CN116829095A

CN116829095A - Mechanism with remote rotation center and working device

Info

Publication number: CN116829095A
Application number: CN202180089808.XA
Authority: CN
Inventors: 周啸波
Original assignee: Suzhou Mailan Technology Co ltd
Current assignee: Suzhou Mailan Technology Co ltd
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2023-09-29
Also published as: WO2022151223A1

Abstract

The utility model provides a mechanism with long-range center of rotation, including first platform (10), second platform (20) and guide (G), guide (G) are including first connecting piece (31), second connecting piece (32) and intermediate junction piece (43), intermediate junction piece (43) are rotated respectively with second platform (20), first connecting piece (31) and second connecting piece (32) and are connected in first point (D1), second point (D2) and third point (D3), fourth point (D4) on first connecting piece (31) can do circular motion around fifth point (D5) on second platform (20), sixth point (D6) on second connecting piece (32) can do circular motion around seventh point (D7) on second platform (20), connect first point (D1), second point (D2), fourth point (D4) and fifth point (D5) and form the parallelogram, connect first point (D1), third point (D3), sixth point (D6) and seventh point (D7). A working device is also provided.

Description

Mechanism with remote rotation center and working device

Technical Field

The present invention relates to the field of motion mechanisms, and in particular to a mechanism with a remote center of rotation and a work device comprising the mechanism.

Background

In the case of a rotation operation using a movement mechanism, for example, it is sometimes necessary to move the driving device away from the rotation center due to restriction of the target work space. Such a rotation center is also referred to as a remote center (RCM, remote Center of Motion) or remote rotation center.

Mechanisms with remote centers of rotation may be used, for example, with surgical robots or other manipulators, which generally require greater precision and less bulk, which is a challenge for the setup of the mechanism.

Disclosure of Invention

According to a first aspect of the present invention there is provided a mechanism having a remote centre of rotation, comprising a first platform, a second platform and a guide member connecting the first and second platforms, the first platform being controllable to rotate relative to the second platform by driving a portion of the guide member connected to the second platform,

the guide member includes a first connector, a second connector and an intermediate connector,

the intermediate connecting piece, the second platform, the first connecting piece and the second connecting piece are respectively connected with a first point, a second point and a third point in a rotating way,

the first connecting piece is provided with a fourth point, the second platform is provided with a fifth point, the fourth point can do circular motion around the fifth point,

the second connecting piece is provided with a sixth point, the second platform is provided with a seventh point, the sixth point can do circular motion around the seventh point,

the first connecting piece and the first platform are rotationally connected to an eighth point, the second connecting piece and the first platform are rotationally connected to a ninth point,

the first point, the second point, the fourth point and the fifth point are sequentially connected to form a parallelogram,

and the first point, the third point, the sixth point and the seventh point are sequentially connected to form a parallelogram.

In at least one embodiment, the guide further comprises a first strut and a second strut,

the first connecting piece and the first supporting rod are rotationally connected to a fourth point, the first supporting rod and the second platform are rotationally connected to a fifth point,

the second connecting piece and the second supporting rod are rotatably connected to a sixth point, and the second supporting rod and the second platform are rotatably connected to a seventh point.

In at least one embodiment, the second platform is formed with a first guide, the fourth point can reciprocate along the first guide on an arc centered at a fifth point, and/or

The second platform is provided with a second guide piece, and the sixth point can reciprocate along the second guide piece on an arc taking the seventh point as a circle center.

In at least one embodiment, connecting the first point, the second point, and the third point forms a triangle.

In at least one embodiment, connecting the second point, the fourth point and the eighth point forms a triangle,

and connecting the third point, the sixth point and the ninth point to form a triangle.

In at least one embodiment, the first and second connectors are deformable such that a distance between the eighth point and the second point and a distance between the ninth point and the third point are adjustable.

In at least one embodiment, the first platform and the intermediate connection are deformable such that a distance between the eighth point and the ninth point and a distance between the second point and the third point can be adjusted.

In at least one embodiment, in adjusting the distance between the eighth point and the ninth point, the distance between the rotation center and the eighth point is unchanged, and the distance between the rotation center and the ninth point is unchanged.

In at least one embodiment, the distance between the eighth point and the ninth point is equal to the distance between the second point and the third point.

