CN218832878U - Remote movement center mechanism and intraocular surgery robot - Google Patents
Remote movement center mechanism and intraocular surgery robot Download PDFInfo
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- CN218832878U CN218832878U CN202320119023.9U CN202320119023U CN218832878U CN 218832878 U CN218832878 U CN 218832878U CN 202320119023 U CN202320119023 U CN 202320119023U CN 218832878 U CN218832878 U CN 218832878U
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Abstract
The embodiment of the application provides a remote telemechanical center mechanism and an intraocular surgery robot, and belongs to the technical field of surgical instruments. The remote motion center mechanism is applied to the intraocular surgical robot and comprises a tail end connecting rod and a transmission unit, wherein the tail end connecting rod is used for installing an executing mechanism for performing surgical operation; the transmission unit is arranged on the tail end connecting rod and used for driving the tail end connecting rod to move along at least one direction, the transmission unit comprises a first sliding block rocker mechanism, a first connecting rod assembly, a second connecting rod assembly and a third connecting rod assembly, and the first sliding block rocker mechanism is used for driving the tail end assembly to perform pitching motion; the transmission unit further comprises a first linear driving module, the first linear driving module is used for driving the tail end connecting rod to perform feeding motion, and the first linear driving module is arranged on one side, far away from the tail end connecting rod, of the third connecting rod assembly. The remote motion center mechanism can reduce the volume of the tail end of the robot, ensure the operation visual field and facilitate the operation of doctors.
Description
Technical Field
The application relates to the technical field of surgical instruments, in particular to a remote motion center mechanism and an intraocular surgical robot.
Background
The retina is the innermost tissue of the back of the eyeball, has a fine and complex structure, and is particularly located in the macular area of the posterior pole, and because the tissue structure and the physiological activity of the retina in the area are special, the retina is very easy to be affected by internal and external pathogenic factors to cause pathological changes (such as macular edema and the like). The retina is also susceptible to disease from auto-vascular diseases (the former is retinal artery and vein occlusion) and systemic vascular diseases (the latter is hypertensive or diabetic retinopathy). If retinopathy cannot be treated timely and effectively, the vision of a patient can be seriously affected, even blindness is caused, and microsurgery is an effective means for treating retinopathy.
In response to the requirements of intraocular microsurgery, remote center of motion mechanisms (robots) have been developed that enable ophthalmic surgical instruments to be moved about a fulcrum point into the eye. However, the existing drivers for the robot to perform the feeding motion are located at the tail end of the mechanism and are very close to the instrument, so that the tail end of the robot is bulky, the microscope vision is blocked, and the operation of a doctor is affected. Meanwhile, the existing ophthalmic surgery robot mechanism kinematic model is complex, so that the control method of the existing ophthalmic surgery robot mechanism kinematic model is complex.
SUMMERY OF THE UTILITY MODEL
The embodiment of the application provides a remote movement center mechanism and intraocular surgery robot, simple structure can reduce the terminal volume of robot, and the guarantee field of vision that performs the operation does benefit to the doctor.
In a first aspect, an embodiment of the present application provides a remote motion center mechanism, which is applied to an intraocular surgical robot, and includes a terminal link and a transmission unit, where the terminal link has a mounting substrate, and the mounting substrate is used for mounting an execution mechanism for performing a surgical operation; the transmission unit is arranged on the tail end connecting rod and used for driving the tail end connecting rod to move along at least one direction so as to realize accurate control on an actuating mechanism on the tail end connecting rod; the transmission unit comprises a first sliding block rocker mechanism, a first connecting rod assembly, a second connecting rod assembly and a third connecting rod assembly, wherein the first connecting rod assembly and the second connecting rod assembly are parallel four connecting rod assemblies, a shared first overlapped top edge is arranged between the first connecting rod assembly and the second connecting rod assembly, a shared second overlapped top edge is arranged between the third connecting rod assembly and the second connecting rod assembly, a tail end connecting rod is positioned on the third connecting rod assembly, the first sliding block rocker mechanism and the first connecting rod assembly share a third overlapped edge, and the first sliding block rocker mechanism is used for driving the tail end assembly to perform pitching motion; the transmission unit further comprises a first linear driving module, the first linear driving module is used for driving the tail end connecting rod to perform feeding motion, and the first linear driving module is arranged on one side, far away from the tail end connecting rod, of the third connecting rod assembly.
In this scheme, through with the transmission unit including first slider rocker mechanism, first link assembly, second link assembly and third link assembly, first slider rocker mechanism is through first link assembly, the transmission of second link assembly and third link assembly drives terminal connecting rod and carries out the every single move action, it is first through being located the third link assembly with terminal connecting rod, and be used for driving terminal connecting rod with first linear drive module and carry out feed motion, first linear drive module sets up in the one side that terminal connecting rod was kept away from to the third link assembly, thereby make first linear drive module keep away from one side of terminal connecting rod in third link assembly, be about to first linear drive module rearmounted, like this in carrying out intraocular surgery, can avoid the sheltering from of terminal actuating mechanism to the operation field of vision that the robot grabbed furthest, operation space has been increased, more do benefit to medical personnel control operation robot and carry out operation.
