Wire-driven continuum robot

Abstract

The present application provides a wire-driven continuum robot, which includes a pushing component, a wire driving component and a robotic arm component. The pushing component is connected to the wire driving component, and the pushing component can drive the wire driving component to move. The pushing component is connected to the wire driving component, and the pushing component is used to push the wire driving component. The wire driving component includes a driving component, a first transmission component and an active segment driving wire component. The driving component drives the first transmission component to move, and the first transmission component is connected to one end of the active segment driving wire component for stretching the active segment driving wire component. The robotic arm component includes a bending component, and the other end of the active segment driving wire component is connected to the bending component to drive the bending component to bend with multiple degrees of freedom.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a wire-driven continuum robot. Background Art

[0002] Currently, interventional pulmonary surgery faces the challenge of bronchoscopes being unable to accurately and deftly reach the lesion. Consequently, there is an urgent need for a continuum robot that can navigate narrow cavities in the body and quickly and accurately reach the lesion. Summary of the Invention

[0003] The present invention provides a wire-driven continuum robot with multiple driving degrees of freedom, capable of achieving full-dimensional bending motion and traveling inside narrow cavities.

[0004] In view of this, the present invention proposes a wire-driven continuum robot, the driven continuum robot, a wire pushing component; a wire driving component, fixedly connected to the pushing component, including a driving component, a first transmission component and an active segment driving wire component, the driving component drives the first transmission component to move, the first transmission component is connected to one end of the active segment driving wire component; a robotic arm component, respectively connected to the pushing component and the wire driving component, including a bending component, the other end of the active segment driving wire component is connected to the bending component to drive the bending component to bend with multiple degrees of freedom.

[0005] In some optional embodiments, the pushing assembly includes a fixed plate, a second drive component, a second transmission assembly and an adapter assembly, the second transmission assembly and the second drive component are both arranged on the fixed plate, the second drive component is connected to the second transmission assembly, and the adapter assembly connects the second transmission assembly and the wire drive assembly.

[0006] In some optional embodiments, the second transmission assembly includes a transmission belt assembly, a sliding assembly and a transfer assembly, one end of the transfer assembly supports the wire drive assembly, the other end of the transfer assembly is connected to the transmission belt assembly and the sliding assembly, and the transmission belt assembly is connected to the second drive component.

[0007] In some optional embodiments, the sliding assembly includes a first sliding assembly and a second sliding assembly, the first sliding assembly and the second sliding assembly are respectively arranged on both sides of the transmission belt, and the adapter assembly connects the first sliding assembly, the transmission belt and the second sliding assembly.

[0008] In some optional embodiments, the adapter assembly includes an adapter component and a synchronous belt fixing component, one end of the adapter component is arranged on the first sliding component and the second sliding component, the other end of the adapter component is connected to the wire drive component, the adapter component is arranged on both sides of the transmission belt assembly, and the synchronous belt fixing component and the adapter component clamp one side of the transmission belt assembly.

[0009] In some optional embodiments, the first sliding assembly includes a first slider and a first slide rail, and the first slider and the first slide rail are slidably connected; the second sliding assembly includes a second slider and a second slide rail, and the second slider and the second slide rail are slidably connected; the third adapter component connects the first slider and the second slider.

[0010] In some optional embodiments, the wire-driven continuum robot further includes a support assembly, the support assembly including a first support component and a second support component, the first support component being arranged on the fixed plate, the second support component being arranged on the wire-driven assembly, and the robotic arm assembly being supported by the first support component and the second support component.

[0011] In some optional embodiments, the drive assembly includes a first sub-drive assembly and a second sub-drive assembly; the first transmission assembly includes a first sub-transmission assembly and a second sub-transmission assembly; the active segment drive wire assembly includes a first active segment drive wire and a second active segment drive wire; the first sub-transmission assembly is respectively connected to the first sub-drive assembly and the first active segment drive wire; the second sub-transmission assembly is respectively connected to the second sub-drive assembly and the second active segment drive wire.

[0012] In some optional embodiments, the first transmission assembly further includes a transmission bracket, the transmission bracket including a fixed bracket and a guide rod bracket, the fixed bracket is connected to the guide rod bracket by bolts, guide rod brackets are provided on both sides of the width direction of the fixed bracket, and multiple groups of first sub-transmission assemblies and multiple groups of second sub-transmission assemblies are arranged in the height direction of the guide rod bracket.

[0013] In some optional embodiments, in the height direction of the guide rod support, a group of the first sub-transmission assemblies and a group of the second sub-transmission assemblies are arranged crosswise.

[0014] In some optional embodiments, each of the first sub-transmission assemblies includes a first transmission component and a first guide rod assembly, the first transmission component is arranged on the first guide rod assembly, and the first guide rod assembly is arranged on the guide rod bracket through a spring clip; each of the second sub-transmission assemblies includes a second transmission component and a second guide rod assembly, the second transmission component is arranged on the second guide rod assembly, and the second guide rod assembly is arranged on the guide rod bracket through a spring clip.

[0015] In some optional embodiments, the first transmission component and the second transmission component have the same structure; the first transmission component includes a first buckling component and a first elastic rope, the first buckling component is slidingly connected to the first guide rod assembly, the first buckling component connects one end of the first active segment driving wire and one end of the first elastic rope, the other end of the first active segment driving wire is connected to the bending assembly, and the other end of the first elastic rope is connected to the transmission bracket.

