CN110559081B

CN110559081B - In vivo additive repair system and in vivo repair device

Info

Publication number: CN110559081B
Application number: CN201910852528.4A
Authority: CN
Inventors: 赵文祥; 徐弢
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2019-09-10
Filing date: 2019-09-10
Publication date: 2020-05-29
Anticipated expiration: 2039-09-10
Also published as: CN110559081A

Abstract

Provided are an in vivo additive repair system and an in vivo repair device. The in vivo 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 subassembly, the rotating subassembly includes at least two rotating pairs, and the printing device is connected through the rotating subassembly. For 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: comprising two rigid bodies and a flexible membrane sandwiched between the two rigid bodies, two rigid bodies The bodies are missing at corresponding positions so that each rigid body forms two discrete segments, and the two discrete segments are linked together by a flexible membrane, thereby forming the rotational axis of the rotating pair at the missing locations of the rigid bodies. It adopts at least two rotating pairs whose rotating 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 invention relates to the technical field of medical treatment, in particular to an in-vivo additive repair system and an in-vivo repair device.

Background

An endoscopic operation through a natural cavity channel refers to the integration of surgical instruments, such as biopsy forceps, a scalpel and the like, in an endoscope to perform operations, such as biopsy or excision and the like, on focus tissues. In natural orifice endoscopic surgery, an endoscopic robot is commonly used to take tissue from a lesion, which belongs to the category of material reduction operation.

In order to perform material increase repair in vivo, the absorbable clamp can be delivered into the body through a natural cavity by an endoscope robot, and the defect part is sutured under the endoscope. However, this is difficult to operate, and large absorbable clips cannot be delivered into the body due to size, and therefore only small wounds can be repaired.

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

Although the skin in-situ printing repair system can realize in-situ repair, the universal joint is used for realizing the movement of the movable platform in multiple directions, the whole size is large, the structure is complex, and the skin in-situ printing repair system is not suitable for in-vivo operation.

Therefore, it is a technical problem to be solved by those skilled in the art 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.

Disclosure of Invention

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

Providing an intracorporeal repair device, which comprises a driving mechanism, a transmission mechanism and a printing device, wherein the printing device 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 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 which are missing at corresponding positions so that each rigid body forms two discrete sections which are linked together by the flexible membrane so that the axis of rotation of the revolute pair is formed at the location of the absence of the rigid bodies, and a flexible membrane sandwiched between the two rigid bodies.

In at least one embodiment, the revolute pair assembly comprises a first set of revolute pairs and a second set of revolute pairs, the first set of revolute pairs comprising at least four revolute pairs, the revolute axes of the at least four revolute pairs forming four parallel sides of a square cavity in space, the second set of revolute pairs comprising at least one revolute pair, the revolute axes of the second set of revolute pairs being perpendicular to the revolute axes of the first set of revolute pairs and to the direction of movement of the printing apparatus.

In at least one embodiment, the intracorporeal repair device comprises at least one of said transmission mechanisms, one of said transmission mechanisms comprising two U-shaped members and two plates, said U-shaped members and said plates forming said rigid body, each U-shaped member comprising two opposite sides and a bottom, said flexible membrane being adhered to said U-shaped members and said plates such that two of said sides of one of said U-shaped members are connected to one end of two of said plates, respectively, via said flexible membrane, and two of said sides of another of said U-shaped members are connected to the other end of two of said plates, respectively, via said flexible membrane, said two of said U-shaped members and said two of said plates forming said first set of revolute pairs.

In at least one embodiment, the drive mechanism further includes a plate attachment and a U-shaped member attachment, the plate attachment being mounted in one-to-one correspondence with the plates, the U-shaped member attachment being mounted in one-to-one correspondence with the sides of the U-shaped member, the flexible membrane being sandwiched between the U-shaped member attachment and the sides of the U-shaped member, and between the plate attachment and the plates.

In at least one embodiment, the second set of revolute pairs comprises at least two revolute pairs, the revolute axes of the at least two revolute pairs being parallel to each other, the transmission mechanism comprises a master arm, the drive mechanism drives the master arm, one of the master arm and the two U-shaped members is used to form one revolute pair of the second set of revolute pairs, and the other of the printing device and the two U-shaped members is used to form the other revolute pair of the second set of revolute pairs.

