CN116763442A - Implanted brain operation robot with parallel three-stage combined structure - Google Patents

Abstract

The invention relates to an implanted robot with a parallel three-level combined structure, which comprises a 6-axis micro-motion platform, a macro-motion secondary platform and a macro-motion primary platform which are arranged on a remote control omnibearing moving trolley and have 6 degrees of freedom, wherein the 6-axis micro-motion platform is arranged above the macro-motion secondary platform, the macro-motion secondary platform is connected with the macro-motion primary platform through waist joints, the macro-motion primary platform, the macro-motion secondary platform and the waist joints form a macro-motion part with 7 degrees of freedom together, and three-dimensional movement and three-dimensional rotation can be realized at the position of the macro-motion secondary platform; the 6-axis micro-motion stage is provided with a flexible electrode implantation tool and a force control operation handle, and the traction force control operation handle is dragged to guide and control the following motions of the macro-motion secondary stage, the macro-motion primary stage and the waist joint, so that the positions of the 6-axis micro-motion stage and the flexible electrode implantation tool are dragged and adjusted. Compared with the prior art, the invention realizes the multi-degree of freedom and the micron-sized positioning precision and can move in a large range of space.

Description

Implanted brain operation robot with parallel three-stage combined structure

Technical Field

The invention relates to the technical field of surgical robots, in particular to an implantable brain surgical robot with a parallel three-stage combined structure.

Background

The invasive brain-computer interface needs to implant the acquisition electrode into the brain by adopting a neurosurgery method, and the flexible electrode of the brain is implanted into the cerebral cortex of the patient manually by a doctor mainly through surgery, but the manual operation has the problems of insufficient point position accuracy, time consumption during surgery and the like, so that the research and development of a brain surgery robot is necessary to realize the efficient, accurate and safe implantation of the invasive flexible electrode.

Because the interlacing condition among the capillaries of the brain grey matter is complex, the electrode implantation with larger error is extremely easy to cause a large number of capillaries with local areas to be broken, the existing neurosurgery robot does not reach the movement positioning precision capable of avoiding the capillaries, and can only reach the repeated positioning precision of 0.02mm and the smart operation requirement of 7 degrees of freedom. For example, a robot capable of realizing automation of electrode implantation is published in 2019 by a neurolink company, and electrodes can be implanted at each speed of 9 seconds, but animal experiments prove that the system cannot realize avoidance of capillary vessels through trajectory control due to limitation of motion precision, so that local hemorrhage of an operation area is easily caused. It can be said that the problem of motion accuracy of the implantation robot needs to be solved at present, so that secondary damage to brain tissues caused by operation can be avoided. In the prior art, when a brain flexible electrode implantation robot is researched, the positioning of a micron-sized electrode implantation area is mainly realized through a high-precision medical imaging technology, and then the flexible electrode implantation and the refined electrode loading which spans a macroscopic size to an electrode storage area are realized through a surgical operation robot, so that the brain surgical robot needs to meet flexible electrode implantation operation in a narrow space and realize the rapid position switching of a large-range movement space.

At present, the research of the space macro-micro motion in the surgical robot and the like which needs redundant degrees of freedom to realize complex operation is less, but compared with the general-purpose robot, the brain surgical robot has more degrees of freedom, so that the positioning and the operation on the complex brain tissue curved surface can be realized. However, from the standpoint of structural design of the robot, more degrees of freedom or introduction of a transmission chain can certainly increase joint backlash and transmission errors, thereby reducing the overall rigidity and positioning accuracy of the robot. Although some general-purpose robots have positioning accuracy approaching to micron, complicated brain surgery operation cannot be completed due to too little freedom.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide the implanted robot with the parallel three-stage combined structure, which can realize the micrometer positioning accuracy and move in a large range of space while realizing multiple degrees of freedom.

