CN117017503A - Retinal surgery robot based on biplane remote movement center mechanism - Google Patents
Retinal surgery robot based on biplane remote movement center mechanism Download PDFInfo
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- 230000007246 mechanism Effects 0.000 title claims abstract description 146
- 230000033001 locomotion Effects 0.000 title claims abstract description 53
- 230000002207 retinal effect Effects 0.000 title claims description 18
- 238000001356 surgical procedure Methods 0.000 title abstract description 13
- 238000013519 translation Methods 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 210000001525 retina Anatomy 0.000 abstract description 3
- 239000000243 solution Substances 0.000 description 6
- 102100037807 GATOR complex protein MIOS Human genes 0.000 description 4
- 101000950705 Homo sapiens GATOR complex protein MIOS Proteins 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
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- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000017442 Retinal disease Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
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- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 208000002780 macular degeneration Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000130 stem cell Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The application discloses a retina surgical robot based on a biplane remote movement center mechanism, which comprises two orthogonal plane mechanisms, namely a plane mechanism 1 and a plane mechanism 2, wherein the plane mechanism 1 has one rotation degree of freedom and one translation degree of freedom, the plane mechanism 2 has one rotation degree of freedom, and the two plane mechanisms are respectively connected on respective racks and are connected with a bottom plate; the robot comprises three servo motors for controlling three degrees of freedom of the robot; the orthogonal point O of the whole robot in the axial direction of the two planar mechanisms forms a remote center of motion around which both rotation and translation are around. Compared with the prior remote movement center robot, the application has greater advantages and safety for ophthalmic surgery.
Description
Technical Field
The application belongs to the technical field of machinery and robots, in particular to the technical field of ophthalmic surgical robots, and particularly relates to a retinal surgical robot based on a biplane remote movement center mechanism.
Background
With the development of minimally invasive ophthalmic surgery (minimally invasive ophthalmic surgery, MIOS), vitreoretinal surgery has been developed for retinal diseases such as macular degeneration. At present, the safety of the operations is verified through animal experiments, and a plurality of clinical tests aiming at human bodies are successfully carried out. However, retinal surgery has extremely high accuracy requirements: the operation is performed in a scleral incision with a diameter of less than 1mm, the target retina tissue is as thin as 25 μm, and the amplitude of physiological hand tremors of doctors is about 182 μm, which cannot meet the precision requirement. Thus, the injection of stem cells in the retina is difficult to perform in a conventional manual manner, and a retinal surgical robot needs to be developed to perform or assist in surgery.
During MIOS, surgical instruments are inserted into the eye through a scleral incision and various procedures are performed through the incision throughout the surgical procedure. For this feature, taylor et al propose that the end instrument of the RCM mechanism of the remote center of motion mechanism (Taylor RH, funda J, grossman D, et al remote center-of-motion robot for surgery [ P ]. US patent 5397123, 1995, oct.) will move about a fixed point where there is no actual mechanical structure. RCM based robots are better suited to MIOS than traditional serial robotic arms because they limit the movement of the robot tip by mechanical structure, thereby reducing the degrees of freedom and kinematic coupling. Among various RCM mechanisms, the parallelogram-based RCM mechanism has advantages of simple structure, stability, motion consistency, etc., and has been widely used in ophthalmic surgical robots.
For parallelogram RCM mechanisms applied to surgical robots, the end effector typically has 2 or 3 rotational degrees of freedom and 1 translational degree of freedom. At present, most driving motors of parallelogram RCM surgical robots are arranged at the tail end instrument or the near end of the tail end instrument, so that the size of the tail end instrument can be increased, the surgical space can be compressed, and the self-locking device and other structures of a driver can be difficult to install. Therefore, designing new mechanisms to achieve drive placement at the distal end is a primary concern in the development of such robotic mechanical structures.
