CN112985656A - Force or force shape sensing integrated driving wire of flexible robot and application method thereof - Google Patents
Force or force shape sensing integrated driving wire of flexible robot and application method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
Abstract
The invention provides a force or force shape perception integrated driving wire of a flexible robot and an application method thereof, wherein the force or force shape perception integrated driving wire comprises the following steps: an optical fiber sensor; the optical fiber sensor comprises an optical fiber Bragg grating which is etched along the length direction of the optical fiber main body according to the use requirement; the optical fiber main body is made of optical fiber materials with the strength and the toughness meeting preset requirements. The invention realizes that the combination of the single driving wire and the optical fiber sensor is concentrated in the single working channel, thereby the flexible robot has smaller structural size, can be applied to various types of wire-driven flexible medical robots, has important application value on the minimally invasive property, effectiveness, safety and the like of the flexible robot-assisted medical operation, and can ensure that the diagnosis and treatment can be rapidly and safely carried out to ensure the national health and benefit to the human beings. Meanwhile, the invention can also be applied to wire-driven flexible robots in other fields.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a force or force shape perception integrated driving wire of a flexible robot and an application method thereof.
Background
The flexible medical robot is mainly applied to various minimally invasive surgeries, interventional surgeries and the like in medical surgeries, diagnosis and treatment are carried out through small wounds outside a human body or by means of natural cavities and ducts of the human body, the robot body is small in size and strong in structural controllability, various auxiliary sensors and operating instruments are integrated, and the flexible medical robot has the advantages of being good in minimally invasive performance, flexibility, safety and the like. The drive of the controllable section of flexible robot has multiple modes, thereby it is a comparatively common mode to utilize the controllable section of drive silk control to realize its nimble deformation and accomplish the operation, the controllable section of present silk drive flexible robot has more integrated all kinds of sensors, the drive silk, the camera, lighting components, cooperation devices such as operating instrument for the position space of each part is comparatively crowded, consequently also be unfavorable for flexible robot overall dimension miniaturization to a certain extent, it has certain not enough to require to the wicresoft nature of some operations.
The controllable section structure of the wire-driven flexible robot and the application of the driving wire at the present stage have the defects that (1) the controllable section of the flexible robot needs to be integrated with devices such as a camera, a sensor, the driving wire and the like, and the whole structure size is not easy to miniaturize; (2) the drive wire used is functionally simple and only capable of a stretch drive operation.
Patent document CN110269693A (application number: 201810210926.1) discloses a coupling unit driven by a drive wire, and an operation arm and a surgical robot using the coupling unit. The coupling assembling includes: the driving mechanism comprises a plurality of connecting units and driving wires which are connected in sequence, a plurality of connecting units which are connected in sequence, at least two connecting units form a rotatable joint assembly, and at least two joint assemblies are coupled and are both driving joint assemblies; the driving wire is used for driving the joint component and is provided with a main driving wire used for driving the driving joint component to rotate.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a force or force shape sensing integrated driving wire of a flexible robot and an application method thereof.
According to the invention, the force or force shape perception integrated driving wire of the flexible robot comprises: an optical fiber sensor;
the optical fiber sensor comprises an optical fiber Bragg grating which is etched along the length direction of the optical fiber main body according to the use requirement;
the optical fiber main body is made of optical fiber materials with the strength and the toughness meeting preset requirements.
Preferably, the force or force shape sensing integrated driving wire of the flexible robot comprises a single-core optical fiber sensor or a multi-core optical fiber sensor with a preset wavelength interval.
Preferably, the method further comprises the following steps: the outer surface of the optical fiber body is provided with a cladding tube according to requirements.
Preferably, the cladding tube is made of a material with super elastic characteristics, including nickel titanium alloy and polymer.
