CN111588470B

CN111588470B - Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment

Info

Publication number: CN111588470B
Application number: CN202010420626.3A
Authority: CN
Inventors: 陈卫东; 艾孝杰; 高安柱
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2020-05-18
Filing date: 2020-05-18
Publication date: 2023-04-07
Anticipated expiration: 2040-05-18
Also published as: CN111588470A

Abstract

The invention provides an omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment, which comprises a base and a plurality of modular units, wherein the modular units are arranged on the base from bottom to top, the upper end surfaces of the base and the modular units are provided with a plurality of contact blocks and a plurality of frameworks, the height of the contact blocks is lower than or equal to that of the frameworks, the centers of the base and the modular units are provided with through holes, a plurality of wire holes are arranged around the through holes, and the wire holes on the modular units and at least one wire hole on the base are vertically communicated for penetrating a driving wire; the through holes of the base and the through holes of the modular units are vertically communicated to form a middle cavity channel. The continuum mechanical arm can adjust the bending curvature of the mechanical arm section by section, can change the shape of the whole mechanical arm to a greater degree through less degrees of freedom, and further adjusts the position and the posture of the top end of the mechanical arm, so that the continuum mechanical arm has good direction positioning capability.

Description

Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment

Technical Field

The invention relates to the technical field of medical instruments, in particular to an omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment.

Background

Most of the existing continuum mechanical arms cannot realize bending of changing curvature in all directions, and cannot realize bending of changing curvature as much as possible by using less degrees of freedom. The reason is that a continuum arm without a self-contact structure cannot change its own bending curvature, theoretically has a constant bending curvature when it is bent, and a single-segment continuum arm cannot achieve its spatial bending.

Through the search of the prior art, the invention patent with the application number of 201910323771.7 discloses a full-freedom-degree continuum mechanical arm, which comprises a driving assembly, a gear assembly and a telescopic assembly, wherein the driving assembly comprises four driving motors, the output ends of the four driving motors are respectively connected with worm shafts, and the other ends of the four worm shafts are respectively connected to a screw rod support through sliding bearings; the gear assembly comprises gears which are respectively matched with four worm shafts, the driving motor drives the worm shafts to drive the gears to rotate, a gear shaft is arranged in the center of each gear, two ends of each gear shaft are respectively fixed on the motor mounting seat through ball bearings, one end of each gear shaft penetrates through the motor mounting seat to be provided with a winding roller, a lead screw is arranged in the center of each winding roller, the lead screw is in spiral fit with the winding roller, the top end of the lead screw is fixed on the lead screw support, and the winding roller moves linearly relative to the lead screw; the telescopic assembly comprises a traction rope and an elastic framework, four rows of wire rings are arranged on the axial periphery of the elastic framework, and the four traction ropes penetrate through the four rows of wire rings respectively and are connected to the four winding rollers. According to the technical scheme, the continuous body mechanical arm is complex in structure and cannot effectively control the maximum bending angle.

Disclosure of Invention

Aiming at the limitations in the prior art, the invention aims to provide an omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment.

The purpose of the invention is realized by the following scheme:

the invention provides an omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment, which comprises a base and a plurality of modular units, wherein the modular units are arranged on the base from bottom to top, the upper end surfaces of the base and the modular units are provided with a plurality of contact blocks and a plurality of frameworks, the height of the contact blocks is lower than or equal to that of the frameworks, through holes are formed in the centers of the base and the modular units, a plurality of wire holes are formed in the periphery of the through holes, the diameter of each through hole is larger than that of each wire hole, and the wire holes in the modular units and at least one wire hole in the base are vertically communicated for penetrating a driving wire; the through holes of the base and the through holes of the modular units are vertically communicated to form a middle cavity; can provide space for accommodating instruments such as biopsy and ablation and for installing shape sensors and electromagnetic sensors;

the modular unit comprises a middle disc and a top disc; the top disc is not provided with the contact block and the framework, the top end of the mechanical arm is the top disc, the bottom end of the mechanical arm is the base, and the base and the top disc are multiple intermediate discs.

Further, along the base extremely the direction of top disc, it is a plurality of middle disc divide into first middle disc group to the middle disc group of Nth, and the middle disc that belongs to same middle disc group has the line hole of the same quantity, all include M in first middle disc group to the middle disc group of Nth middle disc the middle disc, in first middle disc group to the middle disc group of Nth the quantity of line hole decreases progressively in proper order. The length of the continuous mechanical arm is suitable for the use environment by configuring the number of M and N and the height of the middle disc, for example, the length of the bending part of the current commercial bronchoscope and cardiac ablation catheter is similar to that of the current commercial bronchoscope and cardiac ablation catheter.