In some embodiments, the first slider-rocker mechanism includes a first connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod and a second linear sliding table, the second linear sliding table is movably arranged on the first connecting rod along the first direction, the third connecting rod is connected with the second linear sliding table, the third connecting rod is hinged with the fourth connecting rod, the first connecting rod is hinged with the fifth connecting rod, the fifth connecting rod is driven to rotate in a pitching manner when the second linear sliding table moves along the first direction, the fifth connecting rod is connected with the third connecting rod assembly, and the third overlapping edge is the first connecting rod; the first connecting rod assembly further comprises a second connecting rod, a sixth connecting rod and a fourteenth connecting rod, and a first parallel four-bar linkage mechanism is formed among the first connecting rod, the second connecting rod, the sixth connecting rod and the fourteenth connecting rod; the second connecting rod assembly and the first connecting rod assembly share a fourteenth connecting rod, the fourteenth connecting rod is a first overlapped top edge, the second connecting rod assembly further comprises an eleventh connecting rod, a twelfth connecting rod and a thirteenth connecting rod, and a second parallel four-connecting-rod mechanism is formed among the fourteenth connecting rod, the eleventh connecting rod, the twelfth connecting rod and the thirteenth connecting rod; the third connecting rod assembly and the second connecting rod assembly share an eleventh connecting rod which is a second overlapped top edge, the third connecting rod assembly further comprises a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a tenth connecting rod, and a five-connecting-rod mechanism is formed among the seventh connecting rod, the eighth connecting rod, the ninth connecting rod, the tenth connecting rod and the eleventh connecting rod; the fifth connecting rod is parallel to the tenth connecting rod, and the running track of the fifth connecting rod is transmitted to the tenth connecting rod through the cooperation of the first connecting rod assembly, the second connecting rod assembly and the third connecting rod assembly so as to realize the pitching rotation of the tenth connecting rod; the tenth connecting rod is a tail end connecting rod, the rotating axes of the eleventh connecting rod and the twelfth connecting rod and the rotating axes of the seventh connecting rod and the eleventh connecting rod are collinear, the first linear driving module is arranged between the fifth connecting rod and the seventh connecting rod and used for driving the seventh connecting rod to perform feeding motion on the fifth connecting rod along a second direction, and the second direction is intersected with the first direction.
According to the technical scheme, the first connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the first linear sliding table form a sliding block rocker mechanism, the second linear sliding table is used for achieving pitching rotation of the fifth connecting rod, and then the posture of the fifth connecting rod in the first sliding block rocker mechanism can be mapped to the tail end rod piece in a completely equal proportion mode through auxiliary constraints of the two parallelogram mechanisms (the first connecting rod assembly and the second connecting rod assembly) and the parallel five-rod mechanism (the third connecting rod assembly), so that pitching motion of the tail end connecting rod is achieved through driving of the first sliding block rocker mechanism and the auxiliary constraints of the parallel four/five-rod mechanism. The third connecting rod assembly can realize the feeding motion along the first direction relative to the first connecting rod by utilizing the first linear driving module, the freedom degrees among the connecting rod assemblies are decoupled and are mutually independent, and the kinematic model of the mechanism is simple and is convenient to control.
In some embodiments, the first linear driving module comprises a first linear sliding table, a first guide rail and a first driving assembly, the first linear sliding table is arranged on the seventh connecting rod, the first guide rail is arranged on the fifth connecting rod along the second direction, the first linear sliding table is in sliding fit with the first guide rail, the first driving assembly is used for driving the first linear sliding table to move on the first guide rail along the second direction,
among the above-mentioned technical scheme, through being provided with first linear drive module, can drive first linear slip table and remove on the fifth connecting rod to realize the feeding action of terminal connecting rod, do not need artificial participation, but with the help of first linear drive module is automatic to go on, and the precision is strong.
In some embodiments, a first stroke assembly is disposed on the first linear drive module, and the first stroke assembly is used for controlling the moving stroke of the seventh connecting rod on the fifth connecting rod along the second direction.
Among the above-mentioned technical scheme, can monitor the seventh connecting rod along the removal stroke of second direction on the fifth connecting rod through being provided with first stroke subassembly, guarantee the accurate control among the feed motion process.
In some embodiments, the first slider-rocker mechanism further includes a second linear driving module, the second linear driving module is disposed on the first connecting rod, and the second linear driving module is configured to drive the second linear sliding table to move on the first connecting rod along the first direction.
Among the above-mentioned technical scheme, through being provided with second sharp drive module, can drive second sharp slip table and remove on first connecting rod to realize the every single move action of terminal connecting rod, need not artificially participate in, can go on automatically with the help of first sharp drive module, the precision is strong.
In some embodiments, a second stroke assembly is arranged on the second linear driving module, and the second stroke assembly is used for controlling the moving stroke of the second linear sliding table on the first connecting rod along the first direction.
In some embodiments, the remote motion center mechanism further includes a rotation unit disposed on a side of the first link assembly away from the end assembly, and the rotation unit is configured to drive the transmission unit to rotate, so as to rotate the end link.
Among the above-mentioned technical scheme, through rotating the unit and being connected with first connecting rod, the rotation unit can drive terminal connecting rod and realize rotating, satisfies the rotation demand of terminal connecting rod.
In some embodiments, the rotating unit includes a driving member and a transmission member, the driving end of the driving member is connected to the transmission member, the transmission member is sleeved on the driving member and connected to the driving member, the transmission unit is connected to the transmission member, and the transmission member is connected to the first connecting rod.
Among the above-mentioned technical scheme, through being equipped with the driving medium at the driving piece cover, the drive end and the driving medium of driving piece are connected to drive the driving medium and rotate, the driving medium rotates the rotation that realizes drive unit, satisfies the rotation demand.
In some embodiments, the rotating unit further includes a third stroke assembly, the third stroke assembly includes a third stroke switch and two third sensing blocks, the third stroke switch is disposed on the driving member, the two third sensing blocks are distributed at intervals along the circumferential direction of the transmission member, and when the third sensing block rotates to the triggering position of the stroke switch, the driving member stops working after being sensed by the third stroke switch.
