A lung-imitating soft robot and a radial annular pneumatic soft driver thereof

Abstract

The application discloses a lung-imitated soft robot and a radial annular pneumatic soft driver thereof, the driver is provided with an annular air bag on a central annular framework; a plurality of sector air chambers are separated in the annular air bag, and an air inlet pipe is fixedly connected to the inner circumferential surface of the annular air bag; the air inlet pipe penetrates through a through hole of the central annular framework and is located in the central annular framework, and is used for connecting a gas supply device; the annular air bag has a shaft diameter bidirectional deformation characteristic, and is provided with an axial limiting structure for limiting axial deformation thereof; and the profile shape when the lung is radially deformed is simulated by conveying pressure gas into each sector air chamber to drive circumferential deformation. The driver effectively inhibits axial deformation of the annular pneumatic soft driver through a pneumatic driving mode, improves radial deformation efficiency, and can simulate the profile shape when the lung is radially deformed.

Description

Technical Field

[0001] This invention relates to the field of pneumatic soft robot technology, specifically to a lung-inspired soft robot and its radial annular pneumatic soft actuator. Background Technology

[0002] Lung cancer, as one of the most serious malignant tumors threatening public health and life, is generally treated with radiotherapy or open-chest surgery. Radiotherapy requires high precision in locating the lung tumor. However, because the lungs contract and expand during inhalation and exhalation, the tumor moves spatially with respiration, affecting the accuracy of radiotherapy. Respiratory gating technology can improve the accuracy of radiotherapy to some extent, but it requires high patient tolerance. Image-guided technology can also improve the accuracy of radiotherapy, but it introduces additional radiation doses and causes corresponding side effects. Pneumatic soft robots are a type of robotic technology that uses gas control to achieve shape changes to perform certain functions. They have a soft outer shell and internal pneumatic chambers, changing the robot's shape and movement by controlling the flow of gas.

[0003] Compared to traditional rigid robots, pneumatic soft robots possess greater flexibility and adaptability, enabling them to operate in complex and irregular environments, and theoretically have an unlimited number of degrees of freedom. They hold significant practical importance and have broad application prospects in fields such as medicine, rescue, and industry.

[0004] Pneumatic soft robots, such as the McKibben-type pneumatic artificial muscle and the PneuNet-type actuator, focus more on the axial and circumferential deformation of the pneumatic soft robot, analyzing their forces and structures, but lacking research on radial deformation. Furthermore, traditional toroidal pneumatic soft robots have limitations in radial deformation, making their radial deformation efficiency far lower than their axial deformation. Under fixed air pressure, without axial restraint structures, toroidal pneumatic soft actuators exhibit significant axial deformation, affecting radial deformation efficiency and increasing the difficulty of radial deformation. This results in low efficiency and poor radial deformation performance when simulating the radial contour of the lung, making tumor location prediction difficult. Therefore, a simple and effective structure or method is needed to restrain axial deformation and improve radial deformation efficiency, allowing toroidal pneumatic soft actuators to have more development potential in the radial direction and achieve better results in simulating the radial contour of the lung, controlling the radial deformation trajectory of the lung, and predicting the movement space of lung tumors. Summary of the Invention

[0005] To enable a lung-inspired soft robot to accurately simulate the deformation of the human lung under respiration, this invention provides a lung-inspired soft robot and its radial annular pneumatic soft actuator. The pneumatic drive effectively suppresses the axial deformation of the annular pneumatic soft actuator, improves the radial deformation efficiency, and, through the characteristic of radial multi-directional deformation, effectively improves the annular pneumatic soft actuator's ability to perform complex deformation in the circumferential direction, thus enabling the lung-inspired soft robot to have better performance in simulating radial deformation.

[0006] The present invention adopts the following specific technical solution:

[0007] The present invention provides a radial annular pneumatic soft actuator for a lung-inspired soft robot, the actuator comprising a central annular skeleton and an annular airbag sleeved on the outer periphery of the central annular skeleton.

[0008] The annular airbag is divided into multiple independent fan-shaped air chambers distributed along its circumference, and an air inlet pipe is fixedly connected to the inner circumferential surface of the annular airbag, corresponding to and communicating with each of the fan-shaped air chambers.

