CN113288440B - Minimally invasive interventional operation robot based on multi-segment continuum series connection structure - Google Patents
Minimally invasive interventional operation robot based on multi-segment continuum series connection structure Download PDFInfo
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- CN113288440B CN113288440B CN202110763702.5A CN202110763702A CN113288440B CN 113288440 B CN113288440 B CN 113288440B CN 202110763702 A CN202110763702 A CN 202110763702A CN 113288440 B CN113288440 B CN 113288440B
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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
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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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Abstract
The invention relates to a minimally invasive interventional operation robot based on a multi-segment continuum series structure, which comprises a mechanical arm and an end effector, wherein the end effector comprises a continuum mechanism, a paw driving mechanism, a single-degree-of-freedom driving mechanism and a double-degree-of-freedom driving mechanism, the continuum mechanism, the paw driving mechanism, the single-degree-of-freedom driving mechanism and the double-degree-of-freedom driving mechanism are all arranged on a frame body, and the frame body is connected with the mechanical arm. According to the technical scheme, the surgical operation device has the advantages of compact structure, high flexibility, strong flexibility and high control precision, and can complete complex surgical operation aiming at the designated part of a human body.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a minimally invasive interventional operation robot based on a multi-segment continuum series structure.
Background
Although minimally invasive surgical robots have been developed for decades, many problems still exist to be solved, wherein the main difficulties are in the structural design of the flexible joints at the tail ends, the arrangement mode of the multiple sections of flexible joints in series, the decoupling method and the threading method driven by flexible cables. The flexible joint at the tail end of the minimally invasive surgery robot has three main realization modes, namely a discrete joint, a continuous joint and a concentric tube type joint. The discrete joint has high rigidity but poor flexibility, and cannot be made into a small size due to the limitation of a processing technology; the concentric tube type joint can be in an extremely small size configuration, but the driving and control mode is difficult due to the special structure of the concentric tube type joint; the continuous flexible joint has the characteristics of high flexibility, small size, simple driving mode and the like, and is widely applied to minimally invasive surgical instruments. The continuous joints are divided into incisal joints and skeleton joints. The skeleton type joint is composed of an elastic skeleton in the middle and a disc arranged on the elastic skeleton, the elastic skeleton plays a supporting role, and the disc is provided with a driving wire. Although the skeleton-type continuous body has a plurality of degrees of freedom, its axial rigidity is poor; the notch type continuum well solves the problem, and the continuum mechanism has certain rigidity when having good flexibility.
Patent publication No. CN201811220895.4 discloses an ear-nose-skull-base minimally invasive surgery robot and an operation method thereof, and although the robot is compact in structure, a discrete mechanism is adopted for a front-end joint, so that the degree of freedom is low, and the flexibility is low. Patent publication No. CN201610797612.7 discloses a flexible surgical tool system using constrained structural bone, which has multiple degrees of freedom, but the internal drive wire guide is guided in a catheter manner, which greatly increases the friction of the drive wire, so that the control accuracy is reduced.
Disclosure of Invention
The invention aims to provide a minimally invasive interventional surgical robot based on a multi-section continuum series structure, which solves the problems of low flexibility and poor control precision of the existing surgical instrument.
In order to achieve the purpose, the invention adopts the following technical scheme: including arm and end effector, its characterized in that: the end effector comprises a continuum mechanism consisting of a single-degree-of-freedom continuum, a double-degree-of-freedom continuum and a paw, and further comprises a paw driving mechanism for driving the paw to open or close, a single-degree-of-freedom driving mechanism for driving the single-degree-of-freedom continuum to realize pitching deflection, and a double-degree-of-freedom driving mechanism for driving the double-degree-of-freedom continuum to realize pitching deflection and left-right deflection, wherein the continuum mechanism, the paw driving mechanism, the single-degree-of-freedom driving mechanism and the double-degree-of-freedom driving mechanism are all arranged on a frame body, and the frame body is connected with the mechanical arm;
the single-degree-of-freedom driving mechanism comprises a first flexible cable and a first linear motor, and the first linear motor pulls the first flexible cable to realize deflection of a single-degree-of-freedom continuum pitch angle; the two-degree-of-freedom driving mechanism comprises a second flexible cable, a third flexible cable, a second linear motor and a third linear motor, the second linear motor pulls the second flexible cable to realize deflection of the pitching angle of the two-degree-of-freedom continuum, the third linear motor pulls the third flexible cable to realize deflection of the left and right angles of the two-degree-of-freedom continuum, the paw driving mechanism comprises a fourth flexible cable and a fourth linear motor, the fourth linear motor pulls the fourth flexible cable to realize closing of the paw, and the paw is opened by means of elasticity of the paw when the fourth flexible cable is reset;
the frame body comprises a first disc body, a second disc body, a third disc body, a fourth disc body and a fifth disc body which are sequentially arranged and have concentric structures, a connecting rod connected with the continuum mechanism is arranged on the fifth disc body, the connecting rod is a hollow rod, the frame body further comprises a shell used for wrapping the first disc body, the second disc body, the third disc body, the fourth disc body and the fifth disc body, and a support frame used for connecting the shell and the mechanical arm;
the gripper comprises a gripper connecting seat and a gripper body, the gripper connecting seat is fixedly inserted into the end part of the two-degree-of-freedom continuum, the gripper body is made of elastic materials and comprises three groups of grippers which are integrally V-shaped, one ends of the three groups of grippers are fixed with the gripper connecting seat, the other ends of the three groups of grippers are connected with a connecting piece, and the connecting piece is connected with the first flexible cable;
the paw driving mechanism comprises a fourth linear motor fixed on the first disc body, a flexible cable fixing piece connected with the output end of the fourth linear motor, a fourth flexible cable connecting the paw and the flexible cable fixing piece, and a fourth guide wheel set matched with the fourth flexible cable, wherein the fourth guide wheel set comprises a twenty-second guide wheel and a twenty-third guide wheel which are arranged on the second disc body, one end of the fourth flexible cable is connected with the flexible cable fixing piece, and the other end of the fourth flexible cable sequentially winds the twenty-third guide wheel and the twenty-second guide wheel, then sequentially penetrates through an inner hole of the connecting rod and an inner hole of the continuum mechanism and is finally fixed with the connecting piece;
the single-degree-of-freedom driving mechanism comprises a first linear motor fixed on a fourth disc body, a first flexible cable traction piece connected with the output end of the first linear motor, a first flexible cable, a first guide wheel set matched with the first flexible cable, and a first pre-tightening mechanism, wherein the first guide wheel set comprises a first guide wheel and a second guide wheel fixed on a fifth disc body, and further comprises a third guide wheel, a fourth guide wheel, a fifth guide wheel, a sixth guide wheel and a seventh guide wheel which are fixed on the second disc body, the third guide wheel, the fourth guide wheel and the fifth guide wheel are fixed on the second disc body, the sixth guide wheel and the seventh guide wheel are fixed on the third disc body, the first pre-tightening mechanism comprises a first base fixed on the first disc body, a first sliding block in sliding fit with the first base, a first force sensor connected with the first sliding block, and a first pulley support connected with the first force sensor, and the fifth guide wheel is fixed on the first pulley support;