The aim of the invention can be achieved by the following technical scheme: the implanted robot with the parallel three-level combined structure comprises a 6-axis micro-motion platform, a macro-motion secondary platform and a macro-motion primary platform which are arranged on a remote control omnibearing moving trolley, wherein the 6-axis micro-motion platform is arranged above the macro-motion secondary platform, the macro-motion secondary platform is arranged above the macro-motion primary platform, the macro-motion secondary platform is connected with the macro-motion primary platform through a waist joint, and the macro-motion primary platform, the macro-motion secondary platform and the waist joint form a macro-motion part with 7 degrees of freedom together, so that three-dimensional movement and three-dimensional rotation can be realized at the position of the macro-motion secondary platform;

the 6-axis micro-motion stage is provided with 6 degrees of freedom, and the 6-axis micro-motion stage is provided with a flexible electrode implantation tool and a force control operation handle, and the positions of the 6-axis micro-motion stage and the flexible electrode implantation tool can be dragged and adjusted by guiding and controlling the following motions of the macro-motion secondary platform, the macro-motion primary platform and the waist joint through dragging the traction force control operation handle.

Further, the macro-moving primary platform is connected with a remote control type omnibearing moving trolley, and has two rotational degrees of freedom of pitching and rolling and one degree of freedom of moving along the plumb direction.

Further, the macro-motion secondary platform is provided with two rotation degrees of freedom of pitching and rolling and one degree of freedom of motion along the plumb direction, and is arranged on the primary motion platform of the macro-motion primary platform through a waist joint.

Further, the 6-axis micro-motion stage is arranged on a secondary motion platform of the macro-motion secondary platform, and the micro-motion platform of the 6-axis micro-motion stage has 6 degrees of freedom in three-dimensional movement and three-dimensional rotation.

Further, the 6-axis micro-motion stage is specifically a 6-degree-of-freedom parallel mechanism and comprises 6 linear modules which are arranged in the micro-motion frame and are arranged in parallel, the linear modules are connected with micro-motion stage connecting rod hinges, the micro-motion stage connecting rod hinges are connected with a micro-motion upper platform, a micro-motion lower platform is arranged at the bottom of the micro-motion frame, and a micro-motion servo driving module is arranged on the micro-motion lower platform;

the linear module comprises a guide rail and a sliding block capable of moving along the guide rail, the sliding block is connected with a micro-motion platform connecting rod hinge, the micro-motion platform connecting rod hinge comprises a hinge bracket, the hinge bracket is connected with the sliding block, a first ball hinge is arranged on the hinge bracket and is connected to a second ball hinge through a micro-motion connecting rod, and the second ball hinge is connected with a micro-motion upper platform;

the micro servo driving module comprises a micro servo motor and a harmonic reducer which are connected through a micro synchronous pulley.

Further, the macro-motion secondary platform comprises three sets of macro-motion secondary hinge connecting rods arranged below the secondary motion platform, the macro-motion secondary hinge connecting rods are correspondingly connected with a macro-motion secondary linear module, the macro-motion secondary platform further comprises a macro-motion secondary frame, a macro-motion secondary frame top plate and a macro-motion secondary frame bottom plate are respectively connected above and below the macro-motion secondary frame, a macro-motion secondary servo driving module is arranged on the macro-motion secondary frame bottom plate, and the macro-motion secondary servo driving module comprises a macro-motion servo motor and a speed reducer which are connected through macro-motion synchronous pulleys;

3 sets of macro-motion secondary servo driving modules correspondingly drive 3 sets of macro-motion secondary hinge connecting rods respectively, so that the motion of a secondary motion platform is realized.

Further, the macro-motion secondary linear module comprises a macro-motion secondary guide rail and a macro-motion secondary slide block which can move along the macro-motion secondary guide rail;

the macro-motion secondary hinge connecting rod comprises a secondary connecting rod, one end of the secondary connecting rod is connected with a secondary cross hinge and a secondary hinge seat, the secondary hinge seat is connected with a secondary motion platform, and the other end of the secondary connecting rod is connected to a macro-motion secondary sliding block through a secondary rotation connecting piece.

