CN117679244B - Remote movement center mechanism and intraocular surgery robot - Google Patents
Remote movement center mechanism and intraocular surgery robot Download PDFInfo
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- CN117679244B CN117679244B CN202410153190.4A CN202410153190A CN117679244B CN 117679244 B CN117679244 B CN 117679244B CN 202410153190 A CN202410153190 A CN 202410153190A CN 117679244 B CN117679244 B CN 117679244B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 92
- 238000001356 surgical procedure Methods 0.000 title abstract description 8
- 239000012636 effector Substances 0.000 claims description 36
- 230000000712 assembly Effects 0.000 claims description 27
- 238000000429 assembly Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 2
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- 210000001508 eye Anatomy 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000002406 microsurgery Methods 0.000 description 5
- 210000001525 retina Anatomy 0.000 description 5
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- 239000000243 solution Substances 0.000 description 4
- 208000017442 Retinal disease Diseases 0.000 description 3
- 206010038923 Retinopathy Diseases 0.000 description 3
- 210000005252 bulbus oculi Anatomy 0.000 description 3
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- 210000001957 retinal vein Anatomy 0.000 description 2
- 208000019553 vascular disease Diseases 0.000 description 2
- 201000004569 Blindness Diseases 0.000 description 1
- 208000032843 Hemorrhage Diseases 0.000 description 1
- 208000002367 Retinal Perforations Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 201000005667 central retinal vein occlusion Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 210000004087 cornea Anatomy 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
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- 238000002324 minimally invasive surgery Methods 0.000 description 1
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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
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00727—Apparatus for retinal reattachment
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- Health & Medical Sciences (AREA)
- Ophthalmology & Optometry (AREA)
- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Vascular Medicine (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The embodiment of the application provides a remote movement center mechanism and an intraocular surgery robot, and belongs to the technical field of intraocular surgery. The remote movement center mechanism comprises a main shaft, an end execution assembly and a movement unit, wherein the movement unit is used for driving the end execution assembly to move; the motion unit comprises a first connecting rod assembly, a feeding linear module, a pitching driving module and a second connecting rod assembly, wherein the tail end executing assembly is connected with the first connecting rod assembly, the feeding linear module further comprises a first linear driving unit, a second sliding block in the pitching driving module is movably arranged on the main shaft along a first direction, the first linear driving unit is arranged on the main shaft, and the pitching driving module is used for driving the second sliding block to move so as to drive the tail end executing assembly to perform pitching motion; the second link assembly is used for keeping the first link assembly and the main shaft parallel to each other. The remote movement center mechanism can ensure stability in any gesture and ensure the precision of a remote movement center.
Description
Technical Field
The application relates to the technical field of intraocular surgery, in particular to a remote movement center mechanism and an intraocular surgery robot.
Background
The retina is the innermost tissue of the back part of the eyeball, has a fine and complex structure, and particularly is located in the macular area of the back pole part, and is extremely easy to be affected by internal and external pathogenic factors to generate pathological changes due to the special tissue structure and physiological activities of the retina in the area. In addition, the retina is susceptible to diseases such as self-vascular diseases and systemic vascular diseases. If the retinopathy is not treated timely and effectively, the vision of a patient is seriously affected, even blindness is caused, and microsurgery is an effective means for treating the retinopathy.
In response to the requirements of intraocular microsurgery, remote center of motion mechanisms have been developed that enable ophthalmic surgical instruments to be moved into the eye about a fulcrum. However, the existing remote movement center mechanism mostly adopts a parallel four-bar mechanism or a parallel five-bar mechanism, so that the precision of the movement center can be ensured under the normal condition, and when the mechanism moves to the limit position, the stability is poor due to the fact that the included angle of the parallel four-bar is reduced, so that the remote movement center mechanism is not accurate enough.
Disclosure of Invention
The embodiment of the application provides a remote movement center mechanism, which can ensure the stability of a remote movement center in any gesture and ensure the precision of the remote movement center.
