A flexible laparoscopic actuator based on series elastic elements and continuum configuration

A series of elastic and continuum technology, applied in the field of robotics, can solve problems such as the inability to cooperate with the stability of the robotic arm and the inability to prevent unexpected situations, and achieve the effect of eliminating unfavorable surgical factors, good elasticity, and high control accuracy.

Active Publication Date: 2022-04-12
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In addition, since there is no flexible elastic element, it cannot prevent accidents during the operation, nor can it be used with a mechanical arm to improve stability.

Method used

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  • A flexible laparoscopic actuator based on series elastic elements and continuum configuration
  • A flexible laparoscopic actuator based on series elastic elements and continuum configuration
  • A flexible laparoscopic actuator based on series elastic elements and continuum configuration

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Embodiment Construction

[0035] The present invention will be further described through the embodiments below in conjunction with the accompanying drawings.

[0036] see figure 1 , a flexible laparoscopic actuator based on a series elastic element and a continuum configuration includes a driving mechanism, a cable guiding mechanism and a lens assembly 45 .

[0037] see figure 2 , image 3 , the driving mechanism includes four linear motors 21, four flexible cables, four pre-tensioning mechanisms, the first fixing part 13, the second fixing part 14 and the fixing plate 15. The linear motor 21 is a screw-type linear motor, and the four flexible cables are a first flexible cable 315 , a second flexible cable 316 , a third flexible cable 317 and a first flexible cable 318 . The first fixing part 13, the second fixing part 14 and the fixing plate 15 are sequentially connected to form a columnar body; the four linear motors are evenly distributed in the first fixing part 13, and one end of the four flex...

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Abstract

The invention relates to a flexible laparoscopic actuator based on a serial elastic element and a continuum configuration, belonging to the technical field of robots. Including driving mechanism, cable guide mechanism and lens assembly. The driving mechanism includes four linear motors, four flexible cables and four pre-tensioning mechanisms; the flexible cable guiding mechanism includes a hollow tube and a flexible continuum; the four flexible cables pass through the hollow tube and are connected to the flexible continuum; the lens assembly is fixed on the The end of a flexible continuum. The driving mechanism is responsible for pretensioning and stretching the four flexible cables, and the flexible cable guiding mechanism is responsible for guiding the flexible cables to the lens assembly. The four flexible cables are stretched together to make the flexible continuum bend in any direction in space, meeting the requirements of the lens assembly to continuously capture images. The present invention can change the rigidity of the flexible continuum by adjusting the tension of the cable; the average angular velocity of the continuum is about 5.7 rad / s, fully meeting the real-time requirement in the operation process.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible laparoscopic actuator based on a serial elastic element and a continuum configuration. Background technique [0002] Due to the small trauma of minimally invasive surgery, the recovery time of patients is fast and so on. Minimally invasive surgery has been vigorously promoted and developed at home and abroad. When performing minimally invasive surgery, one or several small holes need to be opened on the patient's body surface to support the work of surgical forceps and laparoscope. The main function of laparoscope is to obtain clear images during surgery. Cooperate with surgical forceps for various operations. [0003] However, the traditional minimally invasive surgery requires the cooperation of several doctors and nurses. Among them, the laparoscope needs to be controlled by a doctor holding the mirror to obtain images. The operation process is complex and changeabl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B90/50
CPCA61B90/50A61B2090/508
Inventor 王正雨包诗扬魏迅刘光明张建喜王道明钱森钱钧
Owner HEFEI UNIV OF TECH
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