Further, the macro-moving primary platform comprises three sets of macro-moving primary hinge connecting rods arranged below the primary moving platform, the macro-moving primary hinge connecting rods are correspondingly connected with a macro-moving primary linear module, the macro-moving primary platform further comprises a macro-moving primary frame, a macro-moving primary frame top plate and a macro-moving primary frame bottom plate are respectively connected above and below the macro-moving primary frame, a macro-moving primary servo driving module is arranged on the macro-moving primary frame bottom plate, and the macro-moving primary servo driving module and the macro-moving secondary servo driving module are identical in structure;

3 sets of macro-movement primary servo driving modules correspondingly drive 3 sets of macro-movement primary hinge connecting rods respectively, so that the motion of a primary movement platform is realized.

Further, the macro-motion primary linear module comprises a macro-motion primary guide rail and a macro-motion primary sliding block which can move along the macro-motion primary guide rail;

the macro-motion primary hinge connecting rod comprises a primary connecting rod, one end of the primary connecting rod is connected with a primary cross hinge and a primary hinge seat, the primary hinge seat is connected with a primary motion platform, and the other end of the primary connecting rod is connected to the macro-motion primary sliding block through a primary rotation connecting piece.

Further, the force control operation handle comprises a six-dimensional force sensor, the six-dimensional force sensor is installed in a handle shell, one end of the handle shell is connected with an installation cap, and the other end of the handle shell is connected to a micro-motion rack of the 6-axis micro-motion stage through an adapter.

Compared with the prior art, the invention has the following advantages:

1. according to the invention, the 6-axis micro-motion platform, the macro-motion secondary platform and the macro-motion primary platform with 6 degrees of freedom are arranged on the remote control type omnibearing moving trolley, wherein the macro-motion secondary platform is connected with the macro-motion primary platform through the waist joint, the macro-motion primary platform, the macro-motion secondary platform and the waist joint form a macro-motion part with 7 degrees of freedom together, three-dimensional movement and three-dimensional rotation can be realized at the position of the macro-motion secondary platform, the waist joint is additionally arranged, namely, 1 degree of rotation freedom is increased, so that the smart operation capability of the macro-motion secondary platform is improved, namely, the requirements of terminal gesture control on the corner gestures of all macro-motion platforms are more flexible by a 7-degree-of-freedom mechanism, and the working space of the macro-motion secondary platform is larger; the flexible electrode implantation tool and the force control operation handle are arranged on the 6-axis micro-motion stage, and the following motion of the macro-motion secondary stage, the macro-motion primary stage and the waist joint can be guided and controlled through dragging the traction force control operation handle, so that the positions of the 6-axis micro-motion stage and the flexible electrode implantation tool are dragged and adjusted, and therefore the brain operation robot with the flexible electrode implantation with multiple-degree-of-freedom smart operation capability can be realized, micron-level positioning precision can be realized, large-range spatial motion can be realized, and certain speed and working space requirements can be met.

2. According to the invention, the macro-moving primary platform and the macro-moving secondary platform are provided with two rotational degrees of freedom of pitching and rolling and one degree of freedom of moving along the plumb direction, the macro-moving primary platform and the macro-moving secondary platform are respectively provided with 3 sets of corresponding hinge connecting rods, and are provided with corresponding servo driving modules, so that 2 rotational degrees of freedom of the macro-moving primary platform and the macro-moving secondary platform can reach a rotation angle of +/-45 degrees, and when the brain surgery robot is positioned in front of the top of the head of a person, flexible electrode implantation can be accurately carried out on 6 directions of the back, left side, right side, top of the head, forehead, nasal cavity and the like of the head of the person.

3. In the invention, the 6-axis micro-motion stage is designed into a parallel mechanism with 6 degrees of freedom, the linear module is connected with the micro-motion stage connecting rod hinge through 6 parallel arranged linear modules arranged in the micro-motion frame, the micro-motion stage connecting rod hinge is connected with the micro-motion upper platform, the micro-motion lower platform is arranged at the bottom of the micro-motion frame, the micro-motion servo driving module is arranged on the micro-motion lower platform, and the micro-motion servo driving module is used for driving the micro-motion stage connecting rod hinge, so that the whole 6-axis micro-motion stage can reliably realize three-dimensional movement and three-dimensional rotation with 6 degrees of freedom, and when the remote control all-dimensional movement trolley, the macro-motion primary platform and the macro-motion secondary platform are locked, the high-precision positioning and the precise implantation action of the flexible electrode implantation tool can be realized.

