A multi-arm laryngeal surgery robot based on a composite continuum

Abstract

The application is suitable for the technical field of medical devices, and provides a multi-arm laryngeal surgery robot based on a composite continuum, wherein a flexible large arm is arranged on a main body, the flexible large arm comprises a plurality of large-arm joints and three or more large-arm driving ropes, the large-arm joint has two arc surfaces arranged oppositely, the middle part of the arc surface is outwardly convex, two adjacent large-arm joints are in abutment through the arc surfaces, the arc surface of one large-arm joint is provided with a convex body, the arc surface of the other large-arm joint is provided with a groove, and the convex body and the groove are engaged to limit the sliding of the two adjacent large-arm joints; each driving assembly is used for driving the movement of the large-arm driving rope alone to drive the flexible large arm to bend. The two adjacent large-arm joints are in contact through the arc surfaces, one of the large-arm joints can roll in any direction relative to the other large-arm joint, the two joints can bend in any spatial direction, the bending angle requirement can be met with a shorter arm length, and the convex body and the groove are engaged to prevent the sliding.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a multi-arm laryngeal surgery robot based on a composite continuum. Background Technology

[0002] With the continuous advancement of medical technology and the deepening development of the minimally invasive concept, surgical robots have been widely researched and applied in various clinical fields. Flexible surgical robots with good compliance and spatial adaptability are gradually becoming an important development direction for minimally invasive laryngeal surgery.

[0003] Laryngeal surgery robots typically employ flexible arms with a continuum structure to improve operational flexibility. However, in existing laryngeal surgery robots, the flexible arms have fixed axes of rotation between adjacent continuums, and two axes of rotation between three consecutive continuums are perpendicular to each other, allowing the flexible arm to bend in various directions. This structure, however, leads to low utilization of the continuums, requiring more continuums to achieve specific bending angles, resulting in a longer flexible arm. This can cause operational difficulties within the confined space of laryngeal surgery. Summary of the Invention

[0004] The purpose of this application is to provide a multi-arm laryngeal surgery robot based on composite continuum, which aims to solve the problem that in the flexible arm structure of existing laryngeal surgery robots, the flexible arm requires more continuums to achieve a specific bending angle, resulting in a longer flexible arm.

[0005] The embodiments of this application are implemented as follows: a multi-arm laryngeal surgery robot based on a composite continuum includes:

[0006] main body;

[0007] A flexible upper arm is provided on the main body. The flexible upper arm includes several upper arm joints and three or more upper arm drive ropes. The upper arm drive ropes pass through the upper arm joints in sequence and are connected to the last upper arm joint. The three or more upper arm drive ropes are distributed around the circumference of the upper arm joints. Each upper arm joint has two opposing arc surfaces. The middle part of the arc surface protrudes outward. Two adjacent upper arm joints abut against each other through the arc surfaces. One upper arm joint has a protrusion on its arc surface, and the other upper arm joint has a groove on its arc surface that is adapted to cooperate with the protrusion. The protrusion and the groove engage to limit the slippage of two adjacent upper arm joints.

[0008] A drive module is located in the main body. The drive module includes several drive components, each of which is used to drive the movement of one of the boom drive ropes to cause the flexible boom to bend.

[0009] In some preferred embodiments, the flexible upper arm further includes an elastic rod that passes sequentially through the center of the upper arm joint.

[0010] In some preferred embodiments, the upper arm joint is a disc-shaped structure, the protrusion is a strip-shaped structure extending radially along the upper arm joint, and the groove is a strip-shaped structure extending radially along the upper arm joint. From the center of the upper arm joint to the outer periphery, the width of the protrusion and the groove gradually decreases, and the projections of the protrusion and the groove of each upper arm joint in the axial direction of the upper arm joint coincide.

[0011] In some preferred embodiments, four protrusions and four grooves are evenly arranged along the circumference of the upper arm joint, and four upper arm drive ropes are provided, which pass through the protrusions and the grooves.

