Drive wire, flexible assembly, robot, flexible gripper, end-adjustable device and control system

Abstract

The application relates to the technical field of continuum robot, and provides a driving wire, a flexible assembly, a robot, a flexible gripper, an end-adjustable device and a control system. The driving wire comprises a wire bundle made of a heat-shrinkable material and conductive material uniformly distributed between two ends of the wire bundle. When the conductive material is electrified, the temperature is increased, the temperature state of the wire bundle is changed, and then the wire bundle is shrunk. The shrinkage of the wire bundle can be controlled by accurately controlling the current passing through the conductive material, so that the function of motion control is realized. The driving wire does not need to be provided with a tension device, and the structure is simple and the control process is relatively accurate.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of continuum robots, in particular to a driving wire, a flexible assembly, a robot, a flexible gripper, an end-adjustable device and a control system. BACKGROUND

[0002] A continuum robot is a robot capable of continuous bending in a non-structured narrow space. Its inherent super-redundancy characteristic makes its flexibility and operable range much better than that of a traditional multi-joint rigid link robot. In minimally invasive surgery, a continuum structure is usually used as a bendable part of a minimally invasive surgical instrument to achieve flexible position and posture adjustment, and drive the front-end instrument to diagnose or treat the lesion. The robot of the continuum structure usually adopts a wire drive mode, and the rear end often needs a tension device such as a motor to change the length of the driving wire to achieve bending control of the front end, and combines the feedback of an encoder or a displacement sensor to achieve precise position control. Such a driving mode often has a large rear-end device and complex control, which requires precise machining design to achieve relatively precise control. In the related art, small continuum robots such as vascular interventional robots, guide wires or catheters usually adopt passive bending and are deformed and bent by external force. For example, the bending of the front end is achieved by manually pushing and pulling the sleeve outside the guide wire, and the diameter can reach a small size, but only single-direction bending can be achieved, and the bending shape is difficult to detect. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the related art. To this end, the present application provides a driving wire, which includes a wire bundle and a conductive material arranged between both ends of the wire bundle. When powered on, the conductive material heats up, which can cause the wire bundle to shrink, and the driving wire can be used as a driving element.

[0004] The present application also provides a flexible assembly.

[0005] The present application also provides a robot.

[0006] The present application also provides a flexible gripper.

[0007] The present application also provides an end-adjustable device.

[0008] The present application also provides a control system.

[0009] According to the driving wire provided by the first aspect of the present application, the wire bundle is made of a heat-shrinkable material, and the conductive material is uniformly distributed between both ends of the wire bundle.

[0010] According to an embodiment of the present application, the heat-shrinkable material includes at least one of a liquid crystal elastomer, a shape memory polymer or a shape memory alloy.

[0011] According to an embodiment of the second aspect of the present application, the flexible assembly comprises a flexible continuum and the driving wire according to the first aspect of the present application, the driving wire is connected to the flexible continuum and located between two ends of the flexible continuum, and the driving wire is adapted to twist, stretch, bend or contract the flexible continuum.

[0012] According to an embodiment of the present application, the flexible continuum comprises opposite first and second ends, and a cavity is formed inside the flexible continuum and communicates with the first and second ends, the driving wire is spirally wound on the outer wall of the flexible continuum or spirally connected to the cavity wall, and the driving wire is connected to the first and second ends.

[0013] Alternatively, the flexible continuum comprises opposite first and second ends, and a cavity is formed inside the flexible continuum and communicates with the first and second ends, the driving wire is symmetrically distributed in the cavity, and the driving wire is connected to the first and second ends.

[0014] Alternatively, the flexible continuum is an air bag, the air bag is provided with a support at each end, and a plurality of driving wires are uniformly arranged between the two supports.

[0015] According to an embodiment of the present application, four groups of threading holes are uniformly arranged in the cavity, the four groups of threading holes are oppositely arranged in pairs, and the driving wire is arranged in each group of threading holes, and the two driving wires located on opposite sides constitute a driving-sensing unit.

[0016] According to an embodiment of the present application, the driving wire is arranged back in the threading hole, and the two ends of the driving wire are located on the same side of the flexible continuum.