According to the application method of the force or force shape perception integrated driving wire of the flexible robot provided by the invention, the application of the force or force shape perception integrated driving wire of the flexible robot comprises the following steps:
enabling the first end parts of the integrated driving wires to penetrate out of the controllable bending section structure of the robot through the driving wire working channel, and enabling the second end parts of the integrated driving wires to be of a spherical structure, wherein the diameter of the second end parts of the integrated driving wires is larger than that of the driving wire working channel;
the driving wire working channels are distributed on the axial line cross section of the controllable bending section structure of the robot at different positions according to requirements.
Preferably, the controllable bending section structure of the robot is provided with different types according to different requirements;
the controllable curved segment structure of robot includes: the robot controllable bending section structure is of a symmetrical groove type structure, the robot controllable bending section structure is of an asymmetrical groove type structure, the robot controllable bending section structure is of a self-contact type, and the robot controllable bending section structure is of a cross shaft type.
Preferably, the method further comprises the following steps: and the integrated driving wires are assembled in the driving wire working channel of the controllable section of the flexible robot and penetrate through the supporting structure to be connected with the driving mechanism and the fiber bragg grating demodulator.
Preferably, the method comprises the following steps:
step M1: determining the number and the length of the integrated driving wires and the specific position of a driving wire working channel on the controllable section of the flexible robot according to the structural characteristics of the applied flexible robot and the requirement of a preset bending deformation state;
step M2: determining the number and the positions of fiber Bragg gratings on the optical fiber sensor in each integrated driving wire according to the force or force shape sensing requirement required to be acquired by the applied flexible robot;
step M3: the driving mechanism applies different driving pulling forces to the connected integrated driving wires according to a certain sequence, and the controllable section of the flexible robot obtains a required space bending shape;
step M4: the fiber bragg grating sensor demodulator connected with the tail end of the integrated driving wire obtains real-time data fed back by the fiber bragg grating sensor, and force or force shape sensing information distribution of each driving wire along the axial direction is obtained through data processing.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention utilizes the characteristic that the FBG-based optical fiber sensor and the driving wire are integrated into a whole, can reduce the overall size of controllable sections of different types of flexible robots, and can realize related operations such as surgery for smaller wounds or cavity intervention;
2. according to the invention, the functional characteristics of the FBG-based optical fiber sensor are utilized, data can be acquired according to actual requirements, and the acquisition of the driving internal force distribution data or the acquisition of force and deformation data of a plurality of driving wires at the controllable section of the flexible robot can be realized;
3. the invention utilizes the functional characteristics of the driving wire of the FBG-based optical fiber sensor, can bear larger pulling force, carries out stretching operation on the driving wire distributed at different positions, and can realize flexible controllable deformation of the controllable section of the flexible robot.
4. The invention realizes that the combination of a single driving wire and the FBG-based optical fiber sensor is concentrated in a single working channel, thereby enabling the flexible robot to have smaller structural size, being applicable to various types of wire-driven flexible medical robots, having important application value on the minimally invasive property, effectiveness, safety and the like of the flexible robot-assisted medical operation, and being capable of ensuring rapid and safe development of diagnosis and treatment to ensure national health and benefit to human beings. Meanwhile, the invention can also be applied to wire-driven flexible robots in other fields.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a force or force shape sensing integrated driving wire of a flexible robot comprising a single-core optical fiber sensor;
FIG. 2 is a schematic structural diagram of a force or force shape sensing integrated driving wire of a flexible robot comprising a multi-core optical fiber sensor;
FIG. 3 is an overall schematic view of a flexible robot with a symmetrical groove structure using force or force shape sensing integrated driving wires;
FIG. 4 is a schematic view of an assembly structure of a force or force shape sensing integrated driving wire applied to a controllable section of a flexible robot with a symmetrical groove type structure;
FIG. 5 is an exploded view of the application of force or force shape sensing integrated drive wires to a controllable section of a flexible robot in a symmetrical slotted configuration;
FIG. 6 is a schematic view of an assembly structure of a force or force shape sensing integrated driving wire applied to a controllable section of a flexible robot with an asymmetric groove type structure;
FIG. 7 is an exploded view of the application of force or force shape sensing integrated drive wires to a flexible robot with an asymmetric slot configuration;
FIG. 8 is a schematic view of an assembly structure of a force or force shape sensing integrated driving wire applied to a controllable section of a self-contact flexible robot;