In recent studies, some parallelogram RCM mechanisms have been proposed, in which the linear actuator is mounted closer to the base. Lin et al propose a passive lever mechanism that enables the driver to be placed at the distal end of the base. (Lin RF, guo W Z, cheng S.Type systems of2R1T remote center ofmotionparallel mechanisms with apassive limb for minimally invasive surgical robot [ J ]. Mechanism and Machine Theory,2022, 172:104766.). Zhang et al incorporate additional parallel links in a conventional parallelogram mechanism to convert rotational movement of the base into translational movement of the surgical instrument (Zhang F, zhang X, hang L B, et al type synchronization of n-parallel-based surgical arm with remote actuated configuration [ M ]. Lecture Notes in Electrical Engineering,2017, 408:183-194). Gijbels et al designed a new parallelogram RCM mechanism by increasing the number of parallelograms, which introduced a translating joint near the base, and was simpler to control (Gijbels A, wobmers N, stalmans P, et al design and realization ofa novel robotic manipulator for retinal surgery [ C ]. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013:3598-3603.).
For the improved mechanism described above, the translational movement is typically achieved by more than one actuator, which results in a kinematic coupling and introduces a slight control error that cannot be ignored in the MIOS.
In summary, the existing ophthalmic surgical robots based on remote centers of motion have the following main drawbacks: the driver cannot be placed at the distal end, the distal surgical instrument is heavy, the motion coupling is difficult to control, etc.
Disclosure of Invention
The application aims to solve the problems in the prior art and provides an ophthalmic surgical robot which consists of two plane mechanisms, can realize that a driver is arranged at the far end of a base and aims at vitreoretinal surgery based on a parallelogram remote movement center mechanism.
The technical solution for realizing the purpose of the application is as follows: a retinal surgical robot based on a biplane remote center of motion mechanism, the robot comprising two orthogonal plane mechanisms, denoted plane mechanism 1 and plane mechanism 2, respectively, wherein plane mechanism 1 has one rotational degree of freedom and one translational degree of freedom, plane mechanism 2 has one rotational degree of freedom, and the two plane mechanisms are connected to respective frames and to a base plate, respectively; the robot comprises three servo motors which are respectively used for controlling three degrees of freedom of the robot; the orthogonal point O of the whole robot in the axial direction of the two planar mechanisms forms a remote center of motion around which both rotation and translation are around.
Further, the plane mechanism 1 comprises a first base and a first motor which are arranged on a rack of the plane mechanism, and a first rod assembly and a second motor which are arranged on the first base; the first rod piece group comprises a driving parallelogram rod group, a follow-up parallelogram rod group and a tail end parallelogram rod group, wherein the tail end parallelogram rod group is provided with instruments required during operation, the second motor drives the driving parallelogram rod group to rotate along the axial direction parallel to the plane mechanism 1, drives the follow-up parallelogram rod group to rotate along the same direction, and further drives the tail end parallelogram rod group to rotate along the same direction and translate up and down; the first motor drives the first base to rotate around the axial direction of the plane mechanism 1, and then drives the first rod piece set to synchronously rotate.
Further, the frame of the plane mechanism 1 comprises a first bearing seat, a second bearing seat and a first motor seat which are arranged on the bottom plate and coaxially and sequentially arranged, wherein the first bearing seat is close to the orthogonal point O; the two ends of the first base are respectively provided with a first bearing seat and a second bearing seat through bearings, the first motor is arranged on the first motor seat, and an output shaft of the first motor is connected with the two ends of the second bearing seat through a shaft coupling.
Further, the driving parallelogram lever group comprises a first rocker, a second rocker, a third rocker and a first horizontal lever 8, the following parallelogram lever group comprises a fourth rocker, a fifth rocker, a second horizontal lever and the first horizontal lever 8, and the tail end parallelogram lever group comprises a sixth rocker, a third horizontal lever, an instrument holder and the second horizontal lever; the instrument seat is provided with instruments required by an operation; the first base is of a rectangular frame structure, the first rocker and the third rocker are respectively arranged on opposite side inner walls of the first base along the axial direction of the plane mechanism 1 and are oppositely arranged in parallel, one end of the first rocker is hinged with the first base and is provided with an extension shaft, and the extension shaft is connected with an extension shaft of the second motor through a coupler; two parallel first flange shafts and two parallel second flange shafts are arranged between two inner walls of the first rocker and the third rocker, the second rocker and the third rocker are positioned on the same straight line and are arranged in parallel, and one end of the second rocker is hinged with the second flange shafts; the other end of the first rocker is connected with the other end of the third rocker through a third flange shaft, one end of the fourth rocker and one end of the first horizontal rod are hinged with the third flange shaft through bearings, the other end of the fourth rocker is hinged with one end of the second horizontal rod, the other end of the first horizontal rod is hinged with the other end of the second rocker, and two ends of the fifth rocker are respectively hinged with the middle part of the second horizontal rod and the other end of the second rocker; the first flange shaft is hinged with a first linear bearing seat, the first linear bearing seat is fixedly provided with a first linear bearing, a first guide rod is arranged on the first linear bearing to form a sliding pair, and the first guide rod moves along the axial direction of the first linear bearing; one end of the sixth rocker is hinged with the middle part of the second horizontal rod, and the other end of the sixth rocker is hinged with one end of the third horizontal rod; two ends of the instrument seat are respectively hinged with the other end of the second horizontal rod and the other end of the third horizontal rod, and a second guide rod is fixed on the instrument seat; the first horizontal rod, the second horizontal rod and the third horizontal rod are arranged in parallel, and the fourth rocker and the fifth rocker are arranged in parallel; the instrument seat is arranged in parallel with the sixth rocker.