Among the above-mentioned technical scheme, through being provided with two third response pieces on the driving medium, utilize third travel switch and third response piece response, two third response piece spaced radians just are the rotatable rotation stroke of rotating element, do benefit to the realization to the accurate control of terminal connecting rod rotation range.
In a second aspect, an embodiment of the present application further provides an intraocular surgical robot, which includes an actuator and the aforementioned remote center of motion mechanism, where the actuator is mounted on the end link.
Additional features and advantages of the present application will be described in detail in the detailed description which follows.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic diagram of a remote center of motion mechanism provided in some embodiments of the present application;
FIG. 2 is a schematic structural diagram of the two linear driving modules in FIG. 1;
FIG. 3 is a schematic view of another angular configuration of a remote center of motion mechanism provided in some embodiments of the present application;
FIG. 4 is a cross-sectional view of a rotating unit in a remote center of motion mechanism provided in some embodiments of the present application;
FIG. 5 is a schematic diagram illustrating an axis labeled remote center of motion mechanism according to some embodiments of the present application;
FIG. 6 is a schematic view of a revolute pair according to some embodiments of the present application;
FIG. 7 is a schematic view of a revolute pair according to another embodiment of the present application;
fig. 8 is a schematic structural diagram of a revolute pair according to still other embodiments of the present application.
An icon: 1-a first link; 2-a second link; 3-a third link; 4-a fourth link; 5-a fifth connecting rod; 6-a sixth connecting rod; 7-a seventh link; 8-an eighth link; 9-ninth link; 10-a terminal link; 11-an eleventh link; 12-a twelfth link; 13-a thirteenth link; 14-a fourteenth link; 30-a rotation unit; 31-third travel switch; 32-a third sensing block; 33-a module housing; 34-module housing end caps; 35-a bearing; 36-a bearing sleeve; 37-a module inner housing; 38-module inner end cap; 39-joint module; 41-a first linear slide; 42-a first motor; 43-a first synchronous pulley; 44-a first timing belt; 45-a first inductive travel switch; 46-a travel switch sensing piece; 51-a second linear slide; 52-a second motor; 53-a second synchronous pulley; 54-a second synchronous belt; 55-second inductive overtravel-limit switch.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it should be noted that the indication of orientation or positional relationship is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in this application will be understood to be a specific case for those of ordinary skill in the art.
Examples
It has been found by the inventors that microsurgery is an effective means of treating retinopathy. However, the difficulty of the operation is very high due to the limitations such as (1) the narrow space in the eye (the eyeball is approximately a sphere with a diameter of about 23mm to 24 mm), (2) the fineness of the operation target (the diameter of the blood vessel of the fundus is about 40 μm to 350 μm, the thickness of the retina is about 100 μm to 300 μm, and the thickness of the inner limiting membrane is about 1 μm to 3 μm), and (3) the physiological limits of the human (the physiological tremor of the hand can reach 156 μm rms, and the micro force lower than 7.5mN is difficult to perceive).
Take a retinal vein puncture injection method for treating central retinal vein occlusion as an example: the doctor observes the fundus of the patient with the aid of a microscope. At the same time, the micro-instrument is held by hand, and the tail end of the micro-instrument enters the eye to the fundus target area through a sleeve with the inner diameter less than 1mm positioned on the sclera. Hollow microneedles of about 30 μm in diameter were then inserted over retinal vein vessels of about 150 μm in diameter. And then keeping the stable pose of the microscopic instrument for 2-10 min, so that the thrombolytic agent is injected in a sufficient amount, and the success of treatment is guaranteed. Similar to the operation of the inner limiting membrane stripping operation for treating macular hole and the subretinal injection for treating fundus hemorrhage, the operation process is similar, but the operation instruments and objects are different (the instruments also relate to microsurgical forceps and the like, and the objects relate to retina and inner limiting membrane). Often, it is difficult for a physician to manually perform the above procedure.
Moreover, since the instruments are inserted into the eye through the cannula, rather than through an open wound (e.g., after removing the cornea, crystalline lens, etc., the operation is performed), the operation belongs to the "minimally invasive" operation of ophthalmology, and the operation of the instruments also needs to satisfy the motion constraint conditions of the minimally invasive operation. After the distal end of the device is inserted into the eye, there is an "optimal" fulcrum point on the cannula to minimize the additional force on the sclera. The instrument can adjust 3 postures per se by taking the fulcrum as a rotation center, and can linearly move along the axis per se through the fulcrum, so that the operation can be completed through the motion matching of the 4 degrees of freedom. If not manipulated in this manner, significant additional force may be applied to the sclera, causing damage to the sclera, or causing the eyeball to rotate within the eye socket, making it difficult for the surgeon to locate the target area.
As can be seen, the operation has extremely high requirements on the motion accuracy, stability and dexterity of the operation of the hands of the doctor. The robot has good motion accuracy, structural stability and motion mapping (zooming) capability, and can help people to overcome the defects in the objective aspect.
In response to the requirements of intraocular microsurgery, remote center of motion mechanisms (robots) have been developed that enable ophthalmic surgical instruments to be moved about a fulcrum point into the eye. However, the drivers of the existing robots for feeding motion are all located at the tail end of the mechanism and are very close to the executing instrument, so that the tail end of the robot is bulky, the microscope vision is blocked, and the operation of a doctor is affected. Meanwhile, the existing ophthalmic surgery robot mechanism kinematic model is complex, so that the control method of the existing ophthalmic surgery robot mechanism kinematic model is complex.
In view of this, the embodiment of the application provides a remote movement center mechanism, and remote movement center mechanism simple structure can reduce the terminal volume of robot, ensures the operation field of vision, does benefit to the doctor and carries out the operation.