the first flexible cable is of a two-section structure and comprises a first flexible cable and a second flexible cable, wherein: one end of the first flexible cable is connected with a first fixed point of the first flexible cable traction piece, and the other end of the first flexible cable sequentially passes through the first guide wheel and the second guide wheel, then sequentially passes through an inner hole of the connecting rod and a first through hole on the single-degree-of-freedom continuum, and finally is fixed with the end part of the single-degree-of-freedom continuum; one end of a flexible cable II is connected with a second fixed point of the first flexible cable traction piece, the other end of the flexible cable II sequentially passes through an inner hole of the connecting rod and a second through hole in the single-degree-of-freedom continuum after sequentially passing through a third guide wheel, a fourth guide wheel, a fifth guide wheel, a sixth guide wheel and a seventh guide wheel, and is finally fixed with the end part of the single-degree-of-freedom continuum, and the flexible cable I, the flexible cable II and the first flexible cable traction piece form a closed loop structure;
the double-freedom-degree driving mechanism comprises a second linear motor for controlling the double-freedom-degree continuum to realize pitching deflection, a second flexible cable traction part connected with the output end of the second linear motor, a second flexible cable, a second guide wheel set matched with the second flexible cable and a second pre-tightening mechanism, the second linear motor is fixed on a fourth disc body, the second guide wheel set comprises an eighth guide wheel and a ninth guide wheel which are fixed on a fifth disc body, a tenth guide wheel, an eleventh guide wheel and a twelfth guide wheel which are fixed on the second disc body, a thirteenth guide wheel and a fourteenth guide wheel which are fixed on a third disc body, the second pre-tightening mechanism comprises a second base fixed on the first disc body, a second sliding block which is in sliding fit with the second base, a second force sensor connected with the second sliding block and a second pulley bracket connected with the second force sensor, and the twelfth guide wheel is fixed on the second pulley bracket;
the second flexible cable is a two-section structure and comprises a third flexible cable and a fourth flexible cable, wherein: one end of the flexible cable III is connected with a first fixed point of the second flexible cable traction piece, and the other end of the flexible cable III sequentially winds through the eighth guide wheel and the ninth guide wheel, then sequentially passes through an inner hole of the connecting rod, an inner hole of the single-degree-of-freedom continuum, a first hole of the intermediate connecting piece and a third through hole of the double-degree-of-freedom continuum, and finally is fixed with the end part of the double-degree-of-freedom continuum; one end of the flexible cable IV is connected with a second fixed point on a second flexible cable traction piece, the other end of the flexible cable IV sequentially passes through a tenth guide wheel, an eleventh guide wheel, a twelfth guide wheel, a thirteenth guide wheel and a fourteenth guide wheel, then sequentially passes through an inner hole of a connecting rod, an inner hole of a single-degree-of-freedom continuum, a third hole of an intermediate connecting piece and a fifth through hole of a double-degree-of-freedom continuum, and finally is fixed with the end part of the double-degree-of-freedom continuum, and the flexible cable III, the flexible cable IV and the second flexible cable traction piece form a closed loop structure;
the double-freedom-degree driving mechanism further comprises a third linear motor for controlling the double-freedom-degree continuum to realize left and right deflection, a third flexible cable traction piece connected with the output end of the third linear motor, a third flexible cable, a third guide wheel set matched with the third flexible cable and a third pre-tightening mechanism, wherein the third linear motor is fixed on a fourth disc body, the third guide wheel set comprises a fifteenth guide wheel and a sixteenth guide wheel which are fixed on a fifth disc body, a seventeenth guide wheel, an eighteenth guide wheel and a nineteenth guide wheel which are fixed on a second disc body, a twentieth guide wheel and a twenty-first guide wheel which are fixed on the third disc body, the third pre-tightening mechanism comprises a third base fixed on the first disc body, a third sliding block which is in sliding fit with the third base, a third force sensor connected with the third sliding block and a third pulley support connected with the third force sensor, and the nineteenth guide wheel is fixed on the third pulley support;
the third flexible cable be two segmentation structures, including flexible cable five and flexible cable six, wherein: one end of the flexible cable five is connected with a first fixed point of a third flexible cable traction piece, and the other end of the flexible cable five is sequentially wound through a fifteenth guide wheel and a sixteenth guide wheel, then sequentially passes through an inner hole of the connecting rod, an inner hole of the single-degree-of-freedom continuum, a second hole of the intermediate connecting piece and a fourth through hole of the double-degree-of-freedom continuum and then is fixed with the end part of the double-degree-of-freedom continuum; one end of the flexible cable six is connected with a second fixed point on a third flexible cable traction piece, the other end of the flexible cable six sequentially passes through a seventeenth guide wheel, an eighteenth guide wheel, a nineteenth guide wheel, a twentieth guide wheel and a twenty-first guide wheel, then sequentially passes through an inner hole of a connecting rod, an inner hole of a single-degree-of-freedom continuum, a fourth hole of an intermediate connecting piece and a sixth through hole of a double-degree-of-freedom continuum, and finally is fixed with the end part of the double-degree-of-freedom continuum, and the flexible cable five, the flexible cable six and the third flexible cable traction piece form a closed loop structure.
The single-degree-of-freedom continuum is a notched continuum made of nylon materials and is of a tubular structure as a whole, the pipe wall of the single-degree-of-freedom continuum is sequentially provided with first notches and second notches in a staggered mode along the length direction of the single-degree-of-freedom continuum, the first notches and the second notches are arranged at intervals of 180 degrees, the first notches and the second notches are triangular notches which are perpendicular to the pipe wall direction and penetrate through the outer wall and the inner wall of the pipe, a first through hole and a second through hole which penetrate through the pipe wall along the length direction of the pipe wall are further formed in the pipe wall of the single-degree-of-freedom continuum, and the first through hole and the second through hole are symmetrically arranged;
the double-degree-of-freedom continuum is a notched continuum made of nylon materials and is of a tubular structure as a whole, third notches, fourth notches, fifth notches and sixth notches are sequentially arranged on the tube wall of the double-degree-of-freedom continuum in a staggered mode along the length direction of the double-degree-of-freedom continuum, the third notches, the fourth notches, the fifth notches and the sixth notches are triangular notches which are perpendicular to the tube wall direction and penetrate through the outer wall and the inner wall of the tube, third through holes, fourth through holes, fifth through holes and sixth through holes are further formed in the tube wall of the double-degree-of-freedom continuum and penetrate through the tube wall along the length direction of the tube wall, the third through holes and the fifth through holes are symmetrically arranged, the fourth through holes and the sixth through holes are symmetrically arranged, and the third through holes and the fourth through holes are 90 degrees apart;
the single-degree-of-freedom continuum and the double-degree-of-freedom continuum are connected in series through an intermediate connecting piece; the diameter of the two-degree-of-freedom continuum is smaller than that of the single-degree-of-freedom continuum, the intermediate connecting piece is of a hollow tubular structure, and a first hole, a second hole, a third hole and a fourth hole which are matched with the third through hole, the fourth through hole, the fifth through hole and the sixth through hole in position are formed in the intermediate connecting piece.
