Line-driven bionic saddle-shaped joint continuum robot

Abstract

The invention discloses a line-driven bionic saddle-shaped joint continuum robot, and relates to the field of medical instruments, the line-driven bionic saddle-shaped joint continuum robot comprises a plurality of body sections, the body sections are arranged in sequence, two ends of each body section are respectively provided with a boss and a groove, and the bosses and the grooves are both saddle surfaces; the four driving ropes are arranged in parallel, the driving ropes penetrate through all the body sections, and the four driving ropes are evenly distributed along the cross sections of the body sections; the adjacent body sections can rotate in two directions along the saddle surfaces of the contact ends, and the axes of the two rotating directions are perpendicular to each other; according to the robot, through the saddle faces arranged on the adjacent body sections, the adjacent body sections can achieve degree-of-freedom adjustment in two directions, the directions of the two degrees of freedom are perpendicular to each other, and therefore the robot has higher flexibility and can meet more treatment requirements.

Description

Technical Field

[0001] The invention belongs to the field of medical devices, and more specifically, relates to a wire-driven bionic saddle-shaped joint continuum robot. Background Art

[0002] Traditional mechanical joints are similar to pulley joints such as elbows and knees in the human body. Their joint surfaces are a concave surface covering a convex surface. The convex surface moves along the concave surface to rotate the bones, and they only have one degree of freedom. The continuum robot, due to its flexible structure and deformability, has greater flexibility than traditional robots and can operate in narrow, curved or irregular spaces. It is often used in minimally invasive surgeries, such as laparoscopy and cardiovascular surgery, because its flexible structure can conform to the complex anatomical structure of the human body, thereby reducing damage to tissues and improving surgical accuracy. How to combine traditional mechanical joints with continuum robot structures to design robots with greater degrees of freedom is the direction of future development, which can meet more medical needs. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies in the prior art and to provide a wire-driven bionic saddle-shaped joint continuum robot. The robot, through the saddle surfaces set on adjacent segments, can enable adjacent segments to adjust the degrees of freedom in two directions, and the directions of these two degrees of freedom are perpendicular to each other. In this way, the robot has greater flexibility and can meet more treatment needs.

[0004] In order to achieve the above object, the present invention provides a wire-driven bionic saddle-shaped joint continuum robot, comprising:

[0005] A plurality of body segments, wherein the body segments are arranged in sequence, and a convex platform and a concave platform are respectively arranged at two ends of each body segment, and the profiles of the convex platform and the concave platform are both saddle surfaces;

[0006] Four driving ropes are arranged parallel to each other, the driving ropes run through all the body segments, and the four driving ropes are evenly distributed along the cross section of the body segment;

[0007] The adjacent body segments can rotate in two directions along the saddle surface of the contact end, and the axes around which the two rotation directions rotate are perpendicular to each other.

[0008] Optionally, the saddle surface includes a first curved surface and a second curved surface with the same curvature, the curvature directions of the first curved surface and the second curved surface are opposite to each other, and the first curved surface and the second curved surface are centrally arranged.

[0009] Optionally, the saddle surface is a cross-section formed by the intersection of a torus and a cylinder, the cylinder is arranged along the radial direction of the torus, the cross-section of the torus is circular, and the diameter length of the circle is greater than the diameter length of the cross-section of the cylinder.

[0010] Optionally, the concave radius of the saddle surface is the inner diameter R of the annular body, and the convex radius of the saddle surface is the radius r of the cross section of the annular body.

[0011] Optionally, the concave radius of the saddle surface is greater than the convex radius of the saddle surface.

[0012] Optionally, at one end of the boss, the concave surface of the saddle surface is located outside the convex surface of the saddle surface, and at one end of the recessed platform, the convex surface of the saddle surface is located outside the concave surface of the saddle surface.

[0013] Optionally, the saddle surface of the convex platform is conformably fitted to the saddle surface of the concave platform.

[0014] Optionally, a limit block is provided at one end of the driving rope, and the limit block is larger than the rope threading hole of the body segment.

