CN115519535A - Telecentric immobilization mechanism, driving method, mechanical arm and surgical robot - Google Patents

Abstract

The invention discloses a telecentric motionless mechanism, a driving method, a manipulator and a surgical robot, wherein the telecentric motionless mechanism comprises a compensation driving device and a rotary driving device, the rotary end of the compensation driving device is movably connected with the rotary driving device, the moving end of the compensation driving device can stretch towards the motionless point direction, the rotary driving device is used for driving the compensation driving device to generate the swing around the motionless point, and the telecentric motionless mechanism realizes the rotation around the motionless point through the compensation driving device and the rotary driving device.

Description

Telecentric immobilization mechanism, driving method, mechanical arm and surgical robot

Technical Field

The invention relates to a remote operation robot, in particular to a telecentric immobilization mechanism, a driving method, a manipulator and an operation robot, which are applied to the field of medical instruments.

Background

In recent years, surgical robots have been rapidly developed in the medical field, and at the same time, minimally invasive surgery is continuously applied to clinical surgery, and exhibits unique advantages such as: the operation precision, the motion flexibility and the operation convenience of the surgical robot are all higher requirements, wherein the hysterectomy is a common gynecological operation in gynecology and is used for excising the uterus of a patient, in the laparoscopic hysterectomy, the operation is carried out through the image feedback of a laparoscope, an assistant can be assigned from the direction of the tail of a sickbed, a long rod instrument is inserted into the uterus through the vagina and the position and the tension of the long rod instrument are adjusted at any time, so that a surgeon carries out the operation action, the operation is called as uterus lifting, and the long rod instrument is called as a uterus lifting rod. However, the performance of manual womb lifting decreases with time, because the work is tedious, long in duration and very challenging for human endurance. Therefore, there is a need to develop a robot that can overcome the above problems to assist a surgeon in performing a surgery.

Referring to fig. 1, it shows a laparoscopic hysterectomy with a uterine manipulator, a doctor is performing a series of surgical actions such as clamping, cutting and suturing diseased tissues, an assistant is responsible for holding the laparoscope and manipulating auxiliary instruments, a tail uterine manipulator is responsible for uterine operation, and the uterine manipulator Gong Bang moves around the cervical orifice of the uterus due to the physiological structural limitations of the human body, so that the injury to the patient is minimized.

The conventional manipulator mainly has the following structural forms without considering that a multi-joint mechanical arm realizes Soft RCM through coupling motion: 1. a plane one-degree-of-freedom RCM mechanism formed by the plane quadrilateral mechanisms; 2. the axis of the rotating pair passes through the RCM point of the mechanism, and the central axis of the arc track is superposed with the RCM point; 3. parallel RCM mechanism based on intersecting planes. For example, the fixed point mechanism of the invention of Chinese patent (with the publication number of 201611169116.3); the invention relates to an eight-degree-of-freedom surgical manipulator with a closed-loop connecting rod, which is invented by Chinese patent (application number 201910891985.4), wherein a planar quadrilateral mechanism frame is large, a joint point is weak, bearing capacity is weak, a central shaft of an arc-shaped track is superposed with an RCM point, the arc-shaped track needs a fan-shaped structure, and in order to realize the RCM with a larger rotating radius, the larger the occupied space area of the fan-shaped structure is, the poorer the stability is; the parallel mechanism is difficult to control in a complex way, such as the fixed point mechanism, the mechanical arm and the surgical robot disclosed by the Chinese patent (with the publication number of 202210369547.3).

Disclosure of Invention

The stability of the telecentric fixed mechanism in the prior art is poor; the invention provides a telecentric motionless mechanism, a driving method, a manipulator and a surgical robot, which realize the rotation around a remote motionless point through a compensation driving device and a rotation driving device and have the characteristics of simple structure, high stability and convenient operation.

The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a telecentric fixed mechanism, telecentric fixed mechanism includes compensation drive arrangement and rotary drive arrangement, compensation drive arrangement's rotation end with rotary drive arrangement swing joint, compensation drive arrangement's removal end can stretch out and draw back towards the motionless point direction, rotary drive arrangement is used for the drive compensation drive arrangement is in order to produce the swing around the motionless point.

Further, the rotary drive is articulated with the compensation drive.

Further, the rotation driving device comprises at least one first linear motion assembly, the first linear motion assembly is hinged to the compensation driving device, a hinged joint between the first linear motion assembly and the compensation driving device translates along the first linear motion assembly, the first linear motion assembly drives the compensation driving device to rotate around a fixed point, and a moving end of the compensation driving device stretches out and draws back on a connecting line between the hinged joint between the first linear motion assembly and the compensation driving device and the fixed point.

Further, the rotary driving device comprises a first linear motion assembly, the first linear motion assembly comprises more than one rail and two sliding blocks sliding on the rail, the two sliding blocks are arranged oppositely, the compensation driving device comprises a second linear motion assembly, the second linear motion assembly comprises at least one rail and a sliding block sliding on the rail, and a movable block sliding on the rail, one sliding block of the first linear motion assembly is directly or indirectly hinged with the sliding block of the second linear motion assembly, and the other sliding block of the first linear motion assembly is directly or indirectly hinged with the rail of the second linear motion assembly.

Further, the rotary driving device comprises at least two first linear motion assemblies, the compensation driving device comprises a second linear motion assembly, the first linear motion assembly comprises at least one rail and a slide block sliding on the rail, the second linear motion assembly comprises at least one rail and a slide block sliding on the rail, and a movable block sliding on the rail, the slide block of one first linear motion assembly is directly or indirectly hinged with the slide block of the second linear motion assembly, and the slide block of the other first linear motion assembly is directly or indirectly hinged with the rail of the second linear motion assembly.

