CN113208737B

CN113208737B - Limited continuum for single-hole surgical robot

Info

Publication number: CN113208737B
Application number: CN202110638628.4A
Authority: CN
Inventors: 杜付鑫; 曾汉; 张钢; 魏礼艳; 丰潇迪; 宋锐; 李贻斌
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2023-04-28
Anticipated expiration: 2041-06-08
Also published as: CN113208737A

Abstract

The invention discloses a limited continuum for a single-hole surgical robot, which solves the problem of limited working space of the surgical robot in the prior art, has the beneficial effects of ensuring the working space of the robot and avoiding interference with other instruments, and comprises the following specific scheme: the limited continuum comprises at least two sections, wherein each section comprises a plurality of structures which are movably connected in sequence, the end part of one section of flexible arm is fixedly connected with a fixed table, a group of driving wires penetrate through the interior of each section of flexible arm, and each group of driving wires are connected with the structures of the corresponding section and drive the flexible arm to act through the action of the driving wires; the driving mechanism is connected with at least one group of driving wires and used for driving at least one section of flexible arm to act; the wire tightening mechanism is connected with a driving wire in at least one section of flexible arm close to the fixed table and used for driving the flexible arm of the corresponding section close to the fixed table to act.

Description

Limited continuum for single-hole surgical robot

Technical Field

The invention relates to the field of medical instruments, in particular to a limited continuum which can be used for a single-hole surgical robot.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In the process of operating on a patient by a doctor, the use of surgical robots is becoming more and more widespread. The surgical robot has high efficiency, small incision and stable operation, and the common conventional surgery can hardly meet the requirements.

Because the traditional operation robot consists of rigid joint connecting rods, the movement flexibility is poor, the space occupation ratio is large, the operation can not be freely and flexibly performed in a natural cavity channel or a minimally invasive incision of a human body, and the continuous operation robot with good bending capability becomes an important research direction. Because the natural cavity channel of the human body or the inside of the minimally invasive incision is narrow and has a complex structure, the traditional rigid connecting rod actuator has limited motion capability in space, and is difficult to effectively enter a target focus of a patient, and the possibility that the surgical robot system performs surgical operation in a narrow nonlinear environment is difficult to meet. The traditional surgical robot has the problems that the traditional surgical robot cannot be unfolded enough operation space, the phenomenon that the instruments can not be unfolded normally and collide with each other due to mutual interference between the instruments during working is easy to occur, and the traditional surgical robot system needs to adopt a multi-section continuous body or a rigid structure with complex series connection, so that the structure is complex, the volume of the surgical robot is increased, and the miniaturization is not facilitated.

Therefore, the inventor finds that the problem that the operation space of the traditional operation robot system is limited is not well solved, and the phenomenon that the operation space is insufficient during operation still exists.

Disclosure of Invention

Aiming at the defects existing in the prior art, the invention aims to provide the limited continuum which can be used for the single-hole surgical robot, and the limited continuum can automatically expand the operation space, so that the effects of avoiding the phenomena of incapability of normal expansion and mutual collision due to mutual interference during the working between instruments can be achieved. At the same time, such a continuum simplifies the mechanical structure for deploying the operating triangle, reducing to some extent the complexity and cost of the operation.

In order to achieve the above object, the present invention is realized by the following technical scheme:

a constrained continuum usable with a single-hole surgical robot, comprising:

the flexible arm comprises at least two sections, two adjacent sections of flexible arms are connected, each section comprises a plurality of structures which are movably connected in sequence, the end part of one section of flexible arm is fixedly connected with the fixed table, a group of driving wires penetrate through the interior of each section of flexible arm, each group of driving wires are connected with the structures of the corresponding section, and the flexible arm is driven to move through the action of the driving wires;

the driving mechanism is connected with at least one group of driving wires and used for driving at least one section of flexible arm to act;

the wire tightening mechanism is connected with a driving wire in at least one section of flexible arm close to the fixed table and used for driving the flexible arm of the corresponding section close to the fixed table to act.

The limited continuum comprises a plurality of sections, each section is controlled by a group of driving wires, and the driving wires are respectively driven by the driving mechanism and the wire tightening mechanism to act, so that the flexible arms can freely expand the working space required by the operation, the flexible operation of the operation robot system is ensured to be flexibly developed, the expanding mode of the operation space of the single-hole robot is improved, the complex mechanical structure is avoided, and the cost and the volume of the actuator are reduced; on the basis of completely meeting the operation requirement, the operation steps are simplified, and the operation difficulty is reduced, so that the operation time is saved.

The limited continuum for the single-hole surgical robot further comprises a feeding mechanism, wherein the feeding mechanism is connected with the driving mechanism to drive the flexible arm to realize linear motion;

the fixed table is fixedly connected with the fixed end of the driving mechanism, and the wire tightening mechanism part is supported by the fixed end of the feeding mechanism, so that the driving mechanism can enable the fixed table to move simultaneously when moving along with the feeding mechanism.

A constrained continuum usable with a single-hole surgical robot as described above, the flexible arm comprising two connected segments, wherein one end of one segment of flexible arm is connected to the stationary table by a connecting tube, typically a rigid tube;

the driving mechanism is connected with a first group of driving wires, the wire tightening mechanism is connected with a second group of driving wires, the two groups of driving wires sequentially penetrate through the fixed table and the connecting pipe, and each driving wire in the first group of driving wires penetrates through one section of flexible arm close to the connecting pipe and then is connected with the other section of flexible arm.