Specifically, referring to fig. 1 to 8, the remote motion center mechanism includes a terminal link 10 and a transmission unit, the terminal link 10 has a mounting substrate, and the terminal link 10 is used for mounting an actuator for performing a surgical operation; the transmission unit is arranged on the tail end connecting rod 10 and is used for driving the tail end connecting rod 10 to move along at least one direction so as to realize accurate control on an actuating mechanism on the tail end connecting rod 10; the transmission unit comprises a first sliding block rocker mechanism, a first connecting rod assembly, a second connecting rod assembly and a third connecting rod assembly, wherein the first connecting rod assembly and the second connecting rod assembly are parallel four connecting rod assemblies, a shared first overlapped top edge is arranged between the first connecting rod assembly and the second connecting rod assembly, a shared second overlapped top edge is arranged between the third connecting rod assembly and the second connecting rod assembly, a tail end connecting rod 10 is positioned on the third connecting rod assembly, the first sliding block rocker mechanism and the first connecting rod assembly share a third overlapped edge, and the first sliding block rocker mechanism is used for driving the tail end assembly to perform pitching motion; the transmission unit further comprises a first linear driving module, the first linear driving module is used for driving the tail end connecting rod 10 to perform feeding motion, and the first linear driving module is arranged on one side, far away from the tail end connecting rod 10, of the third connecting rod assembly.
In this scheme, through including first slider rocker mechanism with the transmission unit, first link assembly, second link assembly and third link assembly, first slider rocker mechanism passes through first link assembly, the transmission of second link assembly and third link assembly drives terminal connecting rod 10 and carries out the pitching action, the first through being located terminal connecting rod 10 on the third link assembly, and be used for driving terminal connecting rod 10 with first linear drive module and carry out feed motion, first linear drive module sets up in one side that terminal connecting rod 10 was kept away from to the third link assembly, thereby make first linear drive module keep away from terminal connecting rod 10's one side in third link assembly, be about to first linear drive module rearmounted, in carrying out intraocular surgery like this, can furthest avoid the terminal actuating mechanism that the robot grabbed to the sheltering from in the operation field of vision, the operation space has been increased, more do benefit to medical personnel control operation robot and carry out the operation.
In some embodiments, the first slider-rocker mechanism includes a first link 1, a third link 3, a fourth link 4, a fifth link 5, and a second linear sliding table 51, the second linear sliding table 51 is movably disposed on the first link 1 along a first direction (A1 direction in fig. 1), the third link 3 is connected to the second linear sliding table 51, the third link 3 is hinged to the fourth link 4, the first link is hinged to the fifth link 5, the fifth link 5 is driven to perform a pitching rotation when the second linear sliding table 51 moves along the first direction, the fifth link 5 is connected to the third link assembly, and a third overlapping edge is the first link 1; the first connecting rod assembly further comprises a second connecting rod 2, a sixth connecting rod 6 and a fourteenth connecting rod 14, and a first parallel four-bar linkage mechanism is formed among the first connecting rod 1, the second connecting rod 2, the sixth connecting rod 6 and the fourteenth connecting rod 14; the second connecting rod assembly and the first connecting rod assembly share a fourteenth connecting rod 14, the fourteenth connecting rod 14 is a first overlapped top edge, the second connecting rod assembly further comprises an eleventh connecting rod 11, a twelfth connecting rod 12 and a thirteenth connecting rod 13, and a second parallel four-bar linkage mechanism is formed among the fourteenth connecting rod 14, the eleventh connecting rod 11, the twelfth connecting rod 12 and the thirteenth connecting rod 13; the third connecting rod assembly and the second connecting rod assembly share an eleventh connecting rod 11, the eleventh connecting rod 11 is a second overlapped top edge, the third connecting rod assembly further comprises a seventh connecting rod 7, an eighth connecting rod 8, a ninth connecting rod 9 and a tenth connecting rod, and a five-connecting-rod mechanism is formed among the seventh connecting rod 7, the eighth connecting rod 8, the ninth connecting rod 9, the tenth connecting rod and the eleventh connecting rod 11; the fifth connecting rod 5 is parallel to the tenth connecting rod, and the running track of the fifth connecting rod 5 is transmitted to the tenth connecting rod through the cooperation of the first connecting rod assembly, the second connecting rod assembly and the third connecting rod assembly so as to realize the pitching rotation of the tenth connecting rod; the tenth connecting rod is a tail end connecting rod 10, the rotation axes of the eleventh connecting rod 11 and the twelfth connecting rod 12 are collinear with the rotation axes of the seventh connecting rod 7 and the eleventh connecting rod 11, the first linear driving module is arranged between the fifth connecting rod 5 and the seventh connecting rod 7 and used for driving the seventh connecting rod 7 to perform feed motion on the fifth connecting rod 5 along a second direction (A2 direction in fig. 1), and the second direction A2 is intersected with the first direction A1. Firstly, a first connecting rod 1, a third connecting rod 3, a fourth connecting rod 4, a fifth connecting rod 5 and a second linear sliding table 51 form a sliding block rocker mechanism, the second linear sliding table 51 is used for realizing the pitching rotation of the fifth connecting rod 5, and then the posture of the fifth connecting rod 5 in the first sliding block rocker mechanism can be mapped to a tail end rod piece in a completely equal proportion manner through the auxiliary constraint of two parallelogram mechanisms (a first connecting rod component and a second connecting rod component) and one parallel five rod mechanism (a third connecting rod component), so that the pitching action of the tail end connecting rod 10 is realized through the driving of the first sliding block rocker mechanism and the auxiliary constraint of the parallel four/five rod mechanism. The feeding motion of the third connecting rod assembly along the first direction A1 relative to the first connecting rod 1 can be realized by utilizing the first linear driving module, the freedom degrees among the connecting rod assemblies are decoupled and are mutually independent, and the kinematic model of the mechanism is simple and is convenient to control.