In a first aspect, embodiments of the present application provide a remote center of motion mechanism for an intraocular surgical robot, the remote center of motion mechanism comprising a main shaft, an end effector assembly, and a motion unit, the end effector assembly being configured to perform an intraocular surgery; the motion unit is arranged between the main shaft and the tail end execution assembly and is used for driving the tail end execution assembly to move; the motion unit comprises a first connecting rod assembly, a feeding linear module, a pitching driving module and a second connecting rod assembly, wherein the tail end executing assembly is connected with the first connecting rod assembly and forms a first parallel four-bar mechanism with the first connecting rod assembly; the first connecting rod assembly comprises a first sliding block, the first sliding block is arranged in parallel with the end execution assembly, the first sliding block is shared by the first connecting rod assembly and the feeding linear module, the feeding linear module further comprises a first linear driving unit, and the first linear driving unit is used for driving the first sliding block to move along a second direction so as to drive the first connecting rod assembly to carry out feeding motion together with the end execution assembly; the pitching driving module is arranged on the main shaft and comprises a second sliding block which is movably arranged on the main shaft along a first direction, the first linear driving unit is arranged on the main shaft, a pull rod is connected between the first linear driving unit and the second sliding block, and the pitching driving module is used for driving the second sliding block to move along the first direction on the main shaft so as to drive the tail end executing assembly to perform pitching motion through the pull rod; the second connecting rod assembly is arranged between the first connecting rod assembly and the main shaft and is used for enabling the first connecting rod assembly and the main shaft to be parallel to each other.
In this scheme, through including first link assembly with the motion unit, feed sharp module, every single move drive module and second link assembly, end execution subassembly is connected with first link assembly to constitute first parallel four bar linkage with first link assembly, under the circumstances that every single move drive module driven the motion of second slider, the pull rod drives the angle change of feeding sharp module, and drives end execution subassembly through first parallel four bar linkage and pitch the action, thereby realize the rotation of end execution subassembly. Through the setting of feeding sharp module, first linear drive unit drives first slider and removes, utilizes first parallel four-bar linkage to drive the end and carries out the feeding motion on the second direction of subassembly. Under the action of the cooperation constraint of the first connecting rod assembly and the second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly are complementary, and the movement unit drives the tail end execution assembly to keep the first connecting rod assembly and the main shaft parallel to each other under any gesture, so that the stability of the remote movement center can be ensured in any gesture, and the remote movement center is more accurate.
In some embodiments, the first link assembly further includes a first link and a second link, the first link and the second link are parallel to each other, the end effector and the first slider are parallel to each other, two ends of the first link are hinged to the end effector and the first slider, two ends of the second link are hinged to the end effector and the first slider, and a first parallel four-bar mechanism is formed among the first slider, the first link, the second link and the end effector.
In some embodiments, the first linear driving unit includes a base, a screw nut and a first driving member, wherein the base is hinged to the spindle near one end of the spindle, the screw extends along a second direction, the screw is rotatably mounted on the base, the first driving member is mounted on the base and is used for driving the screw to rotate along an axial direction of the screw, the screw nut is in threaded fit with the screw, the first sliding block is mounted on the screw nut, one end of the pull rod is hinged to the base, and the other end of the pull rod is hinged to the second sliding block.
Among the above-mentioned technical scheme, through adopting the first slider of screw-nut pair mechanism drive to go up and down with first linear drive unit, the mobile accuracy is high, is difficult for appearing the phenomenon of skew, can ensure the accuracy of end execution subassembly feeding action.
In some embodiments, the pitch driving module further includes a second linear driving unit, the second linear driving unit is mounted on the spindle, and the second linear driving unit is used for driving the second slider to move along the first direction on the spindle.
According to the technical scheme, the second linear driving unit is arranged, so that the second sliding block can be driven to move on the main shaft along the first direction, pitching action of the tail end executing assembly is achieved, manual participation is not needed, and the pitching action can be automatically performed by means of the second linear driving unit in the pitching driving module, so that the accuracy is high.
In some embodiments, the second link assembly includes a third link, a fourth link, a fifth link, a sixth link, and a seventh link, the third link being parallel to the fourth link, one ends of the third link and the fourth link being hinged to the first link, and the other ends being respectively hinged to both ends of the fifth link in a length direction; the sixth connecting rod and the seventh connecting rod are parallel to each other, one ends of the sixth connecting rod and the seventh connecting rod are hinged to the main shaft, the other ends of the sixth connecting rod and the seventh connecting rod are hinged to two ends of the fifth connecting rod in the length direction, one end of the sixth connecting rod and one end of the third connecting rod on the fifth connecting rod share the same hinged end, and one end of the seventh connecting rod and one end of the fourth connecting rod on the fifth connecting rod share the same hinged end; the third connecting rod, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod form a parallel five-connecting-rod mechanism.
