CN113712666B - Flexible continuum surgical robot - Google Patents
Flexible continuum surgical robot Download PDFInfo
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- CN113712666B CN113712666B CN202110886164.9A CN202110886164A CN113712666B CN 113712666 B CN113712666 B CN 113712666B CN 202110886164 A CN202110886164 A CN 202110886164A CN 113712666 B CN113712666 B CN 113712666B
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Classifications
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention belongs to the technical field of medical instruments, and particularly relates to a flexible continuum surgical robot. Comprises a flexible continuous body, a rigid arm body, a flexible bending driving mechanism and a rotary driving mechanism; the rotation driving mechanism includes: the device comprises a cylindrical shell, a large gear ring, a first mounting frame, a first driving assembly, a driving gear and a second mounting frame; the flexible bending drive mechanism comprises a plurality of flexible ropes and a second drive assembly; the front end of the flexible rope is fixed on the flexible continuum, the rear end of the flexible rope is fixed at the output end of the second driving component, and the second driving component pulls the rear end of the flexible rope to move back and forth. According to the invention, the driving belt wheel is driven by the first motor, so that the first circular rotating disc, the second circular rotating disc and the second mounting frame rotate, the flexible continuous body can be driven to rotate, the flexible continuous body is driven by the remote flexible bending driving mechanism and the rotary driving mechanism, and the power is transmitted through the flexible rope, so that the near flexible continuous body can realize multi-degree-of-freedom motion, and the flexibility of the motion is greatly improved.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a flexible continuum surgical robot.
Background
Nearly 100 tens of thousands of people are diagnosed with gastric cancer and colorectal cancer each year in our country. The traditional endoscope is the most common gastrointestinal tract disease diagnosis and treatment device, and although the traditional endoscope can reliably diagnose common tumors in time, the insertion operation of the traditional endoscope can cause great pain to patients and possibly cause a plurality of complications.
In order to completely eliminate postoperative complications caused by skin incision, the concept of non-invasive surgery is to use a human body opening, an opening is formed in the stomach wall, and various required surgical instruments are carried to a focus by using an endoscope to perform surgery, so that no skin incision is generated in the whole process. Surgical approaches such as single port laparoscopy with reduced perforation and natural channel laparoscopy have been derived, i.e. a small incision of about one centimeter is made around the navel during the surgical procedure, and the laparoscopic and several surgical instruments are inserted through the incision to perform the surgical procedure. The operation is changed from the traditional large incision to a plurality of small-hole incisions, and the laparoscope provides a clearer operation field in the operation, and can not completely replace the traditional open operation, but has the advantages of minimally invasive operation, rapid postoperative recovery and the like, so that the operation is rapidly popularized worldwide. However, because of the high technical experience requirements for instruments and doctors, it is still difficult to popularize.
There is considerable worldwide research on flexible surgical robots, in contrast to conventional rigid kinematic chains, which achieve bending motions by rotating one another at joints, in which a flexible continuum mechanism achieves bending deformations of a distal structure by deforming its proximal structure. In the flexible continuum mechanism, the structural body is simultaneously a driving transmission structure, so that extremely high degree of freedom arrangement can be realized in a small-sized space. The flexible continuum mechanism has the characteristics of compact structure, high flexibility, flexible safety contact assurance and the like, and is widely applied to medical instruments such as flexible operation arms, endoscopes, controllable catheters and the like.
In the medical field, the distal end of the flexible continuum mechanism is mostly used for extending into a deep cavity environment with complex bending, and the distal end of the flexible continuum mechanism is mostly in an invisible or partially visible state, so that the gesture feedback of the flexible continuum mechanism is an important guarantee for guaranteeing the use reliability and safety of the flexible continuum mechanism. However, in the flexible continuum mechanism mainly composed of flexible ropes, the bending motion is realized by pushing and pulling the flexible ropes; the bending motion has no definite bending joint, so that the feedback of the bending gesture of the flexible continuous body mechanism can not be directly realized by adopting an angle sensor arranged at the joint in a rigid motion chain, and meanwhile, a gesture feedback sensor specific to the flexible continuous body mechanism is not adopted at present. Therefore, there is a need to develop a flexible continuum surgical robot that can feedback tension and displacement in real time, has multiple degrees of freedom, and can reduce injury to the patient.
