CN114587610B - Flexible laparoscope auxiliary robot based on flexible cable driving continuum configuration - Google Patents
Flexible laparoscope auxiliary robot based on flexible cable driving continuum configuration Download PDFInfo
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Abstract
The invention belongs to the technical field of medical robots, and particularly relates to a flexible laparoscope auxiliary robot based on a flexible cable driving continuum configuration. The device comprises an Innfos robot, a frame mechanism, a first driving mechanism, a second driving mechanism and an executing mechanism; the frame mechanism comprises a square shell, a column group, a horizontal shaft group and a rigid pipe, wherein one end of the square shell in the Y-axis direction is connected with the Innfos robot through a flange, and the other end of the square shell in the Y-axis direction is fixedly connected with one end of the rigid pipe; the push rod of the first linear driver stretches to drive the first traction block to pull the first closed-loop rope forwards or backwards, and the push rod of the second linear driver stretches to drive the second traction block to pull the second closed-loop rope forwards or backwards, so that the flexible continuous body bends in any direction within 60 degrees, and the rotation of the camera module is realized. Therefore, the invention is used in laparoscopic surgery without holding the laparoscope by a doctor, can prevent the influence of unfavorable surgical operations such as tremors and the like caused by holding the laparoscope, and ensures that the surgical operations are safer and more stable.
Description
Technical Field
The invention belongs to the technical field of medical robots, and particularly relates to a flexible laparoscope auxiliary robot based on a flexible cable driving continuum configuration.
Background
Compared with the open surgery, the laparoscopic surgery has the advantages of small incision, clear visual field, less bleeding in the surgery, light postoperative pain, quick recovery and the like, is popular with doctors and patients, and can provide a clearer and natural three-dimensional visual field for operators, so that the hand-eye coordination of the operators is more coordinated. Until now, laparoscopes have been widely used in the fields of abdominal surgery, cardiothoracic surgery, urology surgery, gynecology, vascular surgery, etc.
Most of laparoscopes in the market at present are rigid laparoscopes, and the traditional rigid laparoscopes are formed by directly connecting a rigid straight rod with a laparoscope lens, so that the volume is large, the structure is single, the angle is single, bending adjustment at a certain angle cannot be realized, the visual field provided by the laparoscope lens is limited, and the wide visual field is difficult to provide. In addition, the traditional rigid laparoscope has higher overall rigidity, and can be influenced by factors such as external tremors and the like in a long-time operation process, and the characteristics of rigid movement of the traditional rigid laparoscope are easy to damage minimally invasive holes on the surface of a human body and tissues and organs in the human body. The flexible laparoscope has more advantages over conventional rigid laparoscopes by employing a flexible structure at the end of the rigid rod.
The flexible structure of the flexible laparoscope-assisted robot can obtain a larger visual field through small changes, and the flexible structure can realize multi-angle work in a limited space in the abdominal cavity, so that the visual field tracking capability is achieved, and the surgical process is greatly facilitated. In addition, a series of complex operations can be performed in the abdominal cavity of the human body by virtue of the flexible movement mode, the human body is not easily damaged, and the safety and flexibility of the laparoscopic operation in the abdominal cavity are improved. However, the existing flexible structure is a discrete structure, and is composed of a plurality of small elements, so that the control is difficult, and the accuracy and flexibility are insufficient to meet the real-time control requirement of the operation. Therefore, a flexible laparoscope auxiliary robot based on a flexible cable driving continuum configuration is planned to be designed, the cost is economical, the universality and the miniaturization are realized, and the simple and convenient optimization of a mechanism is realized while the sensitive and stable operation is realized.
Disclosure of Invention
In order to solve the problems, the invention provides the flexible laparoscope-assisted robot based on the flexible cable-driven continuum configuration, which has a continuous integrated structure, and has sufficient accuracy and flexibility and is easy to control. Meanwhile, the flexible laparoscope adopts a control mode of a steel wire rope-bearing, so that the stability in driving is improved.