FIG. 9 is an exploded view of the application of force or force shape sensing integrated drive wires to a self-contacting flexible robot controllable segment;
FIG. 10 is a schematic view of the assembly structure of the force or force shape sensing integrated driving wire applied to the controllable section of a cross-axis flexible robot;
FIG. 11 is an assembled exploded view of the application of force or force shape sensing integrated drive wires to a cross-axis flexible robot controllable segment;
wherein, 1-an integrated driving wire; 2-a controllable section of a flexible robot with a symmetrical groove structure; 3-a controllable section of an asymmetric slot type flexible robot; 4-a self-contacting flexible robot controllable section; 5-a cross-axis flexible robot controllable section; 6-a support structure; 7-a drive mechanism; 8-fiber grating sensor demodulator; 11-driving the end portion of the filament; 12-single core fiber optic sensor; 13-a multicore fiber sensor; 14-a cladding tube; 120-Fiber Bragg Grating (FBG); 121-a core; 122-a cladding layer; 123-a coating layer; 130-Fiber Bragg Grating (FBG); 131-a core; 132-a cladding layer; 133-a coating layer; 201-a front end controllable section of a flexible robot controllable section with a symmetrical groove type structure; 202-a rear end controllable section of a flexible robot with a symmetrical groove type structure; 203-a front end part enlarged schematic structure of a controllable section of the flexible robot with a symmetrical groove type structure; 204-an integrated driving wire working channel of a controllable section of a flexible robot with a symmetrical groove type structure; 205-other device channel of controllable section of flexible robot in symmetrical groove type structure; 206-an operating instrument channel of a flexible robot controllable section with a symmetrical groove type structure; 21-a flexible robot controllable section with a symmetrical groove type structure in an omnidirectional bending deformation state; 301-a front controllable section of a controllable section of an asymmetric slot type flexible robot; 302-a rear controllable section of a controllable section of an asymmetric trough-type flexible robot; 303-front end part enlarged schematic structure of controllable section of flexible robot in asymmetric groove type structure; 304-an integrated driving wire working channel of the controllable section of the flexible robot with an asymmetric groove type structure; 305-an operating instrument channel of a controllable section of a flexible robot with an asymmetric groove type structure; 31-an asymmetric groove type flexible robot controllable section in a bidirectional bending deformation state; 401-a self-contact cylindrical joint of a controllable segment of a flexible robot; 402-a skeletal beam member of a controllable section of a self-contacting flexible robot; 403-a self-contacting articulation of a controllable section of a self-contacting flexible robot; 404-a front controllable section of a self-contact flexible robot; 405-a rear controllable section of a self-contacting flexible robot controllable section; 406-a front end part of a rear end controllable section of the self-contact flexible robot is enlarged to show a structure; 407-an integrated driving wire working channel of a rear end controllable section of a self-contact flexible robot controllable section; 408-a skeleton beam piece assembly channel of the rear end controllable section of the self-contact flexible robot controllable section; 41-a self-contact flexible robot controllable section in a bidirectional bending deformation state; 501-an outside part of a controllable section of a cross-axis flexible robot; 502-an inner member of a controllable section of a cross-axis flexible robot; 503-a front controllable section of a cross-axis flexible robot; 504-a rear controllable section of a cross-axis flexible robot controllable section; 505-front end part enlarged schematic structure of controllable section of cross-axis flexible robot; 506-an integrated drive wire working channel of a controllable section of a cross-axis flexible robot; 51-a controlled section of a cross-axis flexible robot in a two-way bending deformation state.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
In order to solve the technical problems, the invention provides a force or force shape perception integrated driving wire of a flexible robot and an application method thereof, the method uses the high-strength and high-toughness optical fiber material as a main body of the driving wire, a series of Fiber Bragg Gratings (FBGs) with certain wavelength intervals are etched on the optical fiber sensor along the length direction according to the use requirement, the optical fiber sensor etched with the FBGs can be a single-core optical fiber or a multi-core optical fiber, the interpolation calculation is carried out aiming at the multipoint discrete tension value of each driving wire, thereby calculating the continuous tension distribution of each driving wire in the robot, when the driving wires are multi-core optical fibers, the shape information can be calculated at the same time, and the surface of the optical fiber sensor main body can be protected by a nickel-titanium alloy or other super-elastic material coating tube according to the requirement and the strength is improved. The combination of a single driving wire and the FBG-based optical fiber sensor is concentrated in a single working channel, so that the flexible robot has a smaller structural size, can be applied to various types of wire-driven flexible medical robots, has important application values on the minimally invasive property, effectiveness, safety and the like of the flexible robot-assisted medical operation, and can ensure rapid and safe development of diagnosis and treatment to ensure national health and benefit to human beings. Meanwhile, the invention can also be applied to the wire-driven flexible robot in the field.
