CN111761609B - Flexible continuum robot based on contact auxiliary structure - Google Patents
Flexible continuum robot based on contact auxiliary structure Download PDFInfo
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- CN111761609B CN111761609B CN202010650441.1A CN202010650441A CN111761609B CN 111761609 B CN111761609 B CN 111761609B CN 202010650441 A CN202010650441 A CN 202010650441A CN 111761609 B CN111761609 B CN 111761609B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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Abstract
The invention discloses a flexible continuum robot based on a contact auxiliary structure, which comprises a tail end deflection part (1), a conduit part (2) and a driving module (3); the driving module (3) is connected with the tail end deflection part (1) through the guide pipe part (2); wherein the tip deflecting section (1) comprises: the flexible mechanical arm comprises a flexible mechanical arm body (11), a tail end deflection part driving assembly (12) and an imaging assembly (13); the tail end deflection part driving assembly (12) is assembled outside the mechanical arm body (11); the imaging assembly (13) is arranged inside the mechanical arm body (11). The flexible continuum robot for the alimentary canal early cancer diagnosis and treatment is designed based on a contact auxiliary structure, is made of a superelastic nickel-titanium alloy tube, transmits power through a driving wire, and can overcome the defects that the existing flexible instrument is difficult to miniaturize, the space of a middle working channel is small, the tensile and torsion resistance performance is poor, a tail end deflection mechanism has return difference, no framework and the like.
Description
Technical Field
The invention relates to the technical field of flexible continuum robots, in particular to a flexible continuum robot based on a contact auxiliary structure.
Background
At present, early cancer of the digestive tract is difficult to diagnose and discover, the tumor margin is difficult to define, and the method is a major clinical problem in diagnosis and treatment of digestive tract diseases.
The wire-driven flexible continuum robot has the characteristics of compact size, multiple degrees of freedom and long-distance transmission. The flexible and long continuum robot can intervene in the human digestive tract through the endoscope operation platform, and scanning is carried out through the driving probe, so that large-area microscopic imaging is realized. After the early cancer is diagnosed, the submucosal surgery is carried out, and the diagnosis and treatment integrated operation of the early cancer of the digestive tract can be realized. Such flexible surgical robots are divided into a catheter section and a tip deflection section, wherein the conventional catheter section is made of a flexible multi-lumen tube having the function of carrying the driving wire and the transmission force. The tail end deflection part is mostly a traditional hinge type snake bone continuum mechanism, and multi-degree-of-freedom bending of the tail end is completed through stretching and shrinking of the wire. In the case of a multi-lumen tube having a diameter of 3mm or less, it is difficult to manufacture a multi-lumen tube having a large inner/outer diameter ratio due to the limitation of the wall thickness. However, a large lumen in the middle of the robot is necessary to access elements such as imaging probes or biopsy forceps driving wires. In addition, the prior tail snake bone continuum has the problems of large return difference, difficult manufacture, small working channel, no framework, and the like.
The thin-wall super-elastic nickel-titanium alloy tube is precisely cut by laser to manufacture a flexible continuous robot with a large inner cavity, and the super-elastic nickel-titanium alloy material has small elastic modulus and can bear recoverable strain which is one order of magnitude higher than that of the traditional metal material. The mechanism made of the material is provided with a framework, is better in flexibility, does not need an additional framework element such as a spring, and is excellent in fatigue strength. The flexible mechanism with the rectangular notch topological structure is provided by the prior scholars on the basis of the structure, and has the defects of poor tensile and torsional performances, namely poor strength and stability; the deflection around the centroid cannot be good when driven by the wire, which introduces errors for the kinematic modeling of the constant curvature.
Disclosure of Invention
The invention aims to overcome the technical defects in the prior art and provide a flexible continuum robot based on a contact auxiliary structure.