Furthermore, when the second linear motion assembly is more than two tracks, the tracks are parallel, the sliding block slides on one of the tracks, and the movable block slides on the other track.

Further, the rotary driving device comprises two first linear motion assemblies, the compensation driving device comprises a second linear motion assembly, the first linear motion assembly comprises a rail and a slide block sliding on the rail, the second linear motion assembly comprises a rail and a slide block sliding on the rail, and a movable block sliding on the rail, the slide block of one first linear motion assembly is hinged with the slide block of the second linear motion assembly, and the slide block of the other first linear motion assembly is hinged with the rail of the second linear motion assembly.

Further, the sliding block of the first linear motion assembly close to the motionless point in the two first linear motion assemblies is hinged to one end of the track of the second linear motion assembly, the sliding block of the second linear motion assembly slides at the other end of the track of the second linear motion assembly, the sliding block of the first linear motion assembly far away from the motionless point in the two first linear motion assemblies is hinged to the sliding block of the second linear motion assembly, or the sliding block of the first linear motion assembly far away from the motionless point in the two first linear motion assemblies is hinged to one end of the track of the second linear motion assembly, the sliding block of the second linear motion assembly slides at the other end of the track of the second linear motion assembly, and the sliding block of the first linear motion assembly close to the motionless point in the two first linear motion assemblies is hinged to the sliding block of the second linear motion assembly.

Furthermore, the rotary driving device comprises two first linear motion assemblies, the compensation driving device comprises a second linear motion assembly, the first linear motion assembly comprises a rail and a sliding block sliding on the rail, the second linear motion assembly comprises two rails, a sliding block sliding on one rail and a movable block sliding on the other rail, the two rails are arranged in parallel, the sliding block of one first linear motion assembly is hinged with the sliding block of the second linear motion assembly, and the sliding block of the other first linear motion assembly is hinged with the rail, provided with the movable block, of the second linear motion assembly.

Further, the slide block of the first linear motion assembly close to the motionless point in the two first linear motion assemblies is hinged to the track of the second linear motion assembly, which is provided with the movable block, the slide block of the first linear motion assembly far away from the motionless point in the two first linear motion assemblies is hinged to the slide block of the second linear motion assembly, or the slide block of the first linear motion assembly far away from the motionless point in the two first linear motion assemblies is hinged to the track of the second linear motion assembly, which is provided with the movable block, and the slide block of the first linear motion assembly close to the motionless point in the two first linear motion assemblies is hinged to the slide block of the second linear motion assembly.

Furthermore, a connecting line of a hinge point of the slide block of one first linear motion assembly directly or indirectly hinged with the slide block of the second linear motion assembly and a hinge point of the slide block of the other first linear motion assembly directly or indirectly hinged with the track of the second linear motion assembly is collinear with the fixed point.

Further, the two first linear motion assemblies of the rotary drive are arranged on the same side relative to the compensation drive.

Further, the two first linear motion assemblies of the rotary driving device are respectively arranged on one side of the compensation driving device.

Further, the rotary driving device is two first linear motion components which output proportional linear motion, and move at a first speed value and a second speed value simultaneously, and the ratio of the first speed value to the second speed value is kept unchanged.

Further, the displacement amount of the compensation driving device relative to the initial position after the movement is delta T, which satisfies the mode

S is the distance between the fixed point and the initial position of a hinge point between the slide block of the first linear motion assembly and one track of the second linear motion assembly, and delta N is the displacement of the hinge point after movement relative to the initial position.

The invention also adopts the technical scheme for solving the technical problems that: a driving method of a telecentric fixed mechanism comprises a first moving pair, a second moving pair and a third moving pair, wherein the first moving pair and the second moving pair carry out translational motion, and the first moving pair and the second moving pair drive the third moving pair to generate swing around a fixed point.

The invention also adopts the technical scheme for solving the technical problems that: the utility model provides a manipulator, the manipulator includes manipulator support and foretell telecentric motionless mechanism, telecentric motionless mechanism sets up on the manipulator support.

The invention also adopts the technical scheme for solving the technical problems that: the utility model provides a surgical robot, surgical robot includes manipulator support and foretell telecentric motionless mechanism, telecentric motionless mechanism sets up on the manipulator support.

The invention has the beneficial effects that: the invention provides a telecentric fixed mechanism, a driving method, a manipulator and a surgical robot, and the invention also has the following advantages:

(1) The telecentric motionless mechanism realizes the rotation around the telecentric motionless point through the compensation driving device and the rotation driving device, and has the characteristics of simple structure, high stability and convenient operation.

(2) The rotary driving device adopts the translation of the linear motion assembly, the compensation driving device compensates the movement, and the rotation around the stationary point of the remote center is realized.

(3) The rotary driving device adopts a double-linear motion assembly structure, the double-linear motion assemblies output in equal proportion, and the compensation driving device is movably connected with the rotary driving device, so that the output expansion value of the compensation driving device is conveniently calculated, and the control of the fixed point is more accurate.

(4) Compensation drive arrangement can realize initiatively stretching out and drawing back, realizes two degrees of freedom, and round the swing of telecentric motionless point promptly, flexible along telecentric motionless point in addition, medical personnel use more conveniently, can reach and use under the multiple environment.

(5) The invention adopts fewer tracks and sliding blocks to realize swinging around the telecentric fixed point, and compared with the traditional telecentric fixed point mechanism, the invention has the advantages of simple realization principle, simple structure and better stability.

Drawings

Fig. 1 is a schematic view of a working scene of a surgical robot provided by the present invention.

Fig. 2 is a schematic diagram of a telecentric immobilization mechanism according to a first embodiment of the present invention.

