CN113693732A

CN113693732A - Magnetic control continuum robot for minimally invasive surgery and working method thereof

Info

Publication number: CN113693732A
Application number: CN202111130914.6A
Authority: CN
Inventors: 李贻斌; 类延强; 杜付鑫; 贾泽龙; 张钢; 张涛; 宋锐
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2021-11-26

Abstract

The invention provides a magnetic control continuum robot for minimally invasive surgery and a working method thereof, wherein the robot comprises: the operation arm is composed of a plurality of disks with equal intervals and a middle elastic supporting tube, the elastic supporting tube penetrates through a circular hole in the middle of the disk, the tail end of the elastic supporting tube is fixed on the base, and an iron core coil is arranged inside each disk; and the controller is arranged on the fixed table, is connected with the iron core coil in the disc and is used for controlling the current in the coil and controlling the action of the operating arm. By improving the driving method and replacing the driving of the transmission screw rod with electromagnetic driving, the friction loss and elastic deformation of mechanical transmission are overcome, and the positioning precision of the continuum operating arm is improved.

Description

Magnetic control continuum robot for minimally invasive surgery and working method thereof

Technical Field

The invention relates to the technical field of minimally invasive surgery robots, in particular to a magnetic control continuum robot for minimally invasive surgery and a working method thereof.

Background

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

Minimally invasive surgery refers to surgery for generating tiny wounds by using modern medical instruments such as laparoscopes, thoracoscopes, endoscopes and the like and related equipment. Compared with the traditional operation, the minimally invasive operation has the advantages of small wound, light pain and quick recovery. Is restricted by the operation space and the body surface opening, and the prior surgical instrument mostly uses a continuum structure to improve the flexibility of the surgical instrument. The continuum structure has good passive flexibility and high flexibility, and can better adapt to non-structural environments.

The existing surgical instrument continuum operation arm is mostly driven by a rope or an elastic rod, and the bending and twisting motion of the continuum is realized by driving the rope to pull or pushing and pulling a driving rod. And other modes such as pneumatic driving, hydraulic driving and the like are difficult to miniaturize due to complex structures, and are not easy to apply to the field of the continuous body operating arm of the minimally invasive surgery robot. The inventor finds that the prior continuum operation arm driven by a rope or a rod has power loss caused by the influence of friction force on a driving wire and a driving rod in the power transmission process, and the driving wire or the driving rod can deform when receiving tension and pressure, so that the precision of the continuum operation arm in motion is reduced, and the practicability and reliability of the continuum operation robot in the field of minimally invasive surgery are reduced.

Disclosure of Invention

The invention provides a magnetic control continuum robot for minimally invasive surgery and a working method thereof, aiming at solving the problems.

According to some embodiments, the invention adopts the following technical scheme:

a magnetically controlled continuum robot for minimally invasive surgery, comprising:

the operation arm is composed of a plurality of disks and elastic supporting tubes which are arranged at equal intervals, the elastic supporting tubes penetrate through round holes in the middle of the disks, the tail ends of the elastic supporting tubes are fixed on the base, and a plurality of iron core coils are arranged inside the disks;

the controller is connected with the iron core coil inside the disc and used for controlling the current in the iron core coil;

the controller outputs currents with the same or opposite directions and the same magnitude to the iron core coils in the disc, so that adjacent iron core coils are mutually repelled or attracted, and the elastic supporting tube connected with the disc is bent.

Furthermore, a plurality of fan-shaped iron core coils are arranged in the disc, and the symmetrical planes of the iron core coils are intersected to form a cross plane.

Further, the core coils adjacent to the same position in the disk are kept coaxial when the operating arm is not bent.

Furthermore, in the horizontal direction, two groups of iron core coils are arranged on two sides of the middle elastic supporting tube, a first group exerts repulsion force between the two groups, and a second group exerts attraction force, so that the deflection freedom degree of the flexible arm is realized.