Furthermore, the outer sides of the contact block and the framework are curved surfaces, the radius of the curved surface is the same as that of the outer curved surface of the base or the middle disc, and the arc length of the curved surface of the contact block is larger than that of the curved surface of the framework; the skeleton extends inward to the through-hole. Contact piece and skeleton on the base with base integrated into one piece, contact piece and skeleton on the middle disc with middle disc integrated into one piece. The number and the height of the contact blocks are determined according to the shape of the human anatomy cavity.

Furthermore, the middle disc is divided into a double-side spacing disc, a single-side spacing disc and a thin block spacing disc; the periphery of the upper end face of the bilateral spacing disc is provided with two bilateral frameworks which are symmetrically distributed and at least two bilateral contact blocks which are distributed along the circumferential direction, and the bilateral contact blocks are arranged between the two bilateral frameworks; the periphery of the upper end face of the unilateral spacing disc is provided with two unilateral frameworks which are symmetrically distributed and at least one unilateral contact block which is distributed along the semi-circumference direction, and the semi-circumference is the semi-circumference between the two unilateral frameworks; two thin block frameworks which are symmetrically distributed are arranged on the periphery of the upper end face of the thin block spacing disc, and no contact block is arranged. The sizes and the shapes of the contact block on the base, the double-side contact block and the single-side contact block can be the same or different; the size and shape of the framework on the base and the bilateral framework, the unilateral framework and the thin block framework can be the same or different.

Furthermore, two frameworks are arranged on the middle disc, the center connecting lines of the frameworks on the adjacent middle disc are mutually perpendicular, and a certain included angle is formed between the contact block and the frameworks. When two contact blocks are provided, preferably, the central connecting line of the two bilateral frameworks and the central connecting line of the two bilateral contact blocks are perpendicular to each other; the single-side contact block and the two single-side frameworks form an included angle of 90 degrees.

Furthermore, two symmetrically distributed base frameworks and a plurality of base contact blocks distributed along the circumferential direction are arranged on the periphery of the upper surface of the base, and a certain included angle is formed between each base contact block and the corresponding base framework support; the connecting line direction of the two base frameworks is determined as the +/-Y direction, and the direction vertical to the +/-Y direction in the horizontal plane is determined as the +/-X direction. When one or two base contact blocks are provided, the base contact block preferably forms an angle of 90 ° with the two base frames.

Furthermore, the upper end face of the middle disc is provided with two symmetrically distributed frameworks and a plurality of uniformly distributed line holes, and an included angle is formed between each line hole and the central connecting line of the two frameworks. The number of wire holes is determined according to the degree of freedom provided by the continuum robot arm. When the upper end face of the middle disc is provided with two symmetrically distributed frameworks and four line holes, preferably, the included angle between every two adjacent line holes is 90 degrees, and the included angle between the connecting line of the two oppositely arranged line holes and the connecting line of the two frameworks is 45 degrees.

Further, in the axial direction of the mechanical arm perpendicular to any radial direction of the cross section of the continuous mechanical arm, the number of the contact blocks is smaller than or equal to the number of the modular units, so that different bending curvatures are formed.

Furthermore, an LED lamp, a miniature camera and/or an electromagnetic sensor are arranged on the top disk.

Furthermore, the continuous mechanical arm is made of flexible materials. The flexible material includes, but is not limited to, flexible resin, polyurethane elastomer (TPU), polypropylene (PP), silicone, and the like. The flexible material can reduce the manufacturing cost, reduce the processing complexity and ensure the bending performance of the robot.

In the present invention, the robot arm may be formed in various ways, for example: (1) The base, the middle disc and the top disc can be formed through 3D printing according to the designed shape, size and arrangement mode; (2) The base, middle disk and top disk are machined according to the designed shape and size, then assembled according to the required arrangement mode, and connected in series through the driving wires.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the continuum flexible mechanical arm, the self-contact structures of the base contact block, the double-side contact block and the single-side contact block are adopted, so that the maximum bending angle of the base or a certain middle disc can be limited; the bending curvature of the mechanical arm can be adjusted section by section, the shape of the whole mechanical arm can be changed to a large extent through less degrees of freedom, and then the position and the posture of the top end of the mechanical arm are adjusted, so that the continuum mechanical arm has good direction positioning capability.