Fig. 3 is a schematic view of a swing principle of a telecentric fixed mechanism according to a first embodiment of the invention.

Fig. 4 is an extended principle schematic diagram of a telecentric immobilization mechanism according to a first embodiment of the invention.

Fig. 5 is a schematic view of a contraction principle of a telecentric fixed mechanism according to a first embodiment of the invention.

Fig. 6 is a schematic diagram of a swing principle of a movable block according to a first embodiment of the present invention.

Fig. 7 is a schematic view of a telecentric immobilization mechanism according to a second embodiment of the present invention.

Fig. 8 is a schematic view of the swing principle of a telecentric fixed mechanism according to a second embodiment of the invention.

Fig. 9 is a schematic diagram of a telecentric fixed mechanism according to a third embodiment of the present invention.

Fig. 10 is a schematic view of a telecentric immobilization mechanism according to a fourth embodiment of the present invention.

Fig. 11 is a schematic view of a telecentric immobilization mechanism according to a fifth embodiment of the present invention.

Fig. 12 is a schematic view of a telecentric immobilization mechanism according to a sixth embodiment of the present invention.

Fig. 13 is a schematic view of a telecentric immobilization mechanism according to a seventh embodiment of the present invention.

Fig. 14 is a schematic view of a telecentric immobilization mechanism of embodiment eight provided by the present invention.

Fig. 15 is a schematic view of a telecentric immobilization mechanism of an embodiment nine provided by the present invention.

Fig. 16 is a schematic view of a telecentric immobilization mechanism of an embodiment ten provided by the present invention.

Fig. 17 is a schematic view of a telecentric immobilization mechanism according to an eleventh embodiment of the present invention.

Fig. 18 is a schematic view of a telecentric immobilization mechanism according to a twelfth embodiment of the present invention.

Fig. 19 is a schematic structural view of a robot provided by the present invention.

Fig. 20 is a schematic structural view of a robot provided by the present invention.

Reference numerals: 10-connecting piece, 101-first rail, 102-first slider, 201-second rail, 202-second slider, 301-third rail, 3011-third rail a, 3012-third rail B, 302-movable block, 303-third slider, 401-end device, 402-first clamp, 403-second clamp, 501-manipulator support, 502-first synchronous belt, 503-second synchronous belt, 504-first driving synchronous pulley, 505-first idle pulley, 506-second driving synchronous pulley, 507-second idle pulley, 508-double-rail drive motor, 509-coupler, 510-brake, 511-first bevel gear, 512-second bevel gear, 513-rotating shaft, 514-first bearing, 515-second bearing, 515-third bearing, 516-synchronous belt tensioning screw, 601-compensation drive motor, 602-gear, 603-rack, 604-auxiliary guide bar, 701-robot body, 702-medical personnel.

Detailed Description

In order to make the objects, technical solutions and effects of the present invention clearer and clearer, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 1-20, the stability of the conventional telecentric fixed mechanism is poor; the structure is complex and difficult to control, the invention provides a telecentric fixed mechanism which comprises a compensation driving device and a rotary driving device, wherein the rotary end of the compensation driving device is movably connected with the rotary driving device, the rotary driving device which is preferably movably connected is hinged with the compensation driving device, other connection modes can be adopted in the implementation, the movable end of the compensation driving device can extend and retract towards the direction of a fixed point, and the rotary driving device is used for driving the compensation driving device to swing around the fixed point. The device has the characteristics of simple structure, high stability and convenient operation. In the specific implementation, the rotary driving device comprises at least one first linear motion assembly, the first linear motion assembly is hinged to the compensation driving device, a hinged joint between the first linear motion assembly and the compensation driving device translates along the first linear motion assembly, the first linear motion assembly drives the compensation driving device to rotate around an immobile point, a moving end of the compensation driving device extends and retracts on a connecting line between the hinged joint between the first linear motion assembly and the compensation driving device and the immobile point, namely, the connecting line is used as a reference line to move in parallel or in a collinear manner, the rotary driving device adopts the translation of the linear motion assembly, the compensation driving device realizes the rotation around the immobile point of the far center, and has the characteristics of simple structure.

In order to facilitate reading of the reference numerals in the embodiment, D in the drawing is the position of the compensation driving device after swinging; d ₀ To compensate for the initial position of the drive; d ₁ For compensating the first specific position of the driving device after swinging; d ₂ For the compensation of the second specific position of the actuator after the oscillation, it should be noted that the position D of the actuator after the oscillation also includes the initial position D of the actuator ₀ 。

In a first embodiment, please refer to fig. 2-6, the rotational driving device includes two first linear motion assemblies, and the two first linear motion assemblies are disposed on the same side relative to the compensation driving device. The first linear motion assembly A comprises a first track 101 and a first slide block 102 sliding on the first track 101, the first linear motion assembly A is close to the motionless point, the first linear motion assembly B comprises a second track 201 and a second slide block 202 sliding on the second track 201, the first linear motion assembly B is far away from the motionless point, the first track 101 is parallel or collinear with the second track 201, the first slide block 102 moves on the first track 101, and the second slide block 202 moves on the second track 201. The compensating drive comprises a second linear motion assembly comprising a third rail 403 and a movable block 302 and a third slide 303 sliding on the third rail 403. In specific implementations, the two first linear motion assemblies of the rotary drive device are respectively arranged on one side of the compensation drive device, that is, the second linear motion assembly is arranged between the first linear motion assembly a and the first linear motion assembly B, for example, on the same side as shown in fig. 12 to 13, or between the first linear motion assembly a and the first linear motion assembly B as shown in fig. 14 to 15, and the arrangement of one side is more complicated compared with the same side structure.