Furthermore, in the vertical direction, the coils on two sides of the middle elastic tube are divided into two groups, the first group applies repulsion force to each other, and the second group applies attraction force to each other, so that the pitching freedom degree of the flexible arm is realized.

Furthermore, front and rear wire through holes are symmetrically formed in two sides of the iron core coil in the circular discs, and when the operating arm is not bent, the wire through holes in the same positions of the two adjacent circular discs are projected and overlapped along the axial direction.

Furthermore, two iron core coils on the coaxial line in the adjacent disks are connected into two loops in parallel in an odd-even crossing mode.

Further, the adjacent iron core coils in the same axial direction pass through currents in different directions, and attraction force or repulsion force is generated between the adjacent iron core coils at the same time.

Furthermore, one end of the operating arm is connected with the fixed station through a connecting pipe, and the other end of the operating arm is used as the tail end of the robot operating arm.

A method of magnetically controlled continuum robot operation for minimally invasive surgery, comprising:

the controller is utilized to output currents in the same or opposite directions to the iron core coils in the disc, so that the adjacent iron core coils have the same or opposite magnetism, the iron core coils repel or attract each other, and the middle elastic supporting tube bends;

in the horizontal direction, two groups of iron core coils are arranged on two sides of the middle elastic supporting tube, a first group exerts repulsion force between the two groups, and a second group exerts attraction force, so that the deflection freedom degree of the flexible arm is realized;

in the vertical direction, the coils on two sides of the middle elastic tube are divided into two groups, the first group applies repulsion force to each other, and the second group applies attraction force to each other, so that the pitching degree of freedom of the flexible arm is realized.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, by improving the driving method and replacing the driving of the transmission screw rod with electromagnetic driving, the friction loss and elastic deformation of mechanical transmission are overcome, and the positioning precision of the continuum operating arm is improved. Meanwhile, the electromagnetic force is used for replacing mechanical transmission, so that mechanical fatigue in the mechanical transmission process is avoided, the service life of the surgical robot is prolonged, the performance of the surgical robot can be better improved, and the success rate of surgery is improved;

according to the invention, by means of an innovative driving method, electromagnetic driving replaces driving of a transmission screw rod, the structure of the continuum operation arm and the driving part is simplified, the volumes of the flexible arm and the control driving system are reduced, the processing and manufacturing costs of the continuum operation arm and the driving mechanism are reduced, and the miniaturization development trend of the surgical robot system is met;

according to the invention, by means of an innovative driving method, electromagnetic driving replaces driving of the transmission screw rod, so that the action of the continuum is controlled through the change of current, the problem of power transmission delay in a mechanical transmission method is solved, the response speed of the continuum mechanical arm is increased, and the response frequency of the continuum mechanical arm is increased;

the invention adopts a modular design idea, and the number of the controllers and the flexible arms can be flexibly increased according to the use requirement of the operation, so that the flexible arms have multiple degrees of freedom. And the current is adopted to transmit the driving force of the continuum operation arm, so that the coupling effect between adjacent continuum bodies is avoided, and the difficulty of a control system can be greatly simplified.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.

Fig. 1 is a schematic diagram of the internal structure of a single disc.

Fig. 2 is a schematic diagram of the structure of the upper cover plate of a single disc.

FIG. 3 is a schematic view of a continuum manipulator arm.

Fig. 4 is a schematic view of the overall configuration of the continuum operation arm.

FIG. 5 is a schematic diagram of a typical circuit control principle of the magnetically controlled continuum manipulator.

Wherein: 1, an upper cover plate of a disc; 1-1 is a threading hole of the upper cover plate; 1-2 is an upper cover plate fixing column; 1-3 is an upper cover plate iron core groove; 2, an iron core; 3, a coil; 4, a disc lower cover plate; 4-1 is a threading hole of the lower cover plate; 4-2, lower cover plate iron core slots; 4-3 lower cover plate fixing holes; 5, a disc; 6, an elastic supporting tube; 7, conducting wires; 8 a continuum manipulation arm; 9 operating the arm base; 10 operating arm support; 11 a controller; 12 a controller wire set; 13 controller base feet; 14-1 group control line number 1; 14-2 group control line No. 2; 14-3 sets of control line number 3 lines; 14-4 group control line No. 4; 15-1 two groups of control line No. 1 lines; 15-2 two groups of control line No. 2 lines; 15-3 two groups of control line No. 3 lines; 15-4 two groups of control line No. 4 lines; 16 left odd coils; 17 left even coils; 18 right odd coils; 19 right even coil.

