WO2018041162A1 - 可实现姿态反馈的柔性连续体结构 - Google Patents

可实现姿态反馈的柔性连续体结构 Download PDF

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Publication number
WO2018041162A1
WO2018041162A1 PCT/CN2017/099758 CN2017099758W WO2018041162A1 WO 2018041162 A1 WO2018041162 A1 WO 2018041162A1 CN 2017099758 W CN2017099758 W CN 2017099758W WO 2018041162 A1 WO2018041162 A1 WO 2018041162A1
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WO
WIPO (PCT)
Prior art keywords
distal
proximal
structural bone
bone
structural
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PCT/CN2017/099758
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English (en)
French (fr)
Inventor
徐凯
赵江然
戴正晨
刘欢
阳志雄
Original Assignee
北京术锐技术有限公司
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Application filed by 北京术锐技术有限公司 filed Critical 北京术锐技术有限公司
Priority to EP17845464.1A priority Critical patent/EP3508310B1/en
Priority to KR1020197009261A priority patent/KR102171966B1/ko
Priority to CA3035310A priority patent/CA3035310C/en
Priority to JP2019531521A priority patent/JP6908707B2/ja
Publication of WO2018041162A1 publication Critical patent/WO2018041162A1/zh
Priority to US16/289,040 priority patent/US10710236B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J1/00—Manipulators positioned in space by hand
    • B25J1/02—Manipulators positioned in space by hand articulated or flexible
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • 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
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00305—Constructional details of the flexible means
    • A61B2017/00314—Separate linked members
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/003—Steerable
    • A61B2017/00318—Steering mechanisms
    • A61B2017/00323—Cables or rods
    • A61B2017/00327—Cables or rods with actuating members moving in opposite directions
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles

Definitions

  • the invention relates to a flexible continuum structure which can be applied to medical instruments, industrial automation equipment and the like to realize attitude feedback.
  • the flexible continuum mechanism achieves the bending deformation of the distal structure by deformation of its proximal structure compared to conventional rigid kinematic chains that achieve a bending motion by mutual rotation at the joint.
  • the structural body is simultaneously a driving transmission structure, so that an extremely high degree of freedom configuration can be realized in a small size space.
  • the flexible continuum mechanism has the characteristics of compact structure, high flexibility, flexible and safe contact guarantee, etc., and thus is widely used in medical devices such as flexible operating arms, endoscopes, controllable catheters, and industrial deep cavity detecting endoscopes, and flexible Research and development of new special equipment such as robot arms.
  • the distal end of the flexible continuum mechanism is mostly used to extend into a complex deep cavity environment, and the distal end is mostly invisible or partially visible. Therefore, the attitude feedback of the flexible continuum mechanism is guaranteed.
  • the bending movement is realized by pushing and pulling the structural bone; and the bending movement has no clear bending joint, so that the feedback of the bending posture of the flexible continuum mechanism cannot be rigid.
  • An angle sensor disposed at the joint in the kinematic chain is directly implemented, and at the same time, there is no attitude feedback sensor specifically for the flexible continuum mechanism.
  • the present invention adopts the following technical solution: a flexibility that can realize attitude feedback a continuum structure comprising a flexible continuum structure body and an attitude feedback mechanism;
  • the flexible continuum structure body comprising a distal structure body, a proximal structure body and a middle connector body;
  • the distal structure body comprising a distal spacer disk, a distal fixation disc and a distal structural bone;
  • the proximal structural body comprising a proximal spacer disc, a proximal fixation disc and a proximal structural bone;
  • the proximal structural bone is fastened in one-to-one correspondence with the distal structural bone Connecting or being the same structural bone;
  • the middle connector includes a proximal channel fixation plate, a distal channel fixation plate, and a structural bone guiding channel, the structural bone guiding channel being fastened to the proximal channel fixing plate and the distal end Between the end channel fixing plates; one end of the structural bone is fastened to the prox
  • the flexible continuum structure body further includes a hinged drive chain, the hinged drive chain includes a rotating base and a drive handle, the rotary base being rotatably coupled to the center of the proximal channel fixing plate,
  • the rotating shaft is perpendicular to the proximal channel fixing plate;
  • the driving handle is a rod structure and the front end is rotatably connected with the rotating base, and the rotating shaft is parallel to the proximal channel fixing plate, and the driving handle is slidable and rotatable
  • the ground passes through the center of the proximal fixed disk.
  • the middle connector further includes a rigid tubular body fastened to a side of the distal passage fixing plate adjacent to the distal structural body, and the rigid tubular body is disposed There is a passage in communication with the structural bone guiding channel through which the structural bone passes.
  • the same attitude feedback structure further includes a second rigid tube body, and the second structural bone passes through the second rigid tube body;
  • the first proportional feedback structure further includes a third rigid tubular body, the third structural bone passing through the third rigid tubular body;
  • the second proportional feedback structure further includes a fourth rigid tube, and the fourth structural bone passes through the fourth rigid tube.
  • the attitude feedback mechanism further includes an attitude measurement component, the attitude measurement component including a distal feedback structure bone, a feedback structure bone guiding channel, and a position sensor; the position sensor is tightly coupled to the proximal channel One end of the distal feedback structure bone is fastened to the distal fixation plate, and the other end is connected to the position sensor through the distal spacer disk and the feedback structure bone guiding channel.
  • a third channel fixing plate is disposed between the proximal channel fixing plate and the distal channel fixing plate, and the feedback structure bone guiding channel is fastened to the third channel fixing plate and The distal channel is fixed between the plates.
  • the attitude feedback mechanism further includes an attitude measuring component, the attitude measuring component including a proximal feedback structural bone and a position sensor, the position sensor being fastened to the proximal channel fixing plate, One end of the proximal feedback structure bone is fastened to the proximal fixation plate, and the other end is connected to the position sensor after passing through the proximal spacer disk.
  • the attitude feedback mechanism further includes an attitude measurement component including a first joint angle sensor and a second joint angle sensor, wherein the first joint angle sensor is configured to measure the rotation base a relative rotation angle between the seat and the proximal channel fixing plate, the second joint angle sensor is for measuring a relative rotation angle between the driving handle and the rotating base degree.
  • an attitude measurement component including a first joint angle sensor and a second joint angle sensor, wherein the first joint angle sensor is configured to measure the rotation base a relative rotation angle between the seat and the proximal channel fixing plate, the second joint angle sensor is for measuring a relative rotation angle between the driving handle and the rotating base degree.
  • the attitude feedback mechanism further includes an attitude measuring component, the attitude measuring component including three or more mounted on the proximal channel fixing plate for a specific point on the proximal fixed disk Distance sensor for distance measurement.
  • the position sensor employs a slider linear position sensor.
  • a flexible continuum structure that can implement attitude feedback, comprising a flexible continuum structure body and an attitude feedback mechanism;
  • the flexible continuum structure body includes a distal structure, a proximal structure, and a middle connector;
  • the distal structure includes a distal spacer disk, a distal fixation disk, and a distal structural bone;
  • the proximal structure The proximal spacer disk, the proximal fixation plate and the proximal structural bone;
  • the proximal structural bone is firmly connected to the distal structural bone in one-to-one correspondence or is the same structural bone;
  • the middle connection body includes a proximal end a channel fixing plate, a distal channel fixing plate and a structural bone guiding channel, the structural bone guiding channel being fastened between the proximal channel fixing plate and the distal channel fixing plate; one end of the structural bone
  • the proximal fixed disk is fastened and the other end is sequentially fastened through the proximal spacer disk, the structural bone guiding channel, and the distal spacer disk, and is fastened to the distal fixing disk;
  • the attitude feedback mechanism includes one or more of an attitude feedback structure, a first proportional feedback structure, and a second proportional feedback structure;
  • the same attitude feedback structure includes a second distal fixed disk, a second distal structural bone, a second proximal structural bone, and a second structural bone guiding channel; the second structural bone guiding channel is fastened to the Between the proximal channel fixation plate and the distal channel fixation plate, the second proximal structural bone and the second distal structural bone are respectively connected in a one-to-one correspondence or are the same second structural bone, the second One end of the structural bone is fastened to the proximal fixing plate, and the other end is sequentially fastened through the proximal spacer disk and the second structural bone guiding channel, and is fastened to the second distal fixing plate; a ratio of a distribution radius of the end structure bone to the second proximal end structure bone, and a ratio of a radius of the distal end structure bone to the proximal end structure bone distribution radius;
  • the first proportional feedback structure includes a third distal fixed disk, a third distal structural bone, a third proximal structural bone, and a third structural bone guiding channel; the third structural bone guiding channel is fastened and connected Between the proximal channel fixing plate and the distal channel fixing plate, the third proximal structural bone is firmly connected to the third distal structural bone or is the same third structural bone, and the third structure One end of the bone is fastened to the proximal fixation plate, and the other end is sequentially fastened to the third distal fixation plate through the proximal spacer disk and the third structural bone guiding channel; the third distal end a ratio of a distribution bone of the structural bone to the third proximal structure bone, and a ratio of a distribution radius of the distal structural bone to the proximal structural bone;
  • the second proportional feedback structure includes a fourth distal fixed disk, a fourth distal structural bone, a fourth proximal structural bone, and a fourth structural bone guiding channel; the fourth structural bone guiding channel is fastened and connected Between the proximal channel fixing plate and the distal channel fixing plate, the fourth proximal structural bone and the fourth distal structural bone are connected in a one-to-one correspondence or are the same fourth structural bone, and the fourth structure One end of the bone is fastened to the proximal fixing disc, and the other end is sequentially fastened through the proximal spacer disc and the fourth structural bone guiding channel, and is fastened to the fourth distal fixing disc; each having a connecting relationship
  • the fourth distal structural bone and the corresponding fourth proximal structural bone have a circumferential angle on the circumference, and the angles of the respective separation angles are the same.