[0009] The central annular frame is provided with through holes distributed along its circumference and corresponding one-to-one with the air intake pipe.

[0010] The air intake pipe passes through the corresponding through hole and is located within the central annular frame, and is used to connect the air supply device;

[0011] The annular airbag has bidirectional deformation characteristics in both axial and radial directions and is provided with an axial restraint structure to limit its axial deformation. By delivering pressurized gas into each fan-shaped air chamber, its circumferential deformation is driven to simulate the contour shape of the lung during radial deformation.

[0012] Furthermore, the axial confinement structure is composed of multiple vertically arranged wires in an array;

[0013] The top of the vertical filament is embedded in the top wall of the fan-shaped air chamber;

[0014] The bottom end of the vertical filament is embedded in the bottom wall of the fan-shaped air chamber.

[0015] Furthermore, the vertical wires are arranged perpendicularly to both the top wall and the bottom wall.

[0016] Furthermore, the vertical filaments are multi-strand structures made of cotton or polyester bonded together;

[0017] The vertical wires are sealed with silicone solution or flexible adhesive between themselves and the top and bottom walls.

[0018] Furthermore, the annular airbag is provided with a plurality of ribs extending radially therein;

[0019] The multiple ribs divide the annular airbag cavity into multiple fan-shaped air chambers.

[0020] Furthermore, the fan-shaped air chamber is formed by a top wall, a bottom wall, rib walls, an outer wall, and an inner wall.

[0021] The thickness of the top wall is the same as the thickness of the bottom wall;

[0022] The wall thickness of the rib is greater than or equal to the wall thickness of the top wall and less than the wall thickness of the outer wall.

[0023] Furthermore, the central annular frame is provided with rings extending radially outward at both ends;

[0024] The ring forms a flange structure, which is used to limit the inner end of the annular airbag.

[0025] Furthermore, the annular airbag is made of silicone rubber.

[0026] Furthermore, the air supply device is an air pump.

[0027] In addition, the present invention also provides a lung-inspired soft robot, which includes any one of the radial annular pneumatic soft actuators provided by the above-mentioned technical solutions with different structural parameters.

[0028] Multiple radial annular pneumatic soft actuators with different structural parameters are stacked and fixedly connected together to form a lung-like soft robot.

[0029] Beneficial effects:

[0030] 1. The radial annular pneumatic soft actuator of the present invention adopts compressed air drive and uses an axial constraint structure to axially constrain the annular airbag. By delivering gas of different pressures to each sector-shaped air chamber surrounding the central annular frame, the outer peripheral surface of the sector-shaped air chamber undergoes radial deformation under air pressure. This allows the outer peripheral surface of the annular airbag to deform in segments and change the circumferential curvature, thereby realizing the radial deformation and circumferential curvature change of the pneumatic soft actuator. This effectively improves the complex deformation capability of the annular pneumatic soft actuator in the circumferential direction, thereby changing the shape and size of the radial profile of the lung-like soft robot, thus simulating the profile shape when the lung is deformed radially, and giving the lung-like soft robot a better deformation simulation effect when simulating radial deformation.

[0031] 2. The radial annular pneumatic soft actuator of the present invention can effectively limit the axial deformation of the annular airbag through the axial limiting structure. Because the annular airbag is restricted by the axial limiting structure, the connection between the annular airbag and the axial limiting structure cannot be displaced axially, which reduces the overall axial deformation of the annular airbag and increases the stress required for deformation. Under the same air pressure, the fan-shaped air chamber with a smaller stress required for deformation deforms more because the axial deformation of the annular airbag is restricted and the stress required for deformation is larger, while the radial deformation is not restricted and the stress required for deformation is smaller. This makes the radial deformation of the annular airbag more obvious. In situations where only the radial deformation of the pneumatic soft robot needs to be utilized, the air pressure utilization rate is higher and the effect is better. Attached Figure Description

[0032] Figure 1 This is a three-dimensional structural schematic diagram of the radial annular pneumatic soft actuator of the present invention;

[0033] Figure 2 for Figure 1 Cross-sectional view of the central annular airbag;

[0034] Figure 3 for Figure 1 A three-dimensional structural diagram of the central ring-shaped skeleton;

[0035] Figure 4 This is a schematic diagram of a modified radial annular pneumatic soft actuator of the present invention;

[0036] Figure 5 This is a three-dimensional structural diagram of the lung-inspired soft robot of the present invention.

