WO2022121964A1 - Surgical instrument guide and drive mechanism, guide device, and robot system - Google Patents

Abstract

A surgical instrument guide mechanism (2000) and drive mechanism (3000), a guide device, and a robot system. The drive mechanism (3000) drives at least a part of the surgical instrument guide mechanism (2000) to move so as to drive the surgical instrument loaded on the surgical instrument guide mechanism (2000) to perform at least one degree-of-freedom of movement to perform surgery. The surgical precision and the consistency of the surgical procedure are improved.

Description

Surgical tool guide and drive mechanism, guide device, robot system technical field

The invention belongs to the technical field of medical instruments, and in particular relates to a surgical tool guiding and driving mechanism, a guiding device and a robot system.

Background technique

In a current osteotomy method under navigation guidance, an osteotomy guide tool is fixedly installed on the manipulator arm, and the osteotomy guide tool has no degree of freedom, and the position and posture of the osteotomy guide tool is adjusted by the manipulator arm. After that, manual osteotomy is performed by the operator operating a matching osteotomy tool, such as a pendulum saw. The osteotomy method is affected by human factors, the accuracy of the osteotomy cannot be guaranteed, and the width of the osteotomy is also affected by the osteotomy guide tool. The width of the osteotomy slot is limited. When the width of the osteotomy slot is too large, the osteotomy tool is likely to interfere with other human tissues. In another osteotomy method, the manipulator directly grips the osteotomy tool, and then the manipulator moves to drive the osteotomy tool and cut the bone. In this method, if the osteotomy tool is a ball grinding head, the osteotomy efficiency is low; if the osteotomy tool is a saw blade, the osteotomy accuracy will be deteriorated due to insufficient rigidity of the saw blade.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a surgical tool guiding and driving mechanism, a guiding device and a robot system, aiming at improving the surgical precision and maintaining the consistency of the surgical operation.

In order to achieve the above purpose, the present invention provides a guide mechanism for a surgical tool, comprising a fixed seat and a guide portion matched with it, the fixed seat is used for loading the surgical tool, and the guide portion is provided with a part of the surgical tool. A guide groove is passed through; the fixing seat is provided with a first interface for connecting with a driving mechanism, so that the fixing seat can move under the driving of the driving mechanism, thereby driving the surgical tool relative to the driving mechanism. At least a portion of the drive mechanism is in relative motion.

In order to achieve the above object, the present invention also provides a driving mechanism for connecting with the surgical tool guiding mechanism according to any one of the preceding items, characterized in that, the driving mechanism includes a driving mechanism for connecting with the fixing seat. The matching part corresponding to the first interface also includes at least one motion module to drive at least a part of the surgical tool guiding mechanism to move, thereby driving the surgical tool to perform at least one degree of freedom movement.

In order to achieve the above object, the present invention also provides a surgical tool guiding device, comprising the surgical tool guiding mechanism described in any one of the preceding items and the driving mechanism described in any preceding item, wherein the driving mechanism and the surgical tool guiding mechanism The mechanism is connected to drive at least a portion of the surgical tool guide mechanism to move, thereby driving the surgical tool loaded on the surgical tool guide mechanism to perform at least one degree of freedom movement.

In order to achieve the above object, the present invention also provides a surgical robot system, which is characterized in that it includes a mechanical arm and the surgical tool guiding mechanism as described in any one of the preceding items, and the end of the mechanical arm is used for connecting with the surgical robot. Tool guide mechanism connection.

In order to achieve the above object, the present invention also provides another surgical robot system, comprising a robotic arm and the drive mechanism as described in any one of the preceding items, and the distal end of the robotic arm is used for connecting with the drive mechanism.

Compared with the prior art, the surgical tool guiding and driving mechanism, guiding device and robot system of the present invention have the following advantages:

The aforementioned surgical tool guiding device and the driving mechanism are used in cooperation with each other, and the surgical tool guiding mechanism is provided with a guide groove; the driving mechanism includes at least one multi-degree-of-freedom motion module; the multi-degree-of-freedom motion module is composed of a plurality of different It is composed of single-degree-of-freedom motion modules in one direction. The surgical tool guide mechanism is used to install an osteotomy tool, and the osteotomy tool is partially penetrated in the guide groove; when the driving mechanism is connected with the surgical tool guide mechanism, it can drive the surgery At least a portion of the tool guide mechanism moves, thereby driving the osteotomy tool to perform at least one degree of freedom movement to perform a surgical operation. The driving mechanism is used to drive at least a part of the surgical tool guiding mechanism to move, thereby driving the osteotomy tool to move, so as to perform automatic surgery, eliminate the influence of human factors, and improve the accuracy and consistency of surgery.