  • the same attitude feedback structure is further provided with a second distal spacer disk, wherein the other end of the second structural bone is in the After the second structural bone guiding channel is further passed through the second distal spacer disk and fastened to the second distal fixed disk;
  • the first proportional feedback structure is further provided with a third distal spacer disk, wherein the other end of the third structural bone further passes through the third distal interval after passing through the third structural bone guiding channel a rear end of the disk is fastened to the third distal fixed disk;
  • the second proportional feedback structure is further provided with a fourth distal spacer disk, wherein The other end of the fourth structural bone is further fastened to the fourth distal fixed disc after passing through the fourth distal spacer after passing through the fourth structural bone guiding channel.
  • the same attitude feedback structure is further provided with a second distal spacer disk, wherein the other end of the second structural bone is passing through After the second structural bone guiding channel, further fastening through the second distal spacer disk to the second distal fixed disk; and the same attitude feedback structure and the distal structural body The length is the same.
  • the flexible continuum structure body further comprises a hinged drive chain
  • the hinged drive chain comprises a rotating base and a driving handle
  • the rotating base is rotatably connected at the center of the proximal channel fixing plate
  • the rotating shaft is vertical
  • the driving handle is rotatably coupled to the rotating base, the rotating shaft is parallel to the proximal channel fixing plate, and the driving handle is slidably and rotatably from the proximal end
  • the center of the fixed disk passes through.
  • the middle connecting body further comprises a rigid tubular body fastened to a side of the distal passage fixing plate adjacent to the distal structural body, and the rigid tubular body is provided with The structure A channel through which the bone guiding channel communicates, the structural bone passing through the lumen.
  • a flexible continuum structure capable of implementing attitude feedback, the flexible continuum structure comprising a flexible continuum structure body and an attitude feedback mechanism, wherein
  • the flexible continuum structure body includes a distal structure, a proximal structure, and a middle connector;
  • the distal structure includes a distal spacer disk, a distal fixation disk, and a distal structural bone;
  • the proximal structure The proximal spacer disk, the proximal fixation plate and the proximal structural bone;
  • the proximal structural bone is firmly connected to the distal structural bone in one-to-one correspondence or is the same structural bone;
  • the middle connection body includes a proximal end a channel fixing plate, a distal channel fixing plate and a structural bone guiding channel, the structural bone guiding channel being fastened between the proximal channel fixing plate and the distal channel fixing plate; one end of the structural bone
  • the proximal fixed disk is fastened and the other end is sequentially fastened through the proximal spacer disk, the structural bone guiding channel, and the distal spacer disk, and is fastened to the distal fixing disk;
  • the attitude feedback mechanism includes an attitude measurement assembly, wherein the attitude measurement assembly is arranged to detect a turn angle value and a length value of the distal structure.
  • the attitude measuring component includes a distal feedback structure bone, a feedback structure bone guiding channel, and a position sensor; the position sensor is fastened to the proximal channel fixing plate, and the distal feedback structure bone One end is fastened to the distal fixing plate, and the other end is connected to the position sensor through the distal spacer disk and the feedback structure bone guiding channel.
  • the attitude measuring component includes a proximal feedback structure bone and a position sensor, the position sensor is fastened to the proximal channel fixing plate, and one end of the proximal feedback structure bone is The proximal fixation plate is fastened and the other end is connected to the position sensor after passing through the proximal spacer.
  • the flexible continuum structure body further comprises a hinged drive chain
  • the hinged drive chain comprises a rotating base and a driving handle
  • the rotating base is rotatably connected at the center of the proximal channel fixing plate
  • the rotating shaft is vertical
  • the driving handle is rotatably coupled to the rotating base, the rotating shaft is parallel to the proximal channel fixing plate, and the driving handle is slidably and rotatably from the proximal end
  • the center of the fixed disk passes through.
  • the attitude measuring component includes a first joint angle sensor and a second joint angle sensor, wherein the first joint angle sensor is configured to measure the rotating base and the proximal end A relative angle of rotation between the track fixing plates, the second joint angle sensor for measuring a relative angle of rotation between the drive handle and the spin base.
  • the attitude measuring assembly includes more than three distance sensors mounted on the proximal channel mounting plate for measuring the distance of a particular point on the proximal fixed disk.
  • the present invention has the following advantages due to the above technical solution: 1.
  • the present invention proposes a flexible continuum structure in which a manually driven distal end can be bent in any direction, the flexible continuum structure including a distal structure, a middle portion The connector body, the proximal structure body and the hinged drive chain, wherein the distal structure body is associated with the proximal structure body through the middle connection body, so that the hinge structure drive chain can drive the proximal structure body to bend in any direction, thereby making the distal end
  • the structure undergoes a turning motion in the opposite direction.
  • the present invention is provided with an attitude feedback mechanism including one or more feedback structures, and thus can be visually associated with the proximal structure and having a certain relationship with the distal structure in the bending angle and length.
  • the feedback structure realizes attitude feedback to the distal structure and the proximal structure.
  • the present invention is provided with an attitude measuring component including a distal feedback structure bone and a position sensor, so that the distal structure and the proximal structure can be realized by measuring the length change of the distal feedback structure bone in the distal structure. Gesture measurement.
  • the present invention is provided with an attitude measuring component including a proximal feedback structure bone and a position sensor, so that the distal structure and the proximal structure can be realized by measuring the length change of the proximal feedback structure bone in the proximal structure. Gesture measurement. 5.
  • the present invention is provided with an attitude measuring assembly including a first joint angle sensor and a second joint angle sensor, so that the posture of the distal structure and the proximal structure can be realized by measuring the joint angle value in the hinged drive chain. measuring. 6.
  • the present invention is provided with an attitude measuring assembly including a distance sensor, so that the attitude measurement of the distal structure body and the proximal structure body can be realized by measuring the spatial position of a plurality of specific points on the proximal fixed disk.
  • Figure 1 is a schematic view of the overall structure of the present invention
  • FIG. 2 is a schematic structural view of an articulated drive chain of the present invention
  • FIG. 3 is a schematic structural view of the same attitude feedback structure of the present invention.
  • FIG. 4 is a schematic structural view of a first proportional feedback structure of the present invention.
  • FIG. 5 is a schematic structural view of a second proportional feedback structure of the present invention.
  • Figure 6 is a schematic structural view of a proximal structure of the present invention.
  • Figure 7 is a schematic view showing the structure of the first type of attitude measuring assembly of the present invention.
  • Figure 8 is a schematic view showing the structure of the second attitude measuring assembly of the present invention.
  • FIG. 9 is a schematic structural view of a third attitude measuring component of the present invention.
  • Figure 10 is a schematic view showing the structure of the fourth attitude measuring assembly of the present invention.
  • the present invention includes a flexible continuum structure body 10 and an attitude feedback mechanism.
  • the flexible continuum structural body 10 of the present invention includes a distal structural body 11, a central connecting body 15, a proximal structural body 16, and a hinged drive chain 18.
  • the distal structure 11 includes a distal spacer disk 111, a distal fixation disk 112 and a distal structural bone 113, wherein the distal spacer disk 111 is spaced apart from the distal structure 11 to prevent the distal structural bone 113 from being Instigated when pushed.
  • the proximal structure 16 includes a proximal spacer disk 161, a proximal fixation disk 162, and a proximal structural bone 163, wherein the proximal spacer disk 161 is spaced apart in the proximal structure 16 to prevent the proximal structural bone 163 from being Instigated when pushed.