In at least one embodiment, the first strut, the second strut and the intermediate connection are each deformable such that the distance between the fourth point and the fifth point and the distance between the first point and the second point can be adjusted synchronously, and the distance between the sixth point and the seventh point and the distance between the first point and the third point can be adjusted synchronously.

In at least one embodiment, a drive means for effecting movement of the guided element is mounted to the second platform.

In at least one embodiment, the mechanism further comprises a third platform, the second platform being rotatably mounted to the third platform about an axis intersecting the axis of rotation of the first platform relative to the center of rotation, and the axis passing through the center of rotation,

preferably, the axis is perpendicular to the axis of rotation of the first platform relative to the centre of rotation.

In at least one embodiment, the first connector is symmetrically disposed with the second connector, and the parallelogram formed by the first point, the second point, the fourth point, and the fifth point is symmetrically disposed with the parallelogram formed by the first point, the third point, the sixth point, and the seventh point.

According to a second aspect of the present invention there is provided a work apparatus comprising a work implement and a mechanism according to the present invention having a remote centre of rotation, the work implement being mounted to a first platform of the mechanism.

In at least one embodiment, the working instrument is a surgical medical instrument.

The mechanism with the remote rotation center is simple and compact in structure and can stably realize remote control of the first platform. The action device according to the invention has the same advantages.

Drawings

Fig. 1 is a schematic diagram of a mechanism according to a first embodiment of the invention.

Fig. 2 is a perspective view of a part of the structure of the mechanism according to the first embodiment of the present invention.

Fig. 3 to 5 are schematic diagrams of a mechanism according to a second embodiment of the present invention.

Fig. 6 is a schematic diagram of a mechanism according to a third embodiment of the invention.

Fig. 7 is a schematic diagram of a mechanism according to a fourth embodiment of the present invention.

Fig. 8 is a schematic diagram of a mechanism according to a fifth embodiment of the present invention.

Fig. 9 is a schematic diagram of a mechanism according to a sixth embodiment of the present invention.

Fig. 10 is a schematic diagram of a mechanism according to a seventh embodiment of the present invention.

Fig. 11 is a schematic diagram of a mechanism according to an eighth embodiment of the present invention.

Reference numerals illustrate:

10 a first platform; a second platform 20; a third platform 50;

a G guide; 31 a first connector; 32 a second connector; 41 a first strut; 42 second struts; 43 intermediate connectors; an O rotation center; l limit guide.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific illustrations are for the purpose of illustrating how one skilled in the art may practice the invention, and are not intended to be exhaustive of all of the possible ways of practicing the invention, nor to limit the scope of the invention.

Taking a mechanism applied to a surgical robot as an example, a mechanism having a remote rotation center and a working device including the same according to the present invention will be described with reference to fig. 1 to 10.

(first embodiment)

Referring to fig. 1 and 2, a mechanism having a remote rotation center (hereinafter referred to as a mechanism) according to a first embodiment of the present invention will be described.

The mechanism comprises a first platform 10, a second platform 20 and a guide G.

The first platform 10 is used for installing the working device K and can drive the working device K to rotate around the rotation center O.

A driving means (e.g., a motor, not shown) for driving the first stage 10 to rotate is mounted to the second stage 20.

The first platform 10 is connected to the second platform 20 by a guide G. The driving device drives the guide member G to move, and the guide member G transmits the movement to the first platform 10, so that the second platform 20 far away from the first platform 10 is driven, and the first platform 10 can achieve the effect of remote rotation.

Hereinafter, the proximity of the first platform 10 will be referred to as distal, and the proximity of the second platform 20 will be referred to as proximal.

The guide G includes a first connector 31, a second connector 32, a first strut 41, a second strut 42, and an intermediate connector 43.

The first connecting member 31 and the second connecting member 32 are rotatably connected to the first platform 10, and the first supporting rod 41, the second supporting rod 42 and the intermediate connecting member 43 are rotatably connected to the second platform 20. The first link 31 and the second link 32 serve as distal guides, and the first strut 41, the second strut 42, and the intermediate link 43 serve as proximal guides, with which the distal guides are rotatably connected to transmit driving force.

Specifically, the intermediate connection 43 has a substantially triangular plate shape. The intermediate link 43 is rotatably connected to the second platform 20 at one corner to the first point D1, and the intermediate link 43 is rotatably connected to the first link 31 and the second link 32 at the other two corners to the second point D2 and the third point D3, respectively.

