Flexible Continuum Guidance Device and Flexible Continuum Robot

Abstract

The present invention relates to the technical field of medical devices, and provides a flexible continuum guiding device and a flexible continuum robot. The flexible continuum guiding device includes: a mounting bracket; a plurality of rotary joints, which are sequentially rotatably connected end to end along the length direction of the rotary joints; at least one connecting frame, each connecting frame is correspondingly connected to one side of a rotary joint, and the rotary frame is configured to allow a flexible continuum to movably pass through it; a robotic arm, including a plurality of rotary arms that are sequentially rotatably connected end to end, the proximal end of the robotic arm and the rotary joint near the proximal end of the flexible continuum are respectively connected to the mounting bracket, and the distal end of the robotic arm is connected to the rotary joint near the distal end of the flexible continuum. This flexible continuum guiding device can enable the power of the flexible continuum robot in the delivery direction to be accurately transmitted to the end effector through the flexible continuum, improving the control accuracy of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a flexible continuum guiding device and a flexible continuum robot. Background Art

[0002] Flexible continuum mechanisms are widely used in interventional examinations and treatments through natural body cavities or minimally invasive openings of the human body. It is a system composed of an operating handle, a flexible continuum, and a distal end execution device. Through the operating handle, the flexible continuum can be freely bent to deliver the execution device located at its distal end to a narrow space in the abdominal cavity for internal observation or operation. Since the operation of flexible continuum instruments is difficult and the working environment often involves ionizing radiation, which poses a great challenge to doctors, currently, many studies focus on the robotization of different types of flexible continua to achieve remote or intelligent-assisted instrument operation.

[0003] In related technologies, a delivery motor is provided in the distal end execution device to ensure that power can accurately act on the distal end execution device, which makes the driving structure of the system complex and scattered. In order to maintain the compactness of the robot and the integration of the control system, the delivery control structure is concentrated in the handle part, which in turn makes it difficult for the power of the robot in the delivery direction to be directly transmitted to the distal end execution device, reducing the control accuracy and applicability of the robot. Summary of the Invention

[0004] The present invention provides a flexible continuum guiding device and a flexible continuum robot to solve the problem that in the prior art, the power of the flexible continuum robot in the delivery direction is often difficult to be directly transmitted to the distal end execution device.

[0005] The present invention provides a flexible continuum guiding device, comprising:

[0006] A mounting bracket;

[0007] A plurality of rotary joints, which are sequentially rotatably connected end to end along the length direction of the rotary joints;

[0008] At least one connecting frame, each of the connecting frames is correspondingly connected to one side of a rotary joint, and the rotary frame is configured to allow a flexible continuum to movably pass through it;

[0009] A robotic arm, comprising a plurality of rotary arms sequentially rotatably connected end to end. The proximal end of the robotic arm and the rotary joint close to the proximal end of the flexible continuum are respectively connected to the mounting bracket, and the distal end of the robotic arm is connected to the rotary joint close to the distal end of the flexible continuum.

[0010] A flexible continuum guiding device provided according to the present invention, wherein the rotary joint has a front-stage joint portion and a rear-stage joint portion, the front-stage joint portion of each rotary joint is rotatably connected to the rear-stage joint portion of another adjacent rotary joint, and the rotation axes of the front-stage joint portion and the rear-stage joint portion are perpendicular to each other.

[0011] A flexible continuum guiding device provided according to the present invention, wherein the connecting frame includes:

[0012] A first-stage rotating frame rotatably connected to the rotary joint;

[0013] A second-stage rotating frame rotatably connected to the first-stage rotating frame, and the second-stage rotating frame is provided with a guiding hole for passing through the flexible continuum.

[0014] Wherein, a first rotation axis of the first-stage rotating frame relative to the rotary joint and a second rotation axis of the second-stage rotating frame relative to the first-stage rotating frame are perpendicular to each other, the first rotation axis is perpendicular to the axis of the corresponding rotary joint, and the second rotation axis is perpendicular to the axis of the guiding hole.

[0015] A flexible continuum guiding device provided according to the present invention, wherein the connecting frame further includes:

[0016] Universal balls, at least three of the universal balls are rollably arranged on the inner wall of the guiding hole and are distributed along the circumference of the guiding hole, and the universal balls are used for rolling contact with the flexible continuum.

[0017] A flexible continuum guiding device provided according to the present invention, wherein the connecting frame further includes:

[0018] Connecting components, each universal ball is connected to the second-stage rotating frame through the connecting components, the connecting components include threaded connectors and nuts, the universal balls are arranged at one end of the threaded connectors, and the threaded connectors pass through the second-stage rotating frame and are connected to the second-stage rotating frame through the nuts.