[0015] Optionally, a connecting hole is centrally disposed in the body segment, and the connecting hole connects two ends of the body segment.

[0016] The present invention provides a line-driven bionic saddle-shaped joint continuum robot, which has the beneficial effect that the continuum robot uses a saddle surface as the contact surface of the body segment. While having rotational freedom in two directions, the structure can constrain movement in another direction, so that the continuum can bend in two directions, having a wider working space, and avoiding excessive torsion of the continuum structure.

[0017] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0019] Figure 1 A schematic structural diagram of a wire-driven bionic saddle-jointed continuum robot according to an embodiment of the present invention is shown.

[0020] Figure 2 An exploded view of multiple body segments is shown according to one embodiment of the present invention.

[0021] Figure 3A perspective structural diagram of a body segment according to an embodiment of the present invention is shown.

[0022] Figure 4 A schematic diagram of the external structure of a body segment according to an embodiment of the present invention is shown.

[0023] Figure 5 A schematic diagram of forming a saddle surface according to an embodiment of the present invention is shown.

[0024] Description of reference numerals:

[0025] 1. Body segment; 2. convex platform; 3. concave platform; 4. driving rope; 5. saddle surface; 6. concave surface; 7. convex surface; 8. rope threading hole; 9. connecting hole; 10. limit block. DETAILED DESCRIPTION

[0026] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0027] The present invention provides a wire-driven bionic saddle-shaped joint continuum robot, comprising:

[0028] A plurality of body segments are arranged in sequence, and a convex platform and a concave platform are respectively arranged at two ends of each body segment, and the profiles of the convex platform and the concave platform are both saddle surfaces;

[0029] Four driving ropes are arranged parallel to each other, the driving ropes run through all body segments, and the four driving ropes are evenly distributed along the cross section of the body segment;

[0030] Adjacent body segments can rotate in two directions along the saddle surface of the contact end, and the axes around which the two rotation directions are rotated are perpendicular to each other.

[0031] Specifically, the continuum robot connects multiple body segments in series through four driving ropes. Since the contact parts of the body segments are saddle-shaped, two adjacent body segments can bend and rotate around two mutually perpendicular axes; when one of the two opposite driving ropes among the four driving ropes is tightened and the other driving rope is loosened, the body segments can rotate around the connection line of the two driving ropes that are not pulled. Since multiple body segments are set in the continuum robot, under the pulling control of the two driving ropes, combined bending in the front and rear directions and the left and right directions can be achieved, and in conjunction with the rotation of the continuum robot itself, the action end of the robot can reach all directions of the working space surrounding the continuum.

[0032] Optionally, the saddle surface includes a first curved surface and a second curved surface with the same curvature, the curvature directions of the first curved surface and the second curved surface are opposite to each other, and the first curved surface and the second curved surface are arranged facing each other.

[0033] Specifically, the saddle surfaces at both ends of the body segment are formed by the intersection of a first curved surface and a second curved surface, and the curvatures of the two curved surfaces are exactly the same, but the bending directions of the two curved surfaces are opposite to each other. In this way, two curved surfaces with the same curvature and opposite curvature directions are arranged perpendicular to each other to form the saddle surface at the end of the body segment. When multiple body segments are arranged and connected in sequence, bending and rotation in two directions can be achieved.

[0034] Optionally, the saddle surface is a cross section formed by the intersection of a torus and a cylinder, the cylinder is arranged along the radial direction of the torus, the cross section of the torus is circular, and the diameter length of the circle is greater than the diameter length of the cross section of the cylinder.

[0035] Optionally, the concave radius of the saddle surface is the inner diameter R of the torus, and the convex radius of the saddle surface is the radius r of the cross section of the torus.

[0036] Specifically, the saddle surface of the segment is a surface formed by the intersection of a torus and a cylinder and located on the inner side of the torus. The saddle surface is formed by the intersection of a concave curved surface and a convex curved surface. The radius of the concave curved surface is the inner diameter of the torus, and the radius of the convex curved surface is the cross-sectional radius of the torus. In this way, two uniformly curved surfaces are formed on the saddle surface. When the segments of adjacent chains rotate and reciprocate in one direction, the rotation angle of the continuum robot can be ensured to be uniform.