In specific implementation, the first slider 102 of the first linear motion assembly a close to the fixed point in the two first linear motion assemblies is hinged to one end of the third track 301 of the second linear motion assembly, the third slider 303 of the second linear motion assembly slides on the other end of the third track 301 of the second linear motion assembly, and the second slider 202 of the first linear motion assembly B far away from the fixed point in the two first linear motion assemblies is hinged to the third slider 303 of the second linear motion assembly. In brief, the first slider 102 is hinged to the third rail 301, and the hinge point is called a first hinge point, and the second slider 202 is hinged to the third slider 303, and the hinge point is called a second hinge point.

The joints of the third rail 301 and the third slider 303 with the first slider 102 and the second slider 202 in this embodiment are defined as the rotating ends of the compensation driving device, and the movable block 302 is defined as the movable end of the compensation driving device.

The movable block 302 moves on the third track 301, the third slide block 303 moves on the third track 301, the first slide block 102 is hinged to the third track 301 of the second linear motion assembly, the second slide block 202 is indirectly hinged to the third track 301 of the second linear motion assembly through the third slide block 303, and the moving direction of the movable block 302 is parallel to or collinear with the connecting line of the first hinge point and the second hinge point. I.e. the hinge points of the first slider 102 and the second slider 202 with two of the compensation driving devices are parallel or collinear with the telescopic direction of the compensation driving devices, i.e. the moving direction of the movable block 302 of the compensation driving devices is parallel or collinear.

The moving direction of the third sliding block is parallel or collinear with the connecting line of the first hinge point and the second hinge point.

Point R in fig. 2-5 is a stationary point in space.

The end device 401 is fixedly connected to the movable block 302 and moves as the movable block 302 moves.

Point F in fig. 2-5 is a fixed point on the tip assembly and F is collinear with the first and second hinge points. Namely, the hinge point of the direct or indirect hinge joint of the sliding block of the first linear motion component A and the sliding block of the second linear motion component, and the connecting line and the fixed point of the hinge point of the direct or indirect hinge joint of the sliding block of the first linear motion component B and the track of the second linear motion component are collinear, and the extension and retraction direction of the movable end of the compensation driving device is parallel or collinear with the connecting line of the two hinge points. It should be noted that the direct hinge in the present invention is a direct connection between components, or a connection between components through a rigid connection, such as the hinge shown in fig. 2, or a hinge realized through a connection shown in fig. 9, and the indirect connection is a connection between components and components through a moving or movable moving part, such as a connection between components and parts like a transmission motor and a differential.

The first slider 102, the second slider 202 and the movable block 302 are actively driven, and the third slider 303 is not actively driven.

When the compensation driving device swings at a position D, the first hinge point is superposed with the point M, and the second hinge point is superposed with the point N;

when necessary, at the initial position D of the compensating drive ₀ At first hinge point and point M ₀ Coincidence, second point of articulation and point N ₀ Coincidence, i.e. hinge point M ₀ And is hinged at point N ₀ Is perpendicular to the first track 101 and the second track 201.

The compensating drive is in an initial position D ₁ At first hinge point and point M ₁ Coincidence, second point of articulation and point N ₁ And (4) overlapping.

The compensating drive is in an initial position D ₂ At first hinge point and point M ₂ Coincidence, second point of articulation and point N ₂ And (4) overlapping.

At an initial position D ₀ When R and F are coincident. I.e. position D after the compensation drive has swung ₀ When F is collinear with M and N.

In this embodiment, a method for calculating the amount of expansion and contraction of the compensation driving device is provided, in which the moving speed of the first slider 102 is V ₁ I.e. the first speed value, the moving speed of the second slide 202 is V ₂ That is, the second velocity value is the moving velocity of the movable block 302 is V ₃ I.e. the third speed value.

At the time of compensating the rear swing position D of the drive,

the displacement of the first slide block 102 relative to the initial position along the moving direction is Δ a, i.e. the displacement Δ N of the hinge point where the slide block of the first linear motion component is directly or indirectly hinged to one track of the second linear motion component relative to the initial position after moving, i.e. the hinge point M relative to the initial hinge point M ₀ The amount of displacement of (a).

The displacement amount of the second slider 202 relative to the initial position in the moving direction is Δ b, i.e. the hinge point N is relative to the initial hinge point N ₀ The amount of displacement of (a).

The displacement of the movable block 302 in the moving direction relative to the initial position is Δ c, i.e., the displacement after the compensation driving device moves relative to the initial position is Δ T, i.e., FM relative to FM ₀ The amount of increase of (c).

Note that, where FM represents the distance between point F and point M, FM ₀ Representing points F and M ₀ The distance between them.

It should be noted that the combination of two letters in the following text represents a distance.

L ₁ Is point R and point M ₀ The distance between the fixed point and the initial position of the hinge point of the slide block of the first linear motion component and the track of the second linear motion component which are directly or indirectly hinged ₂ Is point R and point N ₀ A distance therebetween, so L ₁ ＝RM ₀ ，L ₂ ＝RN ₀ 。

Wherein the content of the first and second substances,

t is time.

When in use

Then, can obtain

Namely, it is

Therefore R, M is collinear with N. Therefore, the rotation is drivenTwo output first linear motion components of the device move in a linear motion with equal proportion, and move at a first speed value and a second speed value, and the ratio of the first speed value to the second speed value is kept unchanged.

And since F is already collinear with M, N, R, F, M is collinear with N four points.

When in use

When it is, that is

Namely, it is

Because of the collinearity and equal length, they must coincide, so R and F coincide.

At this time

t is time.

The movement of the first slider 102 and the second slider 202 may be controlled by a speed command, i.e. the speed at which the first slider 102 and the second slider 202 are both maintained by the application of the speed command is

The movement can also be applied with position instructions to keep the moving distance

The selectable value of K is between 0 and 1, excluding 0 and 1, and the smaller the value of K, the closer the stationary point R is to the first track 1; the greater the value of K, the further the stationary point R is from the first track 1.