  • the proximal structural bone 163 on the proximal structural body 16 is in a one-to-one correspondence with the distal structural bone 113 on the distal structural body 11 or is the same structural bone.
  • the number of structural bones on the proximal structural body 16 and the distal structural body 11 is three or more.
  • the middle connector 15 includes a proximal channel fixation plate 152, a distal channel fixation plate 153, a structural bone guiding channel 151, and a rigid tubular body 154, wherein the structural bone guiding channel 151 is fastened to the proximal channel fixation plate 152 and the distal end. Between the channel fixing plates 153, the rigid tube body 154 is fastened to the side of the distal channel fixing plate 153 near the distal structure 11. One end of the structural bone is fastened to the proximal fixation disk 162, and the other end is sequentially fastened to the distal fixation disk 112 through the proximal spacer disk 161, the structural bone guiding channel 151, the rigid tubular body 154, and the distal spacer disk 111. connection.
  • the function of the structural bone guiding channel 151 is to keep the shape of the structural bone unchanged when subjected to pushing and pulling.
  • the articulation drive chain 18 includes a rotary base 181 and a drive handle 182, wherein the rotary base 181 is rotatably coupled to the center of the proximal passage retaining plate 152 with its axis of rotation perpendicular to the plane of the proximal channel retaining plate 152; the drive handle 182 is a lever The structure and the front end are rotatably coupled to the rotating base 181, the rotating shaft of which is parallel to the plane of the proximal passage fixing plate 152, and the driving handle 182 is slidably and rotatably passed through the center of the proximal fixing disk 162, and drives the axis of the handle 182.
  • the rear end of the drive handle 182 is provided with a handle for easy handling.
  • the proximal fixing plate 162 is driven to rotate in the same direction, and the cross-sectional contour shape of the proximal structural body 16 in the curved plane is approximately circular, and then pushed and pulled.
  • the proximal structural bone 163 in the proximal structure 16 makes it The length in the proximal structure 16 is varied such that the distal structure 11 is bent in the opposite direction at a ratio that is determined by the distribution radius of the distal structural bone 113 and the proximal structural bone 163.
  • the attitude feedback mechanism of the present invention includes one or more feedback structures, and the feedback structure may be an identical attitude feedback structure 71, a first proportional feedback structure 72, or a second proportional feedback structure 73.
  • the same attitude feedback structure body 71 includes a second distal spacer disk 711, a second distal fixed disk 712, a second distal structural bone 713, and a second proximal structural bone 714. a second structural bone guiding channel 715 and a second rigid tube body 716, wherein the second structural bone guiding channel 715 is fastened between the proximal channel fixing plate 152 and the distal channel fixing plate 153, the second proximal structure
  • the bone 714 is connected to the second distal structural bone 713 in a one-to-one correspondence or is the same structural bone.
  • the structural bone guiding channel 715, the second rigid tube body 716, and the second distal spacer disk 711 are then fastened to the second distal fixed disk 712.
  • the ratio of the distribution radius of the second distal structural bone 713 to the second proximal structural bone 714 is the same as the ratio of the distribution radius of the distal structural bone 113 to the proximal structural bone 163; the same attitude feedback structure 71 and the distal structure
  • the length of the body 11 is uniform.
  • the same attitude feedback structure 71 is bent, and the bending angle (including the bending plane pointing angle and the bending angle in the bending plane) and the length are both Consistent with the distal structure 11.
  • the thickness of the second distal structural bone 713, the second proximal structural bone 714, the number of roots in the same attitude feedback structure 71, and the circumferential distribution angle on the corresponding spacer disk and the fixed disk may be It is different from the corresponding distal structural bone 113 and proximal structural bone 163.
  • the outer shape of the second distal spacer 711 in the same attitude feedback structure 71 can also be different from the distal spacer 111 in the distal structure 11.
  • the first proportional feedback structure 72 includes a third distal spacer disk 721, a third distal fixed disk 722, a third distal structural bone 723, and a third proximal structural bone. 724, a third structural bone guiding channel 725 and a third rigid tube body 726, wherein the third structural bone guiding channel 725 is fastened between the proximal channel fixing plate 152 and the distal channel fixing plate 153, the third proximal end
  • the structural bone 724 is fastened or connected to the third distal structural bone 723 one by one or is the same structural bone.
  • One end of the structural bone is fastened to the proximal fixation plate 162, and the other end is sequentially passed through the proximal spacer disk 161,
  • the three-structure bone guiding channel 725, the third rigid tube body 726, and the third distal spacer disk 721 are then fastened to the third distal fixed disk 722.
  • the number, thickness, distribution radius of the third distal structural bone 723, the third proximal structural bone 724, and the circumferential distribution angles on the corresponding spacer disk and the fixed disk in the first proportional feedback structure 72 can be The corresponding distal structural bone 113 and proximal structural bone 163 are different.
  • the distal structure 11 when the proximal structure 16 is driven to bend, the distal structure 11 will be bent in the opposite direction, while the first proportional feedback structure 72 is bent.
  • the turning motion has the same bending plane as the distal structural body 11 but different bending angles in the bending plane, and the bending angle is the bending angle of the distal structural body 11 in the bending plane.
  • a fixed proportionality factor is determined by the distribution radius of the distal structural bone 113, the proximal structural bone 163, the third distal structural bone 723, and the third proximal structural bone 724.
  • the second proportional feedback structure 73 includes a fourth distal spacer 731, a fourth distal fixed disk 732, a fourth distal structural bone 733, and a fourth proximal structural bone. 734, a fourth structural bone guiding channel 735 and a fourth rigid tube body 736, wherein the fourth structural bone guiding channel 735 is fastened between the proximal channel fixing plate 152 and the distal channel fixing plate 153, the fourth proximal end
  • the structural bone 734 is rigidly connected to the fourth distal structural bone 733 or is the same structural bone.
  • One end of the structural bone is fastened to the proximal fixation disk 162, and the other end is sequentially passed through the proximal spacer disk 161,
  • the four-structure bone guiding channel 735, the fourth rigid tube body 736, and the fourth distal spacer disk 731 are then fastened to the fourth distal fixed disk 732.
  • the number, thickness, and distribution angle of the fourth distal structural bone 733, the fourth proximal structural bone 734, and the circumferential direction on the corresponding spacer disk and the fixed disk in the second proportional feedback structure 73 can be combined with the corresponding distal end.
  • the structural bone 113 and the proximal structural bone 163 are different.
  • each of the fourth distal structural bones 733 having a connected relationship and the corresponding fourth proximal structural bone 734 have a circumferential angle on the circumference, and the angles of the respective separation angles are the same.
  • the distal structure 11 will be bent in the opposite direction, and the angle of the bending plane of the second proportional feedback structure 73 is determined by the angle of the spacing angle.
  • the spacing angle is 180°
  • the bending plane of the second proportional feedback structure 73 is directed opposite to the bending plane of the distal structure 11, and the bending and distal end of the second proportional feedback structure 73
  • the structure 16 is bent into a mirror image relationship.
  • one or more of the above-described identical attitude feedback structure 71, the first proportional feedback structure 72, and the second proportional feedback structure 73 may be set according to actual needs, and the observer may pass feedback at the visible position.
  • the structure infers the actual pose of the distal structure 11 and the proximal structure 16.
  • the distal spacer may not be provided, and the above effects can be achieved.
  • a cavity for guiding the structural bone in communication with the structural bone guiding channel 151 is provided in the rigid tubular body 154, and it should be understood by those skilled in the art that the lumen for guiding the structural bone can also be distributed by the interval.
  • the structural bone on the distal spacer disk 111 in the rigid tubular body 154 is formed through the aperture.
  • proximal channel fixation plate 152 and the distal channel fixation plate 153 are directly connected by a plurality of struts 156.
  • the attitude feedback mechanism further includes an attitude measuring component, and the attitude measuring component is used for The bending angle value and the length value of the distal structural body 11 and the proximal structural body 16 are measured to accurately obtain the posture parameters of the flexible continuum structural body 10.
  • the invention proposes a plurality of attitude measuring components, which are respectively described below:
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the attitude measuring assembly in this embodiment includes a distal feedback structure bone 191, a feedback structure bone guiding channel 192, and a position sensor 193.
  • the position sensor 193 is fixedly connected to the proximal channel fixing plate 152.
  • One end of the distal feedback structure bone 191 is fastly connected to the distal fixing plate 112, and the other end passes through the distal spacer disk 111 and the rigid tube body 154 in sequence.
  • the feedback structure bone guiding channel 192 is connected to the position sensor 193.
  • the distal structure 11 when the distal structure 11 is bent, the length of the distal feedback structure bone 191 in the distal structure 11 will be changed, whereby the distal feedback structure bone 191 and the position sensor 193 are connected.