To this end, the invention provides a flexible continuum robot based on a contact assistance structure, comprising a tip deflection section, a conduit section and a drive module;
the driving module is connected with the tail end deflection part through the conduit part;
wherein the tip deflecting portion includes: the flexible mechanical arm comprises a flexible mechanical arm body, a tail end deflection part driving assembly and an imaging assembly;
the tail end deflection part driving assembly is assembled outside the mechanical arm body;
the imaging assembly is mounted inside the mechanical arm body.
The flexible mechanical arm body is a nickel-titanium tube, a plurality of mechanical arm body flexible joints are distributed on the flexible mechanical arm body at equal intervals, and an end part of one end of the flexible mechanical arm body, which is far away from the driving module, is provided with an end part interface;
and the flexible joints of the mechanical arm bodies are formed by processing laser-cut nickel-titanium tubes.
The end interface is provided with four notches at equal intervals along the circumferential direction of the end of the flexible mechanical arm body.
The tail end deflection part driving assembly comprises a plurality of wire guide discs and four driving wires;
the end surface of the godet is provided with four small holes and a big hole;
the four small holes are uniformly distributed along the circumferential direction of the end face of the godet at equal intervals and are used for guiding and supporting the four driving wires;
wherein, a macropore is arranged in the middle of the godet and forms a close fit with the outer wall of the flexible joint of the mechanical arm body in the flexible mechanical arm body.
The device comprises a flexible mechanical arm body, a wire guide disc and a control device, wherein any two adjacent wire guide discs are arranged on the outer wall of the flexible mechanical arm body by taking a flexible joint of the single mechanical arm body as a distance;
the four driving wires respectively penetrate through the four small holes on the end face of the wire guide disc to form clearance fit.
The imaging assembly comprises a flexible optical fiber image bundle and a jacket;
the flexible optical fiber image bundle comprises a far-end probe, an image bundle body and a near-end lens;
the distal probe is fixedly connected with the inner hole of the jacket;
the jacket is connected with an end interface in the flexible mechanical arm body to form tight fit.
Wherein the conduit portion comprises a conduit portion body;
the catheter part body is a nickel-titanium tube, and a plurality of catheter part flexible joints which are distributed at equal intervals are arranged on the catheter part body;
a plurality of wire guide discs are arranged on the outer wall of the guide pipe part body at equal intervals;
wherein, five flexible joints of the conduit part are arranged between any two adjacent godet reels;
wherein, the end surface of the godet is provided with four small holes and a big hole;
the four small holes are uniformly distributed along the circumferential direction of the end face of the godet at equal intervals and are used for guiding and supporting the four driving wires;
wherein, a big hole is positioned in the middle of the godet and forms a close fit with the outer wall of the flexible joint of the catheter part in the catheter part body.
The driving module comprises a driving module supporting structure body, a linear sliding table group and a guide wire wheel group;
the linear sliding table group and the guide wire wheel group are arranged on the driving module supporting structure body;
the linear sliding table groups are four groups in total, are respectively connected with one end of one driving wire and respectively provide linear displacement for the four driving wires.
Wherein, every group linear slide group includes: the device comprises a rotating motor, a screw rod, a nut, a sliding block, a guide rail and a bearing;
the rotating motor, the guide rail and the bearing are fixed on the driving module supporting structure;
the nut is fixedly connected with the sliding block;
the nut is provided with a wire through hole for fixing the driving wire.
Compared with the prior art, the flexible continuum robot based on the contact auxiliary structure is designed based on the contact auxiliary structure, is made of a superelastic nickel-titanium alloy tube, transmits power through the driving wire, can overcome the defects that an existing flexible instrument is difficult to miniaturize, a middle working channel is small in space, poor in tensile and torsional properties, a tail end deflection mechanism has return difference, no framework and the like, and has great production practice significance.