Further, the third flange shaft is fixed with the first rocking bar through a bolt and hinged with the third rocking bar through a bearing, and in the moving process of the plane mechanism 1, the movement of the first rocking bar and the movement of the third rocking bar are always consistent.
Further, the plane mechanism 2 comprises a second base and a third motor which are arranged on the frame of the plane mechanism, and a second rod piece set which is arranged on the second base; the second rod piece group comprises a transmission parallelogram rod group; the second rod piece set is driven by the plane mechanism 1 to rotate along the axial direction parallel to the plane mechanism; the third motor drives the second base to rotate around the axial direction of the plane mechanism, so that the second rod piece set is driven to synchronously rotate, and meanwhile, the third motor and the second motor jointly drive the parallelogram rod set to rotate along the axial direction parallel to the plane mechanism 1.
Further, the frame of the plane mechanism 2 comprises a third bearing seat, a fourth bearing seat and a second motor seat which are arranged on the bottom plate and coaxially and sequentially, wherein the first bearing seat is close to the orthogonal point O; the extending shafts at two ends of the second base 34 are respectively arranged on the first bearing seat and the second bearing seat through bearings, the third motor is arranged on the first motor seat, and an output shaft of the third motor is connected with the extending shaft of the second base on the fourth bearing seat through a coupler.
Further, the transmission parallelogram rod group comprises a seventh rocker, an eighth rocker, a fourth horizontal rod and a fifth horizontal rod; the second base is of a rectangular frame structure, and two parallel fourth flange shafts and a fifth flange shaft are arranged between opposite side inner walls perpendicular to the axial direction of the plane mechanism 2; one end of the seventh rocker is hinged with the fourth flange shaft, one end of the eighth rocker is hinged with the fifth flange shaft, the seventh rocker and the eighth rocker are respectively positioned on the opposite side inner walls, the other end of the seventh rocker is hinged with one end of the fourth horizontal rod and is simultaneously hinged with one end of the fifth horizontal rod, and the other end of the eighth rocker is hinged with the middle part of the fifth horizontal rod and the middle part of the fourth horizontal rod; the fourth horizontal rod and the fifth horizontal rod are not in the same plane; a second linear bearing seat is hinged between the other end of the fourth horizontal rod and the other end of the fifth horizontal rod, and a second linear bearing is fixedly arranged on the second linear bearing seat; the second linear bearing 33 is matched with a second guide rod of the plane mechanism 1 to form a sliding pair, the plane mechanism 1 and the plane mechanism 2 are connected, and the second guide rod moves along the axial direction of the second linear bearing; the seventh rocker and the eighth rocker are arranged in parallel, and the fourth horizontal rod and the fifth horizontal rod are arranged in parallel.
Further, when the plane mechanism 1 and the plane mechanism 2 move, all horizontal rods are kept horizontal.
Compared with the prior art, the application has the remarkable advantages that:
1) The plane mechanism is formed by integrating two plane remote movement center mechanisms, the configuration of the plane mechanism is based on the parallelogram mechanism, the advantages of the double-parallelogram mechanism are utilized, all rod pieces of the parallelogram mechanism are used as passive rods, only the movement constraint is realized, and a bracket of the plane mechanism is used as an active piece.