[0037] Among them, 1-central annular skeleton, 2-annular airbag, 3-vertical thread, 11-through hole, 12-circular ring, 21-fan-shaped air chamber, 22-inlet pipe, 23-bottom wall, 24-rib wall, 25-outer wall, 26-inner wall Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Example 1

[0040] This embodiment provides a radial annular pneumatic soft actuator for a lung-inspired soft robot, such as... Figure 1 and Figure 4As shown, the actuator includes a central annular frame 1 and an annular airbag 2 fitted around the outer periphery of the central annular frame 1; the structure of the central annular frame 1 is referenced. Figure 2 ; Structural reference of annular airbag 2 Figure 1 and Figure 3 ;

[0041] The annular airbag 2 is divided into multiple independent fan-shaped air chambers 21 distributed circumferentially. An air inlet pipe 22, corresponding to and communicating with each fan-shaped air chamber 21, is fixedly connected to the inner circumferential surface of the annular airbag 2. The annular airbag 2 can be made of deformable flexible materials such as silicone rubber. Figure 2 As shown, taking an annular airbag 2 divided into nine sector-shaped air chambers 21 as an example, the nine sector-shaped air chambers 21 are independent of each other and are not interconnected. Multiple radially extending ribs 24 are provided inside the annular airbag 2; these ribs 24 divide the inner cavity of the annular airbag 2 into multiple sector-shaped air chambers 21. Each sector-shaped air chamber 21 is formed by a top wall, a bottom wall 23, ribs 24, an outer wall 25, and an inner wall 26, and is an empty space formed by these components. The annular airbag 21 is divided into two sections: the top wall is a closed structure at the top of the fan-shaped air chamber 21; the bottom wall 23 is a closed structure at the bottom of the fan-shaped air chamber 21; the outer wall 25 is a closed structure on the outer periphery of the fan-shaped air chamber 21; the inner wall 26 is a closed structure on the inner periphery of the fan-shaped air chamber 21; the rib wall 24 is fixedly connected between the outer wall 25 and the inner wall 26, and also fixedly connected between the top wall and the bottom wall 23, for separating the space inside the annular airbag 2; the wall thickness of the top wall is the same as the wall thickness of the bottom wall 23; the wall thickness of the rib wall 24 is greater than or equal to the wall thickness of the top wall and less than the wall thickness of the outer wall 25.

[0042] The central annular frame 1 is provided with through holes 11 distributed circumferentially and corresponding one-to-one with the air inlet pipes 22. The through holes 11 are used to pass through the air inlet pipes 22. When the annular airbag 2 is provided with nine fan-shaped air chambers 21, the central annular frame 1 is provided with nine through holes 11 corresponding one-to-one with the nine air inlet pipes 22. When the annular airbag 2 is fitted onto the central annular frame 1, the air inlet pipes 22 pass through the corresponding through holes 11 and are located within the central annular frame 1, for connecting to the air supply device. The air supply device can be an air pump, air tank, etc. The central annular frame 1 forms an installation space for the air inlet pipes 22. When multiple annular airbags 2 are axially aligned or superimposed with other structures, the air inlet pipes 22 can be spirally twisted together and pass through the cylindrical space within the inner circumference of the central annular frame 1 to connect to the air supply device, reducing interference from the air pipes to the actuator. Figure 3 As shown, the central annular frame 1 is provided with rings 12 extending outward along its radial direction at both ends; the rings 12 form a flange structure, which is used to limit the inner end of the annular airbag 2, and the flange structure formed by the rings 12 can also realize the connection.

[0043] The annular airbag 2 has bidirectional deformation characteristics in both the axial and circumferential directions and is equipped with an axial restraint structure to limit its axial deformation. By delivering pressurized gas into each sector-shaped air chamber 21, its circumferential deformation is driven to simulate the contour shape of the lung during radial deformation. The bidirectional deformation characteristic in both the axial and circumferential directions means that it can deform in both directions.

