CN110559081A - In vivo additive repair system and in vivo repair device - Google Patents

Abstract

Provided are an in vivo additive repair system and an in vivo repair device. The internal repair device includes a driving mechanism, a transmission mechanism and a printing device. The printing device prints biological materials. The driving mechanism drives the transmission mechanism to rotate. The transmission mechanism includes a rotating pair assembly, and the rotating pair assembly includes at least two rotating pairs. In the transmission mechanism, the rotating pair assembly has at least two rotating axes perpendicular to each other; each of the at least two rotating pairs has the following structure: it includes two rigid bodies and a flexible film sandwiched between the two rigid bodies, and the two rigid bodies The bodies are missing at corresponding positions so that each rigid body forms two discrete segments that are entwined together by a flexible membrane to form the rotational axis of the revolute joint at the missing positions of the rigid bodies. It adopts at least two rotating pairs whose rotation axes are orthogonal to replace the spherical hinge rotating pair, which reduces the processing difficulty of the internal repair device and reduces the space required for operation.

Description

In vivo additive repair system and in vivo repair device

technical field

The present invention relates to the field of medical technology, and in particular to an in vivo additive repair system and an in vivo repair device.

Background technique

Endoscopic surgery through the natural orifice refers to the integration of surgical instruments in the endoscope, such as biopsy forceps, scalpels, etc., to perform biopsy or excision of the lesion tissue. In endoscopic surgery through the natural orifice, endoscopic robots are commonly used to take tissue from the lesion, which belongs to the category of subtractive operation.

In order to perform additive repair in the body, the endoscopic robot can be used to send the absorbable clip into the body through the natural cavity, and suture the defect under the endoscope. However, this method is difficult to operate, and the large absorbable clip cannot be sent into the body due to its size, so only small wounds can be repaired.

CN108969149A provides a skin in situ printing repair system, which has a base and a moving platform, with six kinematic chains between the base and the moving platform, and the cell printing device is installed on the moving platform. The kinematic chain includes a linear expansion mechanism, and two ends of the linear expansion mechanism are respectively connected with a two-degree-of-freedom universal joint and a three-degree-of-freedom joint. Six linear telescopic mechanisms telescopically drive the moving platform to realize translation in three directions and movement in three rotational degrees of freedom.

Although the skin in situ printing repair system can achieve in situ repair, it uses universal joints to realize the movement of the moving platform in multiple directions, the overall size is large and the structure is complex, and it is not suitable for in vivo operation.

Therefore, a technical problem that urgently needs to be solved by those skilled in the art is how to provide an in vivo additive repair system and an in vivo repair device, which can flexibly and effectively perform in situ additive repair of defective tissue in vivo.

Contents of the invention

The present invention has been made in view of the state of the prior art described above. The object of the present invention is to provide an in vivo additive repair system and an in vivo repair device, which can be used for in situ additive repair of defective tissue in vivo.

An internal repair device is provided, which includes a driving mechanism, a transmission mechanism and a printing device, the printing device is used to print biological materials, the driving mechanism drives the transmission mechanism to rotate, the transmission mechanism includes a rotating pair assembly, the The rotating pair assembly includes at least two rotating pairs, the printing device is connected to the transmission mechanism through the rotating pair assembly, and the rotating pair assembly has at least two rotating axes perpendicular to each other;

Each of the at least two rotating pairs has the following configuration: including two rigid bodies and a flexible film sandwiched between the two rigid bodies, and the two rigid bodies are missing at corresponding positions so that each of the The rigid body forms two discrete segments which are entangled together by the flexible membrane so as to form the axis of rotation of the revolute joint in the absence of the rigid body.

In at least one embodiment, the rotating pair assembly includes a first group of rotating pairs and a second group of rotating pairs, the first group of rotating pairs includes at least four rotating pairs, and the rotation axes of the at least four rotating pairs form a The four parallel sides of the square cavity in the space, the second group of rotating pairs includes at least one rotating pair, the rotating axis of the second group of rotating pairs is perpendicular to the rotating axis of the first group of rotating pairs and the The direction of movement of the printing unit is described.