  • the displacement will occur and is detected by the position sensor 193.
  • the bending angle value and the length value of the distal structure 11 can be calculated, wherein the bending angle value
  • the bending plane pointing angle value of the distal structure 11 and the bending angle value in the bending plane are obtained, and then the proximal structure body can be obtained according to the distribution radius and length of the distal structural bone 113 and the proximal structural bone 163.
  • the position sensor 193 employs a slider linear position sensor, and the slider 194 in the position sensor 193 is fastened to the distal feedback structure bone 191.
  • a third channel fixing plate 199 is disposed between the proximal channel fixing plate 152 and the distal channel fixing plate 153.
  • One end of the feedback structure bone guiding channel 192 is fastened to the distal channel fixing plate 153, and the other end is The third passage fixing plate 199 is fastened.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the attitude measuring assembly in this embodiment includes a proximal feedback structure bone 195 and a position sensor 193.
  • the position sensor 193 is fixedly connected to the proximal channel fixing plate 152.
  • One end of the proximal feedback structure bone 195 is fastened to the proximal fixing plate 162, and the other end passes through the proximal spacer disk 161 and the proximal channel fixing plate 152. It is connected to the position sensor 193.
  • the bending motion of the proximal structure 16 will change the length of the proximal feedback structure bone 195 in the proximal structure 16, whereby the connection between the proximal feedback structure bone 195 and the position sensor 193 will occur.
  • the displacement is detected by the position sensor 193.
  • the bending angle value and the length value of the proximal structure 16 can be calculated, wherein the bending angle value
  • the bending plane pointing angle value of the proximal structure body 16 and the bending angle in the bending plane The value, and further the bending angle value and the length value of the distal structure 11 can be obtained according to the distribution radius and length of the distal structural bone 113 and the proximal structural bone 163.
  • the position sensor 193 employs a slider linear position sensor, and the slider 194 in the position sensor 193 is fastened to the proximal feedback structure bone 195.
  • Embodiment 3 is a diagrammatic representation of Embodiment 3
  • the posture measuring assembly in this embodiment includes a first joint angle sensor 501 and a second joint angle sensor 502.
  • the first joint angle sensor 501 is configured to measure a relative rotation angle between the rotating base 181 and the proximal channel fixing plate 152, so that the bending plane pointing angle of the proximal structure body 16 can be further obtained;
  • the second joint angle sensor The 502 is used to measure the relative rotation angle between the driving handle 182 and the rotating base 181, so that the turning angle of the proximal structural body 16 in the above-described turning plane can be further obtained.
  • the bending angle value of the proximal structure body 16 can be obtained, and according to the distribution radius of the distal end structure bone 113 and the proximal end structure bone 163, the bending angle value of the distal end structure body 11 can be obtained.
  • Embodiment 4 is a diagrammatic representation of Embodiment 4:
  • the attitude measuring assembly of the present embodiment includes three or more distance sensors 601 mounted on the proximal channel fixing plate 152 for measuring the distance of a specific point on the proximal fixed disk 162.
  • the distance sensor 601 can select an optical distance sensor such as infrared or laser. By measuring the distance from at least three specific points on the proximal fixed disk 162 to the proximal channel fixing plate 152, the proximal fixed disk 162 can be fixed relative to the proximal channel.
  • the pointing and position of the plate 152 thereby obtaining the bending angle value and the length value of the proximal structural body 16, and further obtaining the bending of the distal structural body 11 according to the distribution radius and length of the distal structural bone 113 and the proximal structural bone 163. Turn the angle value and length value.

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Abstract