Disclosure of Invention
The invention aims to overcome the defects of high requirements on instruments and doctors experience, difficulty in realization, lack of force feedback and easiness in damage to patients in the prior art, and provides the flexible continuum surgical robot which has multiple degrees of freedom, can feed back tension and displacement in real time, has a compact structure and complete functions, and reduces damage to patients.
The technical scheme adopted for solving the technical problems is as follows: a flexible continuum surgical robot, characterized by: the flexible bending device comprises a flexible continuous body, a rigid arm body arranged at the tail end of the flexible continuous body, a flexible bending driving mechanism and a rotary driving mechanism which are arranged at the tail end of the rigid arm body; the rotation driving mechanism includes: the device comprises a cylindrical shell, a large gear ring fixed on the inner wall of the cylindrical shell, a first mounting frame rotatably mounted along the inner peripheral surface of the cylindrical shell, a first driving assembly mounted on the first mounting frame, and a driving gear mounted on an output shaft of the first driving assembly; the driving gear is meshed with the large gear ring; the inner peripheral surface of the front end of the cylindrical shell is rotatably provided with a second mounting frame, and the rigid arm body is fixedly arranged on the second mounting frame; the flexible bending driving mechanism comprises a plurality of flexible ropes and a second driving assembly for driving each flexible rope to move respectively; the front end of the flexible rope is fixed on the flexible continuous body, the rear end of the flexible rope is fixed at the output end of the second driving assembly, and the second driving assembly pulls the rear end of the flexible rope to move back and forth.
Further, the first mounting frame comprises a first circular rotating disc and a second circular rotating disc which are parallel to each other and fixedly connected, the first circular rotating disc and the second circular rotating disc are positioned on two sides of the large gear ring, the first driving assembly comprises a first motor installed on the first circular rotating disc, a driving belt wheel installed on an output shaft of the first motor, and a driven belt wheel connected with the driving belt wheel through belt transmission, and the driving gear is fixedly connected with the driven belt wheel coaxially.
Further, the large gear ring is an inner gear ring, and the driving gear is meshed with the large gear ring.
Further, the second driving assembly comprises a second motor arranged on the first circular rotating disc, a first screw rod coaxially connected with the second motor, a first nut sleeved on the first screw rod in a spiral manner, a first polish rod and a straight sliding potentiometer which are arranged in parallel with the first screw rod, and a sensor fixing bracket with one end fixedly connected with the first nut; the other end of the sensor fixing support is sleeved on the first polished rod and slides along the first polished rod, a tension sensor is fixed on the sensor fixing support, a flexible rope fixing seat is arranged at the end of the tension sensor, a slide bar fixing frame is sleeved at the bottom end of the sensor fixing support and fixedly connected with a slide bar of the straight sliding potentiometer, two ends of the first screw rod are respectively fixed on the second circular rotating disc and the second mounting frame, two ends of the straight sliding potentiometer are respectively fixed on the second circular rotating disc and the second mounting frame, a horn-shaped fixing frame is fixed at the center of the second mounting frame, a plurality of V-shaped rollers are distributed on the second mounting frame in a circumferential array mode, a plurality of through holes are distributed on the side face of the horn-shaped fixing frame in a circumferential array mode, and flexible ropes stretch into the horn-shaped fixing frame and correspondingly penetrate out of the through holes.
Further, the flexible continuum comprises: the n-level flexible structure body is sequentially connected with the surgical instrument fixing seat arranged at the front end of the n-th flexible structure body; the ith flexible structure body comprises an ith locking disc, a plurality of ith flexible joints which are sequentially embedded on the ith locking disc and a plurality of flexible ropes; the flexible joint and the locking disc are uniformly distributed with a plurality of channels in a circumferential array, the front end of the flexible rope is fixedly connected to the (i+1) th-level locking disc, and the other end of the flexible rope sequentially passes through the channels, the rigid arm body, the horn-shaped fixing frame and the second circular rotating disc to be fixedly connected with the flexible rope fixing seat after bypassing the V-shaped roller, wherein i is more than or equal to 1 and less than or equal to n; the front end of the nth-stage flexible rope is fixedly connected with the surgical instrument fixing seat.
Further, n=3; each section of flexible structure body comprises a locking disc, eleven sequentially embedded flexible joints arranged on the locking disc and four flexible ropes; twelve channels are uniformly distributed on the flexible joint and the locking disc in a circumferential array.