In at least one embodiment, the intracorporeal repair device includes at least one transmission mechanism, and one transmission mechanism includes two U-shaped members and two plates, and the U-shaped members and the plates form the a rigid body, each U-shaped member comprising two opposite sides and a bottom, said flexible membrane being bonded to said U-shaped member and said plate so that two said sides of one said U-shaped member The two side parts of the other U-shaped member are respectively connected to the other ends of the two boards through the flexible membrane, The two U-shaped members and the two plates are used to form the first set of rotating pairs.

In at least one embodiment, the transmission mechanism further includes a plate attachment and a U-shaped member attachment, the plate attachment is installed in a one-to-one correspondence with the plate, and the U-shaped member attachment is connected to the U-shaped member The sides of the U-shaped member are installed in one-to-one correspondence, and the flexible membrane is sandwiched between the U-shaped member attachment and the side of the U-shaped member, and between the panel attachment and the panel.

In at least one embodiment, the second group of rotating pairs includes at least two rotating pairs, the rotation axes of the at least two rotating pairs are parallel to each other, the transmission mechanism includes a driving arm, and the driving mechanism drives the driving arm. arm, the active arm and one of the two U-shaped members are used to form a revolving pair in the second set of revolving pairs, and the printing device and the other of the two U-shaped members The other is used to form another revolving pair in said second set of revolving pairs.

In at least one embodiment, the driving mechanism includes a driving motor, and the transmission mechanism is engaged with an output shaft of the driving motor so that the entire transmission mechanism can be driven by the driving mechanism to rotate.

In at least one embodiment, the output shaft of the drive motor is perpendicular to the rotation axis of the transmission mechanism driven by the drive mechanism, the transmission mechanism has a crown gear, the output shaft of the drive mechanism is in the One axial side of the crown gear meshes with the crown gear, and the output shaft, the crown gear and the printing device are generally arranged along the moving direction of the printing device.

In at least one embodiment, the internal repair device includes at least three transmission mechanisms, and the at least three transmission mechanisms are evenly distributed around the printing device.

In at least one embodiment, the internal repair device includes a base, the driving mechanism is installed on the base, the base has a cooling hole, and the cooling hole corresponds to the driving mechanism so as to dissipate the The heat generated by the driving mechanism described above.

The present disclosure also provides an in vivo additive repair system, which includes a curved tube and the in vivo repair device according to any one of the above technical solutions, the curved tube can be bent in at least two directions, and the in vivo repair device Installed on one end of the curved tube.

The above-mentioned technical solution provided by the present disclosure has at least the following beneficial effects:

The present disclosure provides a new type of internal repair device, which uses at least two rotating pairs whose rotation axes are orthogonal to replace the spherical hinge rotating pair, which reduces the processing difficulty of the internal repair device and reduces the space required for operation, and is very suitable for Operates within the confined space of the body.

The rotating pair has a stacked structure of "rigid body-flexible film-rigid body", and the rigid body plays a supporting role. Such a rotating pair has a simple structure, less difficulty in processing, and takes up less space, which is conducive to the miniaturization of in vivo prosthetic devices .

The above-mentioned technical solution provided by the present disclosure may also have the following beneficial effects:

The technical solution of adopting meshing drive can take into account space saving, transmission torque and cost.

The four revolving pairs of the first set of revolving pairs form a parallelogram closed loop, which provides the degree of freedom provided by the parallelogram follower arm of the traditional Delta robot structure, and has good motion accuracy. The combination of the first set of revolving pairs and the second set of revolving pairs constitutes an orthogonal rotating system, thereby replacing the spherical hinged revolving pairs of the Delta robot structure, and reducing the processing difficulty of the internal prosthetic device.

The transmission mechanism with the U-shaped member is beneficial to ensure uniform stress on the printing device during the fine-tuning process and reduce the difficulty of precise alignment.

Driven by the driving motor, the transmission mechanism can drive the printing device to move through rotational movement, and the driving mechanism, transmission mechanism and printing device can be arranged roughly along the moving direction of the printing device, which saves operating space and is more suitable for limited space. internal environment.