According to the invention, the force or force shape perception integrated driving wire of the flexible robot comprises: an optical fiber sensor;
the optical fiber sensor comprises an optical fiber Bragg grating which is etched along the length direction of the optical fiber main body according to the use requirement;
the optical fiber main body is made of optical fiber materials with the strength and the toughness meeting preset requirements.
Specifically, the force or force shape sensing integrated driving wire of the flexible robot comprises a single-core optical fiber sensor or a multi-core optical fiber sensor with a preset wavelength interval.
Specifically, the method further comprises the following steps: the outer surface of the optical fiber body is provided with a cladding tube according to requirements.
Specifically, the cladding tube is made of a material with super-elastic characteristics, and comprises nickel-titanium alloy and polymer.
According to the application method of the force or force shape perception integrated driving wire of the flexible robot provided by the invention, the application of the force or force shape perception integrated driving wire of the flexible robot comprises the following steps:
enabling the first end parts of the integrated driving wires to penetrate out of the controllable bending section structure of the robot through the driving wire working channel, and enabling the second end parts of the integrated driving wires to be of a spherical structure, wherein the diameter of the second end parts of the integrated driving wires is larger than that of the driving wire working channel;
the driving wire working channels are distributed on the axial line cross section of the controllable bending section structure of the robot at different positions according to requirements.
Specifically, the controllable bending section structure of the robot is provided with different types according to different requirements;
the controllable curved segment structure of robot includes: the robot controllable bending section structure is of a symmetrical groove type structure, the robot controllable bending section structure is of an asymmetrical groove type structure, the robot controllable bending section structure is of a self-contact type, and the robot controllable bending section structure is of a cross shaft type.
Specifically, the method further comprises the following steps: and the integrated driving wires are assembled in the driving wire working channel of the controllable section of the flexible robot and penetrate through the supporting structure to be connected with the driving mechanism and the fiber bragg grating demodulator.
Specifically, the method comprises the following steps:
step M1: determining the number and the length of the integrated driving wires and the specific position of a driving wire working channel on the controllable section of the flexible robot according to the structural characteristics of the applied flexible robot and the requirement of a preset bending deformation state;
step M2: determining the number and the positions of fiber Bragg gratings on the optical fiber sensor in each integrated driving wire according to the force or force shape sensing requirement required to be acquired by the applied flexible robot;
step M3: the driving mechanism applies different driving pulling forces to the connected integrated driving wires according to a certain sequence, and the controllable section of the flexible robot obtains a required space bending shape;
step M4: the fiber grating sensor demodulator connected with the tail end of the integrated driving wire obtains real-time data fed back by the fiber sensor, and then force or force shape perception information distribution of each driving wire along the axial direction is obtained through data processing, so that the device can be used for subsequent state monitoring of the flexible robot.