It should be understood that in other possible embodiments, the intermediate connection 43 may be formed not in a triangular shape, but in a T-shape or Y-shape, for example.

Both ends of the first supporting rod 41 are rotatably connected with the first link 31 and the second platform 20, respectively. The first strut 41 and the first link 31 are rotatably connected to the fourth point D4, and the first strut 41 and the second platform 20 are rotatably connected to the fifth point D5. The first point D1, the second point D2, the fourth point D4 and the fifth point D5 are sequentially connected to form a parallelogram.

The first link 31 extends from a proximal end to a distal end, the second point D2 and the fourth point D4 being located at the proximal end, the first link 31 being rotatably connected to the eighth point D8 at the distal end with the first platform 10.

The second strut 42 is rotatably coupled at both ends to the second link 32 and the second platform 20, respectively. The second strut 42 is rotatably coupled to the second link 32 at a sixth point D6 and the second strut 42 is rotatably coupled to the second platform 20 at a seventh point D7. The first point D1, the third point D3, the sixth point D6 and the seventh point D7 are sequentially connected to form a parallelogram.

The second link 32 extends from a proximal end to a distal end, the third point D3 and the sixth point D6 being located at the proximal end, the second link 32 being rotatably connected to the ninth point D9 at the distal end with the first platform 10.

In the present embodiment, the distance between the first point D1 and the second point D2 is equal to the distance between the first point D1 and the third point D3, the distance between the second point D2 and the fourth point D4 is equal to the distance between the third point D3 and the sixth point D6, or the two sets of connectors (the first set of connectors formed by the first connector 31 and the first strut 41, and the second set of connectors formed by the second connector 32 and the second strut 42) on both sides of the intermediate connector 43 are symmetrical.

Rotation of the first platform 10 about the rotation center O may be achieved by driving any one of the first strut 41, the second strut 42 and the intermediate connection 43, i.e. driving the first strut 41 to rotate about the fifth point D5, or driving the intermediate connection 43 to rotate about the first point D1, or driving the second strut 42 to rotate about the seventh point D7.

It will be appreciated that the rotation of the first platform 10 about the centre of rotation O is referred to as remote rotation because it is indirectly driven by the rotation of other components driven by the drive means.

Preferably, the intermediate link 43 acts as an active member, i.e. the intermediate link 43 is driven in rotation about the first point D1, causing the first strut 41 and the second strut 42 to follow rotation.

The distance between the rotation center O and the eighth point D8 is equal to the distance between the rotation center O and the ninth point D9, which is equal to the radius of the virtual circle C where the locus of movement of the eighth point D8 or the ninth point D9 around the rotation center O is located. The radius of the circle C is equal to the distance between the first point D1 and the second point D2 and is also equal to the distance between the first point D1 and the third point D3.

It should be understood that the movement trace of the eighth point D8 or the ninth point D9 may not form a complete circle, but the movement trace of the eighth point D8 and the ninth point D9 may not deviate from the circle C, limited by the size and structure of the specific connection part of the guide G.

Thus, for example, a work implement K can be provided on the first platform 10 to form a work device according to the invention.

Alternatively, the working end (belonging to the distal end) of the working instrument K is located at the rotation center O, while the position of the moving drive means (or the operating end, belonging to the proximal end) is remote from the working end. The working instrument K is, for example, a surgical medical instrument, more specifically, a scalpel.

For example, in minimally invasive surgery, the mechanism according to the present invention is used to operate the working instrument K as a scalpel with the operating end remote from the working instrument K, so that more space can be left around the working instrument K to, for example, not obstruct the view of the operator, facilitating the operator's view.

Since the two sets of links on both sides of the intermediate link 43 are restrained by the intermediate link 43 to rotate synchronously, the two parallelograms are stable in structure. Especially when the parallelogram is rotated to the critical position, for example, when the first point D1, the second point D2, the fourth point D4 and the fifth point D5 are close to collinear, the parallelogram is not easily broken, i.e., a phenomenon such as the intermediate link 43 rotating clockwise and the first strut 41 rotating counterclockwise does not easily occur.

In addition, in the scheme of the present invention, the intermediate connecting piece 43 connects two groups of connecting pieces simultaneously to form two parallelogram structures, compared with the scheme that the two parallelogram structures are respectively formed by independent components, the present invention has the advantages of less number of used components, less space occupied by the mechanism, and less interference of each component in the rotation process.

