CN112168482A - Operation mechanism of ophthalmic cornea transplantation operation robot - Google Patents
Operation mechanism of ophthalmic cornea transplantation operation robot Download PDFInfo
- Publication number
- CN112168482A CN112168482A CN202010851238.0A CN202010851238A CN112168482A CN 112168482 A CN112168482 A CN 112168482A CN 202010851238 A CN202010851238 A CN 202010851238A CN 112168482 A CN112168482 A CN 112168482A
- Authority
- CN
- China
- Prior art keywords
- freedom
- adjusting mechanism
- base
- rope
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- A61B34/30—Surgical robots
-
- 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
- A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
Abstract
The invention discloses an operation mechanism of an ophthalmologic cornea transplantation operation robot, which comprises two bases arranged beside an operation table, wherein two mechanical arms are respectively fixed on a vertical lifting table of the bases, at least two mechanical holding arms are usually arranged to simulate the hands of a surgeon and one mirror holding arm to place imaging equipment, each mechanical holding arm comprises a preoperative positioning mechanism and an intraoperative instrument operation mechanism, the preoperative positioning mechanism is used for positioning the intraoperative instrument operation mechanism, the intraoperative instrument operation mechanism comprises a position adjusting mechanism and an attitude adjusting mechanism, the position adjusting mechanism can realize position adjustment of the attitude adjusting mechanism in space, and the attitude adjusting mechanism is subjected to motion and force transmission by a rope-pulley mechanism and used for controlling tools to perform operation. The invention can realize the motion trail of the surgical tool at any position and posture in a working space, complete corneal drilling and cutting and corneal suturing in corneal transplantation, and has the advantages of good flexibility, high precision, high motion rigidity and large motion space range.
Description
Technical Field
The invention belongs to the technical field of medical operation robots, and particularly relates to an operation mechanism of an ophthalmic cornea transplantation operation robot.
Background
When the operation robot performs an operation, the mechanical arm operates the operation tool to complete the operations of cutting, hemostasis, suturing and the like, and a surgeon can sit on the console to observe and guide the mechanical arm to work. More sophisticated surgical robotic systems have been developed including remote controlled center (RCM) surgical systems represented by a double parallelogram mechanism, serial robotic arm surgical systems, smart surgical systems with flexible joints, and the like. Surgical robot systems are increasingly popular for performing surgical operations using robots, because they have the advantages of improving surgical operation accuracy, reducing trauma of minimally invasive surgery, and reducing fatigue of the surgeon, and can be used for performing surgical operations in the orthopedic, cardiac, and ophthalmic minimally invasive surgeries.
At present, surgical robots are developed to specialization, the commercialized ophthalmic surgical robots mainly include a dutch PRECEYES surgical system and a domestic fonning OR robot, the surgical robots mainly face intraocular and fundus surgeries, only have 3 rotation degrees and 1 opening and closing degree of freedom, and cannot be used for corneal transplantation, researchers try to perform corneal transplantation by using the american da vinci surgical system, but the surgical robots have the disadvantages of low motion rigidity, large motion inertia and poor flexibility.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide an operation mechanism of an ophthalmic corneal transplantation surgical robot, which has the advantages of good flexibility, high precision, high motion rigidity and large motion space range, in order to overcome the defects in the prior art.
The invention adopts the following technical scheme:
an operation mechanism of an ophthalmologic cornea transplantation operation robot comprises an operation table, wherein fixed bases are respectively arranged on the left side and the right side of one end of the operation table, each fixed base is provided with a linear guide rail, a shaft of each linear guide rail is provided with a mechanical arm, the left mechanical arm and the right mechanical arm respectively comprise a preoperative positioning mechanism and an intraoperative instrument operation mechanism, the preoperative positioning mechanism has five degrees of freedom, three degrees of freedom are used for positioning the position of the intraoperative instrument operation mechanism, and two degrees of freedom are used for positioning the direction of the intraoperative instrument operation mechanism;
the intraoperative instrument control mechanism comprises a position adjusting mechanism and a posture adjusting mechanism, wherein one end of the position adjusting mechanism is provided with an end effector, the posture adjusting mechanism is arranged at the front end of the end effector, and the front end of the posture adjusting mechanism is provided with a surgical tool;
the position adjusting mechanism comprises three kinematic chains with the same structure, the three kinematic chains are symmetrically arranged to form a parallel space mechanism, the end effector is provided with three mutually orthogonal moving degrees of freedom P1, P2 and P3, and the three mutually orthogonal moving degrees of freedom are driven by corresponding first motors; the posture adjusting mechanism has four degrees of freedom, namely a rolling degree of freedom r1, a pitching degree of freedom r2, a yawing degree of freedom r3 and an instrument opening and closing degree of freedom r4, and the four degrees of freedom are connected with a surgical tool through a rope-pulley mechanism to realize surgical operation.
Concretely, preoperative positioning mechanism includes linear guide, and linear guide fixes on fixed baseplate, is connected with vertical elevating platform through the sliding pair, is connected with the one end of connecting rod through rotary joint on the vertical elevating platform, and the other end of connecting rod is connected with intraoperative instrument control mechanism through first joint and second joint in proper order, and rotary joint and connecting rod can realize the position of intraoperative instrument control mechanism in the XY plane, and first joint and second joint can realize intraoperative instrument control mechanism's posture adjustment.
