Growth-type robotic arm

Abstract

The present disclosure provides a growth-type robotic arm, and relates to the technical field of medical instruments. Densely arranged stiffness-enhanced supporting ring components are wrapped in a cylindrical flexible film to form a rigid-flexible combined tubular structure together with the film. During working, by means of pneumatic driving, the internal supporting rings undergo everted growth at a tail end to form a hollow tube with radial stiffness. Due to the presence of the supporting ring components, the tube has the capability to resist the pressure from the surrounding environment and form a stable geometric structure, so that a matched inspection scope instrument can easily and conveniently enter a narrow channel without damaging the environment, eliminating the need for capabilities such as complex perception, control, and variable stiffness. In addition, when the film at the tail end is everted, the supporting rings undergo translational movement and radius-enlarging deformation, thereby reducing the resistance caused by the structural eversion, and avoiding structural damage to the supporting rings. The supporting ring components can be locked in a small-diameter state in an initial state, and are in a large-diameter state after eversion.

Description

Growth-type robotic arm

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This disclosure claims priority to Chinese patent application number 202311774474.7, filed with the State Intellectual Property Office of China on December 22, 2023, and entitled “Growth-Type Robotic Arm,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0003] The present disclosure relates to the technical field of medical equipment and inspection of complex and narrow spaces, and in particular to a growing robotic arm. Background Art

[0004] During the process of the colonoscope being passively pushed into the body, the force between the intestine and the colonoscope will cause great pain to the patient, causing the patient to need general anesthesia, and the examination doctor will also need to have superb operating skills.

[0005] In order to solve the problems existing in the application of colonoscopy, both academia and industry have conducted relevant research. At present, the growing robot arm has become an ideal solution. The design of the growing robot arm is inspired by the growth method of plants. It simulates the growth of plants by flipping the robot body outward, and continuously adjusts the growth direction to adapt to the environment through preset folds, wire drives, etc. The main body of the growing robot arm is usually made of a flexible film and folded inward into the base, with the rear end fixed to the base. Through air pressure or other excitation methods, the folded body flips outward during the growth process and forms a hollow structure, which enables the front end of the robot to continue to advance and achieve autonomous growth.

[0006] However, although the growth-type robotic arm can achieve autonomous growth in an unstructured environment due to its excellent flexibility, its main body is mostly made of flexible films and has very limited structural rigidity. When other supporting tools are inserted inside, it cannot protect the environment and cannot shield the contact force.

[0007] Summary of the Invention

[0008] The present disclosure provides a growing robotic arm to at least alleviate the problems existing in the related art, such as the low structural rigidity of the growing robotic arm, the inability to maintain a stable shape and structure by itself, and the inability to shield or isolate the contact force between the inserted tool and the environment.

[0009] Some embodiments of the present disclosure provide a growing robotic arm that may include: a flexible membrane, a fixed body, and a support ring member;

[0010] The fixed body has a passage for the inspection mirror device to pass through;

[0011] The flexible film is configured as a cylindrical structure, one end of the flexible film is opened and fixed to the fixed body, and the other end of the flexible film is opened and extended inwardly for a certain length in the inspection insertion direction, and then extended into the channel, and the air cavity is formed between the flexible film at the flipped portion and the flexible film at the unflipped portion;

[0012] When the air cavity is inflated, the flexible film at the flipping portion flips outward, so that the flexible film extends and grows in the inspection insertion direction;

[0013] The support ring component abuts against the inner layer of the flexible film and can move horizontally along the inner layer of the flexible film. The support ring component is used to support the flexible film and can adjust the diameter of the ring as the flexible film flips.

[0014] In an alternative embodiment,

[0015] The supporting ring member may be provided in plurality, and the plurality of supporting ring members are arranged at intervals on the inner layer of the flexible film;

[0016] The supporting ring member can reduce the diameter of the ring as the flexible film turns inward, so that the supporting ring member is located on the flexible film at the turning portion;

[0017] The supporting ring member can increase its circular ring diameter as the flexible film of the flipping portion flips outward, so that the supporting ring member is located on the flexible film of the non-flipping portion.

[0018] In an alternative embodiment,

[0019] The support ring member may include a circular ring body and an insert portion;

[0020] One end of the circular ring body is connected to the insertion portion, and the other end of the circular ring body is provided with an insertion groove for the insertion portion to extend into;

[0021] The annular body has elasticity, so that the inserting portion moves in the inserting groove when the annular body is subjected to force.