2. According to the continuum flexible mechanical arm, the bending shape of the continuum mechanical arm can be customized by adjusting the number, the height and the shape of the base contact block, the double-side contact block and the single-side contact block; the symmetrical skeletons of adjacent middle discs are alternately distributed, so that the omnidirectional bending, namely the bending along any direction of the circumference, can be realized, has the potential of passing through a complicated natural orifice of a human body, and can be better applied to the intracavity interventional operation.

3. According to the continuum flexible mechanical arm, the continuous alternate arrangement structures of the double-side spacing disc, the single-side spacing disc and the thin block spacing disc are adopted, so that the space curve deformation of the continuum mechanical arm formed by pulling one nickel-titanium wire can be realized, the space curve is formed by using one section of mechanical arm, in addition, when adjacent nickel-titanium wires at different positions are pulled, the mechanical arm can form curves in different shapes, and meanwhile, even if the adjacent nickel-titanium wires at different positions are pulled by the same length, the mechanical arm can also form curves in different shapes.

4. The continuum flexible mechanical arm is made of flexible materials to provide enough strength and strain, has various processing modes, can adopt a manufacturing method of material increase or material reduction, and has the characteristics of simple assembly, high manufacturing efficiency and the like, so that the manufacturing cost is reduced, the processing complexity is reduced, and the bending performance of the robot is ensured.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1A is a perspective view of a continuum flexible robotic arm base of the present invention;

FIG. 1B is a front view of a continuum flexible robot arm base of the present invention;

FIG. 1C is a top view of a continuum flexible robotic arm base of the present invention;

FIG. 2A is a perspective view of a double-sided spacer disk of the continuum flexible robotic arm of the present invention;

FIG. 2B is a front view of a dual-sided spacer disk of the continuum flexible robotic arm of the present invention;

FIG. 2C is a side view of a double-sided spacer disk of the continuum flexible robotic arm of the present invention;

FIG. 2D is a top view of a double-sided spacer disk of the continuum flexible robotic arm of the present invention;

FIG. 3A is a perspective view of a single-sided spacer disk of a continuum flexible robotic arm of the present invention;

FIG. 3B is a front view of the single-sided spacer disk of the continuum flexible robotic arm of the present invention;

FIG. 3C is a top view of the single-sided spacer disk of the continuum flexible robotic arm of the present invention;

FIG. 3D is a side view of the single-sided spacer disk of the continuum flexible robotic arm of the present invention;

FIG. 4A is a perspective view of a continuum flexible robotic arm slab spacer disk of the present invention;

FIG. 4B is a front view of a continuum flexible robotic arm slab spacer disc of the present invention;

FIG. 4C is a top view of a thin-piece spacer disk of a continuum flexible robot arm in accordance with the present invention

FIG. 5A is a perspective view of a top disk of the continuum flexible robot arm of the present invention;

FIG. 5B is a top view of the top disk of the continuum flexible robot arm of the present invention;

FIG. 6 is a perspective view of embodiment 1 of the present invention;

FIG. 7 is a front view of embodiment 1 of the present invention;

FIG. 8 is a side view of example 1 of the present invention;

FIG. 9 is a schematic structural diagram of a first usage state in accordance with embodiment 2 of the present invention;

FIG. 10 is a structural diagram of a second usage state in accordance with embodiment 2 of the present invention;

FIG. 11 is a schematic structural diagram of a third usage state in accordance with embodiment 2 of the present invention;

FIG. 12 is a schematic structural view of a fourth usage state in embodiment 2 of the present invention;

FIG. 13A is a perspective view of a fifth usage state of embodiment 2 of the present invention;

FIG. 13B is a front view showing a fifth usage state of embodiment 2 of the present invention;

FIG. 13C is a side view showing a fifth state of use in accordance with embodiment 2 of the present invention;

FIG. 14A is a perspective view showing a sixth usage state of embodiment 2 of the present invention;

FIG. 14B is the front view showing the sixth usage state of embodiment 2 of the present invention;

FIG. 14C is a side view showing a sixth usage state of embodiment 2 of the present invention;

FIG. 15A is a perspective view of a base in embodiment 3 of the present invention;

FIG. 15B is a front view of a base in embodiment 3 of the invention;

FIG. 16A is the front view of the first usage state of embodiment 3 of the present invention;

FIG. 16B is the perspective view of the first usage state of the embodiment 3 of the present invention;

FIG. 17 is a front view of the second usage state of embodiment 3 of the present invention;

FIG. 18A is the front view showing the third usage state in embodiment 3 of the present invention;