In some embodiments, the first linear driving module includes a first linear sliding table 41, a first guide rail, and a first driving assembly, the first linear sliding table 41 is disposed on the seventh connecting rod 7, the first guide rail is disposed on the fifth connecting rod 5 along the second direction, the first linear sliding table 41 is in sliding fit with the first guide rail, and the first driving assembly is configured to drive the first linear sliding table 41 to move on the first guide rail along the second direction. The first slider rocker mechanism further comprises a second linear driving module, the second linear driving module is arranged on the first connecting rod 1, and the second linear driving module is used for driving the second linear sliding table 51 to move on the first connecting rod 1 along the first direction.
In some embodiments, the remote motion center mechanism further includes a rotation unit 30 disposed on a side of the first link assembly away from the end assembly, and the rotation unit 30 is configured to rotate the transmission unit to realize rotation of the end link 10. The rotating unit 30 includes a driving member and a transmission member, the driving end of the driving member is connected to the transmission member, the transmission member is sleeved on the driving member and connected to the driving member, the transmission unit is connected to the transmission member, and the transmission member is connected to the first connecting rod 1. The rotating unit 30 further includes a third stroke assembly, the third stroke assembly includes a third stroke switch 31 and two third sensing blocks 32, the third stroke switch 31 is disposed on the driving member, the two third sensing blocks 32 are circumferentially spaced apart from each other along the driving member, and when the third sensing block 32 rotates to a triggering position of the stroke switch, the driving member stops working after being sensed by the third stroke switch 31. Wherein, the driving piece is joint module 39, integrated motor, reduction gear, encoder and band-type brake in the subassembly of an organic whole, and the driving medium is module shell 33, rotates with the driving piece to be connected, and first connecting rod is connected with module shell 33.
First, the implementation of the pitching motion of the end link 10 in the remote center of motion mechanism will be described below:
referring to fig. 1 to 5, the first link 1, the third link 3, the fourth link 4, the fifth link 5 and the second linear sliding table 51 together form a first slider rocker mechanism, so as to implement the pitching rotation (rotation around the axis A3) of the fifth link 5, which is the basis for implementing the pitching rotation (i.e. rotation of the end rod around the axis A3) of the end link 10 (tenth link).
It can be understood that the third link 3 is fixedly connected with the slide block in the second linear sliding table 51, and the guide rail of the first linear sliding table 41 is fixedly connected with the first link 1. The second linear slide table 51 constitutes a moving pair in the mechanism by the movement of the slider on the second guide rail (base), the moving direction of which is along the A1 axis direction, i.e., the first direction. The relative movement between the sliding block on the second linear sliding table 51 and the second guide rail is realized by a second driving assembly, the second driving assembly is realized by a synchronous pulley mechanism matched with a screw-nut pair mechanism, and of course, the second driving assembly can also be other linear driving mechanisms, such as an air cylinder, an electric push rod, a hydraulic cylinder, a linear motor or a linear module. In this embodiment, a synchronous pulley mechanism is selected to cooperate with the screw nut pair mechanism, and the synchronous pulley mechanism is implemented by including a second motor 52, two second synchronous pulleys 53 and a second synchronous belt 54, the second motor 52 drives the synchronous pulley system, obviously, the synchronous pulley system can also be replaced by a gear train, and then drives a screw shaft in the second linear sliding table 51, and finally, a slider on the second linear sliding table 51 moves along the second guide rail. The monitoring of the displacement travel is effected by means of a rotary encoder integrated on the second motor 52. A linear encoder may be provided on the second linear slide 51 to monitor the moving stroke. It is also possible to integrate a rotary encoder on the second motor 52 and a linear encoder on the second linear slide table 51 to form a double closed loop. During practical use, the maximum stroke of the second linear sliding table 51 needs to be limited, that is, the second stroke assembly comprises two second inductive stroke switches 55, and the two second inductive stroke switches 55 are mounted on the back surface of the fifth connecting rod 5 to realize movement limitation. When the third link 3 (made of metal) moves along with the second linear sliding table 51, the edge thereof enters the sensing area of the travel switch, and then stops moving. The third connecting rod 3 and the fourth connecting rod 4 are connected through a revolute pair, and the axis of the revolute pair is a2. The first connecting rod and the fifth connecting rod 5 are connected through a revolute pair, and the axis of the revolute pair is a3. The fourth link 4 and the fifth link 5 are connected through a revolute pair, and the axis of the revolute pair is a4.
To this end, the fifth link 5 is rotated around the axis a3, and the pitching rotation of the end link 10 (tenth link) is finally realized by the aid of the first link assembly, the second link assembly, and the third link assembly, i.e., the auxiliary constraints of the two parallelogram (parallelogram four-bar-parallel) mechanisms and the five-bar-parallel mechanism.
In the first link assembly, the first link 1, the second link 2, the sixth link 6, and the fourteenth link 14 constitute one parallelogram mechanism. The first connecting rod 1 and the second connecting rod 2 are connected through a revolute pair, and the axis of the revolute pair is a1. The first connecting rod 1 and the sixth connecting rod 6 are connected through a revolute pair, and the axis of the revolute pair is a3. It can be seen that the axis of the revolute pair between the first link 1 and the fifth link 5 is collinear with the axis between the first link 6 and the sixth link 6 (both axes are a 3). The sixth link 6 and the twelfth link 12 are connected through a revolute pair, and the axis of the revolute pair is a12. The second link 2 and the twelfth link 12 are connected by a revolute pair, and the axis of the revolute pair is a13. The distance between the axes a1 and a13 is equal to the distance between the axes a3 and a12, and the distance between the axes a12 and a13 is equal to the distance between the axes a1 and a3. To ensure sufficient rigidity of the sixth link 6, a U-shaped design is adopted.
