CN113229935A - Flexible mechanical arm locked by driving wires and endoscope - Google Patents
Flexible mechanical arm locked by driving wires and endoscope Download PDFInfo
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- CN113229935A CN113229935A CN202110705163.XA CN202110705163A CN113229935A CN 113229935 A CN113229935 A CN 113229935A CN 202110705163 A CN202110705163 A CN 202110705163A CN 113229935 A CN113229935 A CN 113229935A
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- wire
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- joint
- horizontal beam
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
Abstract
The invention relates to a flexible mechanical arm locked by a driving wire and an endoscope, and belongs to the technical field of medical instruments. The flexible mechanical arm comprises a starting joint disc, a middle joint disc and a tail end joint disc which are sequentially connected in series through a driving wire and a locking wire, wherein the center of the middle joint disc is provided with a first horizontal beam and a second horizontal beam which are intersected, driving wire holes are respectively formed in the two ends of the first horizontal beam and the two ends of the second horizontal beam, a fixed block is arranged on one side, close to the edge of the joint disc, of the driving wire hole on the middle joint disc, sliding blocks are arranged on the first horizontal beam and the second horizontal beam, a moving block is connected to the locking wire, and the locking wire can be pulled to be clamped tightly along the horizontal beams and close to the fixed blocks through the sliding blocks to lock the mechanical arm.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a flexible mechanical arm locked by a driving wire and an endoscope.
Background
The operation through the natural cavity is the further development of the concept of minimally invasive surgery, an endoscope enters the body through the natural cavity of the digestive tract, the urethra or the vagina of a human body, an operation tool reaches a lesion part through an instrument channel of the endoscope, and the operation such as tumor excision, mucosa stripping, biopsy sampling and the like is implemented by using the operation tool under the feedback of an endoscope image. The current application is mature 'ShapeLock' technology developed by USG I company in America, the shape locking is formed by increasing the tension of a driving wire and increasing the friction force of each unit module piece, but the change of the shape of the continuum needs to be realized by changing the tension of the driving wire, and the difficulty of the operation of the continuum is increased by the overlarge friction force between joints. Although the rigidity of the continuum is changed by applying the particle blocking technology, solid particles need to be filled in the continuum, so that the continuum is too large in volume and cannot be applied to the natural cavity operation environment.
The prior patent discloses a flexible mechanical arm which does not need to use a technology of filling solid particles, and is disclosed in patent No. CN206913146u, the mechanical arm comprises a starting joint disk, a middle connecting disk and a tail end connecting disk, wherein the middle connecting disk and the tail end connecting disk are connected through a driving wire and a locking wire, the angle adjustment of the mechanical arm is realized by the rotation of the middle connecting disk by pulling the driving wire, the locking wire passes through the centers of the middle connecting disk and the tail end connecting disk, a plurality of sliding helical gears are connected on the locking wire, a plurality of incomplete gears are arranged in the central circumferential direction of the middle connecting disk and are all meshed with the sliding helical gears, when the sliding helical gears are driven to move by pulling the locking wire, the locking of the driving wire and the middle connecting disk is realized by the rotation of the incomplete gears, and then the fixation of the mechanical arm under a certain rotation angle is realized, however, the inventor finds that the mechanism for locking the driving wire is complex, the sliding helical gear and the incomplete gear are required to be in sliding fit, the matching precision of the two gears is high, the machining is complex, and the assembly is difficult.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a flexible mechanical arm locked by a driving wire and an endoscope.
The embodiment of the invention provides a flexible mechanical arm locked by a driving wire, which comprises a starting joint disc, a middle joint disc and a tail joint disc which are sequentially connected in series through the driving wire and a locking wire, wherein the center of the middle joint disc is provided with a first horizontal beam and a second horizontal beam which are intersected, driving wire holes are respectively formed in two ends of the first horizontal beam and the second horizontal beam, a fixed block is arranged on one side, close to the edge of the joint disc, of the driving wire hole on the middle joint disc, sliding blocks are arranged on the first horizontal beam and the second horizontal beam, a movable block is connected onto the locking wire, and when the locking wire is pulled, the sliding blocks can drive the sliding blocks to slide along the horizontal beams to be close to the fixed blocks so as to clamp the driving wire to enter the mechanical arm to be locked.