[0017] According to an embodiment of the third aspect of the present application, the robot comprises at least one flexible assembly according to the second aspect of the present application.

[0018] According to an embodiment of the fourth aspect of the present application, the flexible gripper comprises a plurality of flexible claws, an operating rod and the driving wire according to the first aspect of the present application, the plurality of flexible claws are uniformly arranged at one end of the operating rod, and the plurality of flexible claws are provided with the driving wire on the side away from the operating rod.

[0019] According to an embodiment of the fifth aspect of the present application, the end-adjustable device comprises a connecting rod and at least one flexible assembly according to the second aspect of the present application, and the flexible assembly is arranged at one end of the connecting rod.

[0020] According to the sixth aspect of the present application, the control system comprises a control circuit and a plurality of driving wires according to the first aspect of the present application, and the control circuit comprises a plurality of travel switches, and the plurality of driving wires are electrically connected to the plurality of travel switches.

[0021] The one or more technical solutions described above in the embodiments of the present application have at least one of the following technical effects:

[0022] According to the first aspect of the present application, the driving wire comprises a wire bundle made of a heat-shrinkable material and a conductive material uniformly distributed between two ends of the wire bundle. When the conductive material is powered, the temperature rises, which can change the temperature state of the wire bundle, and then the wire bundle shrinks. Precise control of the current through the conductive material can control the shrinkage of the wire bundle, and then realize the function of motion control. The driving wire does not need to set a tension device, and the structure is simple and the control process is more accurate.

[0023] Additional aspects and advantages of the present application will be described in part in the description that follows, and will become apparent from the description, or will be learned by practice of the present application. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the related art, the drawings needed to be used in the embodiments or related art description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0025] Figure 1 is a schematic diagram of the driving wire provided by the embodiments of the present application;

[0026] Figure 2 is a schematic diagram of the state change of the driving wire provided by the embodiments of the present application;

[0027] Figure 3 is a schematic diagram of the torsion state change of the flexible assembly provided by the embodiments of the present application;

[0028] Figure 4 is a schematic diagram of the shrinkage state change of the flexible assembly provided by the embodiments of the present application;

[0029] Figure 5 is a schematic diagram of the extension state change of the flexible assembly provided by the embodiments of the present application;

[0030] Figure 6 is a schematic diagram of the bending state change of the flexible assembly provided by the embodiments of the present application;

[0031] Figure 7is a bending state change schematic view of the flexible gripper provided by the embodiment of the present application;

[0032] Figure 8 is a motion state change schematic view of the robot provided by the embodiment of the present application;

[0033] Figure 9 is a schematic view of the end-adjustable device provided by the embodiment of the present application Figure 1 ;

[0034] Figure 10 is a schematic view of the end-adjustable device provided by the embodiment of the present application Figure 2 ;

[0035] Figure 11 is a perspective view of the flexible assembly provided by the embodiment of the present application;

[0036] Figure 12 is a top view of the annular bending part provided by the embodiment of the present application Figure 1 ;

[0037] Figure 13 is a top view of the annular bending part provided by the embodiment of the present application Figure 2 ;

[0038] Figure 14 is a perspective view of the annular bending part and the driving wire provided by the embodiment of the present application;

[0039] Figure 15 is a side view of the flexible assembly provided by the embodiment of the present application;

[0040] Figure 16 is Figure 15 a partial enlarged view;

[0041] Figure 17 is a state change schematic view of the flexible assembly provided by the embodiment of the present application;

[0042] Figure 18 is Figure 17 a sectional view;

[0043] Figure 19 is a schematic view of the control system provided by the embodiment of the present application.

[0044] Reference signs:

[0045] 100, driving wire; 102, wire harness; 104, conductive material; 106, wire; 108, liquid storage cavity;

[0046] 110, flexible assembly; 112, flexible continuum; 114, annular bending part; 115, threading hole; 118, air bag;

[0047] 120, support; 122, connecting rod;

[0048] 130, flexible claw; 132, operating rod;

[0049] 200, host computer; 300, single-chip microcomputer; 400, multi-path switch; 500, programmable power supply; 600, universal meter. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly described below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0051] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0052] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0053] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or it can only mean that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or it can only mean that the horizontal height of the first feature is less than that of the second feature.

