CN107693120A - A kind of operated eye robot - Google Patents
A kind of operated eye robot Download PDFInfo
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- CN107693120A CN107693120A CN201710810108.0A CN201710810108A CN107693120A CN 107693120 A CN107693120 A CN 107693120A CN 201710810108 A CN201710810108 A CN 201710810108A CN 107693120 A CN107693120 A CN 107693120A
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- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 230000001360 synchronised effect Effects 0.000 claims description 39
- 238000001356 surgical procedure Methods 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 13
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 230000007547 defect Effects 0.000 abstract description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 abstract 2
- 230000003534 oscillatory effect Effects 0.000 abstract 2
- 238000002324 minimally invasive surgery Methods 0.000 abstract 1
- 210000001508 eye Anatomy 0.000 description 10
- 238000000034 method Methods 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 2
- 210000005252 bulbus oculi Anatomy 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
Classifications
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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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Ophthalmology & Optometry (AREA)
- Vascular Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of operated eye robot, belong to minimally invasive accurate medical robot technical field, it includes pedestal, medical instrument mechanism, lifting drive, rotating driving device and oscillatory gearing mechanism, the medical instrument mechanism is arranged on above pedestal and for implementing operation, the lifting drive is used to drive the medical instrument mechanism vertically to lift, the oscillatory gearing mechanism is used to drive the medical instrument mechanism to swing, and the rotating driving device is used to drive the medical instrument mechanism to rotate around vertical direction.Instant invention overcomes in traditional Minimally Invasive Surgery, operator's trick is uncoordinated, easy shake, the defects of learning cycle curve is long, improve the quality of operated eye.
Description
Technical Field
The invention belongs to the technical field of minimally invasive precision medical robots, and particularly relates to an eye surgery robot.
Background
In the course of disease treatment, surgery is a very common treatment, but in the course of actual operation, the position of some organs determines the difficulty of surgery. With the development of science and technology and the improvement of the technology level, the medical means of human beings are greatly changed, and the treatment of patients mainly depends on the personal level, experience and capability of medical staff in the past is gradually changed into the auxiliary treatment by means of the robot technology. For example, in ophthalmic surgery, the eyeball is small and easy to damage, so that the precision requirement for the surgical operation is very high. The existing ophthalmic surgery has the problems of insufficient precision, difficult surgery, easy occurrence of the problems of doctor fatigue, arm trembling and the like, and further eyeball injury.
CN107019559A discloses a full-automatic ophthalmic surgery robot, including operation tweezers, fixing device, first drive arrangement and second drive arrangement, operation tweezers include the shell, are provided with mobilizable piston rod in the shell, and the shell tip is provided with two tweezers feet, and when the piston rod was movable, two tweezers feet of drive were closed or opened, and fixing device is used for fixed operation tweezers, and fixing device movably sets up, but first drive arrangement direct drive or through the drive of first transmission the piston rod sets up with removing, the second device direct drive or through the drive of second transmission fixing device sets up with rotating. The full-automatic ophthalmic surgery robot has the advantages of complex structure, fussy control, less degree of freedom and high manufacturing cost.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
Disclosure of Invention
In order to avoid the defects of the prior art, the invention provides the eye surgery robot which is flexible to operate and has high stability and accuracy.
The technical scheme adopted by the invention is as follows:
the utility model provides an eye surgery robot, includes base, medical instrument mechanism, lift drive, rotation driving device and swing drive, medical instrument mechanism sets up in the base top and is used for implementing the operation, lift drive is used for driving medical instrument mechanism goes up and down along vertical direction, swing drive is used for driving medical instrument mechanism horizontal hunting, rotation driving device is used for driving medical instrument mechanism is rotatory around vertical direction.
Medical tool mechanism includes medical tool sword, instrument sword tight piece, bushing piece and instrument sword installed part, the tight piece of deciding of instrument sword is installed in one side of instrument sword installed part, and bushing piece sets up in one side of instrument sword installed part and realizes the tight fixed position through the tight piece of deciding of instrument sword, and the medical tool sword sets up the below at bushing piece.
The lifting driving device comprises a support, a sliding table, a lifting motor and a first ball screw pair driven by the lifting motor, the lifting motor is installed on the support, the medical tool mechanism is connected with the sliding table, the first ball screw pair comprises a first screw and a first nut matched with the first screw, the first screw is arranged along the vertical direction, the first screw is connected with an output shaft of the lifting motor, one end of the first screw penetrates through the first nut, the first nut is installed on the sliding table, the first screw is driven to rotate, the first nut is driven to do linear reciprocating motion, and the first nut drives the sliding table to move synchronously, so that the medical tool mechanism is driven to lift.