Example 2
Example 2 is a modification of example 1
As shown in fig. 1 and 2, the force or force shape sensing integrated driving wire of the flexible robot including the single-core optical fiber sensor or the multi-core optical fiber sensor;
the integrated driving wire 1 comprises a single-core optical fiber, and the integrated driving wire 1 comprises a driving wire head end part 11, a single-core optical fiber sensor 12, a Fiber Bragg Grating (FBG)120, a fiber core 121, a cladding 122, a coating layer 123 and a cladding tube 14;
the integrated driving filament 1 including the multicore fiber includes a driving filament head end portion 11, a multicore fiber sensor 13, a Fiber Bragg Grating (FBG)130, a fiber core 131, a cladding 132, a coating layer 133, and a cladding tube 14;
a driving wire head end part 11 for positioning the top of the integrated driving wire 1 on a working channel of a controllable section of the flexible robot is designed at the forefront of the integrated driving wire 1;
the single-core optical fiber sensor 12 for acquiring force sensing data etches a certain number of Fiber Bragg Gratings (FBGs) 120 at intervals along the length direction of the fiber core 121 according to requirements, the outer surface of the fiber core 121 is provided with a cladding 122, and a coating layer 123 playing a role of protection is arranged on the outer surface of the cladding 122;
a plurality of fiber cores 131 are uniformly distributed on the cross section of the multi-core optical fiber sensor 13 for acquiring force and shape sensing data along the circumferential direction according to requirements, a certain number of Fiber Bragg Gratings (FBGs) 130 are etched on the optical fiber sensor 13 along the length direction of each fiber core 131, cladding layers 132 are arranged on the outer surfaces of the fiber cores 131 and among gaps, and coating layers 133 playing a role of protection are arranged on the outer surfaces of the cladding layers 132;
the main body of the single-core optical fiber sensor 12 or the multi-core optical fiber sensor 13 adopts a high-strength and high-toughness optical fiber material as a main body, has higher bearing capacity and can meet the driving requirement of the deformation of a flexible robot;
a coating tube 14 for protecting the surface of the driving wire is designed on the outer surface of the single-core optical fiber sensor 12 or the multi-core optical fiber sensor 13, and the top of the coating tube is designed at the joint of the head end part 11 of the driving wire and the single-core optical fiber sensor 12 (or the multi-core optical fiber sensor 13);
the cladding tube 14 can be made of a nickel-titanium alloy material with the characteristics of superelasticity and the like, can also be made of other materials, has a good protection effect on the driving wire main body, and can improve the overall strength.
As shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the force or force shape sensing integrated driving wire of the flexible robot is applied to a flexible robot with a symmetrical groove type structure, and the assembly whole mainly comprises the integrated driving wire 1, a flexible robot controllable section 2 with a symmetrical groove type structure, a supporting structure 6, a driving mechanism 7 and a fiber bragg grating sensor demodulator 8.
As shown in fig. 3, a plurality of integrated driving wires 1 are applied to a flexible robot with a symmetrical groove type structure, wherein a controllable section 2 of the flexible robot with the symmetrical groove type structure is connected with a driving mechanism 7 through a supporting structure 6, and the integrated driving wires 1 penetrate through the driving mechanism 7 and are finally connected with a fiber bragg grating sensor demodulator 8;
different driving forces are applied to the tail ends of the integrated driving wires 1 according to a certain sequence through the driving mechanism 7, and the controllable section 2 of the flexible robot with the symmetrical groove type structure can obtain a preset three-dimensional space bending shape;
the method comprises the steps of obtaining relevant data of a plurality of integrated driving wires 1 under the deformation state of a flexible robot controllable section 2 with a symmetrical groove type structure through a fiber grating sensor demodulator 8, and finally obtaining force or force shape perception information of the flexible robot controllable section 2 with the symmetrical groove type structure through data processing.