Furthermore, the both sides of middle joint dish are equallyd divide and are do not equipped with a pair of first connecting plate and a pair of second connecting plate, and the connecting wire at the center of two first connecting plates and two second connecting plates is the angular bisector of first horizontal beam and second horizontal beam, and the distance between two second connecting plates is greater than the distance between two first connecting plates, is equipped with circular boss on the lateral surface of first connecting plate, the second connecting plate be equipped with the same semi-circular draw-in groove of circular boss radius, semi-circular draw-in groove can block into on the circular boss.
Further, a connecting line of centers of the two first connecting plates and a connecting line of centers of the two second connecting plates are perpendicular to each other.
Furthermore, a cylinder is arranged at the center of one side of the middle joint plate, a through center hole for a locking screw to penetrate through is formed in the cylinder, and the height of the circle center of the cylinder is the same as that of the circular boss of the first connecting plate.
Furthermore, the moving block is attached to the sliding block through a conical surface, and the moving block moves along the direction departing from the joint plane under the traction of the locking wire so as to extrude the sliding block to move.
Furthermore, the first horizontal beam and the second horizontal beam are both provided with limiting parts, the sliding block is provided with a sliding groove, the limiting parts are arranged in the sliding groove, and the sliding block is provided with a sliding plate attached to the side wall surface of the horizontal beam.
Furthermore, the limiting part is vertically fixed on the surface of the horizontal beam, and the horizontal beam is provided with a fixing hole for fixing the limiting part.
Further, the first horizontal beam and the second horizontal beam are perpendicular to each other.
Furthermore, the driving wire and the locking wire are sleeved with wire sheath tubes.
The embodiment of the invention also provides an endoscope, which comprises the flexible mechanical arm locked by the driving wire.
The endoscope further comprises a driving mechanism, the driving mechanism comprises a driving wire driving motor and a locking wire driving motor, a driving wire winding wheel is connected to the shaft of the driving wire driving motor, one end of the driving wire is connected with the driving wire winding wheel, and the other end of the driving wire penetrates through the initial joint and the middle joint and then is fixed with the tail end joint after passing through a driving wire hole of the tail end joint; and a locking wire winding wheel is fixed on the locking wire driving motor, one end of the locking wire is connected with the locking wire winding wheel, the other end of the locking wire penetrates through the initial joint and the middle joint to reach the tail end joint, and the locking wire is fixedly connected with the tail end joint and the conical parts corresponding to the middle joints.
Further, the endoscope is connected with a camera device or a collecting device on the tail end joint disc of the flexible mechanical arm.
The invention has the following beneficial effects:
the flexible mechanical arm is provided with two crossed horizontal beams in the center of the joint intermediate disc, the driving wire holes are formed in two ends of each horizontal beam, and meanwhile, the two sides of each driving wire hole are respectively provided with the fixed block and the sliding block capable of moving along the horizontal beams, so that when a locking wire is pulled, the moving block is driven to move to push the sliding block to be close to the fixed block to clamp and lock the driving wire, and bending and fixing of the surgical mechanical arm are achieved.
Drawings
FIG. 1 is a schematic view of the overall structure of a robotic arm according to an embodiment of the present invention;
FIG. 2(a) is a schematic view of a first angular configuration of a middle joint structure according to an embodiment of the present invention;
fig. 2(b) is a second angle structure diagram of the intermediate link structure according to the embodiment of the present invention;
FIG. 3 is a schematic view of a double joint assembly structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of an initial joint configuration provided by an embodiment of the present invention;
fig. 5 is a schematic structural view of a distal joint according to an embodiment of the present invention.