[0044] The aforementioned radial annular pneumatic soft actuator uses compressed air for driving. It utilizes an axial constraint structure to axially constrain the annular airbag 2. By supplying gas of different pressures to each sector-shaped air chamber 21 surrounding the central annular frame 1, the outer circumferential surface of the sector-shaped air chamber 21 undergoes radial deformation under air pressure. This allows the outer circumferential surface of the annular airbag 2 to undergo segmented deformation, thereby changing the circumferential curvature. This enables the pneumatic soft actuator to achieve radial deformation and circumferential curvature changes, effectively improving the annular pneumatic soft actuator's ability to perform complex deformations in the circumferential direction. Consequently, it alters the shape and size of the radial profile of the lung-like soft robot, thus simulating the profile shape during radial deformation of the lung. This results in better deformation simulation effects for the lung-like soft robot when simulating radial deformation.

[0045] The aforementioned radial annular pneumatic soft actuator effectively restricts the axial deformation of the annular airbag 2 through the axial constraint structure. Due to the restriction of the annular airbag 2 by the axial constraint structure, the connection between the annular airbag 2 and the axial constraint structure cannot be displaced axially, resulting in a reduction in the overall axial deformation of the annular airbag 2 and an increase in the stress required for deformation. Under the same air pressure, the fan-shaped air chamber 21, which requires less stress for deformation, deforms more because the axial deformation of the annular airbag 2 is restricted, requiring a larger stress for deformation, while the radial deformation is not restricted, requiring a smaller stress for deformation. This makes the radial deformation of the annular airbag 2 more obvious, resulting in higher air pressure utilization and better performance in situations where only radial deformation of the pneumatic soft robot is required.

[0046] In the aforementioned radial annular pneumatic soft actuator, the axial restraint structure consists of multiple vertically arranged vertical filaments 3. The top ends of the vertical filaments 3 are embedded in the top wall of the fan-shaped air chamber 21, and the bottom ends of the vertical filaments 3 are embedded in the bottom wall 23 of the fan-shaped air chamber 21. The vertical filaments 3 are perpendicular to both the top and bottom walls 23. The length of the vertical filaments 3 is the same as the height of the annular air bladder 2 in its natural state, preventing the annular air bladder 2 at the vertical filaments 3 from deforming axially. The vertical filaments 3 can be multi-strand structures made of materials such as cotton or polyester through bonding. The multi-strand structures of the vertical filaments 3 have small gaps between them, facilitating the penetration and adhesion of silicone solution. The vertical filaments 3 are sealed with silicone solution or flexible adhesive between themselves and the top and bottom walls 23. In each fan-shaped air chamber 21, the number of vertical filaments 3 distributed in an array is even. The vertical filaments 3 pass through the top and bottom walls 23 of the annular air bladder 2 and are cut to be flush with the wall surface. A small amount of silicone solution or flexible glue is applied for sealing treatment.

[0047] The axial movement of the top and bottom walls 23 of the annular airbag 2 is restricted under the tension of the vertical filament 3. The top and bottom walls 23 are re-divided into small quadrilateral regions with the connection point with the vertical filament 3 as the boundary. Because the area is reduced, the degree of axial deformation is reduced when the small quadrilateral is deformed, and the stress required for axial deformation is increased.

[0048] The annular airbag 2 of the aforementioned radial annular pneumatic soft actuator contains multiple spatially independent air chambers, which can be inflated into a single sector-shaped air chamber 21 through the air inlet pipe 22. Two inflation strategies can be used during inflation:

[0049] 1. Gas of the same pressure is introduced into each sector-shaped air chamber 21. Since the air pressure in each air chamber is the same, under the action of the axial restraint structure, the annular air bag 2 extends radially by the same length, making the radial profile of the pneumatic soft actuator approximately circular and expanding radially.

[0050] 2. The gas pressure introduced into each sector-shaped air chamber 21 is planned and designed. Different pressures of gas are introduced. The radial change of the sector-shaped air chamber 21 with lower pressure is smaller, and the radial change of the sector-shaped air chamber 21 with higher pressure is larger, so as to simulate the radial contour shape of the lung.