Further, a back and forth movement assembly is also included, the back and forth movement assembly comprising: the device comprises a base, two second polished rods horizontally fixed on the base, a third motor fixed at one end of the base, a second screw rod with one end coaxially connected with an output shaft of the third motor, and a sliding block fixedly connected with a second nut sleeved on the second screw rod, wherein an encoder is coaxially fixed at the other end of the second screw rod, the sliding block slides along the second polished rods, and the cylindrical shell is fixedly connected with the sliding block.
Further, the outside of first circular rolling disc with the outside of second circular rolling disc all is provided with a plurality of axial gyro wheels and radial gyro wheel, be provided with first guide way in the cylinder shell, the axial gyro wheel supports and leans on the inner wall of first guide way, radial gyro wheel supports and leans on the inner wall of cylinder shell, first circular rolling disc with the second circular rolling disc is all through radial gyro wheel and axial gyro wheel follow the cylinder shell rotates.
Further, the rigid arm body comprises a guide rod and an outer rod sleeved outside the guide rod; the guide rod is axially provided with a plurality of second guide grooves which are arranged in a circumferential array and used for guiding the flexible rope.
Furthermore, surgical instrument channels are arranged at the centers of the locking disc, the flexible joint and the guide rod, and a surgical instrument fixing seat is fixed at the front end of the flexible continuous body.
The flexible continuum surgical robot has the beneficial effects that:
1. according to the invention, the driving pulley is driven by the first motor, so that the driving gear is meshed with the large gear ring, and the first circular rotating disc, the second circular rotating disc and the second mounting frame are rotated, so that the flexible continuous body can be driven to rotate, the flexible continuous body is driven by the remote flexible bending driving mechanism and the rotary driving mechanism, power is transmitted through the flexible rope, the near flexible continuous body can realize multi-degree-of-freedom motion, the flexibility of motion is greatly improved, and the flexible multifunctional flexible continuous body is simple in structure and reliable in operation.
2. According to the invention, the tension and displacement of the flexible ropes can be monitored simultaneously through the tension sensor and the straight sliding potentiometer, the displacement change of each flexible rope is detected in real time through the straight sliding potentiometer, the tension of each flexible rope is monitored in real time through the tension sensor, the control of the tension and displacement of the flexible ropes is conveniently realized, and a doctor can finish an operation better.
3. The invention adopts a plurality of flexible structure bodies, the flexible ropes jointly control the bending of one flexible structure body, the displacement of the flexible rope fixing seat moving on the first screw rod is respectively controlled to be different through a plurality of second driving components, and the power is transmitted through the flexible ropes, so that the multi-degree-of-freedom rotation of the flexible continuum can be realized, the control of surgical instruments is convenient, and a doctor can finish the operation better.
Drawings
The invention will be described in further detail with reference to the drawings and the detailed description.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a diagram of a flexible continuum architecture of an embodiment of the invention;
FIG. 3 is a block diagram of a rotary drive mechanism according to an embodiment of the present invention;
FIG. 4 is a block diagram of a flexible bend drive mechanism according to an embodiment of the present invention;
FIG. 5 is a cross-sectional view of a rigid arm of an embodiment of the present invention;
FIG. 6 is a block diagram of a back and forth movement assembly of an embodiment of the present invention;
FIG. 7 is a partial block diagram of a flexible structure according to an embodiment of the invention;
fig. 8 is a cross-sectional view of a flexible joint according to an embodiment of the invention.
In the figure, 1, a surgical instrument fixing seat, 2, a flexible continuous body, 21, a flexible structural body, 211, a flexible joint, 212, a channel, 214, a locking disc, 3, a rigid arm body, 31, a guide rod, 32, an outer rod, 33, a second guide groove, 4, a rotary driving mechanism, 40, a cylindrical shell, 41, a large gear ring, 42, a first mounting frame, 421, a first circular rotating disc, 422, a second circular rotating disc, 43, a first driving component, 431, a first motor, 432, a driving pulley, 433, a driven pulley, 44, a driving gear, 45, a second mounting frame, 46, an axial roller, 47, a radial roller, 48, a first guide groove, 5, a flexible bending driving mechanism, 50, a flexible rope, 51, a second driving component, 510, a second motor, 511, a first lead screw, 512, a first nut, 513, a first lead screw, 514, a straight sliding potentiometer, 515, a sensor fixing frame, 516, a tension sensor, 517, a flexible rope fixing seat, 518, a fixing frame, a slide bar, a horn, 5110, a V-shaped motor, 11, 6, a rear slider, 66, a second lead screw, a third lead screw, a 65, a through hole, a third lead screw, a coded device, a fourth lead screw, a fifth, a sixth, a fourth lead screw, a fifth, and a sixth lead screw, and a fifth lead screw.