(second embodiment)

Referring to fig. 3 to 5, a mechanism with a remote rotation center according to a second embodiment of the present invention will be described. The second embodiment is a modification of the first embodiment, and for the same or similar features as those of the first embodiment, the same reference numerals are used in the present embodiment, and detailed description of these features is omitted.

The connection of the parts of the mechanism in this embodiment is the same as in the first embodiment, but in order to provide a larger range of rotation for the first platform 10, the shapes of the first connector 31, the second connector 32, the first strut 41 and the second strut 42 are adjusted to reduce interference that may be created by the parts during rotation.

Specifically, the first and second connection members 31 and 32 are each formed in a substantially Y-shape. The first connector 31 includes a first connector first portion 311 and a first connector second portion 312 that are connected to each other, and the second connector 32 includes a second connector first portion 321 and a second connector second portion 322 that are connected to each other. The first connecting piece first part 311 and the first platform 10 are rotatably connected to an eighth point D8, and the first connecting piece second part 312 and the first strut 41 and the intermediate connecting piece 43 are rotatably connected to a fourth point D4 and a second point D2, respectively; the second link first portion 321 is rotatably coupled to the first platform 10 at a ninth point D9, and the second link second portion 322 is rotatably coupled to the second strut 42 and the intermediate link 43 at a sixth point D6 and a third point D3, respectively.

The sides of the first connector first portion 311 and the second connector first portion 321 that face each other are recessed (or bent) in a direction away from each other. The portion of the first link second portion 312 between the second point D2 and the fourth point D4 is recessed inward and the portion of the second link second portion 322 between the third point D3 and the sixth point D6 is recessed inward. So that the first and second links 31 and 32 do not easily interfere with each other during rotation.

The sides of the first and second struts 41 and 42 facing each other are recessed (or bent) in a direction away from each other, so that the first and second links 31 and 32 do not easily interfere with each other during rotation.

(third embodiment)

Referring to fig. 6, a mechanism with a remote center of rotation according to a third embodiment of the present invention is described. The third embodiment is a modification of the first embodiment, and for the same or similar features as those of the first embodiment, the same reference numerals are used in the present embodiment, and detailed description of these features is omitted.

In the present embodiment, the first and second connection members 31 and 32 are configured to be variable in shape or size to change the distance between the first and second stages 10 and 20. Since the dimensional structures of other parts are not changed, other reference points can be used as reference points in the process of adjusting the dimensions of the first connecting piece 31 and the second connecting piece 32. For example, the first connecting member 31 is deformed by changing the distance between the eighth point D8 and the second point D2, and the second connecting member 32 is deformed by changing the distance between the ninth point D9 and the third point D3.

Also, since the dimensions of the two parallelogram structures in the present embodiment are the same, the dimensions of the first link 31 and the second link 32 are adjusted synchronously, for example, during adjustment, ensuring that the distance between the eighth point D8 and the second point D2 is equal to the distance between the ninth point D9 and the third point D3.

For the adjustable structure of the first link 31 and the second link 32, for example, the first link 31 includes two relatively movable portions so that the first link 31 can be elastically deformed; the second connector 32 includes two relatively movable portions such that the second connector 32 is telescopically deformable. Such a telescopic structure belongs to the prior art, and this is not described in detail in the present invention.

By the above adjustment, the distance of the rotation center O with respect to the second stage 20 can be changed, however, the distance of the rotation center O with respect to the first stage 10 does not change, and the rotation radius (i.e., the radius of the virtual circle C) does not change.

Thus, with respect to the certain work implement K, after it is mounted on the first stage 10, in the process of synchronously adjusting the shapes of the first link 31 and the second link 32, it can be ensured that the work end of the work implement K is always located at the rotation center O (because the rotation radius is unchanged), but the distance of the work end (rotation center O) with respect to the second stage 20 varies.

This adjustment is particularly applicable for instance for feeding operations (bringing a tool into a certain incision) and for extracting operations (bringing a tool out of a certain incision) during minimally invasive surgery.

(fourth embodiment)

Referring to fig. 7, a mechanism with a remote center of rotation according to a fourth embodiment of the present invention will be described. The fourth embodiment is a modification of the first embodiment, and for the same or similar features as those of the first embodiment, the same reference numerals are used in the present embodiment, and detailed description of these features is omitted.