[0022] In an alternative embodiment,

[0023] The inserting portion may be formed with a locking protrusion extending along the radial direction, and the locking protrusion is used to be locked with the opening of the inserting slot to limit the movement of the inserting portion in the inserting slot.

[0024] In an alternative embodiment,

[0025] The fixed body may be configured as a fixed cylinder, the cavity of the fixed cylinder forming the channel;

[0026] One end opening of the flexible film is fixed to the fixed cylinder, and the other end opening of the flexible film extends a certain length toward the inspection insertion direction, then turns inward, extends into the channel, and passes out. After passing out, the flexible film extends a certain length away from the inspection insertion direction, then turns outward and is fixed to the fixed cylinder;

[0027] The flexible film is provided with a vent for delivering gas to the air cavity.

[0028] In an alternative embodiment,

[0029] The flexible film may be formed by splicing a plastic film and a rubber material. The plastic film is extended and grown toward the inspection insertion direction, and the rubber material is located on a side of the fixed cylinder away from the inspection insertion direction.

[0030] In an alternative embodiment,

[0031] An opening may be formed in the flexible film at a position corresponding to the supporting ring component, and the connecting rope passes through the opening and is connected to the supporting ring component.

[0032] In an alternative embodiment,

[0033] The fixed body may be configured as a fixed box, an inner cavity of the fixed box forming the channel, a first mounting hole being provided on one side of the fixed box, and a second mounting hole being provided on the other side of the fixed box;

[0034] One end opening of the flexible film is fixed to the second mounting hole, and the other end opening of the flexible film is extended in the inspection insertion direction for a certain length, then turned inward and inserted into the fixed box and fixed to the first mounting hole, and a folded section is provided at the connection between the flexible film and the first mounting hole;

[0035] The fixed box body is provided with a vent, and gas enters the fixed box body through the vent, and the gas in the fixed box body enters the air cavity.

[0036] In an alternative embodiment,

[0037] A rotating rod may be provided on the fixed box body, one end of the rotating rod extends into the fixed box body and abuts against the flexible film, and the other end of the rotating rod extends out of the fixed box body and is connected to the driving device.

[0038] Some other embodiments of the present disclosure provide a growing robotic arm that may include: a flexible cylinder, a fixed body, a support ring member, and a pushing member;

[0039] The fixed body has a passage for the inspection mirror device to pass through;

[0040] The flexible tube is configured as a cylindrical structure, one end of the flexible tube is opened and fixed to the fixed body, the other end of the flexible tube is opened and extends a certain length in the inspection insertion direction, then flips inward and extends into the channel, and the driving cavity is formed between the flipped portion of the flexible tube and the unflipped portion of the flexible tube;

[0041] The support ring member abuts against the inner layer of the flexible tube and can move translationally along the inner layer of the flexible film. The support ring member is used to support the flexible tube and can adjust the diameter of the ring as the flexible tube flips.

[0042] The pushing member extends into the driving cavity and can abut against the supporting ring member to push the flexible tube of the flipping portion to perform an outward movement and extend and grow in the inspection extending direction.

[0043] In an alternative embodiment,

[0044] The supporting ring member may be provided in plurality, and the plurality of supporting ring members are arranged at intervals on the inner layer of the flexible film;

[0045] The supporting ring member can reduce the diameter of the ring as the flexible film turns inward, so that the supporting ring member is located on the flexible film at the turning portion;

[0046] The supporting ring member can increase its circular ring diameter as the flexible film of the flipping portion flips outward, so that the supporting ring member is located on the flexible film of the non-flipping portion.

[0047] In an alternative embodiment,

[0048] The support ring member may include a circular ring body and an insert portion;

[0049] One end of the circular ring body is connected to the insertion portion, and the other end of the circular ring body is provided with an insertion groove for the insertion portion to extend into;

[0050] The annular body has elasticity, so that the inserting portion moves in the inserting groove when the annular body is subjected to force.

[0051] In an alternative embodiment,

[0052] The inserting portion may be formed with a locking protrusion extending along the radial direction, and the locking protrusion is used to be locked with the opening of the inserting slot to limit the movement of the inserting portion in the inserting slot.