The invention is a flexible continuous robot with small diameter, high processing and manufacturing efficiency, excellent mechanical properties such as tensile strength, torsion resistance and the like, and the robot can be matched with a standard or individually designed digestive tract endoscope diagnosis and treatment platform for use.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a flexible continuum robot based on a contact auxiliary structure provided by the invention;
FIG. 2a is a schematic view of the overall structure of a terminal deflection part in the flexible continuum robot based on the contact assistance structure provided by the present invention;
FIG. 2b is an exploded perspective view of a terminal deflection unit of the flexible continuum robot based on the contact assistance structure according to the present invention;
fig. 3a is a schematic structural diagram of a flexible robot arm body in a flexible continuum robot based on a contact auxiliary structure provided by the invention;
fig. 3b is a schematic perspective view of a flexible robot based on a contact assistance structure according to the present invention, wherein flexible joints of a robot arm body are distributed on the flexible robot arm body;
FIG. 3c is a schematic structural diagram of a single robot arm body flexible joint with a rectangular beam structure in the flexible continuum robot based on the contact assistant structure provided by the invention;
fig. 3d is a schematic structural diagram of a single flexible joint of a robot arm body with a rectangular beam structure after deflection in the flexible robot based on a contact assistant structure provided by the invention;
FIG. 3e is a schematic structural diagram of a single mechanical arm body flexible joint with a curvature beam structure in the flexible continuous body robot based on the contact auxiliary structure provided by the invention
FIG. 4a is a schematic exploded view of a godet and a driving wire in a flexible continuum robot based on a contact assistant structure provided by the invention;
FIG. 4b is a schematic structural diagram of an imaging assembly in the flexible continuum robot based on the contact assistant structure provided by the invention;
FIG. 5a is a schematic structural diagram of the overall structure of a conduit part in the flexible continuum robot based on the contact assistance structure provided by the invention;
fig. 5b is a schematic structural diagram of a single flexible joint of the catheter part in the flexible continuum robot based on the contact assistance structure, wherein the catheter part has an overall structure, namely an enlarged schematic diagram of the single flexible joint of the catheter part in the part a shown in fig. 5 a;
FIG. 5c is an enlarged view of portion B of FIG. 5B;
FIG. 6 is a schematic diagram of the overall structure of a driving module in the flexible continuum robot based on the contact assistant structure provided by the invention;
FIG. 7 is a schematic structural diagram of a linear slide group in a flexible continuum robot based on a contact assistance structure provided by the invention;
FIG. 8 is a schematic structural diagram of a guide wire wheel set in a flexible continuum robot based on a contact assistance structure provided by the invention;
in the figure: 1 is a terminal deflection part; 2 is a conduit part; 3 is a driving module;
11 is a flexible mechanical arm body; 12 is a tail end deflection part driving component; 13 is an imaging assembly;
101 is a flexible joint of the mechanical arm; 102 is an end interface; 103 is a godet; 104 is a driving wire; 105 is a flexible optical fiber image bundle; 106 is a jacket; 1011 is a mechanical arm flexible hinge;
1012 is a first main contact assistance structure, 1013 is a second main contact assistance structure, 1014 is a third main contact assistance structure, 1015 is a fourth main contact assistance structure;
1016 is a sub-contact assistant structure;
21 is a conduit part body; 201 is a catheter flexible joint; 2011 is a flexible hinge of the catheter part;
31 is a driving module supporting structure; 32 is a linear sliding table group; 33 is a guide wire wheel group;
301 is a rotating electric machine; 302 is a screw rod; 303 is a nut; 304 is a slide block; 305 is a guide rail; 306 is a bearing; 307 is a tension wheel, 308 is a guide wheel.
Detailed Description
In order to make the technical means for realizing the invention easier to understand, the following detailed description of the present application is made in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that in the description of the present application, the terms of direction or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application.
In addition, it should be noted that, in the description of the present application, unless otherwise specifically stated or limited, the term "mounted" or the like is to be understood broadly, and for example, may be fixedly mounted or detachably mounted, and "close fit" may be mechanical fit or may be bonded or welded to form a fixed connection.
