Variable-diameter flexible mechanical arm clamping device for hepatobiliary pancreatic tumor laparoscopic surgery

Abstract

This invention belongs to the field of laparoscopic surgery technology for hepatobiliary and pancreatic tumors, specifically relating to a variable-diameter flexible robotic arm clamping device for laparoscopic surgery of hepatobiliary and pancreatic tumors. It includes a main controller, and a variable-diameter clamping unit and a drive unit electrically connected to the main controller. Current flowing through the drive unit generates Joule heating, which drives the drive unit to independently bend multiple flexible joints. A sensing unit is embedded between the multiple flexible joints and the flexible outer sleeve. The sensing unit has multiple grating points at each flexible joint, which are used to detect the bending angle and position information of the multiple flexible joints and feed this information back to the main controller. This invention utilizes the Joule heating actuation characteristics of shape memory alloy strips to achieve independent bending of the multiple flexible arm segments. The bending angle and position information can be fed back to the main controller in real time through the sensing unit, thereby achieving precise control of the flexible arm and enabling stable clamping at room temperature in conjunction with the variable-diameter clamping unit.

Description

Technical Field

[0001] This invention belongs to the field of laparoscopic surgery technology for hepatobiliary and pancreatic tumors, and specifically relates to a variable-diameter flexible robotic arm clamping device for laparoscopic surgery of hepatobiliary and pancreatic tumors. Background Technology

[0002] Laparoscopic surgery for hepatobiliary and pancreatic tumors refers to a type of surgical procedure that utilizes minimally invasive laparoscopic techniques to diagnose, remove, or palliatively treat tumors in the liver, biliary system (including the gallbladder and bile ducts), or pancreas. It is an important application of modern minimally invasive surgery in the field of hepatobiliary and pancreatic diseases.

[0003] Traditional laparoscopic surgery uses rigid rod-shaped clamping instruments with limited degrees of freedom. When operating in complex and narrow body cavities, these instruments have limitations such as large blind spots, instrument interference, and difficulty in reaching tortuous anatomical sites. Therefore, it is necessary to use programmable flexible robotic arm clamping devices to replace the existing rigid rod-shaped structures.

[0004] Problems with existing technology: 1. Currently available flexible robotic arm gripping devices typically use flexible arms driven by rope traction, which suffer from problems such as nonlinear friction, hysteresis, and complex structure, limiting their control accuracy and reliability.

[0005] 2. Currently, the three-dimensional spatial posture and shape of the flexible robotic arm after it bends and deforms inside the body are difficult to know accurately in real time. It mainly relies on external vision, which poses operational risks when vision is blocked or in blind spots.

[0006] 3. Currently, the gripping mechanism of existing flexible robotic arms is usually just a simple scissor gripping. This structure cannot be adjusted according to the shape and size of the object being gripped, resulting in poor gripping effect and easy damage to tissues and slippage. Summary of the Invention

[0007] The purpose of this invention is to provide a variable-diameter flexible robotic arm clamping device for laparoscopic surgery of hepatobiliary and pancreatic tumors. By utilizing the Joule thermal drive characteristics of shape memory alloy strips, the independent bending of multiple flexible arms is realized, and the bending angle and position information can be fed back to the main controller in real time through the sensing unit, thereby realizing precise control of the flexible arms, and cooperating with the variable-diameter clamping unit to achieve stable clamping at room temperature.

[0008] The specific technical solution adopted by this invention is as follows: A variable-diameter flexible robotic arm clamping device for laparoscopic surgery of hepatobiliary and pancreatic tumors includes a main controller and a flexible robotic arm body, as well as a variable-diameter clamping unit and a drive unit that are electrically connected to the main controller. One end of the drive unit is fixedly installed to the positive terminal of the power supply system via a busbar, and the other end of the drive unit is fixedly installed to the negative terminal of the power supply system via a public line and a micro electronic switch. Current flows through the drive unit to generate Joule heating, and the Joule heating drives the drive unit to independently bend multiple flexible joints. A sensing unit is embedded between the multiple flexible joint segments and the flexible outer sleeve. The sensing unit has multiple grating points at each flexible joint segment. The grating points are used to detect the bending angle and position information of the multiple flexible joint segments and feed the information back to the main controller. The main controller drives the bending movement of each flexible joint segment and the variable diameter clamping movement of the variable diameter clamping unit according to the received feedback information.