[0054] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0055] In the related art, a small-sized continuum robot such as a vascular intervention robot, a guide wire or a catheter, is generally bent passively and deformed by an external force. For example, the bending of the front end is achieved by manually pushing and pulling a sleeve outside the guide wire, and the diameter can reach a small size, but only one-way bending can be achieved, and the shape of the bending is difficult to detect.

[0056] According to the driving wire 100 provided by the first aspect of the present application, please refer to Figures 1-2 , comprising a wire bundle 102 and a conductive material 104.

[0057] The wire bundle 102 is made of a heat-shrinkable material, and changing the temperature of the wire bundle 102 can change the length of the wire bundle 102.

[0058] The conductive material 104 is connected to the wire bundle 102 and is uniformly arranged between the two ends of the wire bundle 102. When the conductive material 104 is powered on, it generates heat and rises in temperature under the action of its own resistance. The wire bundle 102 will shrink under the action of temperature. By using the above characteristics, the wire bundle 102 and the conductive material 104 can be made into a driving wire 100.

[0059] It can be understood that the relationship between the length change of the wire bundle 102 and the temperature change can be calibrated according to the test, and the relationship between the length change of the wire bundle 102 of different sizes and specifications and the temperature change can also be calibrated, and then a reference manual can be formed for selection by technicians.

[0060] The conductive material 104 is electrically connected to the external control circuit through the wire 106, and the current input to the wire 106 can be accurately controlled to control the length change of the driving wire 100. The current value can be determined by calculation or test.

[0061] According to an embodiment of the present application, the conductive material 104 is connected to an external power source, and when powered, the temperature of the conductive material 104 changes, and in turn, the length of the wire harness 102 changes. By controlling the amount of current, the length change of the driving wire 100 can be precisely controlled, and the driving wire 100 can achieve a driving function. The driving wire 100 does not need to be provided with a tension device, and the structure is simple and the control process is relatively precise.

[0062] It should be noted that the driving wire 100 can be folded in half, and after folding, the wires 106 at both ends of the driving wire 100 are located on the same side, which facilitates the arrangement of the circuit. The number of folds is determined according to actual needs.

[0063] In other embodiments, a plurality of driving wires 100 can also be used in bundles to meet different driving force requirements.

[0064] In some embodiments, the diameter or side length of the driving wire 100 is between 0.1 mm and 1 mm, and preferably between 0.3 mm and 0.5 mm.

[0065] The heat-shrinkable material includes at least one of a liquid crystalline elastomer (LCE), a shape memory polymer, or a shape memory alloy.

[0066] In one case, a heat-shrinkable material is selected to make the wire harness 102, such as a liquid crystalline elastomer, which can fully utilize the advantages of the liquid crystalline elastomer.

[0067] In another case, a plurality of heat-shrinkable materials are mixed to make the wire harness 102, which can utilize the advantages of different heat-shrinkable materials, such as high toughness, sensitive response, and large length change after heat-shrinking.

[0068] According to an embodiment of the present application, the conductive material 104 is connected to an external power source, and when powered, the temperature of the conductive material 104 changes, and in turn, the length of the wire harness 102 changes. By controlling the amount of current, the length change of the driving wire 100 can be precisely controlled, and the driving wire 100 can achieve a driving function. The driving wire 100 does not need to be provided with a tension device, and the structure is simple and the control process is relatively precise.

[0069] In some embodiments, a sealed liquid storage cavity 108 is formed in the wire harness 102, and the liquid storage cavity 108 is distributed along the entire length of the wire harness 102, and the conductive material 104 is a conductive slurry provided in the liquid storage cavity 108.

[0070] The wire harness 102 is hollow, and a conductive slurry such as liquid metal, silver paste, or carbon paste is injected into the liquid storage cavity 108, so that the driving wire 100 can be powered throughout the length, and in turn, the length of the driving wire 100 can be controlled. The liquid storage cavity 108 is sealed at the end of the wire harness 102, and the conductive slurry is connected to an external circuit through an electrode or a wire 106.