4. According to the invention, the force control operation handle is arranged on the 6-axis micro-motion stage and is used for realizing force control traction operation, when a user drags the force control operation handle, the magnitude and the direction of the applied force and the torque can be measured through the six-dimensional force sensor, and the following motion of the macro-motion secondary stage, the macro-motion primary stage and the waist joint is realized by combining the motion control of the existing force control algorithm and the servo system, so that the positions of the 6-axis micro-motion stage and the flexible electrode implantation tool are dragged and adjusted, and the flexibility and the reliability of the operation are ensured.

Drawings

FIGS. 1 a-1 b are schematic views of the overall structure of the present invention;

FIGS. 2 a-2 b are schematic views of the overall structure of a 6-axis micro-motion stage according to the present invention;

FIG. 3 is a schematic view of a link hinge structure of a micro-motion stage;

FIG. 4 is a schematic diagram of a micro servo driving module;

FIGS. 5 a-5 b are schematic views of the overall structure of a macro-motion secondary platform according to the present invention;

FIG. 6 is a schematic view of a macro-motion secondary hinge linkage;

FIG. 7 is a schematic diagram of a macro-motion two-stage servo driving module;

FIG. 8 is a schematic view of a lumbar joint structure according to the present invention;

FIGS. 9 a-9 b are schematic views of the overall structure of a macro-motion primary platform according to the present invention;

FIG. 10 is a schematic view of a macro primary hinge link structure;

FIG. 11 is a schematic view of the force control handle;

FIGS. 12 a-12 c are schematic illustrations of a flexible electrode implantation procedure performed from behind the head in an embodiment;

FIGS. 13 a-13 c are schematic illustrations of a flexible electrode implantation procedure performed from the left side of the head in an embodiment;

FIGS. 14 a-14 b are schematic illustrations of a flexible electrode implantation procedure performed from the right side of the head in an embodiment;

15 a-15 b are schematic illustrations of a flexible electrode implantation procedure performed from the top of the head in an embodiment;

FIGS. 16 a-16 c are schematic illustrations of a flexible electrode implantation procedure from the forehead direction of the head in an embodiment;

FIG. 17 is a schematic illustration of a flexible electrode implantation procedure performed nasally from the head in an embodiment;

the figure indicates: 1. 6, a micro-motion stage, 2, a macro-motion secondary stage, 3, a macro-motion primary stage, 4, a remote control omnibearing moving trolley, 5, waist joints, 6, a flexible electrode implantation tool, 7, a force control operation handle, 8, an implantation area, 9 and a liftable electric brain surgical operation bed;

11. the micro-motion upper platform comprises a micro-motion upper platform body 12, a micro-motion platform connecting rod hinge 121, a connecting rod 122, a second spherical hinge 123, a first spherical hinge 124, a hinge bracket 13, a guide rail 14, a sliding block 15, a micro-motion servo driving module 151, a micro-motion servo motor 152, a micro-motion synchronous pulley 153, a harmonic reducer 16, a micro-motion rack 17 and a micro-motion lower platform body;

21. the device comprises a secondary moving platform, 22, a macro moving secondary hinge connecting rod, 221, a secondary connecting rod, 222/223, a secondary cross hinge, 224, a secondary hinge seat, 225, a secondary rotating connecting piece, 23, a macro moving secondary guide rail, 24, a macro moving secondary slide block, 25, a macro moving secondary servo driving module, 251, a macro moving servo motor, 252, a macro moving synchronous pulley, 253, a speed reducer, 26, a macro moving secondary frame top plate, 27, a macro moving secondary frame bottom plate, 28 and a macro moving secondary frame;

31. the device comprises a primary moving platform 32, a macro moving primary hinge connecting rod 321, a primary connecting rod 322/323, a primary cross hinge 324, a primary hinge seat 325, a primary rotating connecting piece 33, a macro moving primary guide rail 34, a macro moving primary slide block 35, a macro moving primary servo driving module 36, a macro moving primary frame top plate 37, a macro moving primary frame bottom plate 38 and a macro moving primary frame;

51. the motor frame, 52, waist joint servo motor, 53, motor connecting flange;

71. adapter, 72, six-dimensional force sensor, 73, handle housing, 74, mounting cap.