Detailed Description
The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.
An embodiment of a flexible continuum surgical robot of the present invention as shown in fig. 1-8 comprises a flexible continuum 2, a rigid arm 3 mounted at the end of the flexible continuum 2, a flexible bending drive mechanism 5 and a rotational drive mechanism 4 mounted at the end of the rigid arm 3; the rotation driving mechanism 4 includes: a cylindrical housing 40, a ring gear 41 fixed on an inner wall of the cylindrical housing 40, a first mount 42 rotatably mounted along an inner peripheral surface of the cylindrical housing 40, a first driving assembly 43 mounted on the first mount 42, and a driving gear 44 mounted on an output shaft of the first driving assembly 43; the driving gear 44 is meshed with the large ring gear 41; the inner peripheral surface of the front end of the cylindrical shell 40 is rotatably provided with a second mounting frame 45, and the rigid arm body 3 is fixedly arranged on the second mounting frame 45; the flexible bending drive mechanism 5 comprises a plurality of flexible cords 50 and a second drive assembly 51 for driving each flexible cord 50 to move separately; the front end of the flexible rope 50 is fixed on the flexible continuum 2, the rear end is fixed on the output end of the second driving assembly 51, and the second driving assembly 51 pulls the rear end of the flexible rope 50 to move back and forth. The first mounting frame 42 comprises a first circular rotating disc 421 and a second circular rotating disc 422 which are parallel to each other and fixedly connected, the first circular rotating disc 421 and the second circular rotating disc 422 are fixedly connected through support columns, the first circular rotating disc 421 and the second circular rotating disc 422 are positioned on two sides of the bull gear 41, the first driving assembly 43 comprises a first motor 431 arranged on the first circular rotating disc 421, a driving pulley 432 arranged on an output shaft of the first motor 431, a driven pulley 433 connected with the driving pulley 432 through belt transmission, and the driving gear 44 is fixedly connected with the driven pulley 433 coaxially. The ring gear 41 is an inner gear, the driving gear 44 is internally meshed with the ring gear 41, the driving pulley 432 is driven by the first motor 431 to rotate the driven pulley 433, and the driving gear 44 is meshed with the ring gear 41, so that the first circular rotating disc 421, the second circular rotating disc 422 and the second mounting frame 45 are rotated, and the flexible continuous body 2 can be driven to rotate.
Referring to fig. 3 and 4, the second driving assembly 51 includes a second motor 510 installed on a first circular rotating disk 421, a first screw shaft 511 coaxially connected with the second motor 510, a first nut 512 screw-sleeved on the first screw shaft 511, a first polish rod 513 and a direct sliding potentiometer 514 disposed in parallel with the first screw shaft 511, and a sensor fixing bracket 515 having one end fixedly connected with the first nut 512; the other end of the sensor fixing support 515 is sleeved on the first polished rod 513 and slides along the first polished rod 513, a tension sensor 516 is fixed on the sensor fixing support 515, a flexible rope fixing seat 517 is arranged at the end of the tension sensor 516, a slide rail nut is fixed at the bottom end of the sensor fixing support 515, a slide bar fixing frame 518 is sleeved on the slide rail nut, the slide bar fixing frame 518 is fixedly connected with a slide bar of the straight sliding potentiometer 514, two ends of the first screw 511 are respectively fixed on the second circular rotating disc 422 and the second mounting frame 45 through optical axis fixing seats, two ends of the straight sliding potentiometer 514 are respectively fixed on the second circular rotating disc 422 and the second mounting frame 45 through circular fixing frames, a horn fixing frame 519 is fixed at the center of the second mounting frame 45, a plurality of V-shaped rollers 5110 are distributed on the second mounting frame 45 in a circumferential array, a plurality of through holes 5111 are distributed on the side surface of the horn fixing frame 519 in a circumferential array, and the flexible rope 50 stretches into the horn fixing frame 519 and correspondingly penetrates out of the through holes 5111. The force and direction of the flexible rope 50 are transferred through the horn-shaped fixing frame 519 and the V-shaped roller 5110, the horn-shaped fixing frame 519 uniformly distributes the flexible rope 50 to all directions according to 30 degrees, and the horn-shaped fixing frame 519 turns the flexible