The limited continuum applicable to the single-hole surgical robot comprises a plurality of linear pushing mechanisms, wherein each linear pushing mechanism is connected with one driving wire in the first group of driving wires, each driving wire in the first group of driving wires is driven to move through the linear pushing mechanism, and the flexible arm is driven to move through different movements of each driving wire.

One end of each driving wire in the first group of driving wires is connected with a wire tightening knob, the other end of each driving wire is connected to the flexible arm by bypassing a plurality of guide wheels in turn, and the driving wires are tightened by rotating the wire tightening knob before use;

the wire tightening knob is fixed on a bottom plate, and the bottom plate is used for supporting the linear pushing mechanism.

The limited continuum applicable to the single-hole surgical robot, wherein a plurality of driving wires are arranged in the first group of driving wires, the linear pushing mechanism comprises a plurality of positions, and each linear pushing mechanism is connected with one driving wire;

when the linear pushing mechanism is arranged at the position 4, the plane where the central axis of the linear pushing mechanism at the position 4 is positioned forms a cross plane, so that four driving wires are arranged up and down and left and right to provide deflection and pitching degrees of freedom for the flexible arm.

The limited continuum which can be used for the single-hole surgical robot is characterized in that the driving mechanism is supported by a first plate and a second plate, the first plate and the second plate are oppositely arranged, a side plate is arranged between the first plate and the second plate, the first plate and the second plate are arranged up and down, the side plate is respectively connected with the first plate and the second plate, and the bottom plate is supported by the first plate, the second plate and the side plate;

the second plate is connected with the feeding mechanism and the fixed table.

The limited continuum applicable to the single-hole surgical robot comprises a feed mechanism, wherein a sliding table of the feed mechanism is connected with the driving mechanism;

one end of the feeding mechanism is provided with a connecting plate, and at least one side of the connecting plate is fixed with a tightening knob fixing platform.

A constrained continuum usable with a single hole surgical robot as described above, the tightening mechanism comprising a tightening knob for securing one end of the second set of drive wires, the tightening knob secured to the tightening knob securing platform;

the other end of the second group of driving wires bypasses a plurality of guide wheels and passes through the fixed table to be connected with the flexible arm, and part of the guide wheels are fixed on the fixed table;

the second group of driving wires are provided with a plurality of driving wires, and the number of the driving wires can be more than 4, the driving wires are equally divided into two groups, one end of each group of driving wires is respectively fixed on a corresponding tightening knob, the tightening knob can adjust the tightness degree of each driving wire in the second group of driving wires, when the feeding mechanism drives the driving mechanism to linearly move, the guide wheels arranged on the fixed table move together, the second group of driving wires bypass the guide wheels, and can drive the tensioning of the second group of driving wires, so that the flexible arms are driven to be unfolded into an S shape, and the operation space is convenient to unfold.

The limited continuum applicable to the single-hole surgical robot comprises a screw rod, wherein the screw rod is provided with a sliding table screw nut, the sliding table screw nut is provided with a guide wheel, the tightening knob is fixed on a tightening fixed plate, the tightening fixed plate is provided with the guide wheel, and a guide wheel fixed block or a guide wheel fixed table is arranged close to the fixed table;

the driving wires in part of the first group of driving wires sequentially bypass the guide wheels arranged on the wire tightening fixing plate, the guide wheels arranged on the guide wheel fixing block, the guide wheels arranged on the sliding table lead screw nut and the guide wheels arranged on the guide wheel fixing table, and the height and the movement track of the driving wires can be effectively restrained through the arrangement of a plurality of guide wheels, so that the wire winding and paying-off accuracy is improved;

and part of the first group of driving wires sequentially bypass the guide wheels arranged on the wire tightening fixing plate, the guide wheels arranged on the guide wheel fixing block and the guide wheels arranged on the sliding table screw nut, then pass through the fixing table to enter the flexible arm, pass through a section of the flexible arm close to the connecting pipe and then are connected with a section of the flexible arm far away from the connecting pipe, pass through each structure of the section of the flexible arm and are fixedly connected with each structure.

The beneficial effects of the invention are as follows:

1) According to the invention, one section of the flexible arm is driven by one group of driving wires of the feeding mechanism, so that the flexible arm can freely expand a working space required during operation, the problem that instruments are mutually interfered to block operation in the operation process can be avoided, and meanwhile, the other section of the flexible arm is driven by the other group of driving wires through the driving mechanism, so that the operation robot system can be ensured to flexibly develop operation.

2) The invention reduces the volume of the operation system through the arrangement of the integral structure, and is beneficial to the trend of the conversion of the operation robot system to microminiaturization; on the premise of ensuring the complete expansion of the operation space, the mechanical structure of the operation triangle is simplified, the volume and the operation difficulty of the end effector are reduced, and the strength of the flexible arm is improved; the overall design can better improve the performance of the surgical robot, meet the surgical requirement, improve the success rate of surgery, and enable the surgical robot to better serve the medical industry.

3) According to the invention, through the arrangement of the feeding mechanism, the linear motion of the driving mechanism and the flexible arm can be effectively driven, the wire tightening mechanism can be supported, and the arrangement of other structures is matched, so that the whole structure of the limited continuum is reasonable in arrangement.

