Rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot

Abstract

The present invention relates to the technical field of medical devices, and provides a rigid-flexible coupled multi-layer heterogeneous dialing continuum robot, comprising: a dialing support mechanism, a continuum sheath and a driving mechanism, wherein the continuum sheath is connected to the dialing support mechanism; the driving mechanism comprises a plurality of first driving wires and a plurality of second driving wires, wherein the continuum sheath is connected to the plurality of first driving wires; the dialing support mechanism comprises a plurality of flexible valves, wherein the first end of each flexible valve is connected to the continuum sheath, and the second end of each flexible valve is a free end, and in the initial state, the second ends of the plurality of flexible valves are in a gathered state; and each flexible valve is connected to a second driving wire. The rigid-flexible coupled multi-layer heterogeneous dialing continuum robot can drive the continuum sheath to bend when the first driving wire is pulled, so that the flexible valve moves to the target position; and can drive the plurality of flexible valves to open when the second driving wire is pulled, so as to dial the soft tissue and form a surgical space.

Description

Technical Field

[0001] The invention relates to the technical field of medical devices, and in particular to a rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot. Background Art

[0002] In the field of modern medical devices, the development of high-precision and high-efficiency surgical robot systems is crucial to improving treatment outcomes and ensuring patient safety, especially in complex minimally invasive surgeries involving deep soft tissues of the human body (such as the deep part of the retroorbital region of the eyeball). These deep areas often lack the natural cavities required for minimally invasive surgery, which poses a huge challenge to traditional surgical methods and may lead to greater trauma and postoperative complications. Based on this, providing a robot that can perform surgical operations in a small space without natural cavities has become an urgent problem to be solved in the industry. Summary of the invention

[0003] The present invention provides a rigid-flexible coupled multi-layer heterogeneous insertion continuum robot, which is used to solve the defect that the existing surgical robots in the prior art cannot perform surgical operations in a narrow space without a natural cavity.

[0004] The present invention provides a rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot, comprising: a dial-in support mechanism, a continuum sheath and a driving mechanism, wherein the continuum sheath is connected to the dial-in support mechanism; the driving mechanism comprises a plurality of first driving wires and a plurality of second driving wires, wherein the continuum sheath is connected to the plurality of first driving wires, and when the first driving wires are pulled, the continuum sheath can be driven to bend; the dial-in support mechanism comprises a plurality of flexible valves, wherein the first end of each of the flexible valves is connected to the continuum sheath, and the second end of each of the flexible valves is a free end, and in an initial state, the second ends of the plurality of flexible valves are in a gathered state; each of the flexible valves is connected to one of the second driving wires, and when the plurality of the second driving wires are pulled, the second ends of the plurality of flexible valves can be driven to move away from each other.

[0005] According to a rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot provided by the present invention, the outer shape of each flexible valve is a triangular leaf shape, and the surface of the flexible valve is a spherical surface.

[0006] According to a rigid-flexible coupled multi-layer heterogeneous push-in continuum robot provided by the present invention, each of the flexible valves includes: a flexible skeleton and a soft shell, the soft shell is coated on the outside of the flexible skeleton, the flexible skeleton is connected to the continuum sheath and the second driving wire, wherein the elastic modulus of the flexible skeleton is greater than the elastic modulus of the soft shell.

[0007] According to a rigid-flexible coupled multi-layer heterogeneous dialing continuum robot provided by the present invention, a first force sensing skin is provided on the surface of each flexible valve, and the first force sensing skin is used to sense the contact force of the flexible valve.

[0008] According to a rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot provided by the present invention, the continuum sheath is a multi-layer structure, and the rigidity of the continuum sheath gradually increases from the outer layer to the inner layer.

[0009] According to a rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot provided by the present invention, the continuum sheath includes a sensing layer, a flexible braided layer, a first flexible skeleton layer and a second flexible skeleton layer arranged in sequence from the outside to the inside, and the second flexible skeleton layer has a plurality of instrument channels; the continuum sheath is divided into an active section and a passive section, the active section is connected to the flexible valve, the first flexible skeleton layer and the second flexible skeleton layer of the active section are keel structures, and the second flexible skeleton layer is provided with a plurality of channels along the extension direction of its own length, and the channels are used to accommodate the first driving wire or the second driving wire.

[0010] According to a rigid-flexible coupled multi-layer heterogeneous dialing continuum robot provided by the present invention, the sensing layer includes a second force sensing skin and an outer sheath layer, the second force sensing skin is coated on the outside of the outer sheath layer and is integrally formed with the outer sheath layer, and the outer sheath layer is a soft outer sheath layer.