[0071] In some embodiments, the conductive material 104 is a conductive layer disposed outside the wire bundle 102, such as a metallic paint, a carbon layer, etc.

[0072] It can be understood that the conductive layer can heat the wire bundle 102 when energized, thereby changing the length of the wire bundle 102.

[0073] In the folded use of the drive wire 100, an insulating layer needs to be disposed outside the conductive layer, which can avoid short circuit between the conductive layers and make the contraction of the drive wire 100 occur in the full length range.

[0074] In some embodiments, the conductive material 104 is a conductive particle, which is uniformly doped in the heat shrinkable material.

[0075] It can be understood that the conductive particle can make the wire bundle 102 a conductor, which can heat the wire bundle 102 when energized, thereby causing contraction. Changing the particle size, material type and doping ratio of the conductive particle can change the heat shrinkage performance of the drive wire 100.

[0076] According to the flexible assembly provided by the second aspect of the present application, please refer to Figures 3-18 , which comprises a flexible continuum 112 and the drive wire 100 provided by the first aspect of the present application, the drive wire 100 is connected to the flexible continuum 112 and located between the two ends of the flexible continuum 112, and the number of the drive wire 100 can be one or more, which can make the flexible continuum 112 appear twisted, stretched, bent or contracted according to different arrangement forms.

[0077] The flexible continuum 112 has various types, which can be a flexible tube, a snake bone structure, a multi-joint structure, etc. When the length of the drive wire 100 changes, the flexible continuum 112 can change its shape, thereby showing different actions.

[0078] In some embodiments, the flexible continuum 112 is formed with opposite first and second ends, and the inside of the flexible continuum 112 is formed with a cavity, the drive wire 100 is spirally wound on the outer wall of the flexible continuum 112 or spirally connected to the cavity wall of the cavity, and the drive wire 100 is connected to the first and second ends.

[0079] When energized, the drive wire 100 contracts, and the spirally arranged drive wire 100 can make the first and second ends of the flexible continuum 112 change in relative angle. One of the first or second end is connected to a functional element, and the other is fixed on a base, and the size of the control current and the length of the energized time can make the functional element rotate.

[0080] It should be noted that the driving wires 100 are connected to the flexible continuum 112 in the form of a single helix, which can rotate the flexible continuum 112 in a single direction. When the number of driving wires 100 is multiple or used in a folded manner, the driving wires 100 are all connected to the flexible continuum 112 in the form of a single helix, and the multiple driving wires 100 can rotate the flexible continuum 112 in the same direction.

[0081] The driving wires 100 can be connected to the cavity wall of the cavity or the outer wall of the flexible continuum 112, or embedded in the body wall of the flexible continuum 112, such as a wire slot or a wire hole in the body wall.

[0082] In some embodiments, the flexible continuum 112 includes opposite first and second ends, and the interior of the flexible continuum 112 forms a cavity, the driving wires 100 are symmetrically distributed in the cavity, and the driving wires 100 are connected to the first and second ends.

[0083] When powered on, the driving wires 100 at different positions in the cavity contract simultaneously and in the same size, which can make the first and second ends of the flexible continuum 112 approach each other, thereby changing the length of the flexible continuum 112. The driving wires 100 are symmetrically distributed in the cavity, and the first and second ends approach uniformly, which can maintain stable stretching and contraction. When powered off, the driving wires 100 restore the length based on their material properties, and the flexible continuum 112 returns to the initial length.

[0084] It should be noted that in order to realize the contraction of the flexible continuum 112, the driving wires 100 can be arranged in parallel or in reverse double helix, and the driving wires 100 on different sides contract simultaneously, so that the flexible continuum 112 does not twist and the first and second ends approach uniformly.

[0085] In other embodiments, the driving wires 100 on different sides can be independently contracted, such as four groups of driving wires 100 arranged on the upper side, the lower side, the left side and the right side of the cavity. The driving wires 100 on the upper side are powered on, and the driving wires 100 on the upper side are heated and contracted, which can make the flexible assembly 100 bend upward. The driving wires 100 on the lower side are powered on, and the driving wires 100 on the lower side are heated and contracted, which can make the flexible assembly 100 bend downward. The two driving wires 100 on adjacent sides are powered on simultaneously, which can make the flexible assembly 100 bend in the direction between the two driving wires 100.