In the second link assembly, the eleventh link 11, the twelfth link 12, the thirteenth link 13, and the fourteenth link 14 constitute a parallelogram mechanism. The twelfth link 12 and the fourteenth link 14 are connected by a revolute pair, and the axis of the revolute pair is a12. The eleventh link 11 and the twelfth link 12 are connected by a revolute pair, and the axis of the revolute pair is a10. The eleventh link 11 and the thirteenth link 13 are connected through a revolute pair, and the axis of the revolute pair is a11. The thirteenth link 13 and the fourteenth link 14 are connected by a revolute pair, and the axis of the revolute pair is a13. It can be seen that the axis of the revolute pair between the sixth link 6 and the fourteenth link 14 is collinear with the axis between the twelfth link 12 and the fourteenth link 14 (both axes are a 12), and the axis of the revolute pair between the second link 2 and the fourteenth link 14 is collinear with the axis between the thirteenth link 13 and the fourteenth link 14 (both axes are a 13). The distance between the axes a10 and a11 is equal to the distance between the axes a12 and a13, and the distance between the axes a11 and a13 is equal to the distance between the axes a10 and a12. In order to avoid self-interference when the mechanism moves, the twelfth link 12 and the thirteenth link 13 are of a profiled design.
In the third connecting rod assembly, the seventh connecting rod 7, the eighth connecting rod 8, the ninth connecting rod 9, the terminal tenth connecting rod and the eleventh connecting rod 11 form a parallel five-rod mechanism. The seventh connecting rod 7 and the eighth connecting rod 8 are connected through a revolute pair, and the axis of the revolute pair is a5. The eighth link 8 and the ninth link 9 are connected through a revolute pair, and the axis of the revolute pair is a6. The eighth connecting rod 8 is connected with the tenth connecting rod at the tail end through a revolute pair, and the axial line of the revolute pair is a7. The end link 10 (tenth link) and the eleventh link 11 are connected by a revolute pair, and the axis of the revolute pair is a8. The ninth link 9 and the eleventh link 11 are connected through a revolute pair, and the axis of the revolute pair is a9. The seventh link 7 and the eleventh link 11 are connected by a revolute pair, and the axis of the revolute pair is a10. The distance between the axis a5 and the axis a10, the distance between the axis a6 and the axis a9, and the distance between the axis a7 and the axis a8 are equal to each other. The distance between the axes a5 and a6 is equal to the distance between the axes a10 and a9, and the distance between the axes a6 and a7 is equal to the distance between the axes a9 and a8. The use of the parallel five-bar mechanism (instead of the parallelogram mechanism in which the eighth link 8 is eliminated) is intended to improve the rigidity of the mechanism.
The parallel five-bar mechanism (third connecting bar component) and a parallelogram mechanism formed by an eleventh connecting bar 11, a twelfth connecting bar 12, a thirteenth connecting bar 13 and a fourteenth connecting bar 14 share the eleventh connecting bar 11, and an axis a8, an axis a9 and an axis a10 are coplanar with the axis a11. Axis a3, axis a5 and axis a10 are coplanar. It can be seen that the axis of the revolute pair between the eleventh link 11 and the twelfth link 12 is collinear with the axis between the seventh link 7 and the eleventh link 11 (both axes are a 10).
In summary, therefore, with the aid of the two parallelogram mechanisms and the auxiliary constraint of one parallel five-bar mechanism, the attitude of the fifth link 5 (the rotation of the fifth link 5 about the axis A3) in the first slider-rocker mechanism can be mapped exactly to the tenth link at the end (the rotation of the end link 10, i.e. the tenth link about the axis A3) in equal proportion. So far, it is clarified that the remote motion center mechanism is driven by the first sliding block rocker mechanism, and the parallel four/five-rod mechanism assists in restricting to realize the pitching action.
The following describes the implementation of the feed operation of the end link 10 in the remote center of motion mechanism:
the fifth link 5, the seventh link 7, and the first linear sliding table 41 constitute a linear feed mechanism. The seventh connecting rod 7 is fixedly connected with a sliding block in the first linear sliding table 41, and a first guide rail of the first linear sliding table 41 is fixedly connected with the fifth connecting rod 5. The first linear sliding table 41 constitutes a moving pair in the mechanism by the movement of the slider on the guide rail, and the moving direction thereof is along the axis A2 direction. The relative movement between the upper sliding block of the first linear sliding table 41 and the first guide rail is realized by a first driving assembly, the first driving assembly can be a plurality of linear driving mechanisms, and mechanisms capable of realizing linear driving in the prior art can be applicable, and are not described herein again. In this embodiment, the synchronous pulley and the screw-nut pair are still used for implementation, the first driving assembly includes a first motor 42, a first synchronous pulley 43 and a first synchronous belt 44, and the working principle is the prior art and will not be described herein again. The monitoring of the moving stroke of the first linear sliding table 41 is realized by a first stroke assembly, which can be an encoder, and is realized by a rotary encoder integrated on a motor. A linear encoder may be provided on the first linear slide 41 to monitor the moving stroke. And a rotary encoder can also be integrated on the motor at the same time, and a linear encoder is arranged on the first linear sliding table 41 to form a double closed loop. In practical use, the maximum stroke of the first linear sliding table 41 needs to be limited, and the first stroke assembly is used for realizing the limitation, and comprises a first induction type stroke switch 45 and a stroke switch induction sheet 46, and the first induction type stroke switch 45 is arranged on the back of the fifth connecting rod 5 to realize the movement limitation. A travel switch sensing piece 46 (made of metal) is mounted on the seventh link 7. When the seventh link 7 moves along with the first linear sliding table 41, the sensing piece enters the sensing area of the travel switch, and the motion is stopped.