The specific implementation mode is as follows:

the invention is further described with reference to the following figures and examples.

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

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

As shown in figure 1, the internal mechanism of a disc 5 of the magnetic control continuum robot for minimally invasive surgery is shown in figure 1, and the disc structure comprises an upper cover plate 1, an iron core 2, a coil 3 and a lower cover plate 4. The upper cover plate 1 is provided with 16 upper cover plate threading holes 1-1, the lower cover plate 4 is provided with 16 lower cover plate threading holes 4-1, and a wire can pass through the lower cover plate threading holes to be connected with the coil 3. The upper cover plate 1 and the lower cover plate 2 are installed in an interference fit mode through the upper cover plate fixing columns 1-2 and the lower cover plate fixing holes 4-3. An upper cover plate iron core groove 1-3 is arranged on the upper cover plate 1, a lower cover plate iron core groove 4-2 is arranged on the lower cover plate 4, and the iron core 2 is restrained and fixed through the upper cover plate iron core groove 1-3 and the lower cover plate iron core groove 4-2. The coil 3 is fixed to the core 2 by winding a plurality of turns.

Further, the structure of the continuum operation arm 8 is shown in fig. 3, and a plurality of discs 5 are fixedly mounted on the elastic tube 6 in series at equal intervals to form the continuum operation arm 8. And the elastic tube is in a linear state when not deformed, and the projections of the iron cores 2 corresponding to the same position on the disc 5 along the linear direction are superposed. The lead 7 passes through the upper cover plate threading holes 1-1 and the lower cover plate threading holes 4-1 reserved on the upper cover plate 1 and the lower cover plate 2 and is sequentially connected with the corresponding coils 3.

Further, as shown in fig. 4, the continuum operating arm 8 is divided into two ends, wherein one end is fixedly connected with the operating arm base 9, and the other end can be connected with a responsive surgical instrument as required. The operating arm base 9 is fixed on an operating arm support frame 10 through bolts, the operating arm support frame is fixed on a controller mounting plate 11-1 through bolts, and the controller mounting plate 11-1 is provided with controller base support legs 13 which are arranged at four corners of the controller mounting plate 11-1. The controller 11 is mounted on the controller base 11-1 and is connected to the continuum manipulation arm 8 by a controller wire set 12.

Further, fig. 5 shows a control circuit diagram of the operation arm. The circuit shows the circuit principle and the magnetic relationship when the control operating arm bends to one side when the continuum operating arm is planed along the horizontal or vertical direction. In fig. 5, when numbered in the order from bottom to top, 16 is a left odd coil, 17 is a left even coil, and 18 is a right odd coil 19 is a right even coil. Of which the left odd coil 16 and the left even coil 17 are adjacent coils. The right odd coil 18 and the right even coil 19 are adjacent coils. The left odd coil 16 is looped through a set of control line No. 1 lines 14-1 with a set of control line No. 2 lines 14-2, and the left even coil 17 is looped through a set of control line No. 3 lines 14-3 with a set of control line No. 4 lines 14-4, where the arrows indicate the schematic of the current direction under the current configuration. As the direction of the loop current formed by the group of control lines No. 1 and No. 2 14-1 and the group of control lines No. 2 and the direction of the loop current formed by the group of control lines No. 3 and No. 4 is opposite to the direction of the loop current formed by the group of control lines No. 14-3 and the group of control lines No. 4 and 14-4, repulsive force is generated between adjacent coils. And similar connection mode is applied to the right odd coil 18 and the right even coil 19, because the direction of loop current formed by the two groups of control lines No. 1 and No. 2 and the direction of loop current formed by the two groups of control lines No. 3 and No. 4 and the direction of loop current formed by the two groups of control lines No. 15-3 and No. 4 and the direction of loop current formed by the two groups of control lines No. 4 and the loop current formed by the two groups of control lines No. 3 and No. 15-4, attraction force is generated between the adjacent coils. And because each electrified coil is arranged in the disk, the attraction and the repulsion between the adjacent coils generate bending moment through the elastic circular tube 6 of the disk, so that the continuous body operating arm generates bending action. The other direction of freedom has the same bending principle, and the continuum operation arm has two bending degrees of freedom by the method.