[0019] A flexible continuum guiding device provided according to the present invention, wherein the second-stage rotating frame includes:

[0020] A support and a cover body, the support is rotatably connected to the first-stage rotating frame, a first end of the cover body is rotatably connected to a first end of the support, a second end of the cover body is detachably connected to a second end of the support, and the guiding hole is defined between the support and the cover body.

[0021] A flexible continuum guiding device provided according to the present invention, wherein the connecting frame further includes:

[0022] The shaft sleeve is rotatably connected to the first-level rotating frame through the second rotating shaft at the second end of the support, and the shaft sleeve is movably sleeved on the second rotating shaft along its axial direction; the second end of the cover body is provided with a limiting portion, and when the second end of the support and the second end of the cover body are connected, the shaft sleeve can be sleeved on the outside of the limiting portion and the second rotating shaft to limit the rotation of the cover body relative to the support.

[0023] According to a flexible continuum guiding device provided by the present invention, the first-stage rotating frame includes:

[0024] A first connecting arm and a second connecting arm, one end of the first connecting arm and one end of the second connecting arm are connected to each other to define an assembly hole, an intermediate connecting piece is provided on the rotating joint, and the assembly hole is rotatably connected to the intermediate connecting piece; the secondary rotating frame is rotatably connected to the other end of the first connecting arm and the other end of the second connecting arm respectively.

[0025] According to a flexible continuum guiding device provided by the present invention, the connecting frame further comprises:

[0026] A clamp, each of the first-level rotating frames is connected to the rotating joint through the clamp, the clamp is arranged on the outside of the corresponding rotating joint, and the first-level rotating frame is rotatably connected to the corresponding clamp.

[0027] According to a flexible continuum guiding device provided by the present invention, the robotic arm is rotatably connected to the mounting bracket to form a first swing joint, a first rotation joint, a second swing joint, a third swing joint, a second rotation joint, and a fourth swing joint, which are sequentially distributed from the proximal end to the distal end of the robotic arm;

[0028] The rotation axis of the first swing joint is parallel to the rotation axis of the first rotation joint, the rotation axis of the second swing joint is perpendicular to the rotation axis of the first rotation joint, the rotation axis of the third swing joint is parallel to the rotation axis of the second swing joint, the rotation axis of the second rotation joint is perpendicular to the rotation axis of the third swing joint, and the rotation axis of the fourth swing joint is perpendicular to the rotation axis of the second rotation joint.

[0029] The present invention also provides a flexible continuum robot, comprising: an operating handle, a flexible continuum, an end effector and any one of the above-mentioned flexible continuum guiding devices; the flexible continuum is passed through the connecting frame and connected between the operating handle and the end effector.

[0030] The flexible continuum guiding device and the flexible continuum robot provided by the present invention form a joint chain by arranging a plurality of rotating joints and connecting the plurality of rotating joints in sequence end to end along the delivery direction of the flexible continuum, and a connecting frame for threading the flexible continuum is arranged on the rotating joints to form a path guiding mechanism for the flexible continuum. Position constraints on the path guiding mechanism and the flexible continuum are achieved through fixed-point control of finite sample points, the rigidity of the flexible continuum itself, and a robotic arm parallel to the joint chain. When it is necessary to adjust the position of the end of the flexible continuum, the position of the distal end of the joint chain can be adjusted by using the robotic arm, so as to change the spatial attitude of the joint chain and achieve the adjustment of the intermediate path of the flexible continuum. This flexible continuum guiding device can accurately transmit the power of the flexible continuum robot in the delivery direction to the end effector through the flexible continuum, improving the control accuracy of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0032] Figure 1 is a schematic installation structure diagram of the flexible continuum guiding device and the flexible continuum mechanism provided by the present invention;

[0033] Figure 2 is Figure 1 a partial enlarged view of part A circled in;

[0034] Figure 3 is a schematic structural diagram of the rotating joint in the flexible continuum guiding device provided by the present invention;

[0035] Figure 4 is a schematic connection relationship diagram of the rotating frame and the connecting piece in the flexible continuum guiding device provided by the present invention;

[0036] Figure 5 is a schematic diagram of the secondary rotating frame in the flexible continuum guiding device provided by the present invention in an open state;

[0037] Figure 6 is a schematic structural diagram of the rolling connecting piece in the flexible continuum guiding device provided by the present invention;