The end link 10 (tenth link) performs the same feeding movement as the slider (seventh link 7) in the first linear sliding table 41, and is also realized by auxiliary constraint of a parallelogram mechanism and a parallel five-bar mechanism. When the slider of the first linear slide table 41 moves on the first guide rail, the distance between the axis a3 and the axis a10 changes. Because of the two adjacent parallelogram mechanisms, the two parallelogram mechanisms can be adjusted along with the movement of the sliding block of the first linear sliding table 41, adapt to the change of the distance between the axis a3 and the axis a10, and map the movement to the tail end connecting rod 10 (tenth connecting rod) in an equal proportion by matching with a parallel five-rod mechanism. The fifth connecting rod 5, the sixth connecting rod 6, the seventh connecting rod 7 and the twelfth connecting rod 12 need to satisfy the following conditions: the distance between the axes a10 and a12 + the distance between the axes a3 and a12 > the maximum distance between the axes a3 and a10.
The following describes the implementation of the yaw motion of the tip assembly in the remote center of motion mechanism:
the rotating unit 30 mainly comprises a third travel switch 31, a third induction block 32, a module outer shell 33, a module outer shell end cover 34, a bearing 35, a bearing sleeve 36, a module inner shell 37, a module inner end cover 38 and a joint module 39, wherein the joint module 39 integrates a motor, a speed reducer, an encoder and a band-type brake into a whole.
The module inner end cap 38 is fixedly mounted on the module inner housing 37, and the module inner housing 37 is fixedly mounted on the fixed end of the joint module 39. The module outer end cap is fixedly mounted on the module housing 33, while the module housing 33 is fixedly mounted at the output end of the joint module 39. In this way, the assembly of the module inner housing 37 and the module inner end cap 38 and the assembly of the module outer housing 33 and the module outer housing end cap 34 can rotate relative to each other with the operation of the joint module 39. The two sets of components are supported both circumferentially and axially by bearings 35 and bearing sleeves 36.
The first link 1 is mounted on the module case 33 to be rotatable in accordance with the operation of the joint module 39. Meanwhile, all the components except the rotating unit 30 are mounted on the first link 1, and when the rotation center of the first link 1 coincides with the axis of the rotating assembly, the whole mechanism has a degree of freedom (yaw motion) of rotation along the axis of the rotating assembly.
Obviously, in practical use, the maximum travel of the yawing motion also needs to be limited. The scheme adopted by the application is that an induction type third stroke switch 31 is installed on a module inner end cover 38 (a fixed component), and a third induction block 32 is installed on a module outer end cover. When the third sensing block 32 rotates to the triggering position of the travel switch, the limit travel is reached, and the movement is stopped.
Finally, in order to provide the mechanism with a remote centre of motion O, it is also necessary to have axes A1, A3 perpendicularly intersecting A1, so that axis A3 perpendicularly intersects axis A1. And whatever the instrument is mounted on the end link 10 (tenth link), the axis of rotation thereof intersects the axes a7, a8 perpendicularly and intersects the axis A1. Thus, A1, A2, A3 intersect at a point O, the so-called remote center of motion.
In summary, according to the above scheme, a mechanism with a remote center of motion can be implemented, i.e. the actuator on the end link 10 can perform pitching, yawing and feeding motions around a certain point (O point) in space. Such a mechanism may be used as an intraocular surgical robot.
The following is a description of the implementation of the revolute pair in the mechanism:
fig. 6 shows a revolute pair implementation of the connection of two rods. The bearing Z14 and the bearing Z16 are mounted on a journal of the shaft Z15, are mounted in holes of the outer rod Z12 and the inner rod Z13, and are axially pressed and positioned by the end cover Z11. The revolute pairs at the axes a1, a5, a6, a7, a8, a9 and a11 are of this type.
Fig. 7 shows another embodiment of a revolute pair connecting two rods. The bearing Z24 and the bearing Z26 are mounted on a journal of the shaft Z25, are mounted in holes of the outer rod Z22 and the inner rod Z23, and are axially pressed and positioned by the end cover Z21. The revolute pairs at the axes a2 and a4 are of this type.
In fig. 8 is a revolute pair implementation of connecting three rods. The bearings Z35 and Z37 are mounted on the journal of the shaft Z38 and are separated by a bearing sleeve Z36, and are mounted in the holes of the outer rod Z32, the middle rod Z33 and the inner rod Z34 together, and are axially pressed and positioned by the end cover Z31. The revolute pairs at the axes a3, a10, a12 and a13 are of this type, and the end covers are all bolted.
It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A remote center of motion mechanism for use with an intraocular surgical robot, comprising:
a terminal link having a mounting substrate for mounting an actuator for performing a surgical operation;
the transmission unit is arranged on the tail end connecting rod and used for driving the tail end connecting rod to move along at least one direction so as to realize accurate control on the actuating mechanism on the tail end connecting rod;
the transmission unit comprises a first sliding block rocker mechanism, a first connecting rod assembly, a second connecting rod assembly and a third connecting rod assembly, wherein the first connecting rod assembly and the second connecting rod assembly are parallel four-connecting rod assemblies, a shared first overlapped top edge is formed between the first connecting rod assembly and the second connecting rod assembly, a shared second overlapped top edge is formed between the third connecting rod assembly and the second connecting rod assembly, the tail end connecting rod is positioned on the third connecting rod assembly, the first sliding block rocker mechanism and the first connecting rod assembly share a third overlapped edge, and the first sliding block rocker mechanism is used for driving the tail end assembly to perform pitching motion; the transmission unit further comprises a first linear driving module, the first linear driving module is used for driving the tail end connecting rod to perform feeding motion, and the first linear driving module is arranged on one side, far away from the tail end connecting rod, of the third connecting rod assembly.