The lifting driving device further comprises a guide mechanism, the guide mechanism comprises a guide rod, the guide rod is installed on the support, the guide rod is vertically arranged, and the sliding table is sleeved on the guide rod.
The medical tool mechanism and the lifting driving device are driven by the swing driving device to swing left and right together, and the swing driving device comprises a swing motor, a second ball screw pair, a linkage plate, a linkage block, an operating arm, a first parallelogram mechanism and a second parallelogram mechanism; the first parallelogram mechanism is connected with the lifting driving device, the first parallelogram mechanism is hinged with the second parallelogram mechanism, one side of the operating arm is hinged with the first parallelogram mechanism, the other side of the operating arm is connected with the linkage plate, the second ball screw pair comprises a second screw and a second nut matched with the second screw, the second nut is installed on the linkage block, the linkage block is fixedly connected with the linkage plate, the second screw is connected with an output shaft of the swing motor, the swing motor drives the operating arm to do left-right reciprocating linear motion through the second ball screw pair, the linkage block and the linkage plate, and the operating arm drives the first parallelogram mechanism to move and simultaneously drives the second parallelogram mechanism to move so as to drive the lifting driving device to swing left and right.
The swing driving device comprises an upper beam, a lower beam, a middle beam, a short vertical swing arm, a first long vertical swing arm and a second long vertical swing arm; the short vertical swing arm is connected with the lifting driving device; the upper beam and the lower beam are parallel to each other, and the length of the upper beam is longer than that of the lower beam; the first long vertical swing arm and the second long vertical swing arm are parallel to each other and are equal in length, the upper portion of the first long vertical swing arm and the upper portion of the second long vertical swing arm are hinged to the upper beam, and the lower portion of the first long vertical swing arm and the lower portion of the second long vertical swing arm are hinged to the lower beam; the short vertical swing arm is parallel to the first long vertical swing arm, the length of the short vertical swing arm is smaller than that of the first long vertical swing arm, and the upper part of the short vertical swing arm is hinged with the upper beam; the middle beam and the upper beam are parallel to each other, one side of the middle beam is hinged with the first long vertical swing arm, and the other side of the middle beam is hinged with the lower part of the short vertical swing arm; the first long vertical swing arm, the short vertical swing arm, the upper beam and the middle beam are matched to form the first parallelogram mechanism; the first long vertical swing arm, the second long vertical swing arm, the upper beam and the lower beam are matched to form the second parallelogram mechanism; one side of the operating arm is hinged with the first long vertical swing arm.
The medical tool mechanism, the lifting driving device and the swinging driving device are driven by the rotating driving device to rotate around the vertical direction, the rotating driving device comprises a rotating shaft, a rotating connecting piece and a rotating driving part for driving the rotating shaft to rotate, the rotating connecting piece is arranged at the top end of the rotating shaft and synchronously rotates along with the rotating shaft, one side of the rotating connecting piece is connected with the swinging driving device, and the swinging driving device is connected with the lifting driving device.
The rotary driving part comprises a rotary motor and a synchronous transmission mechanism, the rotary motor is installed on the base, and the synchronous transmission mechanism is respectively connected with the rotary motor and the rotating shaft.
The synchronous transmission mechanism comprises a left synchronous belt wheel, a right synchronous belt wheel and a synchronous belt sleeved between the left synchronous belt wheel and the right synchronous belt wheel, the right synchronous belt wheel is connected with an output shaft of the rotating motor, and the left synchronous belt wheel is connected with the rotating shaft.
The base is further provided with an L-shaped vertical plate, the L-shaped vertical plate is arranged on the base, a reinforcing rib plate is arranged on one side of the L-shaped vertical plate, an upper bearing seat is arranged on the upper portion of one side of the L-shaped vertical plate, a lower bearing seat is arranged on the lower portion of one side of the L-shaped vertical plate, and the upper portion of the rotating shaft penetrates through the upper bearing seat while the lower portion of the rotating shaft penetrates through the lower bearing seat.
Due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. the invention solves the problems of insufficient precision, high working strength, easy doctor fatigue, trembling arm and the like of the existing eye surgery, improves the quality of the eye surgery, reduces the surgery risk and complications caused by human factors, and improves the success rate of the eye surgery.