[0009] The handle is connected to the flexible joint via a traction component, and a cooling fan is installed inside the handle so that cooling gas flows into the interior of the flexible joint through the traction component. The flexible joint of a single segment has four sets of drive units inserted around its interior, and a through groove is provided between the drive unit and the inner liner tube, so that cooling gas passes through the through groove and contacts the surface of the drive unit, and drives the drive unit to contract.

[0010] The inner liner tube has an installation frame fixedly installed inside the shell, and a pull rope is wound inside the shell through a rotating shaft. One end of the pull rope passes through a flexible joint and is fixedly connected to the traction component. The traction assembly is used to drive the pull rope to tighten and to cause the drive unit, which is cooled in the same direction inside the flexible joint, to contract.

[0011] At both ends of the mounting frame located inside the single-section inner liner tube, four sets of housings are arranged around it, and the four sets of housings are correspondingly arranged with the drive unit inside the single-section inner liner tube.

[0012] A ring-shaped frame is abutted between the two sections of the inner liner tube by a return spring, and the driving unit and the sensing unit both pass through the ring-shaped frame. The driving unit is a shape memory alloy strip, and the sensing unit is a fiber Bragg grating sensor.

[0013] The variable diameter clamping unit includes a module head fixedly installed at one end of the flexible robotic arm body. A micro motor is fixedly installed inside the module head. The micro motor is used to drive the variable diameter clamping assembly to rotate the limiting groove. A connecting arm is slidably installed inside the limiting groove. The connecting arm is slidably installed with the guide member, so that the variable diameter clamping assembly drives the power feedback clamping plate to move through the connecting arm.

[0014] The guide is fixedly installed inside the module head, and the guide, connecting arm and force feedback clamp are correspondingly arranged and arranged in five sets around it; The other end of the module head is embedded with a miniature camera, and a force feedback clamp is fixedly installed on the surface of the clamping arm. The force feedback clamp is an arc-shaped clamp with an embedded force feedback sensor.

[0015] The main controller includes: The input module is used to input the motion commands of the flexible robotic arm. The signal processing module is used to receive motion commands from the flexible robotic arm and, based on the embedded central processing unit, run the control logic of the flexible robotic arm. A driving module is used to generate driving signals for the driving unit; The sensing module is a demodulation instrument for the sensing unit, used to acquire data from the sensing unit.

[0016] A control method for a variable-diameter flexible robotic arm gripping device includes the following steps: Receive the target instruction from the input module and acquire the sensing data from the sensing unit; Determine the real-time three-dimensional shape of the flexible robotic arm and the real-time contact force with external tissues; A safety assessment is made based on the real-time contact force. If the state is determined to be safe, the motion control process is initiated. Based on the target command and the real-time three-dimensional shape, the main controller calculates and executes differential drive for the four drive units in the single flexible joint segment. If the condition is determined to be unsafe, the security process will be initiated and the preset security policy will be executed. Based on the aforementioned motion control process, the system selectively enters a variable-diameter clamping linkage process, and the main controller controls the operation of the variable-diameter clamping unit located at the distal end of the flexible robotic arm. The motion control process specifically includes the following steps: Based on the target instruction, the signal processing module of the main controller converts the target bending shape of each segment into the contraction and elongation of the driving unit of each segment; The power supply system and micro electric switch are activated according to the contraction and elongation of the drive unit in each segment, thereby driving the drive unit to perform differential heating control. Based on the feedback from the sensing unit, it is verified whether the motion pattern matches the target. If it matches, the flexible robotic arm completes its motion; if it does not match, the flexible robotic arm repeats the motion adjustment.

[0017] The technical effects achieved by this invention are as follows: This invention utilizes a drive unit installed inside the inner liner tube. One end of the drive unit is connected to the positive terminal of the power supply system via a busbar, while the other end is connected to the negative terminal via a micro-electronic switch and a public line. The main controller controls the power supply system's startup, allowing current to flow through specific segments of the drive unit, generating resistance heat and causing the drive unit to bend. Since the drive unit is a shape memory alloy strip, its bending can drive multiple connected flexible joints to perform independent and precise bending movements. This enables flexible manipulation of the flexible arm in complex surgical environments, offering higher precision and reliability compared to cable-driven traction.