4) According to the invention, the flexible arms are arranged in sections, and the motion of each section of flexible arm is controlled by each driving wire, so that the flexible arms have multiple degrees of freedom, the flexibility of the flexible arms is improved, the complete expansion of an operation space can be realized, and the space requirement of an operation is met.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic illustration of a constrained continuum that may be used with a single-hole surgical robot in accordance with one or more embodiments of the present invention.

Fig. 2 is a schematic view of a limited continuum in which the present invention may be used in a single hole surgical robot, according to one or more embodiments.

FIG. 3 is a schematic diagram of a constrained continuum that may be used with a single-hole surgical robot in accordance with one or more embodiments of the present invention.

Fig. 4 is a schematic view of a first linear pushing mechanism in a constrained continuum that may be used in a single hole surgical robot in accordance with one or more embodiments of the invention.

Fig. 5 is a schematic view of a second linear pushing mechanism in a constrained continuum that may be used in a single hole surgical robot in accordance with one or more embodiments of the invention.

Fig. 6 is a schematic view of a third linear pushing mechanism in a constrained continuum that may be used in a single hole surgical robot in accordance with one or more embodiments of the invention.

Fig. 7 is a schematic view of a fourth linear pushing mechanism in a constrained continuum that may be used in a single hole surgical robot in accordance with one or more embodiments of the invention.

FIG. 8 is a schematic illustration of a wire-tie mechanism in a constrained continuum that may be used with a single-hole surgical robot in accordance with one or more embodiments of the invention.

FIG. 9 is a schematic view of a flexible arm in a constrained continuum that may be used with a single-hole surgical robot in accordance with one or more embodiments of the invention.

In the figure: the mutual spacing or dimensions are exaggerated for the purpose of showing the positions of the various parts, and the schematic illustration is only schematic.

Wherein: 1 is a mechanical arm, 2 is a steel pipe, 3 is a fixed base, 4 is a first tightening knob fixed platform, 5 is a first tightening knob fixed plate, 6 is a second tightening knob fixed plate, 7 is a first plate, 8 is a first bottom plate, 9 is a first side plate, 10 is a first corner fixed piece, 11 is a second corner fixed piece, 12 is a second side plate, 13 is a second bottom plate, 14 is a third corner fixed piece, 15 is a fourth corner fixed piece, 16 is a second plate, 17 is a third tightening knob fixed plate, and 18 is a second tightening knob fixed platform;

19 is a connecting plate, 20 is a left side plate, 21 is a first sliding table, 22 is a first heightening block, 23 is a second heightening block, 24 is a first track, 25 is a lead screw, 26 is a lead screw supporting block, 27 is a bearing, 28 is a coupler, 29 is a motor, 30 is a right side plate, 31 is a second track, 32 is a nut, and 33 is a bottom plate;

34 is a fifth corner fixing piece, 35 is a first tightening knob, 36 is a second tightening knob, 37 is a first guide wheel, 38 is a second guide wheel, 39 is a third side plate, 40 is a third tightening knob, 41 is a third guide wheel, 42 is a sixth corner fixing piece, 43 is a fourth guide wheel, 44 is a fourth tightening knob, 45 is a fifth tightening knob, 46 is a fifth guide wheel, 47 is a sixth guide wheel, 48 is a third bottom plate, 49 is a seventh guide wheel, 50 is a seventh guide wheel fixing block, 51 is a fourth side plate, 52 is a sixth tightening knob, 53 is an eighth guide wheel, 54 is a seventh tightening knob, 55 is an eighth tightening knob;

56 is a fourth bottom plate, 57 is a first guide rail, 58 is a first slide block, 59 is a first bearing, 60 is a first support block, 61 is a first screw fixing table, 62 is a ninth guide wheel, 63 is a first driving line, 64 is a tenth guide wheel, 65 is an eleventh guide wheel, 66 is a guide wheel fixing block, 67 is a twelfth guide wheel, 68 is a first wire tightening platform, 69 is a first slide block connection, 70 is a first sliding table screw nut, 71 is a first screw, 72 is a first coupling, 73 is a first motor fixing table, and 74 is a first motor;

75 is a second driving wire, 76 is a second supporting block, 77 is a second bearing, 78 is a second lead screw fixing table, 79 is a second lead screw, 80 is a second sliding block, 81 is a second sliding block connecting piece, 82 is a second sliding table lead screw nut, 83 is a second guide rail, 84 is a second coupling, 85 is a second motor fixing table, 86 is a second motor, 87 is a second wire tightening platform, and 88 is a thirteenth guide wheel;

89 is a third driving line, 90 is a guide wheel fixing table, 91 is a fourteenth guide wheel, 92 is a fifteenth guide wheel, 93 is a sixteenth guide wheel, 94 is a third supporting block, 95 is a seventeenth guide wheel, 96 is a third bearing, 97 is a third lead screw fixing table, 98 is a third lead screw, 99 is a third wire tightening platform, 100 is a third slider, 101 is a third slider connection, 102 is a third sliding table lead screw nut, 103 is a third guide rail, 104 is a third coupling, and 105 is a third motor;

106 is a fourth driving wire, 107 is an eighteenth guide wheel, 108 is a nineteenth guide wheel, 109 is a fourth slider connecting piece, 110 is a fourth sliding table lead screw nut, 111 is a fourth slider, 112 is a twentieth guide wheel, 113 is a fourth wire tightening platform, 114 is a fourth guide rail, 115 is a fourth lead screw, 116 is a fourth coupling four, 117 is a fourth motor fixed table, 118 is a fourth motor, 119 is a fourth lead screw fixed table, 120 is a fourth bearing, and 121 is a fourth supporting block;