In the present embodiment, the first stage 10 is configured to be variable in shape or size so that the distance between the eighth point D8 and the ninth point D9 can be adjusted. Also, the intermediate connection 43 is configured to be variable in shape or size so that the distance between the second point D2 and the third point D3 can be adjusted. And, during the adjustment, it is ensured that the distance between the eighth point D8 and the ninth point D9 is equal to the distance between the second point D2 and the third point D3.

For example, the first platform 10 includes two relatively movable portions such that the first platform 10 is telescopically deformable; the intermediate connection 43 comprises two relatively movable parts, so that the intermediate connection 43 can be deformed telescopically. Such a telescopic structure belongs to the prior art, and this is not described in detail in the present invention.

Since the distance from the rotation center O to the eighth point D8 or the ninth point D9 is equal to the length of the first strut 41 or the second strut 42, and the lengths of the first strut 41 and the second strut 42 are all unchanged in the present embodiment, the deformation of the first platform 10 satisfies that the distance from the rotation center O to the eighth point D8 or the ninth point D9 is unchanged. Therefore, the expansion and contraction deformation of the first stage 10 described above is represented by the eighth point D8 and the ninth point D9 moving on the virtual circle C.

By the above adjustment, the distance of the rotation center O with respect to the first stage 10 can be changed, however, the distance of the rotation center O with respect to the second stage 30 is not changed, and the rotation radius is not changed.

This adjustment is particularly applicable in cases where the work implement K mounted on the first platform 10 needs to be replaced (the size of the different work implement K varies).

(fifth embodiment)

Referring to fig. 8, a mechanism with a remote center of rotation according to a fifth embodiment of the present invention will be described. The fifth embodiment is a modification of the first embodiment, and for the same or similar features as those of the first embodiment, the same reference numerals are used in the present embodiment, and detailed description of these features is omitted.

In the present embodiment, the dimensions of the first strut 41, the second strut 42 and the intermediate link 43 can be adjusted synchronously. Specifically, the dimensions of the first strut 41, the second strut 42 and the intermediate connection 43 are simultaneously adjusted such that the distance between the fourth point D4 and the fifth point D5, the distance between the first point D1 and the second point D2, the distance between the first point D1 and the third point D3, and the distance between the sixth point D6 and the seventh point D7 all remain equally changed.

During the simultaneous adjustment of the dimensions of the first strut 41, the second strut 42 and the intermediate connection 43, the position of the centre of rotation O with respect to the second platform 20 does not change, the position of the centre of rotation O with respect to the first platform 10 changes, and the radius of rotation changes.

(sixth embodiment)

Referring to fig. 9, a mechanism with a remote center of rotation according to a sixth embodiment of the present invention will be described. The sixth embodiment is a modification of the first and second embodiments, and for the same or similar features as those of the above-described embodiments, the same reference numerals are used in the present embodiment, and detailed description of these features is omitted.

The main improvement of this embodiment over the second embodiment is the addition of a third platform 50 to the mechanism, the second platform 20 being rotatable about an axis A0 relative to the third platform 50.

The axis A0 is perpendicular to the rotation axis (axis perpendicular to the paper surface in fig. 9) of the first stage 10 with respect to the rotation center O, and the axis A0 passes through the rotation center O.

By the superposition of the two rotations, i.e. the rotation of the first platform 10 with respect to the second platform 20 and the rotation of the second platform 20 with respect to the third platform 50, the first platform 10 can be made to move on a sphere having the rotation center O as the center of sphere.

For example, work implement K may be mounted on first platform 10 such that work implement K may be rotated in each direction about center of rotation O.

(seventh embodiment)

Referring to fig. 10, a mechanism with a remote center of rotation according to a seventh embodiment of the present invention will be described. The seventh embodiment is a modification of the first embodiment, and for the same or similar features as those of the first embodiment, the same reference numerals are used in the present embodiment, and detailed description of these features is omitted.

The main difference of this embodiment from the first embodiment is that the two parallelogram structures in this embodiment are asymmetric or of different sizes.

For example, in fig. 10, the distance between the first point D1 and the second point D2 is not equal to the distance between the first point D1 and the third point D3. Accordingly, the distance between the rotation center O and the eighth point D8 is not equal to the distance between the rotation center O and the ninth point D9.