Description of drawings

The accompanying drawings are used for better understanding of the present invention and do not constitute an improper limitation of the present invention. in:

1 is a schematic diagram of a surgical tool guiding device provided by the present invention when applied to knee joint replacement according to an embodiment;

2 is a schematic diagram of the distribution of the freedom of movement of an osteotomy tool in a surgical tool guiding device according to an embodiment of the present invention;

3 is a schematic diagram of the connection between the surgical tool guiding device and the robotic arm provided by the first embodiment of the present invention;

Fig. 4 is the partial structure schematic diagram when the surgical tool guide device shown in Fig. 3 is connected with the mechanical arm;

5 is a schematic structural diagram of an oscillating saw according to an embodiment of the present invention;

6 is a schematic diagram of the connection/interrelation principle of the driving mechanism and the surgical tool guiding mechanism in the surgical tool guiding device provided by the first embodiment of the present invention;

Fig. 7 is a partial structural schematic diagram of the surgical tool guiding device provided by the first embodiment of the present invention, showing a first base, a second base, a first single-degree-of-freedom motion module and part of the second single-degree-of-freedom motion module;

8 is a partial structural schematic diagram of the surgical tool guiding device provided by the first embodiment of the present invention, showing a second base, a third base and a second single-degree-of-freedom motion module;

9 is a partial structural schematic diagram of the surgical tool guiding device provided by the first embodiment of the present invention, showing a third base, a third single-degree-of-freedom motion module and a connecting seat;

10 is a schematic diagram of the cooperation relationship between the surgical tool guiding mechanism and the osteotomy tool of the surgical tool guiding device provided by the first embodiment of the present invention;

11 is a schematic structural diagram of the first fixing seat of the surgical tool guide mechanism of the surgical tool guide device provided in the first embodiment of the present invention in one direction, and the figure also shows the guide column and the guide support plate of the floating mechanism;

12 is a schematic structural diagram of the first fixing seat of the surgical tool guiding mechanism of the surgical tool guiding device provided in the first embodiment of the present invention in another direction;

13 is a simplified schematic diagram of the driving mechanism of the surgical tool guiding device provided by the second embodiment of the present invention;

14 is a schematic diagram of the connection/relationship between the driving mechanism and the surgical tool guiding mechanism in the surgical tool guiding device provided by the second embodiment of the present invention;

15 is a schematic diagram of the cooperation relationship between the driving mechanism of the surgical tool guiding device and the surgical tool guiding mechanism provided by the third embodiment of the present invention;

Fig. 16 is a partial structural schematic diagram of the surgical tool guiding device provided by the third embodiment of the present invention, and the figure shows a schematic diagram of the cooperation relationship between the engaging device and the first single-degree-of-freedom motion module;

Fig. 17 is a partial structural schematic diagram of the surgical tool guiding device provided by the third embodiment of the present invention, and the figure shows a schematic diagram of a second single-degree-of-freedom motion module;

18 is a schematic partial structural diagram of the surgical tool guiding device provided by the fourth embodiment of the present invention, and the figure shows a schematic diagram of the cooperation relationship between the osteotomy tool and the surgical tool guiding mechanism;

19 is a schematic structural diagram of the second seat of the second fixing seat of the surgical tool guiding mechanism of the surgical tool guiding device according to the fourth embodiment of the present invention;

FIG. 20 is a schematic diagram showing the connection/relationship between the surgical tool guiding device, the robotic arm and the posture adjustment mechanism according to the fourth embodiment of the present invention.

[reference numerals are explained below]:

1-doctor, 2-patient, 3-posture adjustment device;

10-Robot arm, 21-Main monitor, 22-Keyboard, 23-Auxiliary monitor, 31-Tracker, 32-Base target, 33-Tool target, 34-Femur target, 35-Tibia target, 40-Surgical trolley , 50-navigation trolley;

1100 - oscillating saw, 1101 - saw blade, 1102 - housing part;

2000-Surgical tool guide mechanism, 2001-Guide groove, 2002-First interface, 2003-Installation groove, 2100-First fixed seat, 2110-First seat body, 2111-First groove, 2112-Inner side, 2120 -First pressing plate, 2121-Second groove, 2200-Floating mechanism, 2210-Guide post, 2220-Elastic piece, 2300-First guide block, 2310-Sixth guide mechanism, 2400-Support guide plate, 2410-Second Five guide mechanisms, 2510-second seat, 2511-third groove, 2610-second guide block, 2611-second interface, 2620-eccentric crank, 2621-third interface;

