Ultrafine tungsten wire rope for flexible arm and medical robot

Abstract

The invention discloses a superfine tungsten wire rope for a flexible arm and a medical robot, and relates to the technical field of medical robot construction.The superfine tungsten wire rope comprises a core strand and a plurality of middle layer strands spirally wound around the outer wall of the core strand; the core strand and all the middle layer strands jointly form a rope core; the twisting direction of all the middle layer strands is opposite to that of the rope core; the outer-layer strands are distributed in the circumferential direction of the outer wall of the middle-layer strand and are spirally wound; all the outer layer strands form a rope body together, and the twisting direction of the rope body is opposite to the twisting direction of the rope core. Through the interaction among the core strand, the middle layer strands and the outer layer strands and the interaction among the tungsten filaments forming all the layer strands, the flexibility and the anti-rotation performance of the superfine tungsten filament rope for the flexible arm are improved, and the requirement for the operation precision of a mechanical arm is met.

Description

Technical Field

[0001] The present application generally relates to the technical field of medical robot construction, and specifically to an ultra-fine tungsten wire rope for a flexible arm and a medical robot. Background Art

[0002] The manipulator of the medical robot needs to complete complex surgical operations in a very small space of human tissue. However, the space at the joint of the manipulator is very small. Traditional gear transmission and motor transmission are difficult to achieve due to space limitations, so tendon-driven manipulators have emerged. Since medical surgery is a high-precision operation, the tendon needs to have good rigidity, transmission stability and fatigue resistance. However, due to the low strength of traditional steel wire ropes, they are prone to deformation and elongation during the operation of the manipulator, which seriously affects the operation accuracy of the manipulator. Therefore, we propose an ultra-fine tungsten wire rope for flexible arms and a medical robot to solve the above problems. Summary of the invention

[0003] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide an ultra-fine tungsten wire rope for a flexible arm and a medical robot that improves anti-rotation and stability and ensures the operating accuracy of the manipulator.

[0004] In a first aspect, the present application provides an ultra-fine tungsten wire rope for a flexible arm, comprising: A core strand and a plurality of intermediate strands spirally wound around the outer wall of the core strand; the core strand and all the intermediate strands together form a rope core; the twist direction of all the intermediate strands is opposite to that of the rope core; A plurality of outer strands are distributed circumferentially along the outer wall of the middle strand and are spirally coiled; all the outer strands together form a rope body, and the twist direction of the rope body is opposite to the twist direction of the rope core.

[0005] According to the technical solution provided in the embodiment of the present application, the core strand includes multiple tungsten wires, the tungsten wire located at the center of the core strand is the center wire, and the remaining tungsten wires are spirally coiled on the outer wall of the center wire, and the twist direction of the tungsten wire located on the outer wall of the center wire is opposite to the twist direction of the core strand.

[0006] According to the technical solution provided in the embodiment of the present application, the intermediate layer strand includes multiple tungsten wires, the tungsten wire located at the center of the intermediate layer strand is the central wire, and the remaining tungsten wires are spirally coiled on the outer wall of the central wire, and the twist direction of the tungsten wire located on the outer wall of the central wire is opposite to the twist direction of the intermediate layer strand.

[0007] According to the technical solution provided in the embodiment of the present application, the rope core of the same strand of the intermediate layer strand is the tungsten wire located at its center.

[0008] According to the technical solution provided in the embodiment of the present application, the outer layer strand includes multiple tungsten wires, the tungsten wire located at the center of the outer layer strand is the center wire, and the remaining tungsten wires are spirally coiled on the outer wall of the center wire, and the twist direction of the tungsten wire located on the outer wall of the center wire is opposite to that of the outer layer strand.

[0009] According to the technical solution provided in the embodiment of the present application, the rope core of the same outer strand is the tungsten wire located at its center.

[0010] According to the technical solution provided in the embodiment of the present application, the lay pitch of the intermediate layer strands is 0.6~0.9mm, the lay pitch of the core strand and all the intermediate layer strands together forming the rope core is 1.2~2.0mm, the lay pitch of the outer layer strands is 1.2~2.0mm, and the lay pitch of the ultrafine tungsten wire rope used for the flexible arm is 2.5~4mm.

[0011] According to the technical solution provided in the embodiment of the present application, the material of the tungsten wire is tungsten, tungsten-lanthanum oxide alloy or tungsten-potassium silicon aluminum alloy.

