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Flexible driver and driving system

A flexible driver and drive system technology, applied in the field of flexible robots, can solve the problems of uncontrollable rigidity and inconvenient operation of flexible robots, and achieve the effects of improving accuracy and rigidity, good controllability and maneuverability

Active Publication Date: 2021-06-04
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The invention provides a flexible driver and a drive system to solve the defects of uncontrollable rigidity of flexible robots in the prior art, which makes it difficult to bend and deform, resulting in inconvenient operation, and realizes the elongation, shortening and bending directions of flexible bodies that can be precisely controlled At the same time, the flexible body can continuously change the stiffness through temperature control, providing the stiffness and bending freedom required for the operation of surgical instruments

Method used

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Embodiment Construction

[0038] Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.

[0039] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The embodiments and simplified descriptions of the invention do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed a...

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Abstract

The invention relates to the technical field of flexible robots, and particularly relates to a flexible driver and a driving system. The flexible driver comprises a flexible body, a first cavity, a second cavity and at least one third cavity are arranged in the flexible body in an extending mode along the axial direction of the flexible body, a temperature-control variable-stiffness material is contained in the first cavity, the first cavity is arranged around the second cavity, the second cavity is used for containing a temperature-control medium, and the third cavity is used for introducing fluid for controlling drive. According to the invention, accurately-controlled stretching and shortening and bending direction control of the flexible body are achieved, meanwhile, continuous variable stiffness of the flexible body can be achieved through temperature control, and stiffness and bending freedom degree needed by operations of surgical instruments are provided.

Description

technical field [0001] The invention relates to the technical field of flexible robots, in particular to a flexible driver and a driving system. Background technique [0002] A variety of medical devices can enter narrow lesions of the body to deliver medicines, transmit images, and perform surgical procedures. For example, flexible endoscopes can enter the colon, esophagus, and , stomach, urethra, bladder, ureters, kidneys, lungs, bronchi, uterus and other organs. These devices typically travel through narrowing conduits to the surgical site, which may be tortuous, helical, or even coiled, requiring medical devices that are flexible and allow bending, as well as having sufficient breaking strength to prevent damage to the surgical site. Yielding occurs during pushing. During the propulsion process, it may be expected that the front end of the medical device will be actively deflected, and the posture and posture can be finely adjusted. At present, the insertion part of ma...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30A61B17/00
CPCA61B34/30A61B17/00A61B2034/303A61B2017/00367A61B2034/302
Inventor 廖洪恩陈佳琦胡成全张欣然
Owner TSINGHUA UNIV
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