The invention is realized by the following technical scheme:
a flexible laparoscope auxiliary robot based on a flexible cable driving continuum configuration comprises an Innfos robot 3, a frame mechanism, a first driving mechanism, a second driving mechanism and an executing mechanism;
the frame mechanism comprises a closed square shell 11, a column group, a horizontal shaft group and a rigid pipe 12;
each upright post 13 of the upright post group is vertically fixed in the square shell 11, and each upright post 13 is coaxially and fixedly connected with a bearing 20,
each horizontal shaft 14 of the horizontal shaft group is horizontally erected in the square shell 11, and a bearing 20 is sleeved on each horizontal shaft 14,
one end of the square shell 11 in the Y-axis direction is connected with the Innfos robot 3 through a flange 31, and the other end of the square shell in the Y-axis direction is fixedly connected with one end of the rigid pipe 12;
the first driving mechanism and the second driving mechanism are uniformly arranged in the square shell 11;
the first driving mechanism includes a first linear actuator 41 and a first wire rope 42, the first linear actuator 41 is disposed along one side inner wall of the square housing 11, and a push rod of the first linear actuator 41 is fixedly connected to one end of the first traction block 43, so that the first traction block 43 is disposed along the X-axis direction of the square housing 11,
the other end of the first traction block 43 is fixedly connected with both ends of the first steel wire rope 42 respectively, so that the first steel wire rope 42 forms a first closed loop rope;
the second driving mechanism includes a second linear driver 44 and a second wire rope 45, the second linear driver 44 is disposed along the other side inner wall of the square housing 11, and a push rod of the second linear driver 44 is fixedly connected to one end of the second traction block 46, so that the second traction block 46 is disposed along the X-axis direction of the square housing 11,
the other end of the second traction block 46 is fixedly connected with two ends of the second steel wire rope 45 respectively, so that the second steel wire rope 45 forms a second closed loop rope;
the actuating mechanism comprises a connecting sleeve 51, a flexible continuum 52 and a camera module 53;
the flexible continuous body 52 is a tubular continuous body made of nylon, transverse arc-shaped notches 521 are uniformly formed on the side wall along the axial direction of the tubular continuous body, one end of the flexible continuous body 52 is fixedly connected with the other end of the rigid pipe 12 through the connecting sleeve 51, and the other end of the flexible continuous body 52 is fixedly connected with the camera module 53;
the first closed loop rope sequentially winds around each bearing 20 of the upright column group, sequentially penetrates into the rigid pipe 12, the connecting sleeve 51 and the flexible continuous body 52 along one end of the horizontal radial direction of the rigid pipe 12, and sequentially penetrates out of the flexible continuous body 52, the connecting sleeve 51 and the rigid pipe 12 along the other end of the horizontal radial direction of the rigid pipe 12;
the second closed loop rope sequentially winds around each bearing 20 of the horizontal shaft group, sequentially penetrates into the rigid pipe 12, the connecting sleeve 51 and the flexible continuous body 52 along one end of the rigid pipe 12 in the vertical radial direction, and sequentially penetrates out of the flexible continuous body 52, the connecting sleeve 51 and the rigid pipe 12 along the other end of the rigid pipe 12 in the vertical radial direction;
in operation, the push rod of the first linear driver 41 stretches to drive the first traction block 43 to pull the first closed loop rope forwards or backwards, and the push rod of the second linear driver 44 stretches to drive the second traction block 46 to pull the second closed loop rope forwards or backwards, so that the flexible continuous body 52 bends in any direction within 60 degrees, and the rotation of the camera module 53 is realized.
Further, the upright post group comprises 6 upright posts 13, and the upper end of each upright post 13 is sleeved with the inner ring of the bearing 20;
the 4 posts are arranged at four right angles of the square to form a bobbin, the other 2 posts are arranged between 2 posts 13 on the wide side of the bobbin, and are guide posts,
the extending end of the first traction block 43 is located on one long side of the reel, and the extending end of the first traction block 43 is fixedly connected with two ends of the first steel wire rope 42, so that after the first steel wire rope 42 winds the corresponding outer ring of the bearing 20 on the reel, the first steel wire rope winds the outer ring of the bearing 20 on the guide upright post, and penetrates into the square shell 11 along one end of the horizontal radial direction of the rigid pipe 12 or penetrates out of the square shell 11 along the other end of the horizontal radial direction of the rigid pipe 12;
the horizontal shaft group comprises two pairs of horizontal shafts, each pair of horizontal shafts are arranged in an up-and-down staggered way, the middle part of each horizontal shaft 14 is sleeved with the inner ring of the bearing 20,
each pair of horizontal shafts is horizontally erected in the reel through a pair of upright post plates 15, and the front and the rear of the two pairs of horizontal shafts are arranged in the Y-axis direction of the square shell 11,
the extending ends of the second traction blocks 46 are located between two pairs of horizontal shafts, and the extending ends of the second traction blocks 46 are fixedly connected to two ends of the second steel wire rope 45, so that after the second steel wire rope 45 passes through the outer ring of each bearing 20 on each pair of horizontal shafts, one end of the rigid pipe 12 in the vertical radial direction penetrates into the square shell 11 or the other end of the rigid pipe 12 in the vertical radial direction penetrates out of the square shell 11.
