CN113858260B - Flexible continuum structure capable of being integrally driven and flexible mechanical arm - Google Patents
Flexible continuum structure capable of being integrally driven and flexible mechanical arm Download PDFInfo
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- CN113858260B CN113858260B CN202010617404.0A CN202010617404A CN113858260B CN 113858260 B CN113858260 B CN 113858260B CN 202010617404 A CN202010617404 A CN 202010617404A CN 113858260 B CN113858260 B CN 113858260B
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 81
- 230000014759 maintenance of location Effects 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 12
- 125000006850 spacer group Chemical group 0.000 claims description 3
- 238000005452 bending Methods 0.000 abstract description 19
- 230000007246 mechanism Effects 0.000 abstract description 10
- 230000009977 dual effect Effects 0.000 description 3
- 230000003071 parasitic effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000368 destabilizing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910001000 nickel titanium Inorganic materials 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
The invention relates to a flexible continuum structure capable of being integrally driven and a flexible mechanical arm, which comprises a near-end continuum and a far-end continuum; the proximal continuum comprises a proximal disc, a first proximal stop disc, a second proximal stop disc and a plurality of first structural bones which are arranged at intervals, wherein the proximal end of the first structural bone is fixedly connected with the second proximal stop disc, and the distal end of the first structural bone passes through the first proximal stop disc and is fixedly connected with the proximal disc; the distal continuum comprises a distal disc and a distal disc stop arranged at intervals and a plurality of second structural bones, wherein the proximal ends of the second structural bones are fixedly connected with the first proximal disc stop, and the distal ends of the second structural bones penetrate through the proximal disc and the distal disc and are fixedly connected with the distal disc stop. The invention can avoid directly pushing and pulling the driving wire, is not limited by the number of driving mechanisms, meets the bending performance of the flexible continuum structure, has compact structure, simple principle, easy realization and high reliability.
Description
Technical Field
The invention relates to a continuum structure, in particular to a flexible continuum structure capable of being driven integrally and a flexible mechanical arm comprising the flexible continuum structure.
Background
The existing continuum structure generally carries out direct push-pull to the driving wire in the continuum structure through the driving mechanism, and the driving to the driving wire is divided into two types: the first is to directly push and pull the driving wire through a linear pair, and drive the flexible mechanical arm to bend from the moment; the second is to push and pull a group of thicker driving wires through the linear pair first, so that the proximal continuum is bent, and a group of thinner driving wires on the proximal continuum are driven to bend, so as to drive the flexible mechanical arm to bend, and further, more driving wires are driven by a smaller number of driving mechanisms.
However, since the two driving modes are both direct push-pull driving wires for movement, when the number of the driving wires is large, the number of the driving mechanisms is correspondingly increased, so that the structure is complex.
Disclosure of Invention
In view of the above problems, one of the objects of the present invention is to provide a flexible continuous structure capable of being integrally driven, avoiding direct push-pull of driving wires, being not limited by the number of drivers when driving a large number of driving wires, and satisfying the bending performance of the flexible continuous structure, while having compact structure, simple principle, easy implementation and high reliability; it is another object of the present invention to provide a flexible robotic arm incorporating the flexible continuum structure.
In order to achieve the above purpose, the present invention adopts the following technical scheme: an integrally drivable flexible continuum structure comprising a proximal continuum and a distal continuum; wherein the proximal continuum comprises: the proximal end disk, the first proximal end stop disk and the second proximal end stop disk are arranged at intervals; the proximal ends of the first structural bones are fixedly connected with the second proximal end stop disc, and the distal ends of the first structural bones penetrate through the first proximal end stop disc and are fixedly connected with the proximal end stop disc; the distal continuum includes: the distal end base plate and the distal end stop plate are arranged at intervals, and the distal end base plate is adjacent to the proximal end base plate; the proximal ends of the second structural bones are fixedly connected with the first proximal end stopping disc, and the distal ends of the second structural bones penetrate through the proximal end stopping disc and the distal end stopping disc and are fixedly connected with the distal end stopping disc.