Specifically, position adjustment mechanism includes position adjustment mechanism base, the interval is provided with three motor base on the position adjustment mechanism base, correspond on every motor base and install a first motor, every first motor corresponds a kinematic chain of connection, be connected with end effector through the kinematic chain, end effector's end sets up drive arrangement, be connected with gesture adjustment mechanism through drive arrangement, three kinematic chains constitute parallel mechanism and realize end effector's three degree of freedom P1, P2 and P3, drive arrangement can realize gesture adjustment mechanism's rotational degree of freedom r 1.
Furthermore, the motion chain comprises a driving arm and a driven arm, one end of the driving arm is connected with the first motor, the rotation motion relative to the motor base is realized through the driving of the motor, the other end of the driving arm is connected with one end of the driven arm through a connecting rod, and the other end of the driven arm is connected with the end effector through the connecting rod.
Furthermore, the two connecting rods and the two driven arms form a space quadrangle, the middle part of the first connecting rod is connected with one end of the driving arm through a rotating pair, and the two ends of the first connecting rod are respectively connected with the rear ends of the driven arms through spherical pairs; the front ends of the two driven arms are connected with the two ends of a second connecting rod through a spherical pair, and the middle part of the second connecting rod is connected with one end of the end effector through a rotating pair.
Further, the driving device comprises a second motor, the second motor is fixed on the end effector through an end cover, an extension shaft of the second motor is fixedly connected with a shaft of the posture adjusting mechanism base through a coupler, the shaft of the posture adjusting mechanism base is rotatably connected on the end effector through a first bearing, the first bearing is fixed on the end effector through a bearing end cover, and a flange of the posture adjusting mechanism base is fixedly connected with the base of the posture adjusting mechanism to realize the r1 degree of freedom of the posture adjusting mechanism.
Specifically, the posture adjusting mechanism comprises a shell, one end of the shell is connected with a driving device of the position adjusting mechanism, the other end of the shell is connected with the far-end posture adjusting mechanism through a rigid tube, and the surgical tool is arranged at the end part of the far-end posture adjusting mechanism and comprises a first opening and closing flap and a second opening and closing flap.
Furthermore, a floating plate is arranged on the shell, three third motors are correspondingly arranged on the floating plate, the three motors are correspondingly connected with the rope through driving wheels respectively, and the other ends of the rope are connected with the far-end posture adjusting mechanism and the surgical tool through hollow rigid pipes respectively.
Furthermore, the rope comprises a first rope, a second rope and a third rope, the first rope is connected through rope-pulley transmission to achieve the rotational degree of freedom r2 of the tool base relative to the rigid pipe, the third rope is connected through a second pulley to achieve the rotational connection of the first opening and closing flap relative to the tool base, the second rope is connected through a second pulley to achieve the rotational connection of the second opening and closing flap relative to the tool base, the pulley is movably connected with the base through a second shaft and a second bearing, and the first opening and closing flap and the second opening and closing flap are movably connected with the tool base through a third shaft.
Furthermore, a shaft is arranged on the floating plate, a first pulley is arranged on the shaft, an inner ring of the first pulley is fixed on the floating plate, and an outer ring of the first pulley is used for changing the transmission direction of the rope.
Compared with the prior art, the invention has at least the following beneficial effects:
the invention relates to an operation mechanism of a robot for an ophthalmic cornea transplantation operation, which is a specialized robot suitable for the corneal transplantation operation, can realize large-range movement and flexible operation and can complete penetrating corneal transplantation and lamellar corneal transplantation in ophthalmology, adopts a parallel robot mechanism as a 3-freedom-degree position adjusting mechanism, and adopts a rope-pulley mechanism as a 3-freedom-degree posture adjusting mechanism and a tool opening and closing mechanism; the motor is arranged on the base far away from the surgical tool by adopting the rope-pulley mechanism, so that the size of the tool end can be effectively reduced, and the problem of interference between parts in movement is avoided.
Furthermore, in the preparation stage before operation, the position and the posture of the tail end operation tool are adjusted, the tail end operation tool is roughly positioned to the area near the cornea, and after rough positioning, all joints of the preoperative positioning mechanism are locked and do not move any more.
Further, during the operation, the surgical tool can perform 360-degree suture movement around the cornea, and meanwhile, the traction movement of the tail end surgical tool caused by the rotation movement of the posture adjusting mechanism can be compensated.
Furthermore, the position adjusting mechanism adopts a mechanism with 3 kinematic chains connected in parallel, and the motor is fixed on the static platform, so that the position adjusting mechanism has higher kinematic rigidity and precision.
