LT5243B - Manipulator - Google Patents

Abstract

The invention relates to medical apparatus and can be used for inspection, diagnostics and treatment of internal organs. It can be used in robotics. A manipulator comprises an elastic tube (1), excitation elements (5) and control system, three holders (6), three levers with spherical heads (10) and ring (7). A flexible link is disposed in an elastic tube and connected to cylinder shaped work link (8). A flexible link comprises three flexible tubes (2) filled with liquid and at one end connected to control system. A control system comprises pressure controllers (3), which are connected to pressure generator (4) and at second end each of them is connected to excitation elements (5), which are made from elastic closed cylinder and by holders (6) are connected on equal gaps to ring (7). A work link (8) is connected excitation elements (5) by levers (9) with spherical heads (10).

Description

The invention relates to the field of medical devices for the examination, diagnosis and treatment of human internal organs and can also be used in robotics.

A manipulator for an endoscope is known, consisting of a flexible tube having an inclining head with a tilting mechanism on the inside and a polyester layer on the outside (see U.S. Patent No. 5,448,988, A61B 1/00, 1995).

A disadvantage of the invention is that such a manipulator is a small field of manipulation, due to the small flexibility of the tube, the device is pushed into the human body by pushing it, which requires a great surgeon's experience and painful to the patient.

There is a known manipulator consisting of an elastic tube with an internally mounted flexible linkage consisting of a plurality of cylindrical members with interconnected pivots where the latter performs an executive function wrapped in a nickel-titanium alloy and control system (see US). Patent No. 5,556,370, A61 B 1/01, 1996).

The disadvantage of the invention is that flex! The link is mounted over the entire length of the manipulator and is made up of a plurality of sequentially articulated joints whose articulated joints impede the free manipulation of space, thereby reducing the overall maneuverability of the manipulator. The excitation elements of the nickel-titanium alloy, by virtue of the current flowing through them, generate heat which adversely affects the human internal organs (see U.S. Patent No. 5,556,370, A61B 1/01, 1996).

The object of the present invention is to increase the maneuverability of the manipulator and to reduce the risk of damage to human internal organs.

The object of the invention is achieved by introducing into the manipulator consisting of an elastic tube with a flexible link connected to an actuating cylindrical link, excitation elements and control systems, a newly introduced three holders, three spherical arms and a ring, and the flexible link consists of three flexible fluid-filled tubes connected at one end to a control system consisting of pressure wave controllers connected in parallel to the pressure wave generator, and at the other end each connected to excitation elements, which are made in a resilient, closed cylindrical manner through the holders spaced to the ring and the actuating cylindrical link is connected to the excitation elements via levers with spherical heads.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 shows a general view of the manipulator.

A manipulator consisting of an elastic tube 1 having a flexible member internally formed by three flexible fluid filled tubes 2 connected at one end to the pressure wave generator 4 via a pressure wave controller 3 and mounted at the other end to the excitation elements 5, which are made in a resilient, closed cylindrical manner and secured at equal distances to the ring 7 by the holders 6, and the actuating cylindrical link 8 with the excitation elements 5 is connected via levers 9 with spherical heads 10.

The manipulator operates as follows.

When connected to the power source generators 4, the fluid contained in the flexible tubes 2 produces excitation waves of variable pressure, shape and amplitude, which, when passing through pressure wave controllers 3, change or reduce the amplitude of the pressure wave. resulting in uneven deformation of the excitation elements 5. Due to different excitation elements 5 deformation of the executive motion! circuits 8, transmitted through levers 9 with spherical heads 10. The viscosity, density and other parameters of the fluid influence the velocity and amplitude of the pressure wave propagation. Experiments show that high-density and low-viscosity fluids achieve greater deformation with lower energy consumption. Because the pressure wave phase φ varies by 120 ° in the tubes, the actuator 8 can rotate freely about its axis, which is very important for high-maneuverability and precision work.

Compared to the prototype, a new set of structural elements, using different phase pressure wave lines to control the excitation elements, increases the maneuverability of the manipulator and reduces the risk of damage to human internal organs.

Claims (1)

Definition of the Invention Manipulator consisting of an elastic tube with a flexible inside! a link connected to the actuating cylindrical link, excitation elements and control systems, characterized by the introduction of three holders, three spherical head levers and a ring, and the flexible linkage comprising three flexible fluid-filled tubes connected at one end to the control systems consisting of pressure wave controllers connected in parallel to a pressure wave generator and at the other end mounted on excitation elements which are made in a resilient, closed cylindrical manner and fixed at equal distances to the ring by means of holders, excitation elements through levers with spherical heads.