CN112842537A

CN112842537A - Rigidity control method of surgical mechanical arm and surgical mechanical arm

Info

Publication number: CN112842537A
Application number: CN202110178523.5A
Authority: CN
Inventors: 高谦; 孙正隆
Original assignee: Shenzhen Institute of Artificial Intelligence and Robotics; Chinese University of Hong Kong CUHK
Current assignee: Chinese University of Hong Kong Shenzhen; Shenzhen Institute of Artificial Intelligence and Robotics; Chinese University of Hong Kong CUHK
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2021-05-28

Abstract

The invention discloses a rigidity control method of a surgical mechanical arm and the surgical mechanical arm, wherein the surgical mechanical arm comprises: the device comprises a first phase change pipe, a second phase change pipe, a first water guide pipe, a second water guide pipe, a front end chuck, a shoulder chuck, an elbow first chuck, an elbow second chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer coating layer; the surgical mechanical arm in the embodiment of the invention can realize the adjustment of axial rigidity, the surgical mechanical arm in a flexible state can be well adapted to the complex shape of a natural cavity of a human body to ensure the safety of the operation, and the surgical mechanical arm in a rigid state can provide a stable operation platform for a tail end surgical manipulator to ensure the precision of the operation.

Description

Rigidity control method of surgical mechanical arm and surgical mechanical arm

Technical Field

The invention relates to the technical field of medical instruments, in particular to a rigidity regulating method of a surgical mechanical arm and the surgical mechanical arm.

Background

The minimally invasive surgery is an innovation from laparoscopic surgery, single-hole surgery and natural orifice endoscopic surgery, wherein the natural orifice endoscopic surgery is that an endoscopic surgery mechanical arm is sent into a human body along a natural orifice (such as an esophagus, a bronchus and the like) of the human body, and when the tail end of the endoscopic surgery mechanical arm reaches a focus, a tail end surgery manipulator (such as separating forceps, grasping forceps, a needle holder, scissors and the like) is sent to the tail end of the endoscopic surgery mechanical arm along an inner cavity channel of the endoscopic surgery mechanical arm and is fixed at the tail end to execute related surgery. But the most important point limiting the wide application of natural orifice endoscopic surgery is surgical tools, such as endoscopic surgical robotic arms. In the process of delivering the endoscope operation mechanical arm into a human body along a natural cavity, the endoscope operation mechanical arm needs to have certain flexibility to adapt to the complex shape of the natural cavity of the human body; when the end-effector mounted on the distal end of the end-effector performs related surgical operations, the end-effector needs to have certain rigidity so as to provide a stable operation platform for the distal end to perform precise operation control on the end-effector. Therefore, the endoscope operation mechanical arm has the contradiction of rigidity and flexibility.

The endoscope operation mechanical arm in the prior art has higher rigidity relative to a natural cavity of a human body, and cannot be well adapted to the natural cavity of the human body when entering the interior of the human body along the natural cavity; however, when the related operation is performed, the rigidity is not enough to provide a stable platform for the end operation manipulator, so that the control precision of the end operation manipulator is difficult to be ensured.

Thus, the prior art has yet to be improved and enhanced.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a rigidity control method of a surgical manipulator and the surgical manipulator, and aims to solve the problem that the axial rigidity of the endoscopic surgical manipulator in the prior art is not adjustable.

In order to achieve the purpose, the invention adopts the following technical scheme:

the embodiment of the invention provides a surgical mechanical arm, which comprises: the device comprises a first phase change pipe, a second phase change pipe, a first water guide pipe, a second water guide pipe, a front end chuck, a shoulder chuck, an elbow first chuck, an elbow second chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer coating layer;

one end of the first phase change tube and one end of the second phase change tube are both arranged in the front end chuck, the end surfaces of one end of the first phase change tube and one end of the second phase change tube are flush with the end surface of the front end chuck, and the other end of the first phase change tube and the other end of the second phase change tube sequentially penetrate through the shoulder chuck, the elbow first chuck, the elbow second chuck and the wrist chuck to be arranged in the rear end chuck;

the first end of the first water guide pipe and the first end of the second water guide pipe respectively extend out of the front end chuck; the outer cylindrical surface of the first water guide pipe is attached to the inner cylindrical surface of the first phase change pipe, the outer cylindrical surface of the second water guide pipe is attached to the inner cylindrical surface of the second phase change pipe, and the first water guide pipe and the second water guide pipe are used for injecting hot water and conducting heat to the first phase change pipe and the second phase change pipe, so that the temperature of the first phase change pipe and the temperature of the second phase change pipe are increased, and the first water guide pipe and the second water guide pipe are also used for injecting cold water and absorbing the heat in the first phase change pipe and the heat in the second phase change pipe, so that the temperature of the first phase change pipe and the temperature of the second phase change pipe are reduced;

a liquid backflow channel is formed in the rear end chuck and communicated with the second end of the first water guide pipe and the second end of the second water guide pipe;

the central support is positioned between the first phase change tube and the second phase change tube, the end face of one end of the central support is flush with the end face of the front end chuck, and the other end of the central support sequentially penetrates through the shoulder chuck, the elbow first chuck, the elbow second chuck and the wrist chuck and is connected with the rear end chuck; the outer coating layer is coated on the outer cylindrical surfaces of the front end chuck, the shoulder chuck, the elbow first chuck, the elbow second chuck, the wrist chuck and the rear end chuck;

one end of the shoulder control line extends out of the front end chuck, and the other end of the shoulder control line penetrates through the shoulder chuck and is connected with the elbow first chuck; one end of the wrist control line extends out of the front end chuck and the other end of the wrist control line sequentially penetrates through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck and is connected with the rear end chuck.

Further, in the operation arm, be equipped with on the rear end chuck: a first central support post hole, a first end operation manipulator hole, a first wrist control line hole, a first phase change tube hole, a second phase change tube hole, a liquid backflow channel inlet and a liquid backflow channel outlet;

the first central support hole and the rear-end chuck are concentrically arranged, the first end surgical manipulator holes are symmetrically distributed on two sides of the first central support hole, the first phase change pipe hole and the second phase change pipe hole are symmetrically distributed relative to the first central support hole and are positioned on the side surface of the first end surgical manipulator hole, and the first wrist control wire holes are symmetrically distributed relative to the first central support hole and are positioned between the adjacent first end surgical manipulator holes and the adjacent first phase change pipe holes and between the adjacent first end surgical manipulator holes and the adjacent second phase change pipe holes; the liquid backflow channel inlet and the liquid backflow channel outlet are located inside the rear-end chuck and communicated with the liquid backflow channel, the liquid backflow channel inlet is communicated with the first phase change pipe hole, and the liquid backflow channel outlet is communicated with the second phase change pipe hole.

Further, in the operation arm, be equipped with on the front end chuck: a second central support post hole, a second end operation manipulator hole, a first shoulder control line hole, a third phase transformer hole and a second wrist control line hole;

the second central support post hole and the front-end clamping disc are arranged concentrically, the second end operation operator hole, the first shoulder control line hole, the third phase transformer pipe hole and the second wrist control line hole are symmetrically distributed on the outer side of the second central support post hole, the second wrist control line hole is located between the second central support post hole and the third phase transformer pipe hole, and the first shoulder control line hole is located between the adjacent second end operation operator hole and the third phase transformer pipe hole.

Further, in the surgical manipulator, the shoulder chuck is provided with: a third central support post hole, a third end surgical manipulator hole, a second shoulder control line hole, a fourth phase change tube hole and a third wrist control line hole;

the third central support hole and the shoulder chuck are concentrically arranged, the third end operation operator hole, the second shoulder control line hole, the fourth phase transformer tube hole and the third wrist control line hole are symmetrically distributed on the outer side of the third central support hole, the third wrist control line hole is located between the third central support hole and the fourth phase transformer tube hole, and the second shoulder control line hole is located between the adjacent third end operation operator hole and the fourth phase transformer tube hole.

Further, in the surgical robot arm, the elbow first chuck is provided with: a fourth central strut hole, a fourth end surgery operator hole, a third shoulder control line hole, a fifth phase change tube hole and a fourth wrist control line hole;

fourth center pillar hole with the first chuck of elbow arranges with one heart, fourth end operation ware hole, third shoulder control line hole, fifth phase change tube hole and fourth wrist control line hole equal symmetric distribution in the outside in fourth center pillar hole, fourth wrist control line hole is located fourth center pillar hole with between the fifth phase change tube hole, third shoulder control line hole is located between adjacent fourth end operation ware hole and the fifth phase change tube hole.

Further, in the surgical robot arm, the elbow second chuck is provided with: a fifth central strut hole, a fifth end surgery operator hole, a fifth wrist control line hole, and a sixth phase change tube hole;

the fifth central pillar hole and the elbow second chuck are concentrically arranged, the fifth tail end operation operator hole, the sixth phase change pipe hole and the fifth wrist control line hole are symmetrically distributed on the outer side of the sixth central pillar hole, and the fifth wrist control line hole is located between the adjacent fifth tail end operation operator hole and the sixth phase change pipe hole.