[0011] According to a rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot provided by the present invention, the continuum sheath also includes a hard outer tube, which is sleeved outside the sensing layer of the passive section, and the elastic modulus of the hard outer tube is greater than the elastic modulus of the flexible braided layer.

[0012] According to a rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot provided by the present invention, the active segment is divided into a first active segment and a second active segment, and the plurality of first driving wires are divided into a first group of first driving wires and a second group of first driving wires, the first group of first driving wires is connected to the first active segment, the second group of first driving wires is connected to the second active segment, and the driving directions of the first group of first driving wires and the second group of first driving wires are different.

[0013] According to the present invention, a rigid-flexible coupled multi-layer heterogeneous insertion continuum robot also includes a support arm, and the continuum sheath is connected to the support arm; the driving mechanism also includes a rotating motor and a progressive motor, and the rotating motor and the progressive motor are both connected to the support arm to drive the continuum sheath to rotate and deliver.

[0014] The rigid-soft coupled multi-layer heterogeneous pushing-in continuum robot provided by the present invention can drive the continuum sheath to bend when the first driving wire is pulled, so that the flexible valve moves to the target position; when the second driving wire is pulled, multiple flexible valves can be driven to open to push the soft tissue to form a surgical space, meeting the needs of performing surgical operations in a narrow space without a natural cavity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 It is a structural schematic diagram of the rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot provided by the present invention.

[0017] Figure 2 yes Figure 1 A schematic diagram of the structure of the dial-in support mechanism and the continuum sheath is shown in FIG.

[0018] Figure 3 yes Figure 2 A schematic structural diagram of the dial-in support mechanism is shown in FIG.

[0019] Figure 4 yes Figure 2 Schematic diagram of the structure of the continuum sheath shown in FIG.

[0020] Figure 5 It is a schematic diagram of the structure of the active section of the continuum sheath.

[0021] Figure 6 Schematic diagram of the structure of the end of the continuum sheath.

[0022] Figure 7 It is a schematic diagram of the setting positions of the first driving wire and the second driving wire.

[0023] Reference numerals:

[0024] 1. Push in the support mechanism; 2. Continuum sheath; 31. Support arm; 32. First track; 4. Bracket; 5. Introducing head; 61. Instrument slider; 62. Second track; 7. Rotating motor;

[0025] 11. flexible valve; 21. sensing layer; 22. braided layer; 23. first flexible skeleton layer; 24. second flexible skeleton layer; 71. first driving wire; 72. second driving wire;

[0026] 111, soft shell; 112, flexible skeleton; 201, active section; 202, passive section; 231, through groove; 241, channel; 242, instrument channel; 2011, first active section; 2012, second active section. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Combine the following Figure 1-Figure 7 The rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot of the present invention is described.

[0029] like Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the rigid-flexible coupled multi-layer heterogeneous dialing continuum robot comprises: a dialing support mechanism 1, a continuum sheath 2 and a driving mechanism. The continuum sheath 2 is connected to the dialing support mechanism 1, and the driving mechanism comprises a plurality of first driving wires 71 and a plurality of second driving wires 72. The continuum sheath 2 is connected to the plurality of first driving wires 71, and when the first driving wires 71 are pulled, the continuum sheath 2 can be driven to bend. The dialing support mechanism 1 comprises a plurality of flexible valves 11, the first end of each flexible valve 11 is connected to the continuum sheath 2, and the second end of each flexible valve 11 is a free end. In the initial state, the second ends of the plurality of flexible valves 11 are in a gathered state. Each flexible valve 11 is connected to a second driving wire 72, and when the plurality of second driving wires 72 are pulled, the second ends of the plurality of flexible valves 11 can be driven to move away from each other to dial the soft tissue and provide space for surgical operations.

[0030] Specifically, in this embodiment, when the multiple first driving wires 71 are pulled, the continuous sheath tube 2 can be bent, thereby driving the push-in support mechanism 1 to move to the target position. At this time, the second ends of the multiple flexible valves 11 are gathered. Then, the second driving wires 72 are pulled to drive the multiple flexible valves 11 to open, providing an operating space for the surgery.

[0031] In actual operation, such as when performing surgery on the eyeball, the rigid-flexible coupled multi-layer heterogeneous push-in continuum robot is moved to the entrance of the minimally invasive channel of the eye, and the main body feeding mechanism is controlled to enter the minimally invasive channel. The feeding movement controls the rigid-flexible coupled multi-layer heterogeneous push-in continuum robot to move forward in the minimally invasive channel, while pulling multiple first driving wires 71 to move along the minimally invasive channel, driving the push-in support mechanism 1 to move to the surgical area at the back of the eyeball, and then pulling multiple second driving wires 72 to drive multiple flexible valves 11 to open outward, and the flexible valves 11 push the soft tissue to move to form a surgical operation space. The space enclosed by multiple flexible valves 11 is the surgical operation space.

