Flexible single-hole minimally invasive surgery robot

Abstract

The invention discloses a flexible single-hole minimally invasive surgery robot. A robot system comprises multiple flexible unit bodies (numbered from 1 to 20), a flexible unit body base 21, a top tray 22, a guide rail 23, a bearing seat 24-1, a nickel-titanium alloy wire 25, a bolt 26, a lead screw 27-1, a lead screw flange nut 28-1, a flange nut seat 29-1, a bolt 30, a bearing seat 31-1, a hemispherical housing 32, a motor 33-1, a bearing seat supporting frame 34-1, a coupler 35-1, a base 36 and multiple spring sets (numbered from 37-55 and each set includes 3 springs). The included angle formed by two rotary shafts included by each joint unit of the robot is adjustable. The robot joints are good in flexibility, the flexible portions are high in hardness, and the robot is flexible and varied in movement.

Description

technical field [0001] The invention relates to a flexible single-hole minimally invasive surgical robot, which belongs to the technical field of robots, and in particular relates to the structural design of the robot. Background technique [0002] At present, the motion modes of multi-joint flexible robots are divided into two categories, two-dimensional plane type and three-dimensional space type. The bending principle of the two-dimensional planar multi-joint flexible robot is mainly as follows: the shape plane curve is realized by the relative rotation between multiple sub-modules. The main problem of the two-dimensional planar multi-joint flexible robot is that this type of robot can only move in a specific plane, and its application is limited. The bending principle of the three-dimensional multi-joint flexible robot is mainly as follows: the rotation axes of the rotation joints connected in sequence are orthogonal, that is, the two adjacent rotation axes are perpendi...

AI Technical Summary

Problems solved by technology

The main problem of the two-dimensional planar multi-joint flexible robot is: this type of robot can only move in a specific plane, and the application occasions are limited

One of the problems with this type of robot structure is that when the robot moves in a plane, only one of the two rotation axes connected in sequence can rotate, which reduces the maneuverability

At the same time, in order to ensure the flexibility of the robot, the hardness of the flexible part is low. If a certain force is applied, the flexible part will be deformed and the movement accuracy will be reduced.

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