[0038] Reference numerals:

[0039] 1. Installation bracket; 11. Bracket body; 12. Operating table;

[0040] 2. Robotic arm; 21. First swing arm; 211. First swing joint; 22. First rotating arm; 221. First rotating joint; 23. Second swing arm; 231. Second swing joint; 24. Third swing arm; 241. Third swing joint; 25. Second rotating arm; 251. Second rotating joint; 26. Fourth swing arm; 261. Fourth swing joint;

[0041] 3. Rotary joint; 30. Joint body; 31. Front-stage joint part; 32. Rear-stage joint part; 311. First connection hole; 321. Second connection hole;

[0042] 4. Connecting frame; 41. Rotary frame; 411. First-stage rotary frame; 4110. Assembly hole; 4111. First connecting arm; 4112. Second connecting arm; 412. Second-stage rotary frame; 4120. Guide hole; 4121. Support; 4122. Cover body; 41221. Limiting part; 42. Clamp; 43. Universal ball; 44. Connecting component; 441. Threaded connecting piece; 4411. Rod part; 4412. Cap part; 442. Nut; 45. Bush; 461. First rotating shaft; 462. Second rotating shaft;

[0043] 5. Flexible continuum; 6. Operating handle; 7. End effector. Detailed implementation mode

[0044] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0045] In the description of the embodiments of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "first" and "second" are used for numbering the product components for clear description and do not represent any substantial difference. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0046] In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] The following is combined withFigures 1-6 Describe the flexible continuum guiding device and the flexible continuum robot of the present invention.

[0048] As Figure 1 and Figure 2 As shown, the flexible continuum guiding device provided by the embodiment of the present invention includes a mounting bracket 1, a robotic arm 2, a plurality of rotary joints 3, and at least one connecting frame 4. The plurality of rotary joints 3 are sequentially connected end to end in the length direction of the rotary joint 3. Each connecting frame 4 is correspondingly connected to one side of a rotary joint 3, and the connecting frame 4 is configured to allow the flexible continuum 5 to movably pass through it. The robotic arm 2 includes a plurality of rotary arms sequentially connected end to end. The proximal end of the robotic arm 2 and the rotary joint 3 near the proximal end of the flexible continuum 5 are respectively connected to the mounting bracket 1, and the distal end of the robotic arm 2 is connected to the rotary joint 3 near the distal end of the flexible continuum 5.

[0049] Among them, the plurality of rotary joints 3 are sequentially connected end to end to form a joint chain. The proximal end of the robotic arm 2 and the proximal end of the joint chain are respectively connected to the mounting bracket 1, and both are close to the proximal end of the flexible continuum 5. The distal end of the robotic arm 2 is connected to the distal end of the joint chain, and both are close to the distal end of the flexible continuum 5. In this way, a series-parallel hybrid connection structure is formed.

[0050] It can be understood that the length direction of the joint chain is the extension direction of the flexible continuum 5, that is, the delivery direction of the flexible continuum 5.

[0051] At least a part of the flexible continuum 5 is connected to the joint chain through the connecting frame 4. The connecting frame 4 forms a structural support for the flexible continuum 5. The joint chain and the connecting frame 4 constitute a path guiding mechanism for the flexible continuum 5. Since the plurality of rotary joints 3 are sequentially connected end to end, each rotary joint 3 can rotate relative to its adjacent rotary joint 3. When the position of the distal end of the robotic arm 2 moves, the joint chain can be driven to move, realizing the adjustment of the spatial attitude of the joint chain, thereby regulating the intermediate path of the flexible continuum 5.

[0052] It should be noted that the adjacent rotary joints 3 are connected by joint connectors, so that there is a certain static friction force between the adjacent rotary joints 3, and the joint chain can maintain a fixed attitude through the friction force between the rotary joints 3. And the adjacent rotary joints 3 can rotate relative to each other under the driving action of the robotic arm 2.

[0053] Optionally, the adjacent rotary joints 3 are detachably connected by joint connectors. In this way, the length of the guiding mechanism can be adjusted by freely increasing or decreasing the number of rotary joints 3 to adapt to the path guiding of flexible continua 5 with different stiffnesses, and the versatility of the device is improved.