Furthermore, a parallel robot mechanism is adopted for position adjustment, so that the movement rigidity is improved, and the movement stability is higher. Because the driving of the telecentric fixed point mechanism needs mechanisms such as double parallelograms and spherical robots as instrument manipulators, the rod members of the driving mechanisms are large, the motors are fixed on the rod members, and the problems of low motion rigidity, large required arrangement space and the like exist. The driving motor of the position adjusting mechanism is fixed on the base, and the parallel robot mechanism is adopted for position adjustment, so that the rod piece only needs to bear external force load and does not need to bear the load of the motor and redundant rod pieces, and therefore, the position adjusting mechanism has the advantages of strong motion deformation resistance and high motion rigidity.
Furthermore, because the posture adjusting mechanism is complex in structure and large in motion inertia, the driving device is fixedly connected to the end effector of the position adjusting mechanism, the posture adjusting mechanism is driven as a whole, and the r1 degree of freedom of the posture adjusting mechanism is further realized.
Furthermore, the attitude adjusting mechanism is arranged at the tail end of the parallel robot, so that the size of the attitude adjusting mechanism and the motion inertia of the mechanism are reduced. Because the cornea transplantation operation is an extraocular operation, the operation flexibility of the operation is reduced by the telecentric motionless point mechanism, the size of the tail end wrist tool of the telecentric motionless point mechanism outside the operation wound is not negligible, and extra motion inertia is brought to the extraocular operation.
Furthermore, the floating plate is used as a base fixedly connected with 3 motors, and can drive 3 degrees of freedom r2, r3 and r4 of the posture adjusting mechanism at the far end in a rope-pulley transmission mode, so that the tail end surgical tool mechanism is compact, large-range rotary motion is realized in a small space, and the flexibility is improved.
Further, the first, second and third strings can realize the rotational degrees of freedom r2, r3 and r4 for the end surgical tool by the friction force between the tool base, the first open-close flap and the second open-close flap.
Furthermore, the first pulley can change the transmission direction of the rope, so that the motion of the motor dispersed on the floating plate can be transmitted to the tail end surgical tool through the rigid pipe with smaller pipe diameter compactly after passing through the first pulley.
In summary, the present invention is a specialized robot suitable for corneal transplantation, which can realize large-scale movement and flexible control, can complete ophthalmic penetrating keratoplasty and lamellar keratoplasty, and has the advantages of good flexibility, high precision, high movement stiffness, and large movement space range.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall structure of the preoperative positioning mechanism of the present invention;
FIG. 3 is a schematic view of the position adjustment mechanism of the intraoperative instrument control mechanism of the present invention;
FIG. 4 is a schematic view of one end of the attitude adjustment mechanism of the intraoperative instrument control mechanism of the present invention;
FIG. 5 is a schematic view of the other end of the attitude adjustment mechanism of the intraoperative instrument control mechanism of the present invention;
fig. 6 is a schematic view of a structure of the surgical tool of the present invention.
Wherein: 1. a preoperative positioning mechanism; 2. a position adjustment mechanism; 3. an attitude adjusting mechanism; 4. an operating table; 10. a fixed base; 11. a linear guide rail; 12. a vertical lifting platform; 13. a rotary joint; 14. a connecting rod; 15. a first joint; 16. a second joint; 17. a flange; 20. a position adjustment mechanism base; 21. a motor base; 22. a first motor; 23. an active arm; 24. a connecting rod; 25. a driven arm; 26. an end effector; 27. a drive device; 270. a second motor; 271. a coupling; 272. a posture adjustment mechanism base; 273. a first bearing; 274. a bearing end cap; 32. a housing; 321. a floating plate; 322. a drive wheel; 323. a rope; 324. a first shaft; 325. a gasket; 326. a first pulley; 327. a port; 328. a third motor; 33. a rigid tube; 34. a distal end attitude adjustment mechanism; 340. a base; 341. a second pulley; 342. a second bearing; 343. a second shaft; 344. a tool base; 345. a third axis; 35. a surgical tool; 351. a first opening and closing flap; 352. a second opening and closing flap; 361. corneal forceps; 362. needle holding forceps; 364. the cornea to be sutured; 363. and (6) sewing the needle.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Various structural schematics according to the disclosed embodiments of the invention are shown in the drawings. The figures are not drawn to scale, wherein certain details are exaggerated and possibly omitted for clarity of presentation. The shapes of various regions, layers and their relative sizes and positional relationships shown in the drawings are merely exemplary, and deviations may occur in practice due to manufacturing tolerances or technical limitations, and a person skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions, according to actual needs.
The invention provides an operation mechanism of an ophthalmic cornea transplantation operation robot, which comprises two bases arranged beside an operation table, two mechanical arms respectively fixed on a vertical lifting platform of the bases, at least two mechanical holding arms used for simulating the hands of a surgeon and one mirror holding arm used for placing imaging equipment, wherein each mechanical holding arm comprises a preoperative positioning mechanism and an intraoperative instrument operation mechanism, the preoperative positioning mechanism is used for positioning the intraoperative instrument operation mechanism, the intraoperative instrument operation mechanism comprises a position adjusting mechanism and an attitude adjusting mechanism, the position adjusting mechanism can realize the position adjustment of the attitude adjusting mechanism in space, and the attitude adjusting mechanism is driven by a rope-pulley mechanism to move and force so as to control tools to perform operation. The invention can realize the motion trail of the surgical tool at any position and posture in a working space, complete corneal drilling and cutting and corneal suturing in corneal transplantation, and has the advantages of good flexibility, high precision, high motion rigidity and large motion space range.