FIG. 18B is a side view showing a third state of use of embodiment 3 of the present invention;

fig. 18C is a perspective view of a third usage state of embodiment 3 of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

As shown in fig. 1A to 18C, the continuum flexible manipulator of the present invention employs a self-contact structure base contact block and a double-side contact block, wherein the single-side contact block limits the maximum bending angle of the continuum manipulator arm, so as to change the bending curvature of the manipulator and further change the deformation shape of the manipulator, and the change of the curvature on a section of the continuum manipulator arm is achieved by using as few degrees of freedom as possible. The height of the contact block is smaller than or equal to that of the framework, the height of the contact block is designed according to the curvature change customization of the anatomical cavity, the width of the contact block is smaller than the distance between adjacent line holes and does not interfere with a driving wire after a mechanical arm is bent, the thickness of the contact block is enough to ensure strength, and the bending of the framework on the surface of a base where the contact block is located or a middle disc where the contact block is located is limited. In a specific use environment, the outer diameter of the continuum robot arm may preferably be 2-4mm, the height of the base may preferably be 3-10mm, the height of the contact block may preferably be 0.5-1mm, the height of the skeleton may preferably be 0.5-1mm, the width may preferably be 0.2-0.4mm, and the thickness of the top disk may preferably be 0.5-1mm. The diameter of the string hole may preferably be 0.2-0.5mm, but needs to be larger than the diameter of the drive wire, which is typically 0.1-0.5mm, and the diameter of the intermediate channel may preferably be 1-1.5mm.

The present invention will be described in further detail with reference to specific examples.

Example 1

As shown in fig. 1A to 8, an omnidirectional special-shaped curved continuum flexible mechanical arm for intracavity interventional therapy comprises a base 1, wherein fourteen middle discs 2 and a top disc 3 are arranged on the base 1 from bottom to top, the top end of the mechanical arm is the top disc 3, and the bottom end of the mechanical arm is the base 1.

A first through hole 103 is formed in the center of the base 1, four line holes 6 which are uniformly distributed are formed around the first through hole 103, and the four line holes 6 are symmetrically arranged by taking the first through hole 103 as a center; a second through hole 24 is formed in the center of the middle disc 2, four line holes 6 are uniformly distributed around the second through hole 24, and the four line holes 6 are symmetrically arranged by taking the second through hole 24 as the center; a third through hole 31 is formed in the center of the top disc 3, four line holes 6 are uniformly distributed around the third through hole 31, and the four line holes 6 are symmetrically arranged by taking the third through hole 31 as the center; the positions of the wire holes 6 on the base 1, the middle disc 2 and the top disc 3 are distributed in the same way, so that the wire holes 6 at the four positions are respectively communicated up and down to form four channels for the penetration of the nickel-titanium driving wires 7 (namely, four nickel-titanium driving wires can be penetrated in total); the first through hole 103, the second through hole 24 and the third through hole 31 are coaxially arranged in an equal diameter mode, penetrate up and down to form the middle cavity channel 5, and can provide a space for accommodating instruments such as biopsy and ablation and providing installation space for sensors such as shape sensors and electromagnetic sensors. Preferably, the string hole 6 has a diameter of 0.5mm and the intermediate channel 5 has a diameter of 1.2mm.

The contact blocks and the framework on the base 1 and the middle disc 2 are of a cuboid structure with curved surfaces on the outer sides, the radius of the curved surfaces is the same as that of the curved surfaces on the outer sides of the base 1 or the middle disc 2, and the curved surface arc length of the contact blocks is larger than that of the framework; the skeleton extends inwards to the through hole.

The periphery of the upper surface of the base 1 is provided with two symmetrically distributed base frameworks 101 and a base contact block 102, and the included angle between the base contact block 102 and the two base frameworks 101 is 90 degrees. As shown in fig. 1C, the line connecting the two base frames 101 is defined as ± Y direction, the direction perpendicular to the ± Y direction in the horizontal plane is defined as ± X direction, and the direction of one base contact block 102 is defined as + X direction. The line holes between XY are defined as a line holes, along the counterclockwise direction, the other line holes are defined as b, c and d; the base frame 101 and the base contact block 102 are integrally formed with the base 1.

The upper end face of the middle disc 2 is provided with two frameworks, four wire holes 6 and 0-2 contact blocks which are symmetrically distributed by taking the second through hole 24 as a center, the included angles between the adjacent wire holes 6 are all 90 degrees, and the included angles between the connecting lines of the two oppositely arranged wire holes 6 and the connecting lines of the two frameworks are 45 degrees.