rope 50 to reduce friction. The second motor 510 drives the first screw rod 511 to rotate, the flexible rope fixing seat 517 moves along the first screw rod 511, the flexible rope 50 is pulled, the flexible rope is transmitted to the rigid arm body 3 through the horn-shaped fixing frame 519, and meanwhile, the tension sensor 516 and the direct sliding potentiometer 514 measure the tension and displacement of the flexible rope 50 respectively, so that the control of the tension and displacement of the flexible continuous body 2 is conveniently realized. According to the embodiment of the invention, the displacement of the flexible rope 50 is controlled by matching the first screw rod 511 with the first nut 512 and the straight sliding potentiometer 514; the tension sensor 516 can monitor the tension of each flexible rope 50 in real time, so that the tension control of each flexible rope 50 is conveniently realized. According to the invention, the plurality of flexible ropes 50 are respectively controlled by the plurality of second driving assemblies 51, and the flexible rope fixing seat 517 is controlled to move on the first screw rod 511 with different displacement, so that the flexible continuum 2 multi-degree of freedom can be realized, the surgical instrument can be conveniently controlled, and a doctor can finish the operation better.
Referring to fig. 2, 7 and 8, the flexible continuous body 2 comprises: the n-level flexible structure body 21 is sequentially connected with the surgical instrument fixing seat 1 arranged at the front end of the n-level flexible structure body 21; the ith flexible structure 21 includes an ith locking disk 214, a plurality of ith flexible joints 211 sequentially embedded on the ith locking disk 214, and a plurality of flexible ropes 50; the flexible joint 211 and the locking disc 214 are uniformly distributed with a plurality of channels 212 in a circumferential array, the front end of the flexible rope 50 is fixedly connected to the (i+1) th level locking disc, and the other end of the flexible rope passes through the channels 212, the rigid arm body 3, the horn-shaped fixing frame 519 in sequence, passes through the second circular rotating disc 422 after bypassing the V-shaped roller 5110 and is fixedly connected with the flexible rope fixing seat 517, wherein i is more than or equal to 1 and less than or equal to n; the front end of the nth stage flexible rope 50 is fixedly connected with the surgical instrument fixing seat 1. n=3, the flexible continuous body 2 of the embodiment of the present invention has a total of three stages of flexible structural bodies 21, and for each stage of flexible structural body 21, two degrees of freedom of rotation distributed in orthogonal directions, a bending angle of 14×12° can be performed along a bending plane, and the single stage of flexible structural body 21 has eleven flexible joints 211 and one locking disc 214. The flexible continuous body 2 has twelve flexible ropes 50, the channels 212 are uniformly dispersed along the circumferential direction, the flexible ropes 50 in every four orthogonal directions jointly control the bending of the primary flexible structure body 21, the rotation in two degrees of freedom directions is realized, the flexible continuous body 2 has eight degrees of freedom, and the requirements in the operation process are completely met. The centers of the locking disc 214, the flexible joint 211 and the guide rod 31 are all provided with a surgical instrument channel 212, and the front end of the flexible continuum 2 is fixed with a surgical instrument fixing seat 1. The surgical instrument is fixed on the surgical instrument fixing seat 1, and a control rod of the surgical instrument is controlled through the surgical instrument channel 212, so that the opening and closing of the surgical instrument are controlled.
As shown in fig. 1-2, each stage of flexible structure 21 includes a locking disk 214, eleven sequentially nested flexible joints 211 mounted on locking disk 214, and four flexible cords 50; twelve channels 212 are uniformly distributed on the flexible joint 211 and the locking disc 214 in a circumferential array, the number and distribution of the flexible ropes 50 can be set according to requirements, and the outer diameters of the channels 212 on the flexible joint 211 and the locking disc 214 are slightly larger than the outer diameter of the flexible ropes 50 so as to ensure that the flexible ropes 50 can freely pass through the channels 212. The number of flexible joints 211 is set according to the desired length of flexible continuum 2, while the number of flexible cords 50 is set according to the desired load and compliance to be achieved.