Further, in the surgical manipulator, the wrist chuck is provided with: a sixth central strut hole, a sixth end surgery operator hole, a sixth wrist control line hole and a seventh phase change tube hole;

the sixth central support hole and the wrist chuck are concentrically arranged, the sixth tail end operation manipulator hole, the seventh phase change tube hole and the sixth wrist control line hole are symmetrically distributed on the outer side of the sixth central support hole, and the sixth wrist control line hole is located between the adjacent sixth tail end operation manipulator hole and the seventh phase change tube hole.

Further, in the surgical robot arm, the outer coating layer includes: the outer wall of the outer coating layer, the inner wall of the outer coating layer and the phase change microcapsule layer; outer cladding layer inner wall cladding in the outer face of cylinder of front end chuck, shoulder chuck, the first chuck of elbow, elbow second chuck, wrist chuck and rear end chuck, phase change microcapsule layer covers and sets up the lateral surface of outer cladding layer inner wall, outer cladding layer outer wall covers and sets up the lateral surface on phase change microcapsule layer.

Furthermore, in the surgical mechanical arm, the first phase change tube and the second phase change tube are made of thermoplastic plastics.

A rigidity control method of a surgical mechanical arm is applied to the surgical mechanical arm and comprises the following steps:

injecting water into the first water conduit and the second water conduit, wherein the temperature of the water is higher than the glass transition temperature of the thermoplastic plastics for manufacturing the first phase change pipe and the second phase change pipe and lower than the melting point of the thermoplastic plastics, the thermoplastic plastics for manufacturing the first phase change pipe and the second phase change pipe are converted from a glass state to a high elastic state, and the first phase change pipe and the second phase change pipe are softened so that the first phase change pipe and the second phase change pipe have smaller axial rigidity;

and injecting water with the temperature lower than the glass transition temperature of the thermoplastic plastics for manufacturing the first phase change pipe and the second phase change pipe into the first water guide pipe and the second water guide pipe, wherein the thermoplastic plastics for manufacturing the first phase change pipe and the second phase change pipe are changed into glass states from high elastic states, and the first phase change pipe and the second phase change pipe are hardened so as to enable the first phase change pipe and the second phase change pipe to have larger axial rigidity.

The technical scheme adopted by the invention has the following beneficial effects:

the invention provides a surgical mechanical arm, comprising: the device comprises a first phase change pipe, a second phase change pipe, a first water guide pipe, a second water guide pipe, a front end chuck, a shoulder chuck, an elbow first chuck, an elbow second chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer coating layer; one end of the first phase change tube and one end of the second phase change tube are both arranged in the front end chuck, the end surfaces of one end of the first phase change tube and one end of the second phase change tube are flush with the end surface of the front end chuck, and the other end of the first phase change tube and the other end of the second phase change tube sequentially penetrate through the shoulder chuck, the elbow first chuck, the elbow second chuck and the wrist chuck to be arranged in the rear end chuck; the first end of the first water guide pipe and the first end of the second water guide pipe respectively extend out of the front end chuck; the outer cylindrical surface of the first water guide pipe is attached to the inner cylindrical surface of the first phase change pipe, the outer cylindrical surface of the second water guide pipe is attached to the inner cylindrical surface of the second phase change pipe, and the first water guide pipe and the second water guide pipe are used for injecting hot water and conducting heat to the first phase change pipe and the second phase change pipe, so that the temperature of the first phase change pipe and the temperature of the second phase change pipe are increased, and the first water guide pipe and the second water guide pipe are also used for injecting cold water and absorbing the heat in the first phase change pipe and the heat in the second phase change pipe, so that the temperature of the first phase change pipe and the temperature of the second phase change pipe are reduced; a liquid backflow channel is formed in the rear end chuck and communicated with the second end of the first water guide pipe and the second end of the second water guide pipe; the central support is positioned between the first phase change tube and the second phase change tube, the end face of one end of the central support is flush with the end face of the front end chuck, and the other end of the central support sequentially penetrates through the shoulder chuck, the elbow first chuck, the elbow second chuck and the wrist chuck and is connected with the rear end chuck; the outer coating layer is coated on the outer cylindrical surfaces of the front end chuck, the shoulder chuck, the elbow first chuck, the elbow second chuck, the wrist chuck and the rear end chuck; one end of the shoulder control line extends out of the front end chuck, and the other end of the shoulder control line penetrates through the shoulder chuck and is connected with the elbow first chuck; one end of the wrist control line extends out of the front end chuck and the other end of the wrist control line sequentially penetrates through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck and is connected with the rear end chuck. The surgical mechanical arm in the embodiment of the invention can realize the adjustment of axial rigidity and can be well adapted to the natural cavity of a human body, thereby ensuring the safety of the operation.

Drawings

FIG. 1 is a schematic view of an external structure of a surgical robotic arm according to the present invention;

FIG. 2 is a schematic view of an internal structure of a surgical robotic arm according to the present invention;

FIG. 3 is a front view of the back end chuck provided by the present invention;

FIG. 4 is a schematic structural view of a back-end chuck according to the present invention;

FIG. 5 is a cross-sectional view of a rear end chuck provided in accordance with the present invention;

FIG. 6 is an axial cross-sectional view taken at A in FIG. 2;

FIG. 7 is a schematic structural view of a front end chuck according to the present invention;

FIG. 8 is an axial cross-sectional view taken at C of FIG. 2;

FIG. 9 is a schematic view of a shoulder chuck according to the present invention;

FIG. 10 is a schematic view of an elbow first chuck according to the present invention;

FIG. 11 is a schematic view of an elbow second chuck according to the present invention;

FIG. 12 is a schematic view of a wrist chuck according to the present invention;

FIG. 13 is an enlarged view of a portion of FIG. 2 at B;

FIG. 14 is a schematic view of the wrist gesture control principle of the surgical robot arm according to the present invention;

FIG. 15 is a schematic structural view of an outer cladding layer provided by the present invention;

FIG. 16 is a cross-sectional view of an outer cladding provided by the present invention;

FIG. 17 is a schematic structural diagram of a phase change microcapsule layer provided in the present invention;

FIG. 18 is a schematic structural diagram of a phase change microcapsule particle provided by the present invention;

FIG. 19 is a first operational schematic diagram of a surgical robotic arm according to the present invention;

FIG. 20 is a second operational schematic diagram of a surgical robotic arm according to the present invention;

fig. 21 is a flowchart illustrating a stiffness control method for a surgical manipulator according to a preferred embodiment of the present invention.

In the figure: 110. a first phase change tube; 120. a second phase change tube; 210. a first water conduit; 220. a second water conduit; 300. a front end chuck; 301. a second center pillar hole; 302. a second end surgical manipulator aperture; 303. a first shoulder control line hole, 304, a third phase transformer hole; 305. a second wrist control line hole; 410. a shoulder chuck; 411. a third center pillar hole; 412. a third end surgical manipulator aperture; 413. a second shoulder control line aperture; 414. a fourth phase change tube aperture; 415. a third wrist control line hole; 420. an elbow first chuck; 421. a fourth center pillar hole; 422. a fourth end surgical manipulator aperture; 423. a third shoulder control line aperture; 424. a fifth phase change tube hole; 425. a fourth wrist control line hole; 430. an elbow second chuck; 431. a fifth central pillar hole; 432. a fifth end surgical manipulator aperture; 433. a fifth wrist control line hole; 434. a sixth phase change tube aperture; 440. a wrist chuck; 441. a sixth central pillar hole; 442. a sixth end surgical manipulator aperture; 443. a sixth wrist control line hole; 444. a seventh phase change tube hole; 500. a rear end chuck; 501. a first center pillar hole; 502. a first end surgical manipulator aperture; 503. a first wrist control line hole; 504. a first phase change tube hole; 505. a second phase change tube bore; 510. a liquid return channel; 511. a liquid return channel inlet; 512. a liquid return channel outlet; 600. a center pillar; 700. a shoulder control line; 710. a shoulder control wire sleeve; 800. a wrist control line; 801. a wrist first control line; 802. a wrist second control line; 803. a wrist third control line; 804. a wrist fourth control line; 810. a wrist control wire sleeve; 900. an outer cladding layer; 910. an outer cladding layer outer wall; 920. an inner wall of the outer cladding layer; 930. a phase change microcapsule layer; 931. phase change microcapsule particles; 932. a microcapsule shell; 933. a microcapsule core; 940. the front end is sealed; 950. a terminal cover; 50. a hot water bath kettle; 60. a peristaltic pump; 70. a water storage tank; 80. a refrigerator.