Further, two corresponding upright posts 13 on a diagonal line of the winding frame are respectively and fixedly installed through the pre-tightening grooves 131, the slotting direction of each pre-tightening groove 131 is consistent with the length direction of the winding frame, the corresponding upright posts 13 are fixedly inserted into the pre-tightening grooves 131 through nuts, and the bearings 20 are sleeved on the upright posts through shaft sleeves; the tension of the first steel wire rope 42 can be adjusted by adjusting the installation position of the upright post 13 on the pre-tightening groove 131, so that the first steel wire rope 42 is kept in a tensioned state;
each pair of upright post plates 15 are arranged in parallel and at intervals, a pair of horizontal shafts are correspondingly arranged on each pair of upright post plates 15, and bearings are sleeved in the middle parts of the horizontal shafts through a pair of shaft sleeves;
the upper part of each upright post plate is provided with a rectangular long groove, the slotting direction is consistent with the Y-axis direction of the square shell 11, and two ends of a corresponding horizontal shaft 14 penetrate through a pair of rectangular long grooves on a pair of upright post plates 15 and are locked and fixed through nuts; the mounting positions of the horizontal shafts 14 on the pair of rectangular long grooves are adjusted, so that the staggered angles of the pair of horizontal shafts can be adjusted, the tension of the second steel wire rope 45 is adjusted, and the second steel wire rope 45 is kept in a tensioned state.
Further, a pair of arc-shaped notches are formed in the same circumferential direction of the flexible continuous body 52, and an upper edge surface and a lower edge surface of each arc-shaped notch 521 are curved surfaces with opposite bending radians, and the bending radians are pi/3;
the opening directions of the adjacent arc-shaped notches 521 in the axial direction of the flexible continuous body 52 are perpendicular.
Further, four clamping grooves are uniformly formed at two ends of the flexible continuous body 52 respectively, so that one end of the flexible continuous body 52 is connected with the clamping groove of the connecting sleeve 51, and the other end is connected with the clamping groove of the connecting end of the camera module 53;
four small shaft holes 522 are formed in the flexible continuous body 52 in a penetrating manner in the axial direction, and the four small shaft holes 522 are uniformly distributed on a round surface with the diameter of 7mm, so that the first steel wire rope 42 and the second steel wire rope 45 respectively penetrate into and out of the flexible continuous body 52 through the four small shaft holes.
Further, the first linear driver 41 and the second linear driver 44 are respectively disposed along two inner walls of the square housing 11, the ends of the first linear driver 41 and the second linear driver 44 are respectively and fixedly connected with the corresponding ends of the square housing 11 through the L-shaped fixing plate 16, the middle parts of the first linear driver 41 and the second linear driver 44 respectively pass through the U-shaped grooves of the U-shaped supporting blocks 17, each U-shaped supporting block 17 is horizontally disposed, and the U-shaped supporting blocks 17 are fixedly connected with the corresponding inner walls of the square housing 11.
Further, three connecting columns 111 with light holes are arranged in the square shell 11, and bolts sequentially pass through the upper shell cover 112, the connecting columns 111 and the corresponding square shell 11 and are locked and fixed through nuts, so that the square shell 11 forms a closed cavity;
the side wall of the square housing 11 is provided with grid-shaped heat dissipation holes 113 corresponding to the first linear actuator 41 and the second linear actuator 44.
Further, the maximum push-pull force 70N of the first linear actuator 41 and the second linear actuator 44 is 18mm/s at maximum speed.
The invention has the beneficial effects that:
1. the flexible laparoscope auxiliary robot based on the flexible cable driving continuum structure, disclosed by the invention, comprises a frame mechanism, a first driving mechanism, a second driving mechanism and an executing mechanism, wherein the frame mechanism, the first driving mechanism, the second driving mechanism and the executing mechanism form a flexible laparoscope auxiliary robot arm, the flexible laparoscope auxiliary robot arm adopts a steel wire rope-bearing control mode, the flexible continuum is easy to bend due to the driving of the steel wire rope, the friction of the bearing is small, the control precision of the flexible continuum is high, and therefore, the control model has enough precision and stability, and the working requirement of the medical auxiliary instrument is met; meanwhile, the flexible laparoscope auxiliary mechanical arm is driven by a linear driver, the maximum push-pull force of the linear driver is 70N, and the maximum speed is 18mm/s, so that the average angular speed of the flexible continuum is about 6.04rad/s, and the requirement of real-time tracking in the operation process is met.
2. The invention adopts a guiding pre-tightening structure, the tension of the first steel wire rope can be adjusted by adjusting the installation position of the upright post on the pre-tightening groove, so that the first steel wire rope is kept in a tensioning state, the installation positions of the horizontal shafts on the pair of rectangular long grooves can be adjusted, the staggering angle of the pair of horizontal shafts can be adjusted, the tension of the second steel wire rope can be adjusted, and the second steel wire rope is kept in a tensioning state. The first steel wire rope and the second steel wire rope are kept in a tensioned state all the time when in operation, and the steel wire ropes accurately drive the continuous body to reach the expected bending degree.