[0016] In some optional embodiments, the first fastening component includes a first quick-release adapter component, a third slider and a first locking buckle, the third slider is arranged on the first guide rod assembly, and the first quick-release adapter component is connected to the third slider through the first locking buckle.

[0017] In some optional embodiments, the third slider includes a sleeve assembly, a first drive wire pre-tensioning adjustment element and an elastic rope pre-tensioning adjustment element, the first drive wire pre-tensioning adjustment element is connected to the first active segment drive wire, the elastic rope pre-tensioning adjustment element is connected to the first elastic rope, and the sleeve assembly is connected to the first guide rod assembly.

[0018] In some optional embodiments, the first sub-drive assembly and the second sub-drive assembly have the same structure; the first sub-drive assembly includes a first drive component, a first lead screw, a first clamping component and a third guide rod, the first drive component is connected to the first lead screw, one end of the first clamping component is connected to the third guide rod and the first lead screw, and the other end of the first clamping component is connected to the first snap-fit component.

[0019] In some optional embodiments, the first clamping component includes a first lead screw nut, a first adapter slider and a first tension sensor, the first lead screw nut and the first tension sensor are respectively connected to the first adapter slider, the first lead screw nut is connected to the first lead screw, the first adapter slider is respectively connected to the first lead screw and the third guide rod, and the first tension sensor is connected to the first quick-release adapter component.

[0020] In some optional embodiments, the bending assembly includes a first wire chuck disc, a first transition disc, a second wire chuck disc, a second transition disc and a third wire chuck disc arranged in sequence, the first active segment driving wire connects the first wire chuck disc and the third wire chuck disc, and the second active segment driving wire connects the second wire chuck disc and the third wire chuck disc.

[0021] In some optional embodiments, the robotic arm assembly further includes a passive segment component and a limiting assembly, one end of the passive segment component is connected to the bending assembly, and the other end is connected to the wire drive assembly, and the limiting assembly is arranged outside the passive segment component.

[0022] In some optional embodiments, the limiting assembly includes multiple limiting elements, multiple groups of elastic belt assemblies and wire rope assemblies, any two adjacent limiting elements are connected by the elastic metal belt assembly, one end of the passive section component is connected to the third wire disc, and the other end passes through each of the limiting elements and is connected to the wire drive assembly, and the wire rope assembly passes through each of the limiting elements.

[0023] Compared with the prior art, the present invention has the following technical effects:

[0024] The wire-driven continuum robot includes a pushing component, a wire driving component and a robotic arm component. The pushing component is connected to the wire driving component, and the pushing component can drive the wire driving component to move. The pushing component is connected to the robotic arm component. The pushing component is used to provide support for the robotic arm component. The wire driving component includes a driving component, a first transmission component and an active segment driving wire component. The driving component drives the first transmission component to move. The first transmission component is connected to one end of the active segment driving wire component and is used to stretch the active segment driving wire component. The robotic arm component includes a bending component. The other end of the active segment driving wire component is connected to the bending component to drive the bending component to bend with multiple degrees of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0026] Figure 1 A schematic structural diagram of a wire-driven continuum robot according to an embodiment of the present invention is shown;

[0027] Figure 2 A schematic structural diagram of a push component provided by an embodiment of the present invention is shown;

[0028] Figure 3 A schematic structural diagram of a wire drive assembly provided by an embodiment of the present invention is shown;

[0029] Figure 4 A schematic diagram showing the connection between the first sub-drive assembly and the first sub-transmission assembly provided by one embodiment of the present invention is shown;

[0030] Figure 5 A schematic diagram showing the connection between a second sub-drive assembly and a second sub-transmission assembly provided by an embodiment of the present invention is shown;

[0031] Figure 6A schematic structural diagram of a transmission bracket provided by an embodiment of the present invention from a first perspective is shown;

[0032] Figure 7 A schematic structural diagram of a transmission bracket provided by an embodiment of the present invention from a second perspective is shown;

[0033] Figure 8 A schematic structural diagram of a third slider provided in one embodiment of the present invention is shown;

[0034] Figure 9 A schematic structural diagram of a fourth slider provided by an embodiment of the present invention is shown;

[0035] Figure 10 A schematic structural diagram of a bending assembly provided by an embodiment of the present invention is shown;

[0036] Figure 11 A schematic structural diagram of a first chuck provided by an embodiment of the present invention is shown;

[0037] Figure 12 A schematic structural diagram of the connection between the passive section component and the limiting assembly provided in one embodiment of the present invention is shown.

[0038] in, Figures 1 to 12 The corresponding relationship between the reference numerals and component names is as follows:

[0039] 1-push assembly; 11-fixed plate; 12-second drive component; 131-driving pulley; 132-driven pulley; 133-transmission belt; 134-first sliding assembly; 1341-first slider; 1342-first slide rail; 135-second sliding assembly; 1351-second slider; 1352-second slide rail; 14-adapter assembly; 141-adapter component; 143-synchronous belt fixing component;