The transmission mechanism provides the above four rotating pairs in a three-stage structure, which can buffer the printing device when the printing device swings on a plane perpendicular to the moving direction, and ensure the installation accuracy between the printing device and the transmission mechanism.

At least three transmission mechanisms are evenly distributed around the printing device, which is beneficial for the printing device to move smoothly in the moving direction, and it is also possible to fine-tune the printing device in a plane perpendicular to the moving direction by controlling the work of a part of the transmission mechanisms.

Description of drawings

FIG. 1 is a schematic diagram of a three-dimensional structure of an in vivo additive repair system provided by the present disclosure.

FIG. 2 is a three-dimensional structural schematic diagram of an in vivo repair device of the in vivo additive repair system in FIG. 1 .

Fig. 3 is a partial structural schematic diagram of the internal repair device in Fig. 2, showing the connection of the drive motor with the active arm.

Fig. 4 is a schematic diagram of a partial structure of the internal repair device in Fig. 2, showing the connection between the master arm and the slave arm.

Fig. 5 is a schematic perspective view of the transmission mechanism of the intracorporeal repair device in Fig. 2 .

FIG. 6 is an exploded view of the follower arm of the intracorporeal prosthetic device of FIG. 2 .

Fig. 7 is a schematic structural diagram of the rotating pair of the internal repair device provided by the present disclosure.

Explanation of reference signs:

1 In vivo restoration device, 10 base, 101 cooling hole, 102 through hole, 11 fixed platform, 12 mounting column, 2 printing device, 21 moving platform, 22 printing head, 3 driving motor, 31 output shaft, 4 main arm, 4a Driving part of main arm, 4b rotating part of main arm, 40 mounting hole, 41 gear shaft, 42 crown gear, 420 axis of crown gear, 43 bearing, 5 follower arm, 51 U-shaped component, 511 U-shaped component attachment, 52 plate, 521 plate accessory, 53 flexible membrane, 6 rotating pair, 61 rigid body, 62 flexible membrane, 71, 72, 81, 82, 83, 84 axis of rotation, 9 curved tube.

Detailed ways

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present invention, and are not intended to exhaust all possible ways of the present invention, nor are they intended to limit the scope of the present invention.

As shown in FIG. 1 , the present disclosure provides an in vivo additive repair system, which includes a curved tube 9 and an internal repair device 1 , the curved tube 9 has a hollow lumen, and a guide wire runs through the hollow lumen. One end of the curved tube 9 is connected to the intracorporeal repair device 1, and the other end is connected to the driving device, and the driving device drives the guide wire of the curved tube 9 so that the guide wire drives the curved tube 9 to bend in at least two directions. When the curved tube 9 is bent, the position of the internal prosthetic device 1 changes, and the bending motion of the curved tube 9 can send the internal prosthetic device 1 to a designated position.

The curved tube 9 may be an endoscope curved tube, and the in vivo additive repair system can realize endoscope-based in vivo additive repair.

The specific structure of the curved tube 9 can be similar to that of the endoscope curved tube in the prior art, or the snake bone of the endoscope.

As shown in Figure 2, the in vivo repair device 1 may include a base 10, a driving mechanism, a transmission mechanism and a printing device 2, the driving mechanism is installed on the base 10 and drives the transmission mechanism, and the printing device 2 uses 3D printing technology to print biomaterials onto In vivo repair in situ. The driving mechanism includes a rotating pair assembly, and the rotating pair assembly includes at least two rotating pairs, and the at least two rotating pairs include at least two rotating axes perpendicular to each other.

The base 10 can be mounted on one end of the curved tube 9 , and the base 10 can have a through hole 102 , and the printing material delivery tube passes through the hollow cavity of the curved tube 9 and the through hole 102 to connect to the printing device 2 .

The base 10 may be provided with a cooling hole 101 at a position corresponding to the driving mechanism, and the cooling hole 101 is used to dissipate heat generated by the driving mechanism during operation.