The flexible continuum structure preferably further comprises a drive connection connected to the second proximal stop disc.
The flexible continuous body structure preferably has one end of the driving connection part fixedly connected with the second proximal end stop disc;
alternatively, one end of the drive connection portion is movably connected to the second proximal end stop so that the drive connection portion and the second proximal end stop can slide and/or rotate up and down relative to each other.
The flexible continuous body structure preferably further comprises a structural bone guiding tube bundle connected between the proximal disc and the distal disc, and the distal ends of the second structural bones are fixedly connected with the distal stop disc after sequentially passing through the proximal disc, the structural bone guiding tube bundle and the distal disc.
In the flexible continuous body structure, preferably, the driving connection part is a columnar sliding pin, at this time, the sliding pin is connected with the second proximal end stop disc by adopting a cylindrical pair through a guide hole arranged on the second proximal end stop disc, and the sliding pin can rotate around an axis and slide up and down along the guide hole on the second proximal end stop disc;
or the driving connecting part is annular, sleeved on the periphery of the second proximal end stop disc and can slide up and down and rotate relative to the second proximal end stop disc.
The flexible continuum structure, preferably, the proximal continuum further comprises at least one first proximal retention disk disposed between the first proximal stop disk and the second proximal stop disk and/or at least one second proximal retention disk disposed between the proximal disk and the first proximal stop disk, each of the first structural bones passing through the first proximal retention disk.
The flexible continuum structure, preferably, the distal continuum further comprises at least one distal retention disc disposed between the distal disc and the distal stop disc, each of the second structural bones passing sequentially through the second proximal retention disc and the distal retention disc.
Preferably, the first proximal end retaining disk, the first proximal end stop disk, the second proximal end retaining disk, the proximal end disk, the distal end base disk and the distal end retaining disk are circumferentially provided with a plurality of through holes for sliding the first structural bone and the second structural bone therethrough, the proximal end disk and the second proximal end stop disk are circumferentially provided with a plurality of first locking holes for fixing the end portions of the first structural bone, and the first proximal end stop disk and the distal end stop disk are circumferentially provided with a plurality of second locking holes for fixing the end portions of the second structural bone.
The flexible continuum structure preferably has elastomeric spacers mounted between adjacent discs of the proximal continuum and/or between adjacent discs of the distal continuum.
A flexible robotic arm comprising at least one flexible continuum structure as described above;
preferably, the flexible mechanical arm is formed by adopting more than two flexible continuous structures in series or parallel connection.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention provides a flexible continuum structure capable of being integrally driven, which can drive a first near-end stop disc to generate dual bending when the connecting part is driven to move only by a plane mechanism, indirectly push and pull a second structural bone in a far-end continuum, and finally drive the far-end continuum to perform bending motion along different directions in a space, thereby avoiding direct push and pull of the structural bone, being not limited by the number of driving mechanisms when driving a large number of structural bones, having compact structure, simple principle and easy realization, and having high reliability. 2. Compared with the traditional rigid kinematic chain which realizes bending motion by mutual rotation at joints, the flexible continuum structure realizes the bending deformation of the far-end structure through the deformation of the near-end structure, and the structural main body of the flexible continuum structure simultaneously becomes a driving transmission structure, so that extremely high degree of freedom configuration can be realized in a small-size space range, and the flexible continuum structure can be widely applied to the development of medical instruments such as flexible operation arms, endoscopes, controllable catheters and the like, and novel special equipment such as industrial deep-cavity detection endoscopes, flexible mechanical arms and the like.
Drawings
FIG. 1 is a schematic view of a flexible continuum structure according to an embodiment of the invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings, so that the objects, features and advantages of the present invention will be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the invention, but rather are merely illustrative of the true spirit of the invention.
In the description of the present invention, it should be understood that the terms "proximal," "distal," "upper," "lower," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are merely used for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the scope of the present invention. In the present invention, when referring to "distal or distal," the term refers to a side or end that is relatively far from the operator. When referring to "proximal or proximal," the term refers to a side or end that is relatively close to the operator.