[0053] The growth-type robotic arm provided by the present disclosure connects a support ring member to the inner layer of a flexible film. The support ring member can freely adjust the diameter of the ring. When the flexible film is mounted on a fixed body, the cylindrical flexible film flips inward, and the support ring member adjusts the diameter of the ring as the flexible film flips. The support ring member supports the flexible film. These changes have the following advantages:

[0054] 1. The built-in support ring component enhances radial stiffness while retaining the ability to easily turn (a line is passed between the two rings, and the device can turn in that direction when the distance is shortened); 2. The radial structure is more stable and will not collapse instantly even if damaged; 3. The support ring component creates a central passageway through which items (such as a colonoscope for colonoscopy) can be efficiently transported. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the specific embodiments of the present disclosure or the technical solutions in the related technologies, the following briefly introduces the drawings required for use in the specific embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0056] FIG1 is a schematic diagram of the overall structure of a growth-type robotic arm provided by an embodiment of the present disclosure;

[0057] FIG2 is a schematic diagram of the overall structure of a growth-type robotic arm provided by another embodiment of the present disclosure;

[0058] FIG3 is a schematic diagram of the overall structure of a growth-type robotic arm provided in another embodiment of the present disclosure;

[0059] FIG4 is a schematic structural diagram of a support ring component in a growth-type robotic arm provided by the present disclosure under one embodiment;

[0060] FIG5 is a schematic structural diagram of a support ring component in a growth-type robotic arm provided by the present disclosure under another embodiment;

[0061] FIG6 is a schematic structural diagram of a growth-type robotic arm with a rotating rod provided in another embodiment of the present disclosure;

[0062] FIG7 is a cross-sectional view of the connection structure between the flexible film and the support ring component in the growth-type robotic arm provided by an embodiment of the present disclosure.

[0063] Icons: 10-inspection mirror apparatus; 100-flexible film; 210-fixed cylinder; 220-fixed box; 221-first mounting hole; 222-second mounting hole; 223-vent; 300-support ring member; 310-ring body; 311-insertion groove; 320-insertion portion; 330-clamping protrusion; 400-flexible cylinder; 500-rotating rod. DETAILED DESCRIPTION

[0064] The following will clearly and completely describe the technical solutions of the present disclosure in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present disclosure, not all of them. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0065] The following describes a growth-type robotic arm provided according to an embodiment of the present disclosure.

[0066] As shown in Figure 1, the growing robotic arm provided by this embodiment of the present disclosure may include: a flexible film 100, a fixed body and a support ring component 300; the fixed body has a channel for the inspection mirror instrument 10 to pass through, and the inspection mirror instrument 10 can be a colonoscope, a gastroscope, etc. In this solution, a colonoscope is used as an example. The material of the flexible film 100 is plastic material, has a certain flexibility, and can be flipped inward or outward. The flexible film 100 is set to a cylindrical structure with openings at both ends, which is a cylindrical structure.

[0067] When installing the flexible film 100 and the fixed body, first fix the opening of one end of the flexible film 100 on the fixed body, and then extend the opening of the other end of the flexible film 100 toward the inspection insertion direction for a certain length, then turn it inward and insert it into the channel and fix it on the fixed body. During the installation process, the flexible film 100 forms a turned-over part and an unturned part, and an air cavity is formed between the flexible film 100 of the turned-over part and the flexible film 100 of the unturned part.

[0068] When the flexible film 100 needs to be extended and grown in the inspection insertion direction, the air cavity is inflated and the flexible film 100 at the flipping portion is flipped outwards, thereby allowing the flexible film 100 to be extended and grown in the inspection insertion direction.

[0069] The support ring member 300 is in contact with the inner layer of the flexible film 100, and the support ring member 300 and the flexible film 100 together constitute a composite structure, which has both rigidity and flexibility. During the manufacturing process of the composite structure, referring to Figure 7, the flexible film 100 includes two layers, namely an outer film and an inner film, both of which are cylindrical. The inner film is located inside the outer film to form a sandwich, and the support ring member 300 is located in the sandwich between the outer film and the inner film. The support ring member 300 is wrapped by the inner film and the outer film, and the contact area between the inner film and the outer film is fixed with a seam line or hot melt fixation, so that the support ring member 300 can be confined therein. Since the support ring member 300 is in contact with the inner film and the outer film, the support ring member 300 can move horizontally between the adjacent connection points of the inner film and the outer film.