In the technical scheme, the second connecting rod assembly is used as the parallel five-connecting rod mechanism, and on the premise that the linear motion of the first parallel four-connecting rod mechanism along the second direction is not influenced, the parallelism of the first parallel four-connecting rod mechanism and the main shaft is ensured, so that the O point of the remote motion center mechanism is always positioned on the same axis.
In some embodiments, the remote movement center mechanism further comprises a third connecting rod assembly, the third connecting rod assembly comprises a sliding rail and an eighth connecting rod, the sliding rail is parallel to the screw rod, two ends of the eighth connecting rod are respectively hinged with the base and the sliding rail, the eighth connecting rod is parallel to the main shaft, and a second parallel four-bar mechanism is formed among the sliding rail, the eighth connecting rod, the screw rod and the main shaft; the slide rail is provided with the cooperation portion in the position that corresponds first connecting rod and second connecting rod, and cooperation portion is articulated with first connecting rod and second connecting rod, and cooperation portion slides and sets up in the slide rail.
According to the technical scheme, the third connecting rod assembly is arranged on the remote movement center mechanism, a set of four-bar linkage is added between the first connecting rod and the main shaft, a parallel four-bar linkage is formed by the eighth connecting rod, the sliding rail, the main shaft and the screw rod in the feeding linear module, the first sliding block is connected with the first connecting rod assembly, the first sliding block is matched with the sliding rail to conduct linear movement, and feeding movement of the first parallel four-bar linkage is not influenced when the feeding linear module moves. When the pitching angle of the structure is 90 degrees, the tail end of the first parallel four-bar mechanism has a sinking phenomenon due to dead weight, the offset is larger, and when the structure is in a limiting position, the offset is reduced, so that the defect of stability of the parallel five-bar mechanism is overcome. That is, when 90 ° pitch angle, mainly guarantee the stability of end execution subassembly through parallel five link mechanism, when limiting pitch angle, guarantee the stability of end execution subassembly through pitch straight line drive module cooperation first parallel four link mechanism, both form complementarily.
In some embodiments, the number of the first link assemblies is two, the two first link assemblies are identical in structure, and the two first link assemblies are respectively located at two opposite sides of the base and the end execution assembly in the third direction; the number of the second connecting rod assemblies is two, the two groups of the second connecting rod assemblies are identical in structure, and the two groups of the second connecting rod assemblies are respectively positioned on two opposite sides of the main shaft in the third direction.
In the above technical scheme, through setting the quantity of first link assembly into two sets of for the relative both sides of end execution subassembly all have the traction and the pulling effect of first link assembly, make the stability of first parallel four bar linkage motion higher. Similarly, the number of the second connecting rod assemblies is two, and the second connecting rod assemblies are respectively positioned on two sides of the main shaft, so that the first connecting rod is always parallel to the main shaft, and the accuracy of the tail end executing assembly in the position adjusting process is higher.
In some embodiments, in the two sets of first link assemblies, a first link is connected between the two first links and a second link is connected between the two second links.
In the above technical scheme, through the setting of head rod and second connecting rod, can make the wholeness between two sets of first connecting rod subassemblies stronger.
In some embodiments, the remote movement center mechanism further comprises a rotating unit, wherein the rotating unit is arranged on one side of the moving unit away from the end execution assembly, and the rotating unit is connected with the main shaft and is used for driving the main shaft to rotate so as to realize the rotation of the end execution assembly.
In the technical scheme, the main shaft is driven to rotate through the rotating unit, and the rotation movement is provided for the remote movement center mechanism, so that the rotating unit can drive the end execution assembly to realize rotation, and the rotation requirement of the end execution assembly is met.
In a second aspect, embodiments of the present application also provide an intraocular surgical robot including the aforementioned remote center of motion mechanism.
Additional features and advantages of the application will be set forth in the detailed description which follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a remote center of motion mechanism according to some embodiments of the present application;
FIG. 2 is a schematic view of a remote center of motion mechanism including a third link assembly according to some embodiments of the present application;
FIG. 3 is a schematic view of a remote center of motion mechanism including a third link assembly according to some embodiments of the present application;
FIG. 4 is a front view of a remote center of motion mechanism provided in some embodiments of the present application;
FIG. 5 is a schematic diagram of a remote center of motion mechanism for performing a feed motion according to some embodiments of the present application;
FIG. 6 is a schematic diagram of a remote center of motion mechanism for pitching motion according to some embodiments of the present application;
FIG. 7 is a schematic illustration of an O-point offset of a remote center of motion mechanism provided by some embodiments of the present application;
FIG. 8 is a schematic diagram of a remote center of motion mechanism moving to a low point O-point offset provided by some embodiments of the present application;
FIG. 9 is a schematic illustration of an O-point in a third link assembly of a remote center of motion mechanism according to some embodiments of the present application;
fig. 10 is a schematic view of the remote center of motion mechanism of fig. 9 after pitching the O-point.