As shown in fig. 4, the flexible robot controllable section 2 with a symmetrical groove-type structure includes a front controllable section 201 and a rear controllable section 202, and the flexible robot controllable section 21 with a symmetrical groove-type structure in an omnidirectional bending deformation state is obtained by applying different driving forces to the ends of the plurality of integrated driving wires 1 in a certain order.
As shown in fig. 5, the front end portion of the flexible robot controllable section 2 of a symmetrical groove type structure is an enlarged schematic structure 203, and its cross section is provided with a drive wire working channel 204, other device channels 205 and operation instrument channels 206 of the flexible robot controllable section 2 of a symmetrical groove type structure in different numbers and positions.
As shown in fig. 4 and 5, four driving wires 1 for driving and sensing integrated driving are respectively assembled in front and back sections in eight driving wire working channels 204 to which front end controllable sections 201 and back end controllable sections 202 belong according to structural characteristics and preset bending shapes of a flexible robot controllable section 2 with a symmetrical groove type structure, and driving wire head end parts 11 of the integrated driving wires 1 are arranged at different axial positions corresponding to the driving wire working channels 204.
Different bending deformation states of the controllable section 21 of the flexible robot with the symmetrical groove type structure in the omnidirectional bending deformation state can be realized by applying stretching operations of different forces to the tail ends of the integrated driving wires 1 according to a certain sequence, so that the flexibility and the efficiency of the operation of the flexible robot are improved, and the bending deformation state of a three-dimensional space can be realized according to different structural characteristic designs of the flexible robot.
As shown in fig. 1, 2, 6 and 7, an assembly structure of a controllable section of an asymmetric grooved flexible robot mainly comprises the integrated driving wire 1 and an asymmetric grooved flexible robot controllable section 3.
As shown in fig. 6, the assembly structure section of the controllable section 3 of the asymmetric slot type flexible robot can be divided into a front controllable section 301 and a rear controllable section 302.
As shown in FIG. 7, the front end part of the flexible robot controllable section 3 of an asymmetric groove type structure has an enlarged schematic structure 303, and the cross section thereof is provided with different numbers and positions of the drive wire working channel 304 and the operation instrument channel 305 of the flexible robot controllable section 3 of an asymmetric groove type structure.
As shown in fig. 6 and 7, two driving wires 1 for driving and sensing integrated are respectively assembled at different positions in the working channel at the positions of the front-end controllable section 301 and the rear-end controllable section 302, and by applying stretching operations of different forces to the tail ends of the integrated driving wires 1 in a certain order, different forms of the controllable section 31 of the asymmetric groove type flexible robot in a bidirectional bending deformation state can be realized, the flexibility and the efficiency of the operation of the flexible robot can be improved, and the bending deformation state of a three-dimensional space can be realized according to different structural characteristic designs of the flexible robot.
As shown in fig. 1, 2, 8 and 9, a self-contact flexible robot controllable segment assembly structure mainly includes the driving wire 1 and a self-contact flexible robot controllable segment 4.
As shown in fig. 8, the assembly structure segment of the controllable segment 4 of the self-contact flexible robot can be divided into a front controllable segment 404 and a rear controllable segment 405;
an assembly body of a controllable section 4 of a self-contact flexible robot comprises a cylindrical joint part 401 of a controllable section body, a skeleton beam part 402 of the controllable section and a self-contact joint part 403 of the controllable section;
as shown in fig. 9, an enlarged schematic structure 406 of the front end portion of the controllable section 4 of the self-contact flexible robot is provided with different numbers and positions of the driving wire working channels 407 and the framework beam assembly channels 408 of the controllable section 4 of the self-contact flexible robot in cross section.