3. The invention adopts the flexible continuum, the continuum has arc I-shaped incision, has enough rigidity and elasticity, does not break during bending, and can recover to be the original shape after bending, so that the laparoscope can bend within 60 degrees to any direction, thereby capturing the required visual field more flexibly and accurately.
4. The flexible laparoscope auxiliary mechanical arm is arranged on the mechanical arm of the info robot, a doctor does not need to hold the laparoscope, adverse operation such as tremble caused by holding the laparoscope can be prevented from being influenced, and the operation is safer and more stable.
Drawings
Fig. 1 is a schematic structural view of a flexible laparoscopic assist robot based on a flexible cable driven continuum configuration of the present invention.
Fig. 2 is a schematic structural view of the flexible laparoscopic assist robot of the present invention.
FIG. 3 is a schematic view of the flexible laparoscopic assist robot of the present invention with the upper housing cover removed.
Fig. 4 is a partial enlarged view of fig. 3.
Fig. 5 is a schematic structural view of a first driving mechanism and a second driving mechanism according to the present invention.
Fig. 6 is a schematic structural view of the frame mechanism of the present invention.
Fig. 7 is a schematic view of the structure of the post and pretensioning groove installation of the present invention.
Fig. 8 is a schematic structural view of a pair of horizontal shafts and a pair of stud plates of the present invention.
Fig. 9 is a schematic structural view of an actuator according to the present invention.
Fig. 10 is a schematic structural view of the flexible continuum of the present invention.
Fig. 11 is another isometric view of the flexible continuum of fig. 10.
Fig. 12 is a state diagram of the flexible continuum motion bending of the present invention.
Wherein: square housing 11, connecting column 111, upper housing cover 112, heat dissipating hole 113, rigid tube 12, upright 13, pre-tightening groove 131, horizontal shaft 14, pair of upright plates 15, L-shaped fixing plate 16, U-shaped supporting block 17, bearing 20, flange 31, innfos robot 3, first linear driver 41, first wire rope 42, first traction block 43, second linear driver 44, second wire rope 45, second traction block 46, connecting sleeve 51, flexible continuum 52, camera module 53, arc gap 521, and small shaft hole 522.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
Referring to fig. 1 and 2, a flexible laparoscope-assisted robot based on a flexible cable-driven continuum configuration comprises an Innfos robot 3, a frame mechanism, a first driving mechanism, a second driving mechanism and an executing mechanism; wherein the frame mechanism, the first driving mechanism, the second driving mechanism and the executing mechanism form a flexible laparoscope auxiliary mechanical arm.
The frame mechanism comprises a closed square shell 11, a column group, a horizontal shaft group and a rigid pipe 12;
each upright post 13 of the upright post group is vertically fixed in the square shell 11, and each upright post 13 is coaxially and fixedly connected with a bearing 20,
each horizontal shaft 14 of the horizontal shaft group is horizontally erected in the square shell 11, and a bearing 20 is sleeved on each horizontal shaft 14,
one end of the square shell 11 in the Y-axis direction is connected with the Innfos robot 3 through a flange 31, and the other end of the square shell in the Y-axis direction is fixedly connected with one end of the rigid pipe 12;
referring to fig. 3 to 4, the first driving mechanism and the second driving mechanism are uniformly arranged in the square shell 11;
referring to fig. 5, the first driving mechanism includes a first linear actuator 41 and a first wire rope 42, the first linear actuator 41 is disposed along one side inner wall of the square housing 11, and a push rod of the first linear actuator 41 is fixedly connected to one end of the first traction block 43, so that the first traction block 43 is disposed along the X-axis direction of the square housing 11,
the other end of the first traction block 43 is fixedly connected with both ends of the first steel wire rope 42 respectively, so that the first steel wire rope 42 forms a first closed loop rope;
the second driving mechanism includes a second linear driver 44 and a second wire rope 45, the second linear driver 44 is disposed along the other side inner wall of the square housing 11, and a push rod of the second linear driver 44 is fixedly connected to one end of the second traction block 46, so that the second traction block 46 is disposed along the X-axis direction of the square housing 11,
the other end of the second traction block 46 is fixedly connected with two ends of the second steel wire rope 45 respectively, so that the second steel wire rope 45 forms a second closed loop rope;
referring to fig. 9, the actuator includes a connection sleeve 51, a flexible continuum 52, and a camera module 53;