Icon: the end effector 10, the first link 20, the second link 21, the first slider 23, the first connecting link 24, the second connecting link 25, the base 30, the screw rod 31, the first driver 32, the second slider 40, the tie rod 41, the pitch motor 42, the third link 50, the fourth link 51, the fifth link 52, the sixth link 53, the seventh link 54, the eighth link 60, the slide rail 61, the spindle 70, and the rotation motor 71.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the embodiments of the present application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship that is conventionally put in use of the product of this application, merely for convenience in describing the present application and simplifying the description, and is not indicative or implying that the apparatus or element in question must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present application, it should also be noted that, unless explicitly stated and limited otherwise, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Examples
Microsurgery was found by the inventors to be an effective means of treating retinopathy. However, the implementation difficulty of the related operation is extremely high due to the narrow intraocular space (the eyeball is approximately a sphere with a diameter of about 23mm to 24 mm), the subtle operation object (the fundus blood vessel diameter is about 40 μm to 350 μm, the retina thickness is about 100 μm to 300 μm, and the thickness of the inner limiting membrane is about 1 μm to 3 μm), and various physiological limits of the human body (the physiological tremble of the hand can reach 156 μm rms, and the micro force lower than 7.5mN is difficult to sense), and other limiting factors.
Taking as an example the retinal vein puncture injection for treating central retinal vein occlusion: the doctor observes the fundus of the patient with the aid of a microscope. The microtechanical instrument is simultaneously held with its distal end advanced through a cannula having an inner diameter less than 1mm over the sclera into the eye to the fundus target area. Hollow microneedles of about 30 μm in diameter were then inserted over retinal vein vessels of about 150 μm in diameter. Then the pose of the micro-device is kept stable for 2-10 min, so that the thrombolytic agent is injected in a sufficient amount to ensure the success of the treatment. Similar are the inner limiting membrane stripping operation for treating macular hole and the subretinal injection for treating fundus hemorrhage, which have similar operation processes, but different operation instruments and objects (instruments also relate to microsurgery forceps and the like, and objects relate to retina and inner limiting membrane). In general, it is difficult for a physician to manually accomplish the above procedure.
Moreover, since the instruments are passed through the cannula and into the eye, rather than through an open incision (e.g., removing the cornea, lens, etc., and then performing the procedure), such procedures are "minimally invasive" procedures in the eye, and the manipulation of the instruments also requires that the motion constraints of the minimally invasive procedure be met. After the instrument tip is advanced into the eye, there is an "optimal" fulcrum on the cannula to minimize the extra force on the sclera. The instrument can adjust 3 postures by taking the fulcrum as a rotation center, can linearly move along the axis of the instrument through the fulcrum, and completes the operation through the motion coordination of the 4 degrees of freedom. If not operated in this manner, a large additional force may be applied to the sclera, causing the sclera to be damaged, or the eyeball to rotate in the orbital, making it difficult for the physician to locate the target region.
It can be seen that the operation requires extremely high accuracy, stability and dexterity in the movements of the surgeon's hand. The robot has good motion accuracy, structural stability and motion mapping capability, and can help people overcome the defect in objective aspect.
In response to the requirements of intraocular microsurgery, remote center of motion mechanisms have been developed that enable ophthalmic surgical instruments to be moved into the eye about a fulcrum. However, the existing remote movement center mechanism mostly adopts a parallel four-bar mechanism or a parallel five-bar mechanism, so that the precision of the movement center can be ensured under the normal condition, and when the mechanism moves to the limit position, the stability is poor due to the fact that the included angle of the parallel four-bar is reduced, so that the remote movement center mechanism is not accurate enough.