[0037] Optionally, the concave radius of the saddle surface is greater than the convex radius of the saddle surface.

[0038] Optionally, the saddle surface of the convex platform and the saddle surface of the concave platform are conformably fitted.

[0039] Specifically, on the saddle surface, ensuring that the radius of the concave surface is greater than the radius of the convex surface can ensure that when the two saddle surfaces are tangent, the concave surfaces cover the convex surfaces of each other, thereby achieving the effect of allowing a joint to move in two directions and constraining torsion.

[0040] Optionally, at one end of the convex platform, the concave surface of the saddle surface is located outside the convex surface of the saddle surface, and at one end of the concave platform, the convex surface of the saddle surface is located outside the concave surface of the saddle surface.

[0041] Specifically, a convex platform is set at the acting end of the body segment facing the continuous robot, and a concave platform is set away from the acting end. In this way, when multiple body segments are arranged in sequence, adjacent body segments can fit together. When the continuum robot is bent, the multiple body segments can also fit together and rotate without changes in length, thereby preventing the acting end from accidentally touching a certain part in the abdominal cavity and causing physical discomfort to the patient.

[0042] Optionally, a limit block is provided at one end of the driving rope, and the limit block is larger than the rope threading hole of the body segment.

[0043] Optionally, a connecting hole is centrally disposed in the body segment, and the connecting hole connects two ends of the body segment.

[0044] Specifically, the driving rope can connect all the segments in series through the limit blocks to ensure that the segments will not fall off the driving rope, and the laparoscope harness is passed through the connecting holes of the segments, so that the continuum robot can drive the laparoscope to the preset inspection site.

[0045] Example

[0046] like Figures 1 to 5 As shown, the present invention provides a wire-driven bionic saddle-shaped joint continuum robot, comprising:

[0047] A plurality of body segments 1 are arranged in sequence, and a convex platform 2 and a concave platform 3 are respectively arranged at two ends of each body segment 1, and the profiles of the convex platform 2 and the concave platform 3 are both saddle surfaces 5;

[0048] Four driving ropes 4 are arranged parallel to each other, the driving ropes 4 run through all the body segments 1, and the four driving ropes 4 are evenly distributed along the cross section of the body segment 1;

[0049] Adjacent segments 1 can rotate in two directions along the saddle surface 5 at the contact end, and the axes around which the two rotation directions are rotated are perpendicular to each other.

[0050] In this embodiment, the saddle surface 5 includes a first curved surface and a second curved surface with the same curvature. The curvature directions of the first curved surface and the second curved surface are opposite to each other, and the first curved surface and the second curved surface are centrally arranged facing each other.

[0051] In this embodiment, the saddle surface 5 is a cross section formed by the intersection of a ring body and a cylinder. The cylinder is arranged along the radial direction of the ring body. The cross section of the ring body is circular, and the diameter length of the circle is greater than the diameter length of the cross section of the cylinder.

[0052] In this embodiment, the radius of the concave surface 6 of the saddle surface 5 is the inner diameter R of the torus, and the radius of the convex surface 7 of the saddle surface is the radius r of the cross section of the torus.

[0053] In this embodiment, the radius of the concave surface 6 of the saddle surface 5 is greater than the radius of the convex surface 7 of the saddle surface 1 .

[0054] In this embodiment, at one end of the boss 2, the concave surface 6 of the saddle surface 1 is located outside the convex surface 7 of the saddle surface 1, and at one end of the recessed platform 3, the convex surface 7 of the saddle surface 1 is located outside the concave surface 6 of the saddle surface 1.

[0055] In this embodiment, the saddle surface of the convex platform 2 and the saddle surface of the concave platform 3 are conformably fitted.

[0056] In this embodiment, a limiting block 10 is provided at one end of the driving rope 4 , and the limiting block 10 is larger than the rope threading hole 8 of the body segment 4 .