Detailed Description

The invention will now be described in detail with reference to the drawings and specific examples.

Examples

As shown in fig. 1 a-1 b, an implantable brain surgery robot with a parallel three-stage combined structure mainly comprises a 6-axis micro-motion stage 1, a macro-motion secondary stage 2, a macro-motion primary stage 3, a remote-control omnibearing movable trolley 4, a waist joint 5 (namely a 7 th axis), a flexible electrode implantation tool 6 and a force control operation handle 7.

The macro-moving primary platform 3 is arranged on the remote-control omnibearing moving trolley 4, and has two rotational degrees of freedom of pitching and rolling and one degree of freedom of moving along the plumb direction. The remote control type omnibearing moving trolley 4 is positioned at the lowest part of the robot structure, and is remotely controlled by a user to move into a certain distance area close to the head of a patient. The detailed structure of the remote-control type omnibearing moving carriage 4 is a mature general-purpose device and will not be described in detail.

The macro-motion secondary platform 2 is arranged on the primary motion platform 31 of the macro-motion primary platform 3 and is connected with the primary motion platform 31 of the macro-motion primary platform 3 through the waist joint 5. The macro secondary platform 2 has two rotational degrees of freedom, namely pitch and roll, and one degree of freedom to move in the plumb direction.

The waist joint 5 is installed on the primary movable platform 31, has a rotational degree of freedom, and can drive the macro-movable secondary platform 2 to integrally rotate.

The combination of the macro-motion primary platform 3, the macro-motion secondary platform 2 and the waist joint 5 forms a macro-motion part of the implantable brain surgery robot, has 7 degrees of freedom, and can flexibly realize three-dimensional movement and three-dimensional rotation at the macro-motion secondary platform 2.

As shown in fig. 2a, 2b, 3 and 4, the 6-axis micro-motion stage 1 is mounted on the secondary motion stage 21 of the macro-motion secondary stage 2, the micro-motion stage 61 has 6 degrees of freedom of three-dimensional motion and three-dimensional rotation, and when the motor shafts of the remote-control omnibearing motion trolley 4, the macro-motion primary motion stage 31 and the macro-motion secondary motion stage 21 are locked, the micro-motion stage is used for realizing high-precision positioning and precise implantation of the flexible electrode implantation tool 6.

The flexible electrode implantation tool 6 is used for realizing flexible electrode clamping, and can manually adjust a plurality of fixed rotation angles, thereby facilitating electrode implantation operations for different brain regions.

The 6-axis micro-motion stage 1 is a parallel mechanism having 6 degrees of freedom, including: the linear module (namely a guide rail slide block module, a mature product-high-precision linear module is adopted in the embodiment, and the linear module has a U-shaped rail structure of ball screw and precision grinding), the micro-stage connecting rod hinge 12, the micro-upper platform 11, the micro-lower platform 17, the micro-stage rack 16 and the micro-servo driving module 15, wherein the linear module consists of 6 guide rails 13 and slide blocks 14 which are arranged in parallel, the micro-stage connecting rod hinge 12, the micro-upper platform 11, the micro-lower platform 17, the micro-stage rack 16 and the micro-servo driving module 124 are formed by 12 sets of ball hinges 122 and 123 at two ends of the 6 sets of connecting rods 121. The micro servo driving module 15 is composed of a micro servo motor 151, a harmonic reducer 152 and a micro synchronous pulley 153.

As shown in fig. 5a, 5b, 6 and 7, the macro-motion secondary platform 2 is mounted on a primary motion platform 31 of the macro-motion primary platform 3, and is composed of a macro-motion secondary platform 21, a total of 3 sets of macro-motion secondary hinge links 22, a total of 3 sets of macro-motion secondary guide rails 23 and sliding blocks 24, a total of 3 sets of macro-motion secondary servo driving modules 25, a macro-motion secondary rack top plate 26, a macro-motion secondary rack bottom plate 27 and a macro-motion secondary rack 28. The macro-motion secondary servo driving module 25 is composed of a macro-motion servo motor 251, a macro-motion synchronous pulley 252 and a speed reducer 253.

