Continuous body mechanism of mixed flexible structure and medical application

Abstract

The invention discloses a continuum mechanism of a hybrid flexible structure and medical application, the continuum mechanism comprises a flexible structure, the flexible structure is fixedly connected with a surgical clamping jaw, the flexible structure is fixedly connected with a rigid arm body, one end, away from the flexible structure, of the rigid arm body is fixedly connected with a robot support, and a driving module is arranged in the robot support; the driving module is in transmission connection with the flexible structure; the flexible structure comprises a first flexible structure with one end fixedly connected with the surgical clamping jaw, the other end of the first flexible structure is fixedly connected with a buckle structure, the end, away from the first flexible structure, of the buckle structure is fixedly connected with a second flexible structure, and the end, away from the first flexible structure, of the second flexible structure is fixedly connected with the buckle structure. The buckle structure on the second flexible structure is fixedly connected with the rigid arm body; the rigidity of the second flexible structure is larger than that of the first flexible structure. The flexible continuum mechanism of the flexible combined structure has the advantages of being active in control, stable, reliable, variable in rigidity and small in size.

Description

technical field [0001] The invention relates to the field of medical instruments, in particular to a continuum mechanism with a hybrid flexible structure and medical applications. Background technique [0002] In the process of traditional open surgery, a large incision is left on the surface of the human body, and the incision site is often accompanied by pain, soreness, and numbness after the operation. Due to the large incision and the damage to the muscles, blood vessels and corresponding nerves near the incision, it may be accompanied by some tissue infection complications, so the recovery speed of the patient is slow. The traditional surgical separation is extensive, and the amount of blood loss is relatively large. Incision infection or fat liquefaction and incision dehiscence in traditional surgery have always been unavoidable problems. In traditional non-invasive surgery, four or five small holes are often cut for surgical operations, which largely solves the prob...

AI Technical Summary

Problems solved by technology

Among them, the flexible and discrete continuum robot has the disadvantages of low control accuracy and large volume, and is not suitable for non-invasive surgery that requires high-precision control in the narrow and long natural cavity. The processing cost of the flexible hinge type continuum robot is relatively high. , and the flexibility is worse than the flexible continuous type

Images