[0040] 2-wire drive assembly; 21-drive assembly; 211-first sub-drive assembly; 2111-first drive component; 2112-first lead screw; 2113-first clamping component; 2114-third guide rod; 2115-first lead screw nut; 2116-first adapter slider; 2117-first tension sensor; 2118-first coupling; 212-second sub-drive assembly; 2121-third drive component; 2122-second Lead screw; 2123-second clamping component; 2124-fourth guide rod; 2125-second lead screw nut; 2126-second transfer slider; 2127-second tension sensor; 2128-second coupling; 22-first transmission assembly; 221-transmission bracket; 2211-spring buckle; 2212-medical device inlet expansion tube; 2213-medical device channel tube; 2214-fixed bracket; 2215-guide rod bracket; 2 22-first transmission component; 2221-first fastening component; 2222-first elastic cord; 2223-first quick-release adapter component; 2224-third slider; 2225-first latching buckle; 2226-first sleeve assembly; 2227-first drive wire pre-tightening adjustment element; 2228-first elastic cord pre-tightening adjustment element; 223-second transmission component; 2231-second fastening component; 2232-second elastic cord; 2233-second quick-release adapter component; 2234-fourth slider; 2235-second latching buckle; 2236-second sleeve assembly; 2237-second drive wire pre-tightening adjustment element; 2238-second elastic cord pre-tightening adjustment element; 224-first guide rod assembly; 225-second guide rod assembly; 23-active segment drive wire assembly; 231-first active segment drive wire; 232-second active segment drive wire; 24-housing; 25-quick-release spring;

[0041] 3-Robot arm assembly; 31-Bending assembly; 311-First chuck disc; 312-First transition disc; 313-Second chuck disc; 314-Second transition disc; 315-Third chuck disc; 32-Passive segment component; 331-Limiting element; 3311-First through hole; 3312-Limiting hole; 3313-Second through hole; 3314-First connecting pin; 3315-Second connecting pin; 332-Multiple elastic band assemblies; 3321-First elastic metal band; 3322-Second elastic metal band; 333-Wire rope assembly; 3331-First wire rope; 3332-Second wire rope; 34-Flexible tube; 35-Fixed pin;

[0042] 4-support assembly; 41-first support component; 42-second support component. DETAILED DESCRIPTION

[0043] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0044] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0045] The present invention provides a wire-driven continuum robot, comprising: a push assembly 1, a wire drive assembly 2, and a robotic arm assembly 3. The wire drive assembly 2 is fixedly connected to the push assembly 1 and comprises a drive assembly 21, a first transmission assembly 22, and an active segment drive wire assembly 23. The drive assembly 21 drives the first transmission assembly 22 to move, and the first transmission assembly 22 is connected to one end of the active segment drive wire assembly 23. The robotic arm assembly 3 is connected to the wire drive assembly 2 and comprises a bending assembly 31. The other end of the active segment drive wire assembly 23 is connected to the bending assembly 31 to drive the bending assembly 31 to bend with multiple degrees of freedom.

[0046] Specifically, the wire-driven continuum robot includes a pushing component 1, a wire driving component 2 and a robotic arm component 3. The pushing component 1 is connected to the wire driving component 2, and the pushing component 1 can drive the wire driving component 2 to move. The wire driving component 2 is connected to the robotic arm component 3. The wire driving component 2 includes a driving component 21, a first transmission component 22 and an active segment driving wire component 23. The driving component 21 drives the first transmission component 22 to move. The first transmission component 22 is connected to one end of the active segment driving wire component 23 and is used to stretch the active segment driving wire component 23. The robotic arm component 3 includes a bending component 31. The other end of the active segment driving wire component 23 is connected to the bending component 31 to drive the bending component 31 to bend in multiple degrees of freedom, thereby realizing multi-degree-of-freedom bending of the wire-driven continuum robot, so that the bending component 31 can pass through the narrow cavity in the body, realize full-dimensional bending movement, and drive devices such as bronchoscopes to accurately reach the lesion.

[0047] Furthermore, the extension direction of the length of the pushing assembly 1 is consistent with the extension direction of the length of the mechanical arm assembly 3, and the pushing assembly 1 drives the wire driving assembly 2 to slide in the length direction of the pushing assembly 1. The mechanical arm assembly 3 is arranged above the pushing assembly 1.

[0048] In some optional embodiments, the pushing assembly 1 includes a fixed plate 11, a second drive component 12, a second transmission assembly and an adapter assembly 14. The second transmission assembly and the second drive component 12 are both arranged on the fixed plate 11. The second drive component 12 is connected to the second transmission assembly. The adapter assembly 14 connects the second transmission assembly and the wire drive assembly 2.

[0049] In some optional embodiments, the second transmission assembly includes a transmission belt assembly, a sliding assembly, and an adapter assembly 14. One end of the adapter assembly 14 supports the wire drive assembly 2, and the other end of the adapter assembly 14 is connected to the transmission belt assembly and the sliding assembly. The transmission belt assembly is connected to the second drive component 12. The sliding assembly includes a first sliding assembly 134 and a second sliding assembly 135. The first sliding assembly 134 and the second sliding assembly 135 are respectively arranged on either side of the transmission belt assembly. The adapter assembly 14 connects the first sliding assembly 134, the transmission belt assembly, and the second sliding assembly 135.

