Rigid-flexible coupling joint based on complex rolling contact curved surface

Abstract

The invention provides a rigid-flexible coupling joint based on a complex rolling contact curved surface. The joint comprises two rolling contact joint bodies of the same structure, connecting bodies fixed to the outer sides of the rolling contact joint bodies respectively and two flexible rods fixed to the outer sides of the rolling contact joint bodies through the connecting bodies, wherein each rolling contact joint body comprises four convex lugs fixedly connected through the corresponding connecting bodies, the four convex lugs of each rolling contact joint body form two sets and are arranged at the two ends of the corresponding rolling contact joint body respectively, rolling contact surfaces are formed between the two convex lugs at one end of one rolling contact joint body and the two convex lugs at one end of the other rolling contact joint body respectively, and each rolling contact surface is envelope lines formed by tangent lines which pass by the central point of the corresponding flexible rod and are perpendicular to the slope of the central point of the corresponding flexible rod. In the rolling contact process, the joint has the excellent characteristic that the length of the central axis is kept unchanged, and the problem of coupling between rigid structure supporting and flexible force interaction in a continuum robot is solved.

Description

technical field [0001] The invention belongs to the field of medical robots, in particular to a rigid-flexible coupling joint based on complex rolling contact surfaces. Background technique [0002] Surgery through the natural orifice is one of the important directions in the field of minimally invasive medicine. The continuum robot with the characteristics of large rotation angle is very suitable for the cavity environment, and has been widely used in the fields of aero-engine inspection, space exploration, and seabed exploration. In recent years, super-redundant continuum robots have been gradually applied to natural orifice surgery. The joints of continuum robots mainly include traditional rigid joints and flexible joints with rolling contact. However, unlike aerospace and other fields, the natural orifice of the human body is not only elongated in space, but also has the characteristics of narrowness, large curvature changes, and changes in dynamic physical properties....

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems of the complex joint structure of the continuum robot, the difficulty of establishing an accurate rigid-flexible coupling model, and the difficulty of miniaturization, the present invention proposes a rigid-flexible coupling joint based on a complex rolling contact surface

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