Furthermore, by changing the current passing through the coils, the attractive force or the repulsive force between adjacent coils can be controlled, so that the bending moment is changed, and the bending angle of the continuous body operating arm is controlled.

Further, fig. 5 shows a typical circuit, but other control circuits can be applied to the mechanical structure of the present invention. If each coil is controlled by an independent circuit, the attractive force and the repulsive force between adjacent coils and the force of the adjacent coils can be controlled at will, and the continuum operation arm can be considered to have infinite freedom.

Example 2.

In particular, the method comprises the following steps of,

the continuous body operating arm is composed of a plurality of disks at equal intervals and a middle elastic supporting tube, the elastic supporting tube penetrates through a circular hole in the middle of the disks, the tail end of the elastic supporting tube is fixed on the base, and a surgical instrument transmission wire and the like can penetrate through the interior of the elastic supporting tube. Four iron core coils are arranged in each disc, and the flexible arm is driven to move by controlling the current flowing through the iron core coils; the controller is connected with the iron core coil inside the disc and used for controlling the current in the iron core coil; the controller outputs currents with the same or opposite directions and the same magnitude to the iron core coils in the disc, so that adjacent iron core coils are mutually repelled or attracted, and the elastic supporting tube connected with the disc is bent.

The continuum operation arm is connected with the controller through a group of conducting wires, the controller can output currents in proper directions and in proper sizes to the iron core coils in the disc, the magnetism of adjacent coils is the same or opposite, repulsive force or attractive force is shown between the iron core coils, and then the middle elastic supporting tube is bent, so that the continuum operation arm is controlled to have bending freedom, and the surgical operation robot system can be guaranteed to flexibly perform surgical operation. The circuit control is adopted to replace a complex mechanical structure, so that the friction loss and elastic deformation in mechanical transmission are overcome, the volume of a driving mechanism is reduced, the production and manufacturing cost is reduced, and the control precision and stability of the continuum operating arm are improved.

As an example of the manner in which the device may be used,

4 fan-shaped iron core coils are uniformly arranged in each disc, and the symmetrical planes of the 4 iron core coils are intersected to form a cross plane.

The same position of the core coils in adjacent discs remains coaxial when the continuum manipulation arm is not bent. Magnetic attraction and repulsion can be formed between the iron core coils at the same position in the adjacent discs. The coils on two sides of the middle elastic tube in the horizontal direction are divided into two groups, wherein one group applies repulsion force to each other, and the other group applies attraction force to realize the deflection freedom degree of the flexible arm; coils on two sides of the middle elastic tube in the vertical direction are divided into two groups, wherein one group applies repulsion force to each other, and the other group applies attraction force to realize the pitching freedom degree of the flexible arm;

the flexible arm only comprises two ends, wherein one end of the flexible arm is used as the tail end of the flexible arm of the continuum robot, and the other end of the flexible arm is connected with the fixed platform through a connecting pipe;

the controller is fixed in the fixed station, and the wire passes fixed station and connecting pipe in proper order and links to each other controller and continuum operation arm iron core coil. And corresponding iron core coils in the structural body are connected in a parallel connection mode to form a closed loop. The controller drives the flexible arm to act by changing the magnitude and the direction of the current in the iron core coil.