2) The multi-parallelogram mechanism used by the plane mechanism 1 has two degrees of freedom, and can realize translational motion and rotational motion through a mechanical structure without installing an additional motor on the tail end surgical instrument, thereby reducing the overall quality and volume, improving the safety and meeting the requirements of medical robots.
3) The robot is synthesized by using the biplane mechanisms, and the whole rotation of each plane mechanism is driven by a motor attached to the other plane mechanism, so that the rotation of the whole mechanism of the robot is realized without using a traditional cantilever Liang Jiaxuan turntable mode, the problems caused by a cantilever structure can be fundamentally avoided, namely bending deformation can be generated, and the rotation is limited by the driving moment of the turntable.
4) All driving motors are arranged at one end of the base far away from the operation area, so that various control devices, self-locking devices and the like can be conveniently arranged on the motors. For medical robots, the addition of a self-locking device is necessary to ensure safety, which can lead to excessive volume of the motor and its accompanying devices, and the design of the motor at the proximal end of the surgical field or directly at the distal end of the surgical field, which can lead to excessive load, can lead to the motor at the distal end of the surgical field and directly at the bottom platform, which will not cause such problems.
The application is described in further detail below with reference to the accompanying drawings.
Drawings
Fig. 1 is a schematic overall view of a retinal surgical robot based on a biplane remote center of motion mechanism in one embodiment.
Fig. 2 is a schematic diagram of a planar mechanism 1 in one embodiment.
Fig. 3 is a schematic view of a lever portion of the planar mechanism 1 according to one embodiment.
Fig. 4 is a supplementary schematic view of the planar mechanism 1 in one embodiment.
Fig. 5 is an overall schematic view of the planar mechanism 1 in one embodiment.
Fig. 6 is a schematic diagram of the planar mechanism 2 in one embodiment.
Fig. 7 is a schematic view of the planar mechanism 2 in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
In one embodiment, in conjunction with fig. 1, there is provided a retinal surgical robot based on a biplane remote center of motion mechanism, the robot comprising two orthogonal planar mechanisms, denoted planar mechanism 1 and planar mechanism 2, respectively, wherein planar mechanism 1 has one rotational degree of freedom and one translational degree of freedom, planar mechanism 2 has one rotational degree of freedom, the two planar mechanisms being connected to respective frames and to a base plate, respectively; the robot comprises three servo motors which are respectively used for controlling three degrees of freedom of the robot; the orthogonal point O of the whole robot in the axial direction of the two planar mechanisms forms a remote center of motion around which both rotation and translation are around.
Further, in one of the embodiments, fig. 2 is a schematic diagram of the planar mechanism 1. Wherein AI, BC, DE, HK, FG, HF, JD, KE, DB, EC is a connecting rod, which is connected by a hinge, and the point A is a sliding block with a hinge to form a rotating and translating composite mechanism. In the whole mechanism, the angle theta 1 、θ 2 And theta 3 As an input parameter, is controlled by a motor, where θ 2 And theta 3 Controlled by the second motor 2 and the first motor 3 in fig. 1, respectively, θ 1 Controlled by a third motor 1 in fig. 1.θ 1 And theta 2 At the same time, the mechanism also has a translational output parameter d, and all three movements surround the remote movement center O.
Referring to fig. 3 to 5, the plane mechanism 1 includes a first base 19 and a first motor 3 disposed on a frame thereof, and a first rod group and a second motor 2 disposed on the first base 19; the first rod piece set comprises a driving parallelogram rod set, a follow-up parallelogram rod set and a tail end parallelogram rod set, wherein the tail end parallelogram rod set is provided with instruments needed during operation, the second motor 2 drives the driving parallelogram rod set to rotate along the axial direction parallel to the plane mechanism 1, drives the follow-up parallelogram rod set to rotate along the same direction, and further drives the tail end parallelogram rod set to rotate along the same direction and translate up and down; the first motor 3 drives the first base 19 to rotate around the axial direction of the plane mechanism 1, so as to drive the first rod assembly to synchronously rotate.