[0086] Controlling the power-on current and power-on time of the driving wires 100 can adjust the bending angle of the flexible assembly 100.

[0087] In some embodiments, please refer to Figures 12-16The flexible continuum 112 comprises a plurality of annular bending portions 114 connected in sequence, the inner wall of the annular bending portion 114 is provided with a threading hole 115, the threading holes 115 appear in pairs and are distributed on opposite sides of the inner wall of the annular bending portion 114. The threading holes 115 on the adjacent annular bending portions 114 are correspondingly arranged, and the driving wire 100 is connected in series to the plurality of threading holes 115 on the same side.

[0088] It can be understood that when the driving wires 100 on different sides are independently contracted, the bending control of the plurality of annular bending portions 114 can be realized.

[0089] In some embodiments, the flexible continuum 112 is an air bag 118, both ends of the air bag 118 are provided with a support 120, and a plurality of driving wires 100 are arranged between the two supports 120.

[0090] The driving wire 100 can be arranged outside the air bag 118, can be connected to the inner wall of the air bag 118, or can be embedded in the side wall of the air bag 118. When energized, the driving wire 100 is contracted, the volume of the air bag 118 is compressed, and the volume of the flexible assembly 118 is reduced. By controlling the current size and the energization time, the volume of the flexible assembly 110 can be accurately controlled.

[0091] In other embodiments, a support column can be arranged between the two supports 120, the support column can prevent the two supports 120 from approaching each other, and the air bag 118 can be changed from spherical to ellipsoidal and then to cylindrical.

[0092] In some embodiments, the cavity wall is uniformly provided with four groups of threading holes 115, the four groups of threading holes 115 are oppositely arranged in pairs, and the driving wire 100 is arranged in each group of threading holes 115. The two driving wires 100 located on opposite sides constitute a driving-sensing unit.

[0093] It can be understood that the number of driving wires 100 is four, and the four driving wires 100 are distributed on the upper side, the lower side, the left side and the right side in the cavity. When the driving wire 100 on the upper side is energized, the flexible assembly 110 bends upward, when the driving wire 100 on the left side is energized, the flexible assembly 110 bends to the left, and when the driving wires 100 on adjacent sides are energized, the bending direction of the flexible assembly 110 is superimposed.

[0094] The length and diameter of the flexible continuum 112 are freely designed according to specific implementation scenarios, the threading holes 115 are distributed along the circumference of the inner wall of the flexible continuum 112, used for fixing the driving wire 100, and driving the flexible continuum to change the angle when the driving wire 100 is contracted, thereby realizing the bending of the flexible continuum.

[0095] It should be noted that in the case of one or more sides of the drive wire 100 being powered by current, the flexible continuum 112 bends along the tension direction of the drive wire 100, and the bending angle corresponds to the size of the current, that is, the greater the current, the greater the bending angle. At this time, the drive wire 100 on the opposite side without current as a sensor, the two drive wires 100 on the opposite side constitute a drive-sensor unit, and the bending angle of the flexible continuum 112 is fed back by detecting the impedance change, and then precise closed-loop feedback control is realized. By accurately adjusting the size of the current, the fine control of the angle of the flexible continuum 112 can be realized, and then the flexibility and the distal operability of the flexible continuum 112 operation are improved.

[0096] It should be noted that up, down, left and right are only relative positional relationships and do not represent actual positions.

[0097] In some embodiments, the drive wire 100 is folded back in the threading hole 115, and the drive wire 100 can be single-folded back or multi-folded back. At this time, the two ends of the drive wire 100 are located on the same side of the flexible continuum 112, and the wires 106 at the two ends of the drive wire 100 are connected to the control circuit.

[0098] The number of single-threading holes 115 is an even number, preferably 2 or 4, and the drive wire 100 passes through the threading hole 115 and is folded back. The number of threading holes 115 is determined according to the specific implementation scenario. The more the number of threading holes 115, the more the drive wire 100 is folded back, and the greater the load capacity of the flexible continuum 112.