The movement of the active mass 302 may also be controlled by a speed command, i.e., satisfied

The movement can also be applied with position instructions to keep the moving distance

Thus, when the above conditions are satisfied, the fixed distal end stationary point is always maintained during the swing of the end device 401, i.e., the fixed point F is maintained coincident with the spatial stationary point R.

When V is ₁ ＝V ₂ =0 and V ₃ When not equal to 0, the end device 401 moves left and right on the third track 301 through the movable block 302.

When in use

The fixed point F on the end unit 401 moves left and right on the line connecting M, N and the fixed point R while rotating the end unit about the fixed point R. The situation is divided into two kinds, one kind is

In this case, the fixed point F moves leftward in the direction of the straight line connecting M, N and the stationary point R, while the end device 401 rotates around the stationary point. The fixed point F on the end unit 401 is fed to the left in the direction of the line connecting the stationary points R, M, N, i.e. point F' in fig. 4 is the fixed point on the end unit passing the stationary point R.

Another when

In this case, the fixed point F moves upward and rightward on the straight line connecting M, N and the stationary point R, while the end device 401 rotates around the stationary point. The fixed point F on the end unit 401 is fed right in the direction of the connecting line of the stationary points R, M, N. I.e., F "in fig. 5 is a fixed point on the tip assembly, but not a fixed point R.

It should be further noted that the position of the third sliding block 303 in the drawing does not represent an actual position, and may be set as required in practice; the positions of the first track 101, the second track 201, the first slide 102, the second slide 202, the first hinge point and the second hinge point in the figure do not represent actual positions, and only indicate the principle.

The shape of the end device 401 in the drawings does not represent an actual shape, and may be designed as desired in practice.

Referring to fig. 7-8, in the second embodiment, compared to the first embodiment, the first linear motion assembly a includes the first track 101 and the first slider 102 sliding on the first track 101, and the first linear motion assembly B includes the second track 201 and the second slider 202 sliding on the second track 201, the first track 101 is parallel to the second track 201, the first slider 102 moves on the first track 101, and the second slider 202 moves on the second track 201. The compensating drive comprises a second linear motion assembly comprising a movable block 302 and a third slider 303 sliding on a third track 403.

In a specific implementation, the second slider 202 of the first linear motion assembly B far away from the fixed point in the two first linear motion assemblies is hinged to one end of the third track 301 of the second linear motion assembly, the third slider 303 of the second linear motion assembly slides on the other end of the third track 301 of the second linear motion assembly, the first slider 102 of the first linear motion assembly a near the fixed point in the two first linear motion assemblies is hinged to the third slider 303 of the second linear motion assembly, in a simple manner, the first slider 102 is hinged to the third slider 303, the hinge point is called a first hinge point, the second slider 202 is hinged to the third track 301, and the hinge point is called a second hinge point.

The joints of the third rail 301 and the third slider 303 with the first slider 102 and the second slider 202 in this embodiment are defined as the rotating ends of the compensation driving device, and the movable block 302 is defined as the movable end of the compensation driving device.

The displacement amount of the second sliding block 202 relative to the initial position along the moving direction is Δ b, that is, the displacement amount Δ N relative to the initial position after the sliding block of the first linear motion component and the hinge point of the second linear motion component directly or indirectly hinged to one track, that is, the hinge point N relative to the initial hinge point N ₀ The amount of displacement of (a).

The displacement of the movable mass 302 in the moving direction relative to the initial position is Δ d, i.e., the displacement of the compensating drive device relative to the initial position after movementThe quantity Δ T, i.e. FN vs. FN ₀ The amount of increase of (c).

L ₂ Is point R and point N ₀ The distance between the fixed point and the initial position S of the hinge point of the slide block of the first linear motion component and the track of the second linear motion component which are directly or indirectly hinged, so L ₂ ＝RN ₀ 。

As with the first embodiment, the moving speed of the movable block 302 can be calculated as V ₃ The distance moved by the movable block 302 from the initial point is deltad,

t is time.

Is that

The above description is only directed to the different places from the first embodiment, and the same places are not explained again and refer to the first embodiment.

In the third embodiment, please refer to fig. 9, compared to the first embodiment, the first slider 102 of the first linear motion assembly a is hinged to one end of the third track 301 of the second linear motion assembly through the connecting member 10, the second slider 202 of the first linear motion assembly B is hinged to the third slider 303 of the second linear motion assembly through the connecting member 10, and the moving direction of the movable block 302 and the connecting line of the hinge point and the stationary point hinged between the two first linear motion assemblies and the second linear motion assembly are in a collinear relationship, so that the structure stability is strong, and the first linear motion assembly can be used in different application scenarios. The above description is only directed to the different points from the first embodiment, and the same points are not explained again and refer to the first embodiment.

In the fourth embodiment, referring to fig. 10, compared to the third embodiment, the hinge point is changed, specifically, the first slider 102 of the first linear motion assembly a is hinged to the third slider 303 of the second linear motion assembly through the connecting member 10, and the second slider 202 of the first linear motion assembly B is hinged to one end of the track 301 of the second linear motion assembly through the connecting member 10. The above description is only directed to the different points from the third embodiment, and the same points are not explained again and refer to the third embodiment.

In the fifth embodiment, please refer to fig. 11, compared to the third embodiment, the moving direction of the movable block 302 is parallel to the connection line between the hinge point and the stationary point of the two first linear motion elements and the second linear motion element. The above description is only directed to the points different from the third embodiment, and the same points are not explained again and refer to the third embodiment.