The fourteen intermediate discs 2 are specifically divided into two double-sided spacers 21, seven single-sided spacers 22 and five thin-block spacers 23:

the periphery of the upper end face of the double-side spacing disc 21 is oppositely provided with two double-side frameworks 211, and two double-side contact blocks 212; the central connecting lines of the two bilateral frameworks 211 and the central connecting lines of the two bilateral contact blocks 212 are mutually vertical; the double-side framework 211 and the double-side contact block 212 are integrally formed with the double-side spacing disc 21;

the periphery of the upper end surface of the unilateral spacer disk 22 is provided with two unilateral frameworks 221 and a unilateral contact block 222 which are symmetrically distributed; the included angle between the single-side contact block 222 and the two single-side frameworks 221 is 90 degrees; the single-side framework 221, the single-side contact block 222 and the single-side spacing disc 22 are integrally formed;

the periphery of the upper end face of the thin block spacing disc 23 is provided with two thin block frameworks 231 which are symmetrically distributed, no contact block is arranged, and the thin block frameworks 231 and the thin block spacing disc 23 are integrally formed; the top disc 3 is not provided with a contact block and a framework.

The base 1 is connected with the double-side spacing disc 21 through the base framework 101, the double-side spacing disc 21 is connected with the middle disc or the top disc above the double-side spacing disc through the double-side framework 211, the single-side spacing disc 22 is connected with the middle disc or the top disc above the single-side spacing disc through the single-side framework 221, and the thin block spacing disc 23 is connected with the middle disc or the top disc above the thin block spacing disc through the thin block framework 231.

In consideration of the difficulty of processing and manufacturing, and simultaneously, the outer diameter of the mechanical arm is ensured to be as small as possible, in the embodiment, the outer diameter of the continuum mechanical arm is 3mm, and the height of the continuum mechanical arm is 40mm. The height of the base is 10mm, the height of the contact block is 0.8mm, the width of the inner side of the contact block is 1mm, the center thickness of the contact block is 0.4mm, the height of the framework is 1mm, and the width of the framework is 0.4mm. On the base 1, from supreme down do in proper order: double-side spacer disk-single-side spacer disk-thin block spacer disk-unilateral spacer disk-thin block spacer disk-top disk.

After the arrangement design, the number of the-Y-direction contact blocks is two, the number of the + Y-direction contact blocks is six, the number of the-X-direction contact blocks is zero, and the number of the + X-direction contact blocks is four on the continuous mechanical arm.

In order to reduce the manufacturing cost, reduce the processing complexity and simultaneously ensure the bending performance of the robot, proper materials and processing modes are required to be selected, the continuous body mechanical arm is made of flexible materials (flexible resin, polyurethane elastic rubber, polypropylene, silica gel and the like) so as to provide enough strength and strain, the processing modes are various, a material-increasing or material-reducing manufacturing method can be adopted, and the continuous body mechanical arm has the characteristics of simplicity in assembly, high manufacturing efficiency and the like.

Example 2

Example 2 is a modification of example 1.

As shown in fig. 1A to 5B, 9 to 14C, in embodiment 2, the continuous flexible robot arm includes one top disk 3 and nineteen intermediate disks 2, the top end of the robot arm is the top disk 3, and the bottom end of the robot arm is the base 1.

The nineteen intermediate disks 2 are divided into two double-sided spacers 21, seven single-sided spacers 22 and ten thin-piece spacers 23.

In consideration of the difficulty of processing and manufacturing, and meanwhile, the outer diameter of the robot arm is guaranteed to be as small as possible, in the embodiment, the outer diameter of the continuum robot arm is 2.8mm and 47mm in height, the diameter of the internal middle channel 5 is 1.4mm, the diameter of the nickel-titanium wire hole 6 is 0.3mm, the height of the base 1 is 7mm, the height of the base framework 101 is 1mm, and the width of the base framework is 0.4mm, so as to guarantee to provide larger strain and strength, the height of the base contact block 102 is 0.8mm, the height of the double-side framework 211 is 1mm, the width of the base contact block is 0.4mm, the height of the double-side contact block 212 is 0.8mm, the height of the single-side framework 221 is 1mm, the width of the single-side contact block 222 is 0.8mm, the height of the thin-block framework 231 is 1mm, and the width of the thin-block framework is 0.4mm, the inner widths of the three contact blocks are all 1mm, and the center thickness of the contact block is all 0.4mm. On the base 1, from supreme down do in proper order: double-side spacer disk-single-side spacer disk-thin block spacer disk-a single-sided spacer disc-a thin-block spacer disc-a top disc.