In view of this, an embodiment of the present application provides a remote center of motion mechanism for an intraocular surgical robot, referring to fig. 1 to 10, the remote center of motion mechanism including a main shaft 70, an end effector assembly 10, and a motion unit, the end effector assembly 10 being for performing an intraocular surgery; the movement unit is arranged between the main shaft 70 and the end execution assembly 10 and is used for driving the end execution assembly 10 to move; the motion unit comprises a first connecting rod assembly, a feeding linear module, a pitching driving module and a second connecting rod assembly, wherein the tail end executing assembly 10 is connected with the first connecting rod assembly and forms a first parallel four-bar mechanism with the first connecting rod assembly; the first link assembly includes a first slider 23, the first slider 23 is parallel to the end effector 10, the first slider 23 is shared by the first link assembly and the feeding linear module, and the feeding linear module further includes a first linear driving unit, please refer to fig. 3 and 4, where the first linear driving unit is used to drive the first slider 23 to move along a second direction (Y axis direction in fig. 1) so as to drive the first link assembly to perform feeding motion together with the end effector 10; the pitching driving module is mounted on the main shaft 70, the pitching driving module comprises a second sliding block 40, the second sliding block 40 is movably arranged on the main shaft 70 along a first direction (the extending direction of the X axis in fig. 1), the first linear driving unit is mounted on the main shaft 70, and a pull rod 41 is connected between the first linear driving unit and the second sliding block 40; referring to fig. 5 and 6, the pitch driving module is configured to drive the second slider 40 to move along the first direction on the spindle 70, so as to drive the end effector 10 to perform a pitch motion (pitch motion around the Z axis in fig. 1) by using the pull rod 41; the second link assembly is disposed between the first link assembly and the main shaft 70, and the second link assembly is used to maintain the first link assembly and the main shaft 70 parallel to each other.
In this scheme, through including first link assembly, feeding sharp module, every single move drive module and second link assembly with the motion unit, end execution subassembly 10 is connected with first link assembly to constitute first parallel four bar linkage with first link assembly, under the circumstances that pitch drive module drive second slider 40 moved, pull rod 41 drove the angle change of feeding sharp module, and drive end execution subassembly 10 through first parallel four bar linkage and pitch the action, thereby realize the rotation of end execution subassembly 10. Through the arrangement of the feeding linear module, the first linear driving unit drives the first sliding block 23 to move, and the first parallel four-bar mechanism drives the end execution assembly 10 to perform feeding motion in the second direction. And under the cooperation constraint action of the first connecting rod assembly and the second connecting rod assembly, the first connecting rod assembly and the second connecting rod assembly are adopted to form complementation, so that the motion unit drives the end execution assembly 10 to keep the first connecting rod assembly and the main shaft 70 parallel to each other under any gesture, and the stability of the remote movement center can be ensured under any gesture, so that the remote movement center is more accurate.
In some embodiments, the first link assembly further includes a first link 20 and a second link 21, the first link 20 and the second link 21 are parallel to each other, the end effector 10 and the first slider 23 are parallel to each other, two ends of the first link 20 are hinged to the end effector 10 and the first slider 23, two ends of the second link 21 are hinged to the end effector 10 and the first slider 23, and a first parallel four-bar linkage is formed among the first slider 23, the first link 20, the second link 21 and the end effector 10.
In some embodiments, the first linear driving unit includes a base 30, a screw rod 31 nut and a first driving member 32, wherein one end of the base 30 close to the main shaft 70 is hinged to the main shaft 70, the screw rod 31 extends along the second direction, the screw rod 31 is rotatably mounted on the base 30, the first driving member 32 is mounted on the base 30 and is used for driving the screw rod 31 to rotate along the axial direction, the screw rod 31 nut is in threaded fit with the screw rod 31, the first sliding block 23 is mounted on the screw rod 31 nut, one end of the pull rod 41 is hinged to the base 30, and the other end of the pull rod 41 is hinged to the second sliding block 40. By driving the first slider 23 to move up and down in the second direction (Y axis direction) by the first linear driving unit using the feed screw nut sub-mechanism, the movement accuracy is high, the phenomenon of offset is not easy to occur, and the accuracy of the feeding operation of the end effector 10 can be ensured.
In some embodiments, the pitch drive module further includes a second linear drive unit mounted to the spindle 70, the second linear drive unit for driving the second slider 40 to move on the spindle 70 in the first direction. By the arrangement of the second linear driving unit, the second slider 40 can be driven to move on the main shaft 70 along the first direction, so that the pitching action of the end effector 10 is realized, manual participation is not needed, and the pitching action can be automatically performed by means of the second linear driving unit in the pitching driving module, and the precision is high.