3000-drive mechanism, 3010-first base, 3011-first connecting plate, 3012-second connecting plate, 3013-first guiding mechanism, 3020-second base, 3021-third connecting plate, 3022-first Four connecting plates, 3023-matching hole, 3024-second guiding mechanism, 3030-third base, 3040-connecting seat, 3041-matching part, 3042-fifth connecting plate, 3043-sixth connecting plate, 3031-first connecting plate Four-guide mechanism, 3110-first power unit, 3120-first transmission part, 3121-lead screw, 3122-nut, 3130-first linear motor assembly, 3131-first mounting plate, 3132-first working platform, 3210-Second power unit, 3220-Second transmission, 3221-First gear, 3222-Rack, 3230-Second linear motor assembly, 3310-Third power unit, 3320-Third transmission, 3330-Second Four power units, 3340 - the fourth transmission part, 3341 - the second gear, 3342 - the slewing bearing, 3342a - the first bearing ring, 3342b - the second bearing ring, 3410 - the joint part, 3420 - the installation part.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in this embodiment are only to illustrate the basic concept of the present invention in a schematic way, so the drawings only show the components related to the present invention rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.

In addition, each embodiment of the following description has one or more technical features, but this does not mean that the person using the present invention must implement all the technical features in any embodiment at the same time, or can only implement different embodiments separately. One or all of the technical features of the . In other words, under the premise of possible implementation, those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the present invention and depending on design specifications or implementation requirements, or The combination of some or all of the technical features in the multiple embodiments is selectively implemented, thereby increasing the flexibility of the implementation of the present invention.

As used in this specification, the singular forms "a," "an," and "the" include plural referents, and the plural forms "a plurality" include two or more referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "installed", "connected", "connected" shall be To be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The core idea of the present invention is to provide a surgical tool guiding mechanism, a driving mechanism, and a guiding device including the surgical tool guiding mechanism and the driving mechanism, wherein the surgical tool guiding mechanism is used for connecting with the surgical tool, and the The tool guiding mechanism is provided with a guiding groove for a part of the surgical tool to pass through; the driving mechanism surgical tool guiding mechanism is used to connect with the surgical tool guiding mechanism, and includes at least one motion module for driving At least a portion of the surgical tool guide mechanism moves, thereby urging the surgical tool to perform at least one degree of freedom movement relative to at least a portion of the drive mechanism. Wherein, the motion module may include at least one single-degree-of-freedom motion module, and may also include at least one multi-degree-of-freedom motion module. Using the driving mechanism to replace the manual driving of the surgical movement improves the movement precision of the surgical tool, thereby improving the surgical precision and consistency.

Not only this, the present invention also provides a surgical robot system including at least one of the surgical tool guide mechanism or the drive mechanism.

In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that, the accompanying drawings are all in a very simplified form and in inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. The same or similar reference numbers in the drawings represent the same or similar parts.

Fig. 1 shows a schematic diagram of a scene when the surgical tool guiding device provided by the present invention is applied to knee joint replacement according to an embodiment; Fig. 2 is a distribution diagram of the freedom of movement of an osteotomy tool during knee joint replacement; Fig. 3 shows The schematic diagram when the surgical tool guiding device is connected with the mechanical arm is shown; FIG. 4 is a partial enlarged schematic diagram of FIG. 3 .

Referring to FIGS. 1 to 4 , in this embodiment, the surgical tool guiding device is used to drive the surgical tool to perform movement of at least one degree of freedom, so as to realize the surgical operation. Specifically, the surgical tool guiding device includes a surgical tool guiding mechanism 2000 and a driving mechanism 3000 . Wherein, the surgical tool guide mechanism 2000 is provided with a guide groove 2001 and a first interface 2002 . The drive mechanism 3000 includes at least one motion module. The osteotomy tool is used to connect with the surgical tool guide mechanism 2000 , and the osteotomy tool is partially inserted into the guide groove 2001 . The driving mechanism 3000 is configured to be connected with the first interface 2002 of the surgical tool guiding mechanism 2000 to drive at least a part of the surgical tool guiding mechanism 2000 to move, thereby driving the surgical tool to execute at least one degree of freedom movement for surgical operations.