122 is a twenty-first guide wheel, 123 is a first guide wheel support, 124 is a twenty-second guide wheel, 125 is a fifth drive line, 126 is a sixth drive line, 127 is a twenty-third guide wheel, 128 is a second guide wheel support, 129 is a twenty-fourth guide wheel, 130 is a dividing guide plate, 131 is a twenty-fifth guide wheel, 132 is a third guide wheel support, 133 is a twenty-sixth guide wheel, 134 is a seventh drive line, 135 is an eighth drive line, 136 is a twenty-seventh guide wheel, 137 is a twenty-eighth guide wheel, 138 is a fourth guide wheel support, and 139 is a third motor mount.

Detailed Description

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms also are intended to include the plural forms unless the present invention clearly dictates otherwise, and furthermore, it should be understood that when the terms "comprise" and/or "include" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;

term interpretation section: the terms "mounted," "connected," "secured," and the like in the present invention are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the terms are used herein as specific meanings as understood by those of ordinary skill in the art, and are not limited to the following terms.

As described in the background art, there is a problem in the prior art that the space of the surgical robot is limited, and in order to solve the above technical problem, the present invention proposes a limited continuum that can be used for a single-hole surgical robot.

In an exemplary embodiment of the present invention, referring to fig. 1, a limited continuum usable with a single hole surgical robot includes a feeding mechanism, a driving mechanism, a wire tightening mechanism, and a flexible arm, wherein the driving mechanism is used for driving one set of driving wires, the wire tightening mechanism is used for adjusting the tensioning condition of the other set of driving wires, each driving wire of the two sets of driving wires passes through the flexible arm, and the feeding mechanism is connected with the driving mechanism and is used for driving the flexible arm to act through the driving mechanism.

Referring to fig. 2, the feeding mechanism includes a slide table 21, the slide table 21 is located under the test platform, and an elevating block may be disposed on the upper surface of the slide table 21 and connected with the driving mechanism through the elevating block, a screw rod 25 is disposed through the slide table 21, one end of the screw rod is connected with a motor 29, and the other end is connected with a connection plate.

It will be appreciated that the two ends of the screw rod are respectively supported by the side plates, one side is the left side plate 20, the other side is the right side plate 30, the bottom ends of the two side plates are the bottom plate 33, the bottom plate realizes the connection of the left side plate and the right side plate, the bottom plate 33 is respectively provided with guide rails on the two sides of the screw rod, one side is the first rail 24, the other side is the second rail 31, the first sliding table can realize linear movement along the two rails, the side part of the bottom plate is provided with a plurality of movable nuts 32, the movable nuts can be matched with screws, and before the screws are screwed in, the movable nuts can transversely and freely move. After tightening the screw, the screw is pressed against the bottom plate and the movable nut will be fixed. Therefore, the position of the nut on the bottom plate can be flexibly adjusted according to the hole position on the bottom plate, and the bottom plate can be more conveniently fixed; the bottom plate is made of aluminum alloy sections, the outer contour of the bottom plate is machined, and the bottom plate is troublesome in punching of threaded holes, so that movable nuts are arranged.

In addition, the motor is located one side of the right side plate, and the motor rotating shaft passes through the right side plate and then is provided with the coupler 28, the coupler 28 is connected with the screw rod, the screw rod supporting block 26 is arranged between the screw rod and the coupler, and the bearing 27 is arranged between the screw rod supporting block and the screw rod, so that the screw rod rotates.

The connecting plate 19 is L-shaped, one side of the connecting plate, which is shorter, is connected with one end of the screw rod, the other side of the connecting plate is parallel to the direction of the screw rod, a clamping groove is formed in the lower part of one side of the connecting plate, the longitudinal section of the clamping groove is U-shaped, and the clamping groove can be clamped with the left side plate to realize that the connecting plate is arranged at the left side plate; the two sides of the longer side of the connecting plate are respectively provided with an extension section, and the extension sections are used for being connected with the wire tightening mechanism.

In addition, the middle section of the inner side of the connecting plate 19 is provided with a notch with a set length.

In this embodiment, two heightening blocks are provided, including a first heightening block 22 and a second heightening block 23, and the two heightening blocks are disposed up and down and are fixedly connected with the first sliding table 21.

Further, referring to fig. 1 and 3, the driving mechanism includes a plurality of linear pushing mechanisms, each linear pushing mechanism drives each driving line of the feeding mechanism to move, the driving mechanism includes a first plate 7 and a second plate 16, the first plate and the second plate are arranged up and down and are spaced by a set distance, the second plate is connected with the feeding mechanism, and the first plate and the second plate are connected through a plurality of side plates.

In some examples, 4 side plates are provided, the 4 side plates are located on two sides of the feeding mechanism respectively, a set distance is formed between the two side plates on each side, each side plate is perpendicular to the first plate, connection is achieved between the side plates and the first plate and the second plate through corner fixing pieces, for example, the first side plate 9 and the first plate are fixed through first corner fixing pieces 10, the first side plate and the second side plate are oppositely arranged, the second side plate 12 and the first plate are connected through second corner fixing pieces 11, the second side plate and the second plate are connected through fourth corner fixing pieces 15, and the fourth side plate and the first plate are clamped through third corner fixing pieces 14.

