Flexible robotic arm and flexible surgical robot
By utilizing the elasticity and bidirectional deflection mechanism of the flexible robotic arm, combined with a modular drive unit, the problem of poor flexibility in flexible surgical robots has been solved, achieving high flexibility and smooth operation while reducing the risk of trauma.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- MILVUS TECHNOLOGIES LTD
- Filing Date
- 2025-04-25
- Publication Date
- 2026-07-17
AI Technical Summary
Existing flexible surgical robots have poor flexibility, making it difficult to operate in narrow and tortuous cavities, and multiple incisions increase the risk of trauma.
The design employs a flexible robotic arm, combining elasticity and a bidirectional deflection mechanism. It achieves highly flexible rotation through a modular drive unit, including the deflection design of the first drive line and connecting unit, and optimizes the structure to improve operational flexibility.
It improves the flexibility and smoothness of surgical procedures, reduces the risk of trauma to the human body, and enables single-incision or natural cavity operation.
Smart Images
Figure CN224505576U_ABST
Abstract
Claims
1. A flexible robotic arm, characterized in that: The flexible robotic arm is defined with a centerline. The flexible robotic arm includes a flexible arm base, multiple flexible arm units, a connecting unit, a surgical action structure, and a drive unit. The flexible arm base is used to connect with the main body of the flexible surgical robot. Multiple flexible arm units are arranged sequentially and spaced apart from the flexible arm base along the axis; a connecting unit connects the flexible arm base and the multiple flexible arm units sequentially, the connecting unit being arranged parallel to and spaced apart from the axis, and the connecting unit having an elastic force that drives the multiple flexible arm units to deflect along a first deflection direction; the surgical action structure is disposed on the flexible arm unit at the end; the driving unit is used to drive the multiple flexible arm units to deflect in a second deflection direction opposite to the first deflection direction and to drive the surgical action structure to perform the surgical action.
2. The flexible manipulator of claim 1, wherein, The driving unit includes a first driving part, the first driving part is provided with a first driving line, the first driving line and the connecting unit are respectively located on both sides of the axis line, the first driving line is fixedly connected to the flexible arm unit at the end, the first driving part is used to retract and extend the first driving line, and the flexible arm unit at the end deflects in the second deflection direction when the first driving line is retracted, thereby driving the remaining flexible arm units to deflect in the second deflection direction in sequence. When the first drive line is released, the multiple flexible arm units are deflected in the first deflection direction by the elastic force of the connecting unit.
3. The flexible manipulator of claim 2, wherein, Each of the flexible arm units is provided with a first through hole, and the first drive line passes through the first through hole in sequence and is fixedly connected to the flexible arm unit at the end; when the first drive line is retracted, the plurality of flexible arm units deflect in the second deflection direction; When the first drive line is released, the multiple flexible arm units are deflected in the first deflection direction by the elastic force of the connecting unit.
4. The flexible manipulator of claim 2, wherein, The drive unit includes a second drive section, the second drive section is provided with a second drive line, and the second drive line is provided with a first drive end and a second drive end respectively connected to the surgical action structure; the first drive end and the second drive end are respectively connected to the opposite sides of the surgical action structure located on the axis.
5. The flexible manipulator of claim 4, wherein, The surgical action structure includes an action base connected to the flexible arm unit at the end, and a first clamping part and a second clamping part connected to the shaft of the action base. The first driving end and the second driving end are respectively connected to the first clamping part.
6. The flexible manipulator of claim 5, wherein, The drive unit includes a third drive section, which has a third drive line. The third drive line has a third drive end and a fourth drive end, which are respectively connected to the second clamping section.
7. The flexible manipulator of claim 6, wherein, Each of the flexible arm units is provided with a second through hole, through which the second drive line and the third drive line pass.
8. The flexible manipulator of any one of claims 1 to 7, wherein, A rotating groove is provided between two adjacent flexible arm units.
9. The flexible manipulator of any one of claims 1 to 7, wherein, The flexible robotic arm also includes an elastic tube connected to the base of the flexible arm, and the elastic tube is used for the main body connection of the flexible surgical robot.
10. A flexible surgical robot characterized by, It includes a flexible surgical robot body and a flexible robotic arm as described in any one of claims 1 to 9, wherein the flexible robotic arm is connected to the flexible surgical robot body.