The left side quotation of fifth disk body is fixed with first leading wheel, second leading wheel, eighth leading wheel, ninth leading wheel, fifteenth leading wheel and sixteenth leading wheel, wherein: the first guide wheel, the eighth guide wheel and the fifteenth guide wheel are uniformly fixed on the periphery of the central point along the circumferential direction of the fifth disc body, and the second guide wheel, the ninth guide wheel and the sixteenth guide wheel are uniformly fixed on the inner periphery of the central point along the circumferential direction of the fifth disc body;
a first linear motor, a second linear motor and a third linear motor are uniformly fixed on the left disc surface of the fourth disc body, the output end of the first linear motor is connected with a first flexible cable traction piece, the output end of the second linear motor is connected with a second flexible cable traction piece, the output end of the third linear motor is connected with a third flexible cable traction piece, the first flexible cable traction piece, the second flexible cable traction piece and the third flexible cable traction piece are all positioned between the fourth disc body and the fifth disc body, and two flexible cable fixing points are respectively arranged on the first flexible cable traction piece, the second flexible cable traction piece and the third flexible cable traction piece;
the left side quotation of third disk body is fixed with sixth leading wheel, seventh leading wheel, thirteenth leading wheel, fourteenth leading wheel, twentieth leading wheel, twenty-first leading wheel, wherein: the sixth guide wheel, the thirteenth guide wheel and the twentieth guide wheel are uniformly fixed on the periphery of the central point along the circumferential direction of the third disc body, and the seventh guide wheel, the fourteenth guide wheel and the twenty-first guide wheel are uniformly fixed on the inner periphery of the central point along the circumferential direction of the third disc body;
a fourth linear motor is fixed on the left tray surface of the first tray body, a first pre-tightening mechanism, a second pre-tightening mechanism and a third pre-tightening mechanism are uniformly fixed on the right tray surface of the first tray body, a twenty-second guide wheel and a twenty-third guide wheel are fixed on the right tray surface of the second tray body, the twenty-second guide wheel is located at the center of the second tray body, and the twenty-third guide wheel is located on the side of the twenty-second guide wheel; and a third guide wheel, a fourth guide wheel, a fifth guide wheel, a tenth guide wheel, an eleventh guide wheel, a twelfth guide wheel, a seventeenth guide wheel, an eighteenth guide wheel and a nineteenth guide wheel are fixed on the left disc surface of the second disc body.
According to the technical scheme, the first linear motor is used for dragging the first flexible cable to move, so that the single-degree-of-freedom continuum can deflect at a pitching angle; the second flexible cable is pulled by the second linear motor, the third flexible cable is pulled by the third linear motor to move, the two-degree-of-freedom continuum can deflect at a pitching angle and a left-right angle, the paw at the tail end can obtain a corresponding pose by bending the continuum mechanism, and one degree of freedom is controlled by only one linear motor. The invention has the advantages of compact structure, high flexibility, strong flexibility and high control precision, and can complete complex operation aiming at the appointed part of the human body.
Drawings
FIG. 1 is a schematic view of the overall construction of an end effector of the present invention;
FIG. 2 is an exploded view of the end effector of the present invention;
FIG. 3 is an exploded view of the frame of the present invention;
FIG. 4 is an enlarged view of portion A of FIG. 3;
FIG. 5 is an enlarged view of the portion B of FIG. 3;
FIG. 6 is a schematic view of the internal structure of the end effector of the present invention with the frame removed;
FIG. 7 is a schematic view of the single degree of freedom drive mechanism of the present invention;
FIG. 8 is a schematic structural view of a two-degree-of-freedom drive mechanism of the present invention;
FIG. 9 is a schematic structural view of the continuum mechanism of the present invention;
FIG. 10 is an enlarged view of section C of FIG. 9;
FIG. 11 is a schematic view of the structure of the paw of the invention;
FIG. 12 is a schematic view of the gripper drive mechanism of the present invention;
FIG. 13 is a schematic view of the first tray of the present invention;
FIG. 14 is a schematic structural view of a fifth tray of the present invention;
FIG. 15 is a schematic structural view of a second tray of the present invention;
FIG. 16 is a first state diagram of the use of the present invention;
FIG. 17 is a second use state diagram of the present invention;
fig. 18 is a third usage state diagram of the present invention.
The reference numbers in the above figures refer to: <xnotran> 1, 11, 111, 112, 113, 114, 12, 121, 122, 123, 124, 13, 131, 132, 133, 14, 21, 22, 23, 241, 242, 311, 312, 32, 33, 341, 342, 343, 344, 345, 346, 347, 35, 351, 352, 353, 354, 411, 412, 42, 43, 441, 442, 443, 444, 445, 446, 447, 45, 461, 462, 47, 48, 491, 492, 493, 494, 495, 496, 497, 50, 5, 51, 52, 53, 54, 55, 56, 57, 58, 100, 200. </xnotran>
Detailed Description
The invention is further described below with reference to the accompanying drawings:
as shown in fig. 1, 2 and 6, the minimally invasive interventional surgical robot based on the multi-segment continuum series structure comprises a mechanical arm 200 and an end effector 100, wherein the end effector 100 comprises a continuum mechanism 1 consisting of a single-degree-of-freedom continuum 11, a double-degree-of-freedom continuum 12 and a paw 13, and further comprises a paw driving mechanism for driving the paw 13 to open or close, a single-degree-of-freedom driving mechanism for driving the single-degree-of-freedom continuum 11 to realize pitching deflection, and a double-degree-of-freedom driving mechanism for driving the double-degree-of-freedom continuum 12 to realize pitching and left-right deflection, wherein the continuum mechanism 1, the paw driving mechanism, the single-degree-of-freedom driving mechanism and the double-degree-of-freedom driving mechanism are all arranged on a frame body 5, and the frame body 5 is connected with the mechanical arm 200. The paw driving mechanism, the single-degree-of-freedom driving mechanism and the double-degree-of-freedom driving mechanism respectively drive the continuum mechanism 1 to move by pulling the flexible cables through the linear motors, and the continuum mechanism 1 enables the paw 13 to reach the designated pose through the bending motion of the continuum mechanism 1, as shown in fig. 16, 17 and 18.