[0032] The continuous sheath 2 has a plurality of instrument channels inside. When the flexible valve 11 is opened, surgical instruments can be extended from the instrument channels to perform surgical operations.

[0033] In this embodiment, the flexible valve 11 is made of a flexible material, and when the second driving wire 72 is pulled, the flexible valve 11 can be driven to move. When it contacts the soft tissue of the eyeball, it will not cause major trauma to the soft tissue of the eyeball.

[0034] The rigid-soft coupled multi-layer heterogeneous pushing continuum robot provided in an embodiment of the present invention can drive the continuum sheath to bend when the first driving wire is pulled, so that the flexible valve moves to the target position; when the second driving wire is pulled, it can drive multiple flexible valves to open to push the soft tissue to form a surgical space, meeting the needs of performing surgical operations in a narrow space without a natural cavity.

[0035] like Figure 2 As shown, in the embodiment of the present invention, the shape of each flexible valve 11 is a triangular leaf shape, the larger end of the flexible valve 11 is connected to the continuum sheath 2, and the smaller end is a free end. The surface of the flexible valve 11 is a spherical surface. In this embodiment, the number and length of the flexible valves 11 can be adjusted and customized according to the operation, and the opening angle of the flexible valve 11 is different, and the size of the surgical operation space provided is different. In this embodiment, the second ends of the multiple flexible valves 11 are gathered to form a circular opening to provide a visual window for the endoscope and an operating space for the surgical instruments.

[0036] like Figure 3 As shown, in an embodiment of the present invention, each flexible valve 11 includes: a soft shell 111 and a flexible skeleton 112, the soft shell 111 is covered on the outside of the flexible skeleton 112, the flexible skeleton 112 is connected to the continuous sheath 2 and the second driving wire 72, wherein the elastic modulus of the flexible skeleton 112 is greater than the elastic modulus of the soft shell 111.

[0037] Specifically, in this embodiment, the soft shell 111 uses a soft material with a small elastic modulus to ensure flexibility, and the flexible skeleton 112 uses a flexible material with a large elastic modulus to ensure that the push-in support mechanism 1 is accurately deployed in a narrow operating space and provides stable support. Optionally, in an embodiment of the present invention, the soft material can be a material such as silicone, and the flexible material can be a material with low rigidity such as nickel-titanium alloy.

[0038] Furthermore, the surface of each flexible valve 11 is integrally formed with two first force sensing skins by direct writing 3D printing for contact force sensing. In the present embodiment, the two first force sensing skins are arranged at an angle, and the included angle is 120°.

[0039] In the embodiment of the present invention, the continuum sheath 2 is a multi-layer structure, and the rigidity of the multi-layer structure gradually increases from the outside to the inside. The outer layer is made of soft material to ensure the softness when in contact with human tissue, and the inner layer structure is made of flexible material to ensure that the rigid-soft coupled multi-layer heterogeneous dial-in continuum robot can perform precise operations deep in human tissue.

[0040] like Figure 4 As shown, in the embodiment of the present invention, the continuous sheath tube 2 includes a sensing layer 21, a flexible braided layer 22, a first flexible skeleton layer 23 and a second flexible skeleton layer 24 arranged in sequence from the outside to the inside. It should be noted that: in this embodiment, the sensing layer 21, the flexible braided layer 22, the first flexible skeleton layer 23 and the second flexible skeleton layer 24 are all tube bodies. The second flexible skeleton layer 24 has a plurality of instrument channels 242. Specifically. As Figure 6 As shown, four instrument channels 242 are formed inside, of which two instrument channels 242 are surgical instrument channels, one instrument channel 242 is a suction channel, and the other instrument channel 242 is a binocular endoscope channel.

[0041] In the present embodiment, the continuum sheath 2 is divided into an active section 201 and a passive section 202. The active section 201 is connected to the flexible valve 11. The active section 201 is also connected to the first drive wire 71 so that it can bend under the action of the first drive wire 71. The active section 201 adopts a flexible design to ensure flexibility and guidance. The outer sleeve of the sensing layer of the passive section 202 is provided with a hard outer tube so that the passive section 202 can provide sufficient support and transmission. In the present embodiment, the elastic modulus of the hard outer tube is greater than the elastic modulus of the flexible material, that is, in the embodiment of the present invention, the rigidity of the hard material is greater than that of the flexible material, and the rigidity of the flexible material is greater than that of the soft material. Optionally, the hard material can be stainless steel or the like.