FIG. 6 is a schematic diagram of a driving device according to an embodiment of the present invention;
fig. 7 is a sectional view of a driving apparatus according to an embodiment of the present invention.
Wherein, 1, a middle joint, 1-1, an upper lug plate, 1-11, a circular boss, 1-2, a lower lug plate, 1-21, a semicircular groove, 1-3, a movable locking block fixing hole, 1-4, a static locking block, 1-6, a central compensation column, 1-61, a through central hole, 2, a conical piece, 3, a movable locking block, 3-1, a pasting plate, 4, a fixing screw, 5, a driving wire, 5-1, a driving wire perforation, 6, a locking wire, 6-1, a locking wire perforation, 7, an outer sleeve, 7-1, a sheath tube, 8, a driving wire driving motor, 8-1, a driving wire winding wheel, 9, a locking wire driving motor, 9-1, a locking wire winding wheel, 10, a driving mechanism, 10-1, a driving mechanism shell, 10-2, a reversing wheel, 11. initial joint, 12. terminal joint.
Detailed Description
As shown in fig. 1, the present embodiment provides a driving wire locking variable-stiffness flexible surgical manipulator, which includes an initial joint disc 11, a middle joint disc 1, and a terminal joint disc 12 that are sequentially connected in series, where the initial joint disc 11, the middle joint disc 1, and the terminal joint disc 12 are all disc-shaped, and a plurality of driving wire threading holes 5-1 are uniformly arranged in the circumferential direction of the joint discs, the driving wire 5 passes through the threading holes 5-1, the end of the driving wire is connected with the terminal joint disc 12, a locking wire threading hole 6-1 is arranged at the middle position of the joint discs, the locking wire 6 also passes through the initial joint disc 11, the middle joint disc 1, and the terminal joint disc 12 in sequence, and the locking wire 6 is fixedly connected with the conical members 2 under each disc. The flexible mechanical arm mainly drives the joint disc to deflect through the driving wire 5 and realizes fixation of the surgical mechanical arm in the rotating process through the locking wire 6.
Further, as shown in fig. 1-2, assuming that the direction along the distal joint disc is upward, a pair of upper ear plates 1-1 and a pair of lower ear plates 1-2 are respectively disposed on two lateral sides of the middle joint disc in the present embodiment, wherein the pair of upper ear plates 1-1 and the pair of lower ear plates 1-2 are symmetrically disposed about the center of the middle joint disc, and the central connecting line of the two upper ear plates 1-1 and the central connecting line of the two lower ear plates 1-2 are perpendicular to each other.
Wherein, the outer side of the upper ear plate 1-1 is provided with a circular boss 1-11, the lower ear plate is provided with a semicircular groove 1-21 matched with the circular boss 11-1, the diameter of the semicircular groove 1-21 is equal to that of the circular boss 1-11, and the distance between the two lower ear plates is larger than that between the two upper ear plates.
Therefore, the two adjacent middle joint discs are embedded into the circular boss on the other middle joint disc through the semicircular groove on one middle joint disc to form a hinge point, so that the adjacent middle joint discs can rotate around the hinge point.
In this embodiment, the circular bosses 1-11 of the first ear plate 1-1 are arranged in a step shape with the ear plate body, that is, the outer wall surface of the second ear plate extends outwards to form the circular bosses, so that when two adjacent middle joint plates are hinged, the two ear plates hinged to each other do not slide laterally, as shown in fig. 3. Therefore, the flexible surgical mechanical arm provided by the embodiment does not need shaft pins to be fixed between the joint discs, the assembly difficulty of small-sized components is reduced, and the step-type design of the ear plates avoids lateral sliding between joints. Can realize the bending motion of the continuum joint in two freedom directions under the action of the driving wire, meets the design requirement of the gastroscope snake bone freedom,
further, as shown in fig. 4, a pair of upper ear plates 1-1 is provided on the side of the initial joint disk 11 abutting against the middle joint disk in the present embodiment, and as shown in fig. 5, a pair of lower ear plates 1-2 is provided on the side of the end joint disk abutting against the middle joint disk, so that the initial joint disk 11, the middle joint disk 1 and the end joint disk 12 are connected together by the upper and lower pair of ear plates.