In the sixth embodiment, please refer to fig. 12, compared to the fourth embodiment, the moving direction of the movable block 302 is parallel to the connection line between the hinge point and the stationary point of the two first linear motion elements and the second linear motion element. The above description is only directed to the points different from the fourth embodiment, and the same points will not be described again and refer to the fourth embodiment.

In a seventh embodiment, referring to fig. 13, when the second linear motion component is more than two tracks, that is, two sections of the third track a3011 and the third track B3012 can be understood, and the third track a3011 and the third track B3012 are in a parallel relationship, or a collinear relationship, that is, they can be regarded as the third track 301 in the first embodiment, and the first slider 102 of the first linear motion component close to the stationary point in the two first linear motion components a is hinged to the third track a3011 of the second linear motion component provided with the movable block 302, or hinged through the connecting component 10, and the second slider 202 of the first linear motion component away from the stationary point in the two first linear motion components is hinged to the third slider 303 of the second linear motion component, or hinged through the connecting component 10, where the above description is only directed to different places from the first embodiment, and the same places are not described and please refer to the first embodiment.

In an eighth embodiment, referring to fig. 14, compared to the seventh embodiment, in the two first linear motion assemblies, the second slider 202 of the first linear motion assembly B far away from the fixed point is hinged to the third track B of the second linear motion assembly, where the third track B is provided with the movable block 302, and the first slider 102 of the first linear motion assembly near the fixed point in the two first linear motion assemblies a is hinged to the third slider 303 of the second linear motion assembly, so that the connection position changes.

In a ninth embodiment, please refer to fig. 15, in this embodiment, the rotary driving device includes a first linear motion assembly, the first linear motion assembly includes more than one rail and two sliding blocks sliding on the rail, the two sliding blocks are oppositely arranged, the compensation driving device includes a second linear motion assembly, the second linear motion assembly includes at least one rail and a sliding block sliding on the rail, and a movable block sliding on the rail, one sliding block of the first linear motion assembly is directly or indirectly hinged with the sliding block of the second linear motion assembly, and the other sliding block of the first linear motion assembly is directly or indirectly hinged with the rail of the second linear motion assembly. Compared with the first embodiment, the first track 101 and the second track 201 are one track, a linear motion assembly is adopted, the first slider 102 and the second slider 202 respectively slide on the tracks, the first slider 102 is arranged above the second slider 202, the first slider 102 is hinged with the third track 301 of the second linear motion assembly, the second slider 202 is directly or indirectly hinged with the third slider 303 of the second linear motion assembly, and the compensation driving device is driven by the first slider 102 and the second slider 202 to move circularly.

In the tenth embodiment, referring to fig. 16, compared to the ninth embodiment, similarly, the first slider 102 is located above the second slider 202, the first slider 102 is directly or indirectly hinged to the third slider 303 of the second linear motion component, the second slider 202 is hinged to the third track 301 of the second linear motion component, and the hinge position is changed, so that the compensation driving device is driven by the first slider 102 and the second slider 202 to move circularly. The above description is only directed to the differences from the ninth embodiment, and the same parts will not be described again and refer to the ninth embodiment.

Referring to fig. 17, in a eleventh embodiment, compared to the seventh embodiment, the first rail 101 and the second rail 201 are a single rail, and a linear motion assembly is adopted.

In a twelfth embodiment, referring to fig. 18, compared to the eighth embodiment, the first rail 101 and the second rail 201 are a single rail, and a linear motion assembly is adopted, and the specific implementation principle is the same as that of the ninth embodiment, which is not described herein again.

The invention also provides a driving method of the telecentric fixed mechanism, which comprises a first moving pair, a second moving pair and a third moving pair, wherein the first moving pair and the second moving pair move in translation, and the first moving pair and the second moving pair drive the third moving pair to generate swinging around a fixed point.

In one embodiment, the first and second kinematic pairs cooperate to be understood as two sliding blocks of the rotary drive device, the kinematic pair is understood as a movable block of the compensation drive device, for example, in embodiments one to eight, the rotary drive device comprises at least two first linear motion assemblies, the compensation drive device comprises one second linear motion assembly, the first linear motion assembly comprises at least one rail and a sliding block sliding on the rail, the second linear motion assembly comprises at least one rail and a sliding block sliding on the rail, and the sliding block sliding on the rail, the sliding block of one first linear motion assembly is directly or indirectly hinged to the sliding block of the second linear motion assembly, the sliding block of the other first linear motion assembly is directly or indirectly hinged to the rail of the second linear motion assembly, wherein when the second linear motion assembly is more than two rails, the rails are parallel rails, the sliding block slides on one rail of the collinear rails, the sliding block slides on the other rail, so that the rotary drive device oscillates around the stationary point, in embodiments nine to twelve, the rotary drive device comprises one linear motion assembly, the sliding block on the collinear motion assembly comprises the sliding block, and the sliding block comprises the sliding block of the second linear motion assembly, and the sliding block comprises the linear motion assembly.