the flexible continuous body 52 is a tubular continuous body made of nylon, transverse arc-shaped notches 521 are uniformly formed on the side wall along the axial direction of the tubular continuous body, one end of the flexible continuous body 52 is fixedly connected with the other end of the rigid pipe 12 through the connecting sleeve 51, and the other end of the flexible continuous body 52 is fixedly connected with the camera module 53;
the first closed loop rope sequentially winds around each bearing 20 of the upright column group, sequentially penetrates into the rigid pipe 12, the connecting sleeve 51 and the flexible continuous body 52 along one end of the horizontal radial direction of the rigid pipe 12, and sequentially penetrates out of the flexible continuous body 52, the connecting sleeve 51 and the rigid pipe 12 along the other end of the horizontal radial direction of the rigid pipe 12;
the second closed loop rope sequentially winds around each bearing 20 of the horizontal shaft group, sequentially penetrates into the rigid pipe 12, the connecting sleeve 51 and the flexible continuous body 52 along one end of the rigid pipe 12 in the vertical radial direction, and sequentially penetrates out of the flexible continuous body 52, the connecting sleeve 51 and the rigid pipe 12 along the other end of the rigid pipe 12 in the vertical radial direction;
in operation, the push rod of the first linear driver 41 stretches to drive the first traction block 43 to pull the first closed loop rope forwards or backwards, and the push rod of the second linear driver 44 stretches to drive the second traction block 46 to pull the second closed loop rope forwards or backwards, so that the flexible continuous body 52 bends in any direction within 60 degrees, and the rotation of the camera module 53 is realized.
Referring to fig. 6, the upright column group comprises 6 upright columns 13, and the upper end of each upright column 13 is sleeved with the inner ring of a bearing 20;
the 4 posts are arranged at four right angles of the square to form a bobbin, the other 2 posts are arranged between 2 posts 13 on the wide side of the bobbin, and are guide posts,
the extending end of the first traction block 43 is located on one long side of the reel, and the extending end of the first traction block 43 is fixedly connected with two ends of the first steel wire rope 42, so that after the first steel wire rope 42 winds the corresponding outer ring of the bearing 20 on the reel, the first steel wire rope winds the outer ring of the bearing 20 on the guide upright post, and penetrates into the square shell 11 along one end of the horizontal radial direction of the rigid pipe 12 or penetrates out of the square shell 11 along the other end of the horizontal radial direction of the rigid pipe 12;
the horizontal shaft group comprises two pairs of horizontal shafts, each pair of horizontal shafts are arranged in an up-and-down staggered way, the middle part of each horizontal shaft 14 is sleeved with the inner ring of the bearing 20,
each pair of horizontal shafts is horizontally erected in the reel through a pair of upright post plates 15, and the front and the rear of the two pairs of horizontal shafts are arranged in the Y-axis direction of the square shell 11,
the extending ends of the second traction blocks 46 are located between two pairs of horizontal shafts, and the extending ends of the second traction blocks 46 are fixedly connected to two ends of the second steel wire rope 45, so that after the second steel wire rope 45 passes through the outer ring of each bearing 20 on each pair of horizontal shafts, one end of the rigid pipe 12 in the vertical radial direction penetrates into the square shell 11 or the other end of the rigid pipe 12 in the vertical radial direction penetrates out of the square shell 11.
The first linear driver 41 and the second linear driver 44 are respectively arranged along the inner walls of the two sides of the square shell 11, the ends of the first linear driver 41 and the second linear driver 44 are respectively fixedly connected with the corresponding ends of the square shell 11 through the L-shaped fixing plate 16, the middle parts of the first linear driver 41 and the second linear driver 44 respectively penetrate through the U-shaped grooves of the U-shaped supporting blocks 17, each U-shaped supporting block 17 is horizontally arranged, and the U-shaped supporting blocks 17 are fixedly connected with the inner side walls of the corresponding square shell 11.
Three connecting columns 111 with light holes are arranged in the square shell 11, bolts sequentially penetrate through the upper shell cover 112, the connecting columns 111 and the corresponding square shell 11 and are locked and fixed through nuts, so that the square shell 11 forms a closed cavity;
the side wall of the square housing 11 is provided with grid-shaped heat dissipation holes 113 corresponding to the first linear actuator 41 and the second linear actuator 44.
Further, the maximum push-pull force 70N of the first linear actuator 41 and the second linear actuator 44 has a maximum speed of 18mm/s, so that the average angular velocity of the flexible continuous body 52 is about 6.04rad/s, which meets the requirement of real-time tracking during surgery.