The frame of the plane mechanism 1 comprises a first bearing seat 24, a second bearing seat 25 and a first motor seat 27 which are arranged on the bottom plate 4 and are coaxially and sequentially arranged, wherein the first bearing seat 24 is close to the orthogonal point O; the protruding shafts at the two ends of the first base 19 are respectively arranged on a first bearing seat 24 and a second bearing seat 25 through bearings, the first motor 3 is arranged on a first motor seat 27, and the output shaft of the first motor 3 is connected with the protruding shaft of the first base 19 on the second bearing seat 25 through a coupler 26.
The driving parallelogram lever group comprises a first rocker 5, a second rocker 6, a third rocker 7 and a first horizontal lever 8, the follow-up parallelogram lever group comprises a fourth rocker 9, a fifth rocker 10, a second horizontal lever 11 and the first horizontal lever 8, and the tail end parallelogram lever group comprises a sixth rocker 12, a third horizontal lever 13, an instrument holder 14 and the second horizontal lever 11; the instrument seat 14 is provided with instruments (such as needles, forceps and the like) required by the operation; the first base 19 is of a rectangular frame structure, the first rocker 5 and the third rocker 7 are respectively arranged on opposite side inner walls of the first base 19 along the axial direction of the plane mechanism 1 and are oppositely arranged in parallel, wherein one end of the first rocker 5 is hinged with the first base 19 and is provided with an extension shaft, and the extension shaft is connected with an extension shaft of the second motor 2 through a coupler 22; two parallel first flange shafts 20 and two parallel second flange shafts 21 are arranged between two inner walls of the first rocker 5 and the third rocker 7, the second rocker 6 and the third rocker 7 are positioned on the same straight line and are arranged in parallel, and one end of the second rocker 6 is hinged with the second flange shafts 21; the other end of the first rocker 5 is connected with the other end of the third rocker 7 through a third flange shaft 23, the third flange shaft 23 is fixed with the first rocker 5 through a bolt and is hinged with the third rocker 7 through a bearing, and in the movement process of the plane mechanism 1, the movement of the first rocker 5 and the movement of the third rocker 7 are always consistent. One end of the fourth rocker 9 and one end of the first horizontal rod 8 are hinged with the third flange shaft 23 through bearings, the other end of the fourth rocker 9 is hinged with one end of the second horizontal rod 11, the other end of the first horizontal rod 8 is hinged with the other end of the second rocker 6, and two ends of the fifth rocker 10 are respectively hinged with the middle part of the second horizontal rod 11 and the other end of the second rocker 6; the first flange shaft 20 is hinged with a first linear bearing seat 18, a first linear bearing 17 is fixedly arranged on the first linear bearing seat 18, a first guide rod 16 is arranged on the first linear bearing seat 17 to form a sliding pair, and the first guide rod 16 moves along the axial direction of the first linear bearing seat 17 (the whole tail end parallelogram rod group can slide along the axial direction of the guide rod 16 through the sliding pair, so that the tail end of the mechanism has translational freedom degree); one end of the sixth rocker 12 is hinged with the middle part of the second horizontal rod 11, and the other end of the sixth rocker is hinged with one end of the third horizontal rod 13; two ends of the instrument seat 14 are respectively hinged with the other end of the second horizontal rod 11 and the other end of the third horizontal rod 13, and a second guide rod 15 is fixed on the instrument seat 14; the first horizontal rod 8, the second horizontal rod 11 and the third horizontal rod 13 are arranged in parallel, and the fourth rocker 9 and the fifth rocker 10 are arranged in parallel; the instrument holder 14 is arranged parallel to the sixth rocker 12.
Here, the second motor 2 rotates the driving parallelogram lever group as a driving member, driving the follow-up parallelogram lever group, and jointly controlling the distance of the instrument holder 14 from the remote center of motion O (operation area O point).
Here, as shown in fig. 4, in order to secure the stability of the mechanism and to uniformly distribute the load on both sides of the first base, a flange shaft 23 is introduced to connect the first swing lever 5, the third swing lever 7, the first horizontal lever 8 and the fourth swing lever 9.
Further, in one embodiment, FIG. 5 is a planar mechanism2. Wherein LM, NQ, RT, RL, SM and TQ are connecting rods and are connected through hinges. The whole mechanism has one degree of rotational freedom. The mechanism is orthogonal to the plane of the planar mechanism 1 and the remote centers of motion of the two mechanisms coincide, as well as point O. Angle theta 1 Controlled by a first motor 3, angle θ 2 Controlled by a second motor 2.