[0012] In some preferred embodiments, the flexible upper arm is connected to two flexible lower arms, each of which includes a curved body, at least three mid-section drive ropes, and at least three end-section drive ropes. The mid-section drive ropes are connected to the middle section of the curved body, and the end-section drive ropes are connected to the ends of the flexible lower arms.

[0013] In some preferred embodiments, the bending body includes a flexible skeleton and a bending shell sleeved on the outside of the flexible skeleton. The flexible skeleton includes a plurality of chucks, tension springs and alloy tubes. The alloy tubes pass through the center of the chucks in sequence, and the tension springs are sleeved on the alloy tubes. Adjacent chucks are connected by the tension springs.

[0014] In some preferred embodiments, the device further includes a surgical instrument and a flexible drive shaft. The surgical instrument is rotatably mounted on the free end of the flexible forearm. One end of the flexible drive shaft is connected to the output end of a rotary drive device, and the other end is connected to the surgical instrument. The rotary drive device is used to drive the surgical instrument to rotate via the flexible drive shaft.

[0015] In some preferred embodiments, the surgical instrument includes clamps, the clamps including a clamp body and a drive slider, the drive slider being used to drive the clamp body to perform a clamping action, the flexible drive shaft being connected to the drive slider, and the rotary drive device being disposed at the output end of the linear drive device, the linear drive device being used to drive the rotary drive device to move.

[0016] In some preferred embodiments, the drive slider is provided with a slot, and the flexible drive shaft is provided with a locking block that cooperates with the slot. The locking block is inserted into the slot to achieve the connection and fixation between the flexible drive shaft and the drive slider.

[0017] In some preferred embodiments, the drive assembly includes a force measuring module for measuring the tension of the boom drive rope.

[0018] This application provides a multi-arm laryngeal surgery robot based on a composite continuum. The main arm is driven by a cable that pulls a flexible main arm. Adjacent main arm joints are connected by an arc-shaped contact surface. One main arm joint can roll relative to the other in any direction to achieve bending of the flexible main arm in any direction. In this way, the two joints can achieve bending in any spatial direction. Compared with existing flexible arm structures, it can achieve the required bending angle with a shorter arm length. Furthermore, when the flexible main arm bends, the protrusions and grooves between adjacent main arm joints engage to prevent slippage, ensuring pure rolling between the main arm joints, reducing friction between joints, and improving the precision of the flexible main arm's end effector. Attached Figure Description

[0019] Figure 1 A schematic diagram of the structure of a multi-arm laryngeal surgery robot based on a composite continuum provided in this application embodiment;

[0020] Figure 2 for Figure 1 Schematic diagram of the structure with the shell removed in the embodiment;

[0021] Figure 3 for Figure 2 A schematic diagram of the mounting bracket in the embodiment;

[0022] Figure 4 for Figure 2 A schematic diagram of the structure of the first guide tube in the embodiment;

[0023] Figure 5 for Figure 2 A schematic diagram of the structure of the second guide tube in the embodiment;

[0024] Figure 6 for Figure 2 Exploded view of the driving component in the embodiment;

[0025] Figure 7 for Figure 2 Exploded view of the force measuring module in the embodiment;

[0026] Figure 8 for Figure 2 A schematic diagram of the flexible upper arm and flexible lower arm in the embodiment;

[0027] Figure 9 for Figure 8 A schematic diagram of the flexible upper arm in the embodiment;

[0028] Figure 10 for Figure 9A schematic diagram of the upper arm joint in the embodiment;

[0029] Figure 11 for Figure 9 Another structural schematic diagram of the upper arm joint in the embodiment;

[0030] Figure 12 for Figure 8 Exploded view of the flexible forearm in the embodiment;

[0031] Figure 13 for Figure 12 Exploded view of the flexible skeleton in the embodiment;

[0032] Figure 14 for Figure 8 Exploded view of the clamps in the embodiment;

[0033] Figure 15 This is an exploded view of the linear drive device and the rotary drive device in the embodiments of this application.

