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Flexible mechanical arm and control method thereof

A software machine, robotic arm technology, applied in the directions of manipulators, claw arms, manufacturing tools, etc., can solve the problems of no description or report, and data has not been collected, and achieve the effect of large deformability

Inactive Publication Date: 2016-06-01
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, there is no description or report of the similar technology of the present invention, and no similar data at home and abroad have been collected yet.

Method used

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  • Flexible mechanical arm and control method thereof
  • Flexible mechanical arm and control method thereof
  • Flexible mechanical arm and control method thereof

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Embodiment Construction

[0040] The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0041] The soft mechanical arm provided according to the present invention includes: a top fixing device, a main body of a mechanical arm, a base and a control device; The wire makes the main body of the manipulator complete the predetermined deformation.

[0042] The top fixing device includes: a top end cover 1 and a top ring 2, the top end ring 2 is arranged at the top position of the main body of the mechanical arm or inside the main body of the mechanical arm, and the top end cover 1 is installed o...

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PUM

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Abstract

The invention provides a flexible mechanical arm and a control method thereof. The flexible mechanical arm comprises a top end fixing device, a mechanical arm body, a base and a control device. The mechanical arm body is fastened between the top end fixing device and the base through a plurality of traction wires 6. The control device enables the mechanical arm body to complete preset deformation through the traction wires. By means of a hollow latex casing pipe, on the premise of keeping the structural characteristic of the flexible mechanical arm meeting the requirement of a medical mechanical arm, the higher deformability and the good recovery property are achieved, and more surgery requirements can be met. In addition, a sensor or other components can be mounted in the hollow latex casing pipe. The defect that a traditional flexible mechanical arm is solid is overcome, and large space is provided for the subsequent improvement.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a soft robotic arm and a control method thereof. Background technique [0002] As a new type of medical robot, the soft robotic arm has a very good prospect, and it has also caused a lot of research upsurge in the world, and it has a great effect on the minimally invasive ablation of human internal organs. The current soft manipulator is mainly made of solid latex tube as the main body, and the manipulator is controlled by thin wires fixed at the right angle distribution at the top of the manipulator. The main disadvantage is that the control is not fine enough, and the degree of deformation is small, sometimes it is difficult to meet the requirements of the operation. At the same time, due to the particularity of its solidity and function, it is very difficult to add relevant sensors to the existing manipulator, which makes the upgrade of the function of the software ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/06B25J11/00B25J13/00A61B34/30
CPCB25J18/06B25J11/00B25J13/00
Inventor 王贺升胡俊杨张怡雯冯哲彬陈卫东
Owner SHANGHAI JIAO TONG UNIV
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