Referring to fig. 6 to 7, the plane mechanism 2 includes a second base 34 disposed on a frame thereof, and a third motor 1, and a second rod assembly disposed on the second base 34; the second rod piece group comprises a transmission parallelogram rod group; the second rod piece set is driven by the plane mechanism 1 to rotate along the axial direction parallel to the plane mechanism 2 and translate up and down; the third motor 1 drives the second base 34 to rotate around the axial direction of the plane mechanism 2, so as to drive the second rod assembly to synchronously rotate.
The frame of the plane mechanism 2 comprises a third bearing seat 39, a fourth bearing seat 38 and a second motor seat 37 which are arranged on the bottom plate 4 and are coaxially and sequentially arranged, and the first bearing seat 39 is close to the orthogonal point O; the protruding shafts at the two ends of the second base 34 are respectively arranged on a first bearing seat 39 and a second bearing seat 38 through bearings, the third motor 1 is arranged on the first motor seat 27, and the output shaft of the third motor 1 is connected with the protruding shaft of the second base 34 on the fourth bearing seat 38 through a coupler 40.
The transmission parallelogram lever group comprises a seventh rocker 28, an eighth rocker 29, a fourth horizontal lever 30 and a fifth horizontal lever 31; the second base 34 is a rectangular frame structure, and two parallel fourth flange shafts 35 and fifth flange shafts 36 are arranged between opposite side inner walls perpendicular to the axial direction of the plane mechanism 2; one end of the seventh rocker 28 is hinged to a fourth flange shaft 35, one end of the eighth rocker 29 is hinged to a fifth flange shaft 36, the seventh rocker 28 and the eighth rocker 29 are respectively positioned on the opposite side inner walls, the other end of the seventh rocker 28 is hinged to one end of a fourth horizontal rod 30 and is hinged to one end of a fifth horizontal rod 31, and the other end of the eighth rocker 29 is hinged to the middle of the fifth horizontal rod 31 and the middle of the fourth horizontal rod 30; the fourth and fifth horizontal bars 30 and 31 are not in the same plane; a second linear bearing seat 32 is hinged between the other end of the fourth horizontal rod 30 and the other end of the fifth horizontal rod 31, and a second linear bearing 33 is fixedly arranged on the second linear bearing seat 32; the second linear bearing 33 cooperates with the second guide rod 15 of the planar mechanism 1 to form a sliding pair, and connects the planar mechanism 1 and the planar mechanism 2, and the second guide rod 15 moves along the axial direction of the second linear bearing 33 (the second guide rod 15 is connected with the tail end of the planar mechanism 2 and is pulled to rotate, so that the angle of the tail end is adjusted); the seventh rocker 28 and the eighth rocker 29 are arranged in parallel, and the fourth horizontal rod 30 and the fifth horizontal rod 31 are arranged in parallel.
The motion principle of the application is as follows: the axial (in-plane) rotational movement of the planar mechanism 1 is controlled by the second motor 2 and the third motor 1 together, the axial (in-plane) rotational movement of the planar mechanism 2 is controlled by the first motor 3, and the translational movement of the end of the planar mechanism 1 is controlled by the second motor 2.
Here, all horizontal bars remain horizontal when the planar mechanisms 1, 2 are moved.
Preferably, the rod string is an alloy rod.
Here, all the fixed connection portions are connected by, but not limited to, bolts.
In summary, the spatial remote center of motion robot provided by the application, which is formed by integrating two planar remote center of motion mechanisms, has greater advantages and safety for ophthalmic surgery than the existing remote center of motion robots.
The foregoing has outlined and described the basic principles, features, and advantages of the present application. It will be understood by those skilled in the art that the foregoing embodiments are not intended to limit the application, and the above embodiments and descriptions are meant to be illustrative only of the principles of the application, and that various modifications, equivalent substitutions, improvements, etc. may be made within the spirit and scope of the application without departing from the spirit and scope of the application.
