CN112971994B - Ophthalmic surgery robot based on continuum configuration - Google Patents
Ophthalmic surgery robot based on continuum configuration Download PDFInfo
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- CN112971994B CN112971994B CN202110255218.1A CN202110255218A CN112971994B CN 112971994 B CN112971994 B CN 112971994B CN 202110255218 A CN202110255218 A CN 202110255218A CN 112971994 B CN112971994 B CN 112971994B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The invention relates to an ophthalmic surgical robot based on a continuum configuration. Comprises a workbench, a mounting bracket, a driving mechanism and a scalpel, wherein the driving mechanism comprises a continuum joint, a connecting rod, a continuum bracket and a pulley block bracket for fixing a first pulley block and a second pulley block, the driving mechanism also comprises a motor base connected with the mounting bracket, and a first motor, a second motor, a third motor, a fourth motor and a fifth motor which are fixed on the motor base, the output ends of the first motor, the second motor, the third motor and the fourth motor are respectively connected with a first flexible cable, a second flexible cable, a third flexible cable and a fourth flexible cable, the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable are sequentially wound through the first pulley block and the second pulley block, the output end of the fifth motor is connected with the continuum bracket to drive the scalpel to realize the adjustment of the telescopic freedom degree.
Description
Technical Field
The invention belongs to the field of robots, and particularly relates to an ophthalmic surgery robot based on a continuum configuration.
Background
Compared with the traditional surgical operation, the robot-assisted minimally invasive surgical operation has the advantages of accurate target positioning, easy realization of minimally invasive operation, capability of performing remote operation and the like, lays a technical foundation for the third-generation surgical operation with minimally invasive and fine characteristics, and can improve the operation efficiency and success rate, reduce the pain of the patient in the operation, shorten the recovery time after the operation and the like. However, the progress of any one surgical method inevitably brings about the improvement of the difficulty of surgical operation, and the minimally invasive method means a small surgical incision, which poses a small challenge to the stability and precision of the hand motion of a doctor. In the operation process, the movement precision limit of the doctor arm and the hand trembling caused by fatigue after long-time operation all influence the final treatment effect of the operation and simultaneously restrict the progress of medical technology. The robot-assisted minimally invasive surgery can well promote the development of the surgery to the directions of minimally invasive, intelligent and accurate, and can realize remote operation.
Because various tissues inside human eyeballs are small in size and extremely fragile, and the environment inside the eyeballs is relatively complex, the ophthalmic surgery becomes one of the highest-precision surgery types in the world, and the eyeballs of patients can be irreversibly injured by slight errors in the operation process of surgical personnel. By combining the medical imaging technology, the modern robot technology and the sensor technology, the ophthalmic surgery robot has great advantages compared with human hands in the aspects of operation accuracy, stability, flexibility and the like, and can promote the development of modern ophthalmic surgery towards the directions of micro-wound, accuracy and intelligence. The continuum robot is a flexible robot, the interior of the continuum robot has a spine-free flexible configuration, the outer diameter size can be made small, and meanwhile the continuum robot has the characteristics of high freedom of movement, excellent bending performance, very strong adaptability to complex non-structural environments and the like, so that various characteristics of ophthalmic surgery operation can be well met.
The domestic ophthalmic surgical robot is still in the starting stage, the difference from the foreign research level is large, and the current ophthalmic surgical robot still has a plurality of places to be improved. The patent with publication number CN107019559A discloses a full-automatic ophthalmic surgical robot, which has the characteristics of flexible movement and high installation and movement precision, but has the disadvantages of complex structure, high production and manufacturing cost and difficult installation and debugging. Patent publication No. CN210962596U discloses an ophthalmic surgical robot, which has the advantages of short debugging period, high stability and simple control, but because the mechanical arm of the robot is driven by an oil cylinder, the transmission precision is difficult to be ensured, and the reason is not easy to find when a fault occurs, and because the transmission path is long, dynamic error accumulation is easy to occur.
Disclosure of Invention
The invention aims to provide an ophthalmic surgical robot based on a continuum configuration, which can improve the treatment effect of surgery and reduce the operation burden of doctors.