2. The remote center of motion mechanism of claim 1, wherein the first slider-rocker mechanism comprises a first link, a third link, a fourth link, a fifth link, and a second linear slide, the second linear slide is movably disposed on the first link along a first direction, the third link is connected to the second linear slide, the third link is hinged to the fourth link, the first link is hinged to the fifth link, the fifth link is driven to perform a pitching rotation when the second linear slide moves along the first direction, the fifth link is connected to the third link assembly, and the third overlapping edge is the first link;
the first connecting rod assembly further comprises a second connecting rod, a sixth connecting rod and a fourteenth connecting rod, and a first parallel four-bar linkage mechanism is formed among the first connecting rod, the second connecting rod, the sixth connecting rod and the fourteenth connecting rod;
the second connecting rod assembly and the first connecting rod assembly share the fourteenth connecting rod which is a first overlapped top edge, the second connecting rod assembly further comprises an eleventh connecting rod, a twelfth connecting rod and a thirteenth connecting rod, and a second parallel four-bar linkage mechanism is formed among the fourteenth connecting rod, the eleventh connecting rod, the twelfth connecting rod and the thirteenth connecting rod;
the third connecting rod assembly and the second connecting rod assembly share the eleventh connecting rod, the eleventh connecting rod is a second overlapped top edge, the third connecting rod assembly further comprises a seventh connecting rod, an eighth connecting rod, a ninth connecting rod and a tenth connecting rod, and a five-link mechanism is formed among the seventh connecting rod, the eighth connecting rod, the ninth connecting rod, the tenth connecting rod and the eleventh connecting rod;
the fifth connecting rod is parallel to the tenth connecting rod, and the running track of the fifth connecting rod is transmitted to the tenth connecting rod through the cooperation of the first connecting rod assembly, the second connecting rod assembly and the third connecting rod assembly, so that the tenth connecting rod can rotate in a pitching manner; the tenth connecting rod is the tail end connecting rod, the rotation axes of the eleventh connecting rod and the twelfth connecting rod are collinear with the rotation axes of the seventh connecting rod and the eleventh connecting rod, the first linear driving module is arranged between the fifth connecting rod and the seventh connecting rod and used for driving the seventh connecting rod to perform feed motion on the fifth connecting rod along a second direction, and the second direction is intersected with the first direction.
3. The remote center of motion mechanism of claim 2, wherein the first linear drive module comprises a first linear slide, a first guide rail, and a first drive assembly, the first linear slide is disposed on the seventh link, the first guide rail is disposed on the fifth link along the second direction, the first linear slide is in sliding engagement with the first guide rail, and the first drive assembly is configured to drive the first linear slide to move on the first guide rail along the second direction.
4. The remote center of motion mechanism of claim 3, wherein the first linear drive module is provided with a first stroke assembly, and the first stroke assembly is configured to control a moving stroke of the seventh link on the fifth link in the second direction.
5. The remote center of motion mechanism of claim 2, wherein the first slider-rocker mechanism further comprises a second linear drive module disposed on the first link, the second linear drive module configured to drive the second linear slide to move on the first link in the first direction.
6. The remote center of motion mechanism of claim 5, wherein the second linear drive module is provided with a second stroke assembly, and the second stroke assembly is configured to control a moving stroke of the second linear slide along the first direction on the first link.
7. The remote center of motion mechanism of claim 1, further comprising a rotation unit disposed on a side of the first link assembly away from the distal end assembly, the rotation unit configured to rotate the transmission unit to achieve rotation of the distal end link.
8. The remote center of motion mechanism of claim 7, wherein the rotating unit comprises a driving member and a transmission member, the driving end of the driving member is connected to the transmission member, the transmission member is sleeved on the driving member and connected to the driving member, the transmission unit is connected to the transmission member, and the transmission member is connected to the first link.
9. The remote motion center mechanism of claim 8, wherein the rotating unit further comprises a third stroke assembly, the third stroke assembly comprises a third stroke switch and two third sensing blocks, the third stroke switch is disposed on the driving member, the two third sensing blocks are spaced apart from each other along a circumferential direction of the driving member, and when the third sensing block rotates to an activation position of the stroke switch, the stroke switch senses to stop the driving member.
10. An intraocular surgical robot comprising an actuator mounted to the end link and a remote center of motion mechanism as claimed in any one of claims 1-9.
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| CN202320119023.9U CN218832878U (en) | 2023-02-06 | 2023-02-06 | Remote movement center mechanism and intraocular surgery robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117323015A (en) * | 2023-10-30 | 2024-01-02 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
| 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 |
| CN117711235A (en) * | 2024-02-05 | 2024-03-15 | 北京衔微医疗科技有限公司 | Simulation training device for ophthalmic surgery robot |
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2023
- 2023-02-06 CN CN202320119023.9U patent/CN218832878U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117323015A (en) * | 2023-10-30 | 2024-01-02 | 赛诺威盛医疗科技(扬州)有限公司 | Miniaturized multi-degree-of-freedom robot |
| 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 |
| CN117711235A (en) * | 2024-02-05 | 2024-03-15 | 北京衔微医疗科技有限公司 | Simulation training device for ophthalmic surgery robot |
| CN117711235B (en) * | 2024-02-05 | 2024-07-19 | 北京衔微医疗科技有限公司 | Simulation training device for ophthalmic surgery robot |
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