[0050] Specifically, the transmission belt assembly includes a driving pulley 131, a driven pulley 132, and a transmission belt 133. The driving pulley 131 and the driven pulley 132 are respectively disposed at the ends of the fixed plate 11 in the longitudinal direction. The transmission belt 133 connects the driving pulley 131 and the driven pulley 132, respectively. The second driving component 12 is connected to the driving pulley 131, which drives the driving pulley 131 to rotate, thereby driving the transmission belt 133 to rotate clockwise or counterclockwise. The sliding assembly includes a first sliding assembly 134 and a second sliding assembly 135, which are respectively disposed on either side of the transmission belt 133. The adapter assembly 14 connects the transmission belt 133, the sliding assembly, and the wire drive assembly 2. The first sliding assembly 134, the transmission belt 133, and the second sliding assembly 135 all extend in the same direction as the length of the fixed plate 11. The first sliding assembly 134, the transmission belt 133, and the second sliding assembly 135 are arranged in the width direction of the fixed plate 11. Specifically, the adapter assembly 14 is used to connect the wire drive assembly 2, the transmission belt 133, the first slider 1341 and the second slider 1351. The second drive component 12 drives the active pulley 131 to rotate, thereby driving the transmission belt 133 to rotate clockwise or counterclockwise. The transmission belt 133 drives the adapter assembly 14 to move. During the movement, the adapter assembly 14 drives the first slider 1341 and the second slider 1351 to move along the first slide rail 1342 and the second slide rail 1352 respectively. The first sliding assembly 134 and the second sliding assembly 135 play a role in limiting and supporting the adapter assembly 14.

[0051] In some optional embodiments, such as Figure 2As shown, the adapter component 14 includes an adapter component 141 and a synchronous belt fixing component 143. One end of the adapter component 141 is arranged on the first sliding component 134 and the second sliding component 135. The other end of the adapter component 141 is connected to the wire drive component 2. The adapter component 141 is arranged on both sides of the transmission belt assembly. The synchronous belt fixing component 143 and the adapter component 141 clamp one side of the transmission belt assembly.

[0052] Specifically, if Figure 2 As shown, the adapter component 141 and the synchronous belt fixing component 143 clamp one side of the transmission belt 133. The first sliding assembly 134 includes a first slider 1341 and a first slide rail 1342, and the first slider 1341 and the first slide rail 1342 are slidably connected. The second sliding assembly 135 includes a second slider 1351 and a second slide rail 1352, and the second slider 1351 and the second slide rail 1352 are slidably connected. One end of the adapter component 141 is connected to the first slider 1341 and the second slider 1351, and the other end of the adapter component 141 is connected to the wire drive assembly 2. The second drive component 12 drives the driving pulley 131 to rotate, thereby driving the transmission belt 133 to rotate clockwise or counterclockwise. The transmission belt 133 drives the adapter component 141 to move. During this movement, the adapter component 141 drives the first slider 1341 and the second slider 1351 to move along the first slide rail 1342 and the second slide rail 1352, respectively. During this movement, the adapter component 141 also drives the wire drive assembly 2 to move. The first slide assembly 134 and the second slide assembly 135 serve to limit and support the adapter component 141. The adapter component 141 is connected to the first slider 1341 and the second slider 1351 via bolts and screws, respectively.

[0053] In some optional embodiments, the wire-driven continuum robot also includes a support assembly 4, the support assembly 4 includes a first support component 41 and a second support component 42, the first support component 41 is arranged on the fixed plate 11, the second support component 42 is arranged on the wire-driven assembly 2, and the robotic arm assembly 3 is supported by the first support component 41 and the second support component 42.

[0054] Specifically, the length of the robotic arm assembly 3 is the same as that of the push assembly 1. The first support member 41 is disposed at the end of the fixed plate 11 near the driven pulley 132 and is welded to the fixed plate 11. A first through-hole is provided at the end of the first support member 41 away from the fixed plate 11. One end of the robotic arm assembly 3 extends through the first through-hole of the first support member 41 to support the robotic arm assembly 3. A second through-hole is provided at the end of the second support member 42 away from the fixed plate 11. The other end of the robotic arm assembly 3 extends through the second through-hole of the second support member 42. The support assembly 4 is used to support the robotic arm assembly 3.

[0055] In some optional embodiments, such as Figure 3 As shown, the drive assembly 21 includes a first sub-drive assembly 211 and a second sub-drive assembly 212; the first transmission assembly 22 includes a first sub-transmission assembly and a second sub-transmission assembly; the active segment drive wire assembly 23 includes a first active segment drive wire 231 and a second active segment drive wire 232; the first sub-transmission assembly is respectively connected to the first sub-drive assembly 211 and the first active segment drive wire 231; the second sub-transmission assembly is respectively connected to the second sub-drive assembly 212 and the second active segment drive wire 232.

[0056] In some optional embodiments, such as Figure 3 and Figure 6 As shown, the first transmission assembly 22 also includes a transmission bracket 221, which includes a fixed bracket 2214 and a guide rod bracket 2215. The fixed bracket 2214 and the guide rod bracket 2215 are connected by bolts. A guide rod bracket 2215 is provided on both sides of the fixed bracket 2214 in the width direction. Multiple groups of first sub-transmission assemblies and multiple groups of second sub-transmission assemblies are arranged in a vertical direction of the guide rod bracket 2215. Optionally, a group of first sub-transmission assemblies and a group of second sub-transmission assemblies are arranged in a cross-arranged manner in the vertical direction of the guide rod bracket 2215. The fixed bracket 2214 is provided with a medical device inlet expansion tube 2212, which extends along the length of the fixed bracket 2214.

[0057] Specifically, the wire drive assembly 2 includes a shell 24, the shell 24 has an internal accommodating space, a transmission bracket 221 is arranged inside the shell 24, a groove is provided at one end of the shell 24, one end of the transmission bracket 221 is clamped in the groove of the shell 24, and the shell 24 is respectively provided with multiple quick-release springs 25 on both sides of the groove. The end of the transmission bracket 221 close to the groove is connected to the shell 24 through the quick-release spring 25.