Two sides of each iron core coil in the disc are symmetrically provided with a front wire through hole and a rear wire through hole, and when the operating arm is not bent, the wire through holes in the same positions of the two adjacent discs are projected and overlapped along the axial direction.

The lead through holes at two sides of the iron core coil are divided into two groups, and the two lead through holes at the same side are divided into one group. The two wires at the same side pass through the inlet of the wire and the loop of the wire through the holes respectively.

The iron core coils between different discs on the same axis are in a group and are numbered sequentially, wherein the iron core coils with odd numbers are connected with one group of wires. The even-numbered iron core coils are connected with another group of wires.

The control lines can be specifically arranged into four groups, and each group of wires controls one group of iron core coils on the same axis. Four wires are arranged in each group of control wires, wherein two wires control odd-numbered iron core coils. The other two wires control the iron core coils with even numbers;

the iron core coils on the coaxial line in the adjacent discs are connected into two loops in parallel in an odd-even crossing mode, and the adjacent iron core coils in the same axial direction are ensured to always pass through currents in different directions, so that attraction or repulsion can be generated between the adjacent iron core coils at the same time, the flexible arm is driven to move, and the tail end of the flexible arm can reach a specified position to be unfolded and operated.

Still include the fixed station, the fixed station comprises bottom plate and the right angle support that can fix on the bottom plate, and flexible arm passes through the right angle support to be fixed on the bottom plate, and the controller then snap-on is on the bottom plate, draws forth each group's wire in flexible arm and right angle support junction, inserts the controller, and concave type supporting shoe is equipped with all around to the bottom plate, makes the fixed station can steadily place on horizontal work platform.

The wiring of an iron core coil in the disc is increased in the single-section flexible arm, so that the flexible control of the magnetic control continuous body operating arm is achieved, and the control of the joint can be realized at most.

By adopting the modular design, the combination of the multi-section continuum arm can be formed by increasing the number of the continuum sections and the number of the controllers.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

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

1. A magnetically controlled continuum robot for minimally invasive surgery, comprising:

2. The magnetically controlled continuum robot for minimally invasive surgery of claim 1, wherein a plurality of fan-shaped iron core coils are arranged in the disc, and wherein symmetry planes of the iron core coils intersect to form a cross plane.

3. The magnetically controlled continuum robot for minimally invasive surgery of claim 2 wherein like positioned core coils in adjacent said discs remain coaxial when no bending of the manipulator arm occurs.

4. The magnetron continuum robot for minimally invasive surgery as claimed in claim 1, wherein in the horizontal direction, the iron core coils on both sides of the middle elastic support tube are arranged in two groups, the first group applies repulsion force to each other, and the second group applies attraction force to realize the degree of freedom of deflection of the flexible arm.

5. The magnetron continuum robot for minimally invasive surgery as claimed in claim 4, wherein the coils on both sides of the middle elastic tube are divided into two groups in the vertical direction, the first group applies repulsive force to each other, and the second group applies attractive force to each other, so as to realize the flexible arm pitching freedom degree.

6. The magnetically controlled continuum robot for minimally invasive surgery as claimed in claim 1, wherein the iron core coils in the disks are symmetrically provided with front and rear wire passing holes at two sides, and when the operation arm is not bent, the wire passing holes at the same position of two adjacent disks are projected and overlapped along the axial direction.

7. The magnetically controlled continuum robot of claim 6, wherein two ferrite core coils on a same axis in adjacent discs are connected in parallel in two loops in an odd-even crossing manner.

8. The magnetically controlled continuum robot of claim 7, wherein adjacent iron core coils in the same axial direction are energized in different directions to generate attraction or repulsion forces between adjacent iron core coils.

9. The magnetically controlled continuum robot for minimally invasive surgery of claim 1, wherein one end of the manipulator arm is connected to the fixed station through a connecting tube, and the other end of the manipulator arm is used as a terminal of the robot manipulator arm.

10. A working method of a magnetic control continuum robot for minimally invasive surgery is characterized by comprising the following steps: