Notch type continuum robot based on crossed bent beam structure

Abstract

The invention provides a notch type continuum robot based on a cross bent beam structure. The robot comprises an outer pipe incision skeleton, an inner pipe incision skeleton and a driving rope, the inner pipe incision skeleton is sleeved in the outer pipe incision skeleton, and the side wall of the outer pipe incision skeleton is provided with a driving rope channel; one end of the driving rope penetrates through the driving rope channel and then is fixedly connected with the top end of the notch type continuum robot; the outer pipe notch framework comprises N outer framework bending joints and an outer framework base, and the inner pipe notch framework comprises N inner framework bending joints and an inner framework base; and the inclination directions of flexible micro beams in the outer skeleton bending joints and the inner skeleton bending joints are opposite. A laser cutting machining mode is adopted, the inner and outer pipe flexible notch frameworks with the crossed inclined micro beams is constructed, the inner and outer pipe frameworks are mutually nested to form the rope-driven continuum robot, and the rope-driven continuum robot has high rigidity and a large movement range.

Description

technical field [0001] The invention relates to the technical field of continuum robots, in particular to a notch-type continuum robot based on a cross-bending beam structure. Background technique [0002] At present, with the development of minimally invasive surgery, continuum robots are more and more widely used in the field of medical devices, especially in human cavity intervention and organ minimally invasive surgery. High, flexible and easy to control, compared with traditional rigid surgical instruments, it has great advantages. It can effectively reduce contact and collision with organs and tissues in the human body, reduce damage to the body and accurately locate the lesion. [0003] The incision-type continuum robot is a typical representative of flexible surgical robots. It cuts off certain materials by etching patterns on the outer wall of a rigid tube to form a single integral flexible instrument. Compared with the traditional hinged snake-bone continuum mecha...

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Problems solved by technology

However, the current incision-type continuum robots are often difficult to ensure a large range of motion and high stiffness at the same time. While improving a certain aspect of performance, it often leads to excessive material strain during bending, and the required driving force is too large or Problems such as complex structure and large size (Chinese patent application number CN111761609A discloses "flexible continuum robot based on contact auxiliary structure"), so there is an urgent need to develop a robot that can ensure a large range of motion and high stiffness at the same time, and is easy to drive and incision-type continuum robot

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