[0058] Furthermore, if Figure 3 and Figure 6As shown, the drive assembly 21 and the first transmission assembly 22 are arranged inside the housing 24 and are respectively connected to the housing 24. The transmission bracket 221 is arranged in the middle of the housing 24. The transmission bracket 221 divides the housing 24 into two independent spaces, namely a first independent space and a second independent space. The first independent space and the second independent space are respectively located on opposite sides of the width direction of the transmission bracket 221. The first independent space and the second independent space are both provided with a plurality of first sub-drive assemblies 211 and a plurality of second sub-drive assemblies 212. In the first independent space or the second independent space, the plurality of first sub-drive assemblies 211 and the plurality of second sub-drive assemblies 212 are arranged in the height direction of the transmission bracket 221. Optionally, a first sub-drive assembly 211 and a second sub-drive assembly 212 are arranged crosswise. Guide rod supports 2215 are provided on opposite sides of the transmission bracket 221 in the width direction. Guide rod supports 2215 are provided with multiple groups of first sub-transmission assemblies and multiple groups of second sub-transmission assemblies. These multiple groups of first sub-transmission assemblies and multiple groups of second sub-transmission assemblies are arranged in the height direction of the guide rod supports 2215, with one group of first sub-transmission assemblies and one group of second sub-transmission assemblies arranged in an intersecting manner. The multiple first sub-drive assemblies 211 and multiple second sub-drive assemblies 212 located in the first independent space or the second independent space correspond to the multiple groups of first sub-transmission assemblies and multiple groups of second sub-transmission assemblies located on one side of the transmission bracket 221, respectively. One first sub-drive assembly 211 corresponds to one group of first sub-transmission assemblies, and one second sub-drive assembly 212 corresponds to one group of second sub-transmission assemblies.

[0059] In some optional embodiments, each first sub-transmission assembly includes a first transmission component 222 and a first guide rod assembly 224, and the first guide rod assembly 224 is arranged on the guide rod bracket 2215 through a spring clip 2211; the first transmission component 222 is arranged on the first guide rod assembly 224; each second sub-transmission assembly includes a second transmission component 223 and a second guide rod assembly 225, and the second transmission component 223 is arranged on the second guide rod assembly 225, and the second guide rod assembly 225 is arranged on the guide rod bracket 2215 through a spring clip 2211.

[0060] Specifically, a first sub-drive assembly 211 drives a first transmission component 222 to move along a first guide rod assembly 224, and a second sub-drive assembly 212 drives a second transmission component 223 to move along a second guide rod assembly 225. During the movement of the first and second transmission components 222 and 223, the first and second active segment drive wires 231 and 232 are stretched, and the first and second active segment drive wires 231 and 232 drive the bending assembly 31 to bend.

[0061] Furthermore, each set of first guide rod assemblies 224 includes two first guide rods arranged in the height direction of the transmission bracket 221, and the first transmission component 222 slides along the two first guide rods. Each set of second guide rod assemblies 225 includes multiple second guide rods arranged in the height direction of the transmission bracket 221, and the second transmission component 223 slides along the two second guide rods. Each second transmission component 223 is connected to a first active segment drive wire 231.

[0062] In some optional embodiments, the first sub-drive assembly 211 and the second sub-drive assembly 212 have the same structure; the first sub-drive assembly 211 includes a first drive component 2111, a first screw 2112, a first clamping component 2113 and a third guide rod 2114, the first drive component 2111 and the first screw 2112 are respectively arranged on the housing 24, the first drive component 2111 and the first screw 2112 are connected, one end of the first clamping component 2113 is connected to the third guide rod 2114 and the first screw 2112, and the other end of the first clamping component 2113 is connected to the first transmission component 222.

[0063] Specifically, the second sub-drive assembly 212 includes a third drive component 2121, a second lead screw 2122, a second clamping component 2123 and a fourth guide rod 2124. The third drive component 2121 and the second lead screw 2122 are respectively arranged on the housing 24. The third drive component 2121 and the second lead screw 2122 are connected. One end of the second clamping component 2123 is connected to the fourth guide rod 2124 and the second lead screw 2122, and the other end of the second clamping component 2123 is connected to the second transmission component 223.

[0064] Furthermore, the first drive component 2111 is a motor, and the third drive component 2121 is a motor. Both the first drive component 2111 and the third drive component 2121 are mounted on the housing 24. The first lead screw 2112 and the second lead screw 2122 extend in the longitudinal direction of the housing 24. The first drive component 2111 drives the first lead screw 2112 via a first coupling 2118, and the first engaging component 2113 moves along the first lead screw 2112. The third drive component 2121 drives the second lead screw 2122 via a second coupling 2128, and the second engaging component 2123 moves along the second lead screw 2122.

[0065] In some optional embodiments, the first transmission component 222 and the second transmission component 223 have the same structure; the first transmission component 222 includes a first buckling component 2221 and a first elastic rope 2222, the first buckling component 2221 is slidingly connected to the first guide rod assembly 224, the first buckling component 2221 connects one end of the first active segment driving wire 231 and one end of the first elastic rope 2222, the other end of the first active segment driving wire 231 is connected to the bending assembly 31, and the other end of the first elastic rope 2222 is connected to the transmission bracket 221.