[0054] Optionally, the joint connector may include a bolt and a nut. Threads adapted to be screwed with the nut are formed on a part of the screw rod of the bolt. AsFigure 3 As shown, a connecting hole is provided at the end of the rotary joint 3, and the screw rod passes through the connecting holes of two adjacent rotary joints 3. A contact surface is formed on the other part of the screw rod of the bolt, and this contact surface contacts the connecting hole on the rotary joint 3, so that the rotary joint 3 rotates on the surface of this contact surface. By adjusting the nut, the magnitude of the static friction force between two adjacent rotary joints 3 can be adjusted, so that the two adjacent rotary joints 3 can be relatively stationary under the action of this static friction force and can rotate relative to each other under the action of the robotic arm 2.

[0055] During use, the position of the distal end of the robotic arm 2 can be adjusted by adjusting the rotation angles of the respective rotating arms of the robotic arm 2, thereby adjusting the spatial attitude of the joint chain. While changing the spatial attitude of the joint chain, the adjustment of the intermediate path of the flexible continuum 5 is realized, so that the actuating device at the end of the flexible continuum 5 reaches the required position. The robotic arm 2 can balance the gravity of the joint chain and enhance the rigidity of the overall structure.

[0056] The flexible continuum guiding device provided by the embodiment of the present invention forms a joint chain by sequentially connecting a plurality of rotary joints 3 end to end along the delivery direction of the flexible continuum 5 through the setting of a plurality of rotary joints 3, and a connecting frame 4 for passing through the flexible continuum 5 is arranged on the rotary joint 3, thereby forming a path guiding mechanism for the flexible continuum 5. The position constraints on the path guiding mechanism and the flexible continuum 5 are realized through finite sample point fixed-point control, the rigidity of the flexible continuum 5 itself, and the robotic arm 2 in parallel with the joint chain. When it is necessary to adjust the position of the end of the flexible continuum 5, the robotic arm 2 can be used to adjust the position of the distal end of the joint chain, thereby changing the spatial attitude of the joint chain and realizing the adjustment of the intermediate path of the flexible continuum 5. This flexible continuum guiding device can enable the power of the flexible continuum robot in the delivery direction to be accurately transmitted to the end actuating device through the flexible continuum 5, improving the control accuracy of the robot.

[0057] As shown in 2 and Figure 3 As shown, in some embodiments of the present invention, the rotary joint 3 has a front-stage joint part 31 and a rear-stage joint part 32. The front-stage joint part 31 of one rotary joint 3 is rotatably connected to the rear-stage joint part 32 of another adjacent rotary joint 3. The rotation axes of the front-stage joint part 31 and the rear-stage joint part 32 are orthogonal to each other. In this embodiment, by providing the front-stage joint part 31 and the rear-stage joint part 32 with orthogonal rotation axes on the rotary joint 3, a plurality of rotary joints 3 are connected to form a hyper-redundant structure, which can realize more precise control of the flexible continuum 5.

[0058] Specifically, the front-stage joint portion 31 is provided with a first connection hole 311, and the rear-stage joint portion 32 is provided with a second connection hole 321. The axis of the first connection hole 311 is perpendicular to the axis of the second connection hole 321. The rotary joint 3 includes a joint body 30. The front-stage joint portion 31 can be a first connection lug formed at the first end of the joint body 30, and the first connection hole 311 is provided in the first connection lug. The rear-stage joint portion 32 can include two oppositely arranged second connection lugs formed at the second end of the joint body 30, that is, the two second connection lugs form a U-shaped rear-stage joint portion 32, and the second connection hole 321 penetrates through the two second connection lugs. The first connection lug of each rotary joint 3 is located between the two second connection lugs of another rotary joint 3, so that the first connection hole 311 and the second connection hole 321 are opposite to each other, and the joint connecting member is inserted through the first connection hole 311 and the second connection hole 321 to realize the connection of two adjacent rotary joints 3.

[0059] As Figure 2 and Figure 4 shown, in some embodiments of the present invention, the connecting frame 4 includes a rotating frame 41, and the rotating frame 41 is provided with a guide hole 4120 for passing through the flexible continuum 5. The rotating frame 41 has two rotational degrees of freedom relative to the corresponding rotary joint 3. The rotational axes of the two rotational degrees of freedom are perpendicular to each other, and the rotational axis of one rotational degree of freedom is perpendicular to the axis of the corresponding rotary joint 3 (the rotary joint 3 connected to the connecting frame 4), and the rotational axis of the other rotational degree of freedom is perpendicular to the axis of the guide hole 4120.