[0018] In this invention, a sensing unit is embedded between the flexible joint and the flexible outer sleeve, corresponding to and surrounding the driving unit. The sensing unit is a fiber Bragg grating sensor. Through the grating points set on it, the bending angle and position information of multiple flexible joint segments can be detected and fed back to the main controller in real time. Based on the received feedback information, the main controller can not only accurately control the bending movement of each flexible joint segment, but also further drive the variable diameter clamping unit to perform corresponding variable diameter clamping actions to adapt to objects of different shapes and sizes, ensuring the stability and safety of clamping.

[0019] In this invention, when the variable-diameter clamping unit is in operation, a micro motor drives the variable-diameter clamping assembly to rotate the limiting groove, which in turn moves the clamping plate via the connecting arm. This achieves precise control of the clamping force and flexible adjustment of the clamping range. The micro camera embedded at the other end of the module head provides the doctor with a real-time surgical view, helping the doctor to more accurately judge the surgical situation and improve the accuracy and success rate of the surgery. At the same time, the force feedback clamping plate also makes it easy to display the real-time clamping force on the main controller. Compared with the manual experience of existing clamping devices to judge the clamping force, the variable-diameter clamping unit of this invention can achieve precise control and effectively avoid the risk of clamping slippage.

[0020] This invention also includes a cooling fan inside the handle, which directs the cooling gas through the traction component to the interior of the flexible outer sleeve. This effectively reduces the heat generated by the drive unit during operation, preventing performance degradation or damage due to overheating and extending the lifespan of the device. Furthermore, the four drive units inserted around the single-segment flexible joint, along with their corresponding through-slot design, allow the cooling gas to directly contact the surface of the drive unit. Therefore, by cooling the drive unit and coordinating the activation of the traction component to extend the auxiliary adjustment component, the drive unit can be flexibly reset, further improving the flexibility of the flexible robotic arm. Attached Figure Description

[0021] Figure 1 This is a perspective view of the overall installation structure of the present invention; Figure 2 This is a schematic diagram of the flexible robotic arm structure in this invention; Figure 3 This is a schematic diagram of the flexible joint structure in this invention; Figure 4 This is a schematic diagram of the installation structure of the driving unit and the sensing unit in this invention; Figure 5 This is a block diagram of the main controller connection structure in this invention; Figure 6 This is a flowchart of the safety control process for the flexible robotic arm in this invention; Figure 7 This is a flowchart of the motion of the flexible robotic arm in this invention; Figure 8 This is a schematic diagram of the drive unit circuit connection in this invention; Figure 9 This is a schematic diagram of the auxiliary adjustment component structure in this invention; Figure 10 This is a schematic diagram of the cross-sectional structure of the mounting frame in this invention; Figure 11 This is a schematic diagram of the overall structure of the variable diameter clamping unit in this invention; Figure 12 This is a schematic diagram of the installation structure of the variable diameter clamping assembly in this invention; Figure 13 This is a schematic diagram of the variable diameter clamping assembly structure in this invention.

[0022] The attached diagram lists the components represented by each number as follows: 1. Main controller; 2. Handheld device; 3. Flexible robotic arm body; 31. Flexible outer sleeve; 32. Flexible joint; 321. Inner liner; 322. Circular skeleton; 323. Return spring; 33. Traction assembly; 4. Variable diameter clamping unit; 41. Module head; 42. Clamping arm; 43. Micro motor; 44. Guide component; 45. Variable diameter clamping assembly; 451. Turntable; 452. Limiting groove; 453. Connecting arm; 46. Force feedback clamping plate; 5. Auxiliary adjustment components; 51. Mounting frame; 52. Housing; 53. Pull cord; 54. Rotating shaft; 6. Drive unit; 7. Sensing unit; 8. Busbar; 9. Common line; 10. Power supply system. Detailed Implementation

[0023] To make the objectives and advantages of this invention clearer, the invention will be specifically described below with reference to embodiments. It should be understood that the following text is merely used to describe one or more specific embodiments of the invention and does not strictly limit the scope of protection specifically claimed by the invention.

[0024] like Figure 1-13 As shown, a variable-diameter flexible robotic arm clamping device for laparoscopic surgery of hepatobiliary and pancreatic tumors includes a main controller 1 and a flexible robotic arm body 3, as well as a variable-diameter clamping unit 4 and a drive unit 6, which are electrically connected to the main controller 1 respectively.