As shown in fig. 1, the integrally drivable flexible continuous body structure provided in this embodiment includes a proximal continuous body 1 and a distal continuous body 3.
Wherein the proximal continuum 1 comprises: the proximal end disk 4, the first proximal end stop disk 7 and the second proximal end stop disk 8 are arranged at intervals; the first structural bones 13, the proximal ends of the first structural bones 13 are fixedly connected with the second proximal end stop disc 8, and the distal ends of the first structural bones 13 penetrate through the first proximal end stop disc 7 and are fixedly connected with the proximal end disc 4.
The distal continuum 3 includes: a distal end base plate 9 and a distal end stopper plate 11, which are arranged at intervals, and the distal end base plate 9 is adjacent to the proximal end base plate 4; and the proximal ends of the second structural bones 12 are fixedly connected with the first proximal end stop disc 7, and the distal ends of the second structural bones 12 penetrate through the proximal end disc 4 and the distal end base disc 9 and are fixedly connected with the distal end stop disc 11.
Thus, the proximal continuum 1 is associated with the distal continuum 3, and when a driving mechanism is applied to drive the proximal continuum 1 to generate bending motion, the distal continuum 3 is driven to generate bending motion opposite to the proximal continuum 1 in the bending state of the proximal continuum 1.
In the above embodiment, the flexible continuum structure preferably further comprises a drive connection 14 connected to the second proximal stop disc 8. In particular, one end of the drive connection 14 may be fixedly connected to the second proximal stop disc 8, while the drive connection 14 may be connected to the drive mechanism by rotation and/or displacement.
In the above embodiment, preferably, one end of the driving connection portion 14 is movably connected to the second proximal stopper 8, so that the driving connection portion 14 and the second proximal stopper 8 can slide and/or rotate up and down with respect to each other. Specifically, one end of the driving connection portion 14 is connected with the second proximal end stop disc 8 by a cylindrical pair, so that the driving connection portion 14 and the second proximal end stop disc 8 can slide and/or rotate relatively up and down, and the other end of the driving connection portion 14 passes through the second proximal end stop disc 8 to form a free end, and a driving mechanism is externally connected through the free end.
In the above embodiment, preferably, the flexible continuous body structure further includes a structural bone guiding tube bundle 2, the proximal end of the structural bone guiding tube bundle 2 is connected to the proximal disc 4, the distal end of the structural bone guiding tube bundle 2 is connected to the distal base disc 9, and the distal ends of the plurality of second structural bones 12 sequentially pass through the proximal disc 4, the structural bone guiding tube bundle 2 and the distal base disc 9 and then are fixedly connected to the distal stop disc 11. The function of the structural bone guide bundle 2 is to guide and constrain a second structural bone 12 located between the proximal disc 4 and the distal disc 9.
In operation, the flexible continuum structure provided in the above embodiment, because the proximal disc 4 is fixed, when a planar driving mechanism is applied to drive the free end of the connecting portion 14 to move in the same horizontal plane direction, the proximal disc 4 and the second proximal stop disc 8 are dislocated, and the axes of the two are no longer coincident. Because the two ends of the first structural bone 13 are respectively fixed with the proximal disc 4 and the second proximal stop disc 8, each first structural bone 13 is forced to bend, so that the proximal continuum 1 generates dual bending between the proximal end and the distal end; simultaneously, the first proximal end stop disc 7 is turned cooperatively, so that the second structural bones 12 with the ends fixed on the first proximal end stop disc 7 are pushed and pulled, the second structural bones 12 uniformly fixed on the first proximal end stop disc 7 are pulled on one side, so that the length of the corresponding second structural bones 12 in the proximal continuum 1 is increased, and the other side is pressed, so that the length of the corresponding second structural bones 12 in the proximal continuum 1 is reduced. However, the overall length of each second structural bone 12 is constant, and the length of each second structural bone 12 in the structural bone guide tube bundle 2 is constant, resulting in a corresponding change in the length of each second structural bone 12 in the distal continuum 1, thereby driving the distal continuum 3 to bend in opposite directions from the portion of the proximal continuum 1 adjacent the proximal disc 4. The bending ratio of the proximal continuum 1 and the distal continuum 3 is inversely proportional to the distribution radius of the corresponding second structural bone 12 in both (in this embodiment, the second structural bones 12 in the proximal continuum 1 and the distal continuum 3 are distributed circumferentially, which may be distributed circumferentially or in the matrix circumferential direction, may be uniformly distributed or non-uniformly distributed, and is not limited herein). The distribution radius of the second structural bone 12 in the proximal continuum 1 and the distal continuum 3 can be adjusted in application to meet the actual bending ratio requirement. Therefore, the second proximal end stop disc 8 and the driving connection part 14 are connected by adopting a cylindrical pair, so that the second proximal end stop disc 8 and the driving connection part 14 can slide up and down or rotate, parasitic movement (sliding up and down) in the axial direction generated during dual bending of the proximal end continuous body 1 and bending movement (rotation) in any direction can be met, the parasitic movement can avoid that the distal end continuous body 3 generates telescopic movement in the axial direction in the bending process, and the cover wrapping the periphery of the distal end continuous body 3 is wrinkled or overstretched, so that the service life of the cover is influenced.