一种可实现姿态反馈的柔性连续体结构，包括柔性连续体结构本体（10）和姿态反馈机构；柔性连续体结构本体（10）包括远端结构体（11）、近端结构体（16）和中部连接体（15）；远端结构体（11）包括远端间隔盘（111）、远端固定盘（112）和远端结构骨（113）；近端结构体（16）包括近端间隔盘（161）、近端固定盘（162）和近端结构骨（163）；中部连接体（15）包括近端通道固定板（152）、远端通道固定板（153）和结构骨引导通道（151）；结构骨的一端与近端固定盘（162）紧固连接，另一端依次穿过近端间隔盘（162）、结构骨引导通道（151）、远端间隔盘（111）后与远端固定盘（112）紧固连接。所述可实现姿态反馈的柔性连续体结构通过铰接驱动链可驱动近端结构体向任意方向弯转，从而使远端结构体向相反的方向发生弯转运动，并可实现对远端结构体、近端结构体的姿态反馈。

Description

可实现姿态反馈的柔性连续体结构
相关申请的交叉引用
本专利申请要求于2016年8月31日提交的、申请号为201610796046.8、发明名称为“可实现姿态反馈的柔性连续体结构”的中国专利申请的优先权，上述申请的全文以引用的方式并入本文中。
技术领域
本发明涉及一种可应用于医疗器械、工业自动化设备等的可实现姿态反馈的柔性连续体结构。
背景技术
相较传统的通过在关节处相互转动从而实现弯转运动的刚性运动链，柔性连续体机构通过其近端结构变形实现远端结构的弯转变形。在柔性连续体机构中，其结构主体同时成为驱动的传递结构，因此可在小尺寸空间范围内实现极高的自由度配置。柔性连续体机构具备结构紧凑、灵活度高、柔性安全接触保证等特点，因而被广泛应用于柔性操作臂、内窥镜、可控导管等医疗器械，以及工业用深腔探测内窥镜、柔性机械臂等新型特种装备的研发。
在医疗或工业领域中，柔性连续体机构的远端多用于伸入弯曲复杂的深腔环境中，其远端多呈不可见或者部分可见状态，因此，柔性连续体机构的姿态反馈是保证其使用可靠性及安全性的重要保障。然而，以结构骨为主体的柔性连续体机构中，其弯转运动通过推拉结构骨实现；而该弯转运动没有明确的弯转关节，使得柔性连续体机构的弯转姿态的反馈不能采用刚性运动链中设置于关节处的角度传感器来直接实现，同时，目前并没有特别针对于柔性连续体机构的姿态反馈传感器。
发明内容
针对上述问题，本发明的一个目的是提供一种可实现姿态反馈的柔性连续体结构。
为实现上述目的，本发明采用以下技术方案：一种可实现姿态反馈的柔性 连续体结构，其包括柔性连续体结构本体和姿态反馈机构；所述柔性连续体结构本体包括远端结构体、近端结构体和中部连接体；所述远端结构体包括远端间隔盘、远端固定盘和远端结构骨；所述近端结构体包括近端间隔盘、近端固定盘和近端结构骨；所述近端结构骨与所述远端结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括近端通道固定板、远端通道固定板和结构骨引导通道，所述结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间；所述结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、结构骨引导通道、远端间隔盘后与远端固定盘紧固连接；所述姿态反馈机构包括同姿态反馈结构体、第一比例反馈结构体和第二比例反馈结构体中的一个或多个；所述同姿态反馈结构体包括第二远端间隔盘、第二远端固定盘、第二远端结构骨、第二近端结构骨以及第二结构骨引导通道；所述第二结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第二近端结构骨与第二远端结构骨一一对应紧固连接或为同一根第二结构骨，所述第二结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、第二结构骨引导通道、第二远端间隔盘后与第二远端固定盘紧固连接；所述第二远端结构骨与所述第二近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨分布半径之比一致；所述同姿态反馈结构体与所述远端结构体的长度一致；所述第一比例反馈结构体包括第三远端间隔盘、第三远端固定盘、第三远端结构骨、第三近端结构骨以及第三结构骨引导通道；所述第三结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第三近端结构骨与第三远端结构骨一一对应紧固连接或为同一根第三结构骨，所述第三结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、第三结构骨引导通道、第三远端间隔盘后与第三远端固定盘紧固连接；所述第三远端结构骨与所述第三近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨的分布半径之比不同；所述第二比例反馈结构体包括第四远端间隔盘、第四远端固定盘、第四远端结构骨、第四近端结构骨以及第四结构骨引导通道；所述第四结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第四近端结构骨与第四远端结构骨一一对应紧固连接或为同一根第四结构骨，所述第四结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、第四结构骨引导通道、第四远端间隔盘后与第四远端固定盘紧固连接；具有连接关系的每根所述第四远端结构骨与相 应的所述第四近端结构骨之间在圆周上具有间隔角，各所述间隔角的角度相同。
一实施例中，所述柔性连续体结构本体还包括铰接驱动链，所述铰接驱动链包括旋转基座和驱动手柄，所述旋转基座转动连接在所述近端通道固定板的中心，其转轴垂直于所述近端通道固定板；所述驱动手柄为杆结构且前端与所述旋转基座转动连接，其转轴平行于所述近端通道固定板，所述驱动手柄可滑动且可转动地从所述近端固定盘的中心穿过。
一实施例中，所述中部连接体还包括刚性管体，所述刚性管体紧固连接在所述远端通道固定板靠近所述远端结构体的一侧，所述刚性管体中设置有与所述结构骨引导通道连通的腔道，所述结构骨从所述腔道中穿过。
一实施例中，当所述姿态反馈机构包括同姿态反馈结构体时，所述同姿态反馈结构体还包括第二刚性管体，所述第二结构骨从第二刚性管体中穿过；当所述姿态反馈机构包括第一比例反馈结构体时，所述第一比例反馈结构体还包括第三刚性管体，所述第三结构骨从第三刚性管体中穿过；以及当所述姿态反馈机构包括第二比例反馈结构体时，所述第二比例反馈结构体还包括第四刚性管体，所述第四结构骨从第四刚性管体中穿过。
一实施例中，所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括远端反馈结构骨、反馈结构骨引导通道和位置传感器；所述位置传感器紧固连接在所述近端通道固定板上，所述远端反馈结构骨的一端与所述远端固定盘紧固连接，另一端依次穿过所述远端间隔盘、反馈结构骨引导通道后与所述位置传感器连接。
一实施例中，在所述近端通道固定板与所述远端通道固定板之间设置有第三通道固定板，所述反馈结构骨引导通道紧固连接在所述第三通道固定板与所述远端通道固定板之间。
一实施例中，所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括近端反馈结构骨和位置传感器，所述位置传感器紧固连接在所述近端通道固定板上，所述近端反馈结构骨的一端与所述近端固定板紧固连接，另一端穿过所述近端间隔盘后与所述位置传感器连接。
一实施例中，所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括第一关节角度传感器和第二关节角度传感器，其中，所述第一关节角度传感器用于测量所述旋转基座与所述近端通道固定板之间的相对旋转角度，所述第二关节角度传感器用于测量所述驱动手柄与所述旋转基座之间的相对旋转角 度。
一实施例中，所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括三个以上安装在所述近端通道固定板上的用于对所述近端固定盘上的特定点的距离进行测量的距离传感器。
一实施例中，所述位置传感器采用滑块直线式位置传感器。
根据本发明的另一方面，还提供了一种可实现姿态反馈的柔性连续体结构，其包括柔性连续体结构本体和姿态反馈机构；
所述柔性连续体结构本体包括远端结构体、近端结构体和中部连接体；所述远端结构体包括远端间隔盘、远端固定盘和远端结构骨；所述近端结构体包括近端间隔盘、近端固定盘和近端结构骨；所述近端结构骨与所述远端结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括近端通道固定板、远端通道固定板和结构骨引导通道，所述结构骨引导通道紧固连接在所述近端通道固定板和所述远端通道固定板之间；所述结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、结构骨引导通道、远端间隔盘后与远端固定盘紧固连接；以及
所述姿态反馈机构包括同姿态反馈结构体、第一比例反馈结构体和第二比例反馈结构体中的一个或多个；其中，
所述同姿态反馈结构体包括第二远端固定盘、第二远端结构骨、第二近端结构骨以及第二结构骨引导通道；所述第二结构骨引导通道紧固连接在所述近端通道固定板和所述远端通道固定板之间，所述第二近端结构骨与第二远端结构骨一一对应紧固连接或为同一根第二结构骨，所述第二结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、第二结构骨引导通道后与第二远端固定盘紧固连接；所述第二远端结构骨与所述第二近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨分布半径之比一致；
所述第一比例反馈结构体包括第三远端固定盘、第三远端结构骨、第三近端结构骨以及第三结构骨引导通道；所述第三结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第三近端结构骨与第三远端结构骨一一对应紧固连接或为同一根第三结构骨，所述第三结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、第三结构骨引导通道后与第三远端固定盘紧固连接；所述第三远端结构骨与所述第三近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨的分布半径之比不同；