In this case, when the lengths of the first link 31 and the second link 32 (i.e., the distance between the first platform 10 and the second platform 20) need to be adjusted, or when the sizes of the first strut 41, the second strut 42, and the intermediate link 43 need to be adjusted (i.e., the side lengths of the parallelograms) the adjustment of the sizes of the respective components will be equally proportionally adjusted according to the side length ratio of the two parallelograms.

(eighth embodiment)

Referring to fig. 11, a mechanism with a remote center of rotation according to an eighth embodiment of the present invention will be described. The eighth embodiment is a modification of the first embodiment, and for the same or similar features as those of the first embodiment, the same reference numerals are used in the present embodiment, and detailed description of these features is omitted.

In the present embodiment, one side of the parallelogram structure in the guide G is omitted (the first strut 41 in the first embodiment is omitted), and the movement of the first link 31 is restricted using the limit guide L guided by a groove or a rail or the like.

Specifically, in the present embodiment, the guide G includes the first link 31, the second link 32, the second strut 42, and the intermediate link 43.

The first connecting piece 31 and the middle connecting piece 43 are rotatably connected to the second point D2, the movement of the first connecting piece 31 at the fourth point D4 is limited by the limiting guide piece L, and the extending track of the limiting guide piece L is a part of a circle taking the fifth point D5 as the center of the circle, so that the fourth point D4 can only do circular movement around the fifth point D5. For example, the limit guide L is an arc-shaped groove, and an insert extending into the groove of the limit guide L is arranged at the fourth point D4. The first point D1, the second point D2, the fourth point D4 and the fifth point D5 are sequentially connected to form a parallelogram.

It should be appreciated that in other possible embodiments, the second struts 42 that make up the parallelogram D1D3D6D7 may also be omitted simultaneously, and that a circular arc guide may be used to limit the movement of the sixth point D6 on the second link 32 such that the sixth point D6 reciprocates on a circular arc centered about the seventh point D7.

It should be understood that the above-described embodiments, particularly the second to eighth embodiments, and part of aspects or features thereof may be appropriately combined.

Some advantageous effects of the above-described embodiments of the present invention are briefly described below.

(i) The mechanism according to the invention is simple and compact in structure and can remotely control the rotation of the first platform 10 at the far end so that the working end at the far end is not blocked by the driving device.

(ii) The invention uses the middle connecting piece 43 to connect two groups of connecting pieces with parallelogram structures, ensures that the parallelogram structures are controlled all the time in the rotating process, reduces the number of parts of the mechanism, has compact structure and is not easy to interfere in the rotating process.

(iii) The present invention provides a method of adjusting the position of the center of rotation O relative to the second platform 20 (or globally adjusting the position of the center of rotation O), the position of the center of rotation O relative to the first platform 10 (or locally adjusting the position of the center of rotation O), and the radius of rotation, such that the mechanism can be adapted to work tools K of different sizes or to different operating requirements.

It should be understood that the above-described embodiments are merely exemplary and are not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the above-described embodiments without departing from the scope of the present invention. For example, while the mechanism according to the invention is well suited for use as an operating device for minimally invasive surgery, it is not necessary that it can also be used as other operating devices for effecting remote rotation.

Claims

A mechanism with a remote centre of rotation, characterized in that it comprises a first platform (10), a second platform (20) and a guide (G) connecting said first platform (10) and said second platform (20), said first platform (10) being controllable in rotation with respect to said second platform (20) by driving the portion of said guide (G) connected to said second platform (20),

the guide member (G) comprises a first connecting member (31), a second connecting member (32) and an intermediate connecting member (43),

the intermediate connecting piece (43) and the second platform (20), the first connecting piece (31) and the second connecting piece (32) are respectively connected with a first point (D1), a second point (D2) and a third point (D3) in a rotating way,

the first connecting piece (31) is provided with a fourth point (D4), the second platform (20) is provided with a fifth point (D5), the fourth point (D4) can do circular motion around the fifth point (D5),

the second connecting piece (32) is provided with a sixth point (D6), the second platform (20) is provided with a seventh point (D7), the sixth point (D6) can do circular motion around the seventh point (D7),

the first connecting piece (31) and the first platform (10) are rotationally connected to an eighth point (D8), the second connecting piece (32) and the first platform (10) are rotationally connected to a ninth point (D9),