It should be noted that, in this embodiment, an included angle between a connecting line between centers of two upper ear plates and a connecting line between centers of two lower ear plates of the middle joint disc is 90 degrees, so that the flexible mechanical arm has two degrees of freedom and can rotate and swing around two directions.
Of course, in other embodiments, the angle between the connecting line of the centers of the two upper ear plates and the connecting line of the centers of the two lower ear plates may also be 0 degree, so that the flexible mechanical arm has only one degree of freedom and can only swing around one direction.
As shown in fig. 2(a) and 2(b), the middle of the middle joint disc 1 in the present embodiment is provided with two intersecting horizontal beams, wherein the driving threading holes 5-1 are arranged at the two ends of the two horizontal beams in the length direction, the connecting line of the centers of the two upper ear plates is an angular bisector of one pair of included angles between the two intersected horizontal beams, meanwhile, the central connecting line of the two lower ear plates is also an angular bisector of another pair of included angles between the two horizontal beams, thus, when the flexible mechanical arm can swing in the first plane by controlling the two driving wires at the left side and the right side of the two upper ear plates, when two driving wires at the left side and the right side of the two lower ear plates are controlled, the flexible mechanical arm can swing in a second plane, and it is easy to know that the first plane and the second plane are not coincident, therefore, the swinging of the flexible mechanical arm with two degrees of freedom can be realized by controlling two different driving wires.
When the flexible mechanical arm is bent to a certain angle, in order to lock the mechanical arm, as shown in fig. 2(b), two movable locking blocks 3 are arranged on one side of the middle joint plate facing the initial joint plate, the four movable locking blocks 3 are identical in structure and are radially arranged by taking a locking wire threading hole in the middle of the middle joint plate as a circle center, the movable locking blocks 3 can slide along the horizontal beams, the static locking blocks 1-4 are arranged on one side, close to the joint plate edge, of the driving wire threading hole in the joint plate, the movable locking blocks 3 can gradually reduce the distance between the movable locking blocks and the static locking blocks by sliding along the horizontal beams, so that when the flexible mechanical arm is bent to a certain angle, the movable locking blocks 3 clamp the driving wire by reducing the distance between the movable locking blocks and the static locking blocks 1-4, and the flexible mechanical arm can not rotate any more, and the positioning of the flexible mechanical arm is realized.
In order to drive the movable locking blocks 3 to move, a conical part 2 is further arranged in the middle of the middle joint plate, a locking wire penetrates through a locking wire threading hole 6-1 in the middle of the middle joint plate and then is connected with the conical part 2, the conical part 2 is respectively butted with the movable locking blocks 3 on the periphery through conical surfaces, and therefore when the locking wire 6 is pulled, the conical part 2 moves in the direction departing from the central compensation column along the locking wire, and then the four movable locking blocks 3 are pushed to move in the peripheral direction through the conical surfaces, and the four movable locking blocks 3 move simultaneously.
Further, as shown in fig. 2(b), each horizontal beam in this embodiment is provided with a fixing screw 4, the horizontal beam is provided with a movable locking block fixing hole 1-3 for connecting the fixing screw 4, the movable locking block 3 is provided with a sliding groove, and the fixing screw 4 is arranged in the sliding groove, so that the movable locking block slides on the horizontal beam under the action of the fixing screw 4.
In order to ensure the stability of the movable locking block in the sliding process, sliding plates 3-1 which are attached to the side wall surfaces of the horizontal beam are arranged on two sides of the movable locking block 3, so that the movable locking block 3 can wrap the horizontal beam and further slide on the horizontal beam.