Referring to fig. 1, the present invention relates to an operation mechanism of a robot for an ophthalmic cornea transplantation operation, which includes two mechanical arms, an operating table 4 and two fixed bases 10, the two fixed bases 10 are respectively disposed at the left and right sides of one end of the operating table 4, each fixed base 10 is provided with a linear guide rail 11, the left and right mechanical arms are respectively symmetrically disposed on the axis of the linear guide rail 11, at least two mechanical arms are usually adopted to simulate the hand of a surgeon, and a mirror holding arm is provided to place an imaging device.
Two arm structures are the same, all include preoperative setting mechanism 1 and intraoperative instrument operating mechanism, and preoperative setting mechanism 1 has five degrees of freedom, and wherein three degrees of freedom are used for fixing a position to intraoperative instrument operating mechanism, and two degrees of freedom are used for fixing a position intraoperative instrument operating mechanism's direction, and after the location is ended all joints of preoperative setting mechanism 1 are locked and do not move, and each joint can set up to manual drive or motor drive.
The intraoperative instrument control mechanism comprises a position adjusting mechanism 2 and an attitude adjusting mechanism 3, wherein one end of the position adjusting mechanism 2 is provided with an end effector 26, the attitude adjusting mechanism 3 is installed at the front end of the end effector 26, and the front end of the attitude adjusting mechanism 3 is provided with a surgical tool 35; the position adjusting mechanism 2 comprises three kinematic chains with the same structure and is symmetrically arranged to form a parallel space mechanism, the end effector 26 has three mutually orthogonal moving degrees of freedom P1, P2 and P3, and can realize the position adjustment of the posture adjusting mechanism 3 in the space, and the three mutually orthogonal moving degrees of freedom are driven by the corresponding first motor 22 to realize the accurate positioning of the surgical tool 35 in a small range; the posture adjusting mechanism 3 has four degrees of freedom, namely a rolling degree of freedom r1, a pitching degree of freedom r2, a yawing degree of freedom r3 and an instrument opening and closing degree of freedom r4, and the four degrees of freedom are moved and force transmitted by a rope-pulley mechanism to control the surgical tool 35 to perform surgical operation.
Referring to fig. 2, the preoperative positioning mechanism 1 includes a linear guide rail 11, a vertical lifting platform 12, a rotary joint 13, a connecting rod 14 and a joint; the linear guide rail 11 is fixed on a fixed base 10 and is connected with a vertical lifting platform 12 through a sliding pair, one end of a connecting rod 14 is connected with the vertical lifting platform 12 through a rotary joint 13, the other end of the connecting rod is connected with an intraoperative instrument control mechanism after sequentially passing through a first joint 15 and a second joint 16, a square flange 17 is arranged on the second joint 16, the rotary joint 13 and the connecting rod 14 jointly realize the position of the intraoperative instrument control mechanism in an XY plane, and the first joint 15 and the second joint 16 realize the posture adjustment of the intraoperative instrument control mechanism.
The connecting rod 14 comprises a plurality of connecting rods 14, and the plurality of connecting rods 14 are connected through the rotary joints 13.
Referring to fig. 3, the position adjustment mechanism 2 includes a position adjustment mechanism base 20, a first motor 22, a kinematic chain, and an end effector 26;
three motor bases 21 are arranged on the position adjusting mechanism base 20 at intervals, a first motor 22 is correspondingly arranged on each motor base 21, each first motor 22 can drive a kinematic chain,
each of the kinematic chains includes a driving arm 23 and a driven arm 25, one end of the driving arm 23 of each of the kinematic chains is connected to the corresponding first motor 22, and is driven by the motor to rotate relative to the motor base 21, the other end of the driving arm is connected to one end of the corresponding driven arm 25 through a connecting rod 24, the other ends of the three driven arms 25 are respectively connected to an end effector 26 through corresponding connecting rods 24, and a driving device 27 is disposed at the end of the end effector 26 and is connected to the attitude adjusting mechanism 3 through the driving device 27.
The middle part of the connecting rod 24 is connected with one end of the driving arm 23 through a revolute pair, two ends of the connecting rod 24 are respectively connected with the rear ends of the driven arms 25 through spherical pairs, the front ends of the two driven arms 25 are connected with two ends of the corresponding connecting rod 24 through spherical pairs, namely, the two connecting rods 24 and the two driven arms 25 form a space quadrangle, the middle part of the connecting rod 24 is connected with one end of the end effector 26 through the revolute pair, and the three kinematic chains have the same structure and form a parallel mechanism together to realize three freedom degrees of movement P1, P2 and P3 of the end effector 26.
The driving device 27 is mounted on the end effector 26 and realizes a rotational degree of freedom r1 of the posture adjustment mechanism 3, the driving device 27 comprises a second motor 270, the second motor 270 is fixed on the end effector 26 through an end cover, an extending shaft of the second motor 270 is fixedly connected with a shaft of a posture adjustment mechanism base 272 through a coupling 271, the shaft of the posture adjustment mechanism base 272 is rotatably connected on the end effector 26 through a first bearing 273, the first bearing 273 is fixed on the end effector 26 through a bearing end cover 274, and a flange of the posture adjustment mechanism base 272 is fixedly connected with a base of the posture adjustment mechanism 3, so that the r1 degree of freedom of the posture adjustment mechanism 3 is realized.