Referring to fig. 7, two corresponding upright posts 13 on a diagonal line of the winding frame are respectively and fixedly installed through pre-tightening grooves 131, the slotting direction of each pre-tightening groove 131 is consistent with the length direction of the winding frame, the corresponding upright posts 13 are fixedly inserted into the pre-tightening grooves 131 through nuts, and bearings 20 are sleeved on the upright posts through shaft sleeves; the tension of the first steel wire rope 42 can be adjusted by adjusting the installation position of the upright post 13 on the pre-tightening groove 131, so that the first steel wire rope 42 is kept in a tensioned state;
referring to fig. 8, each pair of upright post plates 15 are arranged in parallel and at intervals, a pair of horizontal shafts are correspondingly arranged on each pair of upright post plates 15, and bearings are sleeved in the middle parts of the horizontal shafts through a pair of shaft sleeves;
the upper part of each upright post plate is provided with a rectangular long groove, the slotting direction is consistent with the Y-axis direction of the square shell 11, and two ends of a corresponding horizontal shaft 14 penetrate through a pair of rectangular long grooves on a pair of upright post plates 15 and are locked and fixed through nuts; the mounting positions of the horizontal shafts 14 on the pair of rectangular long grooves are adjusted, so that the staggered angles of the pair of horizontal shafts can be adjusted, the tension of the second steel wire rope 45 is adjusted, and the second steel wire rope 45 is kept in a tensioned state.
The pre-tightening groove 131 and the rectangular long groove at the upper part of the upright post plate are respectively provided with two pre-tightening structures in the horizontal direction and the vertical direction, so that the strokes of the first steel wire rope 41 and the second steel wire rope 45 are respectively adjusted, the first steel wire rope 41 and the second steel wire rope 45 are always kept in a tensioned state during working, and the flexible 52 continuum is accurately enabled to reach the expected bending degree;
referring to fig. 10 to fig. 12, a pair of arc-shaped notches are formed in the same circumferential direction of the flexible continuous body 52, and an upper edge surface and a lower edge surface of each arc-shaped notch 521 are curved surfaces with opposite bending radians, and the bending radians are pi/3; the shortest distance between the upper and lower sides of the arc-shaped notch is 1.32mm.
The opening directions of the adjacent arc-shaped notches 521 in the axial direction of the flexible continuous body 52 are perpendicular. The arcuate notch 521 provides the flexible continuous body 52 with sufficient rigidity and elasticity to not break when bent and to return to its original shape after bending.
Four clamping grooves are uniformly formed in two ends of the flexible continuous body 52 respectively, so that one end of the flexible continuous body 52 is connected with the clamping grooves of the connecting sleeve 51, and the other end of the flexible continuous body is connected with the clamping grooves of the connecting end of the camera module 53;
four small shaft holes 522 are formed in the flexible continuous body 52 in a penetrating manner in the axial direction, and the four small shaft holes 522 are uniformly distributed on a round surface with the diameter of 7mm, so that the first steel wire rope 42 and the second steel wire rope 45 respectively penetrate into and out of the flexible continuous body 52 through the four small shaft holes.
The device comprises a frame mechanism, a first driving mechanism, a second driving mechanism and an executing mechanism;
the Innfos robot 3 of the present invention thus supports the entire laparoscopic structure, the frame mechanism acts as a skeleton in the entire robot, the first and second drive mechanisms are mounted within the frame mechanism, and the actuator is mounted at the end of the rigid tube 12 of the frame mechanism. The Innfos robot 3 and the frame mechanism are used for supporting, and the driving mechanism provides power to enable the executing mechanism to complete corresponding movement, and finally the visual field acquisition operation of the flexible laparoscope in the operation process is completed. The whole process does not need a doctor to hold the laparoscope, and can prevent the influence of adverse operation such as tremors caused by holding the laparoscope, so that the operation is safer and more stable.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (8)
1. Flexible laparoscope auxiliary robot based on flexible cable driving continuum configuration is characterized in that: comprises an Innfos robot (3), a frame mechanism, a first driving mechanism, a second driving mechanism and an executing mechanism;
the frame mechanism comprises a closed square shell (11), a column group, a horizontal shaft group and a rigid pipe (12);
each upright post (13) of the upright post group is vertically fixed in the square shell (11), and a bearing (20) is coaxially and fixedly connected on each upright post (13),
each horizontal shaft (14) of the horizontal shaft group is horizontally erected in the square shell (11), a bearing (20) is sleeved on each horizontal shaft (14),
one end of the square shell (11) in the Y-axis direction is connected with the Innfos robot (3) through a flange (31), and the other end of the square shell in the Y-axis direction is fixedly connected with one end of the rigid pipe (12);