[0060] It can be understood that the rotating frame 41 can drive the flexible continuum 5 to rotate relative to the rotary joint 3 in two directions. That is, during the process of the joint chain being driven by the robotic arm 2 to adjust the posture, most of the degrees of freedom of the flexible continuum 5 can be restricted by the rotating frame 41, and the two required rotational degrees of freedom are reserved, so as to realize reducing the resistance to the movement of the flexible continuum 5 caused by the additional internal stress caused by the guiding mechanism while ensuring the position constraint of the rotary joint 3 on the flexible continuum 5.

[0061] Wherein, the rotating frame 41 can be rotatably connected to the rotary joint 3 through an intermediate connecting member. The intermediate connecting member can be a connecting shaft fixed to the rotary joint 3 or integrally formed with the rotary joint 3, and the rotating frame 41 is rotatably connected to the connecting shaft through a bearing.

[0062] In some embodiments of the present invention, the intermediate connecting member is a component independent of the rotary joint 3 and the rotating frame 41. The rotating frame 41 is rotatably connected to the intermediate connecting member through a bearing, and the intermediate connecting member is detachably connected to the rotary joint 3. For example, the intermediate connecting member is a clamp 42 described in the following embodiments. Each rotating frame 41 is connected to the rotary joint 3 through the clamp 42, and the clamp 42 is sleeved on the outside of the corresponding rotary joint 3, and the rotating frame 41 is rotatably connected to the corresponding clamp 42.

[0063] like Figure 4 As shown, in some embodiments of the present invention, the rotating frame 41 includes a primary rotating frame 411 and a secondary rotating frame 412. The primary rotating frame 411 is rotatably connected to the rotating joint 3. The secondary rotating frame 412 is rotatably connected to the primary rotating frame 411. The secondary rotating frame 412 is provided with a guide hole 4120 for passing the flexible continuum 5. Among them, the first rotation axis A1 of the primary rotating frame 411 relative to the rotating joint 3 and the second rotation axis A2 of the secondary rotating frame 412 relative to the primary rotating frame 411 are perpendicular to each other. The first rotation axis A1 is perpendicular to the axis of the corresponding rotating joint 3 (the rotating joint 3 connected to the primary rotating frame 411), and the second rotation axis A2 is perpendicular to the axis of the guide hole 4120. This embodiment realizes two rotational degrees of freedom of the rotating frame 41 relative to the rotating joint 3 by providing a two-stage rotating frame.

[0064] Further, see Figure 4 In some embodiments of the present invention, the connecting frame 4 further includes universal balls 43. At least three universal balls 43 are rollingly arranged on the hole wall of the guide hole 4120 and arranged along the circumference of the guide hole 4120. The universal balls 43 are used for rolling contact with the flexible continuum 5.

[0065] Optionally, at least three universal balls 43 are evenly spaced and distributed on the wall of the guide hole 4120. Figure 4 As shown, the three universal balls 43 are distributed at 120° to each other on the wall of the guide hole 4120 , so that the flexible continuum 5 can be fully supported between the three universal balls 43 , avoiding contact between the flexible continuum 5 and the wall of the guide hole 4120 .

[0066] The universal ball 43 can be embedded in the wall of the guide hole 4120 and can rotate freely. The universal ball 43 can also be embedded in other structural parts, such as the connecting component 44 described below, and then connected to the secondary rotating frame 412 through the connecting component 44.

[0067] This embodiment installs a universal ball 43 within the guide hole 4120, allowing the wall of the guide hole 4120 to be rollingly connected to the flexible continuum 5 via the universal ball 43. This reduces friction between the flexible continuum 5 and the guide hole 4120, thereby reducing the motion resistance of the flexible continuum 5. Combined with the two rotational degrees of freedom of the rotating frame 41, damage to the flexible continuum 5 caused by long-term large local deformation can be avoided.

[0068] In some embodiments of the present invention, the connecting frame 4 further includes a connecting assembly 44, and each universal ball 43 is connected to the secondary rotating frame 412 via the connecting assembly 44. Figure 4 and Figure 6As shown, the connecting component 44 includes a threaded connector 441 and a nut 442. The universal ball 43 is provided at one end of the threaded connector 441. The threaded connector 441 passes through the secondary rotating frame 412 and is connected to the secondary rotating frame 412 through the nut 442.

[0069] It can be understood that at least three mounting holes penetrating the secondary rotating frame 412 are provided on the hole wall of the guide hole 4120, and the threaded connector 441 passes through the mounting holes. A universal ball 43 is embedded at one end of the threaded connector 441 close to the guide hole 4120, and the other end of the threaded connector 441 located outside the secondary rotating frame 412 is screwed with the nut 442.