Claims (10)
1. A retinal surgical robot based on a biplane remote motion center mechanism, which is characterized by comprising two orthogonal plane mechanisms, namely a plane mechanism 1 and a plane mechanism 2, wherein the plane mechanism 1 has one rotation degree of freedom and one translation degree of freedom, the plane mechanism 2 has one rotation degree of freedom, and the two plane mechanisms are respectively connected on respective racks and are connected with a bottom plate; the robot comprises three servo motors for controlling three degrees of freedom of the robot; the orthogonal point O of the whole robot in the axial direction of the two planar mechanisms forms a remote center of motion around which both rotation and translation are around.
2. The biplane remote center of motion mechanism based retinal surgical robot of claim 1, wherein the planar mechanism 1 comprises a first base and a first motor disposed on a frame thereof, a first set of rods and a second motor disposed on the first base; the first rod piece group comprises a driving parallelogram rod group, a follow-up parallelogram rod group and a tail end parallelogram rod group, wherein the tail end parallelogram rod group is provided with instruments required during operation, the second motor drives the driving parallelogram rod group to rotate along the axial direction parallel to the plane mechanism 1, drives the follow-up parallelogram rod group to rotate along the same direction, and further drives the tail end parallelogram rod group to rotate along the same direction and translate up and down; the first motor drives the first base to rotate around the axial direction of the plane mechanism 1, and then drives the first rod piece set to synchronously rotate.
3. The retinal surgical robot based on a biplane remote center of motion mechanism according to claim 2, wherein the frame of the planar mechanism 1 comprises a first bearing block, a second bearing block and a first motor block mounted on the base plate and coaxially and sequentially arranged, the first bearing block being close to the orthogonal point O; the two ends of the first base are respectively provided with a first bearing seat and a second bearing seat through bearings, the first motor is arranged on the first motor seat, and an output shaft of the first motor is connected with the two ends of the second bearing seat through a shaft coupling.
4. The biplane remote center of motion mechanism based retinal surgical robot of claim 3, wherein the drive parallelogram lever group comprises a first rocker, a second rocker, a third rocker and a first horizontal lever 8, the follower parallelogram lever group comprises a fourth rocker, a fifth rocker, a second horizontal lever and the first horizontal lever 8, the terminal parallelogram lever group comprises a sixth rocker, a third horizontal lever, an instrument holder and the second horizontal lever; the instrument seat is provided with instruments required by an operation; the first base is of a rectangular frame structure, the first rocker and the third rocker are respectively arranged on opposite side inner walls of the first base along the axial direction of the plane mechanism 1 and are oppositely arranged in parallel, one end of the first rocker is hinged with the first base and is provided with an extension shaft, and the extension shaft is connected with an extension shaft of the second motor through a coupler; two parallel first flange shafts and two parallel second flange shafts are arranged between two inner walls of the first rocker and the third rocker, the second rocker and the third rocker are positioned on the same straight line and are arranged in parallel, and one end of the second rocker is hinged with the second flange shafts; the other end of the first rocker is connected with the other end of the third rocker through a third flange shaft, one end of the fourth rocker and one end of the first horizontal rod are hinged with the third flange shaft through bearings, the other end of the fourth rocker is hinged with one end of the second horizontal rod, the other end of the first horizontal rod is hinged with the other end of the second rocker, and two ends of the fifth rocker are respectively hinged with the middle part of the second horizontal rod and the other end of the second rocker; the first flange shaft is hinged with a first linear bearing seat, the first linear bearing seat is fixedly provided with a first linear bearing, a first guide rod is arranged on the first linear bearing to form a sliding pair, and the first guide rod moves along the axial direction of the first linear bearing; one end of the sixth rocker is hinged with the middle part of the second horizontal rod, and the other end of the sixth rocker is hinged with one end of the third horizontal rod; two ends of the instrument seat are respectively hinged with the other end of the second horizontal rod and the other end of the third horizontal rod, and a second guide rod is fixed on the instrument seat; the first horizontal rod, the second horizontal rod and the third horizontal rod are arranged in parallel, and the fourth rocker and the fifth rocker are arranged in parallel; the instrument seat is arranged in parallel with the sixth rocker.
5. The robot of claim 4, wherein the third flange shaft is fixed to the first rocker by a bolt, and is hinged to the third rocker by a bearing, and the movements of the first rocker and the third rocker are always consistent during the movement of the planar mechanism 1.