After the arrangement design, the number of the-Y-direction contact blocks on the continuum mechanical arm is two, the number of the + Y-direction contact blocks on the continuum mechanical arm is six, the number of the-X-direction contact blocks on the continuum mechanical arm is zero, and the number of the + X-direction contact blocks on the continuum mechanical arm is four. The rest of the structure is the same as in embodiment 1.

As shown in fig. 9-12, the robotic arm forms different constant curvature shapes upon pulling different adjacent two drive wires. For example, the drive wires of the a and b wire holes are stretched, and the bending angles of the mechanical arms are respectively 60 degrees (as shown in fig. 9); the driving wires in the a and d wire holes are stretched, and the bending angles of the mechanical arms are respectively 90 degrees (as shown in figure 10); the drive wires in the c-line hole and the d-line hole are stretched, and the bending angles of the mechanical arms are respectively 120 degrees (as shown in FIG. 11); the driving wires in the b and c wire holes are stretched, and the bending angles of the mechanical arms are respectively 150 degrees (as shown in figure 12);

as shown in fig. 13A and 14C, the robotic arm forms different spatial curves upon pulling different ones of the drive wires. For example, the spatial curves formed by the robotic arm by stretching the drive wire in the a-line aperture are shown in FIGS. 13A-C; the spatial curves produced by the robotic arm as a result of drawing the drive wires in the d-wire holes are shown in fig. 14A-C.

The main application scenes of the embodiment are anatomical cavities with large and small changes in the internal curvature of the human body, and include but are not limited to interventional catheters used for thoracic aortic arch parts, interventional catheters used for abdominal aortic diseases and the like.

Example 3

Example 3 is a modification of example 1.

As shown in fig. 2A to 5B, 15A to 18C, in embodiment 3, the continuous body flexible robot arm includes one top disk 3 and nineteen intermediate disks 2; the top end of the robot is a top disc 3, the bottom end of the robot is a base 1, and the base 1 is provided with two symmetrically arranged base contact blocks 102 and 102'.

The nineteen intermediate disks 2 are divided into eight double-sided spacers 21, seven single-sided spacers 22 and four thin-piece spacers 23.

In consideration of the difficulty of processing and manufacturing, and the adaptability to the anatomical cavity with smaller diameter, in this embodiment, the outer diameter of the continuum robot arm is 2.5mm, the height is 47mm, the diameter of the inner middle cavity 5 is 1mm, the diameter of the nitinol wire hole 6 is 0.3mm, the height of the base 1 is 7mm, the height of the base framework 101 is 1mm, and the width is 0.3mm, so as to ensure that the larger strain and strength are provided, wherein the height of the + X direction base contact block 102 is 0.98mm, the height of the X direction base contact block 102' is 0.8mm, the height of the two-side framework 211 is 1mm, the width is 0.3mm, the height of the one-side framework 221 is 1mm, the width is 0.3mm, and the height of the thin-block framework 231 is 1mm, and the width is 0.3mm. The height of the + X upward contact block is respectively 0.98mm, 0.89mm, 0.9mm, 0.7mm and 0.7mm from bottom to top, the height of the-X upward contact block is respectively 0.8mm, 0.7mm, 0.9mm, 0.8mm, 0.7mm, 0.8mm, 0.6mm and 0.8mm from bottom to top, the height of the contact block in the + Y direction is respectively 0.9mm, 0.9mm and 0.9mm from bottom to top, the height of the contact block in the-Y direction is respectively 0.9mm and 0.9mm from bottom to top, the width of the inner side of the contact block is 1mm, and the center thickness of the contact block is 0.4mm. On base 1, from supreme down do in proper order: the spacer comprises a double-side spacer disc, a single-side spacer disc, a double-side spacer disc, a thin block spacer disc, a single-side spacer disc and a top disc.

After the arrangement design, the number of the-Y-direction contact blocks on the continuum mechanical arm is two, the number of the + Y-direction contact blocks on the continuum mechanical arm is six, the number of the-X-direction contact blocks on the continuum mechanical arm is ten, and the number of the + X-direction contact blocks on the continuum mechanical arm is seven. The rest of the structure is the same as in embodiment 1.