It will be appreciated that each corner fastener is L-shaped and the structure is identical, and specifically, each corner fastener is provided with a second elongated hole, and the first plate, the second plate or each side plate is provided with a first elongated hole, and the first plate and the side plate, or the second plate and the side plate, are connected by passing through the second elongated hole and the first elongated hole by bolts.

It should be noted that the length of the first elongated hole is greater than the length of the second elongated hole, and the length direction of the first elongated hole is perpendicular to the length direction of the second elongated hole.

A first bottom plate 8 is connected between the first side plate and the third side plate 39, a second bottom plate 13 is connected between the second side plate and the fourth side plate, a third bottom plate is arranged below the first plate, a fourth bottom plate is arranged above the second plate, each bottom plate is used for supporting each linear pushing mechanism, and the linear pushing mechanisms are used for driving paying-off or taking-up of each driving wire of the feeding mechanism.

In the present embodiment, the linear pushing mechanism is a screw mechanism, but of course, in other examples, the linear pushing mechanism may be another type of linear pushing mechanism.

Referring to fig. 4, the first linear pushing mechanism includes a first driving motor 74 mounted on a first motor fixing table 73 supported by the fourth bottom plate 56, and controls the first screw 71 to rotate so that the first sliding table screw nut 70 moves along the first screw to drive the first driving wire 63 to take up and pay out.

Further, the fourth bottom plate is fixed with first guide rail 57, first slip table lead screw nut 70 cooperates with first guide rail 57 through first slider 58, set up first shaft coupling 72 between first lead screw and the first driving motor, the other end of first lead screw supports in the fourth bottom plate through first lead screw fixed station 61, first lead screw fixed station 61 supports first lead screw through first bearing 59, the tip that first lead screw fixed station 61 kept away from first lead screw sets up first supporting shoe 60, first supporting shoe 60 is used for supporting first bearing 59, one side of first supporting shoe sets up leading wheel fixed block 66, leading wheel fixed block 66 is used for supporting fourth leading wheel 64 and eleventh leading wheel 65, eleventh leading wheel 65 is higher than fourth leading wheel 64 setting for the fourth bottom plate.

One end of the first driving wire is fixed on the sixth wire tightening knob 52 through a plurality of guide wheels, and the other end of the first driving wire passes through the inside of the flexible arm through the guide wheels to drive the flexible arm to complete the required action. The sixth wire takeup knob is turned to tighten the first drive wire before use, and in this embodiment, the sixth wire takeup knob 52 is secured to a side of the fourth base plate 56.

From the sixth wire tightening knob 52 to the fixed base, the first driving wire is disposed around the plurality of guide wheels, specifically, the ninth guide wheel 62, the eighth guide wheel 53, the tenth guide wheel 64, and the twelfth guide wheel 67, and in this embodiment, the ninth guide wheel 62, the eighth guide wheel 53, and the tenth guide wheel 64 are located at three vertexes of a right triangle in view of arrangement of the structure.

A first tightening platform 68 is installed on one side of the first sliding table screw nut 70, a twelfth guide wheel 67 is installed through the first tightening platform 68, and a first slider connecting piece 69 is installed on the other side of the first sliding table screw nut 70 and used for installing the first slider 58.

Further, the sixth tightening knob 52 is supported by the third tightening knob fixing plate 17, and the third tightening knob fixing plate 17 is attached to the outside of the fourth side plate 51.

Referring to fig. 5, the second linear pushing mechanism for driving the second driving wire 75 to wind and pay-off includes a second motor 86 fixed to the third base plate through a second motor fixing table, the second motor being connected to the second screw through a second coupling 84, whereby the second screw 79 is located under the third base plate, the other end of the third screw, which is far from the second coupling, is supported by the second screw fixing table 78, a second supporting block 76 is installed at one side of the second screw fixing table 78, the second screw is supported by the second bearing 77 at the second screw fixing table, and accordingly, a second guide rail 83 is provided to the second base plate, and a second slide table screw nut 82 provided to the second screw is engaged with the second guide rail 83.

In order to realize the driving of the second driving wire, a thirteenth guide wheel 88 is fixed on the second sliding table screw nut 82, one end of the second driving wire is fixed on the third wire tightening knob 40, and then sequentially bypasses the second guide wheel 38, the first guide wheel 37, the eleventh guide wheel 65 and the thirteenth guide wheel 88 of the guide wheel fixing block, and reaches the flexible arm, wherein the second guide wheel 38, the first guide wheel 37 and the eleventh guide wheel 65 are positioned at three vertexes of a right triangle.

A second wire tightening platform 87 is arranged on one side surface of the second sliding table screw nut 82, a thirteenth guide wheel 88 is arranged through the second wire tightening platform, and a second sliding block connecting piece 81 is arranged on the other side surface of the second sliding table screw nut 82 and used for installing a second sliding block 80.

The third tightening knob 40 is supported by the first tightening knob fixing plate 5, and the first tightening knob fixing plate 5 is installed at the outer side of the third side plate.

Referring to fig. 6, the third linear pushing mechanism for driving the third driving wire take-up and pay-off includes a third motor 105 supported on the first base plate 8 by a third motor fixing table 139, the third motor being connected with a third screw 98 by a third coupling 104, the third screw being provided with a third slide screw nut 102, the third slide screw nut being engaged with a third guide rail 103 by a third slider 100, the end of the third screw being also supported by a third screw fixing table 94, the third screw fixing table 94 supporting the third screw by a third bearing 96.