The input end of the transmission mechanism is connected to the driving mechanism, and the output end is connected to the printing device 2, so that there is a transmission path between the transmission mechanism and the printing device 2, and the driving force of the driving mechanism is transmitted to the printing device 2 through the transmission path to drive printing. Device 2 shifts.

As shown in FIG. 3 , the driving mechanism may include a driving motor 3 , and an output shaft 31 of the driving motor 3 may engage with a transmission mechanism, such as a main arm 4 (detailed below), so as to drive the transmission mechanism to rotate. The technical solution of meshing drive can not only change the direction of power rotation in a limited space, but also can save space, transmission torque and cost.

Specifically, the output shaft 31 of the driving motor 3 may have gear teeth, and the transmission mechanism (such as the active arm 4 ) may include a crown gear 42 , and the gear shaft 41 of the crown gear 42 is perpendicular to the moving direction of the printing device 2 . The base 10 may be equipped with a bearing 43 for supporting the gear shaft 41 of the crown gear 42 , and the active arm 4 rotates around the axis of the gear shaft 41 .

The output shaft 31 of the drive motor 3 meshes with the crown gear 42 on one axial side of the crown gear 42, that is, the output shaft 31 of the drive motor 3 is perpendicular to the rotation axis of the transmission mechanism driven by the drive mechanism, that is, the crown gear 42. axis 420 . The rotation axis of the transmission mechanism driven by the drive mechanism is also perpendicular to the moving direction of the printing device 2 . In this way, driven by the drive motor 3 , the transmission mechanism can drive the printing device 2 to move through rotational motion. The output shaft 31 of the driving motor 3 and the printing device 2 are located on opposite sides of the gear shaft 41 of the crown gear 42 .

The driving mechanism, the transmission mechanism and the printing device 2 are generally arranged along one direction, such as the moving direction of the printing device 2, which saves the operating space and is more suitable for the internal environment with limited space.

It should be understood that in the in vivo additive repair system, the printing device 2 can be driven to the repair position by the bending tube 9, and can also have an appropriate repair distance from the repair position by the drive of the transmission mechanism. The moving direction of the printing device 2 described herein refers to its movement driven by the transmission mechanism, that is, the movement in the direction of approaching and away from the repairing position for adjusting the repairing distance.

The driving motor 3 can be a deceleration stepping motor. The deceleration stepper motor can precisely control the angle of rotation, so that the precise position of the moving platform (detailed below) can be obtained through mathematical calculations, thereby realizing 3D printing. In other embodiments, a servo motor or the like may also be used instead of a deceleration stepping motor.

As shown in FIG. 4 to FIG. 6 , the transmission mechanism may include a master arm 4 and a slave arm 5 that are rotationally connected, and the drive mechanism, the master arm 4 , the slave arm 5 and the printing device 2 are sequentially connected. The swivel assembly may include a first set of swivel pairs and a second set of swivel pairs, the rotation axes of the first set of swivel pairs are perpendicular to the rotation axes of the second set of swivel pairs.

The first group of revolving pairs includes four axes of rotation 81, 82, 83, 84, which are parallel to each other, and the four axes of rotation 81, 82, 83, 84 form a square cavity in the space four parallel sides of the body. It should be understood that in other embodiments, when the first group of rotating pairs has five or more rotation axes, these rotation axes are all parallel to each other.

The four revolving pairs of the first set of revolving pairs form a parallelogram closed loop, which provides the degree of freedom provided by the parallelogram follower arm of the traditional Delta robot structure, and has good motion accuracy. The combination of the first set of revolving pairs and the second set of revolving pairs constitutes an orthogonal rotating system, thereby replacing the spherical hinge revolving pairs of the Delta robot structure, and reducing the processing difficulty of the in vivo prosthetic device 1 .

The second set of revolving pairs comprises two axes of rotation 71 , 72 which are parallel to each other. The rotation axes 71 and 72 of the second group of rotating pairs are perpendicular to the moving direction of the printing device 2 , and the printing device 2 can move in the moving direction under the action of the second group of rotating pairs.