Detailed Description

In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the embodiments and claims, the terms "a" and "an" can mean "one or more" unless the article is specifically limited.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The existing axial rigidity changing method of the mechanical arm for endoscopic surgery through a natural cavity comprises the following steps:

(1) the shape locking method comprises the following steps: the surgical manipulator is of a continuum configuration, with a highly redundant tendon sheath mechanism (i.e., a wire drive approach). The driving silk thread longitudinally penetrates through the whole endoscope operation mechanical arm, and the friction force between the adjacent continuum units is increased by increasing the tension force of the driving silk thread so as to prevent the continuum units from rotating mutually, so that the axial rigidity of the endoscope operation mechanical arm is changed. The disadvantages of this method are: to achieve the required stiffness, a large tension of the drive wire is required, resulting in a large mutual pressing force between the individual continuum units, which requires a larger size of the drive wire and thus also of the continuum units. Therefore, the surgical manipulator of the endoscope with controllable rigidity by using the shape locking method has a larger outer diameter generally and cannot be well adapted to the natural cavity of a human body. Furthermore, the drive wire needs to maintain a high tension throughout the procedure, which puts high demands on the fatigue strength of the material.

(2) Particle blocking principle: tiny particles are filled in the closed space, redundant air in the closed space is pumped out, the particles are extruded mutually, and mutual friction generated by extrusion hinders relative movement between the particles, so that the overall rigidity of the mechanical arm is improved. This method is often used for larger sized robotic arms because more particulate is required to provide greater stiffness, which results in the robotic arm becoming bulky and less compact.

(3) By using electrorheological fluid and magnetorheological fluid: under the condition of high electric field or high magnetic field, the state of the electric and magnetic rheological fluids can be changed from liquid state to gel state and then to solid state. However, electro-magneto-rheological fluids provide limited stiffness when transitioning to the solid state. And if the electro-magnetic rheological fluid and the magneto-rheological fluid are converted into a solid state, high pressure of more than 5000V is generally required to be provided, and the safety of the operation is difficult to ensure.

(4) With temperature phase change materials: low melting point metals (such as gallium, indium, tin, etc.) or thermoplastics (ABS, PET, PLA plastic, etc.) soften when the temperature reaches its glass transition temperature; at temperatures below its glass transition temperature, its texture becomes hard. Therefore, this principle is often applied to a variable stiffness method of a surgical robot arm. Firstly, the low melting point metal which is often used is a toxic substance, and the safety of the operation is difficult to be ensured. In addition, in the prior art, a resistance wire is usually arranged in the inner cavity of the surgical mechanical arm, and the temperature of the phase-change material is changed by using resistance heat generated by the resistance wire; and because of the existence of resistance wire current, the cooling method usually adopts room temperature cooling or air cooling. The disadvantages of this approach are: the existence of resistance wire current can cause the potential safety hazard of the operation; the resistance heat generated by the resistance wire is uncontrollable, and the accumulation of the heat causes the temperature of the inner cavity of the surgical mechanical arm to be far higher than the glass transition temperature of the phase-change material so as to reach the melting point of the phase-change material, so that the phase-change material is melted; moreover, the cooling speed of room temperature cooling or air cooling is slow, which affects the operation process. The more obvious disadvantages are: resistance heat in the operation mechanical arm can be conducted to the outer surface of the operation mechanical arm, so that the temperature of the outer surface of the operation mechanical arm is increased, and the outer surface of the operation mechanical arm is attached to the inner wall of a natural cavity of a human body when the operation mechanical arm works, so that the inner wall of the natural cavity of the human body can be burnt due to the overhigh surface temperature.

The present invention discloses a surgical robot arm, please refer to fig. 1 and fig. 2 together, fig. 1 is an external structure schematic diagram of a surgical robot arm provided by the present invention; fig. 2 is a schematic view of an internal structure of a surgical robot arm according to the present invention. The surgical robot arm includes: a first phase change pipe 110, a second phase change pipe 120, a first water conduit 210, a second water conduit 220, a front end cartridge 300, a shoulder cartridge 410, an elbow first cartridge 420, an elbow second cartridge 430, a wrist cartridge 440, a rear end cartridge 500, a center pillar 600, a shoulder control line 700, a wrist control line 800, and an outer cladding 900.

One end of the first phase change tube 110 and one end of the second phase change tube 120 are both disposed in the front end chuck 300, an end surface of one end of the second phase change tube 120 of one end of the first phase change tube 110 is disposed flush with an end surface of the front end chuck 300, and the other end of the first phase change tube 110 and the other end of the second phase change tube 120 are sequentially disposed in the rear end chuck 500 through the shoulder chuck 410, the elbow first chuck 420, the elbow second chuck 430 and the wrist chuck 440;

the first end of the first water guiding pipe 210 and the first end of the second water guiding pipe 220 respectively extend out of the front end chuck 300; the outer cylindrical surface of the first water conduit 210 is attached to the inner cylindrical surface of the first phase change conduit 110, the outer cylindrical surface of the second water conduit 220 is attached to the inner cylindrical surface of the second phase change conduit 120, and the first water conduit 210 and the second water conduit 220 are used for injecting hot water and transferring heat to the first phase change conduit 110 and the second phase change conduit 120, so that the temperature of the first phase change conduit 110 and the second phase change conduit 120 is increased, and the first water conduit 210 and the second water conduit 220 are also used for injecting cold water and absorbing heat in the first phase change conduit 110 and the second phase change conduit 120, so that the temperature of the first phase change conduit 110 and the temperature of the second phase change conduit 120 are reduced;

a liquid backflow channel 510 is formed in the rear end chuck 500, and the liquid backflow channel 510 is communicated with the second end of the first water conduit 210 and the second end of the second water conduit 220;

the central pillar 600 is located between the first phase change tube 110 and the second phase change tube 120, and an end surface of one end of the central pillar 600 is flush with an end surface of the front end chuck 300, and the other end of the central pillar 600 sequentially passes through the shoulder chuck 410, the elbow first chuck 420, the elbow second chuck 430 and the wrist chuck 440 and is connected to the rear end chuck 500; the outer cladding 900 is wrapped around the outer cylindrical surfaces of the front end chuck 300, the shoulder chuck 410, the elbow first chuck 420, the elbow second chuck 430, the wrist chuck 440, and the back end chuck 500;

the shoulder control line 700 extends beyond the front end cartridge 300 at one end and passes through the shoulder cartridge 410 at the other end and connects to the elbow first cartridge 420. One end of the wrist control line 800 extends out of the front end chuck 300, and the other end passes through the shoulder chuck 410, the elbow first chuck 420, the elbow second chuck 430 and the wrist chuck 440 in sequence and is connected with the rear end chuck 500.

In the embodiment of the present invention, the first phase change tube 110 and the second phase change tube 120 are hollow tubes, the outer diameter is 4.6mm, the inner diameter is 3.0mm, and the wall thickness is 0.8mm, the materials used for the first phase change tube 110 and the second phase change tube 120 are thermoplastic plastics with biocompatibility, and the materials can be selected from PET plastic (glass transition temperature: 67 ℃, melting point: 80 ℃), nylon 6 (glass transition temperature: 60 ℃, melting point: 220 ℃), nylon 66 (glass transition temperature: 65 ℃, melting point: 260 ℃), and some novel thermoplastic plastics, such as starch-based bioplastic (glass transition temperature: 65 ℃, melting point: 80 ℃) designed by Peter Marigold in 2016. The first water guide pipe 210 and the second water guide pipe 220 are made of polytetrafluoroethylene and are hollow circular pipelines; the outer diameter was 3.0mm, the inner diameter was 2.6mm, and the wall thickness was 0.2 mm. The outer cylindrical surfaces of the first and second

water introduction pipes

210 and 220 are respectively attached to the inner cylindrical surfaces of the first and second

phase change pipes

110 and 120. At normal temperature, the thermoplastic plastics for making the first phase change tube 110 and the second phase change tube 120 are in glass state, and the thermoplastic plastics in glass state have higher hardness; injecting a liquid into the first water conduit 210 and the second water conduit 220, wherein when the temperature of the injected liquid is higher than the glass transition temperature of the thermoplastic forming the first phase change tube 110 and the second phase change tube 120 and lower than the melting point of the thermoplastic, the heat of the liquid is conducted to the first phase change tube 110 and the second phase change tube 120 through the first water conduit 210 and the second water conduit 220, so that the thermoplastic forming the first phase change tube 110 and the second phase change tube 120 is transformed from a glass state to a high-elasticity state, and the high-elasticity thermoplastic has a lower hardness, so that the first phase change tube 110 and the second phase change tube 120 are softened at the moment, and the surgical manipulator has a lower axial rigidity; when the temperature of the liquid injected into the first water conduit 210 and the second water conduit 220 is lower than the glass transition temperature of the thermoplastic material forming the first phase change tube 110 and the second phase change tube 120, the liquid absorbs the heat in the first water conduit 210, the second water conduit 220, the first phase change tube 110 and the second phase change tube 120, so that the temperature of the thermoplastic material forming the first phase change tube 110 and the second phase change tube 120 is lower than the glass transition temperature thereof, and the thermoplastic material is transformed from a high elastic state to a glass state, and the texture of the first phase change tube 110 and the second phase change tube 120 becomes hard, so that the surgical manipulator has a larger axial stiffness. The surgical manipulator can adjust the axial rigidity by changing the temperature of the liquid injected into the first water guide pipe 210 and the second water guide pipe 220.