2. The surgeon performs eye operation by using the robot of the invention, thereby avoiding direct contact between the surgeon and the patient and avoiding cross infection between the surgeon and the patient in the operation process.
3. The invention is combined with the three-dimensional image guiding technology, can realize accurate positioning of the part to be operated, has stable and reliable whole operation process and flexible operation, and overcomes the defects of uncoordinated hands and eyes, easy jitter, long learning period curve and the like of an operator in the traditional minimally invasive operation.
Drawings
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a right side view of the present invention.
Fig. 4 is a top view of the present invention.
Wherein,
1. medical tool knife 2, tool knife fastening piece 3, sleeve connecting piece 4, tool knife mounting piece 5, sliding table 6, first lead screw 7, support 8, lifting motor 9, short vertical swing arm 10, operating arm 11, upper beam 12, linkage plate 13, linkage block 14, screw pair 15, second lead screw 16, second long vertical swing arm 17, rotary connecting piece 18, upper bearing seat 19, vertical plate 20, reinforcing rib plate 21, left synchronous pulley 22, synchronous belt 23, right synchronous pulley 24, rotary motor 25, lower bearing seat 26, rotating shaft 27, swing motor 28, lower beam 29, first long vertical swing arm 30, middle beam 31, guide rod 32, base seat
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific examples, but the present invention is not limited to these examples.
As shown in fig. 1 to 4, an eye surgery robot includes a base 32, a medical tool mechanism, a lifting drive device, a rotation drive device, and a swing drive device.
The medical tool mechanism is disposed above the base 32 and is used to perform a procedure. Medical tool mechanism includes medical tool sword 1, instrument sword fastening piece 2, bushing piece 3 and instrument sword installed part 4, instrument sword fastening piece 2 is installed in one side of instrument sword installed part 4, and bushing piece 3 sets up in one side of instrument sword installed part 4 and realizes the fastening position through instrument sword fastening piece 2, and medical tool sword 1 sets up the below at bushing piece 3.
The lifting driving device is used for driving the medical tool mechanism to lift along the vertical direction.
Specifically, the lifting driving device includes a bracket 7, a sliding table 5, a lifting motor 8, and a first ball screw pair driven by the lifting motor. The cross section of the support 7 is U-shaped, and the support 7 comprises an upper transverse plate, a lower transverse plate and a vertical plate for connecting the upper transverse plate and the lower transverse plate. Lifting motor 8 installs on last diaphragm, instrument sword installed part 4 links to each other with slip table 5, and first ball screw is vice to include first lead screw 6 and with the first nut of first lead screw 6 looks adaptation, first lead screw 6 sets up along vertical direction, and first lead screw 6 links to each other with lifting motor 8's output shaft, and the one end of first lead screw 6 is passed first nut, first nut are installed on slip table 5, and first lead screw 6 is rotatory under lifting motor 8's drive, thereby drives first nut is sharp reciprocating motion, drives 5 synchronous motion of slip table when first nut moves to drive medical tool mechanism whole lift.
It should be noted that the structural composition of the lifting driving device is not limited to the above-mentioned structural form in which the lifting motor 8 and the first ball screw pair cooperate to drive the sliding table 5 to lift, but may also be other structural combination forms, for example, a hydraulic cylinder or an air cylinder is used to drive the sliding table 5 to move, so that the sliding table 5 is connected with a piston rod of the hydraulic cylinder or the air cylinder, and the hydraulic cylinder or the air cylinder directly drives the sliding table 5 to lift. Of course, other structural modes can be adopted as long as the sliding table 5 can be driven to lift.
The lifting driving device further comprises a guide mechanism, the guide mechanism comprises two guide rods 31, each guide rod 31 is vertically arranged, the top end of each guide rod 31 is connected with the upper transverse plate, the bottom end of each guide rod 31 penetrates through the sliding table 5 and then is connected with the lower transverse plate, and the sliding table 5 slides up and down along the guide rods 31 under the driving of the first nut.
The swing driving device drives the medical tool mechanism to swing left and right together with the lifting driving device.
The swing driving device comprises a swing motor 27, a second ball screw pair, a linkage plate 12, a linkage block 13, an operating arm 10, an upper beam 11, a lower beam 28, a middle beam 30, a short vertical swing arm 9, a first long vertical swing arm 29 and a second long vertical swing arm 16. The upper beam 11, the lower beam 28, the middle beam 30, the short vertical swing arm 9, the first long vertical swing arm 29 and the second long vertical swing arm 16 are all frame structures. The short vertical swing arm 9 is connected with a vertical plate of the support 7, and the short vertical swing arm 9 drives the vertical plate to move synchronously when moving, so that the lifting driving device is driven to move integrally.