[0070] In addition, the flexible film 100 is not limited to a two-layer form. For example, a single-layer flexible film 100 can also be used, and the support ring member 300 is placed in the thickness of the flexible film 100 so that the support ring member 300 can move horizontally along the inner layer of the flexible film 100.

[0071] The supporting ring member 300 can be provided with a plurality of supporting ring members 300, and the plurality of supporting ring members 300 are arranged at intervals on the inner layer of the flexible film 100; the supporting ring member 300 can reduce the ring diameter size as the flexible film 100 turns inward, so that the supporting ring member 300 is located on the flexible film 100 of the turning portion; the supporting ring member 300 can increase the ring diameter size as the flexible film 100 of the turning portion turns outward, so that the supporting ring member 300 is located on the flexible film 100 of the non-turned portion. Specifically: during the installation of the supporting ring member 300, When the film 100 is not flipped over, multiple support ring members 300 are fixed on the inner layer of the flexible film 100. When the flexible film 100 is flipped inward, the flexible film 100 drives the support ring members 300 to shrink inward, reducing the ring diameter of the support ring members 300, so that the support ring members 300 with smaller ring diameters are fixed on the flexible film 100 where the air cavity is located in the flipped part, while the support ring members 300 fixed on the flexible film 100 in the unflipped part have larger ring diameters. The arrangement of the support ring members 300 effectively improves the structural strength of the flexible film 100.

[0072] In addition, it should be noted that the connection method between the support ring member 300 and the flexible film 100 is abutment connection, that is, the support ring member 300 is restricted in the air cavity by the two layers of flexible film 100, and the support ring member 300 is in contact with the flexible film 100. During the process of the flexible film 100 growing outward, due to the contact force between the support ring member 300 and the flexible film 100, the support ring member 300 can be pushed to move horizontally in the air cavity, and the support ring member 300 moves with the movement of the flexible film 100. It should be noted that the above-mentioned contact force includes the friction force between the flexible film 100 and the support ring member 300, and also includes normal stress. Compared with the use of bonding to connect the support ring member 300 to the flexible film 100, this embodiment uses abutment to achieve the translation of the support ring member 300, while the use of bonding cannot achieve the translation of the support ring member 300. The specific structure of the support ring member 300 is as follows:

[0073] As shown in Figure 4, the support ring component 300 may include a circular ring body 310 and an insertion part 320; the circular ring body 310 has an arc-shaped structure, one end of the circular ring body 310 is connected to the insertion part 320, the insertion part 320 is an arc rod-shaped structure, and the line connecting the insertion part 320 and the circular ring body 310 forms a circular structure. The other end of the circular ring body 310 is provided with an insertion groove 311 for the insertion part 320 to extend into. The circular ring body 310 is elastic. When the circular ring body 310 flips with the flexible film 100, the circular ring body 310 is deformed by force, and the insertion part 320 moves in the insertion groove 311. The extension or extension movement of the insertion part 320 in the insertion groove 311 changes the increase or decrease of the overall diameter of the support ring component 300.

[0074] In order to enable the support ring member 300 to be reduced from a large diameter to a small diameter and then fixed when the flexible film 100 flips inward, optionally, the insertion portion 320 extends radially to form a snap-fitting protrusion 330, and the snap-fitting protrusion 330 has a certain elasticity. When the flexible film 100 flips inward, the diameter of the support ring member 300 is reduced as the flexible film 100 moves, and the insertion portion 320 extends into the insertion groove 311. The snap-fitting protrusion 330 is stuck at the opening of the insertion groove 311, so that the insertion portion 320 can be stuck in the insertion groove 311 to form a small-sized support ring member 300.

[0075] In addition, it should be noted that, as shown in Figure 4, the circular ring body 310 can be an integrally molded structure or can be set to a splicing structure. For example, as shown in Figure 5, the circular ring body 310 is composed of two parts, namely a first body and a second body. The first body has a buckle, and the second body has a through hole corresponding to the position of the buckle. Through the cooperation of the buckle and the through hole, the first body and the second body are buckled together to form an insertion groove 311. The insertion part 320 is fixed to the end of the first body or the second body away from the insertion groove 311. When the first body and the second body are deformed by force, the insertion part 320 can perform telescopic movement in the insertion groove 311 to adjust the diameter size of the circular ring body 310. The specific structure of the support ring component 300 is selected according to actual conditions.