The second linear driving unit may be a plurality of linear driving mechanisms, for example, the second linear driving unit may be a synchronous pulley mechanism matched with a screw-nut pair mechanism, an air cylinder, an electric push rod, a hydraulic cylinder, a linear motor or a linear module, etc.
In some embodiments, the second link assembly includes a third link 50, a fourth link 51, a fifth link 52, a sixth link 53 and a seventh link 54, the third link 50 is parallel to the fourth link 51, one ends of the third link 50 and the fourth link 51 are hinged to the first link 20, and the other ends are respectively hinged to both ends of the fifth link 52 in the length direction; the sixth link 53 and the seventh link 54 are parallel to each other, one ends of the sixth link 53 and the seventh link 54 are hinged to the main shaft 70, the other ends of the sixth link 53 and the seventh link 54 are hinged to both ends of the fifth link 52 in the length direction, the sixth link 53 and one end of the third link 50 on the fifth link 52 share the same hinged end, and one ends of the seventh link 54 and the fourth link 51 on the fifth link 52 share the same hinged end; the third link 50, the fourth link 51, the fifth link 52, the sixth link 53, and the seventh link 54 constitute a parallel five-bar mechanism. By adopting the second linkage assembly as a parallel five-bar linkage, the parallelism of the first parallel four-bar linkage and the main shaft 70 is ensured on the premise of not influencing the linear motion of the first parallel four-bar linkage along the second direction, thereby ensuring that the O point of the remote motion center mechanism is always positioned on the same axis (X axis). The first parallel four-bar linkage and the parallel five-bar linkage allow for linear motion of the surgical instrument of the end effector assembly 10 in the X-axis, Z-axis, and Y-axis at point O.
In actual work, the feeding linear module drives the end execution assembly 10 to move upwards along the Y-axis direction until the end execution assembly starts the micro switch to record a zero point, then the feeding linear module moves reversely for a certain distance, the instrument on the end execution assembly 10 is positioned to the point O, then the whole mechanism is dragged to the sclera wound of the human eye manually or remotely, and then the feeding, pitching and autorotation of the remote motion center mechanism are used for controlling the micro operation in the eye. Because the O-point of the remote center of motion mechanism is a theoretical dead point, the O-point does not cause any pressure on the scleral wound, regardless of how the instrument on the end effector assembly 10 is actuated within the eye.
In practical processing, referring to fig. 7 to 10, the end effector 10O-point is not formed to an ideal point due to the problems of part machining tolerance, assembly errors, bearing play, etc., and the accuracy of the O-point is the key of the remote center of motion mechanism. While the articulation between the individual links is achieved by bearings, typically the small diameter deep groove ball bearings have a play of 4 μm-18 μm, although some play will be counteracted by interference fit, some play will remain to ensure the smooth rotation of the bearings, and some play will still exist for the fit of the links due to machining tolerances of the parts, etc., for ease of illustration, assuming a cumulative play of 0.01mm (10 μm) for the individual links, all links are 60mm in size, under the influence of gravity, the fifth and sixth links 52, 53 are stressed, become 59.99mm in size, the seventh and main shafts 54, 70 are stressed to become 60.01, at a pitch angle of 90 °, the end effector 10 is shifted by 0.2mm, and at a limit angle, the end effector 10 is shifted by 1.18mm, and there will be instability of the O-point with the change of pitch angle.
For convenience of explanation, the original structure drawing is represented by a linear diagram, the broken line is an ideal size, the solid line is an actual size of each connecting rod after being influenced by bearing clearances and machining tolerances, and fig. 7 and 8 are two working limit positions of the five-connecting-rod structure, and by comparison, the position deviation of the tail end point of the five-connecting-rod structure is 0.2mm when the tail end point is at the upper limit, and the position deviation is increased to 1.18mm when the tail end point is at the lower limit. And fig. 9 and 10 show two working limit positions of the four-bar linkage slide rail mechanism, and by comparison, the deviation of the end point of the upper limit position is 3.8mm, and the deviation is reduced to 0.05mm at the lower limit position. The mechanism is provided with a five-bar linkage mechanism and a four-bar linkage sliding block mechanism at the same time, and the five-bar linkage mechanism and the four-bar linkage sliding block mechanism are mutually complemented, so that the mechanism can have smaller position deviation at an upper limit position and a lower limit position.
