Separable multi-arm soft mechanical arm device

A technology of soft machinery and robotic arms, which is applied in medical science, surgery, diagnosis, etc., can solve the problems of contact damage to body tissues, affecting the normal operation of the mechanism, complex structure and drive, etc., to achieve small trauma, excellent chemical stability, Control simple and reliable effects

Active Publication Date: 2015-08-05
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, its structure and drive are complicated, and there are 19 drive lines for a single arm, making it difficult to control
In addition, the mechanism of the system is complex, and the extension and contraction of the continuum mechanical arm from the sheath may be blocked by the

Method used

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  • Separable multi-arm soft mechanical arm device
  • Separable multi-arm soft mechanical arm device
  • Separable multi-arm soft mechanical arm device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0038] This embodiment provides a detachable multi-arm soft robotic arm device, including:

[0039] A functional sub-arm part, the functional sub-arm part includes a functional sub-arm part and a visual sub-arm part. The functional sub-arm and visual sub-arm can be controlled respectively by sub-arm traction lines. Theoretically, the arm has unlimited degrees of freedom, and can complete bending movements at any angle, as well as telescopic movements within a certain range.

[0040] The total arm part is fixed, and the fixed total arm part is located at the rear of the sub-arm to provide certain strength support for the whole device. And the detachable multi-arm soft manipulator is connected with the fixed base.

[0041] The supporting part is located at the axial center of the whole device, runs through the whole device longitudinally, and provides support for the device. Before the device enters the human body through a single incision and does not reach the target organ,...

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PUM

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Abstract

The invention discloses a separable multi-arm soft mechanical arm device, and the device comprises a functional arm part, a fixed general arm part, and a supporting part. The functional arm part and the fixed general arm part are made of human body silica gel materials. The fixed general arm part is connected to the rear end of the functional arm part, and provides strong support for the functional arm part. Moreover, the fixed general arm part and the functional arm part jointly form a mechanical arm body. The supporting part longitudinally passes through the mechanical arm body, is located at the axis of the mechanical arm body, and is used for supporting the mechanical arm body. The device depends on stay wire drive, and the operation mode of line drive is simple and reliable in control. The device is safe and soft, and causes no damage to a human body. Moreover, the flexible structure is elastic, can absorb the vibration caused by the movement of body tissues, and reduces the impact on the maneuverability of an operation device from the physiological motion of a patient during an operation. The device replaces the conventional direct operation, so as to achieve the operation effects of small wound and quick recovery.

Description

technical field [0001] The invention relates to the technical field of medical soft manipulators, in particular to a detachable multi-arm soft manipulator device for single-incision surgery. Background technique [0002] Most of the medical and surgical robot systems currently used in clinical practice are based on the principle of endoscopic surgery, and are divided into non-invasive surgery systems and minimally invasive surgery systems. The surgical tools of the non-invasive surgical system enter the patient's body through the natural orifice of the human body without opening the body surface near the surgical site, which can maximize minimally invasive surgery. such as the United States As a mature non-invasive surgical system, X2Robotic System has entered clinical application in many countries. However, since non-invasive surgery needs to pass through the long and narrow and complicated human cavity, the operation is difficult; and before the non-invasive surgery rea...

Claims

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Application Information

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IPC IPC(8): A61B19/00
Inventor 陈卫东王贺升刘雨霆
Owner SHANGHAI JIAO TONG UNIV
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