Specifically, the upper beam 11 and the lower beam 28 are parallel to each other, and the length of the upper beam 11 is longer than that of the lower beam 28. The first long vertical swing arm 16 and the second long vertical swing arm 29 are parallel to each other and equal in length, the upper portion of the first long vertical swing arm 16 and the upper portion of the second long vertical swing arm 29 are both hinged to the upper beam 11, and the lower portion of the first long vertical swing arm 16 and the lower portion of the second long vertical swing arm 29 are both hinged to the lower beam 28. The first long vertical swing arm 16 is located between the short vertical swing arm 9 and the second long vertical swing arm 29. The short vertical swing arm 9 is relative to the first long vertical swing arm 29 and the second long vertical swing arm 16, the short vertical swing arm 9 is parallel to the first long vertical swing arm 29, the length of the short vertical swing arm 9 is smaller than that of the first long vertical swing arm 29, and the upper portion of the short vertical swing arm 9 is hinged to the upper beam 11. The middle beam 30 is parallel to the upper beam 11, one side of the middle beam 30 is hinged with the first long vertical swing arm 29, and the other side is hinged with the lower part of the short vertical swing arm 9. The first long vertical swing arm 29, the short vertical swing arm 9, the upper beam 11 and the middle beam 30 are matched to form a first parallelogram mechanism. The first long vertical swing arm 29, the second long vertical swing arm 16, the upper beam 11 and the lower beam 28 cooperate to form a second parallelogram mechanism.
The operating arm 10 is located in the second parallelogram mechanism, one side of the operating arm 10 is hinged to the first long vertical swing arm 16, the other side of the operating arm 10 is connected to the linkage plate 12, the second ball screw pair comprises a second screw 15 and a second nut matched with the second screw 15, the second nut is mounted on the linkage block 13, the linkage block 13 is fixedly connected to the linkage plate 12, and the second screw 15 is connected to an output shaft of the swing motor 27. The swing driving device further comprises a screw pair 14, the screw pair 14 is installed at the tail part of the upper beam 11, and a second lead screw 15 penetrates through the screw pair 14.
The swing motor 27 drives the operation arm 10 to do reciprocating linear motion left and right through the second ball screw pair, the linkage block 13 and the linkage plate 12, the operation arm 10 drives the first parallelogram mechanism to move and simultaneously drives the second parallelogram mechanism to move, and then the lifting driving device is driven to do corresponding swing motion.
The rotation driving device drives the medical tool mechanism, the lifting driving device and the swing driving device to rotate around the vertical direction.
The rotation driving device comprises a rotating shaft 26, a rotation connecting piece 17 and a rotation driving part for driving the rotating shaft 26 to rotate, the rotation connecting piece 17 is arranged at the top end of the rotating shaft 26 and rotates synchronously with the rotating shaft, and one side of the rotation connecting piece 17 is connected with the lower beam 28. The base 32 is further provided with an L-shaped vertical plate 19, the L-shaped vertical plate 19 is arranged on the base 32, one side of the L-shaped vertical plate 19 is provided with a reinforcing rib plate 20, the upper portion of one side of the L-shaped vertical plate 19 is provided with an upper bearing seat 18, the lower portion of one side of the L-shaped vertical plate 19 is provided with a lower bearing seat 25, and the upper portion of the rotating shaft 26 penetrates through the upper bearing seat 18 and the lower portion of the rotating shaft penetrates through the lower bearing seat 25.
The rotation driving part includes a rotation motor 24 and a synchronous transmission mechanism, and the rotation motor 24 is mounted on the base 32. The synchronous transmission mechanism comprises a left synchronous pulley 21, a right synchronous pulley 23 and a synchronous belt 22 sleeved between the left synchronous pulley and the right synchronous pulley, the right synchronous pulley 23 is connected with an output shaft of the rotating motor 24, and the left synchronous pulley 21 is connected with the rotating shaft 26. When the rotating motor 24 operates, the rotating shaft 26 is driven to rotate through the synchronous transmission mechanism, the rotating shaft 26 is connected with the rotating connecting piece 17, and the swinging driving device, the lifting driving device and the medical tool mechanism are driven to rotate together through the rotating connecting piece 17.