In some embodiments, the remote movement center mechanism further comprises a third link assembly, the third link assembly comprises a sliding rail 61 and an eighth link 60, the sliding rail 61 is parallel to the screw rod 31, two ends of the eighth link 60 are respectively hinged with the base 30 and the sliding rail 61, the eighth link 60 is parallel to the main shaft 70, and a second parallel four-link mechanism is formed among the sliding rail 61, the eighth link 60, the screw rod 31 and the main shaft 70; the slide rail 61 is provided with a fitting portion at a position corresponding to the first link 20 and the second link 21, the fitting portion is hinged to the first link 20 and the second link 21, and the fitting portion is slidably provided to the slide rail 61.
In the above technical solution, by arranging the third link assembly in the remote movement center mechanism, which is equivalent to adding a set of four-link mechanism between the first link 20 and the main shaft 70, a parallel four-link mechanism is formed by the eighth link 60, the slide rail 61, the main shaft 70 and the screw rod 31 in the feeding linear module, and the first slider 23 is connected with the first link assembly, and the first slider 23 cooperates with the slide rail 61 to perform linear movement, so that the feeding movement of the first parallel four-link mechanism is not affected when the feeding linear module moves. When the pitch angle is 90 degrees, the tail end (the tail end executing assembly 10) of the first parallel four-bar linkage mechanism has a sinking phenomenon, the offset is larger, and when the structure is at the limit position, the offset is reduced, so that the defect of the stability of the parallel five-bar linkage mechanism is overcome. That is, at 90 ° pitch angle, stability of the end effector 10 is ensured mainly by the parallel five-bar linkage, and at the limit pitch angle, stability of the end effector 10 is ensured by the pitch linear driving module cooperating with the first parallel four-bar linkage, which are complementary.
In some embodiments, the number of first link assemblies is two, the two first link assemblies are identical in structure, and the two first link assemblies are respectively located at two opposite sides of the base 30 and the end effector assembly 10 in the third direction; the number of the second link assemblies is two, the two groups of second link assemblies have the same structure, and the two groups of second link assemblies are respectively positioned at two opposite sides of the spindle 70 in the third direction. By setting the number of first linkage assemblies to two sets, both opposite sides of the end effector assembly 10 have traction and pulling action of the first linkage assemblies, resulting in greater stability of the first parallel four-bar linkage motion. Similarly, by setting the number of second link assemblies to two, the second link assemblies are respectively located at two sides of the main shaft 70, so that the first link 20 is always parallel to the main shaft 70, and the accuracy of the end effector assembly 10 in the position adjustment process is higher.
In some embodiments, in the two sets of first link assemblies, a first link 24 is connected between the two first links 20, and a second link 25 is connected between the two second links 21. Through the arrangement of the first connecting rod 24 and the second connecting rod 25, the integrity between the two groups of first connecting rod assemblies can be enhanced.
In some embodiments, the remote center of motion mechanism further includes a rotation unit disposed on a side of the motion unit away from the end effector 10, the rotation unit being connected to the spindle 70 for driving the spindle 70 to rotate to achieve rotation of the end effector 10. The spindle 70 is driven to rotate around the X axis direction by the rotating unit, and autorotation motion is provided for the remote motion center mechanism, so that the rotating unit can drive the end effector 10 to rotate, and the rotating requirement of the end effector 10 is met.
The rotation unit includes a rotation motor 71, a driving end of the rotation motor 71 is connected with the main shaft 70 to drive the main shaft 70 to rotate, an O point of the remote movement center is located on a rotation axis of the rotation motor 7110 and the main shaft 7013, and the O point is guaranteed to be located on an X axis when the remote movement center mechanism rotates.
In a second aspect, embodiments of the present application also provide an intraocular surgical robot including the aforementioned remote center of motion mechanism.