The specific meaning of the above terms in the present application can be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 8, the invention provides a flexible continuum robot based on a contact assistance structure, and the tail end of the robot can be matched with flexible optical fiber bundles, surgical forceps, electric knives and other tools for sexual therapy operation. The robot of the embodiment carries a flexible optical fiber image bundle at the tail end.
In the present invention, the flexible continuum robot of the present invention comprises a tip deflection section 1, a conduit section 2, and a driving module 3;
the drive module 3 is connected to the end deflector 1 via the conduit part 2.
In the present invention, in a concrete implementation, one end of the conduit part 2 is fixedly connected with the terminal deflection part 1 or directly processed into a whole, and the other end is connected with the driving module 3, so that the terminal deflection part 1 and the driving module 3 are connected into a whole.
It should be noted that the robot of the present invention can be applied to diagnosis and treatment through natural orifices, especially early cancer diagnosis and treatment of digestive tract.
In the present invention, in a specific implementation, the terminal deflection portion 1 includes: a flexible mechanical arm body 11, a terminal deflection part driving assembly 12 and an imaging assembly 13 which are used for realizing a pitching degree of freedom R1 and a yawing degree of freedom R2;
the tail end deflection part driving assembly 12 is assembled outside the mechanical arm body 11;
the imaging assembly 13 is mounted inside the robot arm body 11.
In particular, the flexible mechanical arm body 11 is a nickel-titanium tube, a plurality of (i.e. a series of) flexible joints 101 of the mechanical arm body are distributed on the flexible mechanical arm body 11 at equal intervals, and an end part interface 102 is arranged at one end part of the driving module 3, far away from the flexible mechanical arm body 11;
in specific implementation, a plurality of (i.e. a series of) flexible joints 101 of the mechanical arm body are processed by cutting a nickel titanium tube with laser.
It should be noted that, for the present invention, the flexible joint 101 and the end interface 102 of the robot arm body are formed by removing part of the material of the superelastic flexible robot arm body 11 (i.e. nitinol tube) by laser, and are naturally connected by the unremoved material, thereby forming an integral structure without assembly.
In a specific implementation, referring to fig. 3a, the end interface 102 is provided with four notches at equal intervals of 90 degrees along the circumferential direction of the end of the flexible mechanical arm body 11.
In particular, referring to fig. 3b, the robot arm flexible joint 101 includes a robot arm flexible hinge 1011, a pair of first main contact auxiliary structures 1012, a pair of second main contact auxiliary structures 1013, a pair of third main contact auxiliary structures 1014, a pair of fourth main contact auxiliary structures 1015, and a pair of secondary contact auxiliary structures 1016.
It should be noted that the topology of the flexible joint 101 of the mechanical arm body is a symmetrical design, and the flexible joint is alternately arrayed along the central axis of the flexible mechanical arm body 11 (i.e. the nitinol tube) at equal intervals in two orthogonal directions, so as to provide a pitch degree of freedom R1 and a yaw degree of freedom R2 for the two directions. The flexible hinge 1011 structure of the mechanical arm body is a rectangular beam structure or a curvature beam structure.
In particular, the peak strain epsilon of the driven deflection back beam can be determined by selecting the beam structure and the deflection anglemaxThe peak strain may be solved for by finite element engineering structural analysis. The mechanism design criteria are as follows:
εmax≤εallow；
εallowrepresenting the allowable strain recommended by super elastic nickel titanium tubing manufacturers. EpsilonmaxTo find the maximum strain (where all means allowable; max means maximum) after the flexible hinge 1011 has been bent to the maximum angle.
For the invention, in a concrete implementation, the single mechanical arm body flexible joint 101 is provided with 5 pairs of contact auxiliary structures. Including four pairs of primary contact assistance structures (i.e., first through fourth primary contact assistance structures 1012 through 1015), and a pair of secondary contact assistance structures 1016.