[0066] Specifically, the second transmission component 223 includes a second fastening component 2231 and a second elastic rope 2232. The second fastening component 2231 is connected to the second guide rod assembly 225. The second fastening component 2231 is connected to one end of the second active segment driving wire 232 and one end of the second elastic rope 2232. The other end of the second active segment driving wire 232 is connected to the bending assembly 31, and the other end of the second elastic rope 2232 is connected to the transmission bracket 221.

[0067] Furthermore, the first driving component 2111 drives the first lead screw 2112, and the first engaging component 2113 moves along the first lead screw 2112. The first engaging component 2113 drives the first fastening component 2221 to move, and the first fastening component 2221 stretches the first active segment drive wire 231, which drives the bending assembly 31 to bend. The third driving component 2121 drives the second lead screw 2122, and the second engaging component 2123 moves along the second lead screw 2122. The second engaging component 2123 drives the second fastening component 2231 to move, and the second fastening component 2231 stretches the second active segment drive wire 232, which drives the bending assembly 31 to bend.

[0068] In some optional embodiments, the first fastening component 2221 includes a first quick-release adapter component 2223, a third slider 2224 and a first locking buckle 2225, the third slider 2224 is arranged on the first guide rod assembly 224, the first quick-release adapter component 2223 is connected to the third slider 2224 through the first locking buckle 2225, and the first quick-release adapter component 2223 is connected to the first tension sensor 2127.

[0069] Specifically, the third slider 2224 includes a first shaft sleeve assembly 2226, a first drive wire pre-tensioning adjustment element 2227 and a first elastic rope pre-tensioning adjustment element 2228, the first drive wire pre-tensioning adjustment element 2227 is connected to the first active segment drive wire 231, the first elastic rope pre-tensioning adjustment element 2228 is connected to the first elastic rope 2222, and the first shaft sleeve assembly 2226 is connected to the first guide rod assembly 224.

[0070] In some optional embodiments, the second fastening component 2231 includes a second quick-release adapter component 2233, a fourth slider 2234 and a second locking buckle 2235, the fourth slider 2234 is arranged on the second guide rod assembly 225, the second quick-release adapter component 2233 is connected to the fourth slider 2234 through the second locking buckle 2235, and the second quick-release adapter component 2233 is connected to the second tension sensor 2117.

[0071] Specifically, the fourth slider 2234 includes a second shaft sleeve assembly 2236, a second drive wire pre-tensioning adjustment element 2237 and a second elastic rope pre-tensioning adjustment element 2238, the second drive wire pre-tensioning adjustment element 2237 is connected to the second active segment drive wire 232, the second elastic rope pre-tensioning adjustment element 2238 is connected to the second elastic rope 2232, and the second shaft sleeve assembly 2236 is connected to the second guide rod assembly 225.

[0072] In some optional embodiments, the second clamping component 2123 includes a second screw nut 2125, a second transfer slider 2126 and a second tension sensor 2127, the second screw nut 2125 and the second tension sensor 2127 are respectively connected to the second transfer slider 2126, the second screw nut 2125 is connected to the second screw 2122, and the second transfer slider 2126 is respectively connected to the second screw 2122 and the fourth guide rod 2124.

[0073] Specifically, the first clamping component 2113 includes a first screw nut 2115, a first adapter slider 2116 and a first tension sensor 2117. The first screw nut 2115 and the first tension sensor 2117 are respectively connected to the first adapter slider 2116. The first screw nut 2115 is connected to the first screw 2112. The first adapter slider 2116 is respectively connected to the first screw 2112 and the third guide rod 2114. The first tension sensor 2117 is connected to the first quick-release adapter component 2223.

[0074] In some optional embodiments, the bending component 31 includes a first wire chuck disc 311, a first transition disc 312, a second wire chuck disc 313, a second transition disc 314 and a third wire chuck disc 315 arranged in sequence, the first active segment driving wire 231 connects the first wire chuck disc 311 and passes through the second wire chuck disc 313 and the third wire chuck disc 315, and the second active segment driving wire 232 connects the second wire chuck disc 313 and passes through the third wire chuck disc 315.

[0075] Specifically, one end of the first active segment drive wire 231 is connected to the first chuck disc 311, and the other end of the first active segment drive wire 231 is connected to the first drive wire pre-tightening adjustment element 2227 of the third slider 2224. As the third slider 2224 moves along the first guide rod assembly 224, it pulls the first active segment drive wire 231, which in turn causes the bending assembly 31 to bend. One end of the second active segment drive wire 232 is connected to the second chuck disc 313, and the other end of the second active segment drive wire 232 is connected to the second drive wire pre-tightening adjustment element 2237 of the fourth slider 2234. As the fourth slider 2234 moves along the second guide rod assembly 225, it pulls the second active segment drive wire 232, which in turn causes the bending assembly 31 to bend.

[0076] Specifically, the first entrapment disc 311 is provided with a plurality of first connection holes along its circumference that cooperate with the first active segment drive wire 231, and one first active segment drive wire 231 is connected to one first connection hole. The second entrapment disc 313 is provided with a plurality of second connection holes along its circumference that cooperate with the second active segment drive wire 232, and one second active segment drive wire 232 is connected to one second connection hole. The third entrapment disc 315 is provided with a plurality of third connection holes along its circumference, some of which cooperate with the first active segment drive wire 231, and some of which cooperate with the second active segment drive wire 232.

[0077] In some optional embodiments, the robotic arm assembly 3 also includes a passive section component 32 and a limiting assembly, one end of the passive section component 32 is connected to the pushing assembly, and the other end is connected to the wire driving assembly 2, and the limiting assembly sets a through hole in the passive section component 32.