the first point (D1), the second point (D2), the fourth point (D4) and the fifth point (D5) are sequentially connected to form a parallelogram,

the first point (D1), the third point (D3), the sixth point (D6) and the seventh point (D7) are sequentially connected to form a parallelogram.
The mechanism with remote centre of rotation according to claim 1, characterized in that the guide (G) further comprises a first strut (41) and a second strut (42),

the first connecting piece (31) and the first supporting rod (41) are rotationally connected with a fourth point (D4), the first supporting rod (41) and the second platform (20) are rotationally connected with a fifth point (D5),

the second connecting piece (32) and the second supporting rod (42) are rotatably connected to a sixth point (D6), and the second supporting rod (42) and the second platform (20) are rotatably connected to a seventh point (D7).
The mechanism with a remote centre of rotation according to claim 1, characterized in that the second platform (20) is formed with a first limit guide along which the fourth point (D4) can reciprocate on an arc centered at a fifth point (D5), and/or

The second platform (20) is provided with a second limit guide, and the sixth point (D6) can reciprocate along the second guide on an arc taking the seventh point (D7) as a circle center.
The mechanism with remote center of rotation according to claim 1, wherein connecting the first point (D1), the second point (D2) and the third point (D3) forms a triangle.
The mechanism with a remote center of rotation according to claim 1, wherein the second point (D2), the fourth point (D4) and the eighth point (D8) are connected to form a triangle,

-connecting the third point (D3), the sixth point (D6) and the ninth point (D9) to form a triangle.
The mechanism with remote centre of rotation according to any one of claims 1 to 5, characterized in that the first connection (31) and the second connection (32) are deformable so that the distance between the eighth point (D8) and the second point (D2) and the distance between the ninth point (D9) and the third point (D3) can be adjusted.
The mechanism with remote centre of rotation according to any one of claims 1 to 5, characterized in that both the first platform (10) and the intermediate connection (43) are deformable so that the distance between the eighth point (D8) and the ninth point (D9) can be adjusted, the distance between the second point (D2) and the third point (D3).
The mechanism with a remote centre of rotation according to claim 7, characterized in that during the adjustment of the distance between the eighth point (D8) and the ninth point (D9), the distance between the centre of rotation (O) and the eighth point (D8) is unchanged and the distance between the centre of rotation (O) and the ninth point (D9) is unchanged.
The mechanism with remote centre of rotation according to claim 8, characterized in that the distance between the eighth point (D8) and the ninth point (D9) is equal to the distance between the second point (D2) and the third point (D3).
The mechanism with remote centre of rotation according to claim 2, characterized in that the first strut (41), the second strut (42) and the intermediate connection (43) are deformable such that the distance between the fourth point (D4) and the fifth point (D5) and the distance between the first point (D1) and the second point (D2) can be adjusted synchronously, and the distance between the sixth point (D6) and the seventh point (D7) and the distance between the first point (D1) and the third point (D3) can be adjusted synchronously.
A mechanism with a remote centre of rotation according to any one of claims 1 to 10, characterized in that a drive means for effecting the movement of the guided element (G) is mounted to the second platform (20).
The mechanism with a remote centre of rotation according to any one of claims 1 to 10, characterized in that it further comprises a third platform (50), said second platform (20) being rotatably mounted to said third platform (50) with respect to said third platform (50) about an axis (A0), said axis (A0) intersecting the axis of rotation of said first platform (10) with respect to said centre of rotation (O) and said axis (A0) passing through said centre of rotation (O),

preferably, the axis (A0) is perpendicular to the axis of rotation of the first platform (10) with respect to the rotation center (O).
The mechanism with remote rotation center according to any one of claims 1 to 12, characterized in that the first connection (31) is symmetrically arranged with the second connection (32) and that a parallelogram is formed by the first point (D1), the second point (D2), the fourth point (D4) and the fifth point (D5) and a parallelogram is symmetrically arranged by the first point (D1), the third point (D3), the sixth point (D6) and the seventh point (D7).
A working device, characterized by comprising a working instrument (K) and a mechanism with a remote centre of rotation according to any one of claims 1 to 13, the working instrument (K) being mounted to a first platform (10) of the mechanism.
Working device according to claim 14, characterized in that the working instrument (K) is a surgical medical instrument.