In a specific implementation, the gap between the first main contact auxiliary structure 1012, the second main contact auxiliary structure 1013, the third main contact auxiliary structure 1014, and the fourth main contact auxiliary structure 1015 is 20 μm. It should be noted that the gap value can be selected according to the current laser processing limit value, and the smaller the value is, the more accurate the mechanism movement is.
It is noted that four pairs of primary contact assist structures are used to provide three physical constraints to the flexible hinge, including deflection, torsion and tension constraints. A pair of secondary contact assist structures 1016 to provide a deflection stop for the deflected mechanism, forming a physical constraint that prevents the material strain from continuing to increase.
In a specific implementation, referring to fig. 3c and 3d, the maximum pitch or yaw angle of a single flexible joint 101 of the robot arm body after deflection is α, and the maximum pitch or yaw angle α of the single flexible joint after deflection needs to satisfy the following condition:
α＜βa，α＜βb；
wherein, betaaAnd betabRepresenting the angle between the two contacts.
The calculation formula of the maximum rotation angle of the tip end deflection unit formed by the n flexible joints in the yaw or pitch direction is as follows:
αsum＝n·α；
wherein alpha issumThe total deflection angle of the tip deflection portion formed by the n flexible joints. Alpha is the maximum pitch or yaw angle of the flexible joint 101 of the single mechanical arm body after deflection, and Sum means the Sum.
Referring to fig. 3e, fig. 3e shows another flexible hinge structure with a single flexible joint of a curved beam structure, which has different stiffness, fatigue life, strain magnitude and distribution after driven bending from those of a straight beam structure, according to the present invention.
In the present invention, and in particular implementation, and as shown in fig. 4a, the end deflector drive assembly 12 includes a plurality (i.e., a series) of godets 103 and four drive wires 104;
the end surface of the godet 103 is provided with four small holes 1031 and a large hole 1032;
the four small holes 1031 are uniformly distributed along the end surface circumference of the godet 103 at equal intervals of 90 degrees and are used for guiding and supporting the four driving wires 104;
one of the large holes 1032 is located in the middle of the godet 103 and forms a close fit with the outer wall of the flexible joint 101 of the mechanical arm body in the flexible mechanical arm body 11.
In the specific implementation, any two adjacent godet reels 103 are mounted on the outer wall of the flexible mechanical arm body 11 by taking the flexible joint 101 of a single mechanical arm body as a distance (namely, a flexible joint 101 of the mechanical arm body is arranged between the two godet reels 103);
the four driving wires 104 respectively pass through the four small holes 1031 on the end surface of the godet 103 to form clearance fit.
It should be noted that, with the present invention, the knotting of the ends of the drive wires 104 provides the driving force for the formation of a barrier when the wires are pulled.
In the present invention, in a specific implementation, referring to fig. 4b, the imaging assembly 13 includes a flexible fiber optic bundle 105 and a jacket 106;
wherein the flexible fiber optic image bundle 105 includes a distal probe 1051, an image bundle body 1052, and a proximal lens 1053;
a distal probe 1051 fixedly connected with the inner hole of the jacket 106;
the collet 106 is connected to the end interface 102 in the flexible robot body 11 to form a tight fit.
In the present invention, in a specific implementation, referring to fig. 5a, 5b, and 5c, the conduit part 2 includes a conduit part body 21;
the duct portion body 21 is a nickel-titanium tube (the same nickel-titanium tube as the flexible mechanical arm body 11 is formed integrally), and a plurality of (i.e. a series of) duct portion flexible joints 201 are distributed on the duct portion body 21 at equal intervals;
a plurality of godet reels 103 are mounted on the outer wall of the conduit part body 21 at equal intervals;
wherein, five flexible joints 201 of the catheter part are arranged between any two adjacent godet reels 103; that is, any two adjacent godet spools 103 are spaced apart by five conduit portion flexible joints 201.