Further, as shown in fig. 4, the single-degree-of-freedom continuum 11 is a notched continuum made of a nylon material, and the entirety of the continuum is a tubular structure, the tube wall of the single-degree-of-freedom continuum 11 is sequentially provided with first notches 111 and second notches 112 in a staggered manner along the length direction of the tube wall, the first notches 111 and the second notches 112 are arranged at an interval of 180 degrees, the first notches 111 and the second notches 112 are triangular notches which are arranged perpendicular to the tube wall direction and penetrate through the outer wall of the tube and the inner wall of the tube, the tube wall of the single-degree-of-freedom continuum 11 is further provided with first through holes 113 and second through holes 114 which penetrate through the tube wall along the length direction, and the first through holes 113 and the second through holes 114 are symmetrically arranged.
As shown in fig. 5, the two-degree-of-freedom continuum 12 is a notched continuum made of a nylon material, and the whole is a tubular structure, the tube wall of the two-degree-of-freedom continuum 12 is sequentially and alternately provided with third notches 121, fourth notches 122, fifth notches 123 and sixth notches 124 along the length direction thereof, the third notches 121, the fourth notches 122, the fifth notches 123 and the sixth notches 124 are arranged at 90 ° intervals, the third notches 121, the fourth notches 122, the fifth notches 123 and the sixth notches 124 are triangular notches which are perpendicular to the tube wall direction and all penetrate through the outer wall and the inner wall of the tube, the tube wall of the two-degree-of-freedom continuum 12 is further provided with third through holes, fourth through holes, fifth through holes and sixth through holes which penetrate along the length direction of the tube wall, the third through holes and the fifth through holes are symmetrically arranged, the fourth through holes and the sixth through holes are symmetrically arranged, and the third through holes and the fourth through holes are spaced at 90 ° intervals.
As shown in fig. 9, the single-degree-of-freedom continuum 11 and the two-degree-of-freedom continuum 12 are connected in series through an intermediate connection member 14; the diameter of the two-degree-of-freedom continuum 12 is smaller than that of the single-degree-of-freedom continuum 11, the intermediate connecting piece 14 is of a hollow tubular structure, and the intermediate connecting piece 14 is provided with a first hole, a second hole, a third hole and a fourth hole which are matched with the third through hole, the fourth through hole, the fifth through hole and the sixth through hole in position.
Further, as shown in fig. 7 and 10, the single-degree-of-freedom driving mechanism includes a first flexible cable and a first linear motor 32, and the first linear motor 32 pulls the first flexible cable to implement the yaw of the pitch angle of the single-degree-of-freedom continuum 11.
Specifically, the single-degree-of-freedom driving mechanism includes a first linear motor 32 fixed on the fourth disc 54, a first flexible cable traction member 33 connected to an output end of the first linear motor 32, a first flexible cable, a first guide wheel set engaged with the first flexible cable, and a first pre-tightening mechanism 35.
The first guide wheel group includes a first guide wheel 341 and a second guide wheel 342 fixed to the fifth disc 55, a third guide wheel 343, a fourth guide wheel 344, and a fifth guide wheel 345 fixed to the second disc 52, and a sixth guide wheel 346 and a seventh guide wheel 347 fixed to the third disc 53. The first guide wheel set mainly plays a role in guiding the first flexible cable, and can greatly reduce friction force in a transmission process.
The first pretensioner mechanism 35 includes a first base 351 fixed to the first disk body 51, a first slider 352 slidably engaged with the first base 351, a first force sensor 353 connected to the first slider 352, a first pulley holder 354 connected to the first force sensor 353, and a fifth guide wheel 345 fixed to the first pulley holder 354. The first pre-tightening mechanism 35 tensions the first flexible cable mainly by relative sliding of itself, and provides an initial pre-tightening force to the first flexible cable, so that the first flexible cable is under a tightened state.
The first flexible cable is of a two-segment structure and comprises a first flexible cable 311 and a second flexible cable 312, wherein: one end of the first flexible cable 311 is connected with a first fixed point of the first flexible cable traction element 33, and the other end of the first flexible cable 311 sequentially winds through the first guide wheel 341 and the second guide wheel 342, then sequentially passes through the inner hole of the connecting rod 56 and the first through hole 113 on the single-degree-of-freedom continuum 11, and finally is fixed with the end part of the single-degree-of-freedom continuum 11; one end of the second flexible cable 312 is connected with the second fixed point of the first flexible cable traction member 33, the other end of the second flexible cable 312 sequentially passes through the third guide wheel 343, the fourth guide wheel 344, the fifth guide wheel 345, the sixth guide wheel 346 and the seventh guide wheel 347, sequentially passes through the inner hole of the connecting rod 56 and the second through hole 114 on the single-degree-of-freedom continuum 11, and is finally fixed with the end of the single-degree-of-freedom continuum 11, and the first flexible cable 311, the second flexible cable 312 and the first flexible cable traction member 33 form a closed loop structure.
The action principle of the single-degree-of-freedom continuum is as follows:
the first linear motor 32 stretches and retracts to drive the first flexible cable traction part 33 to move, one of the first flexible cable 311 and the second flexible cable 312 is tensioned, the other one of the first flexible cable 311 and the second flexible cable 312 is loosened, and the single-degree-of-freedom continuum 11 bends to one side to integrally form closed loop driving.
Further, as shown in fig. 8 and 10, the two-degree-of-freedom driving mechanism includes a second flexible cable, a third flexible cable, a second linear motor 42, and a third linear motor 47, the second linear motor 42 pulls the second flexible cable to implement the deflection of the pitch angle of the two-degree-of-freedom continuum 12, and the third linear motor 47 pulls the third flexible cable to implement the deflection of the left and right angles of the two-degree-of-freedom continuum 12.