[0070] In order to stably connect the connecting component 44 to the secondary rotating frame 412, in some embodiments of the present invention, the threaded connector 441 includes a rod portion 4411 and a cap portion 4412. The universal ball 43 is embedded in the cap portion 4412, and the cross-section of the cap portion 4412 is polygonal, such as Figure 4 the regular hexagon structure shown. The mounting hole on the secondary rotating frame 412 has a limiting section close to the guide hole 4120, and the cross-sectional shape and size of the limiting section are adapted to the cross-sectional shape and size of the cap portion 4412. When the nut 442 tightly connects the threaded connector 441 to the secondary rotating frame 412, the cap portion 4412 is located within the limiting section, and the limiting section can limit the rotation of the cap portion 4412.

[0071] As Figure 4 and Figure 5 shown, in some embodiments of the present invention, the secondary rotating frame 412 includes a support 4121 and a cover 4122. The support 4121 is rotatably connected to the primary rotating frame 411. The first end of the cover 4122 is rotatably connected to the first end of the support 4121, and the second end of the cover 4122 is detachably connected to the second end of the support 4121. A guide hole 4120 is defined between the support 4121 and the cover 4122.

[0072] It can be understood that the support 4121 and the cover 4122 are respectively semi-circular structures arranged oppositely, and the two are buckled to form the guide hole 4120. A part of the universal balls 43 are provided on the support 4121, and the other part of the universal balls 43 are provided on the cover 4122. When it is necessary to assemble and disassemble the secondary rotating frame 412 and the flexible continuum 5, by rotating and opening the cover 4122 and the support 4121, the flexible continuum 5 is taken out or placed in the semi-hole of the support 4121, and then the second end of the cover 4122 and the second end of the support 4121 are connected, so that the flexible continuum 5 is convenient to assemble and disassemble.

[0073] In some embodiments of the present invention, the connecting frame 4 further includes a sleeve 45. The second end of the support 4121 is rotatably connected to the primary rotating frame 411 via a second rotating shaft 462. The sleeve 45 is axially movable around the second rotating shaft 462. A stopper 41221 is provided at the second end of the cover 4122. When the second end of the support 4121 is connected to the second end of the cover 4122, the sleeve 45 can be mounted outside the stopper and the second rotating shaft to limit rotation of the cover 4122 relative to the support 4121.

[0074] The first end of the support 4121 is rotatably connected to the primary rotating frame 411 via a first rotating shaft 461. The axis of the first rotating shaft 461 and the axis of the second rotating shaft 462 are collinear, representing the rotation axis of the support 4121 relative to the primary rotating frame 411. Optionally, both the first rotating shaft 461 and the second rotating shaft 462 may be integrally formed with the primary rotating frame 411.

[0075] The second shaft 462 has a first shaft section and a second shaft section. The first shaft section is a cylindrical section, and the second shaft section has a semicircular, small semicircular, or large semicircular cross section. The cross section of the limiting portion 41221 is a semicircular, large semicircular, or small semicircular cross section complementary to the second shaft 462.

[0076] When the cover 4122 and the support 4121 need to be closed, the cover 4122 is buckled with the support 4121, and the arc-shaped outer surface of the limiting portion 41221 and the arc-shaped outer surface of the second rotating shaft 462 are assembled to form a cylindrical surface. At this time, the sleeve 45 can be moved to the first shaft section of the second rotating shaft 462 so that it is sleeved on the outside of the cylindrical surface, thereby limiting the separation of the second end of the cover 4122 and the second end of the support 4121. Figure 4 When the cover 4122 and the support 4121 need to be opened, the sleeve 45 is moved to the first shaft section of the second rotating shaft 462 to release the restriction of the sleeve 45 on the cover 4122. At this time, the cover 4122 can be rotated to open. Figure 5 shown.

[0077] like Figure 4 and Figure 5 As shown, in some embodiments of the present invention, the primary rotating frame 411 includes a first connecting arm 4111 and a second connecting arm 4112. One end of the first connecting arm 4111 and one end of the second connecting arm 4112 are interconnected to define an assembly hole 4110. An intermediate connecting member is provided on the rotating joint 3, and the assembly hole 4110 is rotatably connected to the intermediate connecting member. The secondary rotating frame 412 is rotatably connected to the other end of the first connecting arm 4111 and the other end of the second connecting arm 4112.