The present disclosure constructs the above-mentioned revolving pair in a novel way, and FIG. 7 shows a schematic structural diagram of the above-mentioned revolving pair.

As shown in FIG. 7 , the revolving pair 6 can be formed by sandwiching a flexible film 62 between two rigid bodies 61 , removing corresponding parts of the two rigid bodies 61 so that each rigid body 61 forms two The discrete segments, two discrete segments entangled together by a flexible membrane 62, form the axis of rotation of the revolute joint in the missing part of the rigid body.

The rigid body 61 may be a plate body, a block body, etc., specifically, an aluminum alloy plate.

The hardness of the flexible film 62 is lower than that of a rigid body, and may be a polyimide film or the like.

Polyimide film has good mechanical properties and chemical properties. The polyimide film has strong tensile strength, which is 200 MPa at 20° C., and can effectively prevent the stretching fracture of the flexible film 62 at the position corresponding to the missing part of the rigid body 61 . Polyimide film has good thermal stability and can be used normally for a long time in the air at 250°C to 280°C. In addition, polyimide film also has good insulation and is the main material of the flexible printed circuit board substrate. The control of the transmission mechanism can be realized by printing the circuit on the polyimide film, so that the structure of the Delta robot can be controlled. Further miniaturization.

The rotating pair 6 has a stacked structure of "rigid body 61-flexible film 62-rigid body 61", and the rigid body 61 can play a supporting role. Such a rotating pair has a simple structure, is less difficult to process, and takes up less space, which is conducive to realizing Miniaturization of an in vivo prosthetic device 1 . The flexible membrane 62 has elastic properties and can undergo elastic deformation when stressed.

As shown in FIG. 4 and FIG. 5 , the active arm 4 may include an active arm driving part 4 a and an active arm rotating part 4 b installed together, and the active arm driving part 4 a is driven by a driving mechanism. The main arm driving part 4a may include a part for meshing with a driving mechanism, such as the above-mentioned crown gear 42, and has a mounting hole 40 through which a gear shaft 41 passes, and the gear shaft 41 passes through the mounting hole 40 and is supported by bearings 43 at both ends. support.

As shown in FIG. 6 , the driven arm 5 includes two U-shaped members 51 and two plates 52 , the two plates 52 are arranged side by side, and the two U-shaped members 51 are respectively located at two ends of the two plates 52 . The cross-sectional shape of the U-shaped member 51 is U-shaped, and the U-shaped member 51 includes a bottom and two side parts, and the two side parts are connected to the bottom. The flexible film 53 is bonded to the U-shaped member 51 and the plate 52, so that the two side portions of a U-shaped member 51 are respectively connected with one end of the two plate 52 by the flexible film 53, and the two sides of the other U-shaped member 51 The side parts are respectively connected with the other ends of the two plates 52 through the flexible membrane 53, and the U-shaped member 51 and the two plates 52 are used to construct the above-mentioned rigid body 61, and cooperate with the flexible membrane 53 to form the first set of rotating pairs.

The active arm 4 and the U-shaped member 51 construct the above-mentioned rigid body 61, specifically, the active arm rotating part 4b and the U-shaped member 51 construct the above-mentioned rigid body 61, and cooperate with the flexible film 53 to form a rotating pair (the second group of rotating pairs) .

The driven arm 5 (transmission mechanism) formed by the combination of the U-shaped member 51, the flexible membrane 53 and the plate 52 has a simple structure and is easy to process. The follower arm 5 having a U-shaped member is beneficial to ensure that the printing device 2 is evenly stressed during the fine-tuning (detailed below), and reduces the difficulty of precise alignment.

The U-shaped member 51 and the plate 52 of the slave arm 5 (transmission mechanism) are connected by a flexible film 53, so that the four rotating pairs of the first group of rotating pairs form a whole, when the printing device 2 swings on a plane perpendicular to the moving direction It can buffer the printing device 2 and ensure the installation accuracy between the printing device 2 and the driven arm 5 .

