A continuum robot for narrow cavity surgery

Abstract

The invention provides a continuum robot for narrow lumen surgery, comprising a flexible arm composed of an inner arm and an outer arm, an inner arm driving device and an outer arm driving device; the inner arm driving device includes an inner arm wire driving mechanism, The inner arm rotation drive mechanism and the inner arm linear motion drive mechanism, the inner arm line drive mechanism can drive the inner arm to bend in space, the inner arm rotation drive mechanism can drive the inner arm to rotate axially, and the inner arm linear motion drive mechanism can drive The inner arm performs linear motion along its axial direction; the outer arm drive device includes an outer arm line drive mechanism and an outer arm linear motion drive mechanism, the outer arm line drive mechanism can drive the outer arm to bend in space, and the outer arm linear motion drive mechanism can The outer arm is driven to move linearly along its axis; the inner arm is embedded in the outer arm, and the inner arm can extend and retract from the outer arm, and the stiffness of the outer arm is greater than that of the inner arm. The invention has the advantage of strong exercise flexibility.

Description

technical field [0001] The invention belongs to the technical field of medical devices, and in particular relates to a continuum robot used for narrow lumen surgery. Background technique [0002] In recent years, minimally invasive surgery has been rapidly popularized in various fields of surgery due to its advantages of small incision, light trauma, less postoperative pain, quick recovery time, and fewer complications, and has gradually become the leading surgical operation method. [0003] Conventional narrow-cavity surgery still has problems such as narrow and complex 3D field of view, limited range of motion of the end effector, and hand tremor of the surgeon, resulting in limited surgical effects. Therefore, robot technology is introduced into the medical field. [0004] As typical representatives of surgical robots, wire-driven robots and concentric tube robots have been widely used in neurosurgery, urology, and heart surgery. [0005] A wire-driven robot is connected...

AI Technical Summary

Problems solved by technology

However, because the pre-bending curvature of the concentric tubes in the robot is constant, the robot can reach limited space and have poor movement flexibility, and the pre-bending rate of the concentric tubes will change with the time and frequency of use, resulting in low surgical accuracy.

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