The second flexible cable is of a two-section structure and comprises a third flexible cable 411 and a fourth flexible cable 412, wherein: one end of the flexible cable III 411 is connected with the first fixed point of the second flexible cable traction piece 43, and the other end of the flexible cable III 411 sequentially winds through the eighth guide wheel 441 and the ninth guide wheel 442, then sequentially passes through the inner hole of the connecting rod 56, the inner hole of the single-degree-of-freedom continuum 11, the first hole of the intermediate connecting piece 14 and the third through hole of the double-degree-of-freedom continuum 12, and finally is fixed with the end part of the double-degree-of-freedom continuum 12; one end of the flexible cable four 412 is connected with the second fixed point on the second flexible cable traction member 43, the other end of the flexible cable four 412 sequentially passes through the tenth guide wheel 443, the eleventh guide wheel 444, the twelfth guide wheel 445, the thirteenth guide wheel 446 and the fourteenth guide wheel 447, then sequentially passes through the inner hole of the connecting rod 56, the inner hole of the single-degree-of-freedom continuum 11, the third hole of the intermediate connecting member 14 and the fifth through hole of the double-degree-of-freedom continuum 11, and finally is fixed with the end of the double-degree-of-freedom continuum 12, and the flexible cable three 411, the flexible cable four 412 and the second flexible cable traction member 43 form a closed loop structure.
Specifically, the two-degree-of-freedom driving mechanism includes a second linear motor 42 for controlling the two-degree-of-freedom continuum 12 to implement pitch and yaw, a second flexible cable traction element 43 connected to an output end of the second linear motor 42, a second flexible cable, a second guide wheel set matched with the second flexible cable, and a second pre-tightening mechanism 45, wherein the second linear motor 42 is fixed on the fourth disc 54.
The second guide wheel group includes eighth and ninth guide wheels 441 and 442 fixed to the fifth disk 55, and further includes tenth, eleventh and twelfth guide wheels 443, 444 and 445 fixed to the second disk 52, and thirteenth and fourteenth guide wheels 446 and 447 fixed to the third disk 53.
The second pre-tightening mechanism 45 includes a second base fixed on the first disc body 51, a second slider forming a sliding fit with the second base, a second force sensor connected with the second slider, and a second pulley bracket connected with the second force sensor, and the twelfth guide wheel 445 is fixed on the second pulley bracket.
Specifically, the two-degree-of-freedom driving mechanism further includes a third linear motor 47 for controlling the two-degree-of-freedom continuum 12 to deflect left and right, a third flexible cable traction member 48 connected to an output end of the third linear motor, a third flexible cable, a third guide wheel set matched with the third flexible cable, and a third pre-tightening mechanism 50, wherein the third linear motor 47 is fixed on a fourth disc 54.
The third guiding wheel set includes a fifteenth guiding wheel 491 and a sixteenth guiding wheel 492 fixed on the fifth disc 55, and further includes a seventeenth guiding wheel 493, an eighteenth guiding wheel 494 and a nineteenth guiding wheel 495 fixed on the second disc 52, and a twentieth guiding wheel 496 and a twenty-first guiding wheel 497 fixed on the third disc 53.
The third pre-tightening mechanism 50 includes a third base fixed on the first tray 51, a third slider forming a sliding fit with the third base, a third force sensor connected to the third slider, and a third pulley holder connected to the third force sensor, and the nineteenth guide wheel 495 is fixed on the third pulley holder. The third pre-tightening mechanism 50 has the same structure and the same function as the second pre-tightening mechanism 45 and the first pre-tightening mechanism 35, and is not described again here.
The third flexible cable is a two-section structure, and comprises a five flexible cable 461 and a six flexible cable 462, wherein: one end of the five flexible cables 461 is connected with the first fixed point of the third flexible cable traction member 48, and the other end of the five flexible cables 461 sequentially winds through the fifteenth guide wheel 491 and the sixteenth guide wheel 492 and then sequentially passes through the inner hole of the connecting rod 56, the inner hole of the single-degree-of-freedom continuum 11, the second hole of the intermediate connecting member 14 and the fourth through hole of the two-degree-of-freedom continuum 12 and then is fixed with the end of the two-degree-of-freedom continuum 12; one end of the six flexible cables 462 is connected with the second fixed point on the third flexible cable traction element 48, the other end of the six flexible cables 462 sequentially passes through a seventeenth guide wheel 493, an eighteenth guide wheel 494, a nineteenth guide wheel 495, a twentieth guide wheel 496 and a twenty-first guide wheel 497, then sequentially passes through the inner hole of the connecting rod 56, the inner hole of the single-degree-of-freedom continuum 11, the fourth hole of the intermediate connecting element 14 and the sixth through hole of the two-degree-of-freedom continuum 12, and finally is fixed with the end of the two-degree-of-freedom continuum 12, and the five flexible cables 461, the six flexible cables 462 and the third flexible cable traction element 48 form a closed loop structure.
The action principle of the two-degree-of-freedom continuum is the same as that of the single-degree-of-freedom continuum, but the two-degree-of-freedom continuum is driven by two groups of motors respectively to form bending motion in two directions.
Further, the gripper driving mechanism includes a fourth flexible cable 21 and a fourth linear motor 22, the fourth linear motor 22 pulls the fourth flexible cable 21 to close the gripper 13, and when the fourth flexible cable 21 is reset, the gripper 13 is opened by its own elasticity.
Specifically, as shown in fig. 11, the gripper 13 includes a gripper connecting seat 131 and a gripper body 132, the gripper connecting seat 131 is inserted and fixed to the end of the two-degree-of-freedom continuum 12, the gripper body 132 is made of an elastic material and includes three sets of overall V-shaped grippers, one end of each of the three sets of grippers is fixed to the gripper connecting seat 131, the other end of each of the three sets of grippers is connected to a connecting member 133, and the connecting member 133 is connected to the fourth flexible cable 21.
As shown in fig. 12, the gripper driving mechanism includes a fourth linear motor 22 fixed on the first tray 51, a flexible cable fixing member 23 connected to an output end of the fourth linear motor 22, a fourth flexible cable 21 connecting the gripper 13 and the flexible cable fixing member 23, and a fourth guiding pulley set engaged with the fourth flexible cable 21, the fourth guiding pulley set includes a twenty-second guiding pulley 241 and a twenty-third guiding pulley 242 arranged on the second tray 52, one end of the fourth flexible cable 21 is connected to the flexible cable fixing member 23, and the other end of the fourth flexible cable 21 sequentially passes through the twenty-third guiding pulley 242 and the twenty-second guiding pulley 241, then sequentially passes through an inner hole of the connecting rod 56 and an inner hole of the continuum mechanism 1, and finally is fixed to the connecting member 133.
The operating principle of opening and closing the paw is as follows:
1. closing the paw: the fourth linear motor 22 is operated to drive the flexible cable fixing member 23 connected thereto to move in a direction away from the paw, at this time, the fourth flexible cable 21 moves synchronously, and drives the connecting member 133 connected to the fourth flexible cable 21 to move, so that the paw body 132 is closed.