[0012] According to the technical solution provided in the embodiment of the present application, the diameter range of the tungsten wire is 0.02~0.03mm.

[0013] In a second aspect, the present application provides a medical robot, comprising: the above-mentioned ultra-fine tungsten wire rope for a flexible arm.

[0014] It can be seen from the above technical solution that the present application has at least the following beneficial effects: The present application discloses an ultra-fine tungsten wire rope for a flexible arm, comprising: a core strand and a plurality of intermediate strands spirally coiled on the outer wall of the core strand; the core strand and all the intermediate strands together form a rope core; the twist direction of all the intermediate strands is opposite to that of the rope core; and further comprising: a plurality of outer strands distributed circumferentially along the outer wall of the intermediate strand and spirally coiled; all the outer strands together form a rope body, and the twist direction of the rope body is opposite to that of the rope core.

[0015] The present application designs a rope core and rope body with opposite twist directions, and improves the softness and anti-rotation performance of the ultra-fine tungsten wire rope for the flexible arm through the interaction between the core strands, the middle layer strands and the outer layer strands, as well as the interaction between the tungsten wires that make up each layer of strands, so as to meet the operating accuracy of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present application will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings.

[0017] Figure 1 Schematic diagram of the structure of the ultra-fine tungsten wire rope used for the flexible arm.

[0018] Figure 2An example diagram of the first distribution method of ultra-fine tungsten wire rope for flexible arms.

[0019] Figure 3 This is an example diagram of the second distribution method of ultra-fine tungsten wire rope used in flexible arms.

[0020] Numbers in the figure: 0, core strand; 1, middle layer strand; 2, outer layer strand; 3, tungsten wire. DETAILED DESCRIPTION

[0021] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0022] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0023] In order to make the description of the following embodiments clear and concise, a brief introduction to the related technology is first given: The flexible arm is mainly responsible for the movement and positioning of the robot arm; the tendon rope is used to transmit movement and force, allowing the flexible arm to move flexibly. In complex operations such as minimally invasive surgery, the flexibility of the flexible arm combined with the high strength of the tendon rope can achieve precise operations. For example, during surgery, the flexible arm can quickly adjust its position, while the tendon rope ensures stability when force is applied. Tungsten wire structures are often used to manufacture key components in medical devices due to their high strength and high temperature resistance. The synergy of flexible arms, tendons and tungsten wire structures enables medical devices to remain efficient and precise during complex operations.

[0024] At present, the tensile strength and elastic modulus of the existing steel wire rope with a diameter of 0.5 mm cannot meet the operating accuracy requirements of the surgical robot. The structure of the existing tungsten wire rope is too simple, with a structure of 1×7, and the flexibility of the tungsten wire rope cannot be fully utilized, and the anti-rotation and stability are poor. Therefore, this application designs an ultra-fine tungsten wire rope for a flexible arm and a medical robot to solve the existing problems.

[0025] In order to make the ultra-fine tungsten wire rope for the flexible arm provided in the embodiment of the present application clearer and easier to understand, the ultra-fine tungsten wire rope is introduced below in conjunction with the accompanying drawings. Figure 1 As shown, this figure is a schematic diagram of the structure of an ultra-fine tungsten wire rope for a flexible arm provided in an embodiment of the present application, and the ultra-fine tungsten wire rope includes: A core strand 0 and a plurality of intermediate strands 1 spirally wound around the outer wall of the core strand 0; the core strand 0 and all the intermediate strands 1 together form a rope core; the twist direction of all the intermediate strands 1 is opposite to that of the rope core; It should be noted that twist mainly refers to the direction in which an object or material twists, rotates or bends during certain movements or operations. In medical robots, the design of flexible arms needs to consider twist to ensure stability and precision in different operating modes.

[0026] The core strand 0 includes a plurality of tungsten wires 3 , the tungsten wire 3 located at the center of the core strand 0 is the central wire, and the other tungsten wires 3 are spirally coiled on the outer wall of the central wire, and the twist direction of the tungsten wire 3 located on the outer wall of the central wire is opposite to the twist direction of the core strand 0 .

[0027] like Figure 2 or Figure 3 As shown, the twist direction of the core strand 0 is the same as the twist direction of the middle layer strand 1, which is used to increase the torque of the rope core of the ultra-fine tungsten wire rope for flexible arms, ensuring that the rope core of the ultra-fine tungsten wire rope for flexible arms can effectively offset the force of the rope body of the ultra-fine tungsten wire rope for flexible arms, thereby achieving the purpose of anti-rotation.