The surgical tool guide may be combined with a navigable surgical system for knee replacement surgery, therefore, the surgical tool may be an osteotomy tool such as an oscillating saw 1100 (the surgical tool shown in FIGS. 1 and 3 is the oscillating saw 1100). Please continue to refer to FIG. 1. The navigation surgery system includes a robot system and a navigation system. The robot system includes a robotic arm 10. According to actual requirements, the end of the robotic arm 10 can be connected to the driving mechanism 3000, or can be connected to the driving mechanism 3000. The surgical tool guiding mechanism 2000 is connected, which will be described in detail later, so as to support the surgical tool guiding mechanism 2000 through the robotic arm 10 and adjust the spatial position and posture of the surgical tool guiding mechanism 2000 . The navigation system is used to position the robotic arm 10 to realize the positioning of the surgical tool guiding mechanism 2000, and then the driving mechanism 3000 can drive the osteotomy tool to move to perform the osteotomy operation. The driving mechanism The magnitude and direction of the driving force provided by the 3000 are controllable, which is beneficial to improve the motion precision of the osteotomy tool, thereby improving the osteotomy precision and consistency.

The navigation surgery system also includes a control device, which is actually a computer configured with a controller, a main display 21 and a keyboard 22 , and more preferably an auxiliary display 23 . The contents displayed on the auxiliary display 23 and the main display 21 are consistent, for example, both are used to display the image of the osteotomy position. The navigation system may be an electromagnetic positioning and navigation device or an optical positioning and navigation device. In the following description, an optical positioning and navigation device is used as an example for description, but it is not limited thereto.

The navigation system specifically includes a navigation marker and a tracker 31. The navigation marker includes a base target 32 and a tool target 33. The base target 32 is fixed, for example, the base target 32 is fixed on the operating trolley 40. It is used to provide a base coordinate system (or a base target coordinate system), and the tool target 33 is installed on the driving device 3000 or the surgical tool guiding mechanism 2000 to track the end of the robotic arm 10 . Location.

In practice, the tracker 31 is used to capture the signal reflected by the tool target 33 (preferably an optical signal) and record the position of the tool target 33 (that is, the position and attitude of the tool target under the base frame), and then store the signal in the controller. The computer program controls the movement of the robotic arm 10 according to the current position and the desired position of the tool target 33. The robotic arm 10 drives the surgical tool guide mechanism 2000 and the tool target 33 to move, and makes the tool target 33 reach the desired position. The desired position of the tool target 33 corresponds to at the desired location of the surgical tool guide mechanism 2000. Therefore, the application of the orthopedic surgery system can realize automatic positioning of the surgical tool guiding mechanism 2000 , and the tool target 33 can track and feed back the real-time pose of the surgical tool guiding mechanism 2000 during the operation.

Generally, the orthopaedic surgery system further includes an operating trolley 40 and a navigation trolley 50 . The control device and a part of the navigation device are installed on the navigation trolley 50, for example, the controller is installed inside the navigation trolley 50, the keyboard 22 is placed outside the navigation trolley 50 for operation, and the main The display 21 , the auxiliary display 23 and the tracker 31 are all mounted on a bracket, the bracket is vertically fixed on the navigation trolley 50 , and the robotic arm 10 is mounted on the operating trolley 40 .

When performing knee replacement surgery, the use process of the orthopaedic surgery system of this embodiment roughly includes the following operations:

First, move the operating trolley 40 and the navigation trolley 50 to a suitable position beside the hospital bed;

Then, install the navigation markers (the navigation markers also include the femoral target 34, the tibial target 35), at least part of the surgical tool guide mechanism 2000, and other related components (eg, sterile bags);

After that, the doctor 1 imports the bone CT/MR scan model of the patient 2 into the computer for preoperative planning, and obtains an osteotomy plan, which includes, for example, the coordinates of the osteotomy plane, the model of the prosthesis, and the installation orientation of the prosthesis, etc. Specifically, create a three-dimensional knee joint digital model according to the patient’s knee joint image data obtained by CT/MR scan, and then create an osteotomy plan according to the three-dimensional knee joint digital model, so that the surgeon can perform preoperative evaluation according to the osteotomy plan, and more Specifically, the osteotomy plan is determined based on the three-dimensional digital model of the knee joint and in combination with the obtained size specifications of the prosthesis and the installation position of the osteotomy plate. The osteotomy plan is finally output in the form of an operation report, which records the osteotomy plane A series of reference data such as coordinates, osteotomy volume, osteotomy angle, prosthesis specification, prosthesis installation position, surgical aids, etc., especially a series of theoretical explanations, such as the reasons for selecting the osteotomy angle, etc. The doctor provides reference; wherein, the three-dimensional knee joint digital model can be displayed through the main display 21, and the doctor can input surgical parameters through the keyboard 22 for preoperative planning;

After the preoperative evaluation, the doctor 1 then uses the target pen to mark the feature points on the patient's femur and tibia (that is, the doctor marks multiple femoral anatomical feature points on the patient's femur entity, and multiple tibia anatomical feature points on the tibia entity) , and the base target 32 is used as the benchmark by the tracker 31 to record the positions of all the feature points on the patient's tibia and femur, and send the positions of all the feature points to the controller, and then the controller obtains through the feature matching algorithm The actual orientation of the femur and tibia, which corresponds to the CT/MR image orientation on the femur and tibia;