[0078] Furthermore, the robotic arm assembly 3 also includes a passive section component 32, a medical device channel tube 2213, and a limiting component. The limiting component includes multiple limiting elements 331, multiple groups of elastic belt components 332 and wire rope components 333. Any two adjacent limiting elements 331 are connected by an elastic metal belt component 332. One end of the passive section component 32 is connected to the third wire disc 315, and the other end passes through each limiting element 33 and is connected to the wire drive assembly 2. The wire rope component 333 passes through each limiting element 33.

[0079] Specifically, one end of the passive segment 32 is connected to the bending assembly 31, and the other end is connected to one end of the medical device channel tube 2213. The other end of the medical device channel tube 2213 is connected to the medical device inlet expansion tube 2212 of the transmission bracket 221. A flexible tube 34 is disposed within the bending assembly 31 and the passive segment 32. The flexible tube 34 and the bending assembly 31 are connected by multiple fixing pins 35. Each elastic band assembly 332 includes a first elastic metal band 3321 and a second elastic metal band 3322; the wire rope assembly 333 includes a first steel wire rope 3331 and a second steel wire rope 3332; each limiting element 331 is sequentially provided with a first through hole 3311, a limiting hole 3312 and a second through hole 3313 in the width direction, and each limiting element 331 has a first connecting pin 3314 and a second connecting pin 3315 at opposite ends in the width direction, any two adjacent limiting elements 331 are connected to the first elastic metal band 3321 through the first connecting pin 3314, and any two adjacent limiting elements 331 are connected to the second elastic metal band 3322 through the second connecting pin 3315; the passive section component 32 passes through the limiting hole 3312 of each limiting element 331; the first steel wire rope 3331 passes through the first through hole 3311 of each limiting element 331; the second steel wire rope 3332 passes through the second through hole 3313 of each limiting element 331.

[0080] In the present invention, the term "plurality" refers to at least two or more than two, unless otherwise specified. Terms such as "installed," "connected," "connected," and "fixed" should be interpreted broadly. For example, "connected" can mean fixed, removable, or integral; and "connected" can mean directly or indirectly through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0081] Throughout this specification, terms such as "one embodiment," "some embodiments," and "specific embodiments" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0082] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A wire-driven continuum robot, characterized in that: include: Push component (1); A wire drive assembly (2) is fixedly connected to the pushing assembly (1), comprising a drive assembly (21), a first transmission assembly (22) and an active segment drive wire assembly (23); the drive assembly (21) drives the first transmission assembly (22) to move; the first transmission assembly (22) is connected to one end of the active segment drive wire assembly (23); and the active segment drive wire assembly (23) comprises a first active segment drive wire (231) and a second active segment drive wire (232); A robotic arm assembly (3) is connected to the wire drive assembly (2), comprising a bending assembly (31), a passive segment component (32) and a limiting assembly. The other end of the active segment drive wire assembly (23) is connected to the bending assembly (31) to drive the bending assembly (31) to bend with multiple degrees of freedom. One end of the passive segment component (32) is connected to the bending assembly (31), and the other end is connected to the wire drive assembly (2). The limiting assembly is arranged outside the passive segment component (32). The limiting assembly comprises a plurality of limiting elements (331), a plurality of groups of elastic band components (332) and a wire rope component (333). Any two adjacent limiting elements (331) are connected via an elastic metal band component (332). One end of the passive segment component (32) is connected to a third wire disc (315), and the other end passes through each of the limiting elements (331) and is connected to the wire drive assembly (2). The wire rope component (333) passes through each of the limiting elements (331). The bending component (31) includes a first wire clamping disc (311), a first transition disc (312), a second wire clamping disc (313), a second transition disc (314) and a third wire clamping disc (315) which are arranged in sequence. The first active segment driving wire (231) is connected to the first wire clamping disc (311) and passes through the third wire clamping disc (315). The second active segment driving wire (232) is connected to the second wire clamping disc (313) and passes through the third wire clamping disc (315).

2. The wire-driven continuum robot according to claim 1, characterized in that: The pushing assembly (1) comprises a fixed plate (11), a second driving component (12), a second transmission assembly and a switching assembly (14); the second transmission assembly and the second driving component (12) are both arranged on the fixed plate (11); the second driving component (12) is connected to the second transmission assembly; and the switching assembly (14) connects the second transmission assembly and the wire driving assembly (2).

3. The wire-driven continuum robot according to claim 2, characterized in that: The second transmission assembly includes a transmission belt assembly, a sliding assembly and an adapter assembly (14), one end of the adapter assembly (14) supports the wire drive assembly (2), the other end of the adapter assembly (14) is connected to the transmission belt assembly and the sliding assembly, and the transmission belt assembly is connected to the second driving component (12).

4. The wire-driven continuum robot according to claim 3, characterized in that: The sliding assembly comprises a first sliding assembly (134) and a second sliding assembly (135), wherein the first sliding assembly (134) and the second sliding assembly (135) are respectively arranged on both sides of the transmission belt assembly, and the adapter assembly (14) connects the first sliding assembly (134), the transmission belt assembly and the second sliding assembly (135).