the first driving mechanism and the second driving mechanism are uniformly distributed in the square shell (11);
the first driving mechanism comprises a first linear driver (41) and a first steel wire rope (42), the first linear driver (41) is arranged along the inner wall of one side of the square shell (11), and a push rod of the first linear driver (41) is fixedly connected with one end of a first traction block (43) so that the first traction block (43) is arranged along the X-axis direction of the square shell (11),
the other end of the first traction block (43) is fixedly connected with two ends of the first steel wire rope (42) respectively, so that the first steel wire rope (42) forms a first closed loop rope;
the second driving mechanism comprises a second linear driver (44) and a second steel wire rope (45), the second linear driver (44) is arranged along the inner wall of the other side of the square shell (11), and a push rod of the second linear driver (44) is fixedly connected with one end of a second traction block (46) so that the second traction block (46) is arranged along the X-axis direction of the square shell (11),
the other end of the second traction block (46) is fixedly connected with two ends of the second steel wire rope (45) respectively, so that the second steel wire rope (45) forms a second closed loop rope;
the actuating mechanism comprises a connecting sleeve (51), a flexible continuum (52) and a camera module (53);
the flexible continuous body (52) is a tubular continuous body made of nylon, transverse arc-shaped notches (521) are uniformly formed in the side wall of the tubular continuous body along the axial direction, one end of the flexible continuous body (52) is fixedly connected with the other end of the rigid pipe (12) through the connecting sleeve (51), and the other end of the flexible continuous body (52) is fixedly connected with the camera module (53);
the first closed loop rope sequentially winds each bearing (20) of the upright column group, sequentially penetrates into the rigid pipe (12), the connecting sleeve (51) and the flexible continuous body (52) along one end of the rigid pipe (12) in the horizontal radial direction, and sequentially penetrates out of the flexible continuous body (52), the connecting sleeve (51) and the rigid pipe (12) along the other end of the rigid pipe (12) in the horizontal radial direction;
the second closed loop rope sequentially winds each bearing (20) of the horizontal shaft group, sequentially penetrates into the rigid pipe (12), the connecting sleeve (51) and the flexible continuous body (52) along one end of the rigid pipe (12) in the vertical radial direction, and sequentially penetrates out of the flexible continuous body (52), the connecting sleeve (51) and the rigid pipe (12) along the other end of the rigid pipe (12) in the vertical radial direction;
when the camera module works, the push rod of the first linear driver (41) stretches to drive the first traction block (43) to pull the first closed loop rope forwards or backwards, the push rod of the second linear driver (44) stretches to drive the second traction block (46) to pull the second closed loop rope forwards or backwards, so that the flexible continuous body (52) bends in any direction within 60 degrees, and the rotation of the camera module (53) is realized.
2. A flexible laparoscopic assist robot based on a flex drive continuum configuration according to claim 1, characterized in that: the upright post group comprises 6 upright posts (13), and the upper end of each upright post (13) is sleeved with the inner ring of the bearing (20);
4 posts are arranged at four right angles of the square to form a reel, and the other 2 posts are arranged between 2 posts (13) on the wide side of the reel and are guiding posts,
the extending end of the first traction block (43) is positioned on one long edge of the winding frame, and the extending end of the first traction block (43) is fixedly connected with two ends of the first steel wire rope (42), so that after the first steel wire rope (42) winds the outer ring of a corresponding bearing (20) on the winding frame, the first steel wire rope winds the outer ring of the bearing (20) on the guide upright post, and one end along the horizontal radial direction of the rigid pipe (12) penetrates into the square shell (11) or the other end along the horizontal radial direction of the rigid pipe (12) penetrates out of the square shell (11);
the horizontal shaft group comprises two pairs of horizontal shafts, each pair of horizontal shafts are arranged in an up-down staggered way, the middle part of each horizontal shaft (14) is sleeved with the inner ring of the bearing (20),
each pair of horizontal shafts is horizontally erected in the winding frame through a pair of upright post plates (15), the front and the rear of the two pairs of horizontal shafts are arranged in the Y-axis direction of the square shell (11),
the extending ends of the second traction blocks (46) are located between two pairs of horizontal shafts, and the extending ends of the second traction blocks (46) are fixedly connected with the two ends of the second steel wire ropes (45), so that after the second steel wire ropes (45) wind each outer ring of each bearing (20) on each pair of horizontal shafts, one end in the vertical radial direction of the rigid pipe (12) penetrates into the square shell (11) or the other end in the vertical radial direction of the rigid pipe (12) penetrates out of the square shell (11).