Wherein, the end surface of the godet 103 is provided with four small holes 1031 and a large hole 1032;
the four small holes 1031 are uniformly distributed along the end surface circumference of the godet 103 at equal intervals of 90 degrees and are used for guiding and supporting the four driving wires 104;
one of the large holes 1032 is located in the middle of the godet 103 and forms a close fit with the outer wall of the catheter portion flexible joint 201 in the catheter portion body 21.
It should be noted that the conduit portion body 21 includes a conduit portion flexible joint 201, and the conduit portion flexible joint 201 includes a flexible hinge and a contact auxiliary structure similar to the topology of the robot arm body flexible joint 101 in the flexible robot arm body 11. The contact assistance structures are identical except that: the conduit portion flexible hinge 2011 is wider and more rigid than the mechanical arm body flexible hinge 1011.
Note that, the flexible hinge structure of the conduit portion 2 may also be a rectangular beam structure or a beam structure with curvature.
In the present invention, in a specific implementation, referring to fig. 6, the driving module 3 includes a driving module supporting structure 31, a linear sliding table set 32 (i.e. a rotating motor linear displacement sliding table set) and a guide pulley set 33;
wherein the linear slide group 32 and the guide roller group 33 are mounted on the driving module support structure 31;
the linear slide groups 32 are four groups, and are respectively connected to one end of one driving wire 104, and respectively provide linear displacement (i.e., linear displacement) for the four driving wires 104.
In a specific implementation, referring to fig. 7, each linear stage group 32 includes: a rotating motor 301, a screw 302, a nut 303, a slider 304, a guide rail 305, and a bearing 306;
wherein, the rotating electrical machine 301, the guide rail 305 and the bearing 306 are fixed on the driving module supporting structure 31;
the nut 303 is fixedly connected with the sliding block 304;
the nut 303 is provided with a threading hole for fixing the driving wire 104.
In a specific implementation, referring to fig. 8, the guide roller set 33 includes four tension rollers 307 and twelve guide rollers 308;
four driving wires 104 are wound on the guide wheel and the tension wheel.
It should be noted that the godet wheel set 33 includes a series of godet wheels for guiding the drive wire and reducing friction.
It should be noted that, the flexible continuum robot based on the contact assistance structure provided by the present invention includes a robot body and a driving module. The robot body comprises a tail end deflection part and a guide pipe part. The distal deflection portion and the catheter portion are formed from superelastic nitinol tubes by precision laser cutting, which consists in precisely removing a portion of the tube material to form a flexible joint.
In the invention, the flexible joint consists of a flexible hinge and a contact auxiliary structure, the topological structure of the flexible joint is symmetrically designed, and the flexible joint is in an equidistant alternate array in two orthogonal directions along the central axis of the nickel-titanium tube and is driven by a wire to form the degrees of freedom of pitching and yawing.
In the invention, the flexible hinge structure is a rectangular beam structure or a curvature beam structure, and the beam structure determines the rigidity of the mechanism to form a framework body capable of recovering a linear state.
In the present invention, the peak beam strain after driven deflection is determined by selecting the beam structure and deflection angle. The single flexible joint is provided with 5 pairs of contact assistance structures. The 5 pairs of contact assist structures include 4 pairs of primary contact assist structures and 1 pair of secondary contact assist structures, with a gap between the primary contact assist structures of about 20 microns.
In the present invention, the primary contact assist structure provides three physical constraints to the flexible hinge, including deflection, torsion and tension constraints. The secondary contact assist structure provides a deflection stop for the deflected mechanism, forming a physical restraint that prevents the material strain from continuing to increase. The orthographic projection of the included angle between the secondary contact auxiliary structures is trapezoidal, and the included angle between the trapezoids is the maximum deflection angle of the single flexible joint.
In the present invention, the catheter portion comprises a plurality of distal deflector flexible joints. The flexible hinge of the conduit portion has a stiffness greater than the stiffness of the flexible hinge of the distal end deflecting portion. The robot is characterized in that the wire guide discs are installed outside the robot body at fixed intervals, the wire guide discs are made of stainless steel, and four small holes and a large hole are machined in the cross section of each wire guide disc.