[0034] in:

[0035] 100. Displacement driving device;

[0036] 200. Main body; 211. Supporting disc; 212. Motor bracket; 213. Support column; 220. First guide tube; 221. First pipe hole; 222. Cable hole; 230. Second guide tube; 231. Second pipe hole;

[0037] 300. Flexible upper arm; 310. Upper arm joint; 320. Elastic rod; 311. Protrusion; 312. Groove; 313. Upper arm cable hole; 314. Forearm cable hole; 315. Cable through hole; 316. Shaft hole;

[0038] 400. Flexible forearm; 410. Flexible frame; 411. Chuck; 412. Tension spring; 413. Alloy tube; 414. Frame segmented disc; 420. Bending shell; 430. Mid-end drive rope; 440. End drive rope;

[0039] 510. Drive assembly; 511. Guide rail; 512. Sliding block; 513. First bracket; 514. Second bracket; 515. Preload screw; 516. Linear motor; 517. Rotary motor; 520. Force measuring module; 521. Mounting bracket; 522. Force measuring bracket; 523. Sensor; 524. Roller; 530. Controller;

[0040] 600, clamp; 610, first clamp body; 620, second clamp body; 630, drive slider; 631, slot; 632, guide groove; 640, connecting sleeve; 650, mounting shaft; 651, quick-change channel; 660, flexible drive shaft; 661, locking block; 670, steel ball bushing; 680, sliding component;

[0041] 700. Electrosurgical unit. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0043] The specific implementation of this application will be described in detail below with reference to specific embodiments.

[0044] like Figure 1 and Figure 2 The diagram shown is a structural schematic of a multi-arm laryngeal surgery robot based on a composite continuum provided in this application embodiment, including: a main body 200 and a flexible large arm 300.

[0045] like Figures 2 to 4 As shown, the main body 200 includes a mounting frame, which includes multiple support discs 211. The multiple support discs 211 are connected to each other by support columns 213 or motor brackets 212. The mounting frame is also connected to a first guide tube 220. A second guide tube 230 is fixed at the end of the first guide tube 220 away from the mounting frame, and the end of the second guide tube 230 is used to install the flexible boom 300.

[0046] The flexible upper arm 300 is disposed on the main body 200, such as Figures 9 to 10 As shown, the flexible boom 300 includes several boom joints 310 and three or more boom drive ropes. The boom drive ropes pass through the boom joints 310 in sequence and are connected to the last boom joint 310. The three or more boom drive ropes are distributed circumferentially along the boom joints 310. Each boom joint 310 has two opposing arc surfaces. The middle part of the arc surface protrudes outward. Two adjacent boom joints 310 abut against each other through the arc surfaces. One of the boom joints 310 has a protrusion 311 on its arc surface, and the other boom joint has a groove 312 on its arc surface that is adapted to cooperate with the protrusion 311. The engagement of the protrusion 311 and the groove 312 restricts the slippage of two adjacent boom joints 310.

[0047] The drive module is located in the main body 200, such as Figure 2As shown, the drive module includes a plurality of drive components 510, each drive component 510 being used to individually drive the movement of the boom drive rope, thereby causing the flexible boom 300 to bend. In some embodiments, such as Figure 3 and Figure 6 As shown, the drive assembly 510 includes a guide rail 511 fixedly mounted on the motor bracket 212. Two sliding blocks 512 are slidably mounted on the guide rail 511. A first bracket 513 and a second bracket 514 are respectively mounted on the two sliding blocks 512. A linear motor 516 is fixed to the first bracket 513 via a pressure head. The first bracket 513 is connected and fixed to the support disc 211 via preload screws 515. The output end of the linear motor 516 is fixedly connected to the second bracket 514. The second bracket 514 is fixedly connected to the wire rope via the pressure head.

