Modularization driving device of multilevel flexible curved tube medical robot

Abstract

The invention discloses a modularization driving device of a multilevel flexible curved tube medical robot. The device comprises a base, a linear guiderail, at least one driving module, flexible curved tubes which have same quantity with the driving modules and an electronic driving device; the linear guiderail is fixedly arranged on the base; the driving modules are connected with the linear guiderail in a sliding mode; the driving modules are connected with the flexible curved tubes in a detachable mode; a winding displacement device is vertically arranged on one side of the base; the electronic driving device is arranged on the upper portion of one end of the base, and the electronic driving device is electrically connected with the driving modules. According to the device, the driving modules are subjected to modularization designing, the quantity of the driving modules can be increased or reduced conveniently according to requirements, and it is not needed to modify an overall mechanical design. By controlling the rotation of motors in the driving modules, the body shape and the front position of the flexible curved tube robot can be controlled. In addition, a guide method of driving module wires is taken into account, and system failure is avoided.

Description

technical field

[0001] The invention relates to the field of medical instruments, in particular to a modular drive device for a multi-stage flexible curved tube medical robot. Background technique

[0002] The flexible curved tube robot is a new type of surgical robot, usually with a diameter of less than 2.5 mm and a length between 200 mm and 500 mm. The body has multiple degrees of freedom and can be bent arbitrarily. It is especially suitable for minimally invasive or non-invasive surgery. Especially for operations that require high precision and sensitive organs and tissues, such as neurosurgery and cardiac surgery.

[0003] Each set of robots consists of multiple flexible curved pipes, each flexible curved pipe is driven by two motors, one motor is responsible for the rotation of the curved pipe, and the other is responsible for the linear reciprocating motion of the curved pipe. At present, the driving device of medical robots often adopts non-modular design. When the...

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