The 3 sets of macro-motion secondary servo driving modules 25 are used for respectively driving the 3 sets of macro-motion secondary hinge connecting rods 22, so that the motion of the secondary motion platform 21 of the macro-motion secondary platform 2 is realized, and the secondary motion platform 21 has two rotational degrees of freedom of pitching and rolling and one degree of freedom of motion along the plumb direction. As shown in fig. 6, the macro-moving secondary hinge connecting rod 22 is composed of a secondary connecting rod 221, a secondary cross hinge 222/223, a secondary hinge seat 224 and a secondary rotating connecting piece 225, one end of the secondary connecting rod 221 is connected with a bearing in the secondary rotating connecting piece 225, the other end is the secondary cross hinge 222, the secondary connecting rod 221 can rotate around an X23 axis, can swing around an X24 axis and rotate around an X25 axis, and two ends of the secondary rotating connecting piece 225 are respectively provided with a bearing which can rotate around the X22 axis.

As shown in fig. 8, the waist joint 5 is composed of a motor frame 51, a waist joint servo motor 52, and a motor connecting flange 53. The macro-motion secondary platform 2 is connected with the primary motion platform 31 of the macro-motion primary platform 3 through a motor connecting flange 53 of the waist joint 5.

As shown in fig. 9a, 9b and 10, the macro-moving primary platform 3 is installed on the remote-control omnibearing moving trolley 4, and is composed of a primary moving platform 31, 3 sets of macro-moving primary hinge connecting rods 32, 3 sets of macro-moving primary guide rails 33 and sliding blocks 34, 3 sets of macro-moving primary servo driving modules 35, a macro-moving primary rack top plate 36, a macro-moving primary rack bottom plate 37 and a macro-moving primary rack 38. The macro primary servo drive module 35 has the same structural design as the macro secondary servo drive module 25.

3 sets of macro-movement primary servo driving modules 35 are used for respectively driving 3 sets of macro-movement primary hinge connecting rods 32, so that the primary movement platform 31 of the macro-movement primary platform 3 is moved, and the primary movement platform 31 has two rotational degrees of freedom of pitching and rolling and one degree of freedom of movement along the plumb direction. As shown in fig. 10, the macro one-stage hinge link 32 is composed of a one-stage link 321, a one-stage cross hinge 322/323, a one-stage hinge base 324, a one-stage rotation connector 325, and a one-stage rotation shaft 326. One end of the primary connecting rod 321 is connected with a bearing in the primary rotating connecting piece 325, the other end is provided with a primary cross hinge 322, and the primary connecting rod 321 can rotate around an X33 axis, also can swing around an X34 axis and rotate around an X35 axis. The primary shaft 326 has bearings at each end and the primary link 321 is rotatable about the X32 axis.

As shown in fig. 11, the force control operation handle 7 includes a six-dimensional force sensor 72, the six-dimensional force sensor 72 is mounted in a handle housing 73, one end of the handle housing 73 is connected with a mounting cap 74, and the other end of the handle housing 73 is connected to the micro-motion rack of the 6-axis micro-motion stage through an adapter 71. The force control operation handle 7 is used for realizing force control traction operation, and because the force control operation handle 7 is arranged on a rack of the 6-axis micro-motion platform, the rack of the 6-axis micro-motion platform is arranged on a secondary motion platform 21 of the macro-motion secondary platform 2, when a user drags the force control operation handle 7, the magnitude and the direction of the applied force and the torque are measured through the six-dimensional force sensor 72, and then the following motion of the macro-motion secondary platform 2, the macro-motion primary platform 3 and the waist joint 5 can be realized by combining the motion control of the existing force control algorithm and the servo system, so that the positions of the 6-axis micro-motion platform 1 and the flexible electrode implantation tool 6 are dragged and adjusted.