[0078] It can be understood that the first ends of the first connecting arm 4111 and the second connecting arm 4112 are connected to each other to form a U-shaped or semi-circular mechanism, and the second ends of the first connecting arm 4111 and the second connecting arm 4112 are arranged oppositely. The secondary rotating frame 412 is rotatably connected between the second ends of the first connecting arm 4111 and the second connecting arm 4112. In the above embodiment, the first end of the support 4121 is rotatably connected to the first end of the first connecting arm 4111, and the second end of the support 4121 is rotatably connected to the second end of the second connecting arm 4112.

[0079] Wherein, the intermediate connecting member has a connecting shaft adapted to the assembly hole 4110, and the connecting shaft is rotatably connected to the assembly hole 4110 through a bearing. Optionally, two bearings are arranged between the assembly hole 4110 and the intermediate connecting member and are distributed along the axis direction of the assembly hole 4110 to improve the rotational stability of the primary rotating frame 411 and the intermediate connecting member.

[0080] On both sides of the first end of the first connecting arm 4111, two third connecting lugs are respectively arranged, and on both sides of the first end of the second connecting arm 4112, two fourth connecting lugs are respectively arranged. The two third connecting lugs of the first connecting arm 4111 and the two fourth connecting lugs of the first end of the second connecting arm 4112 are connected in one-to-one correspondence through fasteners such as bolts. In this way, it is convenient to assemble the primary rotating frame 411 and the intermediate connecting member with the bearing, and the structural strength of the primary rotating frame 411 is enhanced.

[0081] Such as Figure 2 、 Figure 4 and Figure 5 As shown in

[0082] In some embodiments of the present invention, the connecting frame 4 further includes a clamp 42, and the clamp 42 is the intermediate connecting member described in the above embodiment. Each of the primary rotating frames 411 is connected to the rotating joint 3 through the clamp 42. The clamp 42 is sleeved on the outside of the corresponding rotating joint 3, and the primary rotating frame 411 is rotatably connected to the corresponding clamp 42.

[0083] Such as Figure 1As shown, in some embodiments of the present invention, the robotic arm 2 is rotatably connected to the mounting bracket 1 to form a first swing joint 211, a first rotating joint 221, a second swing joint 231, a third swing joint 241, a second rotating joint 251, and a fourth swing joint 261 that are sequentially distributed from the proximal end to the distal end of the robotic arm 2. The rotation axis of the first swing joint 211 is parallel to the rotation axis of the first rotating joint 221, the rotation axis of the second swing joint 231 is perpendicular to the rotation axis of the first rotating joint 221, the rotation axis of the third swing joint 241 is parallel to the rotation axis of the second swing joint 231, the rotation axis of the second rotating joint 251 is perpendicular to the rotation axis of the third swing joint 241, and the rotation axis of the fourth swing joint 261 is perpendicular to the rotation axis of the second rotating joint 251.

[0084] Specifically, the robotic arm 2 includes a first swing arm 21, a first rotating arm 22, a second swing arm 23, a third swing arm 24, a second rotating arm 25, and a fourth swing arm 26 that are sequentially distributed from the proximal end to the distal end. The first swing arm 21 is rotatably connected to the mounting bracket 1 to form the first swing joint 211. The first rotating arm 22 is rotatably connected to the first swing arm 21 to form the first rotating joint 221. The second swing arm 23 is rotatably connected to the first rotating arm 22 to form the second swing joint 231. The third swing arm 24 is rotatably connected to the second swing arm 23 to form the third swing joint 241. The second rotating arm 25 is rotatably connected to the third swing arm 24 to form the second rotating joint 251. The fourth swing arm 26 is rotatably connected to the second rotating arm 25 to form the fourth swing joint 261.

[0085] An embodiment of the present invention further provides a flexible continuum robot, including an operating handle 6, a flexible continuum 5, an end effector 7, and the flexible continuum guiding device described in any of the above embodiments. As Figure 1 shown, the flexible continuum 5 is passed through the connecting frame 4 and connected between the operating handle 6 and the end effector 7.

[0086] Furthermore, the mounting bracket 1 includes a bracket body 11 and an operating platform 12 connected to the bracket body 11. The proximal end of the joint chain is rotatably connected to the operating platform 12, and the operating handle 6 can be placed on the operating platform 12 for convenient operation by the operator. A plurality of universal wheels are provided at the bottom of the mounting bracket 1 to achieve convenient movement of the flexible continuum robot.