[0025] According to the above structure, a power supply system 10 is installed inside the main controller 1, and the variable diameter clamping unit 4 and the drive unit 6 are both electrically connected to the power supply system 10. Through the electrical connection between the variable diameter clamping unit 4 and the power supply system 10, the main controller 1 can control the variable diameter clamping unit 4 to clamp the object with a variable diameter.

[0026] Furthermore, one end of the drive unit 6 is fixedly installed to the positive terminal of the power supply system 10 via the bus 8, while the other end of the drive unit 6 is fixedly installed to the negative terminal of the power supply system 10 via the public line 9 and the micro electronic switch. Therefore, by turning on the micro electronic switch of a single drive unit 6, current can pass through the drive unit 6 and generate Joule heat, thereby independently driving multiple flexible joints 32 to bend at corresponding angles.

[0027] Furthermore, a sensing unit 7 is embedded between the multiple flexible joints 32 and the flexible outer sleeve 31. The sensing unit 7 has multiple grating points at each flexible joint 32. The grating points can be used to detect the bending angle and position information of the multiple flexible joints 32.

[0028] It should be noted that there are four sensing units 7, which are set in correspondence with the driving unit 6. The sensing units 7 are connected to the main controller 1. Therefore, the information can be fed back to the main controller 1 through the sensing units 7. The main controller 1 can drive the bending movement of each flexible joint 32 and the variable diameter clamping movement of the variable diameter clamping unit 4 according to the received feedback information.

[0029] See attached document Figures 1 to 4 The two inner liner tubes 321 are connected by a return spring 323 and an annular skeleton 322. Multiple annular skeletons 322 are provided and arranged in a ring. Therefore, when the inner liner tubes 321 are bent under the drive of the drive unit 6, the flexible robotic arm can maintain structural stability during the bending process through the elastic action of the annular skeleton 322. At the same time, the annular arrangement design of the annular skeleton 322 also enhances the overall strength and torsional performance of the flexible robotic arm.

[0030] Specifically, the drive unit 6 is a shape memory alloy strip, whose unique shape memory effect allows it to bend rapidly after being heated by electricity and return to its original shape after power is cut off. This characteristic enables the flexible robotic arm 3 to achieve precise control. The sensing unit 7 is a fiber Bragg grating sensor, which can sense the bending state of the flexible robotic arm in real time and transmit this information to the main controller 1 in the form of optical signals, providing data support for subsequent precise control.

[0031] Furthermore, a flexible outer sleeve 31 is provided on the outside of the flexible joint 32. The flexible outer sleeve 31 is made of a biocompatible elastic material, which provides a seal and protection to ensure that the flexible robotic arm can work safely and stably during the operation. At the same time, its elastic properties also make the flexible robotic arm bend more smoothly and reduce friction with surrounding tissues.

[0032] More specifically, the drive unit 6 consists of four units in the single-segment liner tube 321, which extend parallel to the current segment axis, and the four drive units 6 are arranged orthogonally in the circumferential direction with azimuth angles of 0°, 90°, 180° and 270° respectively.

[0033] The inner liner tube 321 is made of a super-elastic nickel-titanium alloy tube by a precision spinning process, and the diameter of the drive unit 6 made of shape memory alloy strip is preferably 0.3 mm, its phase transformation temperature is preferably 45°C, and the shape memory alloy strip is kept in a slightly pre-tight state in its natural state, with a pre-tightening force preferably 2 N.

[0034] According to the above structure, the orthogonally symmetrically arranged drive units 6 can also help to spread heat relatively evenly in the circumferential direction, avoid local overheating, and protect the sensing units 7 integrated in the flexible robotic arm body 3.

[0035] Furthermore, when the flexible robotic arm 3 bends in a specific direction, the orthogonally arranged drive units 6 and inner liner tube 321 will produce a very regular and predictable strain distribution. For example, when bending in the 0° direction, the 0° side is compressed, the 180° side is tensile, and the 90° and 270° sides experience calculable shear strain, thereby achieving high-precision real-time three-dimensional shape perception and contact force estimation.

[0036] See attached document Figure 1 , Figure 4 and Figure 5 The main controller 1 includes an input module, a signal processing module, a drive module, and a sensing module.