[0048] This application provides a multi-arm laryngeal surgery robot based on a composite continuum. The flexible arm 300 is bent by a drive cable. Adjacent arm joints 310 are in contact via an arc surface. One arm joint 310 can roll relative to the other in any direction to achieve bending of the flexible arm 300 in any direction. Thus, the two joints can achieve bending in any spatial direction. Compared to existing flexible arm structures, this application can meet the bending angle requirements with a shorter arm length. Furthermore, when the flexible arm 300 bends, the protrusions 311 and grooves 312 between adjacent arm joints 310 engage to prevent slippage, ensuring pure rolling between the arm joints 310, improving the accuracy of the flexible arm 300's end effector, and reducing friction between the arm joints 310.

[0049] like Figure 1 As shown, in some embodiments, the main body 200 is mounted on the displacement driving device 100, which can drive the main body 200 to reciprocate. In some embodiments, the displacement driving component 510 can be a ball screw mechanism driven by a motor or a linear motor driven directly, without limitation.

[0050] like Figure 3 As shown, in some embodiments, four support discs 211 are provided, arranged axially. Starting from the left, the first and second support discs 211 are connected by support columns 213 to create a space between them for mounting the controller 530. The second, third, and fourth support discs 211 are connected by two motor brackets 212. The motor brackets 212 are multi-faceted cylindrical structures, and a drive assembly 510 can be mounted on each face. The two motor brackets 212 are staggered at a certain angle to avoid interference between the wire rope and the drive assembly 510. Through holes are provided on the support discs 211 to allow the wire rope to pass through.

[0051] like Figure 4 As shown, the first guide tube 220 has a tapered structure, and its interior is provided with a plurality of first tube holes 221 and cable holes 222 extending along the generatrix direction. The first tube holes 221 and cable holes 222 are used for steel wire ropes or cables to pass through, so as to converge the steel wire ropes and cables. In some embodiments, such as Figure 5 As shown, the second guide tube 230 has a disc-shaped structure, and its interior is also provided with a second tube hole 231 and a cable hole for steel wire rope or cable to pass through.

[0052] In some embodiments of this application, such as Figure 9 As shown, the flexible boom 300 further includes an elastic rod 320, which passes sequentially through the center of the boom joint 310. In this embodiment, the elastic rod 320 is disposed inside the flexible boom 300, which can improve the load-bearing capacity of the flexible boom 300, and the stiffness of the flexible boom 300 can be adjusted by adjusting the diameter of the elastic rod 320. Preferably, the elastic rod 320 is a nickel-titanium alloy rod.

[0053] In some embodiments of this application, such as Figure 10 and Figure 11 As shown, the upper arm joint 310 has a disc-shaped structure, the protrusion 311 is a strip-shaped structure extending radially along the upper arm joint 310, and the groove 312 is a strip-shaped structure extending radially along the upper arm joint 310. From the center of the upper arm joint 310 outwards, the widths of the protrusion 311 and the groove 312 gradually decrease. In this embodiment, the protrusion 311 extends radially along the upper arm joint 310, ensuring that the protrusion 311 and the groove 312 remain engaged at all times when the two upper arm joints 310 roll relative to each other, preventing slippage of the upper arm joints 310. Furthermore, the gradually changing width of the protrusion 311 prevents it from sliding within the groove 312, thus preventing slippage between adjacent upper arm joints 310.

[0054] In some embodiments of this application, such as Figure 10 As shown, four protrusions 311 and four grooves 312 are evenly arranged along the circumference of the boom joint 310. Four boom drive ropes are provided, passing through the protrusions 311 and grooves 312. In this embodiment, the four boom drive ropes improve the control accuracy of the flexible boom 300. Furthermore, the guide effect of the boom drive ropes passing through the protrusions 311 and grooves 312 ensures stable engagement between them.

[0055] like Figure 10As shown, in some embodiments of this application, the upper arm joint 310 is provided with upper arm cable holes 313 for the upper arm drive rope to pass through, for the middle drive rope 430, the end drive rope 440 and the flexible drive shaft 660 to pass through, cable perforations 315 for cables to pass through, and shaft holes 316 for the elastic shaft to pass through. There are two sets of forearm cable holes 314, each set for driving one flexible forearm 400. Each set of forearm cable holes 314 has seven holes, respectively for threading three middle drive ropes 430, three end drive ropes 440, and one flexible drive shaft 660. It is understood that the cable perforations 315 are used for threading cables. The surgical instruments include a binocular camera for viewing the larynx, and the binocular camera requires cables to transmit data. There are two cable perforations 315. In some embodiments of this application, the middle drive rope 430, the end drive rope 440 and the upper arm drive rope are all steel wire ropes.

