Variable stiffness tube and continuum robot variable stiffness module

Abstract

The present invention relates to the technical field of continuum robots. Disclosed are a variable stiffness tube and a continuum robot variable stiffness module. The variable stiffness tube comprises a flexible inner tube (1) and a flexible outer tube (2) sleeved outside the flexible inner tube (1); a phase change material (7) and a flexible heat exchange device (4) are provided between the flexible inner tube (1) and the flexible outer tube (2); the heat exchange device (4) can exchange heat with the phase change material (7) and change the phase change material (7) from a solid phase to a liquid phase; a flexible tube (5) is further provided in a filling space (3), and a plurality of hollow groove groups (51) penetrate through the tube wall of the flexible tube (5); hollow grooves are filled with the phase change material (7); and when the phase change material (7) is in the liquid phase, the flexible tube (5) can bend freely, and when the phase change material (7) is in the solid phase and the variable stiffness module bears a bending moment, the phase change material in the hollow grooves on a compression side of the flexible tube (5) is subjected to compressive stress applied by side walls of the flexible tube (5) on both sides of the hollow grooves. The stiffness of the variable stiffness tube is improved by means of the compressive stress generated by the structure when the phase change material bears bending deformation, and after the phase change material undergoes heating and cooling cycles, the variable stiffness tube will self-repair and regain high variable stiffness ratio capability. A variable stiffness continuum robot comprises the variable stiffness tube and a control mechanism, and by controlling the change in the stiffness of the variable stiffness tube, the variable stiffness tube moves towards a target position in cooperation with a motion control module and controls a surgical tool.

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