5. The wire-driven continuum robot according to claim 4, characterized in that: The adapter component (14) includes an adapter component (141) and a synchronous belt fixing component (143), one end of the adapter component (141) is arranged on the first sliding component (134) and the second sliding component (135), and the other end of the adapter component (141) is connected to the wire driving component (2), the adapter component (141) is arranged on both sides of the transmission belt component, and the synchronous belt fixing component (143) and the adapter component (141) clamp one side of the transmission belt component.

6. The wire-driven continuum robot according to claim 5, characterized in that: The first sliding assembly (134) comprises a first sliding block (1341) and a first sliding rail (1342), wherein the first sliding block (1341) and the first sliding rail (1342) are slidably connected; The second sliding assembly (135) comprises a second sliding block (1351) and a second sliding rail (1352), and the second sliding block (1351) and the second sliding rail (1352) are slidably connected; The third transition component (144) connects the first slider (1341) and the second slider (1351).

7. The wire-driven continuum robot according to claim 2, characterized in that: The wire-driven continuum robot further comprises a support assembly (4), wherein the support assembly (4) comprises a first support component (41) and a second support component (42), wherein the first support component (41) is arranged on the fixed plate (11), and the second support component (42) is arranged on the wire-driven assembly (2), and the robotic arm assembly (3) is supported by the first support component (41) and the second support component (42).

8. The wire-driven continuum robot according to claim 1, characterized in that: The driving assembly (21) includes a first sub-driving assembly (211) and a second sub-driving assembly (212); the first transmission assembly (22) includes a first sub-transmission assembly and a second sub-transmission assembly; The first sub-transmission assembly is respectively connected to the first sub-drive assembly (211) and the first active segment drive wire (231); the second sub-transmission assembly is respectively connected to the second sub-drive assembly (212) and the second active segment drive wire (232).

9. The wire-driven continuum robot according to claim 8, characterized in that: The first transmission assembly (22) further comprises a transmission bracket (221), the transmission bracket (221) comprising a fixed bracket (2214) and a guide rod bracket (2215), the fixed bracket (2214) and the guide rod bracket (2215) being connected via bolts, guide rod brackets (2215) being provided on both sides of the fixed bracket (2214) in a width direction, and a plurality of groups of first sub-transmission assemblies and a plurality of groups of second sub-transmission assemblies being arranged in an array in a height direction of the guide rod bracket (2215).

10. The wire-driven continuum robot according to claim 9, characterized in that: In the height direction of the guide rod bracket (2215), a group of the first sub-transmission components and a group of the second sub-transmission components are arranged crosswise.

11. The wire-driven continuum robot according to claim 10, characterized in that: Each of the first sub-transmission assemblies comprises a first transmission component (222) and a first guide rod assembly (224); the first transmission component (222) is arranged on the first guide rod assembly (224); and the first guide rod assembly (224) is arranged on the guide rod bracket (2215) via a spring buckle (2211); Each of the second sub-transmission assemblies comprises a second transmission component (223) and a second guide rod assembly (225); the second transmission component (223) is arranged on the second guide rod assembly (225); and the second guide rod assembly (225) is arranged on the guide rod bracket (2215) via a spring buckle (2211).

12. The wire-driven continuum robot according to claim 11, characterized in that: The first transmission component (222) and the second transmission component (223) have the same structure; The first transmission component (222) includes a first buckling component (2221) and a first elastic rope (2222); the first buckling component (2221) is slidably connected to the first guide rod assembly (224); the first buckling component (2221) connects one end of the first active segment driving wire (231) and one end of the first elastic rope (2222); the other end of the first active segment driving wire (231) is connected to the bending assembly (31); and the other end of the first elastic rope (2222) is connected to the transmission bracket (221).

13. The wire-driven continuum robot according to claim 12, wherein: The first fastening component (2221) comprises a first quick-release adapter component (2223), a third slider (2224) and a first locking buckle (2225); the third slider (2224) is arranged on the first guide rod assembly (224); and the first quick-release adapter component (2223) is connected to the third slider (2224) via the first locking buckle (2225).

14. The wire-driven continuum robot according to claim 13, wherein: The third slider (2224) includes a shaft sleeve assembly (2226), a first drive wire pre-tightening adjustment element (2227) and an elastic rope pre-tightening adjustment element (2228), the first drive wire pre-tightening adjustment element (2227) is connected to the first active segment drive wire (231), the elastic rope pre-tightening adjustment element (2228) is connected to the first elastic rope (2222), and the shaft sleeve assembly (2226) is connected to the first guide rod assembly (224).

15. The wire-driven continuum robot according to any one of claims 8 to 14, characterized in that: The first sub-drive assembly (211) and the second sub-drive assembly (212) have the same structure; The first sub-drive assembly (211) comprises a first drive component (2111), a first lead screw (2112), a first clamping component (2113) and a third guide rod (2114); the first drive component (2111) is connected to the first lead screw (2112); one end of the first clamping component (2113) is connected to the third guide rod (2114) and the first lead screw (2112); the other end of the first clamping component (2113) is connected to the first fastening component (2221).

16. The wire-driven continuum robot according to claim 15, characterized in that: The first clamping component (2113) includes a first lead screw nut (2125), a first transfer slider (2126) and a first tension sensor (2127); the first lead screw nut (2125) and the first tension sensor (2127) are respectively connected to the first transfer slider (2126); the first lead screw nut (2125) is connected to the first lead screw (2112); the first transfer slider (2126) is respectively connected to the first lead screw (2112) and the third guide rod (2114); and the first tension sensor (2127) is connected to the first quick-release transfer component (2223).

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