It should be noted that the synchronous transmission mechanism is not limited to the above-mentioned combination of the synchronous belt 22 and the synchronous pulley, but may also be other synchronous transmission manners, such as a combination of a sprocket and a synchronous chain, and the rotating shaft 26 may also be directly driven to rotate by the rotating motor 24. As long as it can drive the rotating shaft 26 to rotate.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (10)
1. The utility model provides an eye surgery robot, its characterized in that, includes base, medical instrument mechanism, lift drive, rotation driving device and swing drive, medical instrument mechanism sets up in the base top and is used for implementing the operation, lift drive is used for driving medical instrument mechanism goes up and down along vertical direction, swing drive is used for driving medical instrument mechanism horizontal hunting, rotation driving device is used for driving medical instrument mechanism is rotatory around vertical direction.
2. The robot of claim 1, wherein the medical tool mechanism comprises a medical tool blade, a tool blade fastening member, a sleeve connector and a tool blade mounting member, the tool blade fastening member is mounted on one side of the tool blade mounting member, the sleeve connector is disposed on one side of the tool blade mounting member and is fastened in place by the tool blade fastening member, and the medical tool blade is disposed below the sleeve connector.
3. The robot for eye surgery according to claim 1, wherein the lifting driving device comprises a support, a sliding table, a lifting motor and a first ball screw pair driven by the lifting motor, the lifting motor is mounted on the support, the medical tool mechanism is connected with the sliding table, the first ball screw pair comprises a first screw and a first nut matched with the first screw, the first screw is arranged along a vertical direction and is connected with an output shaft of the lifting motor, one end of the first screw penetrates through the first nut, the first nut is mounted on the sliding table, the first screw is driven to rotate to drive the first nut to perform linear reciprocating motion, and the first nut drives the sliding table to perform synchronous motion, so that the medical tool mechanism is driven to lift.
4. The eye surgery robot according to claim 3, wherein the lifting driving device further comprises a guide mechanism, the guide mechanism comprises a guide rod, the guide rod is installed on the support and is vertically arranged, and the sliding table is sleeved on the guide rod.
5. The ophthalmic surgical robot of claim 1, wherein the swing driving device drives the medical tool mechanism to swing left and right together with the lifting driving device, and the swing driving device comprises a swing motor, a second ball screw pair, a linkage plate, a linkage block, an operating arm, a first parallelogram mechanism and a second parallelogram mechanism; the first parallelogram mechanism is connected with the lifting driving device, the first parallelogram mechanism is hinged with the second parallelogram mechanism, one side of the operating arm is hinged with the first parallelogram mechanism, the other side of the operating arm is connected with the linkage plate, the second ball screw pair comprises a second screw and a second nut matched with the second screw, the second nut is installed on the linkage block, the linkage block is fixedly connected with the linkage plate, the second screw is connected with an output shaft of the swing motor, the swing motor drives the operating arm to do left-right reciprocating linear motion through the second ball screw pair, the linkage block and the linkage plate, and the operating arm drives the first parallelogram mechanism to move and simultaneously drives the second parallelogram mechanism to move so as to drive the lifting driving device to swing left and right.
6. The eye surgery robot of claim 5, wherein said swing drive means comprises an upper beam, a lower beam, a middle beam, a short vertical swing arm, a first long vertical swing arm and a second long vertical swing arm; the short vertical swing arm is connected with the lifting driving device; the upper beam and the lower beam are parallel to each other, and the length of the upper beam is longer than that of the lower beam; the first long vertical swing arm and the second long vertical swing arm are parallel to each other and are equal in length, the upper portion of the first long vertical swing arm and the upper portion of the second long vertical swing arm are hinged to the upper beam, and the lower portion of the first long vertical swing arm and the lower portion of the second long vertical swing arm are hinged to the lower beam; the short vertical swing arm is parallel to the first long vertical swing arm, the length of the short vertical swing arm is smaller than that of the first long vertical swing arm, and the upper part of the short vertical swing arm is hinged with the upper beam; the middle beam and the upper beam are parallel to each other, one side of the middle beam is hinged with the first long vertical swing arm, and the other side of the middle beam is hinged with the lower part of the short vertical swing arm; the first long vertical swing arm, the short vertical swing arm, the upper beam and the middle beam are matched to form the first parallelogram mechanism; the first long vertical swing arm, the second long vertical swing arm, the upper beam and the lower beam are matched to form the second parallelogram mechanism; one side of the operating arm is hinged with the first long vertical swing arm.