[0076] In an optional embodiment, in order to adjust the direction of the support ring member 300, a traction rope is provided, one end of which passes through the flexible film 100 and one of the support ring members 300 and is fixed to the adjacent support ring member 300. The user shortens the portion of the traction rope between the two support ring members 300 by pulling the other end of the traction rope. Since the support ring member 300 is connected to the flexible film 100, the shortening of the connecting line causes the support ring member 300 to adjust its direction, and the direction of the support ring 300 can be freely controlled.

[0077] In an optional embodiment, the fixed body can be set to a fixed cylinder 210, which is a cylindrical structure, and the cavity inside the cylindrical fixed cylinder 210 forms a channel; the installation process of the flexible film 100 is as follows: first, fix the opening of one end of the flexible film 100 on the fixed cylinder 210, and then extend the opening of the other end of the flexible film 100 toward the inspection insertion direction for a certain length, then turn it inward to extend it into the channel and pass it out. After passing through, the flexible film 100 extends a certain length away from the inspection insertion direction, then turns it outward and fixes it on the fixed cylinder 210. The flexible film 100 can be installed on the fixed cylinder 210 and an air cavity is formed. The colonoscope passes through the space formed by the middle part of the flexible film 100. In the process of the colonoscope being inserted into the human body, air is inflated in the air cavity, and the flexible film 100 in the inverted part moves outward, which can extend and grow in the direction of inserting into the human body. The flexible film 100 plays a role in preventing the colonoscope from contacting the human body.

[0078] It should be noted that since the flexible film 100 is first extended a certain length in the inspection insertion direction and then turned inward, and then extended a certain length in the opposite direction through the channel and then turned outward and fixed on the fixed cylinder 210, there will be air cavities on both the front and back sides of the fixed cylinder 210. In order to ensure that the flexible film 100 extends and grows in the inspection insertion direction after the air cavity is inflated, it is necessary to set the flexible film 100 to a variable diameter structure to ensure that the air cavity area of ​​the flexible film 100 close to the inspection insertion direction is larger than the air cavity area of ​​the flexible film 100 away from the inspection insertion direction. When the air cavity is inflated and pressurized, the flexible film 100 can extend and grow in the inspection insertion direction.

[0079] The flexible film 100 may be provided with a vent 223 , and an external gas delivery device delivers gas into the air cavity through the vent 223 .

[0080] In addition, the usage scenarios of the colonoscope are as follows: the colonoscope is inserted into the human body. During the insertion process, the flexible film 100 extends and grows into the human body, and the flexible film 100 wraps the colonoscope, effectively preventing the colonoscope from touching the human body. When the colonoscope reaches the farthest end, the inspection begins, and the probe at the end of the colonoscope extends out of the flexible film 100. The colonoscope moves in the direction of extending out of the human body, and the flexible film 100 retracts together with the extension movement of the colonoscope until the colonoscope and the flexible film 100 extend out of the human body together.

[0081] As for the retraction movement of the flexible film 100 after extension and growth, as an optional embodiment, the flexible film 100 can be set to be spliced ​​together from two materials, namely, a plastic film and a rubber material. The plastic film is extended and grown in the direction of extending into the human body, and the rubber material is located on the side of the fixed cylinder 210 away from the inspection extension direction. During the process of gas entering the air cavity and pressurizing it, the gas pressure in the air cavity is relatively small at the beginning, and the plastic film extends and grows in the direction of extending into the human body. As the gas pressure gradually increases, the rubber material gradually expands under the influence of the gas pressure. Since the rubber material and the plastic film are an integrated structure, the expansion of the rubber material can drive the retraction of the plastic film, thereby realizing the retraction movement of the flexible film 100.

[0082] As another optional embodiment, a hole can be opened at the position of the flexible film 100 corresponding to the support ring component 300, and a connecting rope can be used to pass through the hole and connect to the support ring component 300. When the flexible film 100 needs to retract, the operator pulls the support ring component 300 through the connecting rope. Since the support ring component 300 is fixed on the flexible film 100, the flexible film 100 can be retracted.