In the above embodiment, the drive connection portion 14 may be preferably a columnar slide pin, in which case the slide pin is connected to the second proximal stopper 8 by a cylindrical pair through a guide hole provided in the second proximal stopper 8, and the slide pin is rotatable about an axis and slidable up and down along the guide hole in the second proximal stopper 8. Alternatively, the driving connection portion 14 may be annular and sleeved on the outer periphery of the second proximal end stop 8, and may slide and rotate up and down relative to the second proximal end stop 8.
In the above embodiment, preferably, the proximal continuum 1 further comprises at least one first proximal retention disc 6 arranged between the first proximal stop disc 7 and the second proximal stop disc 8 and/or at least one second proximal retention disc 5 arranged between the proximal disc 4 and the first proximal stop disc 7, each first structural bone 13 passing through the first proximal retention disc 6, the first proximal retention disc 6 being adapted to support the first structural bone 13 from the radial direction of the first structural bone 13 such that each first structural bone 13 remains parallel during bending deformation preventing the first structural bone 13 from destabilizing during bending movements.
In the above embodiment, preferably, the distal continuum 3 further comprises at least one distal holding disk 10 disposed between the distal disk 9 and the distal stopper disk 11, each second structural bone 12 passing through the second proximal holding disk 5 and the distal holding disk 10 in sequence, the second proximal holding disk 5 and the distal holding disk 10 serving to support the second structural bone 12 from the radial direction of the second structural bone 12, so that each second structural bone 12 remains in a parallel state during bending deformation, preventing the second structural bone 12 from being unstable during bending movement.
In the above embodiment, preferably, the first proximal holding disk 6, the first proximal stopper disk 7, the second proximal holding disk 5, the proximal disk 4, the distal base disk 9 and the distal holding disk 10 are circumferentially distributed with a plurality of through holes for sliding the first structural bone 13 and the second structural bone 12 therethrough, the proximal disk 4 and the second proximal stopper disk 8 are circumferentially distributed with a plurality of first locking holes for fixing the ends of the first structural bone 13, the first proximal stopper disk 7 and the distal stopper disk 11 are circumferentially distributed with a plurality of second locking holes for fixing the ends of the second structural bone 12, and the specific hole positions and hole numbers of the through holes and locking holes on the different disks depend on the distribution positions and numbers of the first structural bone 13 and the second structural bone 12.
In the above-described embodiments, preferably, pre-compressed elastic spacers (e.g., springs, not shown) may be installed between adjacent disks of the proximal continuum 1 and/or between adjacent disks of the distal continuum 3 to space the disks apart.
In the above embodiment, preferably, the first structural bone 13 and the second structural bone 12 may be made of an elastic thin rod or tube made of super elastic material, and generally may be made of a high-strength, high-toughness, elastic metal material such as nickel-titanium alloy; the structural bone guiding tube bundle 2 may be a steel tube bundle.