Wherein, the central pillar 600 is a nickel-titanium alloy wire with an outer diameter of 1.0mm, and longitudinally penetrates through the whole surgical mechanical arm. A center post 600 is used to connect the front end chuck 300, the plurality of shoulder chucks 410, the elbow first chuck 420, the elbow second chuck 430, the plurality of wrist chucks 440, and the rear end chuck 500. The front end chuck 300, the plurality of shoulder chucks 410, the elbow first chuck 420, the elbow second chuck 430, the plurality of wrist chucks 440, and the rear end chuck 500 are arranged in sequence, and the distance between the adjacent end surfaces is 10 mm. The tensile strength of the nitinol wire is great, so the central strut 600 may be used to limit the axial position between the front end cartridge 300, the plurality of shoulder cartridges 410, the elbow first cartridge 420, the elbow second cartridge 430, the plurality of wrist cartridges 440, and the rear end cartridge 500; the nickel-titanium alloy wire has low bending strength and can adapt to bending of different forms of the surgical mechanical arm; the nickel-titanium alloy wire also has certain elasticity, and can help the deformed surgical mechanical arm to recover the vertical state after the operation.

Specifically, the outer coating 900 covers the outer cylindrical surfaces of the front end chuck 300, the plurality of shoulder chucks 410, the elbow first chuck 420, the elbow second chuck 430, the plurality of wrist chucks 440, and the rear end chuck 500, and the inner cylindrical surfaces of the outer cylindrical surfaces are fixed to the outer cylindrical surfaces of the front end chuck 300, the plurality of shoulder chucks 410, the elbow first chuck 420, the elbow second chuck 430, the plurality of wrist chucks 440, and the rear end chuck 500 by using an adhesive. When liquid with higher temperature is injected into the first water guide pipe 210 and the second water guide pipe 220, heat is transferred to the outer surface of the surgical manipulator, and in the surgical process, the outer surface of the surgical manipulator is directly contacted with tissues in a human body, and the tissues of the human body are burnt due to the overhigh temperature of the outer surface. The outer coating 900 is used for isolating the temperature generated by the high-temperature liquid, and ensuring the safety of the operation.

Referring to fig. 3 to 6, fig. 3 is a front view of a rear end chuck 500 according to the present invention; fig. 4 is a schematic structural diagram of a rear end chuck 500 provided in the present invention; FIG. 5 is a cross-sectional view of a rear end chuck 500 provided in accordance with the present invention; fig. 6 is an axial cross-sectional view at a in fig. 2. The rear end chuck 500 is cylindrical, and the rear end chuck 500 is provided with: a first central post hole 501, a first end surgical manipulator hole 502, a first wrist control wire hole 503, a first phase change tube hole 504, a second phase change tube hole 505, a fluid return passage 510, a fluid return passage inlet 511, and a fluid return passage outlet 512;

the first central pillar hole 501 and the rear end chuck 500 are concentrically arranged, the first end surgery operator holes 502 are symmetrically distributed on both sides of the first central pillar hole 501, the first phase change tube holes 504 and the second phase change tube holes 505 are symmetrically distributed relative to the first central pillar hole 501 and are located on the side surfaces of the first end surgery operator holes 502, and the first wrist control wire holes 503 are symmetrically distributed relative to the first central pillar hole 501 and are located between the adjacent first end surgery operator holes 502 and first phase change tube holes 504 and between the adjacent first end surgery operator holes 502 and second phase change tube holes 505; the liquid return channel inlet 511 and the liquid return channel outlet 512 are located inside the rear chuck 500 and are communicated with the liquid return channel 510, the liquid return channel inlet 511 is communicated with the first phase change tube hole 504, and the liquid return channel outlet 512 is communicated with the second phase change tube hole 505.

In the embodiment of the present invention, the first central pillar hole 501 is a blind hole, has a diameter of 1mm, and is concentrically disposed with the rear chuck 500, and one end of the central pillar 600 is fitted with the blind hole and fixed with the blind hole in an interference fit manner. The first phase change pipe hole 504 and the second phase change pipe hole 505 are counter bores, the diameter of each counter bore is 4.6mm, and the distance between the circle center of each counter bore and the circle center of the section of the rear end chuck 500 is 3.5 mm; the inner cylindrical surfaces of the first phase change pipe hole 504 and the second phase change pipe hole 505 are respectively matched with the outer cylindrical surfaces of one ends of the first phase change pipe 110 and the second phase change pipe 120; one end of the first phase change tube 110 and one end of the second phase change tube 120 are fixed to the first phase change tube hole 504 and the second phase change tube hole 505 by using an adhesive, one end of the first water guide tube 210 and one end of the second water guide tube 220 are respectively communicated with the liquid backflow channel inlet 511 and the liquid backflow channel outlet 512, after liquid is injected into the first water guide tube 210, the liquid flows to the liquid backflow channel inlet 511 along the first water guide tube 210 and enters the liquid backflow channel 510 in the rear end chuck 500, then flows into the second water guide tube 220 through the liquid backflow channel outlet 512 and finally flows out of the surgical manipulator, and the height of the liquid backflow channel 510 is 2 mm.

Furthermore, the four first wrist control line holes 503 uniformly distributed in the circumferential direction are through holes, the diameter of each through hole is 0.4mm, and the distance between the circle center of each through hole and the circle center of the section of the rear-end chuck 500 is 5.6 mm; the wrist control line 800 is 7 by 7 strands of stainless steel wire with a diameter of 0.27 mm; the end of four wrist control lines 800 passes first wrist control line hole 503 and ties a knot, use wrist control line sleeve pipe 810 to registrate after the end of wrist control line 800 is tied a knot, wrist control line sleeve pipe 810 is the pyrocondensation pipe, the diameter diminishes after the heating can fix with the end department of knoing of wrist control line 800, through knoing the end of wrist control line 800 and use the pyrocondensation pipe to registrate, can make the terminal diameter of wrist control line 800 be greater than the diameter of first wrist control line hole 503, and then make wrist control line 800 can not drop by tensile in-process. The two first end surgical manipulator holes 502 are through holes, the diameter of each through hole is 3.6mm, the distance between the circle center of each through hole and the circle center of the section of the rear end chuck 500 is 4mm, and after the tail end of the surgical mechanical arm reaches the focus of a human body, a surgical end manipulator can extend out of the rear end chuck 500 through the first end surgical manipulator holes 502 and perform related surgical operations. The height of rear end chuck 500 is 6.0mm, and the external diameter is 12.2mm, and minimum wall thickness is 0.3mm, selects 316 stainless steel material for use, and usable accurate metal 3D prints or laser cutting process processing.

Referring to fig. 7 and 8, fig. 7 is a schematic structural view of a front end chuck 300 according to the present invention; fig. 8 is an axial cross-sectional view at C in fig. 2. The front end chuck 300 is cylindrical, and the front end chuck 300 is provided with: a second center support hole 301, a second end surgical manipulator hole 302, a first shoulder control line hole 303, a third phase transformer hole 304, and a second wrist control line hole 305;

the second central support hole 301 and the front-end chuck 300 are concentrically arranged, the second end surgical manipulator hole 302, the first shoulder control line hole 303, the third phase transformer hole 304 and the second wrist control line hole 305 are symmetrically distributed on the outer side of the second central support hole 301, the second wrist control line hole 305 is located between the second central support hole 301 and the third phase transformer hole 304, and the first shoulder control line hole 303 is located between the adjacent second end surgical manipulator hole 302 and the third phase transformer hole 304.

In the embodiment of the present invention, the second central pillar hole 301 is a through hole, has a diameter of 1mm, and is concentrically arranged with the front end chuck 300, the central pillar 600 and the second central pillar hole 301 are connected by interference fit, and one end of the central pillar 600 is flush with the outer end surface of the front end chuck 300. The four first shoulder control line holes 303 which are uniformly distributed in the circumferential direction are through holes, the diameter of each through hole is 0.4mm, and the distance between the circle center of each through hole and the circle center of the section of the front end chuck 300 is 5.6 mm; the shoulder control wires 700 are 7 by 7 strands of stainless steel wire 0.27mm in diameter, with four shoulder control wires 700 passing through the first shoulder control wire hole 303.

Further, the four second wrist control line holes 305 uniformly distributed in the circumferential direction are through holes with a diameter of 0.4mm, the distance between the center of the circle and the center of the cross section of the front end chuck 300 is 1mm, and the four wrist control lines 800 pass through the second wrist control line holes 305. The two third phase change pipe holes 304 are through holes, the diameter of each through hole is 4.6mm, the distance between the circle center of each through hole and the circle center of the section of the front end chuck 300 is 3.5mm, the inner cylindrical surfaces of the through holes are respectively matched with the outer cylindrical surfaces of the first phase change pipe 110 and the second phase change pipe 120 and are fixed by a binder, one ends of the first phase change pipe 110 and the second phase change pipe 120 are arranged in parallel and level with the outer cylindrical surface of the front end chuck 300, and the first water guide pipe 210 and the second water guide pipe 220 respectively extend out of the surgical manipulator through the third phase change pipe holes 304. The second end operation manipulator hole 302 is a through hole with the diameter of 3.6mm, the distance between the circle center of the second end operation manipulator hole and the circle center of the section of the front end chuck 300 is 4mm, and after the tail end of the operation mechanical arm reaches a focus in a human body, the end operation manipulator enters the inner cavity of the operation mechanical arm through the second end operation manipulator hole 302. The front end chuck 300 is 4.0mm in height, 12.2mm in outer diameter and 0.3mm in minimum wall thickness, is made of 316 stainless steel, and can be processed by using a precision metal 3D printing or laser cutting process.