Referring to fig. 4 and 5, the posture adjustment mechanism 3 includes a housing 32, a rigid tube 33, a distal posture adjustment mechanism 34, and a surgical tool 35; one end of the housing 32 is connected to the driving device 27, the other end is connected to a distal end posture adjustment mechanism 34 via a rigid tube 33, and a surgical tool 35 is provided at the end of the distal end posture adjustment mechanism 34.
A floating plate 321 is arranged on the shell 32, three third motors 328 are arranged on the floating plate 321, the three motors 328 are used as driving mechanisms and are respectively correspondingly connected with the ropes 323 through the driving wheels 322, the rope 323 is used for realizing the movement of the rope 323, the rope 323 comprises a first rope 3231, a second rope 3232 and a third rope 3233, the first rope 3231 and the second rope 3232 respectively realize two degrees of freedom of a far-end r2 shaft and a r3 shaft through belt transmission, the third rope 3233 is connected with a surgical tool 35 to realize one degree of freedom of opening and closing r4 of the tool, a first pulley 326 realizes the change of the movement direction in the belt transmission, the first pulley 326 is rotatably connected on a floating plate 321 through a shaft 324 and a gasket 325, the front end of the floating plate 321 is provided with a cylindrical port 327 for fixedly connecting with one end of a rigid pipe 33, a base 340 of the far-end posture adjusting mechanism 34 is fixedly connected at the other end of the rigid pipe 33, and the three ropes 323 realize the movement of the far-end posture adjusting mechanism 34 and the surgical tool 35 through a hollow space of the rigid pipe 33.
The surgical tool 35 includes a first opening and closing flap 351 and a second opening and closing flap 352, the first rope 3231 realizes a rotational degree of freedom r2 of the tool base 344 relative to the rigid tube 33 through a rope-pulley transmission, the third rope 3233 realizes a rotational movement of the first opening and closing flap 351 relative to the tool base 344 through a second pulley 341, the second rope 3232 realizes a rotational movement of the second opening and closing flap 352 relative to the tool base 344 through the second pulley 341, that is, the second rope 3232 and the third rope 3233 combine to realize the rotational degree of freedom r3 and the tool opening and closing degree of freedom r4, the second pulley 341 is rotatably connected to the base 340 through a second shaft 343 and a second bearing 342, and the first opening and closing flap 351 and the second opening and closing flap 352 are rotatably connected to the tool base 344 through a third shaft 345.
The distal surgical tool 35 may be either a hinged or non-hinged mechanism; in the case of a hinge mechanism, this includes, but is not limited to, ophthalmic scissors, forceps, tweezers, clips, and the like; non-hinge mechanisms include, but are not limited to, ophthalmic needles, knives, hooks, shovels, and the like.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The ophthalmic cornea transplantation operation robot operating mechanism can be used as a slave end execution mechanism of a master-slave ophthalmic cornea transplantation operation robot operating mechanism and can also be used as an automatic ophthalmic cornea transplantation operation robot operating mechanism to carry out automatic operation. Firstly, in a preparation stage before an operation, the preoperative positioning mechanism 1 is adopted to adjust the position and the posture of a tail end operation tool 35, the tool is roughly positioned to an area near a cornea, and joints of the preoperative positioning mechanism 1 are locked after rough positioning so as not to move any more; then, during the operation, the position and the posture of the end tool 35 are accurately adjusted by the position adjusting mechanism 2 and the posture adjusting mechanism 3 to cooperate to complete the operation, and the operation is completed by the driving motor 22 and the motor 322; at the same time, the distal surgical tool 35 performs surgical actions such as cutting the corneal connection, grasping the cornea, and suturing the cornea with a needle.
Referring to fig. 6, in the process of suturing the cornea, the surgical tools 35 at the ends of the two mechanical arms are corneal forceps 361 and needle holder 362, respectively, the corneal forceps 361 is used for grasping the cornea to adjust the cornea 364 to be sutured to a proper suture position, and the needle holder 362 is used for holding the suture needle 363 to penetrate into and pull out the cornea. The operation mechanism of the ophthalmic cornea transplantation operation robot can replace doctors to perform operation, realize higher precision than the operation of the doctors and relieve the fatigue of the doctors.