[0099] According to the flexible assembly 100 provided by the embodiment of the present application, the drive wire 100 can realize twisting, stretching, compression and bending actions, and after combination and accurate coding, various predetermined actions can be realized.

[0100] According to the robot provided by the third aspect of the embodiment of the present application, at least one flexible assembly 110 provided by the second aspect of the embodiment of the present application is included.

[0101] The flexible assembly 110 can realize twisting, stretching, compression and bending actions, and can perform different tasks.

[0102] In some embodiments, referring to Figure 8 , the robot includes two compressible flexible assemblies and one stretchable flexible assembly, the two air bags 118 are respectively front air bags and rear air bags, the flexible continuum 112 is a flexible tube, and the front air bag and the rear air bag are connected through the flexible tube.

[0103] The robot is placed in the cavity, the front balloon is not contracted and is tightly connected with the cavity wall, the rear balloon is contracted, the flexible tube is controlled to shorten, and the rear balloon can move to the front balloon. The rear balloon is not contracted and is tightly connected with the cavity wall, the front balloon is contracted, the flexible tube is controlled to elongate, and the front balloon can move away from the rear balloon. The above process is repeated, and the robot can move forward in the cavity. The above process is controlled in reverse, and the robot can retreat.

[0104] The robot can include a plurality of flexible components 110 of different types, and can realize the combination of twisting, stretching, compression and bending movement in three-dimensional space.

[0105] According to the flexible gripper provided by the fourth aspect of the present application, please refer to Figure 7 The flexible gripper includes a plurality of flexible claws 130, an operating rod 132 and a driving wire 100 provided by the first aspect of the present application, the plurality of flexible claws 130 are uniformly arranged at one end of the operating rod 132, and the side of the plurality of flexible claws 130 away from the operating rod 132 is provided with the driving wire 100.

[0106] The flexible claw 130 can be bent under the action of tension, and when the plurality of flexible claws 130 are bent at the same time, a gripping effect can be formed, and an object at the end of the operating rod 132 can be grabbed.

[0107] It should be noted that a single flexible claw 130 can be connected to one or more driving wires 100, and the driving wire 100 can be used in a folded manner to improve the gripping force of the flexible gripper and simplify the circuit arrangement. The operating rod 132 is a hollow structure and can be used to place wires 106 and the like.

[0108] The number of flexible claws 130 can be 2, 3, 4, …, arranged at 180°, 120°, 90°, …, respectively.

[0109] According to the adjustable end device provided by the fifth aspect of the present application, please refer to Figures 9-10 It includes a connecting rod 122 and at least one flexible component 110, and the flexible component 110 is arranged at one end of the connecting rod 122.

[0110] The connecting rod 122 is a non-stretchable hollow rigid tube, the end of the connecting rod 122 is connected with the flexible component 110, the flexible component 110 adopts a bendable flexible component, and the flexible continuum is selected from a snake bone or a multi-joint continuum structure.

[0111] The plurality of flexible assemblies 110 can be connected in series to form a multi-segment flexible continuum structure, which can be used as a front-end bendable part of an endoscope. The connecting rod 122 is arranged at the rear end, and the flexible assembly 110 at the front end constitutes the front end of the endoscope. The driving wires 100 of the flexible assemblies 110 of different segments are passed through electric current, and the flexible assemblies 110 of different segments can achieve different bending angles to adapt to complex continuous and tortuous cavities.

[0112] Based on the driving mode of the driving wire 100, on the one hand, miniaturization of the multi-segment endoscope can be easily realized, and expansion is easy, and problems such as space compression or motion coupling are not involved; on the other hand, the multi-segment structure can further expand the flexibility and spatial motion range of the endoscope.

[0113] Please refer to Figures 17-18 Miniaturization of the driving wire 100 can be used for vascular interventional instruments such as guide wires. The flexible assembly 110 at the front end of the guide wire is driven by the driving wire 100, and precise angle control can be achieved. For narrow and branched blood vessels, the lesion position can be automatically selected in the direction without manual control by the doctor, and the shape of the guide wire does not need to be pre-bent back and forth.