Referring to fig. 9 to 12, fig. 9 is a schematic structural view of a shoulder chuck 410 according to the present invention; fig. 10 is a schematic structural view of an elbow first chuck 420 provided by the present invention; fig. 11 is a schematic structural view of an elbow second chuck 430 provided by the present invention; FIG. 12 is a schematic view of a wrist chuck 440 according to the present invention; fig. 13 is a partial enlarged view of fig. 2 at B. The shoulder chuck 410 is cylindrical, and the shoulder chuck 410 is provided with: a third center post hole 411, a third end surgery operator hole 412, a second shoulder control line hole 413, a fourth phase change tube hole 414, and a third wrist control line hole 415;

the third central support hole 411 is concentrically arranged with the shoulder chuck 410, the third end surgical manipulator hole 412, the second shoulder control line hole 413, the fourth phase change tube hole 414 and the third wrist control line hole 415 are symmetrically distributed on the outer side of the third central support hole 411, the third wrist control line hole 415 is located between the third central support hole 411 and the fourth phase change tube hole 414, and the second shoulder control line hole 413 is located between the adjacent third end surgical manipulator hole 412 and the fourth phase change tube hole 414.

In the surgical robot arm of the present invention, the number of the shoulder chucks 410 is not limited. The third central pillar hole 411 is a through hole having a diameter of 1mm, and is concentrically arranged with the shoulder chuck 410; the center pillar 600 passes through the third center pillar hole 411, and the outer cylindrical surface of the center pillar 600 is matched with the inner cylindrical surface of the third center pillar hole 411 in an interference fit manner. The two third end surgical manipulator holes 412 are through holes, the diameter of each through hole is 3.6mm, and the distance between the circle center of each through hole and the circle center of the section of the shoulder chuck 410 is 4 mm; the end surgical manipulator passes through the third end surgical manipulator aperture 412 to reach the end of the surgical robotic arm to perform the associated surgical procedure.

Further, four second shoulder control line holes 413 which are uniformly distributed in the circumferential direction are through holes, the diameter of each through hole is 0.4mm, and the distance between the circle center of each through hole and the circle center of the section of the shoulder chuck 410 is 5.6 mm; four shoulder control wires 700 pass through the four second shoulder control wire holes 413, respectively. The two fourth phase change pipe holes 414 are through holes, the diameter of each through hole is 4.6mm, and the distance between the circle center of each through hole and the circle center of the cross section of the shoulder chuck 410 is 3.5 mm; the first phase change tube 110 and the second phase change tube 120 respectively penetrate through the two fourth phase change tube holes 414, and outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively attached to inner cylindrical surfaces of the two fourth phase change tube holes 414 and fixed by using a bonding agent. The four third wrist control line holes 415 which are uniformly distributed in the circumferential direction are through holes, the diameter of each through hole is 0.4mm, and the distance between the circle center of each through hole and the circle center of the cross section of the shoulder chuck 410 is 1 mm; four wrist control wires 800 pass through four third wrist control wire holes 415, respectively. The height of shoulder chuck 410 is 2.0mm, and the external diameter is 12.2mm, and minimum wall thickness is 0.3mm, selects 316 stainless steel material for use, and usable accurate metal 3D prints or laser cutting process processing.

The elbow first chuck 420 is cylindrical, and: a fourth center strut hole 421, a fourth end surgical operator hole 422, a third shoulder control wire hole 423, a fifth phase change tube hole 424, and a fourth wrist control wire hole 425;

the fourth central post hole 421 is concentrically arranged with the elbow first chuck 420, the fourth end surgical operator hole 422, the third shoulder control line hole 423, the fifth phase change tube hole 424 and the fourth wrist control line hole 425 are symmetrically arranged outside the fourth central post hole 421, the fourth wrist control line hole 425 is located between the fourth central post hole 421 and the fifth phase change tube hole 424, and the third shoulder control line 423 hole is located between the adjacent fourth end surgical operator hole 422 and the fifth phase change tube hole 424.

In the embodiment of the present invention, the fourth central pillar hole 421 is a through hole having a diameter of 1mm, and the fourth central pillar hole 421 is concentrically arranged with the elbow first chuck 420; the central pillar 600 passes through the fourth central pillar hole 421, and an outer cylindrical surface of the central pillar 600 is matched with an inner cylindrical surface of the fourth central pillar hole 421 in an interference fit manner. The two fourth end surgical manipulator holes 422 are through holes, the diameter of each through hole is 3.6mm, and the distance between the circle center of each through hole and the circle center of the section of the elbow first chuck 420 is 4 mm; the end surgical manipulator passes through the fourth end surgical manipulator aperture 422 to reach the end of the surgical robotic arm to perform the associated surgical procedure.

Further, the four circumferentially and uniformly distributed third shoulder control line holes 423 are through holes, the diameter of each through hole is 0.4mm, and the distance between the center of each through hole and the center of the cross section of the elbow first chuck 420 is 5.6 mm; the four shoulder control wires 700 are knotted at the ends after passing through the four third shoulder control wire holes 423, the knotted ends are sleeved by using the shoulder control wire sleeve 710, the shoulder control wire sleeve 710 is a heat shrinkable tube, and the diameter of the shoulder control wire sleeve 710 is reduced after heating, so that the shoulder control wire sleeve 710 and the shoulder control wires 700 are fixed. After the ends of the four shoulder control wires 700 are knotted and are sleeved by the shoulder control wire sleeves 710, the diameter of the end of the shoulder control wire 700 is larger than that of the third shoulder control wire hole 423, so that the shoulder control wire 700 cannot fall off in the stretching process. The two fifth phase change pipe holes 424 are through holes, the diameter of each through hole is 4.6mm, and the distance between the circle center of each through hole and the circle center of the section of the elbow first chuck 420 is 3.5 mm; the first phase change tube 110 and the second phase change tube 120 respectively penetrate through the two fifth phase change tube holes 424, and the outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively attached to the inner cylindrical surfaces of the two fifth phase change tube holes 424 and fixed by adopting a bonding agent. The four circumferentially and uniformly distributed fourth wrist control line holes 425 are through holes with the diameter of 0.4mm, and the distance between the circle center of the fourth wrist control line holes and the circle center of the section of the elbow first chuck 420 is 1 mm; four wrist control wires 800 pass through four fourth wrist control wire holes 425, respectively. The first chuck 420 of elbow highly is 2.0mm, and the external diameter is 12.2mm, and minimum wall thickness is 0.3mm, selects for use 316 stainless steel material, usable accurate metal 3D prints or laser cutting process processing.

The elbow second chuck 430 is cylindrical, and: a fifth central post hole 431, a fifth end surgical operator hole 432, a fifth wrist control wire hole 433, and a sixth phase change tube hole 434.

The fifth central post hole 431 is concentrically disposed with the elbow second chuck 430, the fifth end surgical operator hole 432, the sixth phase change tube hole 434 and the fifth wrist control wire hole 433 are symmetrically disposed outside the sixth central post hole 431, and the fifth wrist control wire hole 433 is located between the adjacent fifth end surgical operator hole 432 and the sixth phase change tube hole 434.

In the present embodiment, the fifth center pillar hole 431 is a through hole having a diameter of 1mm, and is concentrically disposed with the elbow second chuck 430; the center pillar 600 passes through the fifth center pillar hole 431, and an outer cylindrical surface of the center pillar 600 is matched with an inner cylindrical surface of the fifth center pillar hole 431 in an interference fit manner. The two fifth end surgical manipulator holes 432 are through holes, the diameter of each through hole is 3.6mm, and the distance between the circle center of each through hole and the circle center of the section of the elbow second chuck 430 is 4 mm; the end surgical manipulator passes through the fifth end surgical manipulator aperture 432 to reach the end of the surgical robotic arm to perform the associated surgical procedure.

Furthermore, the four circumferentially and uniformly distributed fifth wrist control line holes 433 are through holes with a diameter of 0.4mm, and the distance between the center of the circle and the center of the cross section of the elbow second chuck 430 is 5.6 mm; the four wrist control wires 800 pass through the four fifth wrist control wire holes 433, respectively. The two sixth phase change pipe holes 434 are through holes, have a diameter of 4.6mm, and have a distance of 3.5mm between the center of the circle and the center of the cross section of the elbow second chuck 430; the first phase change tube 110 and the second phase change tube 120 respectively penetrate through the two sixth phase change tube holes 434, and the outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively attached to the inner cylindrical surfaces of the two sixth phase change tube holes 434 and fixed by using a bonding agent. The elbow second chuck 430 is 2.0mm in height, 12.2mm in outer diameter, and minimum wall thickness is 0.3mm, selects 316 stainless steel material for use, and usable accurate metal 3D prints or laser cutting process processing.

