A controller for soft mirror robot and its application

Abstract

The invention belongs to the field of medical equipment, and specifically discloses a controller for a soft mirror robot and an application thereof. The controller includes a copper sheet, a casing, a rotating assembly, a power supply and a paddle, wherein: the copper sheets are connected end to end to form a copper ring, and the inside of each copper sheet is respectively connected to a set of current input terminals of the soft mirror robot; the rotating assembly includes The rotating shaft and the control handle, the rotating shaft is arranged inside the casing and is made of conductive material; the control handle is connected to one end of the rotating shaft to drive the rotating shaft to rotate, and is made of insulating material; the power supply is connected to both ends of the rotating shaft to Voltage is applied to the rotating shaft; the paddle is made of conductive material, and the paddle is fixedly connected with the rotating shaft, so that the paddle is driven to rotate by the shaft, and the current is transmitted from the shaft to the paddle. The invention realizes the control of the deflection direction and angle by means of voltage control, has the advantages of simple and intuitive control mode, and can effectively improve the control accuracy and control efficiency of the soft mirror robot.

Description

technical field [0001] The invention belongs to the field of medical devices, and more particularly relates to a controller for a soft mirror robot and its application. Background technique [0002] As a medical testing instrument, the endoscope can enter the body through natural channels and see lesions that cannot be displayed by X-rays, which is beneficial for doctors to make accurate diagnoses. However, most of the existing endoscopes are rigid structures, which have the disadvantages of single bending angle, limited curvature, high cost, and poor compliance. [0003] Due to its good flexibility, the soft mirror robot has received extensive attention in minimally invasive diagnosis and treatment. CN201220372825.2 discloses an electronic endoscope, the mirror tube of which includes an interconnected insertion part, a soft bending part and a tip part, wherein the soft bending part can be driven by a pull wire. Most of the existing soft mirror robots are driven by pull wi...

AI Technical Summary

Problems solved by technology

Most of the existing soft-mirror robots are driven by pull wires, and the control end is controlled by winding knobs, which have defects such as large operating force, high labor intensity, and remote amplification of errors.

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