7. The robot of claim 1, wherein the rotation driving device drives the medical tool mechanism, the lifting driving device and the swing driving device to rotate together in a vertical direction, the rotation driving device comprises a rotating shaft, a rotating connecting member and a rotation driving portion for driving the rotating shaft to rotate, the rotating connecting member is disposed at a top end of the rotating shaft and rotates synchronously with the rotating shaft, one side of the rotating connecting member is connected to the swing driving device, and the swing driving device is connected to the lifting driving device.
8. The ophthalmic surgical robot of claim 7, wherein the rotary driving unit comprises a rotary motor and a synchronous transmission mechanism, the rotary motor is mounted on the base, and the synchronous transmission mechanism is connected to the rotary motor and the rotating shaft, respectively.
9. The robot of claim 8, wherein the synchronous transmission mechanism comprises a left synchronous pulley, a right synchronous pulley and a synchronous belt disposed between the left and right synchronous pulleys, the right synchronous pulley is connected to the output shaft of the rotating motor, and the left synchronous pulley is connected to the rotating shaft.
10. The ophthalmic surgical robot of claim 7, wherein the base further comprises an L-shaped vertical plate, the L-shaped vertical plate is disposed on the base, a reinforcing rib is disposed on one side of the L-shaped vertical plate, an upper bearing seat is disposed on an upper portion of one side of the L-shaped vertical plate, a lower bearing seat is disposed on a lower portion of one side of the L-shaped vertical plate, and an upper portion of the rotating shaft passes through the upper bearing seat and a lower portion of the rotating shaft passes through the lower bearing seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810108.0A CN107693120B (en) | 2017-09-11 | 2017-09-11 | A kind of operated eye robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710810108.0A CN107693120B (en) | 2017-09-11 | 2017-09-11 | A kind of operated eye robot |
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| Publication Number | Publication Date |
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| CN107693120A true CN107693120A (en) | 2018-02-16 |
| CN107693120B CN107693120B (en) | 2019-10-01 |
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| CN201710810108.0A Active CN107693120B (en) | 2017-09-11 | 2017-09-11 | A kind of operated eye robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108652673A (en) * | 2018-04-03 | 2018-10-16 | 川北医学院附属医院 | Breast sonography checks system and inspection method |
| CN109589173A (en) * | 2018-12-20 | 2019-04-09 | 中国科学院自动化研究所 | A kind of operator |
| CN109620403A (en) * | 2018-12-28 | 2019-04-16 | 中国科学院自动化研究所 | A kind of operator |
| CN109770970A (en) * | 2019-03-08 | 2019-05-21 | 温州广立生物医药科技有限公司 | A kind of abdominal-cavity minimal-invasion surgery robot |
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| CN111544198A (en) * | 2020-05-14 | 2020-08-18 | 西安交通大学 | Flexible operation driving system of ophthalmic surgery robot |
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| CN109620403A (en) * | 2018-12-28 | 2019-04-16 | 中国科学院自动化研究所 | A kind of operator |
| CN109770970A (en) * | 2019-03-08 | 2019-05-21 | 温州广立生物医药科技有限公司 | A kind of abdominal-cavity minimal-invasion surgery robot |
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| CN110478044A (en) * | 2019-09-12 | 2019-11-22 | 上海交通大学医学院附属第九人民医院 | Multiple degrees of freedom operating robot based on high rigidity parallelogram telecentricity mechanism |
| CN110711032A (en) * | 2019-10-21 | 2020-01-21 | 山东大学 | Miniature surgical robot with rear-mounted motor |
| CN111544198A (en) * | 2020-05-14 | 2020-08-18 | 西安交通大学 | Flexible operation driving system of ophthalmic surgery robot |
| CN111544198B (en) * | 2020-05-14 | 2021-04-20 | 西安交通大学 | Flexible operation driving system of ophthalmic surgery robot |
| CN114209493A (en) * | 2021-11-29 | 2022-03-22 | 中国中医科学院眼科医院 | Ophthalmological cornea operation polisher |
| CN115959411A (en) * | 2022-11-22 | 2023-04-14 | 正杨企业有限公司 | Automatic feeding device and method for copper part machining |
| CN115959411B (en) * | 2022-11-22 | 2023-08-15 | 正杨企业有限公司 | Automatic feeding device and method for copper part processing |
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