[0057] In this embodiment, a connecting hole 9 is centrally disposed in the body segment 1 , and the connecting hole 9 connects the two ends of the body segment 1 .

[0058] In summary, the wire-driven bionic saddle-shaped joint continuum robot is composed of a plurality of segments 1 of the same shape, all of which are arranged in sequence and connected in series by four driving ropes 4; wherein, two of the four driving ropes 4 that are opposite to each other are antagonistic to each other, and the bending of the continuum structure in one direction can be controlled by retracting one side and releasing the other side, and through the mutual cooperation of the two pairs of antagonistic ropes 4, the action end of the continuum can be bent in the forward and backward directions and the left and right directions in combination, thereby reaching all directions of the working space surrounding the continuum; the end of the segment 1 is designed to be a saddle surface 5, and the saddle surface 5 It is composed of two mutually perpendicular bending directions with opposite curvature directions. It is necessary to scan a circle along a circular trajectory through a circular cross-section to obtain a torus, and then use the cross-section of the intersection of the cylinder and the torus to form a curved surface on the inner side of the torus, which is the saddle surface. The inner diameter R of the torus is the concave radius of the saddle surface 5, and the radius r of the cross-section of the torus is the convex radius of the saddle surface 5. It is also necessary to ensure that the concave radius is greater than the convex radius, so that when the adjacent saddle surfaces of two segments 1 are tangent to each other, the concave surfaces cover the convex surfaces of each other, thereby realizing that a joint can move in two directions and constrain torsion.

[0059] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A wire-driven bionic saddle-shaped joint continuum robot, characterized in that: include: A plurality of body segments, wherein the body segments are arranged in sequence, and each of the body segments is provided with a convex platform and a concave platform at both ends, and the convex platform and the concave platform are both saddle-shaped; Four driving ropes are arranged parallel to each other, the driving ropes run through all the body segments, and the four driving ropes are evenly distributed along the cross section of the body segment; The adjacent body segments can rotate in two directions along the saddle surface of the contact end, and the axes around which the two rotation directions rotate are perpendicular to each other.

2. The wire-driven bionic saddle-shaped joint continuum robot according to claim 1, characterized in that: The saddle surface includes a first curved surface and a second curved surface with the same curvature, the curvature directions of the first curved surface and the second curved surface are opposite to each other, and the first curved surface and the second curved surface are centrally arranged to face each other.

3. The wire-driven bionic saddle-shaped joint continuum robot according to claim 1, characterized in that: The saddle surface is a cross section formed by the intersection of a torus and a cylinder. The cylinder is arranged along the radial direction of the torus. The cross section of the torus is circular, and the diameter length of the circle is greater than the diameter length of the cross section of the cylinder.

4. The wire-driven bionic saddle-shaped joint continuum robot according to claim 3, characterized in that: The concave radius of the saddle surface is the inner diameter R of the annular body, and the convex radius of the saddle surface is the radius r of the cross section of the annular body.

5. The wire-driven bionic saddle-shaped joint continuum robot according to claim 4, characterized in that: The concave radius of the saddle surface is greater than the convex radius of the saddle surface.

6. The wire-driven bionic saddle-shaped joint continuum robot according to claim 4, characterized in that: On one end of the boss, the concave surface of the saddle surface is located outside the convex surface of the saddle surface, and on one end of the concave platform, the convex surface of the saddle surface is located outside the concave surface of the saddle surface.

7. The wire-driven bionic saddle-shaped joint continuum robot according to claim 6, characterized in that: The saddle surface of the convex platform is conformed to the saddle surface of the concave platform.

8. The wire-driven bionic saddle-shaped joint continuum robot according to claim 1, characterized in that: A limiting block is arranged at one end of the driving rope, and the limiting block is larger than the rope threading hole of the body segment.

9. The wire-driven bionic saddle-shaped joint continuum robot according to claim 1, characterized in that: A connecting hole is arranged in the center of the body segment, and the connecting hole connects the two ends of the body segment.

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