As shown in fig. 8 and 9, the cylindrical joint members 401 of the controllable segment and the self-contacting joint members 403 of the controllable segment are arranged and fixed in a certain number and at certain intervals in the length direction of the skeleton beam members 402 of the controllable segment as required, wherein the self-contacting joint members 403 of the controllable segment are arranged in an end-to-end contact manner, and the skeleton beam members 402 of the controllable segment pass through rectangular skeleton beam member installation channels 408 arranged in the cylindrical joint members 401 of the controllable segment and the self-contacting joint members 403 of the controllable segment;
the driving wires 1 for driving and sensing integration are respectively assembled in the working channels at the positions of the front end controllable section 404 and the rear end controllable section 405, and different forms of the self-contact flexible robot controllable section 41 in the bidirectional bending deformation state can be realized by applying stretching operations of different forces to the tail ends of the integrated driving wires 1 according to a certain sequence, so that the flexibility and the efficiency of the flexible robot operation are improved, and the bending deformation state in a three-dimensional space can be realized according to different structural characteristic designs of the flexible robot.
As shown in fig. 1, 2, 10 and 11, an assembly structure of a controllable section of a cross-axis type flexible robot mainly comprises the integrated driving wire 1 and a controllable section 5 of the cross-axis type flexible robot.
As shown in fig. 10, a cross-axis flexible robot controllable section assembling structure section can be divided into a front controllable section 503 and a rear controllable section 504;
a cross-axis type flexible robot controllable section 5 assembly comprises a controllable section outer side piece 501 and a controllable section outer side piece 502;
the outer side part 501 of the controllable section and the inner side part 502 of the controllable section are coaxially assembled in an outer-inner nesting mode, wherein the inner surface of the outer side part 501 and a driving wire working channel designed on the outer surface of the inner side part 502 are coaxially assembled, and the positioning through holes on the tail surfaces of the outer side part 501 and the inner side part 502 are coaxially assembled;
as shown in FIG. 11, an enlarged schematic configuration 505 of the leading end portion of a controllable section of a cross-axis flexible robot is provided with two symmetrically positioned working channels 506 for drive wires of the controllable section of the cross-axis flexible robot.
As shown in fig. 10 and 11, one driving wire 1 for driving and sensing integrated integration is respectively assembled in the working channel where the front end controllable section 503 and the rear end controllable section 504 are located, the installation positions of the integrated driving wires 1 are arranged according to a preset bending shape, and different forms of the controllable section 51 of the cross shaft type flexible robot in the bidirectional bending deformation state can be realized by applying stretching operations of different forces to the tail ends of different integrated driving wires 1 according to a certain sequence, so that the flexibility and the efficiency of the operation of the flexible robot are improved, and the bending deformation state of a three-dimensional space can be realized according to different structural characteristic designs of the flexible robot.
The invention discloses a force or force shape perception integrated driving wire of a flexible robot and an application method thereof, belongs to the field of medical robot application, and is also suitable for other application fields. The driving wire used in the method comprises a driving wire head end part, an optical fiber sensor of a customized wavelength optical Fiber Bragg Grating (FBG) and a coating pipe part which can be increased according to the use requirement, wherein the Bragg optical fiber gratings with customized quantity and intervals are etched on each fiber core of the optical fiber sensor along the length direction according to the requirement, the Bragg optical fiber gratings can be single-core optical fibers or multi-core optical fibers, and a coating pipe according to the use requirement can be arranged on the surface of the optical fibers; the invention can be customized according to actual conditions and is suitable for various application scenes. The invention can supplement the defects of the sensor and the driving wire application in the controllable section of the traditional wire-driven flexible robot, overcomes the defects that the traditional wire-driven flexible robot is not easy to be miniaturized in design and has single application functionality of the driving wire, can realize the integration of a single driving wire and an optical fiber sensor based on FBG (fiber Bragg Grating) in a single working channel, the real-time integrated perception of the shape of the flexible robot and the multipoint external contact force of a structural body and the flexible driving of the deformation of the flexible robot, is suitable for most types of wire-driven flexible robots, has important application values on the minimally invasive performance, the effectiveness, the safety and the like of auxiliary medical operations, and has applicability to the application of the wire-driven flexible robot in other fields.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A force or force shape perception integrated driving wire of a flexible robot is characterized by comprising: an optical fiber sensor;
the optical fiber sensor comprises an optical fiber Bragg grating which is etched along the length direction of the optical fiber main body according to the use requirement;
the optical fiber main body is made of optical fiber materials with the strength and the toughness meeting preset requirements.