[0087] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A flexible continuum guiding device, characterized in that, Comprising: Mounting bracket; A plurality of rotating joints, the plurality of rotating joints being sequentially connected end to end in the length direction of the rotating joints; The rotating joint has a front-stage joint portion and a rear-stage joint portion, the front-stage joint portion of each rotating joint being rotatably connected to the rear-stage joint portion of another adjacent rotating joint, and the rotation axes of the front-stage joint portion and the rear-stage joint portion being orthogonal to each other; At least one connecting frame, each connecting frame being correspondingly connected to one side of a rotating joint, and the connecting frame being configured to allow a flexible continuum to movably pass therethrough; A robotic arm, comprising a plurality of rotating arms sequentially connected end to end, the proximal end of the robotic arm and the rotating joint near the proximal end of the flexible continuum being respectively connected to the mounting bracket, and the distal end of the robotic arm being connected to the rotating joint near the distal end of the flexible continuum; The connecting frame comprises: A first-stage rotating frame, rotatably connected to the rotating joint; A second-stage rotating frame, rotatably connected to the first-stage rotating frame, and the second-stage rotating frame is provided with a guiding hole for passing through the flexible continuum; A clamp, each first-stage rotating frame being connected to the rotating joint through the clamp, the clamp being sleeved on the outer side of the corresponding rotating joint, and the first-stage rotating frame being rotatably connected to the corresponding clamp; Wherein, the first rotation axis of the first-stage rotating frame relative to the rotating joint and the second rotation axis of the second-stage rotating frame relative to the first-stage rotating frame are perpendicular to each other, the first rotation axis is perpendicular to the axis of the corresponding rotating joint, and the second rotation axis is perpendicular to the axis of the guiding hole.

2. The flexible continuum guiding device according to claim 1, wherein The connecting frame further comprises: Universal balls, at least three universal balls being rollably arranged on the pore wall of the guiding hole and distributed along the circumference of the guiding hole, and the universal balls being used for rolling contact with the flexible continuum.

3. The flexible continuum guiding device according to claim 2, wherein The connecting frame further comprises: A connecting component, each universal ball being connected to the second-stage rotating frame through the connecting component, the connecting component comprising a threaded connecting piece and a nut, the universal ball being arranged at one end of the threaded connecting piece, and the threaded connecting piece passing through the second-stage rotating frame and being connected to the second-stage rotating frame through the nut.

4. The flexible continuum guiding device according to claim 1, characterized in that: The second-stage rotating frame comprises: A support and a cover body, the support being rotatably connected to the first-stage rotating frame, the first end of the cover body being rotatably connected to the first end of the support, the second end of the cover body being detachably connected to the second end of the support, and the guiding hole being defined between the support and the cover body.

5. The flexible continuum guiding device according to claim 4, characterized in that: The connecting frame further comprises: A bushing, the second end of the support being rotatably connected to the first-stage rotating frame through a second rotating shaft, and the bushing being axially movably sleeved on the second rotating shaft; a limiting portion is provided at the second end of the cover body, and in the case where the second end of the support and the second end of the cover body are connected, the bushing can be sleeved on the outer sides of the limiting portion and the second rotating shaft to limit the rotation of the cover body relative to the support.

6. The flexible continuum guiding device according to claim 1, wherein, The first-stage rotating frame comprises: A first connecting arm and a second connecting arm, one end of the first connecting arm and one end of the second connecting arm are connected to each other to define an assembly hole, an intermediate connecting piece is provided on the rotating joint, and the assembly hole is rotatably connected to the intermediate connecting piece; the secondary rotating frame is rotatably connected to the other end of the first connecting arm and the other end of the second connecting arm respectively.

7. The flexible continuum guiding device according to claim 1, characterized in that: The robotic arm is rotatably connected to the mounting bracket to form a first swing joint, a first rotation joint, a second swing joint, a third swing joint, a second rotation joint, and a fourth swing joint, which are sequentially distributed from the proximal end to the distal end of the robotic arm; The rotation axis of the first swing joint is parallel to the rotation axis of the first rotation joint, the rotation axis of the second swing joint is perpendicular to the rotation axis of the first rotation joint, the rotation axis of the third swing joint is parallel to the rotation axis of the second swing joint, the rotation axis of the second rotation joint is perpendicular to the rotation axis of the third swing joint, and the rotation axis of the fourth swing joint is perpendicular to the rotation axis of the second rotation joint.

8. A flexible continuum robot, characterized in that, include: An operating handle, a flexible continuum, an end effector, and a flexible continuum guiding device according to any one of claims 1 to 7; The flexible continuum is passed through the connecting frame and connected between the operating handle and the end effector.

Images