Referring to fig. 1 and 6, a forward and backward movement unit 6 for adjusting forward and backward movement of the cylindrical housing 40 is provided under the cylindrical housing 40, and the forward and backward movement unit 6 includes: the base 61, two second polished rods 62 horizontally fixed on the base 61, a third motor 63 fixed at one end of the base 61, a second lead screw 64 with one end coaxially connected with an output shaft of the third motor 63, and a sliding block 66 fixedly connected with a second nut 65 sleeved on the second lead screw 64, wherein an encoder 67 is coaxially fixed at the other end of the second lead screw 64, the sliding block 66 slides along the second polished rods 62, and the cylindrical shell 40 is fixedly connected with the sliding block 66. The position of the cylindrical housing 40 can be automatically adjusted by moving the assembly 6 back and forth, thereby enabling adjustment of the length of the flexible continuous body 2 extending into the patient's body. The surgical instrument fixed at the front end of the flexible continuous body 2 is conveyed to a designated position through the back-and-forth movement assembly 6, and the flexible continuous body 2 is driven to bend and rotate through the flexible bending driving mechanism 5 and the rotary driving mechanism 4, so that the surgical instrument is controlled.
As shown in fig. 3, the outer circumferences of the first circular rotating disk 421 and the second circular rotating disk 422 are each provided with a plurality of radial rollers 47 and a plurality of sets of axial rollers 46, the plurality of sets of axial rollers 46 include two axial rollers 46 arranged side by side, a first guide groove 48 is provided in the cylindrical housing 40, both axial rollers 46 abut against the inner wall of the first guide groove 48, the radial rollers 47 abut against the inner wall of the cylindrical housing 40, and both the first circular rotating disk 421 and the second circular rotating disk 422 are rotated along the cylindrical housing 40 by the radial rollers 47 and the axial rollers 46. The radial roller 47 and the axial roller 46 restrict radial and axial movement of the first circular rotating disk 421 and the second circular rotating disk 422, respectively, and reduce friction, enabling the first circular rotating disk 421 and the second circular rotating disk 422 to be better rotated along the cylindrical housing 40, thereby enabling the rotation of the flexible continuous body 2 to be better controlled. The rotary driving mechanism 4 of the embodiment of the invention has the advantages of compact structure, small size, portability and complete functions, creatively adopts the radial roller 47 and the axial roller 46 to respectively limit the radial and axial movement of the first circular rotary disk 421 and the second circular rotary disk 422, and reduces the weight.
Referring to fig. 2 and 5, the rigid arm body 3 includes a guide bar 31 having a surgical instrument channel 212 centrally disposed therein, and an outer bar 32 sleeved outside the guide bar 31; the guide bar 31 is provided with a plurality of second guide grooves 33 distributed in a circumferential array for guiding the flexible cord 50. In this embodiment, twelve second guide grooves 33 are circumferentially arranged in the guide rod 31 along the axial direction, and twelve flexible ropes 50 respectively pass through the twelve second guide grooves 33, so that mutual interference between the flexible ropes 50 can be effectively avoided. The rigid arm body 3 is a straight rod-shaped rigid structure, and the length of the rigid arm body can be adjusted according to functional requirements. It should be noted that in certain cases the flexible continuum 2 may also be directly connected to the rotary drive mechanism 4.
Referring to fig. 8, the centers of the upper ends of the flexible joint 211 and the locking disk 214 are respectively provided with a convex hemisphere, the centers of the lower ends are respectively provided with a hemispherical groove matched with the convex hemisphere, the upper end surfaces of the flexible joint 211 and the locking disk 214 are respectively provided with a 7-degree upper interface, and the lower end surfaces are respectively provided with a 7-degree lower interface. The radius of the convex hemisphere of one flexible joint 211 below is the same as that of the hemispherical groove of the other flexible joint 211 adjacent above, and the two adjacent flexible joints 211 can be completely jointed; the 7 upper interface of one flexible joint 211 may be fully conformed in extreme cases to the 7 lower interface of another flexible joint 211 adjacent thereabove, achieving a maximum 14 deg. conformed between the units. In this embodiment, the flexible joint 211 is made of an aluminum alloy material, and the flexible cord 50 is made of a nickel-titanium alloy material.