[0083] The growing robotic arm provided by this embodiment of the present disclosure connects a support ring member 300 to the inner layer of the flexible film 100. The support ring member 300 can freely adjust the diameter of the circular ring. During the process of installing the flexible film 100 to the fixed body, the cylindrical flexible film 100 flips inward, and the support ring member 300 adjusts the diameter of the circular ring as the flexible film 100 flips, so that the support ring member 300 is located in the air cavity formed by the inward flipping of the flexible film 100. The support ring member 300 is used to support the flexible film 100, thereby improving the rigidity of the flexible film 100 and effectively preventing the flexible template from bending. This alleviates the technical problem in the related art that the structural rigidity of the growing robotic arm is low and local deformation is prone to occur, causing the robot to bend.

[0084] Next, a growth-type robotic arm provided according to another embodiment of the present disclosure is described.

[0085] As shown in FIG2 , the difference between this other embodiment of the present disclosure and the aforementioned embodiment lies in the structure of the fixed body. The structures of the support ring member 300 and the flexible film 100 are the same, so the specific structures of the support ring member 300 and the flexible film 100 are not repeated here.

[0086] The fixed body can be set as a fixed box body 220, the inner cavity of the fixed box body 220 forms a channel, a first mounting hole 221 is set on one side of the fixed box body 220, and a second mounting hole 222 is set on the other side of the fixed box body 220; the installation process of the flexible film 100 is as follows: one end opening of the flexible film 100 is fixed on the second mounting hole 222, and the other end opening of the flexible film 100 is extended inward for a certain length in the inspection insertion direction, and then turned inward to extend into the fixed box body 220 and fixed on the first mounting hole 221, so that the flexible film 100 can be installed on the fixed box body 220, and the connection between the flexible film 100 and the first mounting hole 221 has a folded section, which enables the flexible film 100 to extend and grow.

[0087] The fixed box 220 may be provided with a vent 223, through which gas enters the fixed box 220, and the gas in the fixed box 220 enters the air cavity. During continuous ventilation, the air pressure in the air cavity gradually increases, pushing the flexible film 100 in the inverted part to turn outward, thereby allowing the flexible film 100 to extend and grow in the inspection direction.

[0088] As for the retraction movement of the flexible film 100 after extension and growth, referring to FIG6 , a rotating rod 500 can be provided on the fixed housing 220 . One end of the rotating rod 500 extends into the fixed housing 220 and abuts against the flexible film 100 . The other end of the rotating rod 500 extends out of the fixed housing 220 and is connected to the driving device. The driving force generated by the driving device drives the rotating rod 500 to rotate. The rotation of the rotating rod 500 drives the flexible film 100 to move through friction, thereby causing the flexible film 100 to retract. In addition, in order to make the upper and lower sides of the flexible film 100 retract together, two rotating rods 500 are provided, one on the upper and lower sides of the flexible film 100, respectively.

[0089] Next, a growth-type robotic arm provided according to another embodiment of the present disclosure is described.

[0090] As shown in Figure 3, the growth-type robotic arm provided by another embodiment of the present disclosure may include: a flexible tube 400, a fixed body, a support ring member 300 and a pushing member; the fixed body has a channel for the inspection mirror device 10 to pass through; the flexible tube 400 is set to a cylindrical structure, and the installation process of the flexible tube 400 is as follows: one end opening of the flexible tube 400 is fixed on the fixed body, and the other end opening of the flexible tube 400 extends a certain length in the inspection insertion direction and then flips inward to extend into the channel, and then flips outward and is fixed on the fixed body. The fixed body is not shown in Figure 3. The structure of the fixed body can refer to Figures 1 and 2. A driving cavity is formed between the flexible tube 400 of the flipped part and the flexible tube 400 of the non-flipped part; the support ring member 300 is connected to the inner layer of the flexible tube 400, and the support ring member 300 is located in the driving cavity. The support ring member 300 is used to support the flexible tube 400 and can adjust the diameter size of the circular ring as the flexible tube 400 flips.

[0091] The pushing member can be a cylindrical structure. When the pushing member extends into the driving cavity, it can abut against the support ring member 300. When the flexible tube 400 needs to extend and grow, the pushing member pushes the flexible tube 400 of the flipping part to perform an outward movement, so that the flexible tube 400 can extend and grow in the inspection insertion direction.