Wrist chuck 440 is cylindrical, be equipped with on the wrist chuck 440: a sixth center post hole 441, a sixth end-surgical-operator hole 442, a sixth wrist-control-line hole 443, and a seventh phase-change-tube hole 444;

the sixth central post bore 441 is concentrically disposed with the wrist chuck 440, and the sixth end-effector bore 442, the seventh phase-change tube bore 444, and the sixth wrist control wire bore 443 are all symmetrically disposed outside the sixth central post bore 441, with the sixth wrist control wire bore 443 being located between adjacent sixth end-effector bore 442 and seventh phase-change tube bore 444.

In the surgical robot according to the present invention, the number of the wrist chucks 440 is not limited. The sixth central pillar hole 441 is a through hole having a diameter of 1mm, and is concentrically disposed with the wrist chuck 440, the central pillar 600 passes through the sixth central pillar hole 441, and an outer cylindrical surface of the central pillar 600 is matched with an inner cylindrical surface of the sixth central pillar hole 441 in an interference fit manner. The two sixth end surgical manipulator holes 442 are through holes, the diameter of each through hole is 3.6mm, and the distance between the circle center of each through hole and the circle center of the cross section of the wrist chuck 440 is 4 mm; the end surgical manipulator passes through the sixth end surgical manipulator aperture 442 to reach the end of the surgical robotic arm to perform the associated surgical procedure.

Furthermore, the four circumferentially uniformly distributed sixth wrist control line holes 443 are through holes, the diameter of each through hole is 0.4mm, and the distance between the center of each through hole and the center of the cross section of the wrist chuck 440 is 5.6 mm; four shoulder control wires 700 pass through the four sixth wrist control wire holes 443, respectively. The two seventh phase change pipe holes 444 are through holes, the diameter of each through hole is 4.6mm, and the distance between the circle center of each through hole and the circle center of the cross section of the wrist chuck 440 is 3.5 mm; the first phase change tube 110 and the second phase change tube 120 respectively penetrate through the two seventh phase change tube holes 444, and outer cylindrical surfaces of the first phase change tube 110 and the second phase change tube 120 are respectively attached to inner cylindrical surfaces of the two seventh phase change tube holes 444 and fixed through a bonding agent. The height of wrist chuck 440 is 2.0mm, and the external diameter is 12.2mm, and minimum wall thickness is 0.3mm, selects 316 stainless steel material for use, and usable accurate metal 3D prints or laser cutting process processing.

In the embodiment of the present invention, after the end of the surgical robot (the rear chuck 500) reaches the general position of the lesion inside the human body, the position of the end of the surgical robot needs to be further adjusted to more accurately deliver the end surgical manipulator carried by the end of the surgical robot to the lesion. The tail end position of the surgical mechanical arm is adjusted in a control line driving mode, and the control line is driven by a motor arranged outside a human body.

Specifically, the control principle of the wrist posture of the surgical robot according to the present invention will be described with reference to fig. 13 and 14. In the surgical robot arm, a region between the front end chuck 300 and the elbow first chuck 420 is a shoulder portion of the surgical robot arm, a region between the elbow first chuck 420 and the elbow second chuck 430 is an elbow portion of the surgical robot arm, and a region between the elbow second chuck 430 and the rear end chuck 500 is a wrist portion of the surgical robot arm. The surgical manipulator of the invention adopts a line driving mode to adjust the posture of the wrist so as to adjust the position of the tail end of the surgical manipulator, and the posture of the wrist can be adjusted by stretching or releasing the shoulder control line 700 and the wrist control line 800. The shoulder control lines 700 penetrate through the shoulder of the surgical manipulator and are uniformly distributed in the circumferential direction and are dispersed around the shoulder of the surgical manipulator; the shoulder control line 700 passes through the first shoulder control line hole 303 in the front chuck 300, the second shoulder control line hole 413 in the shoulder chuck 410, and the third shoulder control line hole 423 in the elbow first chuck 420 in sequence, and ends thereof are fixed to an end surface of the elbow first chuck 420. The wrist control lines 800 penetrate through the whole surgical manipulator, are uniformly distributed in the circumferential direction and are concentrated in the center of the shoulder of the surgical manipulator, and enter the wrist of the surgical manipulator through the elbow of the surgical manipulator, and are uniformly distributed in the circumferential direction and are dispersed around the wrist of the surgical manipulator; the wrist control line 800 passes through the second wrist control line hole 305 in the front chuck 300, the third wrist control line hole 415 in the shoulder chuck 410, the fourth wrist control line hole 425 in the elbow first chuck 420, the fifth wrist control line hole 433 in the elbow second chuck 430, the sixth wrist control line hole 443 in the wrist chuck 440, and the first wrist control line hole 503 in the rear chuck 500 in sequence, and the ends thereof are fixed to one end surface of the rear chuck 500.

The wrist control line 800 may be used to control the pose of the wrist of the surgical robot arm to adjust the position of the rear end chuck 500, as shown in fig. 14, stretching the wrist first control line 801 in direction 1 to release the wrist third control line 803 in direction 3, the wrist of the surgical robot arm will bend towards direction 5; conversely, releasing the wrist first control line 801 in the opposite direction to direction 1, stretching the wrist third control line 803 in the opposite direction to direction 3, the wrist of the surgical robotic arm will bend towards direction 7; stretching the wrist fourth control wire 804 in direction 4 and releasing the wrist second control wire 802 in direction 2, the wrist of the surgical robotic arm will bend towards direction 8;

conversely, releasing the wrist fourth control wire 804 in a direction opposite to direction 4, pulling the wrist second control wire 802 in a direction opposite to direction 2, the wrist of the surgical robotic arm will bend towards direction 6; therefore, the posture of the wrist of the surgical manipulator can be adjusted by coupling control of the first control line 801 of the wrist, the second control line 802 of the wrist, the third control line 803 of the wrist and the fourth control line 804 of the wrist by the external motor of the human body, so as to achieve the purpose of adjusting the position of the chuck 500 at the rear end of the surgical manipulator.

Since wrist control line 800 passes over the shoulder of the surgical robot (through the front end chuck 300 and the plurality of shoulder chucks 410), the stretching or releasing of wrist control line 800 by the motor also generates a driving force on the shoulder of the surgical robot. And after the tail end of the operation mechanical arm reaches the approximate focus in the human body, the pose of the wrist is only required to be adjusted, the shoulder is positioned in a natural cavity of the human body, and the pose of the shoulder is not required to be adjusted, so the shoulder control line 700 is also driven by a motor arranged outside the human body to generate a driving force to offset the driving force generated by the wrist control line 800 on the shoulder of the operation mechanical arm, and the pose of the shoulder of the operation mechanical arm cannot be changed when the wrist control line 800 controls the pose of the wrist of the operation mechanical arm.

In the present invention, one end of each of the shoulder control line 700 and the wrist control line 800 extending out of the front end chuck 300 is connected to a motor disposed outside a human body to transmit a driving force, and further, as shown in fig. 13 and 14, one end of the wrist control line 800 connected to the rear end chuck 500 is knotted, and after being sheathed and heated by a wrist control line sleeve 810 (heat shrink tube), the wrist control line sleeve 810 is fixed at the knotted end of the wrist control line 800, such that the diameter of the end of the wrist control line 800 connected to the rear end chuck 500 is larger than the diameter of the first wrist control line hole 503 of the rear end chuck 500; then, one end of the wrist control wire 800 connected with the rear end chuck 500 is fixed at the corresponding position of the rear end chuck 500 by using an adhesive, so that the wrist control wire 800 cannot fall off when being stretched or released by the motor; similarly, the end of the shoulder control wire 700 connected to the elbow first chuck 420 is tied, and after being sheathed and heated by the shoulder control wire sleeve 710 (heat shrinkable tube), the shoulder control wire sleeve 710 is fixed at the end of the shoulder control wire 700 where the end is tied, and the end of the shoulder control wire 700 connected to the elbow first chuck 420 is fixed at the corresponding position of the elbow first chuck 420 by using an adhesive.

Wherein, each end surgical manipulator hole arranged on the same axis on the front end chuck 300, the plurality of shoulder chucks 410, the first elbow chuck 420, the second elbow chuck 430, the plurality of wrist chucks 440 and the rear end chuck 500 can form an end surgical manipulator channel, after the end of the surgical manipulator reaches the focus in the human body, the end surgical manipulator can reach the end of the surgical manipulator along the end surgical manipulator channel, and the end surgical manipulator channel plays a role in guiding the end surgical manipulator to enter the surgical manipulator. Optionally, the end-effector (not shown in the drawings) includes surgical separation forceps, claw forceps, needle holders, scissors, an endoscope lens, and the like, the end-effector is generally driven by a thread, the endoscope lens includes a communication cable, and an end-effector channel formed by a plurality of sequentially arranged end-effector holes performs circumferential and radial positioning functions on the thread drive required by the end-effector and the communication cable included in the endoscope lens.