[0037] The input module is used to input motion commands for the flexible robotic arm 3. The input module can receive precise motion commands input by doctors through external control devices. These commands cover key parameters such as the bending direction and angle of the flexible robotic arm 3 and the opening and closing degree of the variable diameter clamping unit 4.

[0038] The signal processing module, as the core of the main controller 1, not only receives motion commands from the input module, but also runs complex control logic algorithms based on the embedded central processing unit. This algorithm can parse the intention of the command and convert it into specific action signals of the drive units 6 in each segment of the flexible robotic arm 3.

[0039] The drive module, according to the instructions of the signal processing module, precisely generates drive signals for the drive unit 6. These signals control the on / off state and magnitude of the current, thereby determining the heating degree and bending speed of the drive unit 6, ensuring that the flexible robotic arm 3 can move flexibly along a predetermined trajectory.

[0040] The sensing module, closely connected to the sensing unit 7 composed of fiber Bragg grating sensors, serves as the demodulation instrument for the sensing unit 7. It is responsible for acquiring the bending angle, position information, and contact force data of the flexible robotic arm detected by the sensing unit 7 in real time, enabling the main controller 1 to dynamically adjust the drive signal according to the actual situation and realize closed-loop control of the flexible robotic arm 3.

[0041] See attached document Figures 1 to 7 The control method for the variable-diameter flexible robotic arm gripping device includes the following steps: The system receives the target command from the input module, acquires the sensing data from the sensing unit 7, and parses the target command to determine the expected three-dimensional shape change of the flexible robotic arm 3 and the expected action of the variable diameter clamping unit 4. At the same time, the system reads the actual bending angle, position information, and contact force data of the flexible robotic arm 3 fed back by the sensing unit 7 in real time through the sensing module.

[0042] Based on the parsed target instructions and real-time sensing data, the signal processing module calculates the required contraction or elongation of each drive unit 6 in each segment of the flexible joint 32, so as to achieve precise bending of the flexible robotic arm body 3 in the expected shape.

[0043] Based on the expansion and contraction of the drive unit 6 in each segment of the flexible joint 32, the current contact force is assessed to determine whether it is within a safe range. If the contact force is within a safe range, the contraction or expansion of the drive unit 6 is calculated by the main controller 1, and a corresponding drive signal is generated by the drive module. The on / off state of the independent drive unit 6 in each segment is controlled by a micro electronic switch, so that the drive unit 6 in a specific position (e.g., 0°, 90°, 180° and 270°) in a specific segment generates Joule heat and bends.

[0044] The drive unit 6, made of shape memory alloy strip, bends and can drive the flexible robotic arm 3 to move along a predetermined trajectory. At the same time, based on the real-time shape change of the flexible robotic arm 3, the control signal of the variable diameter clamping unit 4 is adjusted by the drive module to adapt to objects of different shapes and sizes, ensuring the stability and safety of clamping.

[0045] If the contact force exceeds the safe range, the current movement of the flexible robotic arm 3 will be stopped immediately, and the action of the variable diameter clamping unit 4 will be adjusted through the drive module, such as appropriately relaxing the clamping force or adjusting the clamping angle, to avoid damage to the tissue. At the same time, the input module or preset safety strategy will prompt the doctor to manually intervene or adjust the surgical plan.

[0046] Furthermore, by combining preoperative CT / MRI images and setting electronic boundaries in the danger zone through the main controller 1, a threshold for contact force is set based on the electronic boundaries, wherein the threshold is set differently according to the characteristics of different surgical sites and tissues.

[0047] For example, in areas near important blood vessels or nerves, the contact force threshold is set to a lower value to ensure that these fragile structures are not damaged during the operation; while in tissue areas that require greater clamping force, such as muscles or thicker fat layers, the threshold can be appropriately increased to ensure the stability of the clamping.

[0048] When the sensing unit 7, composed of the sensing module and the fiber Bragg grating sensor, detects that the contact force is close to or reaches the preset threshold, the main controller 1 will immediately trigger the safety policy.

[0049] The system alerts doctors through audio prompts or screen displays and automatically adjusts the motion parameters or gripping force of the flexible robotic arm to maintain contact force within a safe range. Furthermore, the main controller records changes in contact force during the procedure, providing data support for postoperative analysis and surgical outcome evaluation, and also serving as a reference for developing safety strategies for similar surgeries in the future.