[0092] As for the retraction movement of the flexible tube 400 , the above-mentioned rotating rod 500 can be used to drive the flexible tube 400 to retract through the friction between the rotating rod 500 and the flexible tube 400 .

[0093] Since the structure of the support ring member 300 in the further embodiment is the same as that of the support ring member 300 in the first embodiment and the other embodiment, detailed description thereof will be omitted here.

[0094] In addition, other driving methods can also be used to drive the flexible film 300, for example, using a driving member to act on the inner wall of the channel formed by the innermost enclosure of the flexible film 300 for the inspection instrument to pass through, to drive the flexible film 300. Different driving methods can be selected according to actual conditions.

[0095] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure. Industrial Applicability

[0096] The present disclosure provides a growing robotic arm, which relates to the field of medical device technology. Densely placed support ring components with enhanced stiffness are wrapped in a cylindrical flexible film to form a rigid-flexible tubular structure together with the film. During operation, the internal support ring grows outward at the end through air drive to form a hollow pipe with radial stiffness. Due to the presence of the support ring component, the pipe has the ability to resist the pressure of the surrounding environment and form a stable geometric structure, which allows the matching inspection mirror instrument to easily enter the narrow passage without damaging the environment and without the need for complex sensing, control, and stiffness change capabilities. In addition, when the end film is everted, the support ring performs translational motion and deformation with an expanded radius, which reduces the resistance to the eversion of the structure and avoids structural damage to the support ring. The support ring component can be locked in a small diameter state in the initial state, and is in a large diameter state after eversion.

[0097] Furthermore, it is understood that the growing robotic arm of the present disclosure is reproducible and can be applied in a variety of applications. For example, the growing robotic arm of the present disclosure can be applied in the field of medical device technology.

Claims

1. A growing robotic arm, characterized in that: The growing mechanical arm comprises: a flexible film (100), a fixed body and a supporting ring component (300); The fixed body has a passage for the inspection mirror device (10) to pass through; The flexible film (100) is configured as a cylindrical structure, one end opening of the flexible film (100) is fixed on the fixed body, the other end opening of the flexible film (100) extends a certain length in the inspection insertion direction and then turns inward to extend into the channel, an air cavity is formed between the turned portion of the flexible film (100) and the unturned portion of the flexible film (100); When the air cavity is inflated, the flexible film (100) at the flipping portion flips outward, so that the flexible film (100) extends and grows in the inspection insertion direction; The support ring component (300) is in contact with the inner layer of the flexible film (100), and the support ring component (300) can move along the inner layer of the flexible film (100). The support ring component (300) is used to support the flexible film (100), and can adjust the diameter of the ring as the flexible film (100) flips.

2. The growing robotic arm according to claim 1, characterized in that: A plurality of the support ring components (300) are provided, and the plurality of the support ring components (300) are arranged at intervals on the inner layer of the flexible film (100); The supporting ring component (300) can reduce the diameter of the circular ring as the flexible film (100) turns inward, so that the supporting ring component (300) is located on the turning portion of the flexible film (100); The supporting ring component (300) can increase the diameter of the circular ring as the flexible film (100) at the flipped portion flips outward, so that the supporting ring component (300) is located on the flexible film (100) at the non-flipped portion.

3. The growing robotic arm according to claim 1 or 2, characterized in that: The support ring component (300) comprises a circular ring body (310) and an inserting portion (320); One end of the circular ring body (310) is connected to the insertion portion (320), and the other end of the circular ring body (310) is provided with an insertion groove (311) for the insertion portion (320) to extend into; The annular body (310) has elasticity, so that the insertion portion (320) moves in the insertion groove (311) when the annular body (310) is subjected to force.

4. The growing robotic arm according to claim 3, characterized in that: The insertion portion (320) is formed with a snap-fit ​​protrusion (330) extending in the radial direction, and the snap-fit ​​protrusion (330) is used to snap-fit ​​with the opening of the insertion groove (311) to limit the insertion portion (320) from being inserted into the insertion groove (311). China Mobile.