In conclusion, the operating mechanism of the ophthalmic cornea transplantation robot has 3 position degrees of freedom, 3 rotation degrees of freedom and one opening and closing degree of freedom, can realize the motion track of an operation tool at any position and any posture in a working space, can realize corneal drilling and cutting and corneal suturing in the corneal transplantation, and realizes penetrating corneal transplantation and deep lamellar corneal transplantation, and the drilling and cutting and suturing precision is higher than the hand operation precision of a doctor.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (10)
1. The operating mechanism of the surgical robot for the ophthalmologic cornea transplantation is characterized by comprising an operating table (4), wherein the left side and the right side of one end of the operating table (4) are respectively provided with a fixed base (10), each fixed base (10) is provided with a linear guide rail (11), a shaft of each linear guide rail (11) is provided with a mechanical arm, the left mechanical arm and the right mechanical arm respectively comprise a preoperative positioning mechanism (1) and an intraoperative instrument operating mechanism, the preoperative positioning mechanism (1) has five degrees of freedom, wherein three degrees of freedom are used for positioning the position of the intraoperative instrument operating mechanism, and two degrees of freedom are used for positioning the direction of the intraoperative instrument operating mechanism;
the intraoperative instrument control mechanism comprises a position adjusting mechanism (2) and a posture adjusting mechanism (3), wherein one end of the position adjusting mechanism (2) is provided with an end effector (26), the posture adjusting mechanism (3) is installed at the front end of the end effector (26), and the front end of the posture adjusting mechanism (3) is provided with a surgical tool (35);
the position adjusting mechanism (2) comprises three kinematic chains with the same structure, the three kinematic chains are symmetrically arranged to form a parallel space mechanism, the end effector (26) is provided with three mutually orthogonal moving degrees of freedom P1, P2 and P3, and the three mutually orthogonal moving degrees of freedom are driven by corresponding first motors (22); the posture adjusting mechanism (3) has four degrees of freedom, namely a rolling degree of freedom r1, a pitching degree of freedom r2, a yawing degree of freedom r3 and an instrument opening and closing degree of freedom r4, and the four degrees of freedom are connected with a surgical tool (35) through a rope-pulley mechanism to realize surgical operation.
2. An ophthalmic cornea transplantation surgical robot operating mechanism according to claim 1, characterized in that the preoperative positioning mechanism (1) comprises a linear guide rail (11), the linear guide rail (11) is fixed on a fixed base (10) and is connected with a vertical lifting platform (12) through a sliding pair, the vertical lifting platform (12) is connected with one end of a connecting rod (14) through a rotary joint (13), the other end of the connecting rod (14) is connected with an intraoperative instrument operating mechanism through a first joint (15) and a second joint (16) in sequence, the rotary joint (13) and the connecting rod (14) can realize the position of the intraoperative instrument operating mechanism in an XY plane, and the first joint (15) and the second joint (16) can realize the posture adjustment of the intraoperative instrument operating mechanism.
3. The operating mechanism of the ophthalmic cornea transplantation surgical robot of claim 1, wherein the position adjusting mechanism (2) comprises a position adjusting mechanism base (20), three motor bases (21) are arranged on the position adjusting mechanism base (20) at intervals, a first motor (22) is correspondingly arranged on each motor base (21), each first motor (22) is correspondingly connected with a kinematic chain, the kinematic chain is connected with the end effector (26), a driving device (27) is arranged at the tail end of the end effector (26), the driving device (27) is connected with the posture adjusting mechanism (3), the three kinematic chains form a parallel mechanism to realize three moving degrees of freedom P1, P2 and P3 of the end effector (26), and the driving device (27) can realize a rotating degree of freedom r1 of the posture adjusting mechanism (3).
4. An ophthalmic corneal transplantation surgical robot operating mechanism according to claim 3, wherein the kinematic chain includes a master arm (23) and a slave arm (25), one end of the master arm (23) is connected to the first motor (22) and is driven by the first motor to rotate relative to the motor base (21), the other end of the master arm (23) is connected to one end of the slave arm (25) through a connecting rod (24), and the other end of the slave arm (25) is connected to the end effector (26) through the connecting rod (24).
5. The robot manipulator of claim 4, wherein the two connecting rods (24) and the two slave arms (25) form a space quadrangle, the middle of the first connecting rod (24) is connected to one end of the master arm (23) through a revolute pair, and the two ends of the first connecting rod (24) are respectively connected to the rear ends of the slave arms (25) through spherical pairs; the front ends of the two driven arms (25) are connected with the two ends of a second connecting rod (24) through spherical pairs, and the middle part of the second connecting rod (24) is connected with one end of an end effector (26) through a rotating pair.
6. The robotic manipulator mechanism of claim 3, wherein the drive mechanism (27) comprises a second motor (270), the second motor (270) is fixed to the end effector (26) via an end cap, an extension shaft of the second motor (270) is fixedly connected to a shaft of the attitude adjustment mechanism base (272) via a coupling (271), the shaft of the attitude adjustment mechanism base (272) is rotatably connected to the end effector (26) via a first bearing (273), the first bearing (273) is fixed to the end effector (26) via a bearing end cap (274), and a flange of the attitude adjustment mechanism base (272) is fixedly connected to a base of the attitude adjustment mechanism (3) to achieve r1 degrees of freedom of the attitude adjustment mechanism (3).
7. The robotic manipulator of an ophthalmic corneal transplant procedure according to claim 1, wherein the posture adjustment mechanism (3) comprises a housing (32), one end of the housing (32) is connected to the driving means (27) of the position adjustment mechanism (2), the other end is connected to the distal posture adjustment mechanism (34) via a rigid tube (33), and the surgical tool (35) is disposed at the end of the distal posture adjustment mechanism (34) and comprises a first open-close flap (351) and a second open-close flap (352).