In practical application, the implantation process for realizing the electrode mainly comprises the following steps: the patient lies on back or the operating table of bowing, the head is fixed, the omnibearing mobile dolly 4 of remote control reaches the region of patient's head, the user drags the power to control the operating handle 7, guide and control the macro to move the second stage platform 2, macro to move the first stage platform 3, drive 6 axle micro-gap bench 1 and flexible electrode implantation tool 6 to the region that brain electrode was implanted (the area of the cranium window of conventional operation is in 1..about.2.5 square centimeters), lock each motor shaft, then combine visual image processing, nuclear magnetism imaging technique to confirm the space position appearance relation of implantation position relative to flexible electrode implantation tool 6, realize the implantation operation motion of flexible electrode implantation tool 6 by 6 axle micro-gap bench 1 automatically. By adopting the technical scheme, the brain operation robot for flexible electrode implantation with the flexible operation capability of multiple degrees of freedom (7 degrees of freedom of a macro-motion part and 6 degrees of freedom of a micro-motion part) can realize 1 micrometer positioning accuracy and can move in a large range of space, 2 rotational degrees of freedom of a primary macro-motion platform and a secondary macro-motion platform can reach a rotation angle of +/-45 degrees, and when the brain operation robot is positioned in front of the top of a head of a person, as shown in figures 12 a-12 c, 13 a-13 c, 14 a-14 b, 15 a-15 b, 16 a-16 c and 17, the flexible electrode implantation operation can be accurately performed on 6 directions of the back, left side, right side, top of the head, forehead, nasal cavity and the like of the head of the person.

Claims (10)

1. The implanted robot with the parallel three-level combined structure is characterized by comprising a 6-axis micro-platform (1), a macro-motion secondary platform (2) and a macro-motion primary platform (3) which are arranged on a remote control omnibearing moving trolley (4), wherein the 6-axis micro-platform (1) is arranged above the macro-motion secondary platform (2), the macro-motion secondary platform (2) is arranged above the macro-motion primary platform (3), the macro-motion secondary platform (2) is connected with the macro-motion primary platform (3) through a waist joint (5), and the macro-motion primary platform (3), the macro-motion secondary platform (2) and the waist joint (5) form a macro-motion part with 7 degrees of freedom together, so that three-dimensional movement and three-dimensional rotation can be realized at the position of the macro-motion secondary platform (2).

The 6-axis micro-motion stage (1) has 6 degrees of freedom, the 6-axis micro-motion stage (1) is provided with a flexible electrode implantation tool (6) and a force control operation handle (7), and the following motions of the macro-motion secondary stage (2), the macro-motion primary stage (3) and the waist joint (5) can be guided and controlled by dragging the traction force control operation handle (7), so that the positions of the 6-axis micro-motion stage (1) and the flexible electrode implantation tool (6) are dragged and adjusted.

2. The implantable robot of a parallel three-stage combined structure according to claim 1, wherein the macro-moving primary platform (3) is connected with a remote-control omnibearing moving trolley (4), and the macro-moving primary platform (3) has two rotational degrees of freedom of pitching and rolling and one degree of freedom of movement along the plumb direction.

3. The implantable robot of a parallel three-stage combined structure according to claim 2, wherein the macro-moving secondary platform (2) has two rotational degrees of freedom of pitching and rolling and one degree of freedom of moving along the plumb direction, and the macro-moving secondary platform (2) is mounted on the primary moving platform (31) of the macro-moving primary platform (3) through the waist joint (5).

4. The implantable robot with the parallel three-stage combined structure according to claim 1, wherein the 6-axis micro-motion stage (1) is installed on a secondary motion stage (21) of a macro motion secondary stage (2), and the micro-motion stage of the 6-axis micro-motion stage (1) has 6 degrees of freedom in total of three-dimensional movement and three-dimensional rotation.

5. The implantable robot with the parallel three-stage combined structure according to claim 4, wherein the 6-axis micro-motion stage (1) is specifically a 6-degree-of-freedom parallel mechanism and comprises 6 parallel linear modules arranged inside a micro-motion frame (16), the linear modules are connected with micro-motion stage connecting rod hinges (12), the micro-motion stage connecting rod hinges (12) are connected with a micro-motion upper platform (11), a micro-motion lower platform (17) is arranged at the bottom of the micro-motion frame (16), and a micro-motion servo driving module (15) is arranged on the micro-motion lower platform (17);