When two adjacent driving wires are pulled, the mechanical arm forms a plane variable-curvature shape. For example, drawing the drive wire in the B-and c-wire holes, the shape of the varying bending curvature corresponding to the arm is shown in fig. 16A and 16B; the drive wires in the a-and d-wire holes were stretched to have a curved curvature corresponding to the change in the arm, as shown in fig. 17.

And after one driving wire is pulled, the mechanical arm forms a space curve. For example, the drive wire of the a-line hole is stretched, and the spatial curved shape corresponding to the robot arm is shown in fig. 18A to 18C.

The main application scenes of the embodiment are complex and tortuous cavities inside the human body and anatomical structures with large curvature change, including but not limited to bronchoscopes for lung tracheas and bronchus, interventional catheters for cerebral vessels, cardiac ablation catheters for cardiac intervention and the like.

All skeletons of the continuum flexible mechanical arm are symmetrically distributed on the corresponding middle disc, and the skeletons of the three spacing discs are symmetrically distributed, so that one middle disc can only provide one degree of freedom, and the bent planes of the skeletons need to be continuously and alternately distributed at intervals of 90 degrees to realize the continuum mechanical arm bent by 2 degrees of freedom. The continuum mechanical arm is provided with a middle cavity channel 5 which can accommodate instruments such as biopsy and ablation and provide installation space for sensors such as shape sensors and electromagnetic sensors, the continuum mechanical arm is driven by four wires, and the four nickel-titanium wires penetrate through wire holes 6 on the continuum mechanical arm. The included angle between the connecting line of the two oppositely arranged line holes 6 and the connecting line of the two frameworks is 45 degrees, when one or two nickel titanium driving wires 7 are pulled, the continuum mechanical arm can provide an omnidirectional bending function, one end of each driving wire 7 can be fixed on the upper end face of a top disc at the tail end of the mechanical arm through a stainless steel pipe, and the other end of each driving wire 7 is connected with a driving motor.

The base contact block 102 on this continuum flexible mechanical arm, bilateral contact block 212, unilateral contact block 222's effect is, when the continuum mechanical arm receives the pulling force of acting as go-between, the interval dish (thin block interval dish) that does not set up the contact block normally bends, the interval dish (bilateral interval dish and unilateral interval dish) that is provided with the contact block can provide the bending of certain degree, when adjacent interval dish is crooked to contact with the contact block, the bending of single interval dish can be restricted to the contact block, thereby restrict the maximum bending angle of this interval dish, consequently, can change the certain one section curvature of mechanical arm, through setting up bilateral contact block 212 of every direction, unilateral contact block 222's number, and the height of contact block, can customize the curved shape of continuum mechanical arm.

Simultaneously pulling two adjacent nickel-titanium wires to enable the mechanical arm to bend planes with different bending curvatures in the +/-Y or +/-X directions, and enabling the mechanical arm to form a space bending curve when only any one nickel-titanium wire is pulled; when the adjacent nickel-titanium wires at different positions are pulled, the mechanical arm can form curves in different shapes, and meanwhile, even if the adjacent nickel-titanium wires at different positions are pulled by the same length, the mechanical arm can also form space curves in different shapes, so that the possibility is provided for the minimally invasive surgery through a complicated cavity of a human body, and the mechanical arm has a huge application prospect.

In the continuum flexible mechanical arm, the height of the contact block is designed according to a certain section of specific human anatomy cavity, the height of the contact block determines the deformation curvature of the continuum mechanical arm, and finally determines the deformation shape of the continuum mechanical arm. Generally, the larger the bending angle is, the more the number of the thin block spacing discs is, the lower the height of the contact block is, the smaller the bending angle is, the fewer the number of the bilateral contact blocks is, the higher the height of the contact block is, and the specific height of the contact block and the number of the three intermediate discs need to be realized according to an optimized design mode.