8. The robotic surgical mechanism of claim 7, wherein the housing (32) is provided with a floating plate (321), the floating plate (321) is correspondingly provided with three third motors (328), the three motors (328) are respectively correspondingly connected with the rope (323) through the driving wheel (322), and the other end of the rope (323) is respectively connected with the distal attitude adjusting mechanism (34) and the surgical tool (35) through the hollow rigid tube (33).
9. The ophthalmic corneal transplant surgery robot operating mechanism of claim 8, wherein the cord (323) comprises a first cord (3231), the tool base comprises a first rope (3232) and a second rope (3233), the first rope (3231) achieves the degree of freedom r2 of rotation of the tool base (344) relative to the rigid tube (33) through a rope-pulley transmission connection, the third rope (3233) achieves the rotational connection of the first opening and closing flap (351) relative to the tool base (344) through a second pulley (341), the second rope (3232) achieves the rotational connection of the second opening and closing flap (352) relative to the tool base (344) through the second pulley (341), the pulley (341) is movably connected with the base (340) through a second shaft (343) and a second bearing (342), and the first opening and closing flap (351) and the second opening and closing flap (352) are movably connected with the tool base (344) through a third shaft (345).
10. The robotic surgical mechanism of claim 8, wherein the floating plate (321) is provided with a shaft (324), the shaft (324) is provided with a first pulley (326), an inner ring of the first pulley (326) is fixed on the floating plate (321), and an outer ring is used for changing the transmission direction of the rope (323).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010851238.0A CN112168482A (en) | 2020-08-21 | 2020-08-21 | Operation mechanism of ophthalmic cornea transplantation operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010851238.0A CN112168482A (en) | 2020-08-21 | 2020-08-21 | Operation mechanism of ophthalmic cornea transplantation operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112168482A true CN112168482A (en) | 2021-01-05 |
Family
ID=73924271
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010851238.0A Pending CN112168482A (en) | 2020-08-21 | 2020-08-21 | Operation mechanism of ophthalmic cornea transplantation operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112168482A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957218A (en) * | 2021-01-20 | 2021-06-15 | 诺创智能医疗科技(杭州)有限公司 | Operating table control method, operating table control system, electronic device and storage medium |
| CN112998945A (en) * | 2021-03-17 | 2021-06-22 | 北京航空航天大学 | Ophthalmic robot end device for eye trauma suture operation |
| CN113288577A (en) * | 2021-05-24 | 2021-08-24 | 北京航空航天大学 | Eyeground puncture injection robot system |
| CN113288578A (en) * | 2021-06-18 | 2021-08-24 | 潍坊眼科医院有限责任公司 | Cornea stitching device |
| CN113499166A (en) * | 2021-06-21 | 2021-10-15 | 西安交通大学 | Autonomous stereoscopic vision navigation method and system for corneal transplantation surgical robot |
| CN115530863A (en) * | 2022-09-27 | 2022-12-30 | 瑞石心禾(河北)医疗科技有限公司 | Device and method for correcting position of radioactive source based on mechanical arm |
| CN116058879A (en) * | 2023-03-06 | 2023-05-05 | 潍坊医学院附属医院 | Detection system based on ophthalmology B ultrasonic |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100010504A1 (en) * | 2006-09-19 | 2010-01-14 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and methods for surgery on a hollow anatomically suspended organ |
| US20130131867A1 (en) * | 2011-11-04 | 2013-05-23 | The Johns Hopkins University | Steady hand micromanipulation robot |
| CN106625607A (en) * | 2017-01-20 | 2017-05-10 | 常州大学 | Parallel grabbing robot at few degrees of freedom and with temperature recognition function |
| CN109009443A (en) * | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| CN109602499A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学 | A kind of man-machine collaboration type Ophthalimic microsurgery robotic system operating method |
| US20190167377A1 (en) * | 2016-09-23 | 2019-06-06 | Sony Olympus Medical Solutions Inc. | Medical observation device and medical observation system |
| CN209464087U (en) * | 2018-09-14 | 2019-10-08 | 乔艳晶 | A kind of laparoscope machinery holds mirror arm |
| US20190374383A1 (en) * | 2012-04-24 | 2019-12-12 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
| CN111128362A (en) * | 2020-01-22 | 2020-05-08 | 复旦大学附属华山医院 | Intelligent control system for ophthalmic surgery |
| CN210494228U (en) * | 2019-06-10 | 2020-05-12 | 江苏特普优微创医疗科技有限公司 | Clamp type surgical instrument for surgical robot |
| CN111227944A (en) * | 2020-01-23 | 2020-06-05 | 诺创智能医疗科技(杭州)有限公司 | Operation arm and operation robot |