the linear module comprises a guide rail (13) and a sliding block (14) capable of moving along the guide rail (13), the sliding block (14) is connected with a micro-motion platform connecting rod hinge (12), the micro-motion platform connecting rod hinge (12) comprises a hinge bracket (124), the hinge bracket (124) is connected with the sliding block (14), a first ball hinge (123) is arranged on the hinge bracket (124), the first ball hinge (123) is connected to a second ball hinge (122) through a micro-motion connecting rod (121), and the second ball hinge (122) is connected with a micro-motion upper platform (11);

the micro servo driving module (15) comprises a micro servo motor (151) and a harmonic reducer (153) which are connected through a micro synchronous pulley (152).

6. A parallel three-stage combined structure implantable robot according to claim 3, wherein the macro-motion secondary platform (2) comprises three sets of macro-motion secondary hinge connecting rods (22) arranged below the secondary motion platform (21), the macro-motion secondary hinge connecting rods (22) are correspondingly connected with macro-motion secondary linear modules, the macro-motion secondary platform (2) further comprises a macro-motion secondary rack (28), a macro-motion secondary rack top plate (26) and a macro-motion secondary rack bottom plate (27) are respectively connected above and below the macro-motion secondary rack (28), a macro-motion secondary servo driving module (25) is arranged on the macro-motion secondary rack bottom plate (27), and the macro-motion secondary servo driving module (25) comprises a macro-motion servo motor (251) and a speed reducer (253) which are connected through macro-motion synchronous pulleys (252);

3 sets of macro-motion secondary servo driving modules (25) respectively correspondingly drive 3 sets of macro-motion secondary hinge connecting rods (22), so that the motion of the secondary motion platform (21) is realized.

7. The parallel three-stage combined structure implantable robot as claimed in claim 6, wherein the macro secondary linear module comprises a macro secondary guide rail (23) and a macro secondary slide block (24) movable along the macro secondary guide rail (23);

the macro-motion secondary hinge connecting rod (22) comprises a secondary connecting rod (221), one end of the secondary connecting rod (221) is connected with a secondary cross hinge (222/223) and a secondary hinge seat (224), the secondary hinge seat (224) is connected with a secondary motion platform (21), and the other end of the secondary connecting rod (221) is connected to a macro-motion secondary sliding block (24) through a secondary rotation connecting piece (225).

8. The parallel three-stage combined structure implantation robot of claim 7, wherein the macro-movement primary platform (3) comprises three sets of macro-movement primary hinge connecting rods (32) arranged below the primary movement platform (31), the macro-movement primary hinge connecting rods (32) are correspondingly connected with macro-movement primary linear modules, the macro-movement primary platform (3) further comprises a macro-movement primary rack (38), a macro-movement primary rack top plate (36) and a macro-movement primary rack bottom plate (37) are respectively connected above and below the macro-movement primary rack (38), a macro-movement primary servo driving module (35) is arranged on the macro-movement primary rack bottom plate (37), and the macro-movement primary servo driving module (35) and the macro-movement secondary servo driving module (25) have the same structure;

3 sets of macro-movement primary servo driving modules (35) respectively correspondingly drive 3 sets of macro-movement primary hinge connecting rods (32), so that the motion of the primary movable platform (31) is realized.

9. The implantable robot of claim 8, wherein the macro primary linear module comprises a macro primary rail (33) and a macro primary slide (34) movable along the macro primary rail (33);

the macro-motion primary hinge connecting rod (32) comprises a primary connecting rod (321), one end of the primary connecting rod (321) is connected with a primary cross hinge (322/323) and a primary hinge seat (324), the primary hinge seat (324) is connected with a primary motion platform (31), and the other end of the primary connecting rod (321) is connected to a macro-motion primary sliding block (34) through a primary rotation connecting piece (325).

10. The implantable robot with the parallel three-stage combined structure according to claim 5, wherein the force control operation handle (7) comprises a six-dimensional force sensor (72), the six-dimensional force sensor (72) is installed in a handle shell (73), one end of the handle shell (73) is connected with an installation cap (74), and the other end of the handle shell (73) is connected to a micro-motion rack (16) of the 6-axis micro-motion stage (1) through an adapter (71).