Then, the actual position of the femur and tibia is linked with the corresponding targets installed on the femur and tibia through the navigation device, so that the femoral target 34 and the tibia target 35 can track the actual position of the bone in real time, and during the operation, as long as the target and the bone are The relative position between the two is fixed, and the movement of the bones will not affect the surgical effect;

Then, the coordinates of the preoperatively planned osteotomy plane are sent to the robotic arm 10 through the navigation device, and after the robotic arm 10 locates the osteotomy plane through the tool target 33 and moves to a predetermined position, the robotic arm 10 enters the holding state (that is, does not move. ), after that, the doctor can use an osteotomy tool such as an oscillating saw 1100 or an electric drill (not shown in the figure) to perform an osteotomy and/or drilling operation through the guidance of the surgical tool guide mechanism 2000 . After the osteotomy and drilling are completed, the doctor can install the prosthesis and perform other surgical procedures.

It should be noted that the surgical tool guiding device of the present invention has no particular limitation on the application environment, and can be applied not only to knee joint replacement, but also to other orthopedic operations. In the following description, the surgical tool is an oscillating saw 1100 and the surgical tool guiding device is used for knee joint replacement as an example for illustration, but this should not be taken as a limitation of the present invention. Here, the structure of the oscillating saw 1100 is shown in FIG. 5 , the oscillating saw 1100 includes a saw blade 1101 and a housing part 1102 , wherein the housing part 1102 is used for fixedly connecting with the surgical tool guide mechanism 2000 , while the saw blade 1101 is partially inserted into the guide groove 2001 of the surgical tool guide mechanism 2000 (as shown in FIG. 3 and FIG. 4 ), and the free end of the saw blade 1101 (that is, the The end of the saw blade 1101 away from the housing portion 1102) protrudes out of the guide groove 2001 to cut the bone.

Please continue to refer to FIGS. 1 to 4 , when the saw blade 1101 is partially inserted into the guide groove 2001 , the movement of the oscillating saw 1100 is restricted by the guide groove 2001 . Specifically, the width of the guide groove 2001 extends along the first direction, the length of the guide groove 2001 extends along the second direction, and the thickness of the guide groove 2001 extends along the third direction. Taking FIG. 2 as an example, the first direction is the X direction, the second direction is the Y direction, and the third direction is the Z direction. Then, the oscillating saw 1100 can perform translational motion along the X direction, or translational motion along the Y direction, or rotational motion around a rotation axis extending along the Z direction under the driving of the driving mechanism 3000 . In other words, the driving mechanism 3000 may be configured to drive the oscillating saw 1100 to perform at least one of translational motion in the X direction, translational motion in the Y direction, and rotational motion about the rotation axis structure. That is, the motion module of the driving mechanism 3000 involved in the present invention includes at least one single-degree-of-freedom motion module, or includes at least one multi-degree-of-freedom motion module for multi-degree-of-freedom motion. The single-degree-of-freedom motion modules are combined, and according to the number of the single-degree-of-freedom motion modules in operation, the driving mechanism 3000 can drive the oscillating saw 1100 to perform at least one degree of freedom motion

For example, the driving mechanism 3000 includes a single-degree-of-freedom movement module, and the single-degree-of-freedom movement module is used to drive the osteotomy tool 1000 to move along the X direction, or move along the Y direction, or rotate around the rotation axis . For another example, the driving structure 3000 includes two of the single-degree-of-freedom motion modules (that is, the two single-degree-of-freedom motion modules are combined into a two-degree-of-freedom motion module), and one of the single-degree-of-freedom motion modules uses In order to drive the osteotomy tool 1000 to move in the X direction, the other single-degree-of-freedom motion module is used to drive the osteotomy tool 1000 to move in the Y-direction; or, one of the single-degree-of-freedom motion modules is used to drive The osteotomy tool 1000 moves along the X direction, and the other single-degree-of-freedom motion module is used to drive the osteotomy tool 1000 to rotate around the rotation axis; or, one of the single-degree-of-freedom motion modules is used to drive The osteotomy tool 1000 moves along the Y direction, and the other single-degree-of-freedom motion module is used to drive the osteotomy tool 1000 to rotate around the rotation axis. For another example, the driving mechanism 3000 includes three single-degree-of-freedom motion modules (that is, three single-degree-of-freedom motion modules form a three-degree-of-freedom motion module), and one of the single-degree-of-freedom motion modules is used for driving. The osteotomy tool 1000 moves in the X direction, another single-degree-of-freedom motion module is used to drive the osteotomy tool 1000 to move in the Y-direction, and another single-degree-of-freedom motion module is used to drive the osteotomy The tool 1000 rotates about the axis of rotation.