[0056] In some embodiments of this application, such as Figure 8 As shown, the free end of the flexible upper arm 300 has two flexible lower arms 400 arranged side by side, as... Figure 12 As shown, the flexible forearm 400 includes a bending body, at least three mid-section drive ropes 430, and at least three end-section drive ropes 440. The mid-section drive ropes 430 connect to the middle section of the flexible forearm 400, and the end-section drive ropes 440 connect to the end of the flexible forearm 400. In this embodiment, the integrated structure connecting the two flexible forearms 400 to the flexible upper arm 300 can better achieve multi-arm collaboration and improve surgical efficiency. Furthermore, the two-section structure of the flexible forearm 400 allows for greater flexibility. It is understood that if the two flexible forearms 400 are close together, the surgical instruments at the ends of the flexible forearms 400 may not work well together. This application sets the flexible forearm 400 as a two-section structure, with the section of the two flexible forearms 400 closer to the flexible upper arm 300 bending in opposite directions, and the section farther from the flexible upper arm 300 bending in the direction closer to each other. The two flexible forearms 400 form an O-shape, specifically as shown below. Figure 8 As shown, it can prevent interference between the surgical instruments at the ends of the two flexible forearms 400, which is beneficial to the coordinated operation between surgical instruments.

[0057] In some embodiments, three mid-end drive ropes 430 and three end drive ropes 440 are provided. The mid-end drive ropes 430 and the end drive ropes 440 pass sequentially through the flexible upper arm 300, the first guide tube 220, and the second guide tube 230, extending into the mounting frame, and are respectively connected to a set of drive assemblies. The drive assemblies pull the mid-end drive ropes 430 and the end drive ropes 440 to move, thereby bending the flexible forearm.

[0058] In some embodiments of this application, such as Figure 12As shown, the curved body includes a flexible skeleton 410 and a curved outer shell 420 sleeved on the outside of the flexible skeleton 410, as... Figure 13 As shown, the flexible frame 410 includes several chucks 411, tension springs 412, and alloy tubes 413. The alloy tubes 413 pass sequentially through the center of the chucks 411, and the tension springs 412 are sleeved on the alloy tubes 413. Adjacent chucks 411 are connected by the tension springs 412. In this embodiment, the tension springs 412 connect the chucks 411, and the chucks 411 are axially positioned by the individual tension springs 412 to form a strip-shaped frame. The chuck-type flexible frame and the hinged outer shell of the forearm structure can effectively improve the stiffness of the forearm and enhance the load-bearing capacity of the forearm end. In addition, adjusting the diameter of the alloy tubes 413 can achieve changes in the stiffness of the frame. Steel wire ropes or cables can be threaded inside the alloy tubes 413, making the structure more compact. Preferably, in some embodiments, the material of the alloy tubes 413 is a nickel-titanium alloy.

[0059] In some embodiments, such as Figure 13 As shown, the flexible skeleton 410 is divided into two segments, which are connected by a skeleton segmentation disc 414. The middle drive rope 430 is connected to the skeleton segmentation disc 414, and the end drive rope 440 is connected to the free end of the flexible forearm 400. This allows for segmented bending of the flexible skeleton 410, improving the flexibility of the flexible forearm 400. It is understood that the chuck 411 has perforations for the middle drive rope 430 and the end drive rope 440 to pass through.