所述第二比例反馈结构体包括第四远端固定盘、第四远端结构骨、第四近端结构骨以及第四结构骨引导通道；所述第四结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第四近端结构骨与第四远端结构骨一一对应紧固连接或为同一根第四结构骨，所述第四结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、第四结构骨引导通道后与第四远端固定盘紧固连接；具有连接关系的每根所述第四远端结构骨与相应的所述第四近端结构骨之间在圆周上具有间隔角，各所述间隔角的角度相同。
一实施例中，当所述姿态反馈机构包括同姿态反馈结构体时，所述同姿态反馈结构体进一步设有第二远端间隔盘，其中所述第二结构骨的另一端在穿过所述第二结构骨引导通道后，进一步穿过所述第二远端间隔盘后与所述第二远端固定盘紧固连接；当所述姿态反馈机构包括第一比例反馈结构体时，所述第一比例反馈结构体进一步设有第三远端间隔盘，其中所述第三结构骨的另一端在穿过所述第三结构骨引导通道后，进一步穿过所述第三远端间隔盘后与所述第三远端固定盘紧固连接；以及当所述姿态反馈机构包括第二比例反馈结构体时，所述第二比例反馈结构体进一步设有第四远端间隔盘，其中所述第四结构骨的另一端在穿过所述第四结构骨引导通道后，进一步穿过所述第四远端间隔盘后与所述第四远端固定盘紧固连接。
另一实施例中，当所述姿态反馈机构包括同姿态反馈结构体时，所述同姿态反馈结构体进一步设有第二远端间隔盘，其中所述第二结构骨的另一端在穿过所述第二结构骨引导通道后，进一步穿过所述第二远端间隔盘后与所述第二远端固定盘紧固连接；以及所述同姿态反馈结构体与所述远端结构体的长度一致。
优选地，所述柔性连续体结构本体还包括铰接驱动链，所述铰接驱动链包括旋转基座和驱动手柄，所述旋转基座转动连接在所述近端通道固定板的中心，其转轴垂直于所述近端通道固定板；所述驱动手柄与所述旋转基座转动连接，其转轴平行于所述近端通道固定板，以及所述驱动手柄可滑动且可转动地从所述近端固定盘的中心穿过。
优选地，所述中部连接体还包括刚性管体，所述刚性管体紧固连接在所述远端通道固定板靠近所述远端结构体的一侧，所述刚性管体中设置有与所述结构 骨引导通道连通的腔道，所述结构骨从所述腔道中穿过。
根据本发明的又一方面，还提供了一种可实现姿态反馈的柔性连续体结构，所述柔性连续体结构包括柔性连续体结构本体和姿态反馈机构，其中，
所述柔性连续体结构本体包括远端结构体、近端结构体和中部连接体；所述远端结构体包括远端间隔盘、远端固定盘和远端结构骨；所述近端结构体包括近端间隔盘、近端固定盘和近端结构骨；所述近端结构骨与所述远端结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括近端通道固定板、远端通道固定板和结构骨引导通道，所述结构骨引导通道紧固连接在所述近端通道固定板和所述远端通道固定板之间；所述结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、结构骨引导通道、远端间隔盘后与远端固定盘紧固连接；以及
所述姿态反馈机构包括姿态测量组件，其中所述姿态测量组件布置成能够检测所述远端结构体的弯转角度值和长度值。
一实施例中，所述姿态测量组件包括远端反馈结构骨、反馈结构骨引导通道和位置传感器；所述位置传感器紧固连接在所述近端通道固定板上，所述远端反馈结构骨的一端与所述远端固定盘紧固连接，另一端依次穿过所述远端间隔盘、所述反馈结构骨引导通道后与所述位置传感器连接。
另一实施例中，所述姿态测量组件包括近端反馈结构骨和位置传感器，所述位置传感器紧固连接在所述近端通道固定板上，所述近端反馈结构骨的一端与所述近端固定板紧固连接，另一端穿过所述近端间隔盘后与所述位置传感器连接。
优选地，所述柔性连续体结构本体还包括铰接驱动链，所述铰接驱动链包括旋转基座和驱动手柄，所述旋转基座转动连接在所述近端通道固定板的中心，其转轴垂直于所述近端通道固定板；所述驱动手柄与所述旋转基座转动连接，其转轴平行于所述近端通道固定板，以及所述驱动手柄可滑动且可转动地从所述近端固定盘的中心穿过。
另一实施例中，所述姿态测量组件包括第一关节角度传感器和第二关节角度传感器，其中，所述第一关节角度传感器用于测量所述旋转基座与所述近端通 道固定板之间的相对旋转角度，所述第二关节角度传感器用于测量所述驱动手柄与所述旋转基座之间的相对旋转角度。
另一实施例中，所述姿态测量组件包括三个以上安装在所述近端通道固定板上的用于对所述近端固定盘上的特定点的距离进行测量的距离传感器。
本发明由于采取以上技术方案，其具有以下优点：1、本发明提出了一种手动驱动的远端可向任意方向弯转的柔性连续体结构，该柔性连续体结构包括远端结构体、中部连接体、近端结构体和铰接驱动链，其中远端结构体通过中部连接体与近端结构体关联，因此，通过铰接驱动链可驱动近端结构体向任意方向弯转，从而使远端结构体向相反的方向发生弯转运动。2、本发明设置有包括一个或多个反馈结构体在内的姿态反馈机构，因此可以通过与近端结构体关联的且与远端结构体在弯转角度、长度上存在一定关系的可视的反馈结构体，实现对远端结构体、近端结构体的姿态反馈。3、本发明设置有包括远端反馈结构骨和位置传感器在内的姿态测量组件，因此可以通过测量远端结构体中远端反馈结构骨的长度变化实现对远端结构体、近端结构体的姿态测量。4、本发明设置有包括近端反馈结构骨和位置传感器在内的姿态测量组件，因此可以通过测量近端结构体中近端反馈结构骨的长度变化实现对远端结构体、近端结构体的姿态测量。5、本发明设置有包括第一关节角度传感器和第二关节角度传感器在内的姿态测量组件，因此可以通过测量铰接驱动链中的关节角度值实现对远端结构体、近端结构体的姿态测量。6、本发明设置有包括距离传感器在内的姿态测量组件，因此可以通过测量近端固定盘上若干特定点的空间位置实现对远端结构体、近端结构体的姿态测量。
附图说明
图1是本发明的整体结构示意图；
图2是本发明铰接驱动链的结构示意图；
图3是本发明同姿态反馈结构体的结构示意图；
图4是本发明第一比例反馈结构体的结构示意图；
图5是本发明第二比例反馈结构体的结构示意图；
图6是本发明近端结构体的结构示意图；
图7是本发明采用第一种姿态测量组件的结构示意图；
图8是本发明采用第二种姿态测量组件的结构示意图；
图9是本发明采用第三种姿态测量组件的结构示意图；
图10是本发明采用第四种姿态测量组件的结构示意图。
具体实施方式
下面结合附图和实施例对本发明进行详细的描述。
如图1、图2所示，本发明包括柔性连续体结构本体10和姿态反馈机构。
本发明的柔性连续体结构本体10包括远端结构体11、中部连接体15、近端结构体16和铰接驱动链18。远端结构体11包括远端间隔盘111、远端固定盘112和远端结构骨113，其中，远端间隔盘111间隔分布于远端结构体11中，作用是防止远端结构骨113在受推时失稳。近端结构体16包括近端间隔盘161、近端固定盘162和近端结构骨163，其中，近端间隔盘161间隔分布于近端结构体16中，作用是防止近端结构骨163在受推时失稳。位于近端结构体16上的近端结构骨163与位于远端结构体11上的远端结构骨113一一对应紧固连接或为同一根结构骨。近端结构体16和远端结构体11上的结构骨的数量均为三根以上。中部连接体15包括近端通道固定板152、远端通道固定板153、结构骨引导通道151和刚性管体154，其中，结构骨引导通道151紧固连接在近端通道固定板152与远端通道固定板153之间，刚性管体154紧固连接在远端通道固定板153靠近远端结构体11的一侧。结构骨的一端与近端固定盘162紧固连接，另一端依次穿过近端间隔盘161、结构骨引导通道151、刚性管体154、远端间隔盘111后与远端固定盘112紧固连接。结构骨引导通道151的作用是保持结构骨在受推、拉力时形状不变。
铰接驱动链18包括旋转基座181和驱动手柄182，其中，旋转基座181转动连接在近端通道固定板152的中心，其转轴垂直于近端通道固定板152所在平面；驱动手柄182为杆结构且前端与旋转基座181转动连接，其转轴平行于近端通道固定板152所在平面，驱动手柄182可滑动且可转动地从近端固定盘162的中心穿过，并且驱动手柄182的轴线垂直于近端固定盘162，驱动手柄182的后端设置有便于手持的把手。当手持驱动手柄182向空间内任意方向弯转时，将带动近端固定盘162向同一方向弯转，并保持近端结构体16在弯曲平面内的截面轮廓形状为近似圆弧形，进而推拉近端结构体16中的近端结构骨163使其 在近端结构体16中的长度发生变化，从而使远端结构体11以一定比例(该比例由远端结构骨113和近端结构骨163的分布半径共同决定)向相反方向弯转。
本发明的姿态反馈机构包括一个或多个反馈结构体，反馈结构体可以是同姿态反馈结构体71、第一比例反馈结构体72或第二比例反馈结构体73。
如图1、图3和图6所示，同姿态反馈结构体71包括第二远端间隔盘711、第二远端固定盘712、第二远端结构骨713、第二近端结构骨714、第二结构骨引导通道715以及第二刚性管体716，其中，第二结构骨引导通道715紧固连接在近端通道固定板152和远端通道固定板153之间，第二近端结构骨714与第二远端结构骨713一一对应紧固连接或为同一根结构骨，结构骨的一端与近端固定盘162紧固连接，另一端依次穿过近端间隔盘161、第二结构骨引导通道715、第二刚性管体716、第二远端间隔盘711后与第二远端固定盘712紧固连接。第二远端结构骨713与第二近端结构骨714的分布半径之比，和远端结构骨113与近端结构骨163的分布半径之比一致；同姿态反馈结构体71与远端结构体11的长度一致。由此，当驱动近端结构体16弯转时，同姿态反馈结构体71发生弯转，并且弯转角度(包括弯转平面指向角度和在该弯转平面内的弯转角度)及长度均与远端结构体11一致。需要注意的是，同姿态反馈结构体71中的第二远端结构骨713、第二近端结构骨714的粗细、根数以及在相应间隔盘、固定盘上沿周向的分布角度均可以与相应远端结构骨113、近端结构骨163不同。同姿态反馈结构体71中第二远端间隔盘711的外形同样可以与远端结构体11中的远端间隔盘111不同。