Next, this article will introduce the surgical tool guiding device by taking the driving mechanism 3000 including one multi-DOF motion module, and the multi-DOF motion module being composed of three single-DOF motion modules as an example. For the convenience of description, the single-degree-of-freedom motion module used to drive the osteotomy tool 1000 to move in the X direction will be referred to as the first single-degree-of-freedom motion module, which will be used to drive the osteotomy tool The single-degree-of-freedom motion module for moving the 1000 along the Y direction is called the second single-degree-of-freedom movement module, and the single-degree-of-freedom movement module for driving the osteotomy tool 1000 around the rotational axis is called the third single-degree-of-freedom movement module. degrees of freedom motion module.

It should be understood by those skilled in the art that the following embodiments are merely examples to illustrate the available structures of the surgical tool guiding device, but are not necessarily optional, and therefore should not limit the present invention.

<Example 1>

FIG. 3 shows a schematic diagram when the surgical tool guiding device provided in this embodiment is assembled with the robotic arm 10 . FIG. 6 shows a schematic diagram of the connection principle of each part of the surgical tool guiding device provided in this embodiment.

Please refer to FIG. 3 and FIG. 6 , the driving mechanism 3000 is connected to the mechanical arm 10 , and the driving mechanism 3000 further includes a first base 3010 , a second base 3020 and a third base 3030 . The first single-degree-of-freedom motion module includes a first power device 3110 and a first transmission member 3120, and the first power device 3110 is arranged on the first base 3010. The first transmission member 3120 connects the first power device 3110 and the second base 3020, and is used to transmit the driving force provided by the first power device 3110, so that the second base 3020 is relatively The first base 3010 moves along the first direction. The second single-degree-of-freedom motion module includes a second power device 3210 and a second transmission member 3220 . The second power device 3210 is disposed on the third base 3030 . The second transmission member 3220 is connected to the second power device 3210 and the second base 3020, and is used to transmit the driving force provided by the second power device 3210, so that the third base 3030 is opposite to each other. The second base 3020 moves along the second direction. The third single-degree-of-freedom motion module is used for connecting with the surgical tool guiding mechanism 2000 , and includes a third power device 3310 , and the third power device 3310 is arranged on the third base 3030 . Optionally, the first power device 3110, the second power device 3210 and the third power device 3310 are all rotating electrical machine assemblies. The output shaft of the third power device 3310 can be directly connected to the surgical tool guide mechanism 2000, or indirectly connected to the surgical tool guide mechanism 2000 through a connecting seat 3040 (see the description below), so as to drive the The surgical tool guide mechanism 2000 rotates around the rotation axis, thereby causing the oscillating saw 1100 to rotate around the rotation axis.

The more detailed structure of the driving mechanism 3000 can be referred to FIG. 7 to FIG. 9 . As shown in FIG. 7 , the first base 3010 includes a first connecting plate 3011 and a second connecting plate 3012 that are perpendicular to each other. The second base 3020 includes a third connecting plate 3021 and a fourth connecting plate 3022 that are perpendicular to each other. The third base 3030 may include a flat plate.

The first power device 3110 is disposed on the first connecting plate 3011 , and the output shaft of the first power device 3110 is perpendicular to the first connecting plate 3011 . The first transmission member 3120 includes a lead screw 3121 and a nut 3122. The lead screw 3121 is connected to the output shaft of the first power device 3110 through a coupling, and can also be rotatably mounted on the first connecting plate. 3011 on. The nut 3122 is used to fit on the lead screw 3121 and be fixed on the second base 3020, for example, on the third connecting plate 3021 of the second base 3020. When the lead screw 3121 is rotated, the nut 3122 is driven to move together with the second base 3020 . The third connecting plate 3021 is also provided with a matching hole 3023 extending along the first direction and communicating with the inner hole of the nut 3122 , and the matching hole 3023 is used for the lead screw 3121 to pass through. and move in the matching hole 3023 . It can be understood that the lead screw 3121 can also be replaced with a screw.