2. Opening the paw: the fourth wire 21 is restored and the claw 132 is opened due to its own elasticity.
Further, as shown in fig. 3, the frame body 5 includes a first tray body 51, a second tray body 52, a third tray body 53, a fourth tray body 54, and a fifth tray body 55, which are sequentially arranged and have a concentric structure, a connecting rod 56 connected to the continuum mechanism 1 is disposed on the fifth tray body 55, the connecting rod 56 is a hollow rod, the frame body 5 further includes a housing 57 for wrapping the first tray body 51, the second tray body 52, the third tray body 53, the fourth tray body 54, and the fifth tray body 55, and a support frame 58 for connecting the housing 57 and the robot arm 200.
Specifically, a first guide wheel 341, a second guide wheel 342, an eighth guide wheel 441, a ninth guide wheel 442, a fifteenth guide wheel 491 and a sixteenth guide wheel 492 are fixed on the left disc surface of the fifth disc body 55, wherein: the first guide wheel 341, the eighth guide wheel 441, and the fifteenth guide wheel 491 are uniformly fixed on the periphery of the center point along the circumferential direction of the fifth disk body 55, and the second guide wheel 342, the ninth guide wheel 442, and the sixteenth guide wheel 492 are uniformly fixed on the inner periphery of the center point along the circumferential direction of the fifth disk body 55.
A first linear motor 32, a second linear motor 42 and a third linear motor 47 are uniformly fixed on the left disc surface of the fourth disc body 54, the output end of the first linear motor 32 is connected with the first flexible cable traction member 33, the output end of the second linear motor 42 is connected with the second flexible cable traction member 43, the output end of the third linear motor 47 is connected with the third flexible cable traction member 48, the first flexible cable traction member 33, the second flexible cable traction member 43 and the third flexible cable traction member 48 are all positioned between the fourth disc body 54 and the fifth disc body 55, and two flexible cable fixing points are respectively arranged on the first flexible cable traction member 33, the second flexible cable traction member 43 and the third flexible cable traction member 48.
A sixth guide wheel 346, a seventh guide wheel 347, a thirteenth guide wheel 446, a fourteenth guide wheel 447, a twentieth guide wheel 496 and a twenty-first guide wheel 497 are fixed on the left disc surface of the third disc 53, wherein: the sixth guide wheel 346, the thirteenth guide wheel 446 and the twentieth guide wheel 496 are uniformly fixed on the periphery of the center point along the circumferential direction of the third disc body 53, and the seventh guide wheel 347, the fourteenth guide wheel 447 and the twenty-first guide wheel 497 are uniformly fixed on the inner periphery of the center point along the circumferential direction of the third disc body 53.
A fourth linear motor 22 is fixed on the left disc surface of the first disc body 51, a first pre-tightening mechanism 35, a second pre-tightening mechanism 45 and a third pre-tightening mechanism 50 are uniformly fixed on the right disc surface of the first disc body 51, a twenty-second guide wheel 241 and a twenty-third guide wheel 242 are fixed on the right disc surface of the second disc body 52, the twenty-second guide wheel 241 is located at the center of the second disc body 52, and the twenty-third guide wheel 242 is located at the side of the twenty-second guide wheel 241; a third guide wheel 343, a fourth guide wheel 344, a fifth guide wheel 345, a tenth guide wheel 443, an eleventh guide wheel 444, a twelfth guide wheel 445, a seventeenth guide wheel 493, an eighteenth guide wheel 494 and a nineteenth guide wheel 495 are fixed to the left side plate surface of the second plate body 52.
The invention has the beneficial effects that:
1. the continuum mechanism adopts a mode of arranging the single-degree-of-freedom continuum and the double-degree-of-freedom continuum in series, and the arrangement mode enables the tail end executing mechanism to have three degrees of freedom, so that the flexibility and the working space of the surgical robot are improved.
2. The invention adopts a linear motor closed-loop driving mode, and can realize that one degree of freedom movement is controlled by only one linear motor. The driving mode not only reduces the using quantity of the linear motors, but also avoids using complex structures such as a rotating motor and a ball screw, and has the advantages of simple and compact structure.
3. The paw at the tail end of the invention is made of elastic material, a rebound mechanism is not needed, and the opening and the closing can be realized only by the traction of a flexible cable.
4. The guide wheel sets of the invention all adopt V-shaped groove bearings, thereby greatly reducing the friction force of a driving system and ensuring that the invention has good control precision.
5. The continuum mechanism provided by the invention adopts a notch type continuum structure, and the structure can ensure that the continuum has certain rigidity while having good flexibility.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (3)
1. A minimally invasive intervention surgical robot based on a multi-segment continuum series structure comprises a mechanical arm (200) and an end effector (100), and is characterized in that: the end effector (100) comprises a continuum mechanism (1) consisting of a single-degree-of-freedom continuum (11), a double-degree-of-freedom continuum (12) and a paw (13), and further comprises a paw driving mechanism for driving the paw (13) to open or close, a single-degree-of-freedom driving mechanism for driving the single-degree-of-freedom continuum (11) to realize pitching deflection, and a double-degree-of-freedom driving mechanism for driving the double-degree-of-freedom continuum (12) to realize pitching and left-right deflection, wherein the continuum mechanism (1), the paw driving mechanism, the single-degree-of-freedom driving mechanism and the double-degree-of-freedom driving mechanism are all arranged on a frame body (5), and the frame body (5) is connected with a mechanical arm (200);
the single-degree-of-freedom driving mechanism comprises a first flexible cable and a first linear motor (32), wherein the first linear motor (32) pulls the first flexible cable to realize deflection of a pitching angle of the single-degree-of-freedom continuum (11); the two-degree-of-freedom driving mechanism comprises a second flexible cable, a third flexible cable, a second linear motor (42) and a third linear motor (47), the second linear motor (42) pulls the second flexible cable to deflect the pitch angle of the two-degree-of-freedom continuum (12), the third linear motor (47) pulls the third flexible cable to deflect the left and right angles of the two-degree-of-freedom continuum (12), the paw driving mechanism comprises a fourth flexible cable (21) and a fourth linear motor (22), the fourth linear motor (22) pulls the fourth flexible cable (21) to close the paw (13), and when the fourth flexible cable (21) is reset, the paw (13) is opened by means of elasticity of the paw;
the frame body (5) comprises a first disc body (51), a second disc body (52), a third disc body (53), a fourth disc body (54) and a fifth disc body (55) which are sequentially arranged and of a concentric structure, a connecting rod (56) connected with the continuum mechanism (1) is arranged on the fifth disc body (55), the connecting rod (56) is a hollow rod, and the frame body (5) further comprises a shell (57) used for wrapping the first disc body (51), the second disc body (52), the third disc body (53), the fourth disc body (54) and the fifth disc body (55) and a supporting frame (58) used for connecting the shell (57) with the mechanical arm (200);
the gripper (13) comprises a gripper connecting seat (131) and a gripper body (132), the gripper connecting seat (131) is fixedly inserted into the end part of the two-degree-of-freedom continuum (12), the gripper body (132) is made of elastic materials and comprises three groups of claws which are integrally V-shaped, one ends of the three groups of claws are fixed with the gripper connecting seat (131), the other ends of the three groups of claws are connected with a connecting piece (133), and the connecting piece (133) is connected with a fourth flexible cable (21);
