatably installed in the front end of bottom plate (1-1-8), cord driving motor (1-1-11) is axially arranged vertically and is mounted on bottom plate
The rear end of (1-1-8) is fixed with solidus wheel (1-1-12) on the output shaft of cord driving motor (1-1-11), line drive system (1-
2) it is mounted on top shoe (1-1-5)；
The wirerope of control line drive system (1) and soft robot main body (2) straight-line feed trend is as follows:
In the corresponding preceding string holes (1-2-12) in affixed online drive system (1) bottom in one end of steel cable, the steel cable
Change around reel (1-1-1) half-turn and walks backward, after which wears top shoe (1-1-5), the other end and solidus wheel
One wire casing of (1-1-12) is affixed；String holes after affixed online drive system (1) bottom in one end of another steel cable is corresponding
In (1-2-13), another wire casing of the other end and solidus wheel (1-1-12) of the another steel cable is affixed.
4. a kind of flexible robot for abdominal minimally invasive surgery according to claim 3, it is characterised in that: the line
Drive system (1-2) includes front apron (1-2-3), rear baffle (1-2-8), upper plate (1-2-5), lower plate (1-2-11), machine
People's sleeve (1-2-1), eight groups of motor lines wheel apparatus (1-2-7) and eight rope yarn guiding groups (1-2-10)；
Tool passage hole and seven air pipe passway holes (T) there are two being all provided on front apron (1-2-3) and rear baffle (1-2-8) are preceding
Baffle (1-2-3) is additionally provided with eight rope yarn access openings (1-2-3-1)；Lower plate (1-2-11) and top shoe (1-1-5) are affixed；Before
Baffle (1-2-3) and rear baffle (1-2-8) are vertically arranged, and solid with upper plate (1-2-5) and lower plate (1-2-11) respectively
It connects；
Wherein four groups of motor lines wheel apparatus (1-2-7) are mounted on the lower surface of upper plate (1-2-5), remaining four groups of motor line wheels dress
Set the upper surface that (1-2-7) is mounted on lower plate (1-2-11)；Eight groups of motor lines wheel apparatus (1-2-7) arrangements symmetrical above and below, eight
The axial direction and the upper eight rope yarn access openings of front apron (1-2-3) of the line wheel of group motor lines wheel apparatus (1-2-7) are axially vertical, each
The rope yarn guiding group (1-2-10) being installed on front apron (1-2-3) medial surface, robot are disposed at rope yarn access opening
Sleeve (1-2-1) is mounted on the lateral surface of front apron (1-2-3).
5. a kind of flexible robot for abdominal minimally invasive surgery according to claim 4, it is characterised in that: every group of institute
Stating motor lines wheel apparatus (1-2-7) includes motor (1-2-7-5), electric machine support (1-2-7-3) and wiring wheel (1-2-7-1)；It connects
Line wheel (1-2-7-1) is mounted on the output shaft of motor (1-2-7-5)；Parallel line there are two being set on wiring wheel (1-2-7-1)
Slot, motor (1-2-7-5) are mounted on electric machine support (1-2-7-3), and electric machine support (1-2-7-3) is mounted on upper plate (1-2-
5) and on lower plate (1-2-11).
6. a kind of flexible robot for abdominal minimally invasive surgery according to claim 5, it is characterised in that: Mei Gesuo
Stating rope yarn guiding group (1-2-10) includes wheel stand (1-2-10-1), band groove guide whee (1-2-10-4) and guide wheel shaft (1-2-10-
5)；
Two guide wheel shafts (1-2-10-5) are packed in side by side on wheel stand (1-2-10-1), are pacified on each guide wheel shaft (1-2-10-5)
Equipped with rotatable band groove guide whee (1-2-10-4), wheel stand (1-2-10-1) is mounted on the medial surface of front apron (1-2-3),
Guide rope line passage hole is provided on wheel stand (1-2-10-1) between two guide wheel shafts (1-2-10-5), guiding rope yarn is logical
Road hole is overlapped with the axis of corresponding rope yarn access opening (1-2-3-1).
7. a kind of flexible robot for abdominal minimally invasive surgery according to claim 6, it is characterised in that: software machine
Device human agent (2) includes rigid restriction layer and flexible module；The rigid restriction layer includes top cover (2-1), the limitation of preceding middle section
Layer (2-3), posterior segment limiting layer (2-5) and bottom cover (2-7), flexible module include the front-end module of flexible yielding flexibility
(2-2), middle end module (2-4) and rear module (2-6)；Top cover (2-1), front-end module (2-2), preceding middle section limiting layer (2-
3), middle end module (2-4), posterior segment limiting layer (2-5), rear module (2-6) and bottom cover (2-7) are sequentially connected with together,
Bottom cover (2-7) is fixed in robot sleeve (1-2-1) front aperture, and the front end clamper (3-1) is mounted on top cover (2-
1) front end；
Top cover (2-1), front-end module (2-2), preceding middle section limiting layer (2-3), middle end module (2-4), middle rear end limiting layer (2-
5) it, is provided with instrument tool channel (D) in the middle part of rear module (2-6) and bottom cover (2-7), middle end module (2-4), middle rear end limit
Eight rope yarn channels are provided on the periphery instrument tool channel (D) on preparative layer (2-5), rear module (2-6) and bottom cover (2-7)
(N)；
It is set on front-end module (2-2) there are three gas chamber group, each gas chamber group is equipped with a preceding gas port (2-2-3)；
Two gas chamber groups, each gas on middle end module (2-4) are respectively equipped on middle end module (2-4) and rear module (2-6)
Room group is equipped with a middle gas port (2-4-6), gas port (2- after each gas chamber group of rear module (2-6) is equipped with one
6-6)；
Preceding middle section limiting layer (2-3), middle end module (2-4), middle rear end limiting layer (2-5), rear module (2-6) and bottom cover
Three preceding pneumatic hose channels (E) towards preceding gas port (2-2-3) are provided on (2-7)；
It is also provided on middle rear end limiting layer (2-5), rear module (2-6) and bottom cover (2-7) towards middle gas port (2-4-6)
Two middle pneumatic hose channels (F)；
It is provided on bottom cover (2-7) towards pneumatic hose channel (M) after two of rear gas port (2-6-6).