Further, the first connecting plate 3011 is used to connect with the robotic arm 10 (screw holes and/or pin holes may be provided on the first connecting plate 3011). The surface of the second connecting plate 3012 facing the second base 3020 is further provided with a first guiding mechanism 3013 extending along the first direction. The second base 3020 is provided with a second guide mechanism 3024 matching the first guide mechanism 3013, and the second guide mechanism 3024 is connected with the first guide mechanism 3013 to reduce the The shaking of the second base 3020 when moving relative to the first base 3010 improves the motion stability. More preferably, the first base 3010 includes two second connecting plates 3012 , and the two second connecting plates 3012 are symmetrically arranged on opposite sides of the first connecting plate 3011 . Similarly, the second base 3020 includes two third connecting plates 3021 , and the two third connecting plates 3021 are symmetrically arranged and are connected to the two second connecting plates 3012 , respectively. And, the driving mechanism 3000 includes two of the first power devices 3110 and two of the transmission members 3120, which are arranged corresponding to the second connecting plate 3012 and the third connecting plate 3021, so as to improve the The force balance of the two bases 3020. One of the first guide mechanism 3013 and the second guide mechanism 3024 is a guide bump, and the other is a guide groove. For example, the first guide mechanism 3013 shown in FIG. 7 is the guide bump. The second guide mechanism 3024 is a guide groove.

Referring again to FIG. 8 , the third base 3030 and the second base 3020 are movably connected, that is, the third base 3030 can move relative to the second base 3020 . Optionally, the fourth connecting plate 3022 of the second base 3020 is provided with a third guiding mechanism 3025 extending along the second direction. The third base 3030 is provided with a fourth guide mechanism 3031, and the fourth guide mechanism 3031 is used to be connected with the third guide mechanism 3025 in a sliding fit, so that the third base 3030 is in the The second power device 3210 can move in the second direction relative to the second base 3020 under the driving force provided by the second power device 3210 . One of the third guide mechanism 3025 and the fourth guide mechanism 3031 is a guide bump, and the other is a guide groove.

The second transmission member 3220 includes a first gear 3221 and a rack 3222 for meshing with each other, wherein the first gear 3221 is arranged on the output shaft of the second power device 3210, and the rack 3222 is arranged at on the fourth connecting plate 3022 of the second base 3020 and extending along the second direction. When the second power device 3210 drives the first gear 3221 to rotate, the second power device 3210 enables the third base 3030 and the rack 3222 to move relative to the second direction , so that the third base 3030 moves relative to the second base 3020 in the second direction.

Referring back to FIG. 3 , in this embodiment, the output shaft of the third power device 3310 and the output shaft of the second power device 3210 are arranged parallel to each other. Please refer to FIG. 9 again, the output shaft of the third power device 3310 may be provided with a connection seat 3040 , and the connection seat 3040 is provided with a fitting matched with the first interface 2002 on the surgical tool guide mechanism 2000 part 3041 so that the connecting seat 3040 can be connected with the surgical tool guiding mechanism 2000 . Optionally, the connection base 3040 is in a U-shaped structure, and includes a fifth connection plate 3042 and two sixth connection plates 3043 extending from opposite sides of the fifth connection plate 3042, wherein the fifth connection plate 3043 The plate 3042 is used for connecting with the third power device 3310, the two sixth connecting plates 3043 are arranged on opposite sides of the fifth connecting plate 3042, and the sixth connecting plate 3043 is provided with the The matching portion 3041 is used for connecting with the surgical tool guide mechanism 2000 .

In this embodiment, the structure of the surgical tool guide mechanism 2000 is shown in FIGS. 10 (where the oscillating saw 1100 is installed on the surgical guide tool), 11 and 12 . The surgical tool guide mechanism 2000 includes a fixed seat and a guide portion matched with it. In this embodiment, the fixed seat is called a first fixed seat 2100 for the convenience of distinguishing from other embodiments. The first fixed seat The 2100 is provided with the first interface 2002 and an installation slot 2003 , and the installation slot 2003 is used for loading the oscillating saw 1100 . The guide portion includes a first guide block 2300 , and the first guide block 2300 is provided with the guide groove 2001 . Not only that, the surgical tool guide mechanism 2000 includes a floating mechanism 2200, and the floating mechanism 2200 is used to cooperate with the first guide block 2300, so as to make the first guide block 2300 relative to the The first fixing seat 2100 moves. In detail, the floating mechanism 2200 includes a guide column 2210 and an elastic member 2220. One end of the guide column 2210 is fixedly connected to the first fixing seat 2100, and the other end is movably connected to the first guide block 2300. The elastic member 2220 is disposed between the first fixing seat 2100 and the guide block 2300, including but not limited to a spring. The first guide block 2300 is provided with the guide groove 2001 . In this way, when assembling the surgical tool guide mechanism 2000 and the osteotomy tool 1000, that is, the oscillating saw, the housing portion 1102 of the oscillating saw is installed in the first installation groove, and the oscillating saw is installed The saw blade 1101 of the saw passes through the guide groove 2001 , and the distal end of the saw blade 1101 (that is, the end of the saw blade 1101 away from the housing of the oscillating saw) from the distal end of the guide groove 2001 (ie, the side of the guide groove 2001 away from the housing part 1102 of the oscillating saw) protrudes from the outside of the guide groove 2001 . Next, connect with the connecting seat 3040 of the driving mechanism 3000 through the first interface 2002 , so that the driving mechanism 3000 drives the surgical tool guiding mechanism 2000 to move while being guided by the surgical tool guiding mechanism 2000 drives the osteotomy tool 1000 to move to realize automatic osteotomy. Not only that, when the surgical tool guiding device is used for osteotomy, when the distal end of the first guide block 2300 touches the bone and receives a force directed towards the first fixing seat 2100, the first The guide block 2300 moves along the guide post 2210 toward the first fixing seat 2100, and compresses the elastic piece 2220, so that the elastic piece 2220 stores elastic potential energy; at the same time, the distal end of the saw blade 1101 The portion protruding from the guide groove 2001 becomes longer. In this way, the usable length of the saw blade 1101 can be adjusted according to actual needs, the amplitude of the saw blade 1101 during osteotomy can be reduced, and the rigidity of the saw blade 1101 can be improved. Of course, when the first guide block 2300 no longer touches the bone (that is, when the force is cancelled), the elastic piece 2220 releases the elastic potential energy to drive the first guide block 2300 along the The guide post 2210 moves away from the first fixing seat 2100 until it returns to the original position.

