Separable multi-arm soft mechanical arm device

Abstract

The invention discloses a separable multi-arm soft mechanical arm device, and the device comprises a functional arm part, a fixed general arm part, and a supporting part. The functional arm part and the fixed general arm part are made of human body silica gel materials. The fixed general arm part is connected to the rear end of the functional arm part, and provides strong support for the functional arm part. Moreover, the fixed general arm part and the functional arm part jointly form a mechanical arm body. The supporting part longitudinally passes through the mechanical arm body, is located at the axis of the mechanical arm body, and is used for supporting the mechanical arm body. The device depends on stay wire drive, and the operation mode of line drive is simple and reliable in control. The device is safe and soft, and causes no damage to a human body. Moreover, the flexible structure is elastic, can absorb the vibration caused by the movement of body tissues, and reduces the impact on the maneuverability of an operation device from the physiological motion of a patient during an operation. The device replaces the conventional direct operation, so as to achieve the operation effects of small wound and quick recovery.

Description

technical field [0001] The invention relates to the technical field of medical soft manipulators, in particular to a detachable multi-arm soft manipulator device for single-incision surgery. Background technique [0002] Most of the medical and surgical robot systems currently used in clinical practice are based on the principle of endoscopic surgery, and are divided into non-invasive surgery systems and minimally invasive surgery systems. The surgical tools of the non-invasive surgical system enter the patient's body through the natural orifice of the human body without opening the body surface near the surgical site, which can maximize minimally invasive surgery. such as the United States As a mature non-invasive surgical system, X2Robotic System has entered clinical application in many countries. However, since non-invasive surgery needs to pass through the long and narrow and complicated human cavity, the operation is difficult; and before the non-invasive surgery rea...

AI Technical Summary

Problems solved by technology

However, its structure and drive are complicated, and there are 19 drive lines for a single arm, making it difficult to control

In addition, the mechanism of the system is complex, and the extension and contraction of the continuum mechanical arm from the sheath may be blocked by the entry of foreign objects, thus affecting the normal operation of the mechanism.

And although the mechanism is a flexible continuum, the material of the mechanical arm is still relatively hard compared to human tissue, which may cause contact damage to body tissue when entering the body

Images