As shown in fig. 2(a) -2 (b), the middle joint disk 1 in this embodiment is provided with a middle compensation column 1-6 at a middle position of a side surface facing the end joint disk 12, the middle compensation column 1-6 is vertically fixed on the surface of the middle joint disk 1, and the center of the joint disk is provided with a through center hole 1-61 which is coaxial with the locking wire fixing hole at the middle position of the joint disk, so that when the flexible mechanical arm is in a bent state, the locking wire 6 can always vertically penetrate through each middle joint disk 1, and the conical part 2 connected with the locking wire can press the movable locking block 3 at the periphery.
As shown in fig. 3, the initial articular disc 11 in this embodiment is also provided with the same medial post on its surface, but the end articular disc 12 is not provided with a medial post.
The height of the middle compensation columns 1-6 is equal to the height of the hinge center line of the upper ear plates on the two sides of the side surface of the joint disc and the hinge center line of the lower ear plate of the adjacent middle joint disc, so that when the middle joint disc rotates around the center line, the distance from the center point of the top ends of the central compensation columns 1-6 to the center of the next joint disc is kept unchanged, the acting force of the locking wire is always vertical to the plane of the joint, the relative movement distance between the locking wire 6 and the initial joint 11 is ensured to be equal to the relative movement distance between the middle joint 1, and the locking block 3 can be simultaneously extruded by the conical pieces 2 which are connected to the locking wire 6 and distributed on each middle joint.
Further, as shown in fig. 6-7, the driving mechanism 10 includes a driving mechanism housing 10-1, the housing is provided with four driving wire driving motors 8, the driving wire driving motor 8 is provided with a driving wire winding wheel 8-1 on the shaft, the driving wire winding wheel 8-1 is installed inside the housing, one end of the driving wire is connected with the driving wire winding wheel 8-1, the other end of the driving wire penetrates out of the housing through a reversing wheel 10-2 arranged in the housing, and the driving wire penetrates through the initial joint and the middle joint and then is fixed with the end joint after passing through the driving wire threading hole of the end joint.
And a locking wire driving motor 9 is arranged outside the driving mechanism 10 and fixed on the shell of the driving mechanism 10. A locking wire winding wheel 9-1 is fixed on the locking wire driving motor 9, and the locking wire winding wheel 9-1 is connected with the locking wire 6.
The reversing wheel 10-2 is fixed inside a shell of the driving mechanism 10, and the arrangement positions of the winding wheel and the reversing wheel enable the driving wire 5 and the locking wire 6 to meet the requirements of the direction and the position when the driving mechanism 10 penetrates out.
In the embodiment, the driving wire is adopted to drive the bending motion of the mechanical arm, so that the mechanical arm has a small geometric size, good flexibility and high clinical application value.
The driving wire 5 and the locking wire 6 are externally sleeved with a wire sheath tube 7-1, force transmission is realized by using a wire sheath transmission mechanism, and the bundled wire sheath mechanism is protected by using an external sleeve 7.
Besides, the embodiment of the invention also provides an endoscope, which comprises the flexible mechanical arm for driving the wire locking provided by the embodiment, a camera head can be connected to the end connecting disc of the flexible mechanical arm, and an image display is also connected to the endoscope, the camera head is used for shooting images and transmitting the images to the image display, and the endoscope can be used in the medical field, such as common gastroscopy.