如图1、图4和图6所示，第一比例反馈结构体72包括第三远端间隔盘721、第三远端固定盘722、第三远端结构骨723、第三近端结构骨724、第三结构骨引导通道725以及第三刚性管体726，其中，第三结构骨引导通道725紧固连接在近端通道固定板152和远端通道固定板153之间，第三近端结构骨724与第三远端结构骨723一一对应紧固连接或为同一根结构骨，结构骨的一端与近端固定盘162紧固连接，另一端依次穿过近端间隔盘161、第三结构骨引导通道725、第三刚性管体726、第三远端间隔盘721后与第三远端固定盘722紧固连接。第一比例反馈结构体72中的第三远端结构骨723、第三近端结构骨724的数目、粗细、分布半径以及在相应的间隔盘、固定盘上沿周向的分布角度均可以与相应远端结构骨113、近端结构骨163不同。因此，当驱动近端结构体16弯转时，远端结构体11将向相反的方向弯转，而第一比例反馈结构体72的弯 转运动则拥有与远端结构体11相同的弯转平面指向但是在该弯转平面中不同的弯转角度，此弯转角度与远端结构体11在弯转平面中的的弯转角度呈一固定的比例系数，该比例系数由远端结构骨113、近端结构骨163、第三远端结构骨723和第三近端结构骨724的分布半径共同决定。
如图1、图5和图6所示，第二比例反馈结构体73包括第四远端间隔盘731、第四远端固定盘732、第四远端结构骨733、第四近端结构骨734、第四结构骨引导通道735以及第四刚性管体736，其中，第四结构骨引导通道735紧固连接在近端通道固定板152和远端通道固定板153之间，第四近端结构骨734与第四远端结构骨733一一对应紧固连接或为同一根结构骨，结构骨的一端与近端固定盘162紧固连接，另一端依次穿过近端间隔盘161、第四结构骨引导通道735、第四刚性管体736、第四远端间隔盘731后与第四远端固定盘732紧固连接。第二比例反馈结构体73中的第四远端结构骨733、第四近端结构骨734的数目、粗细以及在相应的间隔盘、固定盘上沿周向的分布角度均可以与相应远端结构骨113、近端结构骨163不同。进一步地，具有连接关系的每根第四远端结构骨733与相应的第四近端结构骨734之间在圆周上具有间隔角，各间隔角的角度相同。由此，当驱动近端结构体16弯转时，远端结构体11将向相反的方向弯转，而第二比例反馈结构体73的弯转平面指向角度则由上述间隔角的角度决定，优选地，当该间隔角为180°时，第二比例反馈结构体73的弯转平面指向与远端结构体11的弯转平面指向相反，第二比例反馈结构体73的弯转与远端结构体16的弯转成镜像关系。
在实际工程中，可以根据实际需求设置上述同姿态反馈结构体71、第一比例反馈结构体72和第二比例反馈结构体73中的一个或多个，观察者可通过位于可视位置的反馈结构体推断远端结构体11及近端结构体16的实际姿态。进一步地，上述的同姿态反馈结构体、第一比例反馈结构体和第二比例反馈结构体中，也可以不设置远端间隔盘，同样可以实现上述效果。
进一步地，在刚性管体154中设置有与结构骨引导通道151连通的用于引导结构骨的腔道，本领域技术人员应该理解的是，用于引导结构骨的腔道同样可以由间隔分布于刚性管体154中的远端间隔盘111上的结构骨通过孔形成。
进一步地，近端通道固定板152与远端通道固定板153直接通过多根支柱156连接。
上述实施例中，姿态反馈机构还包括姿态测量组件，姿态测量组件用于对 远端结构体11和近端结构体16的弯转角度值和长度值进行测量，从而精确地获得柔性连续体结构本体10的姿态参数。本发明提出了多种姿态测量组件，下面分别进行说明：
实施例一：
如图7所示，本实施例中的姿态测量组件包括远端反馈结构骨191、反馈结构骨引导通道192和位置传感器193。其中，位置传感器193固定连接在近端通道固定板152上，远端反馈结构骨191的一端与远端固定盘112紧固连接，另一端依次穿过远端间隔盘111、刚性管体154、反馈结构骨引导通道192后与位置传感器193连接。在本实施例中，当远端结构体11发生弯转时，将改变远端反馈结构骨191在远端结构体11中的长度，由此远端反馈结构骨191与位置传感器193的连接端将发生位移，被位置传感器193检测到。通过对远端结构体11中分布的不共面的三根以上的远端反馈结构骨191的长度的测量，可以计算出远端结构体11的弯转角度值以及长度值，其中弯转角度值包括远端结构体11的弯转平面指向角度值和在该弯转平面中的弯转角度值，进而根据远端结构骨113和近端结构骨163的分布半径和长度可得到近端结构体16的弯转角度值和长度值。
进一步地，位置传感器193采用滑块直线式位置传感器，位置传感器193中的滑块194与远端反馈结构骨191紧固连接。
进一步地，在近端通道固定板152与远端通道固定板153之间设置有第三通道固定板199，反馈结构骨引导通道192的一端与远端通道固定板153紧固连接，另一端与第三通道固定板199紧固连接。
实施例二：
如图8所示，本实施例中的姿态测量组件包括近端反馈结构骨195和位置传感器193。其中，位置传感器193固定连接在近端通道固定板152上，近端反馈结构骨195的一端与近端固定盘162紧固连接，另一端穿过近端间隔盘161、近端通道固定板152后与位置传感器193连接。在本实施例中，近端结构体16的弯转运动将改变近端反馈结构骨195在近端结构体16中的长度，由此近端反馈结构骨195与位置传感器193的连接端将发生位移，被位置传感器193检测到。通过对近端结构体16中分布的不共面的三根以上的近端反馈结构骨195的长度的测量，可以计算出近端结构体16的弯转角度值以及长度值，其中弯转角度值包括近端结构体16的弯转平面指向角度值和在该弯转平面中的弯转角度 值，进而根据远端结构骨113和近端结构骨163的分布半径和长度可得到远端结构体11的弯转角度值和长度值。
进一步地，位置传感器193采用滑块直线式位置传感器，位置传感器193中的滑块194与近端反馈结构骨195紧固连接。
实施例三：
如图9所示，本实施例中的姿态测量组件包括第一关节角度传感器501和第二关节角度传感器502。其中，第一关节角度传感器501用于测量旋转基座181与近端通道固定板152之间的相对旋转角度，从而可进一步得到近端结构体16的弯转平面指向角度；第二关节角度传感器502用于测量驱动手柄182与旋转基座181之间的相对旋转角度，从而可进一步得到近端结构体16在上述弯转平面中的弯转角度。根据上述所测角度可得到近端结构体16的弯转角度值，进而根据远端结构骨113和近端结构骨163的分布半径可得到远端结构体11的弯转角度值。
实施例四：
如图10所示，本实施例中的姿态测量组件包括三个以上安装在近端通道固定板152上的距离传感器601，用于对近端固定盘162上的特定点的距离进行测量。距离传感器601可选用红外、激光等光学距离传感器，通过测量近端固定盘162上的至少三个特定点到近端通道固定板152的距离，可得到近端固定盘162相对于近端通道固定板152的指向和位置，从而得到近端结构体16的弯转角度值和长度值，进而根据远端结构骨113和近端结构骨163的分布半径和长度可得到远端结构体11的弯转角度值和长度值。
本发明仅以上述实施例进行说明，各部件的结构、设置位置及其连接都是可以有所变化的。在本发明技术方案的基础上，凡根据本发明原理对个别部件进行的改进或等同变换，均不应排除在本发明的保护范围之外。

Claims (21)

  1. 一种可实现姿态反馈的柔性连续体结构，其特征在于：包括柔性连续体结构本体和姿态反馈机构；
    所述柔性连续体结构本体包括远端结构体、近端结构体和中部连接体；所述远端结构体包括远端间隔盘、远端固定盘和远端结构骨；所述近端结构体包括近端间隔盘、近端固定盘和近端结构骨；所述近端结构骨与所述远端结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括近端通道固定板、远端通道固定板和结构骨引导通道，所述结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间；所述结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、结构骨引导通道、远端间隔盘后与远端固定盘紧固连接；
    所述姿态反馈机构包括同姿态反馈结构体、第一比例反馈结构体和第二比例反馈结构体中的一个或多个；其中
    所述同姿态反馈结构体包括第二远端间隔盘、第二远端固定盘、第二远端结构骨、第二近端结构骨以及第二结构骨引导通道；所述第二结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第二近端结构骨与第二远端结构骨一一对应紧固连接或为同一根第二结构骨，所述第二结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第二结构骨引导通道、所述第二远端间隔盘后与所述第二远端固定盘紧固连接；所述第二远端结构骨与所述第二近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨分布半径之比一致；所述同姿态反馈结构体与所述远端结构体的长度一致；
    所述第一比例反馈结构体包括第三远端间隔盘、第三远端固定盘、第三远端结构骨、第三近端结构骨以及第三结构骨引导通道；所述第三结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第三近端结构骨与第三远端结构骨一一对应紧固连接或为同一根第三结构骨，所述第三结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第三结构骨引导通道、所述第三远端间隔盘后与所述第三远端固定盘紧固连接；所述第三远端结构骨与所述第三近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨的分布半径之比不同；
    所述第二比例反馈结构体包括第四远端间隔盘、第四远端固定盘、第四远端结构骨、第四近端结构骨以及第四结构骨引导通道；所述第四结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第四近端结构骨与第四远端结构骨一一对应紧固连接或为同一根第四结构骨，所述第四结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第四结构骨引导通道、所述第四远端间隔盘后与所述第四远端固定盘紧固连接；具有连接关系的每根所述第四远端结构骨与相应的所述第四近端结构骨之间在圆周上具有间隔角，各所述间隔角的角度相同。
  2. 如权利要求1所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述柔性连续体结构本体还包括铰接驱动链，所述铰接驱动链包括旋转基座和驱动手柄，所述旋转基座转动连接在所述近端通道固定板的中心，其转轴垂直于所述近端通道固定板；所述驱动手柄为杆结构且前端与所述旋转基座转动连接，其转轴平行于所述近端通道固定板，所述驱动手柄可滑动且可转动地从所述近端固定盘的中心穿过。