the paw driving mechanism comprises a fourth linear motor (22) fixed on the first disc body (51), a flexible cable fixing piece (23) connected with the output end of the fourth linear motor (22), a fourth flexible cable (21) connecting the paw (13) and the flexible cable fixing piece (23), and a fourth guide wheel set matched with the fourth flexible cable (21), wherein the fourth guide wheel set comprises a twenty-second guide wheel (241) and a twenty-third guide wheel (242) which are arranged on the second disc body (52), one end of the fourth flexible cable (21) is connected with the flexible cable fixing piece (23), and the other end of the fourth flexible cable (21) sequentially passes through the twenty-third guide wheel (242) and the twenty-second guide wheel (241), sequentially passes through an inner hole of the connecting rod (56), an inner hole of the continuum mechanism (1), and finally is fixed with the connecting piece (133);
the single-degree-of-freedom driving mechanism comprises a first linear motor (32) fixed on a fourth disc body (54), a first flexible cable traction piece (33) connected with the output end of the first linear motor (32), a first flexible cable, a first guide wheel set matched with the first flexible cable and a first pre-tightening mechanism (35), wherein the first guide wheel set comprises a first guide wheel (341) and a second guide wheel (342) fixed on the fifth disc body (55), a third guide wheel (343), a fourth guide wheel (344) and a fifth guide wheel (345) fixed on the second disc body (52), a sixth guide wheel (346) and a seventh guide wheel (347) fixed on the third disc body (53), the first pre-tightening mechanism (35) comprises a first base (351) fixed on the first disc body (51), a first sliding block (352) in sliding fit with the first base (351), a first force sensor (353) connected with the first sliding block (352), a first support (354) connected with the first force sensor (353), and a first pre-tightening mechanism (354) fixed on the first guide wheel (345);
the first flexible cable is of a two-segment structure and comprises a first flexible cable (311) and a second flexible cable (312), wherein: one end of the first flexible cable (311) is connected with a first fixed point of the first flexible cable traction piece (33), and the other end of the first flexible cable (311) sequentially winds through the first guide wheel (341) and the second guide wheel (342), then sequentially passes through an inner hole of the connecting rod (56) and the first through hole (113) on the single-degree-of-freedom continuum (11), and finally is fixed with the end part of the single-degree-of-freedom continuum (11); one end of a second flexible cable (312) is connected with a second fixed point of the first flexible cable traction piece (33), the other end of the second flexible cable (312) sequentially passes through an inner hole of the connecting rod (56) and a second through hole (114) in the single-degree-of-freedom continuum (11) after sequentially passing through a third guide wheel (343), a fourth guide wheel (344), a fifth guide wheel (345), a sixth guide wheel (346) and a seventh guide wheel (347), and is finally fixed with the end part of the single-degree-of-freedom continuum (11), and the first flexible cable (311), the second flexible cable (312) and the first flexible cable traction piece (33) form a closed-loop structure;
the two-degree-of-freedom driving mechanism comprises a second linear motor (42) for controlling the two-degree-of-freedom continuous body (12) to realize pitch deflection, a second flexible cable traction part (43) connected with the output end of the second linear motor (42), a second flexible cable, a second guide wheel set matched with the second flexible cable and a second pre-tightening mechanism (45), wherein the second linear motor (42) is fixed on a fourth disc body (54), the second guide wheel set comprises an eighth guide wheel (441) and a ninth guide wheel (442) which are fixed on a fifth disc body (55), a tenth guide wheel (443), an eleventh guide wheel (444) and a twelfth guide wheel (445) which are fixed on a second disc body (52), a thirteenth guide wheel (446) and a fourteenth guide wheel (447) which are fixed on a third disc body (53), the second pre-tightening mechanism (45) comprises a second base fixed on the first disc body (51), a second sliding block matched with the second base, a second force sensor connected with the second slide block, a second force sensor connected with the second force sensor, and a second pre-tightening mechanism (445) fixed on a second support (445);
the second flexible cable is of a two-section structure and comprises a third flexible cable (411) and a fourth flexible cable (412), wherein: one end of a flexible cable III (411) is connected with a first fixed point of a second flexible cable traction piece (43), and the other end of the flexible cable III (411) sequentially passes through an inner hole of a connecting rod (56), an inner hole of a single-degree-of-freedom continuum (11), a first hole of an intermediate connecting piece (14) and a third through hole of a double-degree-of-freedom continuum (12) after sequentially passing through an eighth guide wheel (441) and a ninth guide wheel (442) and is finally fixed with the end part of the double-degree-of-freedom continuum (12); one end of a flexible cable four (412) is connected with a second fixed point on a second flexible cable traction piece (43), the other end of the flexible cable four (412) sequentially passes through an inner hole of a connecting rod (56), an inner hole of a single-degree-of-freedom continuum (11), a third hole of an intermediate connecting piece (14) and a fifth through hole of a double-degree-of-freedom continuum (11) after sequentially passing through a tenth guide wheel (443), an eleventh guide wheel (444), a twelfth guide wheel (445), a thirteenth guide wheel (446) and a fourteenth guide wheel (447), and is finally fixed with the end of the double-degree-of-freedom continuum (12), and the flexible cable three (411), the flexible cable four (412) and the second flexible cable traction piece (43) form a closed loop structure;
the double-freedom-degree driving mechanism further comprises a third linear motor (47) for controlling the double-freedom-degree continuous body (12) to realize left-right deflection, a third flexible cable traction piece (48) connected with the output end of the third linear motor, a third flexible cable, a third guide wheel set matched with the third flexible cable and a third pre-tightening mechanism (50), wherein the third linear motor (47) is fixed on a fourth disc body (54), the third guide wheel set comprises a fifteenth guide wheel (491) and a sixteenth guide wheel (492) which are fixed on a fifth disc body (55), a seventeenth guide wheel (493), an eighteenth guide wheel (494), a nineteenth guide wheel (495) which are fixed on a second disc body (52), a twentieth guide wheel (496) and a twenty-first guide wheel (497) which are fixed on a third disc body (53), the third pre-tightening mechanism (50) comprises a third base fixed on the first disc body (51), a third sliding fit with the third base, a third sliding block connected with the third sliding block, a third force sensor connected with a third force sensor, and a nineteenth force sensor fixed on a third support (495);
the third flexible cable is of a two-section structure and comprises a five flexible cable (461) and a six flexible cable (462), wherein: one end of the five flexible cables (461) is connected with a first fixed point of a third flexible cable traction piece (48), and the other end of the five flexible cables (461) sequentially winds a fifteenth guide wheel (491) and a sixteenth guide wheel (492) and then sequentially passes through an inner hole of the connecting rod (56), an inner hole of the single-degree-of-freedom continuum (11), a second hole of the middle connecting piece (14) and a fourth through hole of the double-degree-of-freedom continuum (12) and then is fixed with the end part of the double-degree-of-freedom continuum (12); one end of the six flexible cables (462) is connected with a second fixed point on the third flexible cable traction piece (48), the other end of the six flexible cables (462) sequentially passes through a seventeenth guide wheel (493), an eighteenth guide wheel (494), a nineteenth guide wheel (495), a twentieth guide wheel (496) and a twenty-first guide wheel (497) and then sequentially passes through an inner hole of the connecting rod (56), an inner hole of the single-degree-of-freedom continuum (11), a fourth hole of the middle connecting piece (14) and a sixth through hole of the double-degree-of-freedom continuum (12) and finally is fixed with the end of the double-degree-of-freedom continuum (12), and the five flexible cables (461), the six flexible cables (462) and the third flexible cable traction piece (48) form a closed loop structure.