The transmission mechanism also includes a plate attachment 521 and a U-shaped member attachment 511. The plate attachment 521 is installed in a one-to-one correspondence with the plate 52, and the U-shaped member attachment 511 is installed in a one-to-one correspondence with the side of the U-shaped member 51. The flexible membrane 53 is sandwiched between the U-shaped member attachment 511 and the side of the U-shaped member 51, and between the plate attachment 521 and the plate 52. The plate attachment 521 can have the same shape as the plate 52, the U-shaped member attachment 511 can have the same shape as the side of the U-shaped member 51, the flexible film 53 can be a sheet, and the flexible film 53 is along the extending direction of the plate 52 Extends from one U-shaped member 51 to the other U-shaped member 51 .

The flexible film 53 is sandwiched between the plate attachment 521 and the plate 52 , and between the side of the U-shaped member 51 and the U-shaped member attachment 511 , which is beneficial to form a stronger rotating pair.

A transmission mechanism can be manufactured in the following manner: get a U-shaped block (the U-shaped block extends along a straight line and has a U-shape on a cross-section perpendicular to the direction of extension), two plates and two sheet-shaped flexible membranes 53, the plate The sheet-like flexible film 53 has the same extension direction as the U-shaped block; the flexible film 53 and the plate are pasted sequentially on the outside of the two sides of the U-shaped block; the side of the U-shaped block is cut in the extending direction by a laser cutting process The two ends on the top and the two ends of the plate and retain the flexible film 53 so that it will not be cut, so that the sides of the U-shaped block and the plate form three segments, each segment is connected by the flexible film 53, and the plate forms a U-shaped member Attachment 511 and plate attachment 521; cut the bottom of the U-shaped block by laser cutting process so that the center of the bottom of the U-shaped block is missing, thereby forming two U-shaped members 51 at both ends of the U-shaped block, and the two sides of the U-shaped block Two plates 52 are formed at the bottom.

The order of the above steps can be changed without violating the principles of the present disclosure.

The plate 52 , the U-shaped member 51 , the plate attachment 521 and the U-shaped member attachment 511 are obtained through a laser cutting process, which can achieve high processing accuracy.

The bottom of a U-shaped member 51 is used to cooperate with the main arm rotating part 4b to form a second group of rotating pairs so as to shape the axis of rotation 71, and the bottom of the other U-shaped member 51 is used to cooperate with the printing device 2 (moving platform 21 (as shown in Fig. 5, which will be described in detail below)) cooperate to form another second group of rotating pairs so as to shape the axis of rotation 72 .

The movable platform 21 of the printing device 2 is used not only as a part of the printing device 2, but also as a rigid body of the rotating pair.

It should be understood that the second group of rotating pairs may have only one axis of rotation, or three or more axes of rotation. When the second group of rotating pairs has only one axis of rotation, the axis of rotation is located at the bottom of the U-shaped member 51 and Between the parts 4b, that is, the axis of rotation 71.

Continuing to refer to FIG. 2 , FIG. 4 and FIG. 5 , the printing device 2 includes a moving platform 21 and a printing head 22 , and the printing head 22 is installed on the moving platform 21 . The printing device 2 and the U-shaped member 51 form the above-mentioned rigid body. Specifically, the movable platform 21 and the U-shaped member 51 form the above-mentioned rigid body 61, and cooperate with the flexible film 53 to form a rotating pair (the second group of rotating pairs).

As shown in FIG. 4 , the moving platform 21 may include two parts with the same shape, and the two parts clamp the flexible membrane 53 on both sides of the flexible membrane 53 . The transmission mechanism can also include an accessory installed in one-to-one correspondence with the bottom of the U-shaped member 51, the shape of the accessory is the same as that of the bottom of the U-shaped member 51, and the bottom of the U-shaped member 51 is clamped on both sides of the flexible membrane 53. Flexible membrane 53 .

The axis of rotation of the rotary pair between the active arm 4 and the driven arm 5 and the rotary pair between the driven arm 5 and the printing device 2 is parallel, and both are perpendicular to the moving direction of the print head 22 so as to make the print head 22 in the above-mentioned Move in the direction of movement.