[0060] In some embodiments, such as Figure 12 As shown, the curved outer shell 420 includes several rotating bodies connected in series. Adjacent rotating bodies are pivotally connected to a pivot axis, and the pivot axes are arranged perpendicularly to each other. Thus, the swing directions of adjacent rotating bodies are staggered, allowing the curved outer shell 420 to bend in all directions. Each rotating body has a ring-shaped cylindrical structure, and the series connection of the rotating bodies forms an internal space to accommodate the flexible skeleton 410. In some embodiments of this application, the inner circumferential surface of the rotating body is provided with multiple protrusions for abutting against the outer circumference of the chuck 411. The outer circumferential surface of the chuck 411 abuts against these protrusions to achieve connection with the rotating body.

[0061] In some embodiments of this application, such as Figure 8 and Figure 14As shown, the laryngeal surgery robot also includes surgical instruments and a flexible drive shaft 660. The surgical instruments are rotatably mounted at the free end of the flexible forearm 400. The rotation axis of the surgical instruments is parallel to the extension direction of the flexible forearm 400. One end of the flexible drive shaft 660 is connected to the output end of a rotary drive device, and the other end is connected to the surgical instruments. The rotary drive device is used to drive the surgical instruments to rotate via the flexible drive shaft 660. In this embodiment, the rotation of the surgical instruments at the end of the flexible forearm 400 by the rotary drive device allows for adjustment of the angle of the surgical instruments, facilitating surgical operations. Moreover, since the rotary drive device and the surgical instruments are connected via the flexible drive shaft 660, the flexible drive shaft 660 can bend with the flexible upper arm 300 and the flexible forearm 400. The rotary drive device does not need to be located at the end of the flexible forearm 400, reducing the load on the end.

[0062] In some embodiments, the surgical instruments include an electrosurgical unit 700, a clamp 600, a binocular camera, etc. Preferably, the electrosurgical unit 700 can be mounted on one flexible forearm 400 and the clamp 600 can be mounted on the other flexible forearm 400. The lesion can be grasped and removed by the cooperation of the electrosurgical unit 700 and the clamp 600.

[0063] In some embodiments of this application, such as Figure 8 As shown, the surgical instrument includes clamps 600, such as... Figure 14 As shown, the clamp 600 includes a clamp body 200 and a drive slider 630. The drive slider 630 is used to drive the clamp body 200 to perform a clamping action. The flexible drive shaft 660 is connected to the drive slider 630, as shown. Figure 15 As shown, the rotary drive device is located at the output end of the linear drive device. The linear drive device is used to pull the drive slider 630 to move so that the clamp 600 performs a clamping action. In this embodiment, the linear drive device pulls the rotary drive device to move, so that the flexible drive shaft 660 pulls the drive slider 630 to move, thereby driving the clamp 600 to perform clamping. In addition, by driving the flexible drive shaft 660 to rotate through the rotary drive device, the clamp 600 can be rotated, changing the clamping orientation of the clamp 600 and improving flexibility. In some embodiments of this application, such as... Figure 15 As shown, the rotary drive device is a rotary motor 517. The linear drive device and the drive assembly 510 have basically the same structure, the difference being that, as... Figure 6 and 15As shown, a rotary drive device is fixed on the second bracket 514 of the linear drive assembly 510, and the second bracket 514 of the drive assembly 510 is directly connected to the steel wire rope. It should be noted that the flexible drive shaft 660 is easy to bend but not easy to twist. Thus, the flexible drive shaft 660 can bend with the flexible upper arm 300 and the flexible lower arm 400, and can transmit the torque of the rotary drive device to drive the surgical instrument to rotate. Preferably, the flexible drive shaft 660 is a nickel-titanium alloy elastic shaft.