[0042] like Figure 4 and Figure 5As shown, in order to make the active section 201 have better flexibility, the first flexible skeleton layer 23 and the second flexible skeleton layer 24 of the active section 201 are keel structures. Specifically, taking the first flexible skeleton layer 23 as an example, the first flexible skeleton layer 23 is provided with a plurality of circles of through grooves 231 along the extension direction of its length, and each circle of through grooves 231 includes a plurality of discontinuous through grooves 231 arranged along the circumferential direction of the first flexible skeleton layer 23, and the through grooves 231 of two adjacent circles are staggered. Correspondingly, the structure of the second flexible skeleton layer 24 is the same as that of the first flexible skeleton layer 23, and the positions of each circle of through grooves 231 of the two are aligned.

[0043] like Figure 5 As shown, a plurality of channels 241 are provided on the surface of the second flexible skeleton layer 24 along the extension direction of the length of the second flexible skeleton layer 24 , and the plurality of channels 241 are used to accommodate the first driving wire 71 or the second driving wire 72 .

[0044] Furthermore, in order to improve the degree of freedom of the active segment of the continuous sheath tube 2, in the embodiment of the present invention, the active segment 201 is divided into a first active segment 2011 and a second active segment 2012, and each active segment is controlled by a group of first driving wires 71, so that the first active segment 2011 and the second active segment 2012 have different degrees of freedom, thereby improving the flexibility of the entire active segment 201 when bending. For example, the first active segment 2011 has the degree of freedom in the X-axis direction, and the second active segment 2012 has the degree of freedom in the Y-axis direction.

[0045] like Figure 7 As shown, with the dotted line as the boundary, the active segment in front of the dotted line is the first active segment 2011, and the active segment behind the dotted line is the second active segment 2012. The multiple first driving wires 71 are divided into a first group of first driving wires 71 and a second group of first driving wires 71. The first group of first driving wires 71 is connected to the first active segment 2011, and the second group of first driving wires 71 is connected to the second active segment 2012. The driving directions of the first group of first driving wires 71 and the second group of first driving wires 71 are different, so that the active segment 201 has multiple degrees of freedom in multiple directions.

[0046] Further, Figure 2 As an example, the push-in support mechanism 1 shown in FIG. 1 includes 3 flexible valves 11, each of which is connected to a second driving wire 72, and there are 3 second driving wires 72. Taking the first active segment 2011 connected to 3 first driving wires 71 and the second active segment 2012 connected to 3 first driving wires 71 as an example, 9 channels 241 are provided on the surface of the second flexible skeleton layer 24 to accommodate the first driving wires 71 and the second driving wires 72.

[0047] In an embodiment of the present invention, the sensing layer 21 includes a second force sensing skin and an outer sheath layer. The second force sensing skin is coated on the outside of the outer sheath layer and is integrally formed with the outer sheath layer. In this embodiment, the outer sheath layer can be made of a soft material, and its stiffness is less than that of the flexible braided layer 22. The flexible braided layer 22 can prevent the first flexible skeleton layer 23 and the second flexible skeleton layer 24 from rotating, protect the first flexible skeleton layer 23 and the second flexible skeleton layer 24, and make the first flexible skeleton layer 23 and the second flexible skeleton layer 24 have sufficient flexibility. In this embodiment, the stiffness of the continuum sheath tube 2 is different from the outer layer to the inner layer, realizing a multi-layer heterogeneous and gradient stiffness design.

[0048] like Figure 1 As shown, in an embodiment of the present invention, the rigid-flexible coupled multilayer heterogeneous dial-in continuum robot further includes a support arm 31, which is connected to the continuum sheath 2. The driving mechanism further includes a rotary motor 7 and a progressive motor, which are both connected to the support arm 31 to drive the continuum sheath 2 to rotate and deliver.

[0049] Specifically, the end of the continuum sheath tube 2 that is not connected to the advancement support mechanism 1 is connected to the support arm 31. When the rotary motor 7 rotates, it can drive the continuum sheath tube 2 to rotate; when the advancement motor rotates, it can drive the continuum sheath tube 2 to be delivered.

[0050] Furthermore, in an embodiment of the present invention, the rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot further includes a first track 32 , and the support arm 31 can slide along the first track 32 .

[0051] The rigid-flexible coupled multi-layer heterogeneous insertion continuum robot also includes: a plurality of instrument sliders 61, a plurality of second rails 62, a bracket 4, and an introduction head 5. The introduction head 5 is connected to the support arm 31, and the introduction head 5 has a plurality of channels inside, which are connected to the instrument channels 242 in the continuum sheath 2. The two ends of the bracket 4 are respectively connected to the introduction head 5 and the support arm 31. The plurality of second rails 62 are all connected to the support arm 31, and each instrument slider 61 can slide along a second rail 62. Various surgical instruments are respectively inserted into an instrument slider 61, and one end of the surgical instrument extends into the continuum sheath 2. When the instrument slider 61 slides, it can drive the delivery of the surgical instrument.