8. a kind of flexible robot for abdominal minimally invasive surgery described according to claim 6 or 7, it is characterised in that: gas
Drive system (1-3) includes air pump, support baseboard (1-3-4), seven groups of solenoid valve blocks and Duo Gen pneumatic hose (1-3-7)；Seven groups of electricity
Magnet valve group is mounted on support baseboard (1-3-4)；Seven groups of solenoid valve blocks pass through gas pass joint (1-3-6) He Duogen pneumatic hose
(1-3-7) is connect with air pump.
9. a kind of flexible robot for abdominal minimally invasive surgery according to claim 8, it is characterised in that:
The pneumatic hose trend for controlling soft robot construction deformation is as follows:
Three external pneumatic hoses preceding pneumatic hose channel (E) before extending through, before one end of three pneumatic hoses is connected to
On the preceding gas port (2-2-3) of three of end module (2-2)；
Two external pneumatic hoses extend through middle pneumatic hose channel (F), and one end of two pneumatic hoses is connected to middle-end
On the middle gas port (2-4-6) of two of module (2-4)；
Two external pneumatic hoses extend through rear pneumatic hose channel (M), and one end of two pneumatic hoses is connected to rear end
After two of module (2-6) on gas port (2-6-6)；
The other end of seven pneumatic hoses is stretched out from bottom cover (2-7), and before robot sleeve (1-2-1), line drive system
The air pipe passway hole (T) of rear baffle is connected with the connector (1-3-1) of corresponding solenoid valve block；
The driving rope yarn trend for controlling soft robot construction deformation is as follows:
16 driving rope yarns are divided into 8 front end rope yarns and 8 rear end rope yarns；One end of 8 front end rope yarns is fixed on preceding middle section limit
On the end face preparative layer (2-3), and through middle end module (2-4), posterior segment limiting layer (2-5), rear module (2-6) and bottom cover
Eight rope yarn channels (N) on (2-7),
One end of 8 rear end rope yarns is fixed on middle rear end limiting layer (2-5) end face, and runs through rear module (2-6) and bottom cover
Eight rope yarn channels (N) on (2-7),
16 driving rope yarn other ends are stretched out from bottom cover (2-7), and run through robot sleeve (1-2-1) and line drive system front
After rope yarn access opening on plate (1-2-3), it is fixed on the wire casing of wiring wheel (1-2-7-1)；The interior cloth of the same rope yarn channel (N)
Set a front end rope yarn and a rear end rope yarn；Front end rope yarn and rear end rope yarn in the same rope yarn channel (N) are from front apron
A rope yarn access opening (1-2-3-1) on (1-2-3) shares a rope yarn guiding group (1-2-10) after stretching out, and rides over the rope
On two bands groove guide whee (1-2-10-4) of line guiding group (1-2-10)；Wherein, eight rope yarn access openings are divided into the Ith group, the IIth
Group, the IIIth group and the IVth group；Every group of two rope yarn access opening arrangements symmetrical above and below, draw from every group of two rope yarn access openings
Two front end rope yarns and two rear end rope yarns are separately fixed on two wire casings of the same wiring wheel (1-2-7-1).
10. a kind of flexible robot for abdominal minimally invasive surgery according to claim 9, it is characterised in that: every group
Solenoid valve block includes a two-bit triplet solenoid valve (1-3-2) and two two-way electromagnetic valves (1-3-5)；Two-bit triplet electromagnetism
Valve (1-3-2) He Liangwei two-way electromagnetic valve (1-3-5) is connected by pneumatic hose (1-3-7)；Wherein, every three two two energizations
Magnet valve (1-3-5) is connected on the same four-way connection (1-3-6) each by pneumatic hose (1-3-7), one two remaining
Two-way electromagnetic valve (1-3-5) is connect by pneumatic hose (1-3-7) with third four-way connection (1-3-6), and first four connects
Head (1-3-6) and second four-way connection (1-3-6) pass through pneumatic hose (1-3-7) and third four-way connection (1-3-6)
Connection, third four-way connection (1-3-6) are connected on air pump by pneumatic hose (1-3-7).
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| CN112716535A (en) * | 2021-01-29 | 2021-04-30 | 山东理工大学 | Rope drives pharynx and wipes away sub-robot |
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| CN110464466B (en) | 2021-04-20 |
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