2. The force or force shape sensing integrated driving wire of a flexible robot according to claim 1, wherein the force or force shape sensing integrated driving wire of a flexible robot comprises a single core optical fiber sensor or a multi core optical fiber sensor with a preset wavelength interval.
3. The force or force shape sensing integrated drive wire of a flexible robot according to claim 1, further comprising: the outer surface of the optical fiber body is provided with a cladding tube according to requirements.
4. The force or force-shape sensing integrated drive wire of a flexible robot of claim 3, wherein the cladding tube is made of a material with super-elastic characteristics, including nitinol and polymers.
5. An application method of a force or force shape sensing integrated driving wire of a flexible robot is characterized in that the application of the force or force shape sensing integrated driving wire of the flexible robot as claimed in any one of claims 1 to 4 comprises the following steps:
enabling the first end parts of the integrated driving wires to penetrate out of the controllable bending section structure of the robot through the driving wire working channel, and enabling the second end parts of the integrated driving wires to be of a spherical structure, wherein the diameter of the second end parts of the integrated driving wires is larger than that of the driving wire working channel;
the driving wire working channels are distributed on the axial line cross section of the controllable bending section structure of the robot at different positions according to requirements.
6. The application method of the force or force shape perception integrated driving wire of the flexible robot is characterized in that the controllable bending section structure of the robot is provided with different types according to different requirements;
the controllable curved segment structure of robot includes: the robot controllable bending section structure is of a symmetrical groove type structure, the robot controllable bending section structure is of an asymmetrical groove type structure, the robot controllable bending section structure is of a self-contact type, and the robot controllable bending section structure is of a cross shaft type.
7. The method for applying force or force shape perception integrated driving wires of a flexible robot according to claim 5, further comprising: and the integrated driving wires are assembled in the driving wire working channel of the controllable section of the flexible robot and penetrate through the supporting structure to be connected with the driving mechanism and the fiber bragg grating demodulator.
8. The application method of the force and shape perception integrated driving wire of the flexible robot as claimed in claim 5, characterized by comprising:
step M1: determining the number and the length of the integrated driving wires and the specific position of a driving wire working channel on the controllable section of the flexible robot according to the structural characteristics of the applied flexible robot and the requirement of a preset bending deformation state;
step M2: determining the number and the positions of fiber Bragg gratings on the optical fiber sensor in each integrated driving wire according to the force or force shape sensing requirement required to be acquired by the applied flexible robot;
step M3: the driving mechanism applies different driving pulling forces to the connected integrated driving wires according to a certain sequence, and the controllable section of the flexible robot obtains a required space bending shape;
step M4: the fiber bragg grating sensor demodulator connected with the tail end of the integrated driving wire obtains real-time data fed back by the fiber bragg grating sensor, and force or force shape sensing information distribution of each driving wire along the axial direction is obtained through data processing.
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| CN202110169237.2A CN112985656B (en) | 2021-02-07 | 2021-02-07 | Force or force shape sensing integrated driving wire of flexible robot and application method thereof |
| PCT/CN2021/115524 WO2022166183A1 (en) | 2021-02-07 | 2021-08-31 | Force or force shape sensing integrated driving wire for flexible robot and application method of integrated driving wire |
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| CN202110169237.2A CN112985656B (en) | 2021-02-07 | 2021-02-07 | Force or force shape sensing integrated driving wire of flexible robot and application method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022166183A1 (en) * | 2021-02-07 | 2022-08-11 | 上海交通大学 | Force or force shape sensing integrated driving wire for flexible robot and application method of integrated driving wire |
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| WO2022166183A1 (en) | 2022-08-11 |
| CN112985656B (en) | 2022-03-11 |
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