Referring to fig. 4, the side of the horn-shaped fixing frame 519 is provided with a plurality of through holes 5111 in a circumferential array, and the flexible cord 50 is inserted into the horn-shaped fixing frame 519 and correspondingly passes out of the through holes 5111. The horn-shaped fixing frames 519 uniformly disperse the flexible ropes 50 in all directions according to 30 degrees by combining the through holes 5111, and the horn-shaped fixing frames 519 change the directions of the flexible ropes 50 to reduce friction. The horn-shaped fixing frame 519 and the rigid arm body 3 are made of stainless steel materials.
The working space interface of the flexible continuum 2 of the surgical robot is less than or equal to 40cm 2 The diameter of the cylindrical shell 40 is less than or equal to 20 x 60cm, the total weight of the flexible bending driving mechanism 5 and the rotary driving mechanism 4 is less than or equal to 10kg, the occupied space is saved, and the condition that the occupied space of operating room equipment is tense is relieved.
It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.
Claims (7)
1. A flexible continuum surgical robot, characterized by: comprises a flexible continuous body (2), a rigid arm body (3) arranged at the tail end of the flexible continuous body (2), a flexible bending driving mechanism (5) and a rotary driving mechanism (4) which are arranged at the tail end of the rigid arm body (3); the rotation driving mechanism (4) includes: a cylindrical housing (40), a ring gear (41) fixed on the inner wall of the cylindrical housing (40), a first mounting frame (42) rotatably mounted along the inner peripheral surface of the cylindrical housing (40), a first driving assembly (43) mounted on the first mounting frame (42), and a driving gear (44) mounted on the output shaft of the first driving assembly (43); the driving gear (44) is meshed with the large gear ring (41); the inner peripheral surface of the front end of the cylindrical shell (40) is rotatably provided with a second mounting frame (45), and the rigid arm body (3) is fixedly arranged on the second mounting frame (45); the flexible bending driving mechanism (5) comprises a plurality of flexible ropes (50) and a second driving assembly (51) for driving each flexible rope (50) to move respectively; the front end of the flexible rope (50) is fixed on the flexible continuous body (2), the rear end of the flexible rope is fixed at the output end of the second driving assembly (51), and the second driving assembly (51) pulls the rear end of the flexible rope (50) to move back and forth; the first mounting frame (42) comprises a first circular rotating disc (421) and a second circular rotating disc (422) which are parallel to each other and fixedly connected, the first circular rotating disc (421) and the second circular rotating disc (422) are positioned on two sides of the large gear ring (41), the first driving assembly (43) comprises a first motor (431) installed on the first circular rotating disc (421), a driving belt pulley (432) installed on an output shaft of the first motor (431), and a driven belt pulley (433) connected with the driving belt pulley (432) through a belt transmission, and the driving gear (44) is fixedly connected with the driven belt pulley (433) in a coaxial manner; the second driving assembly (51) comprises a second motor (510) arranged on the first circular rotating disc (421), a first screw rod (511) coaxially connected with the second motor (510), a first nut (512) spirally sleeved on the first screw rod (511), a first polished rod (513) and a straight sliding potentiometer (514) which are arranged in parallel with the first screw rod (511), and a sensor fixing bracket (515) with one end fixedly connected with the first nut (512); the other end of the sensor fixing support (515) is sleeved on the first polished rod (513) and slides along the first polished rod, a tension sensor (516) is fixed on the sensor fixing support (515), a flexible rope fixing seat (517) is arranged at the end part of the tension sensor (516), a slide bar fixing frame (518) is sleeved at the bottom end of the sensor fixing support (515), the slide bar fixing frame (518) is fixedly connected with the slide bar of the straight sliding potentiometer (514), two ends of the first lead screw (511) are respectively fixed on the second circular rotating disc (422) and the second mounting frame (45), two ends of the straight sliding potentiometer (514) are respectively fixed on the second circular rotating disc (422) and the second mounting frame (45), a horn-shaped fixing frame (519) is fixed at the center of the second mounting frame (45), a plurality of V-shaped rollers (5110) are distributed on the second mounting frame (45) in a circumferential array, a plurality of through holes (5111) are distributed on the side surfaces of the horn-shaped fixing frame (519) in a circumferential array, and the flexible ropes (514) extend into the corresponding through holes (5111); the outer periphery of first circular rolling disc (421) with second circular rolling disc (422) all is provided with a plurality of radial gyro wheels (47) and multiunit axial gyro wheel (46), be provided with first guide slot (48) in cylinder shell (40), axial gyro wheel (46) support and lean on the inner wall of first guide slot (48), radial gyro wheel (47) support and lean on the inner wall of cylinder shell (40), first circular rolling disc (421) with second circular rolling disc (422) are all through radial gyro wheel (47) and axial gyro wheel (46) follow cylinder shell (40) are rotated.