| CN111227943A (en) * | 2020-01-23 | 2020-06-05 | 诺创智能医疗科技(杭州)有限公司 | Control method of surgical mechanical arm, computer equipment and surgical mechanical arm |
-
2020
- 2020-08-21 CN CN202010851238.0A patent/CN112168482A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100010504A1 (en) * | 2006-09-19 | 2010-01-14 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and methods for surgery on a hollow anatomically suspended organ |
| US20130131867A1 (en) * | 2011-11-04 | 2013-05-23 | The Johns Hopkins University | Steady hand micromanipulation robot |
| US20190374383A1 (en) * | 2012-04-24 | 2019-12-12 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
| US20190167377A1 (en) * | 2016-09-23 | 2019-06-06 | Sony Olympus Medical Solutions Inc. | Medical observation device and medical observation system |
| CN106625607A (en) * | 2017-01-20 | 2017-05-10 | 常州大学 | Parallel grabbing robot at few degrees of freedom and with temperature recognition function |
| CN109009443A (en) * | 2018-08-15 | 2018-12-18 | 苏州大学张家港工业技术研究院 | Abdominal minimally invasive surgery robot |
| CN209464087U (en) * | 2018-09-14 | 2019-10-08 | 乔艳晶 | A kind of laparoscope machinery holds mirror arm |
| CN109602499A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学 | A kind of man-machine collaboration type Ophthalimic microsurgery robotic system operating method |
| CN210494228U (en) * | 2019-06-10 | 2020-05-12 | 江苏特普优微创医疗科技有限公司 | Clamp type surgical instrument for surgical robot |
| CN111128362A (en) * | 2020-01-22 | 2020-05-08 | 复旦大学附属华山医院 | Intelligent control system for ophthalmic surgery |
| CN111227944A (en) * | 2020-01-23 | 2020-06-05 | 诺创智能医疗科技(杭州)有限公司 | Operation arm and operation robot |
| CN111227943A (en) * | 2020-01-23 | 2020-06-05 | 诺创智能医疗科技(杭州)有限公司 | Control method of surgical mechanical arm, computer equipment and surgical mechanical arm |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957218A (en) * | 2021-01-20 | 2021-06-15 | 诺创智能医疗科技(杭州)有限公司 | Operating table control method, operating table control system, electronic device and storage medium |
| CN112957218B (en) * | 2021-01-20 | 2024-03-22 | 诺创智能医疗科技(杭州)有限公司 | Operating table control method, operating table control system, electronic device, and storage medium |
| CN112998945A (en) * | 2021-03-17 | 2021-06-22 | 北京航空航天大学 | Ophthalmic robot end device for eye trauma suture operation |
| CN113288577A (en) * | 2021-05-24 | 2021-08-24 | 北京航空航天大学 | Eyeground puncture injection robot system |
| CN113288577B (en) * | 2021-05-24 | 2022-06-24 | 北京航空航天大学 | Eyeground puncture injection robot system |
| CN113288578A (en) * | 2021-06-18 | 2021-08-24 | 潍坊眼科医院有限责任公司 | Cornea stitching device |
| CN113499166A (en) * | 2021-06-21 | 2021-10-15 | 西安交通大学 | Autonomous stereoscopic vision navigation method and system for corneal transplantation surgical robot |
| CN115530863A (en) * | 2022-09-27 | 2022-12-30 | 瑞石心禾(河北)医疗科技有限公司 | Device and method for correcting position of radioactive source based on mechanical arm |
| CN116058879A (en) * | 2023-03-06 | 2023-05-05 | 潍坊医学院附属医院 | Detection system based on ophthalmology B ultrasonic |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112168482A (en) | Operation mechanism of ophthalmic cornea transplantation operation robot | |
| US10856943B2 (en) | Surgical system and methods for mimicked motion | |
| EP3733110B1 (en) | Surgical robot terminal | |
| US10325072B2 (en) | Mechanical teleoperated device for remote manipulation | |
| US9949801B2 (en) | Systems and methods for commanded reconfiguration of a surgical manipulator using the null-space | |
| US9415510B2 (en) | System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement | |
| CN111214291A (en) | Operation arm and operation robot | |
| EP2253289A2 (en) | Offset remote center manipulator | |
| CN111437036A (en) | Serpentine surgical robot applied to minimally invasive surgery | |
| CN111700654B (en) | Single-hole surgical instrument platform | |
| WO2021147267A1 (en) | Surgical robotic arm and surgical robot | |
| CN115024825B (en) | Arm structure and surgical robot | |
| CN210228310U (en) | Laparoscopic surgery robot | |
| CN114191087A (en) | Suspension plate placing mechanism and surgical robot | |
| CN109770970B (en) | Abdominal cavity minimally invasive surgery robot | |
| CN212415897U (en) | Suspension plate placing mechanism and surgical robot | |
| CN113855251A (en) | Multi-degree-of-freedom minimally invasive surgical instrument | |
| CN210144741U (en) | Surgical robot auxiliary device | |
| EP3756606B1 (en) | Surgical robot mechanism with single-port and multi-port minimally invasive operation functions | |
| CN219940791U (en) | Mechanical arm of surgical robot | |
| CN217066571U (en) | Surgical robot and mechanical arm thereof | |
| CN117100408B (en) | Surgical instrument and surgical robot | |
| WO2022104771A1 (en) | Surgical robot | |
| Feng et al. | A new assistant robot system for abdominal minimally invasive surgery | |
| CN117042714A (en) | Surgical instrument |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |