A variable stiffness snake-like surgical robot based on a nickel-titanium alloy skeleton
A surgical robot and nickel-titanium alloy technology, applied in the field of surgical robots, can solve the problems of reduced motion accuracy and inability to adjust the stiffness of the elastic skeleton, and achieve the effect of reducing the number of parts
Active Publication Date: 2021-07-27
SHANDONG UNIV
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Problems solved by technology
[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art, and provide a kind of variable stiffness snake-like surgical robot based on the nickel-titanium alloy skeleton, which can solve the problem that the rigidity of the elastic skeleton in the existing snake-like surgical robot cannot be adjusted, and the continuous joints in the long-term The problem that the movement accuracy will be reduced due to friction after time is used
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[0044] It should be noted that the following detailed description is exemplary and intended to provide a preferred description of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
[0045]It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and / or combinations thereof.
[0046] In a typical embodiment of the present invention, such as Figure 1-14 As shown, it includes an elastic tub...
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The invention relates to a variable stiffness serpentine surgical robot based on a nickel-titanium alloy skeleton, which includes an elastic tube, the elastic tube is made of nickel-titanium alloy, and a temperature control tube is arranged in the inner cavity of the elastic tube. The temperature of the tube can be adjusted, heat exchange can occur between the temperature control tube and the elastic tube to change the temperature of the elastic tube, the elastic tube has different rigidity at different temperatures; an end effector is installed at one end of the elastic tube, A side of the elastic tube close to the end effector is fixed with a plurality of clamping discs, and the collar of the clamping disc is arranged on the outer surface of the elastic tube, and a plurality of clamping discs are evenly arranged along the circumferential direction in the elastic tube. Through holes, the through holes are used to pass through the driving wires, one end of each driving wire is fixedly connected to one of the plurality of clamping discs, and the other end is fixedly connected to the driving device; the driving device can drive the driving wire along the The axial direction of the elastic tube stretches or relaxes to drive the elastic tube to deform.
Description
technical field [0001] The invention belongs to the technical field of surgical robots, and in particular relates to a variable stiffness snake-shaped surgical robot based on a nickel-titanium alloy skeleton. Background technique [0002] Since the 1980s, the rise of minimally invasive surgery has brought about innovations in surgical operation modes. Especially in laparoscopic minimally invasive surgery, the development of surgical robots is very rapid; in the study of improving the flexibility and reducing the volume of the end-effectors of surgical robots, many researchers have proposed the use of continuum snake-shaped surgical robots to enhance surgical robots. End device flexibility. [0003] The inventor believes that the skeletons of these snake-like surgical robots are all elastic skeletons, which do not involve stiffness changes, and cannot take into account the different stiffness requirements of attitude changes and pulling actions. Therefore, many scholars hav...
Claims
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IPC IPC(8): A61B17/00A61B34/30
CPCA61B17/00234A61B2017/00831A61B2017/00862A61B34/30A61B34/70A61B2034/302
Inventor 杜付鑫张涛刘明月李贻斌类延强张钢
Owner SHANDONG UNIV