[0050] The preset security policies include the following three types: If the contact force exceeds 0.5N, the flexible robotic arm 3 will not stop working, but the main controller 1 will issue a warning that the drive unit 6 needs to be manually adjusted.

[0051] If the contact force exceeds 1.0N, the flexible robotic arm 3 will pause its current movement and issue a visual warning (a yellow flashing light on the operating interface) on the main controller 1.

[0052] If the contact force exceeds 2.0N, immediately stop all movement, issue an audible and visual alarm via the main controller 1, and automatically retract 5mm.

[0053] Based on the above, during the movement of the flexible robotic arm 3, feedback data from the sensing unit 7 is continuously acquired through the sensing module to verify whether the movement pattern of the flexible robotic arm 3 matches the target command. If it matches, the subsequent actions are executed. If it does not match, the drive signal is manually adjusted according to the degree of difference, so that the flexible robotic arm 3 repeats the movement adjustment until the expected effect is achieved.

[0054] It is worth noting that the main controller 1 can calculate and execute the differential drive of the four drive units 6 in the single-segment flexible joint 32. Specifically, when it is necessary to bend in a certain direction, the main controller 1 will analyze the amount of extension and retraction of each shape memory alloy strip required in that direction, and precisely control the on / off state and magnitude of the current through a micro electronic switch, so that the shape memory alloy strips in the corresponding position generate different degrees of Joule heating, thereby causing the corresponding amount of bending.

[0055] Because the four shape memory alloy strips are arranged orthogonally and symmetrically in the circumferential direction, this differential drive method can ensure that the flexible robotic arm maintains the stability of the structure and the accuracy of the shape during bending, avoiding twisting or deformation caused by uneven force on one side.

[0056] Meanwhile, by continuously acquiring feedback data from the fiber Bragg grating sensor, the main controller 1 can monitor the actual bending state of the flexible robotic arm 3 in real time and compare it with the target command. Once a deviation is detected, the drive signal is immediately adjusted to form a closed-loop control, thereby ensuring that the flexible robotic arm can always move according to the predetermined trajectory and shape, providing stable and reliable clamping and operation support for laparoscopic surgery of hepatobiliary and pancreatic tumors.

[0057] See attached document Figure 1 and Figures 11 to 13 The main controller 1 controls the movement of the flexible robotic arm 3, thereby sending the variable diameter clamping unit 4 to the part that needs to be clamped. The variable diameter clamping unit 4 includes a module head 41 fixedly installed at one end of the flexible robotic arm 3, and a micro motor 43 is fixedly installed inside the module head 41. The micro motor 43 can be used to drive the variable diameter clamping assembly 45 to rotate the limiting groove 452.

[0058] According to the above structure, a connecting arm 453 is slidably installed inside the limiting groove 452 opened on the surface of the turntable 451. The connecting arm 453 is slidably installed with the guide member 44. Therefore, when the limiting groove 452 rotates, the clamping arm 42 and the force feedback clamping plate 46 can be driven to move through the connecting arm 453.

[0059] Furthermore, the guide 44 is fixedly installed inside the module head 41, and the guide 44, connecting arm 453 and force feedback clamp 46 are correspondingly arranged and arranged in five sets around the perimeter, so that the variable diameter clamping unit 4 can adapt to objects of different sizes and achieve the effect of variable diameter clamping. At the same time, it can apply uniform force from multiple directions when clamping objects, which effectively improves the stability and reliability of clamping.

[0060] Furthermore, a force feedback clamping plate 46 is installed on the inner surface of the clamping arm 42. The force feedback clamping plate 46 can sense the magnitude of the clamping force in real time and feed this information back to the main controller 1. The main controller 1 can dynamically adjust the drive signal of the micro motor 43 based on the feedback clamping force information and a preset clamping force threshold (such as 0.5-1.2N for laparoscopic cholecystectomy), thereby precisely controlling the movement of the clamping arm 42 and the force feedback clamping plate 46 to ensure that the clamping force is always kept within a safe and effective range.

[0061] In addition, a miniature camera is embedded in the other end of the module head 41. This camera can provide doctors with a real-time surgical view during the operation, helping them to judge the surgical situation more accurately and further improve the accuracy and success rate of the operation. At the same time, the miniature camera is connected to the main controller 1, and the images it captures can be transmitted to the main controller 1 in real time and displayed on the monitoring screen in the operating room, providing doctors with clear visual assistance.