In the present invention, four small holes provide support and guidance for the drive wire. The middle big hole and the outer wall of the nickel titanium pipe form small clearance fit, and the consolidation mode adopts bonding or welding. The arrangement distance of the wire guiding discs of the tail end deflection part is a single joint distance, and the arrangement distance of any two wire guiding discs on the guide pipe part is five joint distances.
Compared with the prior art, the flexible continuum robot based on the contact auxiliary structure has the following beneficial effects:
1. the tail end deflection part is integrally processed by laser, so that the forming efficiency is high and the cost is low.
2. The end deflection part greatly improves the mechanical properties of the mechanism, such as tensile property and torsional property; the joint mechanism has no return difference; better deflection around the centroid of the joint; the self-provided framework body does not need an additional elastic element; these characteristics provide better stability and safety for clinical practice.
3. The tail end deflection part and the conduit part can be integrally formed, and the connector can be designed to complete later-stage assembly, so that the assembly is more flexible.
4. Small diameter, large inner cavity, simple assembly and easy disinfection.
6. Greatly improves the tensile strength and the torsional strength of the mechanical flexible and long surgical tool.
In summary, compared with the prior art, the flexible continuum robot based on the contact auxiliary structure provided by the invention is used as a flexible continuum robot for early cancer diagnosis and treatment facing the alimentary canal, and comprises a tail end deflection part, a conduit part and a driving module, wherein the tail end deflection part can flexibly enter an endoscope operation platform.
The invention is a flexible continuous robot with small diameter, high processing and manufacturing efficiency, excellent mechanical properties such as tensile strength, torsion resistance and the like, and the robot can be matched with a standard or individually designed digestive tract endoscope diagnosis and treatment platform for use.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (4)
1. The flexible continuum robot based on the contact auxiliary structure is characterized by comprising a tail end deflection part (1), a conduit part (2) and a driving module (3);
the driving module (3) is connected with the tail end deflection part (1) through the guide pipe part (2);
wherein the tip deflecting section (1) comprises: the flexible mechanical arm comprises a flexible mechanical arm body (11), a tail end deflection part driving assembly (12) and an imaging assembly (13);
the tail end deflection part driving component (12) is assembled outside the mechanical arm body (11);
the imaging assembly (13) is arranged inside the mechanical arm body (11);
the flexible mechanical arm body (11) is a nickel-titanium tube, a plurality of mechanical arm body flexible joints (101) are distributed on the flexible mechanical arm body (11) at equal intervals, and an end part interface (102) is arranged at one end part of the flexible mechanical arm body (11), which is far away from the driving module (3);
the flexible joints (101) of the mechanical arm bodies are processed by cutting nickel-titanium tubes through laser;
the end interface (102) is provided with four notches at equal intervals of (90) degrees along the circumferential direction of the end of the flexible mechanical arm body (11);
the tail end deflection part driving assembly (12) comprises a plurality of godets (103) and four driving wires (104);
the end surface of the godet (103) is provided with four small holes (1031) and a large hole (1032);
the four small holes (1031) are uniformly distributed along the circumferential direction of the end face of the godet (103) at equal intervals of 90 degrees and are used for guiding and supporting the four driving wires (104);
one large hole (1032) is positioned in the middle of the wire guide disc (103) and is tightly matched with the outer wall of a flexible joint (101) of the mechanical arm body in the flexible mechanical arm body (11);
any two adjacent godet reels (103) are arranged on the outer wall of the flexible mechanical arm body (11) by taking the flexible joint (101) of the single mechanical arm body as a distance;
