Multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm

Abstract

The invention relates to a multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm comprising large pedestals on upper and lower ends. a central nylon wire traverses a plurality of slices in the center and is fixed on the large pedestals on two ends to form a driving framework, more than three small pneumatic arms are symmetrically distributed and are adhesively fixed on the periphery of the driving framework in the direction being parallel to the central nylon wire, the small pneumatic arms are surrounded by a composite film, annular nylon fibers which can carry out rigidity adjustment through adjusting vacuum are pasted on the outer wall of the composite film from top to bottom, a sealing clamp is fixed on the outer wall of the composite film which surrounds the outer side of the large pedestals, a packaging jacket packaged by a sealing band is fixed on the outer side of the sealing clamp, an enclosed cavity is formed between the packaging jacket and the outer wall of the composite film, the enclosed cavity is provided with a vacuum-pumping port, each small pneumatic arm is a sealing cavity formed in a way that a composite film is wound on a small top pedestal and a small bottom pedestal, and each sealing cavity is provided with a driving gas ingate. The multi-degree-of-freedom rigidity-adjustable pneumatic flexible operation motion arm is advantaged by relatively-large complex deformation and rigidity maintenance and the like.

Description

technical field [0001] The invention relates to the technical field of a multi-degree-of-freedom surgical arm for minimally invasive surgery, in particular to a multi-degree-of-freedom rigidity-adjustable pneumatic flexible surgical arm. Background technique [0002] Minimally invasive surgery has the advantages of less bleeding, small wounds, good prognosis, reduced risk of anesthesia, and mild pain. Good stability, low or no damage to contact tissues, and good biological antibacterial properties have become hot research topics. Compared with traditional surgical methods, Intuitive Surgical's Da Vinci surgical robot is particularly well-known as a robot that has been used clinically many times in the world and has been introduced into China. And the company has also successively applied for patents on multi-degree-of-freedom surgical arms (WO 2007146987 A3 and WO 2007120952 A3). [0003] Although the DaVinci robot has made great progress compared with traditional manual s...

AI Technical Summary

Problems solved by technology

Due to the many gaps formed by excessive mechanical structure assembly, it is easy to become a hiding area for bacteria and dirt, and it is difficult to completely disinfect even with sterilization measures

At the same time, the rigidity of the rigid mechanical joints is easy to cause damage to the human body.

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