Based on the flexible continuous body structure provided by the embodiment, the invention also provides a flexible mechanical arm which comprises at least one flexible continuous body structure capable of being driven integrally.
Preferably, the flexible mechanical arm is formed by adopting two flexible continuous body structures in series or parallel connection, so that the flexibility of the arm body is improved.
In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for defining the components, and are merely for convenience in distinguishing the components, and the terms are not meant to have any special meaning unless otherwise stated, so that the scope of the present invention is not to be construed as being limited.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (11)
1. An integrally drivable flexible continuum structure, characterized by comprising a proximal continuum (1) and a distal continuum (3);
wherein the proximal continuum (1) comprises:
the proximal end base plate (4), the first proximal end stop plate (7) and the second proximal end stop plate (8) are arranged at intervals;
the first structural bones (13), the proximal ends of a plurality of the first structural bones (13) are fixedly connected with the second proximal end stop disc (8), and the distal ends of a plurality of the first structural bones (13) penetrate through the first proximal end stop disc (7) and are fixedly connected with the proximal end disc (4);
the distal continuum (3) comprises:
a distal disc (9) and a distal stopper disc (11) arranged at intervals, and the distal disc (9) is adjacent to the proximal disc (4);
the proximal ends of the second structural bones (12) are fixedly connected with the first proximal end stop disc (7), and the distal ends of the second structural bones (12) penetrate through the proximal end disc (4) and the distal end disc (9) and are fixedly connected with the distal end stop disc (11);
the second proximal end stop disc (8) is used for receiving a planar motion drive so that dislocation is generated between the second proximal end stop disc (8) and the proximal end disc (4), and a plurality of first structural bones (13) are bent to drive the first proximal end stop disc (7) to deflect.
2. A flexible continuum structure according to claim 1, further comprising a drive connection (14), the drive connection (14) being connected to the second proximal stop disc (8).
3. A flexible continuum structure according to claim 2, characterized in that one end of the drive connection (14) is connected to the second proximal stop disc (8).
4. A flexible continuum structure according to claim 3, characterized in that one end of the drive connection (14) is movably connected to the second proximal stop disc (8) such that the drive connection (14) and the second proximal stop disc (8) are axially slidable and/or rotatable relative to each other.
5. The flexible continuum structure according to claim 1, further comprising a structural bone guide tube bundle (2) connected between the proximal disc (4) and the distal disc (9), wherein distal ends of the plurality of second structural bones (12) are fixedly connected to the distal stop disc (11) after passing through the proximal disc (4), the structural bone guide tube bundle (2) and the distal base disc (9) in sequence.
6. A flexible continuum structure according to claim 2 or 3, characterized in that the drive connection (14) is a cylindrical sliding pin, which is now connected to the second proximal stop disc (8) by a cylindrical pair through a guide hole provided in the second proximal stop disc (8), the sliding pin being rotatable about its own axis and axially slidable along the guide hole in the second proximal stop disc (8);
or the driving connecting part (14) is annular, is sleeved on the periphery of the second proximal end stop disc (8), and can axially slide and rotate relative to the second proximal end stop disc (8).
7. The flexible continuum structure according to claim 1, wherein the proximal continuum (1) further comprises at least one first proximal retention disc (6) arranged between the first proximal stop disc (7) and the second proximal stop disc (8) and/or at least one second proximal retention disc (5) arranged between the proximal disc (4) and the first proximal stop disc (7), each of the first structural bones (13) passing through the first proximal retention disc (6) and/or the second proximal retention disc (5).
8. The flexible continuum structure according to claim 7, wherein the distal continuum (3) further comprises at least one distal retention disc (10) disposed between the distal disc (9) and distal stop disc (11), each of the second structural bones (12) passing sequentially through the second proximal retention disc (5) and distal retention disc (10).