[0114] According to the sixth aspect of the present application, a control system is provided, please refer to Figure 19 , including a control circuit and a plurality of driving wires 100, the control circuit is used to control the extension and contraction of each driving wire 100.

[0115] The control circuit includes a host computer 200, a single-chip microcomputer 300, a multi-path switch 400, a programmable power supply 500, and a universal meter 600. The host computer 200 is signal connected to the single-chip microcomputer 300, the programmable power supply 500 and the universal meter 600. The multi-path switch 400 is electrically connected to the single-chip microcomputer 300, the programmable power supply 500 and the universal meter 600. The multi-path switch 400 is electrically connected to the plurality of conductors 106, and can control the movement of the plurality of driving wires 100, thereby realizing the predetermined action.

[0116] In summary, according to the driving wire, the flexible assembly, the robot, the flexible gripper, the end-adjustable device and the control system provided by the embodiment of the present application, the driving wire 100 includes a wire bundle made of heat-shrinkable material and conductive material uniformly distributed between both ends of the wire bundle. When the conductive material is powered on, the temperature rises, which can change the temperature state of the wire bundle, and then the wire bundle shrinks. Precise control of the current through the conductive material can control the shrinkage of the wire bundle, thereby realizing the function of motion control.

[0117] Secondly, the control circuit includes host computer 200, single-chip microcomputer 300, multi-path switch 400, programmable power supply 500, and universal ammeter 600, etc., and through programming current control, the wire harness contraction amount control can be accurately realized. The flexible assembly can not only adapt to the complex cavity environment in the body, but also can improve the position accuracy of the front-end medical instrument.

[0118] Furthermore, the two driving wires 100 located at opposite sides constitute a driving-sensing unit, the bending angle of the flexible continuum 112 is fed back by detecting the impedance change, and then the precise closed-loop feedback control is realized. Through accurately adjusting the current size, the fine control of the angle of the flexible continuum 112 can be realized, and then the flexibility and the distal operability of the flexible continuum 112 operation are improved. Compared with the traditional wire driving mode, only the driving wire 100 is connected to the power supply or the impedance meter in the embodiment of the present application, the rear-end device can be realized without motor, the structure is simple, easy to miniaturization and portable design, and the application range is greatly expanded.

[0119] The above only describes the preferred embodiments of the present application and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A flexible assembly, characterized in that, The flexible continuum and a driving wire connected to the flexible continuum and located between two ends of the flexible continuum, the driving wire is suitable for twisting, stretching or bending the flexible continuum; the driving wire comprises a wire bundle made of a shape memory polymer and a conductive material uniformly distributed between two ends of the wire bundle; Wherein, the two driving wires arranged oppositely constitute a driving-sensing unit, when the conductive material of one of the driving wires is powered to shrink, and the conductive material of the other driving wire is not powered, the driving wire without power feeds back the common bending angle of the two driving wires arranged oppositely by detecting the change of its own impedance.

2. The flexible assembly of claim 1, wherein, The flexible continuum comprises opposite first and second ends, and a cavity is formed inside and communicated with the first and second ends, the driving wires are symmetrically distributed in the cavity, and the driving wires are connected to the first and second ends; Alternatively, the flexible continuum is an air bag, and the air bag is provided with a support at both ends, and a plurality of driving wires are uniformly arranged between the two supports.

3. The flexible assembly of claim 2, wherein, Four groups of threading holes are uniformly arranged in the cavity, the four groups of threading holes are oppositely arranged in pairs, and the driving wire is arranged in each group of threading holes, and two driving wires located on opposite sides constitute a driving-sensing unit.

4. The flexible assembly of claim 3, wherein, The driving wire is arranged back in the threading hole, and the two ends of the driving wire are located on the same side of the flexible continuum.

5. A robot, characterized in that The flexible assembly comprises at least one flexible component as claimed in claim 1.

6. An adjustable end device, characterized by The flexible assembly comprises a connecting rod and at least one flexible component as claimed in claim 1, and the flexible component is arranged at one end of the connecting rod.

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