6. The biplane remote center of motion mechanism based retinal surgical robot of claim 5 wherein the planar mechanism 2 comprises a second base disposed on its frame and a third motor, a second set of levers disposed on the second base; the second rod piece group comprises a transmission parallelogram rod group; the second rod piece set is driven by the plane mechanism 1 to rotate along the axial direction parallel to the plane mechanism; the third motor drives the second base to rotate around the axial direction of the plane mechanism, so that the second rod piece set is driven to synchronously rotate, and meanwhile, the third motor and the second motor jointly drive the parallelogram rod set to rotate along the axial direction parallel to the plane mechanism 1.
7. The biplane remote center of motion mechanism based retinal surgical robot according to claim 6, wherein the frame of the planar mechanism 2 comprises a third bearing block, a fourth bearing block and a second motor block mounted on the base plate and coaxially and sequentially arranged, the first bearing block being close to the orthogonal point O; the extending shafts at two ends of the second base 34 are respectively arranged on the first bearing seat and the second bearing seat through bearings, the third motor is arranged on the first motor seat, and an output shaft of the third motor is connected with the extending shaft of the second base on the fourth bearing seat through a coupler.
8. The biplane remote center of motion mechanism based retinal surgical robot of claim 7 wherein the driven parallelogram lever group comprises a seventh rocker, an eighth rocker, a fourth horizontal lever and a fifth horizontal lever; the second base is of a rectangular frame structure, and two parallel fourth flange shafts and a fifth flange shaft are arranged between opposite side inner walls perpendicular to the axial direction of the plane mechanism 2; one end of the seventh rocker is hinged with the fourth flange shaft, one end of the eighth rocker is hinged with the fifth flange shaft, the seventh rocker and the eighth rocker are respectively positioned on the opposite side inner walls, the other end of the seventh rocker is hinged with one end of the fourth horizontal rod and is simultaneously hinged with one end of the fifth horizontal rod, and the other end of the eighth rocker is hinged with the middle part of the fifth horizontal rod and the middle part of the fourth horizontal rod; the fourth horizontal rod and the fifth horizontal rod are not in the same plane; a second linear bearing seat is hinged between the other end of the fourth horizontal rod and the other end of the fifth horizontal rod, and a second linear bearing is fixedly arranged on the second linear bearing seat; the second linear bearing 33 is matched with a second guide rod of the plane mechanism 1 to form a sliding pair, the plane mechanism 1 and the plane mechanism 2 are connected, and the second guide rod moves along the axial direction of the second linear bearing; the seventh rocker and the eighth rocker are arranged in parallel, and the fourth horizontal rod and the fifth horizontal rod are arranged in parallel.
9. The biplane remote center of motion mechanism based retinal surgical robot of claim 8 wherein all horizontal rods remain horizontal as the planar mechanisms 1, 2 move.
10. The biplane remote center of motion mechanism based retinal surgical robot of claim 9 wherein the first bearing mount, second bearing mount, first motor mount, third bearing mount, fourth bearing mount and second motor mount are all bolted to the base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311081153.9A CN117017503A (en) | 2023-08-25 | 2023-08-25 | Retinal surgery robot based on biplane remote movement center mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311081153.9A CN117017503A (en) | 2023-08-25 | 2023-08-25 | Retinal surgery robot based on biplane remote movement center mechanism |
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| CN117017503A true CN117017503A (en) | 2023-11-10 |
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| CN202311081153.9A Pending CN117017503A (en) | 2023-08-25 | 2023-08-25 | Retinal surgery robot based on biplane remote movement center mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117679244A (en) * | 2024-02-04 | 2024-03-12 | 北京衔微医疗科技有限公司 | Remote movement center mechanism and intraocular surgery robot |
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- 2023-08-25 CN CN202311081153.9A patent/CN117017503A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117679244A (en) * | 2024-02-04 | 2024-03-12 | 北京衔微医疗科技有限公司 | Remote movement center mechanism and intraocular surgery robot |
| CN117679244B (en) * | 2024-02-04 | 2024-04-30 | 北京衔微医疗科技有限公司 | Remote movement center mechanism and intraocular surgery robot |
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