[0051] Example 2

[0052] This embodiment provides a lung-inspired soft robot, which includes multiple radial annular pneumatic soft actuators with different structural parameters stacked together. These multiple radial annular pneumatic soft actuators with different structural parameters are fixedly connected together to form the lung-inspired soft robot. By controlling the deformation of each radial annular pneumatic soft actuator, the contour of the lung during deformation can be simulated. Figure 5 As shown in the structure, the lung-like soft robot consists of multiple stacked radial annular pneumatic soft actuators, and the outer diameter of each radial annular pneumatic soft actuator is different.

[0053] The structural parameters of the radial annular pneumatic soft actuator include the diameter and height of the annular airbag, the number of independent air chambers, the outer diameter of the central annular skeleton, and the height of the central annular skeleton. The shape of the lung is simulated by stacking radial annular pneumatic soft actuators with different structural parameters.

[0054] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A radial annular pneumatic soft actuator for a lung-inspired soft robot, characterized in that, It includes a central annular frame and an annular airbag fitted around the outer periphery of the central annular frame; The annular airbag is divided into multiple independent fan-shaped air chambers distributed along its circumference, and an air inlet pipe is fixedly connected to the inner circumferential surface of the annular airbag, corresponding to and communicating with each of the fan-shaped air chambers. The central annular frame is provided with through holes distributed along its circumference and corresponding one-to-one with the air intake pipe. The air intake pipe passes through the corresponding through hole and is located within the central annular frame, and is used to connect the air supply device; The annular airbag has bidirectional deformation characteristics in both the axial and radial directions, and is provided with an axial restraint structure to limit its axial deformation. By delivering pressurized gas into each fan-shaped air chamber, its circumferential deformation is driven to simulate the contour shape of the lung when it undergoes radial deformation. The axial restraint structure is composed of multiple vertically arranged vertical wires; the top end of each vertical wire is embedded in the top wall of the fan-shaped air chamber; the bottom end of each vertical wire is embedded in the bottom wall of the fan-shaped air chamber; the vertical wires are perpendicular to both the top and bottom walls; the length of each vertical wire is the same as the height of the annular airbag in its natural state. When gas of the same pressure is introduced into each sector-shaped air chamber, the annular airbag stretches the same length radially under the action of the axial confinement structure because the pressure in each air chamber is the same, making the radial profile of the pneumatic soft actuator approximately circular and expanding radially. The gas pressure introduced into each sector-shaped air chamber is planned and designed, and different pressures of gas are introduced. The sector-shaped air chamber with lower pressure has a smaller radial change, while the sector-shaped air chamber with higher pressure has a larger radial change, thereby simulating the radial contour shape of the lung.

2. The driver as claimed in claim 1, characterized in that, The vertical filaments are multi-strand structures made of cotton or polyester through bonding. The vertical wires are sealed with silicone solution or flexible adhesive between themselves and the top and bottom walls.

3. The driver as claimed in claim 1, characterized in that, The annular airbag is provided with multiple ribs extending radially therein. The multiple ribs divide the annular airbag cavity into multiple fan-shaped air chambers.

4. The driver as claimed in claim 3, characterized in that, The fan-shaped air chamber is formed by a top wall, a bottom wall, rib walls, an outer wall, and an inner wall. The thickness of the top wall is the same as the thickness of the bottom wall; The wall thickness of the rib is greater than or equal to the wall thickness of the top wall and less than the wall thickness of the outer wall.

5. The driver as claimed in claim 1, characterized in that, The central annular frame is provided with rings at both ends that extend radially outward. The ring forms a flange structure, which is used to limit the inner end of the annular airbag.

6. The driver according to any one of claims 1-5, characterized in that, The annular airbag is made of silicone rubber.

7. The driver as described in any one of claims 1-5, characterized in that, The gas supply device is an air pump.

8. A lung-inspired soft robot, characterized in that, Including multiple radial annular pneumatic soft actuators with different structural parameters as described in any one of claims 1-7; Multiple radial annular pneumatic soft actuators with different structural parameters are stacked and fixedly connected together to form a lung-like soft robot.

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