Referring to fig. 19-20, the present invention further provides a manipulator, which includes a manipulator support and the above-mentioned telecentric fixed mechanism, and further includes a driving mechanism for driving the movement of the telecentric fixed mechanism, the driving mechanism includes a compensation movement device and a rotation movement device, the rotation movement device is disposed in the manipulator support 501, the rotation movement device includes a first driving synchronous pulley 504 and a first idle pulley 505 corresponding to the first linear movement assembly a, and a second driving synchronous pulley 506 and a second idle pulley 507 corresponding to the first linear movement assembly B, wherein the first idle pulley 505 and the second idle pulley 507 are movably disposed at the top of the manipulator support 501, the first driving synchronous pulley 504 and the second driving synchronous pulley 506 are disposed at the bottom of the manipulator support 501 through a rotating shaft 513, the first driving synchronous pulley 504 and the first idle pulley 505 are connected through a first synchronous belt 502, the second driving synchronous pulley 506 and the second idle pulley 507 are connected through a second synchronous belt 503, a first bevel gear 511 is sleeved on a rotating shaft 513, a second bevel gear 512 is installed on a double-track driving motor 508, the first bevel gear 511 is meshed with the second bevel gear 512, the first synchronous belt 502 and the second synchronous belt 503 are driven to move under the movement of the double-track driving motor 508, wherein the first sliding block 102 is fixedly connected with the first synchronous belt 502, the second sliding block 202 is fixedly connected with the second synchronous belt 503, so that the first sliding block 102 and the second synchronous belt 503 synchronously move, the number of teeth of the first driving synchronous pulley 504 is n, and the number of teeth of the first driving synchronous pulley 504 is n ₁ And a second driving synchronous pulley 506 having n teeth ₂ ，n ₁ And n ₂ Satisfy the relation n ₁ /n ₂ K, when K is a specified value, i.e., the value of K in the above-described embodiment one.

The second linear motion component of the compensation motion device is arranged on the third track 301, the compensation motion device comprises a compensation driving motor 601, a gear 602 and a rack 603, the gear 602 is arranged on the compensation driving motor 601, the compensation driving motor 601 is arranged on the third track 301, the rack 603 is arranged outside the movable block 302, or the movable block 302 is provided with the rack 603, the gear 602 is meshed with the rack 603, and under the driving of the compensation driving motor 601, the movement of the rack 603 drives the movement of the movable block 302 to realize the telescopic motion of the compensation driving device.

The end device 401 is fixedly connected to an end of the compensation driving device away from the rotation driving device, that is, the end device 401 is fixedly connected to a moving end of the compensation driving device, that is, connected to the movable block 302, and may be fixedly mounted or detachably mounted, the end device 401 further includes a first clamp 402 and a second clamp 403, and the end device 401 is fixed to two ends of the movable block 302 through the first clamp 402 and the first clamp 403. The motion compensation device further comprises an auxiliary guide rod 604, the auxiliary guide rod 604 is arranged in parallel with the third rail 301, two ends of the auxiliary guide rod 604 are fixed with the first clamping portion 402 and the second clamping portion 403 respectively, and two ends of the rack 603 are connected with the first clamping portion 402 and the second clamping portion 403 respectively, so that the moving stability of the end device 401 is improved conveniently.

In this embodiment, the dual-rail driving motor 508 is connected to the second bevel gear 512 through a coupling 509. A brake 510 is disposed between the coupling 509 and the second bevel gear 512, and the brake 510 is a control component for controlling the speed or stopping the movement of the dual-rail driving motor 508, which is a conventional mechanical control component.

In this embodiment, the rotation shaft 513 is provided with a first bearing 514, a second bearing 515, and a third bearing 515 for connecting to the main body of the surgical robot, and the manipulator support is attached to the main body of the surgical robot.

In this embodiment, because the linear velocities of the first timing belt 502 and the second timing belt 503 are different, the third track 301 is connected to the first slider 102 through a rotation bearing, so that the third track 301 can rotate relative to the third track 301, and similarly, the rotation bearing of the third slider 303 is connected to the second slider 202, so that the third slider 303 can rotate relative to the second slider 202, and the end device 401 swings rotationally along with the third track 301. In the process, the third slide block 303 moves on the third track 301, and one point of the projection point of the end device 401 passing through the two bearing axes always passes through the fixed point.

It should be noted that the rotating shaft 513 may also be a double shaft, and two motors are used to drive the first driving synchronous pulley 504 and the second driving synchronous pulley 506, respectively, so as to satisfy the above-mentioned adjustment of the motor rotation speed ratio K. The linear driving mode is not limited to the above-mentioned motor driving, and other modes including cylinders, oil cylinders, etc. may be adopted, wherein the synchronous belt may also be a lead screw, a chain, etc. It should be noted that different telecentric motionless mechanisms are adopted, and the structures of the manipulators are different, and in this embodiment, the description is given of the driving of the telecentric motionless mechanism of the first embodiment.

Referring to fig. 1, the present invention further provides a surgical robot, wherein the surgical robot includes a manipulator and the above-mentioned telecentric immobilization mechanism, the telecentric immobilization mechanism is disposed on the manipulator support, the surgical robot further includes the above-mentioned robot main body 701, the manipulator is mounted on the robot main body 701, and the robot main body 701 is provided with a control key for controlling the manipulator and the telecentric immobilization mechanism, so as to drive the telecentric immobilization mechanism to move, and facilitate the medical care personnel 702 to operate and use.

The patent mainly describes a geometric principle for realizing a far-end fixed point, does not limit the specific structure of a mechanical structure capable of realizing the principle, applies an example to assist in explaining the principle, and is not the only realization way.

It is to be understood that the invention is not limited to the examples described above, but that modifications and variations may be effected thereto by those of ordinary skill in the art in light of the foregoing description, and that all such modifications and variations are intended to be within the scope of the invention as defined by the appended claims.

Claims (18)

1. A telecentric motionless mechanism is characterized in that the telecentric motionless mechanism comprises a compensation driving device and a rotary driving device, the rotary end of the compensation driving device is movably connected with the rotary driving device, the movable end of the compensation driving device can stretch and retract towards the motionless point direction, and the rotary driving device is used for driving the compensation driving device to generate the swing around the motionless point.