It is worth mentioning that in the process of injecting hot water into the surgical mechanical arm, the temperature of the outer surface of the surgical mechanical arm is increased due to the redundant heat emitted by the hot water, the outer surface of the surgical mechanical arm is attached to the inner wall of the natural orifice of the human body when the surgical mechanical arm works, and the inner wall of the natural orifice of the human body is burnt due to overhigh surface temperature. Therefore, the outer coating 900 of the surgical mechanical arm is made of a phase-change microcapsule material which has high energy storage density and can absorb a large amount of heat; and the phase-change microcapsule material has hysteresis heat-conducting property, and can dissipate absorbed heat under the condition of lower surface temperature.

Specifically, the outer coating 900 comprises an outer coating wall 910, an inner coating wall 920 and a phase-change microcapsule layer 930; the outer cladding layer inner wall 920 wraps the outer cylindrical surfaces of the front end chuck 300, the shoulder chuck 410, the elbow first chuck 420, the elbow second chuck 430, the wrist chuck 440 and the rear end chuck 500, the phase change microcapsule layer 930 is covered and arranged on the outer side surface of the outer cladding layer inner wall 920, and the outer cladding layer outer wall 910 is covered and arranged on the outer side surface of the phase change microcapsule layer 930.

In the embodiment of the present invention, referring to fig. 15 to 18, the outer cladding 900 is divided into three layers: an outer cladding layer outer wall 910, an outer cladding layer inner wall 920, and a phase change microcapsule layer 930. The outer wall 910 of the outer cladding layer is a hollow pipeline, the outer diameter is 15.0mm, the inner diameter is 14.6mm, the wall thickness is 0.2mm, and the outer cladding layer is made of rubber; the inner wall 920 of the outer cladding layer is a hollow pipeline, the outer diameter is 12.6mm, the inner diameter is 12.2mm, the wall thickness is 0.2mm, and the outer cladding layer is made of rubber; the outer coating layer outer wall 910 and the outer coating layer inner wall 920 are concentrically arranged, a phase change microcapsule layer 930 is filled in a spacing area between an inner cylindrical surface of the outer coating layer outer wall 910 and an outer cylindrical surface of the outer coating layer inner wall 920, the phase change microcapsule layer 930 is in a solid powder state on a macroscopic scale and consists of phase change microcapsule particles 931 with the diameter of 40 micrometers, the phase change microcapsule particles 931 consist of a microcapsule shell 932 and a microcapsule core 933, the microcapsule core 933 is made of paraffin, and the microcapsule shell 932 is generally made of a material with high thermal stability (such as TiO I < O >) (such as₂，SiO₂，CaCO₃Or some other lipid material), the volume of the microcapsule core 933 comprises 60% of the volume of the phase-change microcapsule particles 931. The microcapsule core 933 of the phase-change microcapsule particle 931 is n-alkane paraffin material, the paraffin material has reversible solid-liquid phase change characteristic, the paraffin material is a mixture mainly composed of straight-chain alkane, the melting point of the paraffin can be changed by changing the length of the alkane molecular chain, and n-docosane (C) is selected in the invention₂₂H₄₆) A paraffin material having a melting point of 43 ℃; the microcapsule shell 932 material can be selected from epoxy resin, and the melting point is 140 +/-2 ℃. When the ambient temperature rises, the solid-liquid phase-change material reaches the melting point, the solid-liquid mixed state is obtained, a large amount of heat is absorbed in the process, and the material in the solid-liquid mixed state is kept at the melting point temperature (namely the high energy storage property of the phase-change microcapsule material) for a long time. When the ambient temperature is reduced, the phase-change microcapsule can keep the temperature not to exceed the melting point of the phase-change microcapsule, and the stored heat is dissipated (namely the hysteresis heat-conducting property of the phase-change microcapsule). Therefore, when hot water (with the temperature of 65-75 ℃) is injected into the surgical mechanical arm, the heat emitted by the hot water is subjected to phase-change micro-gel in the outer cladding 900 of the surgical mechanical armThe microcapsule layer 930 absorbs, the microcapsule core 933 of the phase-change microcapsule particle 931 will reach the melting point and change into the solid-liquid mixed state, at this time, the microcapsule particle will absorb a large amount of heat, and the temperature of the surface of the surgical mechanical arm can be kept at 43 ℃ for a long time. In the process of extending the surgical mechanical arm into the human body along the natural orifice of the human body, hot water needs to be continuously injected into the first water guide pipe 210 and the second water guide pipe 220 in the inner cavity of the surgical mechanical arm so that the surgical mechanical arm keeps lower rigidity, the temperature emitted by the hot water is absorbed by the phase change microcapsule layer 930 in the outer coating layer 900, the outer surface of the surgical mechanical arm keeps a proper temperature (43 ℃) for a long time, and the temperature is close to the body temperature of the human body, so that the surface of the natural orifice of the human body cannot be burnt. After the tail end of the surgical mechanical arm reaches a focus in a human body, cold water needs to be injected into the first water guide pipe 210 and the second water guide pipe 220 in the inner cavity of the surgical mechanical arm so that the surgical mechanical arm has higher rigidity, and the stored heat can be absorbed by phase-change microcapsules through the injected cold water, so that the temperature of the outer surface of the surgical mechanical arm is reduced.

More specifically, the inner wall 920 of the outer coating layer is fixed with the outer cylindrical surfaces of the front end chuck 300, the plurality of shoulder chucks 410, the elbow first chuck 420, the elbow second chuck 430, the plurality of wrist chucks 440 and the rear end chuck 500 by using an adhesive, after phase change microcapsules are filled, the front end sealing cover 940 and the tail end sealing cover 950 of the outer coating layer 900 are used for sealing to prevent phase change microcapsule powder from leaking out, the front end sealing cover 940 and the tail end sealing cover 950 of the outer coating layer 900 are circular rings, the outer diameter is 14.6mm, the inner diameter is 12.6mm, and the outer coating layer is made of polyethylene plastic; the front end sealing cover 940 and the tail end sealing cover 950 of the outer cladding 900 are fixed with the inner cylindrical surface of the outer cladding outer wall 910 and the outer cylindrical surface of the outer cladding inner wall 920 by adopting bonding agents.

The working principle of the surgical robot arm in this embodiment will be described with reference to fig. 19 and 20:

the hot water bath 50 heats water to a temperature between the glass transition temperature and the melting point of the thermoplastic plastics for manufacturing the first phase change tube 110 and the second phase change tube 120, the peristaltic pump 60 pumps the hot water into the surgical manipulator from the first water guide tube 210, then the hot water flows to the liquid backflow channel 510 through the first water guide tube 210 and flows out of the water storage tank 70 outside the surgical manipulator through the second water guide tube 220, when the axial rigidity of the surgical manipulator is reduced, the surgical manipulator is conveyed into the body along the natural cavity of the human body, and in the process of conveying the surgical manipulator into the body, the hot water is always in a circulating flow state inside the surgical manipulator, so that the flexibility of the surgical manipulator in the process is ensured; after the tail end of the surgical mechanical arm reaches the large position of a focus, the shoulder control line 700 and the wrist control line 800 are driven by the motor to control the pose of the wrist of the surgical mechanical arm, so that the position of the rear-end chuck 500 of the surgical mechanical arm is adjusted, and the rear-end chuck 500 is accurately delivered to the focus. Then, the water is cooled to 5 ℃ by using the refrigerator 80, the peristaltic pump 60 pumps cold water into the surgical mechanical arm, when the axial rigidity of the surgical mechanical arm becomes high, the pumping of the cold water is stopped, the tail end surgical manipulator is sent to the tail end of the surgical mechanical arm along a surgical tool channel (a plurality of tail end surgical manipulator holes which are sequentially arranged) in the surgical mechanical arm and extends out of the rear end chuck 500, and then the related surgical operation is started.

Compared with the prior art, the invention has the advantages that:

(1) the first phase change tube 110 and the second phase change tube 120 are made of thermoplastic plastics with biocompatibility to achieve axial rigidity regulation of the surgical manipulator, and the selected materials are safe and non-toxic.

(2) Cold and hot water are selected as the phase change excitation modes of the first phase change tube 110 and the second phase change tube 120 made of thermoplastic plastics, and compared with the existing variable stiffness technology adopting current and voltage to carry out phase change excitation, the variable stiffness technology has higher operation safety.

(3) The outer diameter of the surgical mechanical arm is 15mm, and compared with a common rigidity-controllable surgical mechanical arm designed based on a shape locking method and a particle blocking principle, the size of the surgical mechanical arm is smaller, so that the surgical mechanical arm can be well adapted to a natural orifice of a human body; and the interior of the end surgery manipulator channel is provided with a plurality of larger end surgery manipulator holes to form the end surgery manipulator channel, so that more types of end surgery manipulators can be accommodated.