In order to achieve the purpose, the invention adopts the following technical scheme: the device comprises a workbench, a mounting bracket arranged on the workbench, a driving mechanism fixed on the mounting bracket, a scalpel connected with the driving mechanism, a motor seat connected with the mounting bracket, a first motor, a second motor, a third motor, a fourth motor and a fifth motor which are fixed on the motor seat, wherein the driving mechanism comprises a continuum joint connected with the scalpel, a connecting rod connected with the continuum joint, a continuum bracket used for fixing the connecting rod, and a pulley block bracket used for fixing the first pulley block and the second pulley block, the output ends of the first motor, the second motor, the third motor and the fourth motor are respectively connected with a first flexible cable, a second flexible cable, a third flexible cable and a fourth flexible cable, the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable are sequentially wound around the first pulley block and the second pulley block, the output end of the fifth motor is connected with the continuum bracket to drive the scalpel to realize the adjustment of the telescopic freedom degree, and the first motor, the second motor, the third motor, the fourth motor and the fifth motor are all linear motors;
the connecting rod comprises a first connecting rod connected with the scalpel and a second connecting rod connected with the first connecting rod, a flange is arranged at the other end of the second connecting rod and fixed on the continuum support through screws, the first connecting rod and the second connecting rod are both stepped hollow round tubes, and the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable respectively penetrate through the first connecting rod and the second connecting rod;
the second pulley block and the first pulley block are arranged in parallel in the front-back direction, and the first pulley block and the second pulley block have the same structure and different sizes and are matched with each other through central axes; first assembly pulley include the first support body of square frame shape, the four corners department of first support body is equipped with first pulley, second pulley, third pulley and fourth pulley respectively, the second assembly pulley includes the second support body of square frame shape, the four corners department of second support body is equipped with fifth pulley, sixth pulley, seventh pulley and eighth pulley respectively, wherein: the position of the first pulley corresponds to that of the fifth pulley, the first pulley and the fifth pulley are matched with the first flexible cable, the position of the second pulley corresponds to that of the sixth pulley, the second pulley and the sixth pulley are matched with the second flexible cable, the position of the third pulley corresponds to that of the seventh pulley, the third pulley and the seventh pulley are matched with the third flexible cable, the position of the fourth pulley corresponds to that of the eighth pulley, and the fourth pulley and the eighth pulley are matched with that of the fourth flexible cable.
The joint comprises a continuum joint, a connecting rod and a plurality of joint bodies, wherein the head of the continuum joint is fixed with a scalpel, the tail of the continuum joint is fixed with the connecting rod, the continuum joint is composed of a plurality of continuously arranged joint bodies, the joint bodies are short cylinders, two adjacent joint bodies are matched and connected through spherical hinges, the joint bodies are uniformly provided with a first flexible cable hole, a second flexible cable hole, a third flexible cable hole and a fourth flexible cable hole along the circumferential direction of the joint bodies, the first flexible cable hole, the second flexible cable hole, the third flexible cable hole and the fourth flexible cable hole are through holes penetrating through the joint bodies in the axial direction, one end of each of the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable is fixed with the head of the continuum joint, and the other end of each of the joint bodies penetrates through the corresponding flexible cable holes of the joint bodies in sequence to form series connection of the plurality of joint bodies.
The first frame body is formed by enclosing an upper support, a left support, a lower support and a right support which are sequentially connected, a fourth shaft body is arranged at one end of the upper support in a 45-degree direction from left to bottom, the fourth shaft body is in splicing fit with the upper end of the left support, and a fourth pulley is arranged on the fourth shaft body; a first shaft body is arranged at the other end of the upper support in a 45-degree direction from right to bottom, the first shaft body is in splicing fit with the upper end of the right support, and a first pulley is arranged on the first shaft body; a third shaft body is arranged at one end of the lower support in the direction of 45 degrees to the left upper part, the third shaft body is in splicing fit with the lower end of the left support, and a third pulley is arranged on the third shaft body; the other end of the lower support is provided with a second shaft body in the direction of 45 degrees upwards to the right, the second shaft body and the lower end of the right support form a splicing fit, a second pulley is arranged on the second shaft body, and the bottom of the lower support is also provided with a connecting seat connected with the pulley block support.
The first pulley, the second pulley, the third pulley, the fourth pulley, the fifth pulley, the sixth pulley, the seventh pulley and the eighth pulley are all composed of an outer ring and an internal deep groove ball bearing, and the outer ring is provided with a V-shaped groove matched with the flexible cable.
The continuum support and the pulley block support are oppositely arranged and located in the same vertical plane, one end of the pulley block support is fixedly connected with the motor base, the other end of the pulley block support is in a suspension extending shape, and a hole for the connecting rod to penetrate through is formed in the suspension extending end.
First motor, second motor, third motor and fourth motor evenly arrange along the circumference of motor cabinet in proper order, wherein: the first motor and the fourth motor are symmetrically arranged, the second motor and the third motor are symmetrically arranged, and the fifth motor is arranged between the first motor and the fourth motor.
The workbench comprises a workbench body, universal wheels arranged at the bottom of the workbench body and a mounting seat arranged at the upper part of the workbench body, the mounting seat is connected with a mounting bracket, and the mounting seat is fixed on the workbench body through a guide rail pair; the guide rail pair is a linear sliding guide rail pair with double guide rails and four sliding blocks, a ball screw nut pair is arranged between the double guide rails, a screw in the ball screw nut pair is connected with a servo motor through a coupler, and a screw nut in the ball screw nut pair is fixedly connected with the bottom of the mounting seat.
According to the technical scheme, the first motor, the second motor, the third motor and the fourth motor respectively provide tension for the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable, and the linear motion of the output end of the motor is converted into pitching and deflecting of the continuum joint mechanism and stretching and retracting of the continuum support through the flexible cables to complete various operations, so that the operations of removing, injecting, sucking and the like are realized. The ball screw nut pair on the worktable is responsible for adjusting the approximate position of the scalpel according to the difference of eyeballs to be operated and the difference of pupil distances of different people, so that the burden of doctors can be relieved, and the operation precision is high.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural view of the inventive table.
Fig. 3 is a schematic view of the connection of the mounting bracket of the present invention to the motor mount.
Fig. 4 is a schematic structural diagram of the motor base of the present invention.
Fig. 5 is a schematic structural view of the first pulley block and the second pulley block of the present invention.
Fig. 6 is a schematic structural view of the first pulley block of the present invention.
Fig. 7 is an exploded view of fig. 6.
Fig. 8 is a schematic structural view of the first frame of the present invention.
FIG. 9 is a schematic view of the structure of the continuum joint of the present invention.
Fig. 10 is a first structural schematic diagram of the joint body of the present invention.
Fig. 11 is a schematic structural diagram of the joint body of the present invention.
Figure 12 is a schematic view of the connection of the cables of the present invention to the continuum joint.
Fig. 13 is a schematic view of the connection of the flexible cables of the present invention to the first pulley block and the second pulley block.
Fig. 14 is a schematic structural view of the drive mechanism.
FIG. 15 is a schematic representation of the operation of the continuum joint of the present invention.
Fig. 16 is a state diagram of the use of the present invention.
The reference symbols in the above figures are: the working table 1, the table body 11, the universal wheel 12, the mounting base 13, the guide rail pair 14, the ball screw nut pair 15, the servo motor 16, the mounting bracket 2, the driving mechanism 3, the continuum joint 31, the joint body 311, the spherical hinge 312, the first flexible cable hole 313, the second flexible cable hole 314, the third flexible cable hole 315, the fourth flexible cable hole 316, the connecting rod 32, the first connecting rod 321, the second connecting rod 322, the flange 323, the continuum bracket 33, the first pulley block 34, the first pulley 341, the second pulley 342, the third pulley 343, the fourth pulley 344, the upper bracket 345, the fourth shaft 3451, the first shaft 3452, the left bracket 346, the lower bracket 347, the third shaft 3471, the second shaft 3472, the connecting base 3473, the right bracket 348, the second pulley block 35, the fifth pulley 351, the sixth pulley 352, the seventh pulley block 353, the eighth pulley hole 354, the bracket 36, the 361, the motor base 4, the first motor 41, and the second motor base, A second motor 42, a third motor 43, a fourth motor 44, a fifth motor 45, a scalpel 5, a first wire 51, a second wire 52, a third wire 53, and a fourth wire 54.
Detailed Description
The invention is further described with reference to the accompanying drawings:
an ophthalmic surgical robot based on a continuum configuration as shown in fig. 1 to 16 includes a table 1, a mounting bracket 2 provided on the table 1, a driving mechanism 3 fixed to the mounting bracket 2, and a scalpel 5 connected to the driving mechanism 3.
The driving mechanism 3 comprises a continuum joint 31 connected with the scalpel 5, a connecting rod 32 connected with the continuum joint 31, a continuum bracket 33 used for fixing the connecting rod 32, a pulley block bracket 36 used for fixing a first pulley block 34 and a second pulley block 35, the driving mechanism 3 further comprises a motor base 4 connected with the mounting bracket 2, and a first motor 41, a second motor 42, a third motor 43, a fourth motor 44 and a fifth motor 45 fixed on the motor base 4, the output ends of the first motor 41, the second motor 42, the third motor 43 and the fourth motor 44 are respectively connected with a first flexible cable 51, a second flexible cable 52, a third flexible cable 53 and a fourth flexible cable 54, the first flexible cable 51, the second flexible cable 52, the third flexible cable 53 and the fourth flexible cable 54 are sequentially wound around the first pulley block 34 and the second pulley block 35 and then are connected with the continuum joint 31 through the inside the connecting rod 32 to realize the adjustment of the pitching and deflection freedom degree of the scalpel 5, the output end of the fifth motor 45 is connected with the continuum support 33 to drive the scalpel 5 to realize adjustment of the telescopic degree of freedom, and the first motor 41, the second motor 42, the third motor 43, the fourth motor 44 and the fifth motor 45 are all linear motors. That is, the driving mechanism 3 can drive the scalpel 5 with two bending degrees of freedom and one moving degree of freedom through the flexible cable. Specifically, the motor base 4 is fixed on the mounting bracket 2 by hexagon socket head cap screws, the first motor 41, the second motor 42, the third motor 43 and the fourth motor 44 respectively drive the first flexible cable 51, the second flexible cable 52, the third flexible cable 53 and the fourth flexible cable 54 to stretch, the first motor 41 and the fourth motor 44 respectively pull the first flexible cable 51 and the fourth flexible cable 54 to pitch up the continuum joint 31, the second motor 42 and the third motor 43 respectively pull the second flexible cable 52 and the third flexible cable 53 to pitch down the continuum joint 31, the first motor 41 and the second motor 42 respectively pull the first flexible cable 51 and the second flexible cable 52 to deflect the continuum joint 31 to the left, the third motor 43 and the fourth motor 44 respectively pull the third flexible cable 53 and the fourth flexible cable 54 to deflect the continuum joint 31 to the right, and the four linear motors output quantitative displacement to realize the rotation of the continuum joint 31 to all directions, the two degrees of freedom of pitching and deflecting of the scalpel 5 are realized; the fifth motor 45 is installed right above the motor base 4, and the output end of the fifth motor is directly connected with the continuum support 33, so that the continuum support 33 is directly driven to move linearly in a reciprocating manner.
Further, as shown in fig. 9, 10 and 11, the head of the continuum joint 31 is fixed to the scalpel 5, the tail of the continuum joint 31 is fixed to the connecting rod 32, the continuum joint 31 is composed of a plurality of continuously arranged joint bodies 311, each joint body 311 is a short cylinder, and two adjacent joint bodies 311 are connected in a matching way through a spherical hinge 312, the spherical hinge 312 and the joint bodies 311 are of an integral structure, the joint bodies 311 are uniformly provided with a first flexible cable hole 313, a second flexible cable hole 314, a third flexible cable hole 315 and a fourth flexible cable hole 316 along the circumferential direction, the first flexible cable hole 313, the second flexible cable hole 314, the third flexible cable hole 315 and the fourth flexible cable hole 316 are all through holes penetrating through the joint bodies 311 in the axial direction, one end of each of the first flexible cable 51, the second flexible cable 52, the third flexible cable 53 and the fourth flexible cable 54 is fixed with the head of the continuum joint 31, and the other end of each of the first flexible cable 51, the second flexible cable 52, the third flexible cable 53 and the fourth flexible cable 54 sequentially penetrates through the corresponding flexible cable holes of each joint body 311 to form a series connection of a plurality of joint bodies 311. In this embodiment, the continuum joint 31 is composed of twelve joint bodies 311, each joint body 311 is provided with a flexible cable hole in the axial direction, the flexible cable hole is respectively matched with the first flexible cable 51, the second flexible cable 52, the third flexible cable 53 and the fourth flexible cable 54, the bending angle of each joint body 311 in one direction is 14.25 °, the joint bodies 311 of the continuum joint 31 are sequentially connected by using the spherical hinge 312, and the maximum bending angle of the continuum joint 31 is 156.75 °, as shown in fig. 15.
Further, the link 32 includes a first link 321 connected to the scalpel 5 and a second link 322 connected to the first link 321, a flange 323 is provided at the other end of the second link 322, the flange 323 is fixed to the continuum support 33 by a screw, the first link 321 and the second link 322 are both hollow round tubes having a step shape, and the first flexible cable 51, the second flexible cable 52, the third flexible cable 53 and the fourth flexible cable 54 respectively pass through the first link 321 and the second link 322. The connecting rod 32 adopts a split design structure, so that the overlarge ratio of the depth to the diameter of the connecting rod 32 can be avoided, the processing is easy, and the replacement cost after the damage can be saved.
Further, as shown in fig. 5, the second pulley block 35 and the first pulley block 34 are arranged in parallel in the front-rear direction, and the first pulley block 34 and the second pulley block 35 have the same structure and different sizes and have the same central axis. Specifically, first assembly pulley 34 includes the first support body of square frame shape, and the four corners department of first support body is equipped with first pulley 341, second pulley 342, third pulley 343 and fourth pulley 344 respectively, and second assembly pulley 35 includes the second support body of square frame shape, and the four corners department of second support body is equipped with fifth pulley 351, sixth pulley 352, seventh pulley 353 and eighth pulley 354 respectively, wherein: the first pulley 341 corresponds to the fifth pulley 351, the first pulley 341 and the fifth pulley 351 are engaged with the first flexible cable 51, the second pulley 342 corresponds to the sixth pulley 352, the second pulley 342 and the sixth pulley 352 are engaged with the second flexible cable 52, the third pulley 343 corresponds to the seventh pulley 353, the third pulley 343 and the seventh pulley 353 are engaged with the third flexible cable 53, the fourth pulley 344 corresponds to the eighth pulley 354, and the fourth pulley 344 and the eighth pulley 354 are engaged with the fourth flexible cable 54. That is, the pulleys in each pulley block are in parallel connection, and the first pulley block and the second pulley block are in series connection.
As shown in fig. 12 and 13, the connection paths of the wires in the present invention are as follows:
a first flexible cable: one end of the first flexible cable 51 is connected with the output end of the first motor 41, and the other end of the first flexible cable 51 sequentially passes through the first pulley 341 and the fifth pulley 351, sequentially passes through the second connecting rod 322 and the first connecting rod 321, and sequentially passes through the first flexible cable holes 313 on the joint bodies 311 to be fixed with the head of the continuum joint 31;
a second flexible cable: one end of the second flexible cable 52 is connected with the output end of the second motor 42, and the other end of the second flexible cable 52 sequentially passes through the second pulley 342 and the sixth pulley 352, sequentially passes through the second connecting rod 322 and the first connecting rod 321, and sequentially passes through the second flexible cable holes 314 on the joint bodies 311 to be fixed with the head of the continuum joint 31;
a third flexible cable: one end of the third flexible cable 53 is connected with the output end of the third motor 43, and the other end of the third flexible cable 53 sequentially winds through the third pulley 343 and the seventh pulley 353, sequentially passes through the second connecting rod 322 and the first connecting rod 321, and sequentially passes through the third flexible cable holes 315 on the joint bodies 311 to be fixed with the head of the continuum joint 31;
a fourth flexible cable: one end of the fourth flexible cable 54 is connected to the output end of the fourth motor 44, and the other end of the fourth flexible cable 54 sequentially passes through the fourth pulley 344 and the eighth pulley 354, sequentially passes through the second link 322 and the first link 321, and sequentially passes through the fourth flexible cable holes 316 of the joint bodies 311 to be fixed to the head of the continuum joint 31.
Further, as shown in fig. 6, 7 and 8, taking the first pulley block 34 as an example, the first frame body is enclosed by an upper bracket 345, a left bracket 346, a lower bracket 347 and a right bracket 348 which are connected in sequence, one end of the upper bracket 345 is provided with a fourth shaft 3451 in a direction of 45 degrees from left to bottom, the fourth shaft 3451 is in inserted fit with the upper end of the left bracket 346, and the fourth pulley 344 is arranged on the fourth shaft 3451; a first shaft 3452 is arranged at the other end of the upper bracket 345 in the 45-degree direction from right to bottom, the first shaft 3452 is in inserted fit with the upper end of the right bracket 348, and the first pulley 341 is arranged on the first shaft 3452; one end of the lower bracket 347 is provided with a third shaft body 3471 in the direction of 45 degrees towards the left upper part, the third shaft body 3471 is in inserted fit with the lower end of the left bracket 346, and the third pulley 343 is arranged on the third shaft body 3471; the other end of the lower bracket 347 is provided with a second shaft 3472 in the direction of 45 degrees upwards from the right, the second shaft 3472 is in insertion fit with the lower end of the right bracket 348, the second pulley 342 is arranged on the second shaft 3472, and the bottom of the lower bracket 347 is further provided with a connecting seat 3473 connected with the pulley block bracket 36. The second pulley block 35 has the same structure as the first pulley block 34, and will not be described herein.
Further, the first pulley 341, the second pulley 342, the third pulley 343, the fourth pulley 344, the fifth pulley 351, the sixth pulley 352, the seventh pulley 353 and the eighth pulley 354 are all composed of an outer ring and an inner deep groove ball bearing, and a V-shaped groove matched with the flexible cable is formed in the outer ring.
Furthermore, the continuum support 33 and the pulley block support 36 are oppositely arranged and located in the same vertical plane, one end of the pulley block support 36 is fixedly connected with the motor base 4, the other end of the pulley block support is in a suspension shape, and a hole 361 for the connecting rod 32 to pass through is formed in the suspension end.
Further, as shown in fig. 4, the first motor 41, the second motor 42, the third motor 43, and the fourth motor 44 are uniformly arranged in sequence along the circumferential direction of the motor base 4, wherein: the first motor 41 and the fourth motor 44 are symmetrically arranged, the second motor 42 and the third motor 43 are symmetrically arranged, and the fifth motor 45 is arranged between the first motor 41 and the fourth motor 44.
Further, as shown in fig. 2, the workbench 1 is composed of a workbench body 11, universal wheels 12 arranged at the bottom of the workbench body 11, and a mounting seat 13 arranged at the upper part of the workbench body 11, wherein the mounting seat 13 is connected with the mounting bracket 2, and the mounting seat 13 is fixed on the workbench body 11 through a guide rail pair 14; the guide rail pair 14 is a linear sliding guide rail pair with double guide rails and four sliding blocks, a ball screw nut pair 15 is arranged between the double guide rails, a screw in the ball screw nut pair is connected with a servo motor 16 through a coupler, and a screw nut in the ball screw nut pair is fixedly connected with the bottom of the mounting base 13. Namely, the worktable 1 is a horizontal worktable mechanism driven by a servo motor in cooperation with a ball screw nut pair, and can adjust the position of the scalpel 5 according to different eyeballs to be operated and different interpupillary distances.
The surgical robot of the invention faces ophthalmic surgery such as single-eye cataract and the like, is used for assisting doctors to carry out ophthalmic surgery operation, and is respectively arranged at two sides of an operating table during the operation, as shown in figure 16, the scalpel can realize the operations of removing, injecting, absorbing and the like.
The working principle and the specific working process of the invention are as follows:
before performing an operation, the workbench moves to the position near the head of a patient through the universal wheels at the bottom and locks the universal wheels to prevent sliding; the servo motor drives the ball screw nut pair, so that the sliding block is driven to stably slide on the guide rail, and the scalpel is slowly close to the eyeball;
in the process of executing the operation, the first motor, the second motor, the third motor and the fourth motor respectively provide power for the first flexible cable, the second flexible cable, the third flexible cable and the fourth flexible cable, the linear motion of the output end of the motor is converted into pitching and deflecting of the continuum joint mechanism and stretching and retracting actions of the continuum support through the flexible cables to complete various operations, and operations such as removing, injecting, absorbing and the like are realized. The ball screw nut pair on the workbench is responsible for adjusting the approximate position of the scalpel according to the difference of eyeballs to be operated and the difference of pupil distances of different people. In the actual operation, the scalpel can be replaced by various other surgical machines.
The invention has the beneficial effects that: 1) the invention relates to an ophthalmic surgical robot based on a continuum configuration, wherein a surgical tool has two rotational degrees of freedom and one translational degree of freedom; 2) the scalpel realizes long-distance transmission in a flexible cable driving mode and can realize tail end deflection and pitching motion; 3) the invention adopts the continuum as flexible configuration transmission, and the joints of the continuum are matched by spherical hinges, so that the invention has excellent bending performance and very strong adaptability to complex non-structural environments; 4) the continuum bracket is directly driven by the linear motor, so that the transmission error can be reduced, and the moving freedom degree of the scalpel is realized; 5) the worktable of the invention adopts the ball screw nut pair for driving, and can adjust the position of the robot body according to the difference of eyeballs to be operated and the difference of different interpupillary distances.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention by those skilled in the art should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (7)
1. An ophthalmic surgical robot based on a continuum configuration, characterized by: including workstation (1), setting installing support (2) on workstation (1), fixing actuating mechanism (3) on installing support (2) and scalpel (5) continuous with actuating mechanism (3), actuating mechanism (3) including continuum joint (31) continuous with scalpel (5), connecting rod (32) continuous with continuum joint (31), continuum support (33) that are used for fixed connecting rod (32), assembly pulley support (36) that are used for fixed first assembly pulley (34) and second assembly pulley (35), actuating mechanism (3) still include motor cabinet (4) continuous with installing support (2) and fix first motor (41), second motor (42), third motor (43), fourth motor (44) and fifth motor (45) on motor cabinet (4), first motor (41), The output ends of a second motor (42), a third motor (43) and a fourth motor (44) are respectively connected with a first flexible cable (51), a second flexible cable (52), a third flexible cable (53) and a fourth flexible cable (54), the first flexible cable (51), the second flexible cable (52), the third flexible cable (53) and the fourth flexible cable (54) sequentially wind through a first pulley block (34) and a second pulley block (35) and are connected with a continuum joint (31) through the inside of a connecting rod (32) to realize the adjustment of the pitching and deflecting freedom degrees of the scalpel (5), the output end of a fifth motor (45) is connected with a continuum support (33) to drive the scalpel (5) to realize the adjustment of the stretching freedom degrees, and the first motor (41), the second motor (42), the third motor (43), the fourth motor (44) and the fifth motor (45) are linear motors;
the connecting rod (32) comprises a first connecting rod (321) connected with the scalpel (5) and a second connecting rod (322) connected with the first connecting rod (321), a flange plate (323) is arranged at the other end of the second connecting rod (322), the flange plate (323) is fixed on the continuum support (33) through screws, the first connecting rod (321) and the second connecting rod (322) are both stepped hollow round tubes, and the first flexible cable (51), the second flexible cable (52), the third flexible cable (53) and the fourth flexible cable (54) respectively penetrate through the first connecting rod (321) and the second connecting rod (322);
the second pulley block (35) and the first pulley block (34) are arranged in parallel in the front-back direction, and the first pulley block (34) and the second pulley block (35) have the same structure and different sizes and are identical with each other in central axis; first assembly pulley (34) including the first support body of square frame shape, the four corners department of first support body is equipped with first pulley (341), second pulley (342), third pulley (343) and fourth pulley (344) respectively, second assembly pulley (35) are including the second support body of square frame shape, the four corners department of second support body is equipped with fifth pulley (351), sixth pulley (352), seventh pulley (353) and eighth pulley (354) respectively, wherein: the position of the first pulley (341) corresponds to that of the fifth pulley (351), the first pulley (341) and the fifth pulley (351) are matched with the first flexible cable (51), the position of the second pulley (342) corresponds to that of the sixth pulley (352), the second pulley (342) and the sixth pulley (352) are matched with the second flexible cable (52), the position of the third pulley (343) corresponds to that of the seventh pulley (353), the positions of the third pulley (343) and the seventh pulley (353) are matched with the third flexible cable (53), the position of the fourth pulley (344) corresponds to that of the eighth pulley (354), and the positions of the fourth pulley (344) and the eighth pulley (354) are matched with the fourth flexible cable (54).
2. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the head of the continuum joint (31) is fixed with the scalpel (5), the tail of the continuum joint (31) is fixed with the connecting rod (32), the continuum joint (31) is composed of a plurality of continuously arranged joint bodies (311), the joint bodies (311) are all short cylinders, two adjacent joint bodies (311) are matched and connected through a spherical hinge (312), the joint bodies (311) are uniformly provided with a first flexible cable hole (313) along the circumferential direction, a second flexible cable hole (314), a third flexible cable hole (315) and a fourth flexible cable hole (316) are all through holes which penetrate through the joint bodies (311) in the axial direction, one end of each of the first flexible cable (51), the second flexible cable (52), the third flexible cable (53) and the fourth flexible cable hole (316) is fixed with the head of the continuum joint (31), the other end of the connecting rod sequentially passes through the corresponding flexible cable holes of the joint bodies (311) to form a series connection of a plurality of joint bodies (311).
3. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the first frame body is formed by enclosing an upper support (345), a left support (346), a lower support (347) and a right support (348) which are connected in sequence, a fourth shaft body (3451) is arranged at one end of the upper support (345) in a 45-degree left-lower direction, the fourth shaft body (3451) is in plug-in fit with the upper end of the left support (346), and a fourth pulley (344) is arranged on the fourth shaft body (3451); a first shaft body (3452) is arranged at the other end of the upper support (345) in a 45-degree direction from right to bottom, the first shaft body (3452) is in inserted connection with the upper end of the right support (348), and a first pulley (341) is arranged on the first shaft body (3452); a third shaft body (3471) is arranged at one end of the lower support (347) in the direction of 45 degrees towards the left upper part, the third shaft body (3471) is in inserted connection fit with the lower end of the left support (346), and a third pulley (343) is arranged on the third shaft body (3471); the other end of the lower support (347) is provided with a second shaft body (3472) in the direction of 45 degrees upwards to the right, the second shaft body (3472) and the lower end of the right support (348) form a splicing fit, a second pulley (342) is arranged on the second shaft body (3472), and the bottom of the lower support (347) is further provided with a connecting seat (3473) connected with the pulley block support (36).
4. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the first pulley (341), the second pulley (342), the third pulley (343), the fourth pulley (344), the fifth pulley (351), the sixth pulley (352), the seventh pulley (353) and the eighth pulley (354) are all composed of outer rings and inner deep groove ball bearings, and V-shaped grooves matched with the flexible cables are formed in the outer rings.
5. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the continuum support (33) and the pulley block support (36) are oppositely arranged and located in the same vertical plane, one end of the pulley block support (36) is fixedly connected with the motor base (4), the other end of the pulley block support is in a suspension extending shape, and a hole (361) for the connecting rod (32) to penetrate through is formed in the suspension extending end.
6. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: first motor (41), second motor (42), third motor (43) and fourth motor (44) evenly arrange in proper order along the circumference of motor cabinet (4), wherein: the first motor (41) and the fourth motor (44) are symmetrically arranged, the second motor (42) and the third motor (43) are symmetrically arranged, and the fifth motor (45) is arranged between the first motor (41) and the fourth motor (44).
7. An ophthalmic surgical robot based on continuum configuration, according to claim 1, characterized in that: the workbench (1) consists of a workbench body (11), universal wheels (12) arranged at the bottom of the workbench body (11) and a mounting seat (13) arranged at the upper part of the workbench body (11), wherein the mounting seat (13) is connected with the mounting bracket (2), and the mounting seat (13) is fixed on the workbench body (11) through a guide rail pair (14); the guide rail pair (14) is a linear sliding guide rail pair with double guide rails and four sliding blocks, a ball screw nut pair (15) is arranged between the double guide rails, a screw in the ball screw nut pair is connected with a servo motor (16) through a coupler, and a screw nut in the ball screw nut pair is fixedly connected with the bottom of the mounting seat (13).
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| CN113288440B (en) * | 2021-07-06 | 2022-11-04 | 合肥工业大学 | Minimally invasive interventional operation robot based on multi-segment continuum series connection structure |
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