5. The growing robotic arm according to any one of claims 1 to 4, characterized in that: The fixed body is configured as a fixed cylinder (210), and the cavity of the fixed cylinder (210) forms the channel; One end opening of the flexible film (100) is fixed on the fixed cylinder (210); the other end opening of the flexible film (100) extends a certain length toward the inspection insertion direction, then turns inward, extends into the channel and passes out; after passing out, the flexible film (100) extends a certain length away from the inspection insertion direction, then turns outward and is fixed on the fixed cylinder (210); The flexible film (100) is provided with a vent (223) for conveying gas to the air cavity.

6. The growing robotic arm according to claim 5, characterized in that: The flexible film (100) is formed by splicing a plastic film and a rubber material; the plastic film is extended and grown in the inspection insertion direction; and the rubber material is located on a side of the fixed cylinder (210) away from the inspection insertion direction.

7. The growing robotic arm according to claim 5, characterized in that: An opening is provided at a position of the flexible film (100) corresponding to the supporting ring component (300), and a connecting rope passes through the opening and is connected to the supporting ring component (300).

8. The growing robotic arm according to any one of claims 1 to 4, characterized in that: The fixed body is configured as a fixed box (220), the inner cavity of the fixed box (220) forms the channel, one side of the fixed box (220) is provided with a first mounting hole (221), and the other side of the fixed box (220) is provided with a second mounting hole (222); One end opening of the flexible film (100) is fixed on the second mounting hole (222), the other end opening of the flexible film (100) extends a certain length in the inspection insertion direction, then turns inwards and extends into the fixed box (220) and is fixed on the first mounting hole (221), and a folding section is provided at the connection between the flexible film (100) and the first mounting hole (221); The fixed box (220) is provided with a vent (223), and gas enters into the fixed box (220) through the vent (223), and the gas in the fixed box (220) enters into the air cavity.

9. The growing robotic arm according to claim 8, characterized in that: A rotating rod (500) is provided on the fixed box (220), one end of the rotating rod (500) extends into the fixed box (220) and abuts against the flexible film (100), and the other end of the rotating rod (500) extends out of the fixed box (220) and is connected to a driving device.

10. A growing robotic arm, characterized in that: The growing mechanical arm comprises: a flexible cylinder (400), a fixed body, a supporting ring component (300) and a pushing component; The fixed body has a passage for the inspection mirror device (10) to pass through; The flexible tube (400) is configured as a cylindrical structure, one end of the flexible tube (400) is opened and fixed on the fixed body, the other end of the flexible tube (400) is opened and extends a certain length in the inspection insertion direction, then turns inward and extends into the channel, and a driving cavity is formed between the turned portion of the flexible tube (400) and the unturned portion of the flexible tube (400); The support ring component (300) is in contact with the inner layer of the flexible tube (400), and the support ring component (300) can move along the inner layer of the flexible film (100). The support ring component (300) is used to support the flexible tube (400), and can adjust the diameter of the ring as the flexible tube (400) turns over. The pushing member extends into the driving cavity and is able to abut against the supporting ring member (300) to push the flexible tube (400) of the flipping portion to perform an outward movement and extend and grow in the inspection insertion direction.

11. The growing robotic arm according to claim 10, characterized in that: A plurality of the support ring components (300) are provided, and the plurality of the support ring components (300) are arranged at intervals on the inner layer of the flexible film (100); The supporting ring component (300) can reduce the diameter of the circular ring as the flexible film (100) turns inward, so that the supporting ring component (300) is located on the turning portion of the flexible film (100); The supporting ring component (300) can increase the diameter of the circular ring as the flexible film (100) at the flipped portion flips outward, so that the supporting ring component (300) is located on the flexible film (100) at the non-flipped portion.

12. The growing robotic arm according to claim 10 or 11, characterized in that: The support ring component (300) comprises a circular ring body (310) and an inserting portion (320); One end of the circular ring body (310) is connected to the insertion portion (320), and the other end of the circular ring body (310) is provided with an insertion groove (311) for the insertion portion (320) to extend into; The annular body (310) has elasticity, so that the insertion portion (320) moves in the insertion groove (311) when the annular body (310) is subjected to force.

13. The growing robotic arm according to claim 12, characterized in that: The insertion portion (320) is formed with a snap-fitting protrusion (330) extending along the radial direction, and the snap-fitting protrusion (330) is used to snap-fit ​​with the opening of the insertion groove (311) to limit the movement of the insertion portion (320) in the insertion groove (311).

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