[0062] See attached document Figure 1 , Figure 2 , Figure 9 and Figure 10 The handle 2 is connected to the flexible joint 32 via the traction component 33, and a cooling fan is provided inside the handle 2 so that the cooling gas flows through the traction component 33 to the interior of the flexible joint 32 and cools the drive unit 6 in the flexible joint 32.

[0063] According to the above structure, four sets of drive units 6 are inserted around the inside of the single-segment flexible joint 32, and a through groove is provided between the four sets of drive units 6 and the inner liner tube 321, so that the cooling gas can pass through the through groove and contact the surface of the drive unit 6, thereby realizing the cooling and contraction of the drive unit 6.

[0064] Specifically, an installation frame 51 is fixedly installed inside the inner liner tube 321 via a housing 52. The flexible robotic arm body 3 is installed inside the housing 52, and a pull rope 53 is wound around the housing 52 via a rotating shaft 54. One end of the pull rope 53 passes through the flexible joint 32 and is fixedly connected to the traction component 33. Therefore, when the traction component 33 is activated to drive the take-up roller to rotate, all drive units 6 in the same direction (e.g., in the 90° direction) can be stretched, thereby assisting the drive units 6 that have had their current path cut off and are being cooled to reset.

[0065] More specifically, the combination of the internal cooling fan of the handle 2 and the auxiliary adjustment component 5 makes the flexible robotic arm 3 more flexible to use, and also allows for faster adjustment of the robotic arm's posture during surgery to adapt to different surgical needs.

[0066] Meanwhile, the cooling fan also reduces the heat generated by the drive unit 6 during operation, preventing performance degradation or damage due to overheating, thereby extending the service life of the entire device.

[0067] It should be noted that at both ends of the mounting frame 51 located inside the single-section inner liner tube 321, four sets of housings 52 are arranged around it respectively, and the four sets of housings 52 are correspondingly set with the drive unit 6 inside the single-section inner liner tube 321, so as to ensure that when the pull rope 53 is wound up under the drive of the traction component 33, the drive unit 6 in the same direction can be precisely applied with tensile force.

[0068] Specifically, this tensile force not only helps the drive unit 6 to quickly reset after power failure and cooling, but also allows the flexible robotic arm to adjust its bending degree and posture in real time according to the surgeon's operational needs during the operation, greatly improving the flexibility and precision of the surgery. In addition, the surrounding arrangement of the mounting frame 51 and the housing 52 enhances the overall structural stability of the flexible robotic arm body 3, ensuring its reliability and durability during long-term surgery.

[0069] The above description is merely a preferred embodiment of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described or explained in this invention are implemented according to conventional methods in the art unless otherwise specified or limited.

Claims

1. A variable-diameter flexible robotic arm clamping device for laparoscopic surgery of hepatobiliary and pancreatic tumors, characterized in that, include: The main controller (1) and the flexible robotic arm body (3), as well as the variable diameter clamping unit (4) and the drive unit (6) which are electrically connected to the main controller (1) respectively. One end of the drive unit (6) is fixedly installed to the positive terminal of the power supply system (10) via the bus (8), and the other end of the drive unit (6) is fixedly installed to the negative terminal of the power supply system (10) via the public line (9) and the micro electronic switch, so that the current flows through the drive unit (6) to generate Joule heat, and the drive unit (6) is driven by the Joule heat to drive multiple flexible joints (32) to bend independently; A sensing unit (7) is embedded between the multiple flexible joints (32) and the flexible outer sleeve (31). The sensing unit (7) has multiple grating points at each flexible joint (32). The grating points are used to detect the bending angle and position information of the multiple flexible joints (32) and feed the information back to the main controller (1). The main controller (1) drives the bending movement of each flexible joint (32) and the variable diameter clamping movement of the variable diameter clamping unit (4) according to the received feedback information.

2. The variable-diameter flexible robotic arm gripping device according to claim 1, characterized in that: The handle (2) is connected to the flexible joint (32) through the traction component (33), and a cooling fan is provided inside the handle (2) so that the cooling gas flows into the interior of the flexible joint (32) through the traction component (33); The flexible joint (32) of a single segment is internally connected to four sets of drive units (6), and a through groove is provided between the drive unit (6) and the inner liner tube (321) so that the cooling gas passes through the through groove and contacts the surface of the drive unit (6) and drives the drive unit (6) to contract.