  3. 如权利要求1所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述中部连接体还包括刚性管体，所述刚性管体紧固连接在所述远端通道固定板靠近所述远端结构体的一侧，所述刚性管体中设置有与所述结构骨引导通道连通的腔道，所述结构骨从所述腔道中穿过。
  4. 如权利要求3所述的可实现姿态反馈的柔性连续体结构，其特征在于：当所述姿态反馈机构包括同姿态反馈结构体时，所述同姿态反馈结构体还包括第二刚性管体，所述第二结构骨从第二刚性管体中穿过；当所述姿态反馈机构包括第一比例反馈结构体时，所述第一比例反馈结构体还包括第三刚性管体，所述第三结构骨从第三刚性管体中穿过；以及当所述姿态反馈机构包括第二比例反馈结构体时，所述第二比例反馈结构体还包括第四刚性管体，所述第四结构骨从第四刚性管体中穿过。
  5. 如权利要求1所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括远端反馈结构骨、反馈结构骨引导通道和位置传感器；所述位置传感器紧固连接在所述近端通道固定板上，所述远端反馈结构骨的一端与所述远端固定盘紧固连接，另一端依次穿过所述远端间隔盘、所述反馈结构骨引导通道后与所述位置传感器连接。
  6. 如权利要求5所述的可实现姿态反馈的柔性连续体结构，其特征在于：在所述近端通道固定板与所述远端通道固定板之间设置有第三通道固定板，所述反馈结构骨引导通道紧固连接在所述第三通道固定板与所述远端通道固定板之间。
  7. 如权利要求1所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括近端反馈结构骨和位置传感器，所述位置传感器紧固连接在所述近端通道固定板上，所述近端反馈结构骨的一端与所述近端固定板紧固连接，另一端穿过所述近端间隔盘后与所述位置传感器连接。
  8. 如权利要求2所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括第一关节角度传感器和第二关节角度传感器，其中，所述第一关节角度传感器用于测量所述旋转基座与所述近端通道固定板之间的相对旋转角度，所述第二关节角度传感器用于测量所述驱动手柄与所述旋转基座之间的相对旋转角度。
  9. 如权利要求1所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态反馈机构还包括姿态测量组件，所述姿态测量组件包括三个以上安装在所述近端通道固定板上的用于对所述近端固定盘上的特定点的距离进行测量的距离传感器。
  10. 如权利要求5或7所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述位置传感器采用滑块直线式位置传感器。
  11. 一种可实现姿态反馈的柔性连续体结构，其特征在于：包括柔性连续体结构本体和姿态反馈机构；
    所述柔性连续体结构本体包括远端结构体、近端结构体和中部连接体；所述远端结构体包括远端间隔盘、远端固定盘和远端结构骨；所述近端结构体包括近端间隔盘、近端固定盘和近端结构骨；所述近端结构骨与所述远端结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括近端通道固定板、远端通道固定板和结构骨引导通道，所述结构骨引导通道紧固连接在所述近端通道固定板和所述远端通道固定板之间；所述结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述结构骨引导通道、所述远端间隔盘后与所述远端固定盘紧固连接；以及
    所述姿态反馈机构包括同姿态反馈结构体、第一比例反馈结构体和第二比 例反馈结构体中的一种或多种；其中
    所述同姿态反馈结构体包括第二远端固定盘、第二远端结构骨、第二近端结构骨以及第二结构骨引导通道；所述第二结构骨引导通道紧固连接在所述近端通道固定板和所述远端通道固定板之间，所述第二近端结构骨与第二远端结构骨一一对应紧固连接或为同一根第二结构骨，所述第二结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第二结构骨引导通道后与所述第二远端固定盘紧固连接；所述第二远端结构骨与所述第二近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨分布半径之比一致；
    所述第一比例反馈结构体包括第三远端固定盘、第三远端结构骨、第三近端结构骨以及第三结构骨引导通道；所述第三结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第三近端结构骨与第三远端结构骨一一对应紧固连接或为同一根第三结构骨，所述第三结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第三结构骨引导通道后与所述第三远端固定盘紧固连接；所述第三远端结构骨与所述第三近端结构骨分布半径之比，和所述远端结构骨与所述近端结构骨的分布半径之比不同；
    所述第二比例反馈结构体包括第四远端固定盘、第四远端结构骨、第四近端结构骨以及第四结构骨引导通道；所述第四结构骨引导通道紧固连接在所述近端通道固定板和远端通道固定板之间，所述第四近端结构骨与第四远端结构骨一一对应紧固连接或为同一根第四结构骨，所述第四结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述第四结构骨引导通道后与所述第四远端固定盘紧固连接；具有连接关系的每根所述第四远端结构骨与相应的所述第四近端结构骨之间在圆周上具有间隔角，各所述间隔角的角度相同。
  12. 如权利要求11所述的可实现姿态反馈的柔性连续体结构，其特征在于：当所述姿态反馈机构包括同姿态反馈结构体时，所述同姿态反馈结构体进一步设有第二远端间隔盘，其中所述第二结构骨的另一端在穿过所述第二结构骨引导通道后，进一步穿过所述第二远端间隔盘后与所述第二远端固定盘紧固连接；当所述姿态反馈机构包括第一比例反馈结构体时，所述第一比例反馈结构体进一步设有第三远端间隔盘，其中所述第三结构骨的另一端在穿过所述第三结构骨引导通道后，进一步穿过所述第三远端间隔盘后与所述第三远端固定盘紧固 连接；以及当所述姿态反馈机构包括第二比例反馈结构体时，所述第二比例反馈结构体进一步设有第四远端间隔盘，其中所述第四结构骨的另一端在穿过所述第四结构骨引导通道后，进一步穿过所述第四远端间隔盘后与所述第四远端固定盘紧固连接。
  13. 如权利要求11所述的可实现姿态反馈的柔性连续体结构，其特征在于：当所述姿态反馈机构包括同姿态反馈结构体时，所述同姿态反馈结构体进一步设有第二远端间隔盘，其中所述第二结构骨的另一端在穿过所述第二结构骨引导通道后，进一步穿过所述第二远端间隔盘后与所述第二远端固定盘紧固连接；以及所述同姿态反馈结构体与所述远端结构体的长度一致。
  14. 如权利要求11-13任一项所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述柔性连续体结构本体还包括铰接驱动链，所述铰接驱动链包括旋转基座和驱动手柄，所述旋转基座转动连接在所述近端通道固定板的中心，其转轴垂直于所述近端通道固定板；所述驱动手柄与所述旋转基座转动连接，其转轴平行于所述近端通道固定板，以及所述驱动手柄可滑动且可转动地从所述近端固定盘的中心穿过。
  15. 如权利要求11-13任一项所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述中部连接体还包括刚性管体，所述刚性管体紧固连接在所述远端通道固定板靠近所述远端结构体的一侧，所述刚性管体中设置有与所述结构骨引导通道连通的腔道，所述结构骨从所述腔道中穿过。
  16. 一种可实现姿态反馈的柔性连续体结构，其特征在于：所述柔性连续体结构包括柔性连续体结构本体和姿态反馈机构，其中，
    所述柔性连续体结构本体包括远端结构体、近端结构体和中部连接体；所述远端结构体包括远端间隔盘、远端固定盘和远端结构骨；所述近端结构体包括近端间隔盘、近端固定盘和近端结构骨；所述近端结构骨与所述远端结构骨一一对应紧固连接或为同一根结构骨；所述中部连接体包括近端通道固定板、远端通道固定板和结构骨引导通道，所述结构骨引导通道紧固连接在所述近端通道固定板和所述远端通道固定板之间；所述结构骨的一端与所述近端固定盘紧固连接，另一端依次穿过所述近端间隔盘、所述结构骨引导通道、所述远端间 隔盘后与所述远端固定盘紧固连接；以及
    所述姿态反馈机构包括姿态测量组件，其中所述姿态测量组件布置成能够检测所述远端结构体的弯转角度值和长度值。
  17. 如权利要求16所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态测量组件包括远端反馈结构骨、反馈结构骨引导通道和位置传感器；所述位置传感器紧固连接在所述近端通道固定板上，所述远端反馈结构骨的一端与所述远端固定盘紧固连接，另一端依次穿过所述远端间隔盘、所述反馈结构骨引导通道后与所述位置传感器连接。
  18. 如权利要求16所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态测量组件包括近端反馈结构骨和位置传感器，所述位置传感器紧固连接在所述近端通道固定板上，所述近端反馈结构骨的一端与所述近端固定板紧固连接，另一端穿过所述近端间隔盘后与所述位置传感器连接。
  19. 如权利要求16所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述柔性连续体结构本体还包括铰接驱动链，所述铰接驱动链包括旋转基座和驱动手柄，所述旋转基座转动连接在所述近端通道固定板的中心，其转轴垂直于所述近端通道固定板；所述驱动手柄与所述旋转基座转动连接，其转轴平行于所述近端通道固定板，以及所述驱动手柄可滑动且可转动地从所述近端固定盘的中心穿过。
  20. 如权利要求19所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态测量组件包括第一关节角度传感器和第二关节角度传感器，其中，所述第一关节角度传感器用于测量所述旋转基座与所述近端通道固定板之间的相对旋转角度，所述第二关节角度传感器用于测量所述驱动手柄与所述旋转基座之间的相对旋转角度。
  21. 如权利要求16所述的可实现姿态反馈的柔性连续体结构，其特征在于：所述姿态测量组件包括三个以上安装在所述近端通道固定板上的用于对所述近端固定盘上的特定点的距离进行测量的距离传感器。
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