One end of the third driving wire 89 is fixed by the fifth wire tightening knob 45, then sequentially goes around the fourth guide wheel 43, the third guide wheel 41, the fifteenth guide wheel 92 and the fourteenth guide wheel 91, and then enters the flexible arm through the fixed base 3.

The fifth tightening knob 45 is supported by the second tightening knob fixing plate 6, the second tightening knob fixing plate 6 is U-shaped, the second tightening knob fixing plate 6 is positioned above the first plate and can be supported by the first plate, the fourth guide wheel 43 and the third guide wheel 41 are positioned on the side wall of the second tightening knob fixing plate 6, the central shafts of the two guide wheels are in the horizontal direction, the fifteenth guide wheel 92 and the fourteenth guide wheel 91 are supported by the guide wheel fixing table 90, the interval between the fifteenth guide wheel 92 and the fourteenth guide wheel 91 is set with a set distance, and the central shafts of the fifteenth guide wheel 92 and the fourteenth guide wheel 91 are in the vertical direction, so that the height and the movement track of the third driving line can be restrained, and the wire winding and paying-off accuracy is improved;

a third tightening platform 99 is installed on one side of the third sliding table screw nut 102, a seventeenth guide wheel 95 is installed through the third tightening platform, and a third slider connecting piece 101 is installed on the other side of the third sliding table screw nut 102 for installing a third slider 100.

The guide wheel fixing table 90 is positioned inside the fixing table and supported by the second plate, and similarly, the fixing table is also supported by the second plate.

Referring to fig. 7, the fourth linear pushing mechanism for driving the fourth driving wire 106 to move includes a fourth motor 118 fixed to the second base plate 13 through a fourth motor fixing table 117, the fourth motor being connected to a fourth screw 115 through a fourth coupling 116, the second base plate 13 being provided with a fourth guide rail 115, the fourth screw being provided with a fourth sliding table screw nut 110, the fourth sliding table screw nut 110 being provided with a twenty-first guide wheel 112, an end of the fourth screw being provided with a fourth screw fixing table 119, the fourth screw fixing table 119 supporting the fourth screw through a fourth bearing 120, the fourth screw fixing table 119 being provided with a fourth supporting block 121.

A fourth tightening platform 113 is installed on one side of the fourth sliding table screw nut 110, a twenty-second guide wheel 112 is installed through the third tightening platform, and a fourth slider connecting piece 109 is installed on the other side of the fourth sliding table screw nut 110 and used for installing a fourth slider 111.

One end of the fourth driving wire is fixed to the fourth tightening knob 44, the fourth tightening knob 44 is also fixed to the second tightening knob fixing plate 6, the second tightening knob fixing plate is provided with a fifth guide wheel 46 and a sixth guide wheel 47 with respect to the other side where the fourth guide wheel 43 is provided, the fourth driving wire sequentially bypasses the fifth guide wheel 46, the sixth guide wheel 47, the seventh guide wheel 49, the twentieth guide wheel 112, the nineteenth guide wheel 109 and the eighteenth guide wheel 107, and then passes through the fixing base to perform the flexible arm.

Wherein, the central axes of nineteenth leading wheel 109 and eighteenth leading wheel 107 are vertical direction, and all support through leading wheel fixed station, and seventh leading wheel 49 is supported through seventh leading wheel fixed block 50, and seventh leading wheel fixed block accessible curb plate supports, and the central axes of fifth leading wheel 46, sixth leading wheel 47 and seventh leading wheel, twentieth leading wheel 112 are horizontal direction.

Of course, in other examples, fewer guide wheels may be provided, as long as it is ensured that the first drive wire is able to be turned between the sixth tightening knob and the flexible seat.

One end of each driving wire is fixed on the corresponding wire tightening knob through the guide wheel, and the other end of each driving wire passes through each structure body of the flexible arm through the guide wheel to drive the flexible arm to complete corresponding actions.

Referring to fig. 8, a steel pipe 2 is disposed at one end of a flexible arm 1, the end of the steel pipe 2 is connected to a fixed base 3, the fixed base is connected to a fixed table, the bottom of the fixed table is fixed to a second plate 16, the second plate 16 is fixed to a second heightening block, the second plate can be located above a feeding mechanism, and the feeding mechanism can drive the second plate to move, so that the flexible arm is driven to move.

The turnbuckle mechanism includes a plurality of drive wires, each of the turnbuckle fixing platform and the fixing table supports a corresponding guide wheel through a guide wheel support, each of the drive wires of the turnbuckle mechanism is supported through a guide wheel, specifically, in some examples, the second turnbuckle fixing platform supports a twenty-first guide wheel 122 and a twenty-second guide wheel 124 up and down, the fixing table supports a twenty-third guide wheel 127 and a twenty-fourth guide wheel 129 through a second guide wheel support 128 relative to the inner side of the flexible arm, the fifth drive wire 125 enters the flexible arm after winding around the twenty-second guide wheel 124 and the twenty-fourth guide wheel 129, and the sixth drive wire 126 enters the flexible arm after winding around the twenty-first guide wheel 122 and the twenty-third guide wheel 127.