The intracorporeal repair device 1 may include at least three above-mentioned transmission mechanisms, and the at least three transmission mechanisms are evenly distributed around the printing device 2 (print head 22 ), which facilitates the printing device 2 to move smoothly in the moving direction.

In order to adjust the printing device 2 to accurately align the repair position in a plane perpendicular to the moving direction (fine-tuning the printing device 2 ), a part of the transmission mechanism, such as a single motor 3 , can be driven. Since the movable platform 21 is fixed by one end of the driven arm 5 of a plurality of transmission mechanisms, when the single motor 3 rotates, under the assistance of the elastic deformation of the flexible membrane 53, the original movable platform 21 moves up and down (moving close to or away from the printing position) ) will be converted into a swing in a plane perpendicular to the above-mentioned moving direction due to one end being fixed, thereby realizing the fine-tuning process.

It can be seen that fine-tuning the printing device 2 in a plane perpendicular to the moving direction can also be realized by controlling the operation of a part of the transmission mechanism.

Correspondingly, the intracorporeal prosthetic device 1 has the same number of drive mechanisms as the number of transmission mechanisms, and one drive mechanism drives one transmission mechanism.

The intracorporeal prosthetic device 1 may have a fixed platform 11 , each gear shaft 41 is supported on the fixed platform 11 by bearings 43 , and the output shaft 31 of the driving mechanism is located between the fixed platform 11 and the base 10 . The base 10 may be supported by a mounting column 12 between the base 10 and the fixed table 11 , so that the fixed table 11 is installed on the base 10 . The moving platform 21 may have, for example, a triangular shape, and three sides of the moving platform 21 abut against the bottom of the U-shaped member 51 of the driven arm 5 .

The possible working process of the internal repair device 1 is described below:

When the print head 22 is sent to the repair position by the curved tube 9 and the printing distance needs to be adjusted: the output shaft 31 of the driving motor 3 drives the crown gear 42 to drive the active arm 4 to rotate around the axis of the gear shaft 41, and the active arm rotating part 4b rotates around the gear The axis of the shaft 41 swings and drives the flexible film 53 between it and the driven arm 5 to bend, and the flexible film 53 between the main arm 4 and the driven arm 5 drives the driven arm 5, and the driven arm 5 further drives it and The flexible membrane 53 between the movable platform 21 is bent, and the flexible membrane 53 between the movable arm 5 and the movable platform 21 drives the print head 22 to move along the moving direction. During the above process, the flexible membrane 53 of the first set of swivel pairs is bent along the rotation axis of the first set of swivel pairs, and the flexible membrane 53 of the second set of swivel pairs is bent along the rotation axis of the second set of swivel pairs.

When it is necessary to adjust the position of the print head 22 in a plane perpendicular to the moving direction, that is, it is necessary to fine-tune the print head 22 to precisely align the repair position: a part of the transmission mechanism is driven, such as one of the three sets of drive mechanisms and transmission mechanisms work, and the other two groups do not work. When the slave arm 5 on the single transmission path moves, the moving platform 21 swings in the plane where it is located.

The present disclosure provides a new type of intracorporeal repair device 1, which uses at least two rotating pairs whose rotation axes are orthogonal to replace the spherical hinge rotating pair, which reduces the processing difficulty of the intracorporeal repair device 1, reduces the space required for operation, and is very Suitable for operation in limited space in the body.

It should be understood that the above-mentioned embodiments are only exemplary, and are not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the above embodiments under the teaching of the present invention without departing from the scope of the present invention.

Claims (10)

1. An intracorporeal repair device, comprising a driving mechanism, a transmission mechanism and a printing device (2), wherein the printing device (2) is used for printing biological materials, the driving mechanism drives the transmission mechanism to rotate, the transmission mechanism comprises a revolute pair assembly, the revolute pair assembly comprises at least two revolute pairs, the printing device (2) is connected to the transmission mechanism through the revolute pair assembly, and the revolute pair assembly is provided with at least two rotation axes which are perpendicular to each other;

Each of the at least two revolute pairs has the following configuration: comprising two rigid bodies (61) and a flexible membrane (62) sandwiched between said two rigid bodies (61), the two rigid bodies (61) being absent at corresponding positions so that each rigid body (61) forms two discrete sections, said two discrete sections being linked together by said flexible membrane (62) so as to form the axis of rotation of said revolute pair at the position of absence of said rigid body (61).