3. The variable-diameter flexible robotic arm gripping device according to claim 2, characterized in that: The inner liner tube (321) has an installation frame (51) fixedly installed inside the housing (52). The housing (52) has a pull rope (53) wound inside the housing (52) via a rotating shaft (54). One end of the pull rope (53) passes through a flexible joint (32) and is fixedly connected to the traction component (33). The traction assembly (33) is used to drive the pull rope (53) to tighten and drive the drive unit (6) cooled in the same direction inside the flexible joint (32) to contract.

4. The variable-diameter flexible robotic arm gripping device according to claim 3, characterized in that: At both ends of the mounting frame (51) located inside the single-section inner liner tube (321), four sets of housings (52) are arranged around it, and the four sets of housings (52) are correspondingly arranged with the drive unit (6) inside the single-section inner liner tube (321).

5. The variable-diameter flexible robotic arm gripping device according to claim 4, characterized in that: A ring-shaped frame (322) is abutted between the two sections of the inner liner tube (321) by a return spring (323), and the drive unit (6) and the sensing unit (7) both pass through the ring-shaped frame (322). The driving unit (6) is a shape memory alloy strip, and the sensing unit (7) is a fiber Bragg grating sensor.

6. The variable-diameter flexible robotic arm gripping device according to claim 1, characterized in that: The variable diameter clamping unit (4) includes a module head (41) fixedly installed at one end of the flexible robotic arm body (3). A micro motor (43) is fixedly installed inside the module head (41). The micro motor (43) is used to drive the variable diameter clamping assembly (45) to rotate the limiting groove (452). A connecting arm (453) is slidably installed inside the limiting groove (452). The connecting arm (453) is slidably installed with the guide (44), so that the variable diameter clamping assembly (45) drives the power feedback clamp (46) to move through the connecting arm (453).

7. The variable-diameter flexible robotic arm gripping device according to claim 6, characterized in that: The guide (44) is fixedly installed inside the module head (41), and the guide (44), connecting arm (453) and force feedback clamp (46) are correspondingly arranged and arranged in five groups around it; The other end of the module head (41) is embedded with a miniature camera, and a force feedback clamp (46) is fixedly installed on the surface of the clamping arm (42), and the force feedback clamp (46) is an arc-shaped clamp with an embedded force feedback sensor.

8. The variable-diameter flexible robotic arm gripping device according to claim 1, characterized in that, The main controller (1) includes: The input module is used to input the motion commands of the flexible robotic arm (3); The signal processing module is used to receive the motion commands of the flexible robotic arm (3) and run the control logic of the flexible robotic arm (3) based on the embedded central processing unit. A driving module is used to generate driving signals for the driving unit (6); The sensing module is a demodulation instrument for the sensing unit (7) and is used to acquire data from the sensing unit (7).

9. A control method for a variable-diameter flexible robotic arm gripping device, applied to the variable-diameter flexible robotic arm gripping device according to any one of claims 1-8, characterized in that, Includes the following steps: Receive the target instruction from the input module and acquire the sensing data from the sensing unit (7); Determine the real-time three-dimensional shape of the flexible robotic arm (3) and the real-time contact force with the external tissue; A safety assessment is made based on the real-time contact force. If the state is determined to be safe, the motion control process is entered. Based on the target command and the real-time three-dimensional shape, the main controller (1) calculates and executes the differential drive of the four drive units (6) in the single flexible joint (32). If the condition is determined to be unsafe, the security process will be initiated and the preset security policy will be executed. Based on the motion control process, the variable diameter clamping linkage process is selectively entered, and the variable diameter clamping unit (4) located at the far end of the flexible robotic arm body (3) is controlled by the main controller (1) to operate.

10. The method according to claim 9, characterized in that, The motion control process specifically includes the following steps: Based on the target instruction, the signal processing module of the main controller (1) converts the target bending shape of each segment into the contraction and elongation of the drive unit (6) of each segment; The power supply system (10) and the micro electric switch are activated according to the contraction and elongation of the drive unit (6) of each segment to drive the drive unit (6) to perform differential heating control; Based on the feedback from the sensing unit (7), it is verified whether the motion pattern matches the target. If it matches, the flexible robotic arm (3) completes the motion. If it does not match, the flexible robotic arm (3) repeats the motion adjustment.

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