[0052] In this embodiment, there are multiple rotary motors and delivery motors, and each instrument slider 61 is connected to a rotary motor to realize the rotational movement of each surgical instrument; each instrument slider 61 is also connected to a delivery motor to realize the delivery movement of each surgical instrument.

[0053] Further, each first driving wire 71 and each second driving wire 72 are respectively connected to a delivery motor to pull the first driving wire 71 or the second driving wire 72. In the above-mentioned embodiment, the delivery motor is a linear motor.

[0054] In summary, in the embodiments of the present invention, a rigid material, a flexible material and a soft material are used to construct a continuum robot, realizing rigid-soft coupling and multi-layer heterogeneity.

[0055] 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 embodiments of the present invention.

Claims

1. A rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot, characterized in that: include: A push-in support mechanism, a continuum sheath tube and a driving mechanism, wherein the continuum sheath tube is connected to the push-in support mechanism; The driving mechanism includes a plurality of first driving wires and a plurality of second driving wires, the continuum sheath is connected to the plurality of the first driving wires, and the continuum sheath can be driven to bend when the first driving wires are pulled; The push-in support mechanism comprises a plurality of flexible valves, the first end of each of the flexible valves is connected to the continuous sheath, the second end of each of the flexible valves is a free end, and in the initial state, the second ends of the plurality of flexible valves are in a gathered state; Each of the flexible valves is connected to one of the second driving wires, and when the plurality of the second driving wires are pulled, the second ends of the plurality of the flexible valves can be driven to move away from each other; The continuous sheath is a multi-layer structure, and the rigidity of the continuous sheath gradually increases from the outer layer to the inner layer; the continuous sheath comprises a sensing layer, a flexible braided layer, a first flexible skeleton layer and a second flexible skeleton layer arranged in sequence from the outer layer to the inner layer, and the second flexible skeleton layer has a plurality of instrument channels; The continuous sheath is divided into an active section and a passive section, the active section is connected to the flexible valve, the active section is a flexible section, the first flexible skeleton layer and the second flexible skeleton layer of the active section are keel structures, and the second flexible skeleton layer is provided with a plurality of channels along the extension direction of its own length, and the channels are used to accommodate the first driving wire or the second driving wire; The sensing layer includes a second force sensing skin and an outer sheath layer. The second force sensing skin is covered on the outside of the outer sheath layer and is integrally formed with the outer sheath layer. The outer sheath layer is a soft outer sheath layer. The stiffness of the outer sheath layer is less than the stiffness of the flexible braided layer. The flexible braided layer is used to prevent the first flexible skeleton layer and the second flexible skeleton layer from rotating.

2. The rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot according to claim 1, characterized in that: The outer shape of each flexible valve is a triangular leaf shape, and the surface of each flexible valve is a spherical surface.

3. The rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot according to claim 1, characterized in that: Each of the flexible valves includes: a flexible skeleton and a soft shell, wherein the soft shell is coated on the outside of the flexible skeleton, and the flexible skeleton is connected to the continuum sheath and the second drive wire, wherein the elastic modulus of the flexible skeleton is greater than the elastic modulus of the soft shell.

4. The rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot according to claim 1, characterized in that: A first force sensing skin is provided on the surface of each flexible valve, and the first force sensing skin is used to sense the contact force of the flexible valve.

5. The rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot according to claim 1, characterized in that: The continuum sheath tube also includes a hard outer tube, which is sleeved outside the sensing layer of the passive section, and the elastic modulus of the hard outer tube is greater than the elastic modulus of the flexible braided layer.

6. The rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot according to claim 1, characterized in that: The active segment is divided into a first active segment and a second active segment, and the plurality of first driving wires are divided into a first group of first driving wires and a second group of first driving wires, the first group of first driving wires is connected to the first active segment, the second group of first driving wires is connected to the second active segment, and the driving directions of the first group of first driving wires and the second group of first driving wires are different.

7. The rigid-flexible coupled multi-layer heterogeneous dial-in continuum robot according to claim 1, characterized in that: It also includes a support arm, and the continuum sheath is connected to the support arm; The driving mechanism further comprises a rotating motor and a progressive motor, and both the rotating motor and the progressive motor are connected to the support arm to drive the continuous sheath tube to rotate and deliver.

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