2. The intracorporeal repair device of claim 1, wherein the revolute pair assembly comprises a first set of revolute pairs comprising at least four revolute pairs having axes of rotation (81, 82, 83, 84) forming four parallel sides of a square cavity in space and a second set of revolute pairs comprising at least one revolute pair having axes of rotation perpendicular to the axes of rotation (81, 82, 83, 84) of the first set of revolute pairs and to the direction of movement of the printing device (2).

3. The intracorporeal repair device of claim 2, comprising at least one of said transmission mechanisms, one of said transmission mechanisms comprising two U-shaped members (51) and two plates (52), the U-shaped members (51) and the plates (52) forming the rigid body (61), each U-shaped member (51) comprising two opposite sides and a bottom, the flexible membrane is bonded to the U-shaped member (51) and the plate (52), so that the two side parts of one U-shaped member (51) are respectively connected with one ends of the two plate parts (52) through the flexible film, the two side parts of the other U-shaped member (51) are respectively connected with the other ends of the two plate parts (52) through the flexible film, and the two U-shaped members (51) and the two plate parts (52) are used for forming the first group of revolute pairs.

4. The intracorporeal repair device of claim 3, wherein the transmission mechanism further comprises a plate attachment (521) and a U-shaped member attachment (511), the plate attachment (521) being mounted in one-to-one correspondence with the plate (52), the U-shaped member attachment (511) being mounted in one-to-one correspondence with the side of the U-shaped member (51), the flexible membrane being interposed between the U-shaped member attachment (511) and the side of the U-shaped member (51), and between the plate attachment (521) and the plate (52).

5. Intracorporeal repair device according to claim 3, wherein said second set of revolute pairs comprises at least two revolute pairs having their axes of rotation (71, 72) parallel to each other, said transmission mechanism comprises an active arm (4), said drive mechanism drives said active arm (4), one of said active arm (4) and said two U-shaped members (51) is used to form one revolute pair of said second set of revolute pairs, and the other of said printing device (2) and said two U-shaped members (51) is used to form the other revolute pair of said second set of revolute pairs.

6. The intracorporeal repair device of claim 1, wherein the drive mechanism comprises a drive motor (3), and the transmission mechanism is engaged with an output shaft (31) of the drive motor (3) so that the transmission mechanism as a whole is capable of being driven to rotate by the drive mechanism.

7. The intracorporeal repair device according to claim 6, wherein the output shaft (31) of the drive motor (3) is perpendicular to a rotation axis of the transmission mechanism driven to rotate by the drive mechanism, the transmission mechanism has a crown gear (42), the output shaft (31) of the drive mechanism is meshed with the crown gear (42) at one side in an axial direction of the crown gear (42), and the output shaft (31), the crown gear (42), and the printing device (2) are arranged substantially in a moving direction of the printing device (2).

8. The intracorporeal repair device according to claim 1, wherein said intracorporeal repair device (1) comprises at least three said transmission mechanisms, said at least three transmission mechanisms being evenly distributed around said printing device (2).

9. The in-vivo repair device according to any one of claims 1 to 8, wherein said in-vivo repair device (1) comprises a base (10), said driving mechanism being mounted to said base (10), said base (10) having a heat dissipating hole (101), said heat dissipating hole (101) corresponding to said driving mechanism for dissipating heat generated by the operation of said driving mechanism.

10. An intracorporeal additive repair system comprising a curved tube (9) and an intracorporeal repair device (1) according to any one of claims 1 to 9, said curved tube (9) being bendable in at least two directions, said intracorporeal repair device (1) being mounted at one end of said curved tube (9).