In at least one embodiment, the drive mechanism includes a drive motor, and the transmission mechanism is engaged with an output shaft of the drive motor such that the transmission mechanism as a whole is capable of being driven to rotate by the drive mechanism.

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

In at least one embodiment, the intracorporeal repair device comprises at least three of said drive mechanisms, said at least three drive mechanisms being evenly distributed around said printing device.

In at least one embodiment, the intracorporeal repair device includes a base, the driving mechanism is mounted to the base, and the base has a heat dissipation hole corresponding to the driving mechanism for dissipating heat generated by the operation of the driving mechanism.

The present disclosure also provides an in vivo additive repair system comprising a curved tube capable of bending in at least two directions and an in vivo repair device according to any of the above technical solutions, the in vivo repair device being mounted at one end of the curved tube.

The technical scheme provided by the disclosure at least has the following beneficial effects:

the present disclosure provides a novel intracorporeal repair device, which employs at least two revolute pairs with orthogonal rotation axes to replace spherical hinge revolute pairs, which reduces the processing difficulty of the intracorporeal repair device, reduces the space required for operation, and is very suitable for operation in the limited space in vivo.

The revolute pair has a laminated structure of a rigid body, a flexible membrane and the rigid body, the rigid body plays a supporting role, and the revolute pair is simple in structure, small in processing difficulty and small in occupied space, and is beneficial to achieving miniaturization of the in-vivo repair device.

The technical scheme provided by the disclosure can also have the following beneficial effects:

the technical scheme of adopting the meshing drive can save space, transmission torque and cost.

The four revolute pairs of the first group of revolute pairs form a parallelogram closed loop, the degree of freedom provided by a parallelogram driven arm of a traditional Delta robot structure is provided, and the parallelogram closed loop has good motion precision. The first group of revolute pairs and the second group of revolute pairs are combined to form an orthogonal revolute system, so that a spherical hinge revolute pair with a Delta robot structure is replaced, and the processing difficulty of the in-vivo repair device is reduced.

The transmission mechanism with the U-shaped component is beneficial to ensuring that the printing device is stressed uniformly in the fine adjustment process, and the difficulty of accurate alignment is reduced.

The transmission mechanism can drive the printing device to move through the rotation motion under the driving of the driving motor, and the driving mechanism, the transmission mechanism and the printing device can be arranged approximately along the moving direction of the printing device, so that the operation space is saved, and the printing device is more suitable for the internal environment with limited space.

The transmission mechanism provides the four revolute pairs in a three-section structure, and can play a role in buffering the printing device when the printing device swings on a plane perpendicular to the moving direction, and ensure the installation precision between the printing device and the transmission mechanism.

At least three transmission mechanisms are uniformly distributed around the printing device, so that the printing device can move in the moving direction smoothly, and fine adjustment of the printing device in a plane perpendicular to the moving direction can be realized by controlling part of the transmission mechanisms to work.

Drawings

Fig. 1 is a schematic perspective view of an in vivo additive repair system provided by the present disclosure.

Fig. 2 is a schematic perspective view of an in-vivo repair device of the in-vivo additive repair system of fig. 1.

Fig. 3 is a partial schematic structural view of the intracorporeal repair device of fig. 2, showing a driving motor connected to an active arm.

FIG. 4 is a partial schematic structural view of the intracorporeal repair device of FIG. 2 showing the driving arm coupled to the driven arm.

Fig. 5 is a perspective view of the transmission mechanism of the intracorporeal prosthetic device of fig. 2.

Fig. 6 is an exploded view of the follower arm of the intracorporeal repair device of fig. 2.

Fig. 7 is a schematic view of a revolute pair of an intracorporeal prosthetic device provided by the present disclosure.

Description of reference numerals:

1 in-vivo repair device, 10 bases, 101 heat dissipation holes, 102 through holes, 11 fixed tables, 12 mounting columns, 2 printing devices, 21 moving platforms, 22 printing heads, 3 driving motors, 31 output shafts, 4 driving arms, 4a driving arm driving part, 4b driving arm rotating part, 40 mounting holes, 41 gear shafts, 42 crown gears, 420 crown gear axes, 43 bearings, 5 driven arms, 51U-shaped members, 511U-shaped member accessories, 52 plates, 521 plate accessories, 53 flexible membranes, 6 rotating pairs, 61 rigid bodies, 62 flexible membranes, 71, 72, 81, 82, 83, 84 rotating axes and 9 bent pipes.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the detailed description is intended only to teach one skilled in the art how to practice the invention, and is not intended to be exhaustive or to limit the scope of the invention.

As shown in fig. 1, the present disclosure provides an in vivo additive repair system comprising a curved tube 9 and an in vivo repair device 1, the curved tube 9 having a hollow lumen through which a guide wire passes. One end of the bending tube 9 is connected to the intracorporeal prosthetic device 1 and the other end is connected to a driving device which drives the guide wire of the bending tube 9 so that the guide wire drives the bending tube 9 to bend in at least two directions. When the bending tube 9 is bent, the position of the intracorporeal repair device 1 is changed, and the bending motion of the bending tube 9 can bring the intracorporeal repair device 1 to a prescribed position.

The curved tube 9 may be an endoscopic curved tube, which enables endoscope-based in vivo additive repair.

The specific configuration of the bending tube 9 may be similar to that of an endoscopic bending tube of the prior art, or an endoscopic snake bone or the like.

As shown in fig. 2, the intracorporeal repair device 1 may include a base 10, a driving mechanism installed on the base 10 and driving the driving mechanism, a transmission mechanism, and a printing device 2, wherein the printing device 2 prints a biomaterial into the body by using a 3D printing technique to achieve in-situ repair. The driving mechanism comprises a revolute pair assembly, the revolute pair assembly comprises at least two revolute pairs, and the at least two revolute pairs comprise at least two rotation axes which are perpendicular to each other.

The base 10 may be mounted to one end of the bent tube 9, and the base 10 may have a through hole 102, and the printing material delivery tube is connected to the printing apparatus 2 through the hollow inner cavity of the bent tube 9 and the through hole 102.

The base 10 may be provided with a heat dissipating hole 101 at a position corresponding to the driving mechanism, and the heat dissipating hole 101 is used for dissipating 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 a transmission path is formed 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 so as to drive the printing device 2 to displace.

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 be engaged with a transmission mechanism, such as a driving arm 4 (described in detail below), so as to drive the transmission mechanism to rotate. The technical scheme of the meshing drive not only can change the rotating direction of the power 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 driving 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 apparatus 2. The base 10 may be mounted with a bearing 43, the bearing 43 being for supporting the gear shaft 41 of the crown gear 42, the driving arm 4 being rotatable about 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, i.e. the output shaft 31 of the drive motor 3 is perpendicular to the axis of rotation of the transmission mechanism driven to rotate by the drive mechanism, i.e. the axis 420 of the crown gear 42. The rotation axis of the transmission mechanism driven by the driving mechanism to rotate is also perpendicular to the moving direction of the printing device 2. In this way, the transmission mechanism can drive the printing device 2 to move through the rotation motion under the driving of the driving motor 3. The output shaft 31 of the drive 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 arranged along one direction, for example, the moving direction of the printing device 2, so that the operation space is saved, and the printing device is more suitable for the in-vivo environment with limited space.

It will be appreciated that in an in vivo additive repair system, the printing device 2 may be moved to the repair position by the drive of the bent tube 9, and may also be driven by the transmission mechanism to have the correct repair distance from the repair position. The moving direction of the printing apparatus 2 described herein refers to its movement driven by a transmission mechanism, i.e., movement for adjusting the repair distance in directions toward and away from the repair position.

The drive motor 3 may be a step-down motor. The speed reduction stepping motor can accurately control the rotating angle, so that the accurate position of a movable platform (detailed below) can be obtained through mathematical calculation, and 3D printing is realized. In other embodiments, a servo motor or the like may be used instead of the deceleration stepping motor.

As shown in fig. 4 to 6, the transmission mechanism may include a driving arm 4 and a driven arm 5 rotatably connected, and the driving mechanism, the driving arm 4, the driven arm 5, and the printing apparatus 2 are connected in sequence. The revolute pair assembly may comprise a first set of revolute pairs and a second set of revolute pairs, the revolute axes of the first set of revolute pairs being perpendicular to the revolute axes of the second set of revolute pairs.

The first set of revolute pairs comprises four

revolute axes

81, 82, 83, 84, the four

revolute axes

81, 82, 83, 84 being parallel to each other, the four

revolute axes

81, 82, 83, 84 forming four parallel sides of a square cavity in space. It should be understood that in other embodiments, when the first set of revolute pairs has five and more revolute axes, these revolute axes are all parallel to each other.

The four revolute pairs of the first group of revolute pairs form a parallelogram closed loop, the degree of freedom provided by a parallelogram driven arm of a traditional Delta robot structure is provided, and the parallelogram closed loop has good motion precision. The first group of revolute pairs and the second group of revolute pairs are combined to form an orthogonal revolute system, so that a spherical hinge revolute pair with a Delta robot structure is replaced, and the processing difficulty of the in-vivo repair device 1 is reduced.

The second set of revolute pairs comprises two

revolute axes

71, 72, the two

revolute axes

71, 72 being parallel to each other. The axes of

rotation

71, 72 of the second set of revolute pairs are perpendicular to the direction of movement of the printing apparatus 2, in which the printing apparatus 2 can be moved by the second set of revolute pairs.

The present disclosure constructs the above-described revolute pair in a novel manner, and fig. 7 shows a schematic view of the structure of the above-described revolute pair.

As shown in fig. 7, the revolute pair 6 may be formed by: the flexible membrane 62 is sandwiched between the two rigid bodies 61, the corresponding portions of the two rigid bodies 61 being removed so that each rigid body 61 forms two discrete sections, the two discrete sections being tied together by the flexible membrane 62, the axis of rotation of the revolute pair being formed at the missing portion of the rigid body.

The rigid body 61 may be a plate body, a block body, or the like, and specifically, may be an aluminum alloy plate.

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

The polyimide film has good mechanical property and chemical property. The polyimide film has a strong tensile strength of 200Mpa at 20 ℃, and is effective in preventing the flexible film 62 from being broken in tension at a position corresponding to the missing portion of the rigid body 61. The polyimide film has good thermal stability and can be normally used for a long time in the air of 250-280 ℃. In addition, the polyimide film also has good insulation performance, is the main material of a base material of the flexible printed circuit board, and can realize the control of a transmission mechanism by printing a circuit on the polyimide film, thereby further miniaturizing the Delta robot structure.

The revolute pair 6 has a laminated structure of a rigid body 61, a flexible membrane 62 and the rigid body 61, the rigid body 61 can play a supporting role, and the revolute pair is simple in structure, small in processing difficulty and small in occupied space, and is beneficial to achieving miniaturization of the in-vivo repair device 1. The flexible membrane 62 has elastic properties and is capable of elastic deformation when subjected to a force.

As shown in fig. 4 and 5, the active arm 4 may include an active arm driving part 4a and an active arm turning part 4b mounted together, the active arm driving part 4a being driven by a driving mechanism. The driving arm driving part 4a may include a portion for engagement with a driving mechanism, such as the above-described crown gear 42, and has a mounting hole 40 through which the gear shaft 41 passes, the gear shaft 41 passing through the mounting hole 40 and being supported at both ends by bearings 43.

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

The active arm 4 and the U-shaped member 51 configure the above-described rigid body 61, specifically, the active arm turning portion 4b and the U-shaped member 51 configure the above-described rigid body 61, and cooperate with the flexible film 53 to form a turning pair (second group turning pair).

The driven arm 5 (transmission mechanism) formed by the combination of the U-shaped member 51, the flexible film 53 and the plate member 52 has a simple configuration, facilitating processing. The driven arm 5 having a U-shaped member is advantageous in ensuring that the printing apparatus 2 is uniformly stressed during fine adjustment (described in detail below), reducing the difficulty of accurate alignment.

The U-shaped member 51 and the plate member 52 of the driven arm 5 (transmission mechanism) are connected by a flexible film 53, so that the four revolute pairs of the first set of revolute pairs are integrated, and it is possible to cushion the printing apparatus 2 when the printing apparatus 2 swings on a plane perpendicular to the moving direction and to ensure the mounting accuracy between the printing apparatus 2 and the driven arm 5.

The transmission mechanism further includes panel attachments 521 and U-shaped member attachments 511, the panel attachments 521 being mounted in one-to-one correspondence with the panels 52, the U-shaped member attachments 511 being mounted in one-to-one correspondence with the side portions of the U-shaped member 51, and the flexible films 53 being interposed between the U-shaped member attachments 511 and the side portions of the U-shaped member 51, and between the panel attachments 521 and the panels 52. The panel attachment 521 may be the same shape as the panel 52, the U-shaped member attachment 511 may be the same shape as the side of the U-shaped member 51, and the flexible film 53 may be a sheet body, the flexible film 53 extending from one U-shaped member 51 to the other U-shaped member 51 along the extending direction of the panel 52.

Flexible membrane 53 is sandwiched between panel attachment 521 and panel 52 and between the sides of U-shaped member 51 and U-shaped member attachment 511 to facilitate a more secure revolute pair.

A transmission can be manufactured in the following way: taking a U-shaped block (the U-shaped block extends along a straight line and has a U-shape in a cross section perpendicular to the extending direction), two plates, and two sheet-like flexible films 53, the plates and the sheet-like flexible films 53 having the same extending direction as the U-shaped block; the flexible film 53 and the plate are sequentially stuck on the outer sides of the two side parts of the U-shaped block; cutting both ends of the side portion of the U-shaped block in the extending direction and both ends of the plate by a laser cutting process and leaving the flexible film 53 so as not to be cut, so that the side portion of the U-shaped block and the plate each form three sections, each section being connected by the flexible film 53, the plate forming a U-shaped member attachment 511 and a plate attachment 521; the bottom of the U-shaped block is cut by a laser cutting process to leave the center of the bottom of the U-shaped block absent, thereby forming two U-shaped members 51 at both ends of the U-shaped block and two plate members 52 at both side portions of the U-shaped block.

The steps described above may be permuted without departing from 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 by a laser cutting process, and a high processing accuracy can be achieved.

The bottom of one U-shaped member 51 is used to form a second set of revolute pairs in cooperation with the active arm revolute portion 4b so as to form a revolute axis 71, and the bottom of the other U-shaped member 51 is used to form a further second set of revolute pairs in cooperation with the printing apparatus 2 (the movable platform 21 (shown in fig. 5, described in detail below)) so as to form a revolute axis 72.

The movable platform 21 of the printing apparatus 2 serves as both a part of the printing apparatus 2 and a rigid body of the revolute pair.

It will be appreciated that the second set of revolute pairs may have only one axis of rotation, or three and more, when the second revolute pair has only one axis of rotation, the axis of rotation is between the bottom of the U-shaped member 51 and the active arm revolute portion 4b, i.e. the revolute axis 71.

With continued reference to fig. 2, 4 and 5, the printing apparatus 2 includes a movable platen 21 and a print head 22, the print head 22 being mounted to the movable platen 21. The printing apparatus 2 configures the above-described rigid body with the U-shaped member 51, and specifically, the movable platform 21 configures the above-described rigid body 61 with the U-shaped member 51, and cooperates with the flexible film 53 to form a revolute pair (second group revolute pair).

As shown in fig. 4, the movable platform 21 may include two portions having the same shape, and the two portions may sandwich the flexible film 53 on both sides of the flexible film 53. The transmission mechanism may further include an attachment installed in one-to-one correspondence with the bottom of the U-shaped member 51, the attachment having the same shape as the bottom of the U-shaped member 51, the attachment sandwiching the flexible film 53 on both sides of the flexible film 53 with the bottom of the U-shaped member 51.