Besides the above description of the embodiments, the robot arm of the present invention may have the following structural forms: the base is provided with four groups of middle discs, a first through hole 103 is arranged at the center of the base 1, sixteen wire holes 6 which are uniformly distributed are formed in the periphery of the first through hole 103, the upper end face of a middle disc 2 in a first middle disc group is centered on a second through hole 24, sixteen wire holes 6 which are uniformly distributed are formed in the periphery of the second through hole 24, the upper end face of the middle disc 2 in a second middle disc group is centered on a second through hole 24, twelve wire holes 6 which are uniformly distributed are formed in the periphery of the second through hole 24, the upper end face of the middle disc 2 in a third middle disc group is centered on an eight wire holes 6 which are uniformly distributed in the periphery of the second through hole 24, four wire holes 6 which are uniformly distributed are formed in the periphery of the second through hole 24, and the number and the types of discs in each middle disc group can be arranged in various combinations and sequences. According to the use requirement, any four wire holes can be selected for installing the driving wires to form the bendable mechanical arm. Of course, the number of wire holes for mounting the drive wire is not limited to four, and other numbers of variations are possible.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. The omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment is characterized by comprising a base (1) and a plurality of modular units, wherein the modular units are arranged on the base (1) from bottom to top, the upper end surfaces of the base (1) and the modular units are provided with a plurality of contact blocks and a plurality of frameworks, the height of each contact block is lower than or equal to that of each framework, through holes are formed in the centers of the base (1) and the modular units, a plurality of line holes (6) are formed around each through hole, and a plurality of line holes (6) in the modular units and at least one line hole (6) in the base (1) are vertically communicated for penetrating a driving wire (7); the through holes of the base (1) and the through holes of the modular units are vertically communicated to form a middle cavity channel (5);

the modular unit comprises a middle disc (2) and a top disc (3); the top disc (3) is not provided with the contact block and the framework, the top end of the mechanical arm is the top disc (3), the bottom end of the mechanical arm is the base (1), and a plurality of middle discs (2) are arranged between the base (1) and the top disc (3);

along the direction from the base (1) to the top disc (3), the plurality of middle discs (2) are divided into a first middle disc group to an Nth middle disc group, the middle discs (2) belonging to the same middle disc group are provided with the same number of line holes (6), the first middle disc group to the Nth middle disc group all comprise M middle discs (2), and the number of the line holes (6) in the first middle disc group to the Nth middle disc group is gradually reduced;

the outer sides of the contact block and the framework are curved surfaces, the radius of the curved surfaces is the same as that of the outer curved surface of the base (1) or the middle disc (2), and the arc length of the curved surface of the contact block is larger than that of the curved surface of the framework; the framework extends inwards to the through hole;

the middle disc (2) is divided into a double-side spacing disc (21), a single-side spacing disc (22) and a thin block spacing disc (23);

the periphery of the upper end face of the bilateral spacing disc (21) is provided with two bilateral frameworks (211) which are symmetrically distributed and at least two bilateral contact blocks (212) which are distributed along the circumferential direction, and the bilateral contact blocks (212) are arranged between the two bilateral frameworks (211);

the periphery of the upper end face of the unilateral spacing disc (22) is provided with two symmetrically distributed unilateral frameworks (221) and at least one unilateral contact block (222) distributed along the semi-circumferential direction, and the semi-circumference is a semi-circumference between the two unilateral frameworks (221);

two thin block frameworks (231) which are symmetrically distributed are arranged on the periphery of the upper end face of the thin block spacing disc (23), and no contact block is arranged.

2. An omnidirectional specially-shaped curved continuum flexible mechanical arm for intracavity interventional therapy according to claim 1, wherein two skeletons are arranged on the middle disc (2), and central connecting lines of the skeletons on the adjacent middle discs (2) are perpendicular to each other.

3. An omnidirectional special-shaped curved continuum flexible mechanical arm for intracavity interventional therapy according to claim 1, wherein the periphery of the upper surface of the base (1) is provided with two symmetrically distributed base skeletons (101) and a plurality of base contact blocks (102) distributed along the circumferential direction, the direction of a connecting line of the two base skeletons (101) is defined as the ± Y direction, and the direction perpendicular to the ± Y direction in the horizontal plane is defined as the ± X direction.

4. An omnidirectional special-shaped curved continuous flexible mechanical arm for intracavity interventional therapy according to claim 1, wherein the upper end surface of the middle disc (2) is provided with two symmetrically distributed skeletons and a plurality of uniformly distributed wire holes (6), and an included angle is formed between the wire holes (6) and a central connecting line of the two skeletons.

5. An omnidirectional specially-shaped curved continuum flexible manipulator for intracavity interventional therapy as claimed in claim 1, wherein the number of contact blocks is less than or equal to the number of modular units in the axial direction of the manipulator perpendicular to any radial direction of the cross section of the continuum manipulator.

6. An omnidirectional specially-shaped curved continuum flexible mechanical arm for intracavity interventional therapy as claimed in claim 1, characterized in that an LED lamp, a miniature camera and an electromagnetic sensor are arranged on the top disc (3).

7. An omnidirectional special-shaped curved continuum flexible manipulator for intracavity interventional therapy as recited in claim 1, wherein said continuum manipulator is made of a flexible material.