four driving wires (104) respectively penetrate through four small holes (1031) on the end face of the wire guide disc (103) to form clearance fit;
the conduit part (2) comprises a conduit part body (21);
the catheter part body (21) is a nickel-titanium tube, and a plurality of catheter part flexible joints (201) distributed at equal intervals are arranged on the catheter part body (21);
a plurality of godet disks (103) are arranged on the outer wall of the conduit part body (21) at equal intervals;
wherein, five flexible joints (201) of the conduit part are arranged between any two adjacent godet reels (103);
wherein, the end surface of the godet (103) is provided with four small holes (1031) and a big hole (1032);
the four small holes (1031) are uniformly distributed along the circumferential direction of the end face of the godet (103) at intervals of 90 degrees and are used for guiding and supporting the four driving wires (104);
wherein, a big hole (1032) is positioned in the middle of the godet (103) and forms a close fit with the outer wall of the flexible joint (201) of the conduit part in the conduit part body (21);
the topological structures of the flexible joint (101) of the mechanical arm body and the flexible joint (201) of the conduit part are symmetrically designed, and both the flexible joint and the flexible joint comprise contact auxiliary structures at a plurality of parts so as to improve the motion performance of the mechanism in an auxiliary manner;
the flexible joints (101) of the mechanical arm body and the flexible joints (201) of the conduit part are respectively arranged in an equidistant alternating array in two orthogonal directions along the central axes of the flexible mechanical arm body (11) and the conduit part body (21), and are driven by the driving wire (104) to form a pitching degree of freedom and a yawing degree of freedom.
2. The contact-assist structure-based flexible continuum robot of claim 1, wherein the imaging assembly (13) comprises a flexible fiber optic image bundle (105) and a jacket (106);
the flexible optical fiber image bundle (105) comprises a distal probe (1051), an image bundle body (1052) and a proximal lens (1053);
the distal probe (1051) is fixedly connected with the inner hole of the jacket (106);
the jacket (106) is connected with an end interface (102) in the flexible mechanical arm body (11) to form a tight fit.
3. The flexible continuum robot based on a contact assistance structure according to claim 1 or 2, characterized in that the drive module (3) comprises a drive module support structure (31), a set of linear slides (32) and a set of guide rollers (33);
wherein the linear sliding table group (32) and the guide wire wheel group (33) are arranged on the driving module supporting structure body (31);
the linear sliding table groups (32) are four groups, are respectively connected with one end of one driving wire (104), and respectively provide linear displacement for the four driving wires (104).
4. The flexible continuum robot based on a contact assistance structure of claim 3, characterized in that each set of linear slides (32) comprises: the device comprises a rotating motor (301), a screw rod (302), a nut (303), a sliding block (304), a guide rail (305) and a bearing (306);
wherein, the rotating motor (301), the guide rail (305) and the bearing (306) are fixed on the driving module supporting structure body (31);
the nut (303) is fixedly connected with the sliding block (304);
the nut (303) is provided with a thread hole for fixing the driving thread (104).
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| CN112545610B (en) * | 2020-12-04 | 2022-04-19 | 哈尔滨工业大学 | Modularization rope drive incision formula continuum arm towards throat operation |
| CN112545435B (en) * | 2020-12-04 | 2023-04-14 | 哈尔滨工业大学 | Modular multi-wire driving continuous lens arm based on fixed pulleys |
| CN113243947B (en) * | 2021-05-19 | 2022-01-11 | 中国科学院自动化研究所 | Bronchus intervention continuum robot for small nodules of lung |
| CN113456231B (en) * | 2021-07-22 | 2022-08-12 | 上海交通大学 | Incision type continuum robot based on crossed bending beam structure |
| CN113842181B (en) * | 2021-09-26 | 2023-09-29 | 赛诺微医疗科技（浙江）有限公司 | Deflection detection structure and control method thereof, electric stapler and medical equipment |
| CN114939888A (en) * | 2022-06-08 | 2022-08-26 | 中国科学院长春光学精密机械与物理研究所 | Flexible mechanical arm and machining method thereof |
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