It is to be understood that the second tightening knob fixing platform 18 supports two guide wheels through the first guide wheel support 123, the first guide wheel support 123 may be a fixed shaft, two ends of the fixed shaft are fixed to the second tightening knob fixing platform 18, the second tightening knob fixing platform 18 is disposed on an outer side of the second tightening knob fixing platform relative to the first guide wheel support 123, one end of each driving wire is fixed to the tightening knob, for example, one end of the fifth driving wire 125 is fixed to the seventh tightening knob 54, and one end of the sixth driving wire 126 is fixed to the eighth tightening knob 55.

Meanwhile, a seventh driving wire 134 and an eighth driving wire 135 are supported through a fixing table and a first tightening knob fixing platform 4, the first tightening knob fixing platform supports two guide wheels up and down through a fourth guide wheel support 138, specifically a twenty-seventh guide wheel 136 and a twenty-eighth guide wheel 137, the fixing table supports a twenty-fifth guide wheel 131 and a twenty-sixth guide wheel 133 through a third guide wheel support 132, the seventh driving wire bypasses the twenty-seventh guide wheel 136 and the twenty-fifth guide wheel 131 and then enters a flexible arm, and the eighth driving wire bypasses the twenty-eighth guide wheel 137 and the twenty-sixth guide wheel 133 and then enters the flexible arm.

Likewise, a second tightening knob 36 is provided at one end of the seventh driving wire 134, a first tightening knob 35 is provided at one end of the eighth driving wire 135, and the first tightening knob 35 and the second tightening knob 36 are supported by the first tightening knob fixing platform.

It should be explained that the structures of the tightening knobs mentioned in this embodiment are the same, each tightening knob includes a fixing plate, a connecting rod is disposed at the inner side of the fixing plate, the connecting rod is connected with the driving wire, the fixing plate is fixed, and a knob is disposed at one side of the fixing plate, and the knob passes through the fixing plate and contacts with the connecting rod.

For example, the fixing plate of the seventh tightening knob for adjusting the fifth driving wire is located at the outer side of the second tightening knob fixing platform, and the connecting rod is disposed through the second tightening knob fixing platform.

In addition, a plurality of guide plates are arranged on the inner side of the fixed table to support the second guide wheel support and the third guide wheel support, and it is understood that each guide wheel support is a fixed shaft.

Further, the flexible arm includes at least two sections, and each section includes the structure body of polylith swing joint in proper order, and in this embodiment, the flexible arm sets up two sections of connection altogether.

Specifically, the flexible arm adopts a snake bionic structure, the snake bionic structure comprises a plurality of structures which are arranged side by side, the structures are joints, and are specifically block-shaped structures, two adjacent joints are connected to simulate the spine of the snake body, the flexible arm sequentially passes through all joints at the corresponding section of flexible arm through driving wires, and the muscles of the snake body are simulated through the driving wires.

Here, the driving wires are provided in a plurality, in this embodiment, referring to fig. 9, the flexible arm is provided with two sections of snake-shaped bionic structures, the ends of the two sections of snake-shaped bionic structures are connected in a joint mode, each section of snake-shaped bionic structure is provided with four driving wires in total, the first section of snake-shaped bionic structure comprises a first driving wire 63, a second driving wire 75, a third driving wire 89 and a fourth driving wire 106, the four driving wires are a second group of driving wires, the second section of snake-shaped bionic structure comprises a fifth driving wire 135, a sixth driving wire 126, a seventh driving wire 134 and an eighth driving wire 135, and the four driving wires are a first group of driving wires.

Correspondingly, it can be understood that the four driving wires of the wire tightening mechanism are connected to the second half section of the flexible arm, namely the first section of the snake bionic structure, and are close to one side of the fixed table. Four driving wires of the driving mechanism penetrate through the second half section of the flexible arm to be connected with the first section snake bionic structure of the flexible arm, namely, one side far away from the fixed table, the four driving wires of the wire tightening mechanism penetrate through the second half section of the flexible arm, when the whole limited continuous body is in operation, a screw rod in the feeding mechanism drives the sliding table to move, the four driving wires can be simultaneously tightened, the wire tightening mechanism tightens the four driving wires to the limit, because the tightening degrees of the four driving wires are different, the second half section of the flexible arm bends towards one side, and therefore the working space is expanded, because the driving wires adopt steel wires and cannot stretch, as long as the wire tightening mechanism does not loosen, the second half section of the flexible arm does not move any more.

In addition, the one end of fixed base sets up the lug, is convenient for with the steel pipe connection, and lug department sets up a plurality of through wires holes, and each drive line passes through the through wires hole setting.

The tightening knobs are rotated to adjust the tightness of the driving wires, and the tightness of the driving wires at two sides of the driving mechanism is different, so that the corresponding driving wires are pulled when the driving mechanism feeds;

the screw rod of the feeding mechanism drives the driving mechanism to move, so that the driving wires at two sides of the driving mechanism drive the flexible arms to be unfolded to be S-shaped, and the operation space is convenient to unfold;

namely, the first tightening knob, the second tightening knob, the seventh tightening knob and the eighth tightening knob are rotated at proper angles, so that the fifth driving line, the sixth driving line, the seventh driving line and the eighth driving line have different degrees of tightness.

The motor rotates, and the sliding table moves, and drives the driving mechanism to move through the heightening block. The fifth drive line, the sixth drive line, the seventh drive line, and the eighth drive line are tensioned, and the flexible arm is bent into an S-shape.