The tail end connecting disc can also be connected with a collector, and internal tissues in a body can be collected. Of course, the endoscope is not limited to the medical treatment field in the embodiment, and can also be used in the instrument detection field.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. A flexible mechanical arm locked by a driving wire comprises a starting joint disc, a middle joint disc and a tail joint disc which are sequentially connected in series through the driving wire and a locking wire, and is characterized in that the starting joint disc, the middle joint disc and the tail joint disc are sequentially connected in series;
the center of the middle joint disc is provided with a first horizontal beam and a second horizontal beam which are intersected, driving wire holes are formed in the two ends of the first horizontal beam and the two ends of the second horizontal beam respectively, a fixed block is arranged on one side, close to the edge of the joint disc, of each driving wire hole on the middle joint disc, sliding blocks are arranged on the first horizontal beam and the second horizontal beam, a moving block is connected onto the locking wire, and the locking wire can slide along the horizontal beams through the moving block to be close to the fixed blocks when pulled, so that the driving wire can be clamped tightly to lock the flexible mechanical arm.
2. The flexible mechanical arm for driving wire locking as claimed in claim 1, wherein the two sides of the middle joint disk are respectively provided with a pair of first connecting plates and a pair of second connecting plates, the connecting lines of the centers of the two first connecting plates and the two second connecting plates are the angular bisectors of the first horizontal beams and the second horizontal beams, the distance between the two second connecting plates is larger than the distance between the two first connecting plates, the outer side surfaces of the first connecting plates are provided with circular bosses, the second connecting plates are provided with semicircular clamping grooves with the same radius as that of the circular bosses, and the semicircular clamping grooves can be clamped into the circular bosses.
3. The flexible mechanical arm for driving wire locking as claimed in claim 2, wherein a connecting line of centers of the two first connecting plates and a connecting line of centers of the two second connecting plates are perpendicular to each other.
4. The flexible mechanical arm for driving the wire locking as claimed in claim 2, wherein a cylinder is arranged in the center of one side of the middle joint plate, a through center hole for the locking wire to pass through is formed in the cylinder, and the height of the center of the cylinder is the same as that of the circle center of the circular boss of the first connecting plate.
5. The flexible mechanical arm for locking the driving wire as claimed in claim 1, wherein the moving block is attached to the sliding block through a conical surface, and the moving block moves along a direction departing from a joint plane under the traction of the locking wire so as to press the sliding block to move.
6. The flexible mechanical arm for driving wire locking as claimed in claim 1, wherein the first horizontal beam and the second horizontal beam are provided with a limiting member, the sliding block is provided with a sliding groove, the limiting member is arranged in the sliding groove, and the sliding block is provided with a sliding plate, the side wall surfaces of which are attached to each other, on the sliding block.
7. The wire locking flexible mechanical arm according to claim 1, wherein the first horizontal beam and the second horizontal beam are perpendicular to each other.
8. An endoscope comprising a wire-locking flexible robotic arm as claimed in any one of claims 1 to 7.
9. The endoscope of claim 8, further comprising a driving mechanism, wherein the driving mechanism comprises a driving wire driving motor and a locking wire driving motor, the driving wire driving motor is connected with a driving wire winding wheel on the shaft, one end of the driving wire is connected with the driving wire winding wheel, and the other end of the driving wire passes through the initial joint, the middle joint and the driving wire hole of the terminal joint and then is fixed with the terminal joint; and a locking wire winding wheel is fixed on the locking wire driving motor, one end of the locking wire is connected with the locking wire winding wheel, the other end of the locking wire penetrates through the initial joint and the middle joint to reach the tail end joint, and the locking wire is fixedly connected with the tail end joint and the conical parts corresponding to the middle joints.
10. An endoscope as described in claim 8, wherein a camera or a pick-up device is attached to the end pad of the flexible robotic arm.
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| CN202110705163.XA CN113229935B (en) | 2021-06-24 | 2021-06-24 | Flexible mechanical arm locked by driving wires and endoscope |
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| CN202110705163.XA CN113229935B (en) | 2021-06-24 | 2021-06-24 | Flexible mechanical arm locked by driving wires and endoscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114888843A (en) * | 2022-05-13 | 2022-08-12 | 华中科技大学 | Friction locking-based joint rigidity changing method and device |
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