3. A flexible laparoscopic assist robot based on a flex drive continuum configuration according to claim 2, characterized in that: two corresponding upright posts (13) on one diagonal line of the winding frame are fixedly installed through pre-tightening grooves (131) respectively, the slotting direction of each pre-tightening groove (131) is consistent with the length direction of the winding frame, the corresponding upright posts (13) are fixedly inserted into the pre-tightening grooves (131) through nuts, and bearings (20) are sleeved on the upright posts through shaft sleeves; the tension of the first steel wire rope (42) can be adjusted by adjusting the installation position of the upright post (13) on the pre-tightening groove (131), so that the first steel wire rope (42) is kept in a tensioned state;
each pair of upright post plates (15) is parallel and arranged at intervals, a pair of horizontal shafts are correspondingly arranged on each pair of upright post plates (15), and the bearings are sleeved in the middle parts of the horizontal shafts through a pair of shaft sleeves;
the upper part of each upright post plate is provided with a rectangular long groove, the slotting direction is consistent with the Y-axis direction of the square shell (11), and two ends of a corresponding horizontal shaft (14) penetrate through a pair of rectangular long grooves on a pair of upright post plates (15) and are locked and fixed through nuts; the mounting positions of the horizontal shafts (14) on the pair of rectangular long grooves are adjusted, the staggered angles of the pair of horizontal shafts can be adjusted, and the tension of the second steel wire rope (45) is adjusted, so that the second steel wire rope (45) is kept in a tensioned state.
4. A flexible laparoscopic assist robot based on a flex drive continuum configuration according to claim 1, characterized in that: a pair of arc-shaped notches are formed in the same circumferential direction of the flexible continuous body (52), the upper edge surface and the lower edge surface of each arc-shaped notch (521) are curved surfaces with opposite bending radians, and the bending radians are pi/3;
the opening directions of the adjacent arc-shaped notches (521) in the axial direction of the flexible continuous body (52) are perpendicular.
5. A flexible laparoscopic assist robot based on a flex drive continuum configuration according to claim 1, characterized in that: four clamping grooves are uniformly formed in two ends of the flexible continuous body (52) respectively, so that one end of the flexible continuous body (52) is connected with the clamping grooves of the connecting sleeve (51), and the other end of the flexible continuous body is connected with the clamping grooves of the connecting end of the camera module (53);
four small shaft holes (522) are formed in the flexible continuous body (52) in a penetrating mode in the axial direction, the four small shaft holes (522) are uniformly distributed on a round surface with the diameter of 7mm, and the first steel wire rope (42) and the second steel wire rope (45) penetrate into and out of the flexible continuous body (52) through the four small shaft holes respectively.
6. A flexible laparoscopic assist robot based on a flex drive continuum configuration according to claim 1, characterized in that: the first linear driver (41) and the second linear driver (44) are respectively arranged along the inner walls of the two sides of the square shell (11), the ends of the first linear driver (41) and the second linear driver (44) are respectively fixedly connected with the corresponding ends of the square shell (11) through L-shaped fixing plates (16), the middle parts of the first linear driver (41) and the second linear driver (44) respectively penetrate through the U-shaped grooves of the U-shaped supporting blocks (17), each U-shaped supporting block (17) is horizontally arranged, and the U-shaped supporting blocks (17) are fixedly connected with the inner side walls of the corresponding square shell (11).
7. A flexible laparoscopic assist robot based on a flex drive continuum configuration according to claim 1, characterized in that: three connecting columns (111) with light holes are arranged in the square shell (11), bolts sequentially penetrate through the upper shell cover (112), the connecting columns (111) and the corresponding square shell (11) and are locked and fixed through nuts, so that the square shell (11) forms a closed cavity;
and the side wall of the square shell (11) is provided with grid-shaped radiating holes (113) corresponding to the first linear driver (41) and the second linear driver (44) respectively.
8. A flexible laparoscopic assist robot based on a flex drive continuum configuration according to claim 1, characterized in that: the maximum push-pull force 70N of the first linear actuator (41) and the second linear actuator (44) is 18mm/s at maximum speed.
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| CA2776320A1 (en) * | 2008-10-07 | 2010-04-15 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and method for providing insertable robotic sensory and manipulation platforms for single port surgery |
| CN109498154A (en) * | 2018-12-28 | 2019-03-22 | 北京术锐技术有限公司 | A kind of tangent bend type flexibility operation tool system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2776320A1 (en) * | 2008-10-07 | 2010-04-15 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and method for providing insertable robotic sensory and manipulation platforms for single port surgery |
| CN109498154A (en) * | 2018-12-28 | 2019-03-22 | 北京术锐技术有限公司 | A kind of tangent bend type flexibility operation tool system |
| CN110037795A (en) * | 2018-12-28 | 2019-07-23 | 北京术锐技术有限公司 | A kind of tangent bend type flexibility operation tool system |
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| 一种主被动式辅助腹腔镜手术机器人的运动学分析;张立勋;董九志;李艳生;张铁锋;;机械设计(09);全文 * |
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