It should be noted that the features of the embodiments of the present application may be combined with each other without conflict.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. A remote center of motion mechanism for an intraocular surgical robot, comprising:
A main shaft;
An end effector assembly for performing an intraocular procedure;
The motion unit is arranged between the main shaft and the end execution assembly and is used for driving the end execution assembly to move;
The motion unit comprises a first connecting rod assembly, a feeding linear module, a pitching driving module and a second connecting rod assembly, wherein the tail end executing assembly is connected with the first connecting rod assembly and forms a first parallel four-connecting rod mechanism with the first connecting rod assembly; the first connecting rod assembly comprises a first sliding block, the first sliding block is arranged in parallel with the end execution assembly, the first sliding block is shared by the first connecting rod assembly and the feeding linear module, the feeding linear module further comprises a first linear driving unit, and the first linear driving unit is used for driving the first sliding block to move along a second direction so as to drive the first connecting rod assembly and the end execution assembly to perform feeding motion; the pitching driving module is mounted on the main shaft and comprises a second sliding block, the second sliding block is movably arranged on the main shaft along a first direction, the first linear driving unit is mounted on the main shaft, a pull rod is connected between the first linear driving unit and the second sliding block, and the pitching driving module is used for driving the second sliding block to move along the first direction on the main shaft so as to drive the tail end executing assembly to perform pitching motion through the pull rod; the second connecting rod assembly is arranged between the first connecting rod assembly and the main shaft and is used for enabling the first connecting rod assembly and the main shaft to be parallel to each other;
The first connecting rod assembly further comprises a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are parallel to each other, two ends of the first connecting rod are hinged with the end execution assembly and the first sliding block respectively, two ends of the second connecting rod are hinged with the end execution assembly and the first sliding block respectively, and a first parallel four-bar mechanism is formed among the first sliding block, the first connecting rod, the second connecting rod and the end execution assembly;
the first linear driving unit comprises a base, a screw rod nut and a first driving piece, wherein one end, close to the main shaft, of the base is hinged with the main shaft, the screw rod extends along the second direction, the screw rod is rotatably installed on the base, the first driving piece is installed on the base and is used for driving the screw rod to rotate along the axis direction of the screw rod, the screw rod nut is in threaded fit with the screw rod, the first sliding block is installed on the screw rod nut, one end of the pull rod is hinged with the base, and the other end of the pull rod is hinged with the second sliding block;
The second connecting rod assembly comprises a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod and a seventh connecting rod, the third connecting rod is parallel to the fourth connecting rod, one ends of the third connecting rod and the fourth connecting rod are hinged to the first connecting rod, and the other ends of the third connecting rod and the fourth connecting rod are respectively hinged to two ends of the fifth connecting rod; the sixth connecting rod and the seventh connecting rod are parallel to each other, one ends of the sixth connecting rod and the seventh connecting rod are hinged to the main shaft, the other ends of the sixth connecting rod and the seventh connecting rod are hinged to two ends of the fifth connecting rod, the sixth connecting rod and one end of the third connecting rod on the fifth connecting rod share the same hinged end, and one ends of the seventh connecting rod and the fourth connecting rod on the fifth connecting rod share the same hinged end; the third connecting rod, the fourth connecting rod, the fifth connecting rod, the sixth connecting rod and the seventh connecting rod form a parallel five-connecting-rod mechanism;
the remote movement center mechanism further comprises a third connecting rod assembly, the third connecting rod assembly comprises a sliding rail and an eighth connecting rod, the sliding rail is parallel to the screw rod, two ends of the eighth connecting rod are respectively hinged with the base and the sliding rail, the eighth connecting rod is parallel to the main shaft, and a second parallel four-bar mechanism is formed among the sliding rail, the eighth connecting rod, the screw rod and the main shaft;
the sliding rail is provided with a matching part at a position corresponding to the first connecting rod and the second connecting rod, the matching part is hinged with the first connecting rod and the second connecting rod, and the matching part is slidably arranged on the sliding rail.
2. The remote center of motion mechanism of claim 1, wherein the pitch drive module further comprises a second linear drive unit mounted to the spindle, the second linear drive unit for driving the second slider to move in the first direction on the spindle.
3. The remote center of motion mechanism of claim 1, wherein the number of first link assemblies is two, the two sets of first link assemblies are identical in structure, and the two sets of first link assemblies are located on opposite sides of the base and the end effector assembly in a third direction, respectively;
The number of the second connecting rod assemblies is two, the two groups of the second connecting rod assemblies are identical in structure, and the two groups of the second connecting rod assemblies are respectively positioned on two opposite sides of the main shaft in the third direction.
4. A remote center of motion mechanism as recited in claim 3, wherein in two sets of said first links, a first link is connected between two of said first links and a second link is connected between two of said second links.
5. The remote center of motion mechanism of claim 1, further comprising a rotation unit disposed on a side of the motion unit remote from the end effector, the rotation unit coupled to the spindle for rotating the spindle to effect rotation of the end effector.
6. An intraocular surgical robot comprising a remote center of motion mechanism as claimed in any one of claims 1 to 5.
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