[0028] In addition, the middle layer strand 1 includes multiple tungsten wires 3, the tungsten wire 3 located at the center of the middle layer strand 1 is the central wire, and the other tungsten wires 3 are spirally coiled on the outer wall of the central wire, and the twist direction of the tungsten wire 3 located on the outer wall of the central wire is opposite to the twist direction of the middle layer strand 1.

[0029] The core of the middle layer strand 1 is a tungsten wire 3 located at the center thereof.

[0030] Here, the twist direction of the tungsten wire 3 located at the center is opposite to the twist direction of the middle layer strand 1 to which it belongs, forming an alternating twist form, which further enhances the anti-rotation performance.

[0031] In the layout of the core strand 0 and the intermediate layer strand 1, the core strand 0 located in the center is responsible for bearing the main tensile force, and its strength directly affects the overall tensile strength of the core of the ultra-fine tungsten wire rope for the flexible arm. The circumferentially distributed intermediate layer strands 1 provide additional support to help disperse the force, reduce the load of the single core strand 0, and improve the tensile strength of the core of the ultra-fine tungsten wire rope for the flexible arm. In addition, the presence of the circumferentially distributed intermediate layer strands 1 enables the core of the ultra-fine tungsten wire rope for the flexible arm to maintain a better shape and stability when bent, avoiding breakage caused by excessive bending during use. When the core of the ultra-fine tungsten wire rope for the flexible arm is twisted, the circumferentially distributed intermediate layer strands 1 help maintain the stability of the structure, reduce the stress concentration caused by the twisting, and prevent the core of the ultra-fine tungsten wire rope for the flexible arm from twisting or deformation during use.

[0032] The functions and advantages of the layout of the middle layer strands 1 are the same as those of the core of the ultra-fine tungsten wire rope for the flexible arm, and will not be described in detail here.

[0033] Here, the lay length of the intermediate layer strands 1 is, for example, 0.6-0.9 mm, and the lay length of the core strands 0 and all the intermediate layer strands 1 together forming the rope core is, for example, 1.2-2.0 mm. The lay length refers to the straight line distance between the starting point and the end point of a 360° rotation around the strand core or the strand around the rope core when twisting or closing the rope. The material of the tungsten wire 3 is, for example, tungsten, tungsten-lanthanum oxide alloy or tungsten-potassium silicon aluminum alloy. The diameter of the tungsten wire 3 ranges from 0.02-0.03 mm.

[0034] A plurality of outer strands 2 are distributed circumferentially along the outer wall of the middle strand 1 and are spirally coiled; all the outer strands 2 together form a rope body, and the twist direction of the rope body is opposite to that of the rope core.

[0035] The outer strand 2 includes a plurality of tungsten wires 3, the tungsten wire 3 located at the center of the outer strand 2 is the central wire, and the remaining tungsten wires 3 are spirally coiled on the outer wall of the central wire, and the twist direction of the tungsten wire 3 located on the outer wall of the central wire is opposite to the twist direction of the outer strand 2, forming an alternating twist form, further enhancing the anti-rotation performance. The rope core of the same outer strand 2 is the tungsten wire 3 located at its center.

[0036] The functions and advantages of the layout of the outer strands 2 are the same as those of the core of the ultra-fine tungsten wire rope for the flexible arm, and will not be described in detail here.

[0037] Here, the lay length of the outer layer strands 2 is, for example, 1.2 to 2.0 mm, and the lay length of the ultra-fine tungsten wire rope for the flexible arm is, for example, 2.5 to 4 mm.

[0038] It should be noted that there is no limit to the number of the middle layer strands 1 and the outer layer strands 2. The larger the number, the better the frame rotation performance, but the higher the cost. Therefore, they can be set according to actual needs.

[0039] For example, Figure 2 As shown, the figure is an example diagram of the first distribution method of the ultrafine tungsten wire rope for the flexible arm. The ultrafine tungsten wire rope is in the form of 7×7+8×19, that is, one core strand 0, six intermediate layer strands 1, and eight outer layer strands 2. The core strand 0 contains seven tungsten wires 3, each intermediate layer strand 1 contains seven tungsten wires 3, and each outer layer strand 2 contains nineteen tungsten wires 3, totaling 201 tungsten wires 3.