9. The flexible continuum structure according to claim 8, wherein the first proximal retention disc (6), the first proximal stopper disc (7), the second proximal retention disc (5), the proximal disc (4), the distal disc (9) and the distal retention disc (10) are circumferentially arranged with a plurality of through holes for sliding passage of the first structural bone (13) and the second structural bone (12), the proximal disc (4) and the second proximal stopper disc (8) are circumferentially arranged with a plurality of first locking holes for securing the ends of the first structural bone (13), and the first proximal stopper disc (7) and the distal stopper disc (11) are circumferentially arranged with a plurality of second locking holes for securing the ends of the second structural bone (12).
10. Flexible continuum structure according to any of claims 1 to 5, 7 to 9, characterized in that between adjacent discs of the proximal continuum (1) and/or between adjacent discs of the distal continuum (3) elastic spacers are mounted.
11. A flexible robotic arm comprising at least one flexible continuum structure according to any one of claims 1 to 10;
the flexible mechanical arm is formed by adopting more than two flexible continuous body structures in series or in parallel.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617404.0A CN113858260B (en) | 2020-06-30 | 2020-06-30 | Flexible continuum structure capable of being integrally driven and flexible mechanical arm |
| CN202180034500.5A CN115605140A (en) | 2020-06-30 | 2021-03-16 | Continuum instrument and surgical robot |
| EP21832207.1A EP4173576A4 (en) | 2020-06-30 | 2021-03-16 | Continuous body instrument and surgical robot |
| US18/010,066 US20230225758A1 (en) | 2020-06-30 | 2021-03-16 | Continuum instrument and surgical robot |
| PCT/CN2021/080946 WO2022001186A1 (en) | 2020-06-30 | 2021-03-16 | Continuous body instrument and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010617404.0A CN113858260B (en) | 2020-06-30 | 2020-06-30 | Flexible continuum structure capable of being integrally driven and flexible mechanical arm |
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| Publication Number | Publication Date |
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| CN113858260A CN113858260A (en) | 2021-12-31 |
| CN113858260B true CN113858260B (en) | 2023-11-17 |
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| CN202010617404.0A Active CN113858260B (en) | 2020-06-30 | 2020-06-30 | Flexible continuum structure capable of being integrally driven and flexible mechanical arm |
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| CN (1) | CN113858260B (en) |
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| EP0312602A1 (en) * | 1987-04-17 | 1989-04-26 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling flexible-arm robot |
| CN103085083A (en) * | 2013-01-07 | 2013-05-08 | 汪雯 | Flexible continuous body mechanical structure capable of bending and stretching |
| CN103707322A (en) * | 2013-12-31 | 2014-04-09 | 汪雯 | Flexible continuous-body mechanical structure capable of being bent and telescopic |
| CN106217345A (en) * | 2016-08-31 | 2016-12-14 | 北京术锐技术有限公司 | The flexible Continuum Structure of gesture feedback can be realized |
| WO2018041206A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11793394B2 (en) * | 2016-12-02 | 2023-10-24 | Vanderbilt University | Steerable endoscope with continuum manipulator |
| KR102428622B1 (en) * | 2018-01-10 | 2022-08-03 | 베이징 서제리 테크놀로지 씨오., 엘티디. | Versatile Flexible Surgical Tool System |
| WO2019221036A1 (en) * | 2018-05-17 | 2019-11-21 | キヤノン株式会社 | Continuous robot and control system for continuous robot |
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2020
- 2020-06-30 CN CN202010617404.0A patent/CN113858260B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0312602A1 (en) * | 1987-04-17 | 1989-04-26 | Kabushiki Kaisha Komatsu Seisakusho | Apparatus for controlling flexible-arm robot |
| CN103085083A (en) * | 2013-01-07 | 2013-05-08 | 汪雯 | Flexible continuous body mechanical structure capable of bending and stretching |
| CN103707322A (en) * | 2013-12-31 | 2014-04-09 | 汪雯 | Flexible continuous-body mechanical structure capable of being bent and telescopic |
| CN106217345A (en) * | 2016-08-31 | 2016-12-14 | 北京术锐技术有限公司 | The flexible Continuum Structure of gesture feedback can be realized |
| WO2018041206A1 (en) * | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | Single-port endoscopic surgical system |
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| CN113858260A (en) | 2021-12-31 |
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