[0064] In some embodiments of this application, such as Figure 14 As shown, the pliers body 200 includes a mounting shaft 650, a first clamping body 610, and a second clamping body 620. The mounting shaft 650 is rotatably mounted on a connecting sleeve 640, which is used to fix the flexible forearm 400. Steel balls are filled between the mounting shaft 650 and the connecting sleeve 640 to reduce friction. The steel balls are limited by a steel ball bushing 670 disposed between the mounting shaft 650 and the connecting sleeve 640. A rotating shaft is provided on the mounting shaft 650, passing through the middle of the first clamping body 610 and the second clamping body 620, allowing the first clamping body 610 and the second clamping body 620 to rotate relative to each other. A drive slider 630 is slidably mounted on the mounting shaft 650 and is provided with a guide groove 632. Sliding members 680 are connected to the ends of the first clamping body 610 and the second clamping body 620 away from the jaws, and the sliding members 680 are slidably disposed in the guide grooves 632. When the drive slider 630 slides away from the jaws, the guide groove 632 drives the sliders 680 of the first jaw 610 and the second jaw 620 to move closer together, causing the first jaw 610 and the second jaw 620 to rotate relative to each other, and the jaws to close to perform a clamping action. A torsion spring is provided between the first jaw 610 and the second jaw 620 to drive the jaws to open. In some embodiments of this application, a quick-change channel 651 is also provided on the outer periphery of the mounting shaft 650 to avoid the flexible drive shaft 660.

[0065] In some implementations of this application, such as Figure 14 As shown, the drive slider 630 is provided with a slot 631, and the flexible drive shaft 660 is provided with a locking block 661 that cooperates with the slot 631. The locking block 661 is engaged with the slot 631 to connect the flexible drive shaft 660 and the drive slider 630. In this embodiment, when the linear drive device releases the flexible drive shaft 660, the locking block 661 is removed from the slot 631, enabling quick replacement of the clamp 600.

[0066] like Figure 2As shown, in some embodiments of this application, the drive assembly 510 includes a force measuring module 520, which is used to measure the tension of the upper arm drive rope. The force measuring module 520 can acquire the wire rope tension in real time, facilitating precise control of the movement of the flexible upper arm 300, flexible forearm 400, or surgical instruments. Specifically, as... Figure 7 As shown, in some embodiments of this application, the force measuring module 520 includes: a mounting bracket 521, a force measuring bracket 522, a sensor 523, and rollers 524. Two rollers 524 are spaced apart on the mounting bracket 521. The sensor 523 is fixed between the two rollers 524. The force measuring bracket 522 is mounted on the sensor 523, and the rollers 524 are rotatably mounted on the force measuring bracket 522. A steel wire rope passes over the rollers 524 on the mounting bracket 521 and under the rollers 524 on the force measuring bracket 522. When the steel wire rope is tensioned, it provides an upward thrust to the force measuring bracket 522, causing the force measuring bracket 522 to displace. The sensor 523 detects the displacement of the force measuring bracket 522 to obtain the tension of the steel wire rope. The specific principle of tension measurement is prior art and will not be elaborated here.

[0067] The above embodiments of this application provide a multi-arm laryngeal surgery robot based on a composite continuum. A controller 530 coordinates and controls the actions of each linear motor 516. The linear motors 516 are connected to steel cables and can control the displacement of the steel cables to achieve bending of the flexible upper arm 300 and flexible lower arm 400. The flexible upper arm 300 is driven by four orthogonally arranged steel cables. The corresponding linear motors 516 stretch the steel cables, pulling the flexible upper arm 300 to bend in any direction in space. The flexible lower arm 400 has a front and rear flexible skeleton 410 structure, each driven by three steel cables, capable of bending independently in space. When the two internal skeletons bend, the outer shell follows suit. The internal skeleton provides elastic support to the outer shell, improving the load-bearing capacity of the flexible lower arm 400. Furthermore, the boom drive rope pulls the flexible boom 300 to bend. Adjacent boom joints 310 are in contact via an arc surface, allowing one boom joint 310 to roll relative to the other in any direction, thus enabling the flexible boom 300 to bend in any direction. In this way, the two joints can achieve bending in any spatial direction. Compared to existing flexible boom structures, this application can meet the bending angle requirements with a shorter boom length. Additionally, when the flexible boom 300 bends, the protrusions 311 and grooves 312 between adjacent boom joints 310 engage to prevent slippage, ensuring pure rolling between the boom joints 310 and improving the accuracy of the flexible boom 300's end effector.