2. The minimally invasive interventional surgical robot based on the multi-segmented continuum series structure of claim 1, wherein: the single-degree-of-freedom continuum (11) is a notched continuum made of nylon materials and is of a tubular structure as a whole, the pipe wall of the single-degree-of-freedom continuum (11) is sequentially provided with first notches (111) and second notches (112) in a staggered mode along the length direction of the pipe wall, the first notches (111) and the second notches (112) are arranged at intervals of 180 degrees, the first notches (111) and the second notches (112) are triangular notches which are perpendicular to the pipe wall direction and penetrate through the outer wall and the inner wall of the pipe, the pipe wall of the single-degree-of-freedom continuum (11) is further provided with first through holes (113) and second through holes (114) which penetrate through the outer wall and the inner wall of the pipe along the length direction of the pipe wall, and the first through holes (113) and the second through holes (114) are symmetrically arranged;
the double-freedom-degree continuum (12) is a notched continuum made of nylon materials and is of a tubular structure as a whole, the pipe wall of the double-freedom-degree continuum (12) is sequentially and alternately provided with third notches (121), fourth notches (122), fifth notches (123) and sixth notches (124) along the length direction of the pipe wall, the third notches (121), the fourth notches (122), the fifth notches (123) and the sixth notches (124) are arranged at intervals of 90 degrees, the third notches (121), the fourth notches (122), the fifth notches (123) and the sixth notches (124) are triangular notches which are perpendicular to the pipe wall direction and penetrate through the outer wall and the inner wall of the pipe, the pipe wall of the double-freedom-degree continuum (12) is further provided with third through holes, fourth through holes, fifth through holes and sixth through holes which penetrate through the pipe wall along the length direction of the pipe wall, the third through holes and the fifth through holes are symmetrically arranged, the fourth through holes and the sixth through holes are symmetrically arranged, and the fourth through holes are arranged at intervals of 90 degrees;
the single-degree-of-freedom continuum (11) and the double-degree-of-freedom continuum (12) are connected in series through an intermediate connecting piece (14); the diameter of the two-degree-of-freedom continuum (12) is smaller than that of the single-degree-of-freedom continuum (11), the intermediate connecting piece (14) is of a hollow tubular structure, and the intermediate connecting piece (14) is provided with a first hole, a second hole, a third hole and a fourth hole which are matched with the third through hole, the fourth through hole, the fifth through hole and the sixth through hole in position.
3. The minimally invasive interventional surgical robot based on the multi-segmented continuum series structure of claim 1, characterized in that: a first guide wheel (341), a second guide wheel (342), an eighth guide wheel (441), a ninth guide wheel (442), a fifteenth guide wheel (491) and a sixteenth guide wheel (492) are fixed on the left disc surface of the fifth disc body (55), wherein: the first guide wheel (341), the eighth guide wheel (441) and the fifteenth guide wheel (491) are uniformly fixed on the periphery of the central point along the circumferential direction of the fifth disc body (55), and the second guide wheel (342), the ninth guide wheel (442) and the sixteenth guide wheel (492) are uniformly fixed on the inner periphery of the central point along the circumferential direction of the fifth disc body (55);
a first linear motor (32), a second linear motor (42) and a third linear motor (47) are uniformly fixed on the left disc surface of the fourth disc body (54), the output end of the first linear motor (32) is connected with a first flexible cable traction piece (33), the output end of the second linear motor (42) is connected with a second flexible cable traction piece (43), the output end of the third linear motor (47) is connected with a third flexible cable traction piece (48), the first flexible cable traction piece (33), the second flexible cable traction piece (43) and the third flexible cable traction piece (48) are all located between the fourth disc body (54) and the fifth disc body (55), and two flexible cable fixing points are respectively arranged on the first flexible cable traction piece (33), the second flexible cable traction piece (43) and the third flexible cable traction piece (48);
a sixth guide wheel (346), a seventh guide wheel (347), a thirteenth guide wheel (446), a fourteenth guide wheel (447), a twentieth guide wheel (496) and a twenty-first guide wheel (497) are fixed to the left disc surface of the third disc body (53), wherein: a sixth guide wheel (346), a thirteenth guide wheel (446) and a twentieth guide wheel (496) are uniformly fixed on the periphery of the central point along the circumferential direction of the third disc body (53), and a seventh guide wheel (347), a fourteenth guide wheel (447) and a twenty-first guide wheel (497) are uniformly fixed on the inner periphery of the central point along the circumferential direction of the third disc body (53);
a fourth linear motor (22) is fixed on the left disc surface of the first disc body (51), a first pre-tightening mechanism (35), a second pre-tightening mechanism (45) and a third pre-tightening mechanism (50) are uniformly fixed on the right disc surface of the first disc body (51), a twenty-second guide wheel (241) and a twenty-third guide wheel (242) are fixed on the right disc surface of the second disc body (52), the twenty-second guide wheel (241) is located at the center of the second disc body (52), and the twenty-third guide wheel (242) is located on the side of the twenty-second guide wheel (241); and a third guide wheel (343), a fourth guide wheel (344), a fifth guide wheel (345), a tenth guide wheel (443), an eleventh guide wheel (444), a twelfth guide wheel (445), a seventeenth guide wheel (493), an eighteenth guide wheel (494) and a nineteenth guide wheel (495) are fixed on the left disc surface of the second disc body (52).
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