[0040] For example, Figure 3 As shown, this figure is an example diagram of the second distribution method of the ultrafine tungsten wire rope for the flexible arm. This ultrafine tungsten wire rope is in the form of 7×7+10×19, that is, one core strand 0, six intermediate layer strands 1, and ten outer layer strands 2. The core strand 0 contains seven tungsten wires 3, each intermediate layer strand 1 contains seven tungsten wires 3, and each outer layer strand 2 contains nineteen tungsten wires 3, totaling 239 tungsten wires 3.

[0041] The present application designs a rope core and rope body with opposite twist directions, through the interaction between the core strands, the middle layer strands and the outer layer strands, as well as the interaction between the tungsten wires that make up each layer strand, that is, when the manipulator is in operation, the interaction between different layers of strands and the interaction between the tungsten wires that make up each layer strand, the mutually reversed forces are offset, thereby improving the softness and anti-rotation performance of the ultrafine tungsten wire rope for the flexible arm and meeting the operating accuracy of the manipulator.

[0042] The embodiment of the present application further provides a medical robot, comprising: the ultra-fine tungsten wire rope for a flexible arm as described above. The medical robot has the functions and advantages of the ultra-fine tungsten wire rope for a flexible arm as described above, which will not be described in detail here.

[0043] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. An ultra-fine tungsten wire rope for a flexible arm, characterized in that: include: A core strand (0) and a plurality of intermediate strands (1) spirally wound on the outer wall of the core strand (0); the core strand (0) and all the intermediate strands (1) together form a rope core; the twist direction of all the intermediate strands (1) is opposite to the twist direction of the rope core; A plurality of outer layer strands (2) are distributed along the circumference of the outer wall of the middle layer strands (1) and are spirally coiled; all the outer layer strands (2) together form a rope body, and the twist direction of the rope body is opposite to the twist direction of the rope core.

2. The ultra-fine tungsten wire rope for a flexible arm according to claim 1, characterized in that: The core strand (0) comprises a plurality of tungsten wires (3), wherein the tungsten wire (3) located at the center of the core strand (0) is a central wire, and the remaining tungsten wires (3) are spirally wound on the outer wall of the central wire, and the twist direction of the tungsten wires (3) located on the outer wall of the central wire is opposite to the twist direction of the core strand (0).

3. The ultra-fine tungsten wire rope for a flexible arm according to claim 1, characterized in that: The intermediate layer strand (1) comprises a plurality of tungsten wires (3), wherein the tungsten wire (3) located at the center of the intermediate layer strand (1) is a central wire, and the remaining tungsten wires (3) are spirally wound on the outer wall of the central wire, and the twist direction of the tungsten wires (3) located on the outer wall of the central wire is opposite to the twist direction of the intermediate layer strand (1).

4. The ultra-fine tungsten wire rope for a flexible arm according to claim 3, characterized in that: The rope core of the same strand of the middle layer strand (1) is the tungsten wire (3) located at the center thereof.

5. The ultra-fine tungsten wire rope for a flexible arm according to claim 1, characterized in that: The outer strand (2) comprises a plurality of tungsten wires (3), the tungsten wire (3) located at the center of the outer strand (2) being the central wire, and the remaining tungsten wires (3) being spirally wound around the outer wall of the central wire, and the twist direction of the tungsten wires (3) located on the outer wall of the central wire is opposite to the twist direction of the outer strand (2).

6. The ultra-fine tungsten wire rope for a flexible arm according to claim 5, characterized in that: The core of the outer strand (2) is the tungsten wire (3) located at the center thereof.

7. The ultra-fine tungsten wire rope for a flexible arm according to claim 1, characterized in that: The lay pitch of the intermediate layer strands (1) is 0.6-0.9 mm, the lay pitch of the rope core formed by the core strands (0) and all the intermediate layer strands (1) is 1.2-2.0 mm, the lay pitch of the outer layer strands (2) is 1.2-2.0 mm, and the lay pitch of the ultrafine tungsten wire rope for the flexible arm is 2.5-4 mm.

8. The ultra-fine tungsten wire rope for a flexible arm according to claim 3 or 5, characterized in that: The material of the tungsten wire (3) is tungsten, tungsten-lanthanum oxide alloy or tungsten-potassium silicon aluminum alloy.

9. The ultra-fine tungsten wire rope for a flexible arm according to claim 8, characterized in that: The diameter of the tungsten wire (3) is in the range of 0.02 to 0.03 mm.

10. A medical robot, characterized in that: include: An ultra-fine tungsten wire rope for a flexible arm as described in any one of claims 1 to 9.

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