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Spring type continuum robot system combined with flexible hinge

A robot system and flexible hinge technology, applied in the field of medical robots, can solve the problems of inability to achieve variable stiffness in different segments, small axial bearing capacity, axial deformation, etc., to solve the problem of insufficient axial bearing capacity and axial bearing capacity. Enhanced, easy-to-create effects

Pending Publication Date: 2022-05-13
FUJIAN PROVINCIAL HOSPITAL
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

At the same time, this type of continuum has a large cavity in the center, which can pass through the end effectors commonly used in surgery (clamps, syringes, endoscopes, etc.), which meets the requirements of natural orifice surgery, but the biggest disadvantage is that The axial bearing capacity is small, and axial deformation is easy to occur, resulting in unnecessary loss of precision, and the overall rigidity is the same, so it is impossible to meet the requirements of variable rigidity in different segments

Method used

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  • Spring type continuum robot system combined with flexible hinge
  • Spring type continuum robot system combined with flexible hinge
  • Spring type continuum robot system combined with flexible hinge

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Embodiment Construction

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

[0036] see Figure 1 to Figure 7 As shown, the present invention provides an embodiment: a spring-type continuum robot system combined with a flexible hinge, which includes a hollow cylinder 1, and the end of the hollow cylinder 1 is connected to a spring body 3 through a connecting piece 2. The spring main body 3 is provided with a cylindrical flexible hinge 4, and the end of the spring main body 3 is provided with a hollow connecting column 5 for placing an end effector; the front end of the hollow cylinder 1 is fixed to drive the spring main body 3 to bend on the drive mechanism 6. During surgery, different end effectors can be connected through the hollow connecting column 5 according to different surgical requirements, and then the driving mechanism 6 can drive the spring body 3 to bend, thereby realizing multi-directional movement.

[0037] read on figure 2As...

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Abstract

The invention provides a spring type continuum robot system combined with a flexible hinge, which comprises a hollow cylinder, the tail end of the hollow cylinder is connected with a spring main body through a connecting piece, the spring main body is provided with a cylindrical flexible hinge, and the tail end of the spring main body is provided with a hollow connecting column for placing an end effector; the front end of the hollow cylinder is fixed on a driving mechanism for driving the spring main body to bend; the artificial leather can pass through a natural cavity of a human body and can move in multiple directions.

Description

technical field [0001] The invention relates to the technical field of medical robots, in particular to a spring-type continuum robot system combined with flexible hinges. Background technique [0002] Due to its many degrees of freedom and strong flexibility, continuum robots can perform operations in complex and narrow environments without harming the natural orifices of the human body. infection rate. Compared with the traditional pin-shaft rotating pair, the flexible mechanism has a simple structure and is easy to process; it has no gap and no friction loss; it does not need lubrication and is environmentally friendly; it has high precision and resolution, and is widely used in continuum robots. The Compliant Rolling-contact Element (CORE) has the advantages of both the flexible mechanism and the pin-shaft revolving pair due to the introduction of auxiliary contact. It can be used in continuum robots, or it can solve the problem of compliance and load of continuum robot...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/30B25J19/00
CPCA61B34/30B25J19/00A61B2034/301A61B2034/302
Inventor 郑晓春邓震何炳蔚李萧黄金宝陈晓辉高飞郑艇涂文劭
Owner FUJIAN PROVINCIAL HOSPITAL
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