2. A telecentric stop mechanism according to claim 1 wherein the rotary drive is articulated to the compensation drive.

3. A telecentric mechanism according to claim 2, wherein the rotary actuator includes at least one first linear motion assembly, the first linear motion assembly is hinged to the compensation actuator, a hinge point between the first linear motion assembly and the compensation actuator is translated along the first linear motion assembly, the first linear motion assembly drives the compensation actuator to rotate around the stationary point, and a moving end of the compensation actuator extends and contracts on a connecting line between the hinge point between the first linear motion assembly and the compensation actuator and the stationary point.

4. A telecentric mechanism according to any one of claims 1 to 3, wherein the rotary drive comprises a first linear motion assembly comprising more than one rail and two slides sliding on the rail, said two slides being arranged opposite each other, and the compensation drive comprises a second linear motion assembly comprising at least one rail and a slide sliding on the rail, and a movable block sliding on the rail, one slide of the first linear motion assembly being directly or indirectly articulated to the slide of the second linear motion assembly, the other slide of the first linear motion assembly being directly or indirectly articulated to the rail of the second linear motion assembly.

5. A telecentric mechanism according to any one of claims 1 to 3 wherein the rotary drive comprises at least two first linear motion assemblies and the compensation drive comprises a second linear motion assembly, the first linear motion assembly comprising at least one rail and a slide sliding on the rail, the second linear motion assembly comprising at least one rail and a slide sliding on the rail, and a movable block sliding on the rail, the slide of one first linear motion assembly being directly or indirectly articulated to the slide of the second linear motion assembly and the slide of the other first linear motion assembly being directly or indirectly articulated to the rail of the second linear motion assembly.

6. A telecentric stop mechanism according to claim 5 wherein the second linear motion assembly has more than two tracks, the tracks being parallel, the slide sliding on one of the tracks and the movable block sliding on the other track.

7. A telecentric mechanism according to claim 5, wherein the rotary drive comprises two first linear motion assemblies and the compensation drive comprises a second linear motion assembly, the first linear motion assembly comprising a rail and a slide sliding on the rail, the second linear motion assembly comprising a rail and a slide sliding on the rail, and a movable block sliding on the rail, the slide of one first linear motion assembly being hinged to the slide of the second linear motion assembly, and the slide of the other first linear motion assembly being hinged to the rail of the second linear motion assembly.

8. A telecentric dead-center mechanism according to claim 7, characterized in that the slide block of the first linear motion component near the dead point in the two first linear motion components is hinged with one end of the track of the second linear motion component, the slide block of the second linear motion component slides on the other end of the track of the second linear motion component, the slide block of the first linear motion component far away from the dead point in the two first linear motion components is hinged with the slide block of the second linear motion component, or the slide block of the first linear motion component far away from the dead point in the two first linear motion components is hinged with one end of the track of the second linear motion component, the slide block of the second linear motion component slides on the other end of the track of the second linear motion component, and the slide block of the first linear motion component near the dead point in the two first linear motion components is hinged with the slide block of the second linear motion component.

9. A telecentric mechanism according to claim 6, wherein the rotary drive comprises two first linear motion assemblies and the compensation drive comprises a second linear motion assembly, the first linear motion assembly comprises a track and a slide block sliding on the track, the second linear motion assembly comprises two tracks and a slide block sliding on one of the tracks, and a movable block sliding on the other track, the two tracks are arranged in parallel, the slide block of one first linear motion assembly is hinged with the slide block of the second linear motion assembly, and the slide block of the other first linear motion assembly is hinged with the track of the second linear motion assembly provided with the movable block.

10. A telecentric motionless mechanism according to claim 9, characterized in that the slide block of the first linear motion component near the motionless point of the two first linear motion components is hinged with the track of the second linear motion component provided with the movable block, the slide block of the first linear motion component far from the motionless point of the two first linear motion components is hinged with the slide block of the second linear motion component, or the slide block of the first linear motion component far from the motionless point of the two first linear motion components is hinged with the track of the second linear motion component provided with the movable block, and the slide block of the first linear motion component near the motionless point of the two first linear motion components is hinged with the slide block of the second linear motion component.

11. A telecentric stop mechanism according to claim 5, wherein the link point of the slide block of one first linear motion assembly directly or indirectly hinged to the slide block of the second linear motion assembly and the link point of the slide block of the other first linear motion assembly directly or indirectly hinged to the track of the second linear motion assembly are collinear with the stop point.

12. A telecentric stop mechanism according to claim 5, wherein the two first linear motion assemblies of the rotary drive are disposed on the same side with respect to the compensation drive.

13. A telecentric stop mechanism according to claim 5, wherein the two first linear motion assemblies of the rotary drive are each disposed on one side of the compensation drive.

14. A telecentric mechanism according to claim 5, wherein the rotary drive means are two first linear motion assemblies outputting proportional linear motion, and the ratio of the first speed value to the second speed value is kept constant during the simultaneous translation at the first speed value and the second speed value.

15. A telecentric stop mechanism according to claim 5, wherein the displacement of the compensation actuator relative to the initial position after the movement is Δ T, satisfying the conditions

Wherein, S is the distance between the fixed point and the initial position of the direct hinge point of the slide block of the first linear motion component and one track of the second linear motion component, and Delta N is the displacement of the hinge point relative to the initial position after moving.

16. The driving method of the telecentric fixed mechanism is characterized by comprising a first moving pair, a second moving pair and a third moving pair, wherein the first moving pair and the second moving pair translate, and the first moving pair and the second moving pair drive the third moving pair to generate swing around a fixed point.

17. A manipulator, comprising a manipulator support and a telecentric immobilization mechanism according to any of claims 1-15 and disposed on the manipulator support.

18. A surgical robot comprising a manipulator support and a telecentric immobilization mechanism according to any one of claims 1-15, wherein the telecentric immobilization mechanism is disposed on the manipulator support.

Images