(4) The outer coating 900 of the surgical manipulator adopts the phase-change microcapsules, which have high energy storage density and lagging heat conduction performance, can absorb redundant heat emitted by hot water in the inner cavity of the surgical manipulator and can discharge the absorbed heat under the condition of keeping a lower temperature. Therefore, the outer surface temperature of the operation mechanical arm is proper when the operation mechanical arm works, and the inner wall of the natural cavity of the human body attached to the operation mechanical arm cannot be damaged.

Example two:

referring to fig. 21, the present invention further discloses a method for controlling stiffness of a surgical robot arm based on the surgical robot arm, including:

s100, injecting water into the first water guide pipe 210 and the second water guide pipe 220, wherein the temperature of the water is higher than the glass transition temperature of the thermoplastic materials for manufacturing the first phase change pipe 110 and the second phase change pipe 120 and lower than the melting point of the thermoplastic materials, the thermoplastic materials for manufacturing the first phase change pipe 110 and the second phase change pipe 120 are converted from a glass state to a high elastic state, and at the moment, the first phase change pipe 110 and the second phase change pipe 120 are softened so that the first phase change pipe 110 and the second phase change pipe 120 have smaller axial rigidity;

s200, water with the temperature lower than the glass transition temperature of the thermoplastic material for manufacturing the first phase change pipe 110 and the second phase change pipe 120 is injected into the first water guide pipe 210 and the second water guide pipe 220, the thermoplastic material for manufacturing the first phase change pipe 110 and the second phase change pipe 120 is changed from a high elastic state to a glass state, and at the moment, the first phase change pipe 110 and the second phase change pipe 120 are hardened in texture, so that the first phase change pipe 110 and the second phase change pipe 120 have high axial rigidity.

In the embodiment of the present invention, the first phase change tube 110 and the second phase change tube 120 are made of thermoplastic plastics and longitudinally penetrate through the entire surgical robot arm, the first water guiding tube 210 is attached to the inner cylindrical surface of the first phase change tube 110, and the second water guiding tube 220 is attached to the inner cylindrical surface of the second phase change tube 120. The end of the surgical robot arm is provided with a liquid backflow channel 510, water with a certain temperature is pumped into the first water guiding pipe 210, and after reaching the liquid backflow channel 510 at the end of the surgical robot arm, the water flows into the second water guiding pipe 220 and flows out from the front end of the robot arm. When hot water is pumped into the guide pipe, when the temperature of the hot water is higher than the glass transition temperature of the thermoplastic and lower than the melting point of the thermoplastic, the thermoplastic generates phase change and is converted into a high-elasticity state; the first phase change tube 110 and the second phase change tube 120 are soft, so that the axial rigidity of the surgical mechanical arm is reduced, and the flexible surgical mechanical arm can be well adapted to the complex shape of a natural cavity in a human body. When cold water is pumped into the guide pipe, the cooling effect can be achieved, the temperature of the first phase change pipe 110 and the temperature of the second phase change pipe 120 are lower than the glass transition temperature of the materials, the first phase change pipe 110 and the second phase change pipe 120 are made to be in a phase change state, the first phase change pipe 110 and the second phase change pipe 120 are hardened at the moment, the axial rigidity of the surgical manipulator is further increased, and the rigid surgical manipulator can provide a stable operating platform for the tail end surgical manipulator at the moment so as to guarantee the surgical precision. The outer coating layer 900 of the surgical mechanical arm is made of a phase-change microcapsule material, the phase-change microcapsule material has high energy storage property and hysteresis heat conduction property, and can absorb a large amount of heat conducted by hot water pumped into the first water guide pipe 110 and the second water guide pipe 120, so that the temperature of the outer surface of the surgical mechanical arm is prevented from rising, and the inner surface of a natural orifice of a human body is prevented from being burnt.

In summary, the present invention provides a stiffness control method for a surgical manipulator and a surgical manipulator, including: the device comprises a first phase change pipe, a second phase change pipe, a first water guide pipe, a second water guide pipe, a front end chuck, a shoulder chuck, an elbow first chuck, an elbow second chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer coating layer; one end of the first phase change tube and one end of the second phase change tube are both arranged in the front end chuck, the end surfaces of one end of the first phase change tube and one end of the second phase change tube are flush with the end surface of the front end chuck, and the other end of the first phase change tube and the other end of the second phase change tube sequentially penetrate through the shoulder chuck, the elbow first chuck, the elbow second chuck and the wrist chuck to be arranged in the rear end chuck; the first end of the first water guide pipe and the first end of the second water guide pipe respectively extend out of the front end chuck; the outer cylindrical surface of the first water guide pipe is attached to the inner cylindrical surface of the first phase change pipe, the outer cylindrical surface of the second water guide pipe is attached to the inner cylindrical surface of the second phase change pipe, and the first water guide pipe and the second water guide pipe are used for injecting hot water and conducting heat to the first phase change pipe and the second phase change pipe, so that the temperature of the first phase change pipe and the temperature of the second phase change pipe are increased, and the first water guide pipe and the second water guide pipe are also used for injecting cold water and absorbing the heat in the first phase change pipe and the heat in the second phase change pipe, so that the temperature of the first phase change pipe and the temperature of the second phase change pipe are reduced; a liquid backflow channel is formed in the rear end chuck and communicated with the second end of the first water guide pipe and the second end of the second water guide pipe; the central support is positioned between the first phase change tube and the second phase change tube, the end face of one end of the central support is flush with the end face of the front end chuck, and the other end of the central support sequentially penetrates through the shoulder chuck, the elbow first chuck, the elbow second chuck and the wrist chuck and is connected with the rear end chuck; the outer coating layer is coated on the outer cylindrical surfaces of the front end chuck, the shoulder chuck, the elbow first chuck, the elbow second chuck, the wrist chuck and the rear end chuck; one end of the shoulder control line extends out of the front end chuck, and the other end of the shoulder control line penetrates through the shoulder chuck and is connected with the elbow first chuck; one end of the wrist control line extends out of the front end chuck and the other end of the wrist control line sequentially penetrates through the shoulder chuck, the first elbow chuck, the second elbow chuck and the wrist chuck and is connected with the rear end chuck. The surgical mechanical arm in the embodiment of the invention can realize the adjustment of axial rigidity, the surgical mechanical arm in a flexible state can be well adapted to the complex shape of a natural cavity of a human body to ensure the safety of the operation, and the surgical mechanical arm in a rigid state can provide a stable operation platform for a tail end surgical manipulator to ensure the precision of the operation.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims

1. A surgical robotic arm, comprising: the device comprises a first phase change pipe, a second phase change pipe, a first water guide pipe, a second water guide pipe, a front end chuck, a shoulder chuck, an elbow first chuck, an elbow second chuck, a wrist chuck, a rear end chuck, a central pillar, a shoulder control line, a wrist control line and an outer coating layer;

2. The surgical robotic arm of claim 1, wherein the rear chuck has thereon: a first central support post hole, a first end operation manipulator hole, a first wrist control line hole, a first phase change tube hole, a second phase change tube hole, a liquid backflow channel inlet and a liquid backflow channel outlet;

3. A surgical robotic arm as claimed in claim 2, wherein the front end chuck is provided with: a second central support post hole, a second end operation manipulator hole, a first shoulder control line hole, a third phase transformer hole and a second wrist control line hole;

4. A surgical robotic arm as claimed in claim 3, wherein the shoulder chuck is provided with: a third central support post hole, a third end surgical manipulator hole, a second shoulder control line hole, a fourth phase change tube hole and a third wrist control line hole;

5. A surgical robotic arm as claimed in claim 4, wherein the elbow first chuck is provided with: a fourth central strut hole, a fourth end surgery operator hole, a third shoulder control line hole, a fifth phase change tube hole and a fourth wrist control line hole;

6. A surgical robotic arm as claimed in claim 5, wherein the elbow second chuck is provided with: a fifth central strut hole, a fifth end surgery operator hole, a fifth wrist control line hole, and a sixth phase change tube hole;

7. A surgical robotic arm as claimed in claim 6, wherein the wrist chuck is provided with: a sixth central strut hole, a sixth end surgery operator hole, a sixth wrist control line hole and a seventh phase change tube hole;

8. The surgical robotic arm of claim 1, wherein the outer coating comprises: the outer wall of the outer coating layer, the inner wall of the outer coating layer and the phase change microcapsule layer; outer cladding layer inner wall cladding in the outer face of cylinder of front end chuck, shoulder chuck, the first chuck of elbow, elbow second chuck, wrist chuck and rear end chuck, phase change microcapsule layer covers and sets up the lateral surface of outer cladding layer inner wall, outer cladding layer outer wall covers and sets up the lateral surface on phase change microcapsule layer.

9. The surgical robotic arm of claim 1, wherein the first phase change tube and the second phase change tube are comprised of a thermoplastic.

10. A stiffness control method for a surgical robot arm, applied to the surgical robot arm according to any one of claims 1 to 9, comprising: