Multi-degree-of-freedom stiffness variable pneumatic operation operating arm and manufacturing method

Abstract

The invention discloses a multi-degree-of-freedom stiffness variable pneumatic operation operating arm and a manufacturing method. The operation operating arm is formed by connecting multiple sections of identical pneumatic driver units. Each pneumatic driver unit comprises a cylindrical driver, the two ends of the driver are connected to bases, the driver comprises an outside stiffness adjusting layer, and the stiffness adjusting layer is internally provided with a driving layer. The driving layer comprises a cylindrical silicone rubber layer with through holes, multiple cavities are formed in the silicone rubber layer, the inner surface of the silicone rubber layer is covered with a PDMS layer, and the outer surface of the silicone rubber layer is covered with double helix nylon fiber. The bases are provided with air holes corresponding to the cavities and vacuum orifices corresponding to the stiffness adjusting layer. The multi-degree-of-freedom stiffness variable pneumatic operation operating arm has the advantages of being highly flexible in motion capability, variable in stiffness, small in size and light in weight, causing little damage to a human body rigidity, and having less gas circuits, which facilitates control.

Description

technical field [0001] The invention belongs to the field of multi-degree-of-freedom minimally invasive surgery operating arms, and in particular relates to a multi-degree-of-freedom rigidity-variable pneumatic operating arm and a manufacturing method. Background technique [0002] With the development of science and technology and people's increasing requirements for the quality of medical services, minimally invasive surgery as a new mode of clinical treatment is gradually being widely used. Compared with traditional open surgery, minimally invasive surgery has the advantages of small wound, less bleeding, less pain, and faster postoperative recovery, and has become the mainstream method of medical surgery. In the future, minimally invasive surgery will develop towards a direction with fewer and smaller natural orifices and wounds. [0003] At present, the operating arms of minimally invasive surgery are mostly straight arms, which have high structural rigidity. However,...

AI Technical Summary

Problems solved by technology

However, the traditional mechanical structure makes this type of surgical arm have less freedom of movement. Even if multiple degrees of freedom are achieved through the combination of multiple mechanical joints, it will be difficult to apply operating force to the end tool due to insufficient rigidity, and the overall flexibility is not high. , Insufficient exercise space and other problems, these problems directly lead to the need for as many as 4 to 5 wounds in traditional minimally invasive surgery

At the same time, too many mechanical structures are assembled to form many gaps, which are easy to become a hiding area for bacteria and dirt, and it is difficult to completely disinfect even if sterilization measures are adopted.

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