[0068] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-arm laryngeal surgery robot based on a composite continuum, characterized in that, include: main body; A flexible upper arm is provided on the main body. The flexible upper arm includes several upper arm joints and three or more upper arm drive ropes. The upper arm drive ropes pass through the upper arm joints in sequence and are connected to the last upper arm joint. The three or more upper arm drive ropes are distributed around the circumference of the upper arm joints. Each upper arm joint has two opposing arc surfaces. The middle part of the arc surface protrudes outward. Two adjacent upper arm joints abut against each other through the arc surfaces. One upper arm joint has a protrusion on its arc surface, and the other upper arm joint has a groove on its arc surface that is adapted to cooperate with the protrusion. The protrusion and the groove engage to limit the slippage of two adjacent upper arm joints. A drive module is located in the main body. The drive module includes several drive components, each of which is used to drive the movement of one of the boom drive ropes to cause the flexible boom to bend.

2. The multi-arm laryngeal surgery robot based on a composite continuum according to claim 1, characterized in that, The flexible upper arm also includes an elastic rod that passes sequentially through the center of the upper arm joint.

3. The multi-arm laryngeal surgery robot based on a composite continuum according to claim 1, characterized in that, The upper arm joint is a disc-shaped structure. The protrusion is a strip-shaped structure extending radially along the upper arm joint, and the groove is a strip-shaped structure extending radially along the upper arm joint. From the center of the upper arm joint to the outer periphery, the width of the protrusion and the groove gradually decreases. The projections of the protrusion and the groove of each upper arm joint in the axial direction of the upper arm joint coincide.

4. The multi-arm laryngeal surgery robot based on a composite continuum according to claim 3, characterized in that, The protrusions and grooves are evenly arranged in four places along the circumference of the upper arm joint, and the upper arm drive ropes are provided in four places, passing through the protrusions and grooves.

5. The multi-arm laryngeal surgery robot based on a composite continuum according to claim 1, characterized in that, The flexible upper arm is connected to two flexible lower arms. Each flexible lower arm includes a curved body, at least three mid-section drive ropes, and at least three end-section drive ropes. The mid-section drive ropes are connected to the middle section of the curved body, and the end-section drive ropes are connected to the ends of the flexible lower arms.

6. A multi-arm laryngeal surgery robot based on a composite continuum according to claim 5, characterized in that, The bending body includes a flexible skeleton and a bending shell sleeved on the outside of the flexible skeleton. The flexible skeleton includes a plurality of chucks, tension springs and alloy tubes. The alloy tubes pass through the center of the chucks in sequence, and the tension springs are sleeved on the alloy tubes. Adjacent chucks are connected by the tension springs.

7. A multi-arm laryngeal surgery robot based on a composite continuum according to claim 5, characterized in that, It also includes surgical instruments and a flexible drive shaft. The surgical instruments are rotatably mounted on the free end of the flexible forearm. One end of the flexible drive shaft is connected to the output end of a rotary drive device, and the other end is connected to the surgical instruments. The rotary drive device is used to drive the surgical instruments to rotate via the flexible drive shaft.

8. A multi-arm laryngeal surgery robot based on a composite continuum according to claim 7, characterized in that, The surgical instrument includes clamps, each clamp comprising a clamp body and a drive slider. The drive slider is used to drive the clamp body to perform a clamping action. A flexible drive shaft is connected to the drive slider. A rotary drive device is located at the output end of a linear drive device, and the linear drive device is used to drive the rotary drive device to move.

9. A multi-arm laryngeal surgery robot based on a composite continuum according to claim 8, characterized in that, The drive slider is provided with a slot, and the flexible drive shaft is provided with a locking block that cooperates with the slot. The locking block is inserted into the slot to realize the connection and fixation between the flexible drive shaft and the drive slider.

10. A multi-arm laryngeal surgery robot based on a composite continuum according to claim 1, characterized in that, The drive assembly includes a force measuring module for measuring the tension of the boom drive rope.

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