The axes of rotation of the revolute pairs between the master arm 4 and the slave arm 5 and between the slave arm 5 and the printing apparatus 2 are parallel, and are perpendicular to the direction of movement of the print head 22 for moving the print head 22 in the above-mentioned direction of movement.

The intracorporeal repair device 1 may comprise at least three of the above-mentioned transmission mechanisms, which are evenly distributed around the printing device 2 (print head 22), which facilitates smooth movement of the printing device 2 in the moving direction.

In order to adjust the printing device 2 to a precise alignment of the repair position in a plane perpendicular to the direction of movement (fine adjustment of the printing device 2), a part of the transmission mechanism, for example, a single motor 3, may be driven. Since the movable platform 21 is fixed by one end of the driven arm 5 of the plurality of transmission mechanisms, when the single motor 3 rotates, the original up-and-down movement (movement toward or away from the printing position) of the movable platform 21 is changed into swinging in a plane perpendicular to the moving direction due to the fixed one end with the assistance of the elastic deformation of the flexible film 53, thereby realizing the fine adjustment process.

It can be seen that fine adjustment of the printing device 2 in a plane perpendicular to the direction of movement can also be achieved by controlling the operation of a part of the transmission mechanism.

Accordingly, the intracorporeal repair device 1 has the same number of driving mechanisms as the number of transmission mechanisms, one driving mechanism driving one transmission mechanism.

The intracorporeal repair device 1 may have a fixed stage 11, and each gear shaft 41 is supported by a bearing 43 to the fixed stage 11 with the output shaft 31 of the drive mechanism being located between the fixed stage 11 and the base 10. The base 10 may be supported by a mounting post 12 located between the base 10 and the stationary stage 11 such that the stationary stage 11 is mounted to the base 10. The movable platform 21 may have, for example, a triangular shape, with three sides of the movable platform 21 interfacing with the bottom of the U-shaped member 51 of the driven arm 5.

The following describes possible working processes of the intracorporeal repair device 1:

when the print head 22 is brought to the repair position by the bent 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 driving arm 4 to rotate around the axis of the gear shaft 41, the driving arm rotating part 4b swings around the axis of the gear shaft 41 and drives the flexible film 53 between the driving arm 4 and the driven arm 5 to bend, the flexible film 53 between the driving arm 4 and the driven arm 5 drives the driven arm 5, the driven arm 5 further drives the flexible film 53 between the driven arm 5 and the movable platform 21 to bend, and the flexible film 53 between the driven arm 5 and the movable platform 21 drives the printing head 22 to move along the moving direction. In the above process, the flexible film 53 of the first set of revolute pairs is bent along the revolute axis of the first set of revolute pairs, and the flexible film 53 of the second set of revolute pairs is bent along the revolute axis of the second set of revolute pairs.

When it is necessary to adjust the position of the print head 22 in a plane perpendicular to the direction of movement, i.e. fine tuning of the print head 22 is required to accurately align the repair position: some of the transmission mechanisms are driven, for example, one of the three sets of driving mechanisms and transmission mechanisms is operated, and the other two sets are not operated, and when the driven arm 5 on the single conveying path is operated, the movable platform 21 swings in the plane on which the movable platform is located.

The present disclosure provides a novel intracorporeal repair device 1, which employs at least two revolute pairs with orthogonal rotation axes to replace spherical hinge revolute pairs, which reduces the processing difficulty of the intracorporeal repair device 1, reduces the space required for operation, and is very suitable for operation in the limited space in vivo.

It should be understood that the above embodiments are only exemplary and are not intended to limit the present invention. Various modifications and alterations of the above-described embodiments may be made by those skilled in the art in light of the teachings of the present invention without departing from the scope thereof.

Claims

1. An in vivo repair device, characterized in that it comprises a driving mechanism, a transmission mechanism and a printing device (2), the printing device (2) is used for printing biological materials, and the driving mechanism drives the transmission mechanism to rotate, The transmission mechanism includes a rotating subassembly, the rotating subassembly includes at least two rotating pairs, and the printing device (2) is connected to the transmission mechanism through the rotating subassembly, and the rotating subassembly has mutually perpendicular at least two axes of rotation;

Each of the at least two rotating pairs has the following configuration: comprising two rigid bodies (61) and a flexible membrane (62) sandwiched between the two rigid bodies (61), the two rigid bodies (61) 61) Deletion at corresponding positions so that each of the rigid bodies (61) forms two discrete segments, and the two discrete segments are implicated together by the flexible membrane (62), so that the rigid body (61) forms two discrete segments. The missing position of the body (61) forms the axis of rotation of the rotating pair;

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 (81, 82, 83, 84 of the at least four rotating pairs) ) forming the four parallel sides of the square cavity in the space, the second group of rotation pairs includes at least one rotation pair, and the rotation axis of the second group of rotation pairs is perpendicular to the rotation axis of the first group of rotation pairs (81, 82, 83, 84) and the moving direction of the printing device (2);

The in vivo repair device includes at least one of the transmission mechanisms, and one of the transmission mechanisms includes two U-shaped members (51) and two plate parts (52), the U-shaped member (51) and the plate parts ( 52) Forming the rigid body (61), each U-shaped member (51) comprising two opposite sides and a bottom, the flexible film 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 end of the two plates (52) through the flexible film, and the other U-shaped member (51) ) and the other ends of the two plates (52) are respectively connected with the other ends of the two plates (52) through the flexible film, and the two U-shaped members (51) and the two plates (52) are connected with to form the first set of rotating pairs.

2. The in-vivo repair device according to claim 1, wherein the transmission mechanism further comprises a plate attachment (521) and a U-shaped member attachment (511), the plate attachment (521) being connected to the plate The parts (52) are installed in a one-to-one correspondence, the U-shaped member attachments (511) are installed in a one-to-one correspondence with the side of the U-shaped member (51), and the flexible film is clamped on the U-shaped member attachments (511) and the side of the U-shaped member (51), and between the plate attachment (521) and the plate (52).

3. The in-vivo repair device according to claim 1, wherein the second group of rotating pairs comprises at least two rotating pairs, and the rotating axes (71, 72) of the at least two rotating pairs are parallel to each other, so The transmission mechanism comprises a driving arm (4), the driving mechanism drives the driving arm (4), and the driving arm (4) and one of the two U-shaped members (51) are used to form the One of the second group of rotation pairs, the printing device (2) and the other of the two U-shaped members (51) are used to form the other of the second group of rotation pairs .

4. The in-vivo repair device according to claim 1, wherein the drive mechanism comprises a drive motor (3), and the transmission mechanism engages with an output shaft (31) of the drive motor (3) so that the The entire transmission mechanism can be driven to rotate by the drive mechanism.

5 . The in vivo repair device according to claim 4 , wherein the output shaft ( 31 ) of the driving motor ( 3 ) is perpendicular to the rotation axis of the transmission mechanism driven by the driving mechanism to rotate, and the The transmission mechanism has a crown gear (42), and an output shaft (31) of the driving mechanism meshes with the crown gear (42) on an axial side of the crown gear (42), and the output shaft (31), The crown gear (42) and the printing device (2) are generally arranged along the moving direction of the printing device (2).

6. The in-vivo repair device according to claim 1, characterized in that, the in-vivo repair device (1) comprises at least three transmission mechanisms, and at least three transmission mechanisms are evenly distributed around the printing device (2) distributed.

7. The in vivo repair device according to any one of claims 1 to 6, wherein the in vivo repair device (1) comprises a base (10), and the drive mechanism is mounted on the base (10) ), the base (10) has a heat dissipation hole (101), and the heat dissipation hole (101) corresponds to the driving mechanism so as to dissipate the heat generated by the operation of the driving mechanism.

8. An in vivo additive repair system, characterized in that it comprises a curved tube (9) and the in vivo repair device (1) according to any one of claims 1 to 7, the curved tube (9) capable of Bending in at least two directions, the in vivo repair device (1) is mounted on one end of the bending tube (9).