And rotating the third tightening knob and the sixth tightening knob to pre-tighten the second driving wire and the first driving wire. The first motor rotates to enable the first sliding table screw nut to move towards the first motor, and the second motor rotates to enable the second sliding table screw nut to move towards the direction away from the second motor. The first driving wire is wound, the second driving wire is wound, and the flexible arm is bent downwards. Likewise, the flexible arms may also be bent upward.

And rotating the fourth tightening knob and the fifth tightening knob to pre-tighten the fourth driving wire and the third driving wire. The fourth motor rotates to enable the fourth sliding table screw nut to move towards the fourth motor, and the third motor rotates to enable the third sliding table screw nut to move away from the third motor. And the fourth driving wire is wound, the third driving wire is wound off, and the flexible arm is bent rightwards. Likewise, the flexible arms may also bend to the left.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A constrained continuum usable with a single-hole surgical robot, comprising: the flexible arm comprises at least two sections, two adjacent sections of flexible arms are connected, each section comprises a plurality of structures which are movably connected in sequence, the end part of one section of flexible arm is fixedly connected with the fixed table, a group of driving wires penetrate through the interior of each section of flexible arm, each group of driving wires are connected with the structures of the corresponding section, and the flexible arm is driven to move through the action of the driving wires;

the flexible arm adopts a snake bionic structure, the snake bionic structure comprises a plurality of structures which are arranged in parallel, the structures are joints, in particular block-shaped structures, two adjacent joints are connected to simulate the spine of the snake, the flexible arm sequentially passes through all joints at the corresponding section of flexible arm through driving wires, and the muscles of the snake are simulated through the driving wires;

the wire tightening mechanism is connected with a driving wire in at least one section of flexible arm close to the fixed table and used for driving the flexible arm of the corresponding section close to the fixed table to act;

four driving wires of the wire tightening mechanism penetrate through the rear half section of the flexible arm, when the whole limited continuum runs, a screw rod in the feeding mechanism drives the sliding table to move, the four driving wires can be simultaneously tightened, and the four driving wires are tensioned to the limit by the wire tightening mechanism, because the tightening degrees of the four driving wires are different, the rear half section of the flexible arm bends towards one side at the moment, so that the working space is expanded;

the feeding mechanism is connected with the driving mechanism to drive the flexible arm to realize linear motion;

the fixed table is fixedly connected with the fixed end of the driving mechanism, and the wire tightening mechanism part is supported by the fixed end of the feeding mechanism;

the flexible arm comprises two sections which are connected, wherein one end of one section of flexible arm is connected with the fixed table through a connecting pipe;

the driving mechanism is connected with a first group of driving wires, the wire tightening mechanism is connected with a second group of driving wires, the two groups of driving wires sequentially pass through the fixed table and the connecting pipe, and each driving wire in the first group of driving wires passes through one section of flexible arm close to the connecting pipe and then is connected with the other section of flexible arm;

the feed mechanism comprises a screw feed mechanism, and a sliding table of the screw feed mechanism is connected with the driving mechanism; one end of the feeding mechanism is provided with a connecting plate, and at least one side of the connecting plate is fixed with a wire tightening knob fixing platform;

the wire tightening mechanism comprises a wire tightening knob which is used for fixing one end of the second group of driving wires and is connected with the second group of driving wires, and the wire tightening knob which is connected with the second group of driving wires is fixed on the wire tightening knob fixing platform;

the second group of driving wires are provided with a plurality of driving wires, the driving wires are equally divided into two groups, and one end of each driving wire of each group of driving wires is respectively fixed on a corresponding wire tightening knob connected with the second group of driving wires.

2. A constrained continuum for a single-hole surgical robot as claimed in claim 1, wherein said drive mechanism comprises a plurality of linear pushing mechanisms, each linear pushing mechanism being connected to one of said first set of drive wires.

3. The constrained continuum of claim 2, wherein each drive wire of the first set of drive wires is connected to a tightening knob of the first set of drive wires, and the other end of each drive wire is connected to the flexible arm sequentially around a plurality of guide wheels;

the wire tightening knob connected with the first group of driving wires is fixed on the bottom plate, and the bottom plate is used for supporting the linear pushing mechanism.

4. A constrained continuum usable with a single-hole surgical robot as claimed in claim 2, wherein said first set of drive wires is co-located with a plurality of drive wires, said linear pushing mechanism comprising a plurality of points, each linear pushing mechanism being connected to one of said drive wires;

when the linear pushing mechanism is arranged at the position 4, the plane where the central axis of the linear pushing mechanism at the position 4 is positioned forms a cross plane.

5. A constrained continuum usable with a single-hole surgical robot according to claim 2, wherein said drive mechanism is supported by a first plate and a second plate disposed opposite each other with a side plate disposed therebetween;

the second plate is connected with the feeding mechanism and the fixed table.

6. A constrained continuum usable with a single hole surgical robot as claimed in claim 3, wherein said linear pushing mechanism comprises a screw having a slip table screw nut with a guide wheel mounted thereon, said tightening knob connected to said first set of drive wires being secured to a tightening base plate having a guide wheel mounted thereon, a guide wheel mounting block or guide wheel mounting table being mounted adjacent to said mounting table;

and part of the first group of driving wires sequentially bypass the guide wheels arranged on the wire tightening fixing plate, the guide wheels arranged on the guide wheel fixing block, the guide wheels arranged on the screw nut of the sliding table and the guide wheels arranged on the guide wheel fixing table.