2. A flexible continuum surgical robot according to claim 1, wherein: the large gear ring (41) is an inner gear ring, and the driving gear (44) is internally meshed with the large gear ring (41).
3. A flexible continuum surgical robot according to claim 1, wherein: the flexible continuum (2) comprises: a flexible structure (21) in which n stages are connected in sequence; the ith flexible structure (21) comprises an ith locking disc (214), a plurality of sequentially embedded flexible joints (211) arranged on the ith locking disc (214) and a plurality of flexible ropes (50); a plurality of channels (212) are uniformly distributed on the flexible joint (211) and the locking disc (214) in a circumferential array; the front end of the flexible rope (50) is fixedly connected to an i+1st-stage locking disc (214), and the other end of the flexible rope sequentially passes through the channel (212), the rigid arm body (3), the horn-shaped fixing frame (519) and the second circular rotating disc (422) to be fixedly connected with the flexible rope fixing seat (517) after bypassing the V-shaped roller (5110), wherein i is more than or equal to 1 and less than or equal to n; the front end of the nth stage flexible rope (50) is fixedly connected with the surgical instrument fixing seat (1).
4. A flexible continuum surgical robot according to claim 3, wherein: n=3; each section of flexible structure body (21) comprises a locking disc (214), eleven flexible joints (211) which are sequentially embedded and arranged on the locking disc (214), and four flexible ropes (50); twelve channels (212) are uniformly distributed on the flexible joint (211) and the locking disc (214) in a circumferential array.
5. A flexible continuum surgical robot according to claim 1, wherein: further comprising a back and forth movement assembly (6), the back and forth movement assembly (6) comprising: base (61), level are fixed two second polished rod (62) on base (61), fix third motor (63) of base (61) one end, one end with output shaft coaxial coupling's of third motor (63 second lead screw (64) and with the cover establish second nut (65) fixed connection's on second lead screw (64 slider (66), the other end coaxial fixation of second lead screw (64) has encoder (67), slider (66) are followed second polished rod (62) are slided, cylindrical shell (40) with slider (66) fixed connection.
6. A flexible continuum surgical robot as recited in claim 4, wherein: the rigid arm body (3) comprises a guide rod (31) and an outer rod (32) sleeved outside the guide rod (31); the guide rod (31) is provided with a plurality of second guide grooves (33) which are used for guiding the flexible rope (50) along the axial direction in a circumferential array.
7. A flexible continuum surgical robot as recited in claim 6, wherein: the center of the locking disc (214), the centers of the flexible joint (211) and the guide rod (31) are respectively provided with a surgical instrument channel (212), and the front end of the flexible continuous body (2) is fixed with a surgical instrument fixing seat (1).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114052926B (en) * | 2022-01-14 | 2022-03-29 | 极限人工智能有限公司 | Operation control instrument assembly, split type operation device and soft tissue robot |
| CN115517774A (en) * | 2022-01-29 | 2022-12-27 | 深圳市爱博医疗机器人有限公司 | From end drive seat of intervene surgical robot |
| CN114557774B (en) * | 2022-02-25 | 2023-03-24 | 中国科学院自动化研究所 | Multi-degree-of-freedom flexible continuum robot for lung interventional biopsy |
| CN114601413A (en) * | 2022-03-31 | 2022-06-10 | 福州大学 | Flexible continuous endoscope system integrating rigid hinge and double-spiral structure |
| CN114948229A (en) * | 2022-06-29 | 2022-08-30 | 山东大学 | Five-degree-of-freedom flexible operating arm of surgical robot |
| CN115281585A (en) * | 2022-06-30 | 2022-11-04 | 中国科学院自动化研究所 | Stay wire driving device of flexible controllable apparatus |
| CN114947966B (en) * | 2022-08-01 | 2022-10-28 | 中国科学院自动化研究所 | Flexible medical device |
| CN116712114B (en) * | 2023-08-11 | 2023-10-31 | 中国科学院自动化研究所 | Seven-degree-of-freedom flexible surgical instrument based on conical continuum |
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