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Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment

A flexible robotic arm and continuum technology, applied in the field of medical devices, can solve problems such as the inability to effectively control the maximum bending angle and the complex structure of the continuum robotic arm, so as to reduce the complexity of processing, reduce manufacturing costs, and improve direction positioning capabilities Effect

Active Publication Date: 2020-08-28
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this technical solution, the continuum manipulator has a complex structure and cannot effectively control the maximum bending angle

Method used

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  • Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment
  • Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment
  • Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0065] Such as Figure 1A to Figure 8 As shown, an omnidirectional special-shaped curved continuum flexible robot arm for intracavitary interventional diagnosis and treatment includes a base 1 on which fourteen middle discs 2 and a top disc are arranged from bottom to top 3. The top end of the mechanical arm is the top disc 3, and the bottom end of the mechanical arm is the base 1.

[0066] The center of the base 1 is provided with a first through hole 103, and four wire holes 6 are evenly distributed around the first through hole 103, and the four wire holes 6 are arranged symmetrically with the first through hole 103 as the center; the middle disc The center of 2 is provided with the second through hole 24, and the periphery of the second through hole 24 is provided with four wire holes 6 uniformly distributed, and the four wire holes 6 are arranged symmetrically with the second through hole 24 as the center; The center is provided with a third through hole 31, and four wir...

Embodiment 2

[0079] Embodiment 2 is a modified example of Embodiment 1.

[0080] Such as Figure 1A to Figure 5B , Figure 9 to Figure 14C As shown, in Embodiment 2, the continuum flexible manipulator includes a top disc 3 and nineteen middle discs 2 , the top end of the manipulator is the top disc 3 , and the bottom end of the manipulator is the base 1 .

[0081] The nineteen middle discs 2 are divided into two bilateral spacers 21, seven unilateral spacers 22 and ten thin spacer plates 23.

[0082]Considering the difficulty of processing and manufacturing, while ensuring the smallest possible outer diameter of the manipulator, in this embodiment, the outer diameter of the continuum manipulator is 2.8mm, the height is 47mm, the diameter of the internal middle cavity 5 is 1.4mm, and the nickel-titanium wire hole The diameter of 6 is 0.3 mm, the height of the base 1 is 7 mm, the height of the base frame 101 is 1 mm, and the width is 0.4 mm to ensure greater strain and strength. The height...

Embodiment 3

[0088] Embodiment 3 is a modified example of Embodiment 1.

[0089] Such as Figure 2A to Figure 5B , Figure 15A to Figure 18C As shown, in Embodiment 3, the continuum flexible mechanical arm includes a top disc 3 and nineteen middle discs 2; the top end of the mechanical arm is the top disc 3, the bottom end of the mechanical arm is the base 1, and the base The base 1 has two symmetrically arranged base contact blocks 102, 102'.

[0090] The nineteen middle discs 2 are divided into eight bilateral spacers 21, seven unilateral spacers 22 and four thin spacer plates 23.

[0091] Considering the difficulty of processing and manufacturing, and adapting to the anatomical cavity with a smaller diameter, in this embodiment, the outer diameter of the continuum manipulator is 2.5 mm, the height is 47 mm, the diameter of the internal middle cavity 5 is 1 mm, and the diameter of the nickel-titanium wire hole 6 is The diameter is 0.3mm, the height of the base 1 is 7mm, the height of ...

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Abstract

The invention provides an omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment. The mechanical arm comprises a base and a plurality of modular units, and the plurality of modular units are arranged on the base from bottom to top in a layering mode; a plurality of contact blocks and a plurality of frameworks are arranged on theupper end faces of the base and the modular units; the height of the contact block is lower than or equal to the height of the framework, through holes are formed in the centers of the base and the modular units, a plurality of wire holes are formed in the peripheries of the through holes, and the wire holes in the plurality of modular units and at least one wire hole in the base are through topand bottom and used for allowing driving wires to penetrate through; and the through hole of the base and the through holes of the plurality of modular units are through top and bottom to form a middle cavity channel. According to the continuum mechanical arm, the bending curvature of the mechanical arm can be adjusted section by section, the shape of the whole mechanical arm can be changed to a large extent through few degrees of freedom, then the position and posture of the top end of the mechanical arm are adjusted, and therefore the continuum mechanical arm has good direction positioning capacity.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to an omnidirectional special-shaped curved continuum flexible robot arm for intracavity interventional diagnosis and treatment. Background technique [0002] Most of the existing continuum manipulators cannot realize bending that changes curvature in all directions, and cannot realize bending with as large a curvature as possible with less degrees of freedom. The reason is that a continuum manipulator without a self-contact structure cannot change its own bending curvature, which theoretically has a constant curvature when it bends, and a single-segment continuum manipulator cannot achieve its spatial curvature. [0003] After searching the existing technology, the invention patent with application number 201910323771.7 discloses a full-degree-of-freedom continuum mechanical arm, which includes a drive assembly, a gear assembly, and a telescopic assembly. The drive assembly...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30
CPCA61B34/30A61B34/71A61B2034/303A61B2034/301
Inventor 陈卫东艾孝杰高安柱
Owner SHANGHAI JIAO TONG UNIV
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