Preferably, the surgical tool guide mechanism 2000 further includes a support guide plate 2400 disposed on one end of the first fixing seat 2100 close to the first guide block 2300 . The support guide plate 2400 is provided with a fifth guide mechanism 2410 extending along the axial direction of the first installation groove, and the first guide block 2300 is provided with a fifth guide mechanism 2410 matching the fifth guide mechanism 2410 . Six guide mechanism 2310. The movement stability of the first guide block 2300 is improved by the cooperation of the guide support plate 2400 and the sixth guide mechanism 2310 . One of the fifth guide mechanism 2410 and the sixth guide mechanism 2310 may be a guide protrusion, and the other may be a guide groove.

As shown in FIG. 11 and FIG. 12 , the structure of the first fixing seat 2100 in this embodiment may include a first seat body 2110 and a first pressing plate 2120 . The first base body 2110 is in a stepped shape, and the first interface 2002 and the first groove 2111 are provided thereon (as shown in FIG. 15 ). The first interface 2002 may be a screw hole and/or a pin hole, and correspondingly, the matching portion 3041 on the sixth connecting plate 3043 of the connection base 3040 is a corresponding screw hole and/or a pin hole, For example for screw/pin perforations to securely connect the two. The first pressing plate 2120 is disposed on the first seat body 2110 and has a second groove 2121 (as shown in FIG. 15 ). The second groove 2121 is spliced with the first groove 2111 to form the first installation slot. Preferably, the first groove 2111 has an inner side surface 2112 perpendicular to the axis of the first installation groove, and the inner side surface 2112 is used to restrict the osteotomy tool 1000 on the first fixing seat 2100 s position. When assembling the oscillating saw, first remove the first pressing plate 2120, and then insert the housing part 1102 of the oscillating saw into the first groove, when the housing part 1102 of the oscillating saw When abutting against the inner side surface 2112, it indicates that the oscillating saw has been installed in place, and then the first pressing plate 2120 is installed to fix the oscillating saw.

In addition, when the surgical tool guiding device provided in this embodiment is applied to osteotomy, the tool target 33 can be arranged on the first base 3010 , for example, arranged on the first connecting plate 3011 .

<Example 2>

The difference between this embodiment and the first embodiment is that the output shaft of the third power device 3310 and the output shaft of the second power device 3210 are perpendicular to each other. In this way, please refer to FIG. 13 and FIG. 14 , the third single-degree-of-freedom motion module further includes a third transmission member 3320 , and the third transmission member 3320 is used to perform 90° of the driving force provided by the third power device 3310 °Steering. The third transmission member 3320 may be a worm gear assembly. The advantage of this arrangement is that another arrangement is provided for the third power device 3310 to adapt to different application environments.

<Example 3>

The difference between this embodiment and the first embodiment is that the specific structure of the driving device 3000 is different. Referring to FIG. 15 to FIG. 17 , the driving mechanism 3000 further includes an engaging device, and the engaging device includes an engaging portion 3410 and a mounting portion 3420 . The joint portion 3410 is used to connect with the robot arm 10 (not shown in FIG. 15 ), so the joint portion 3410 may include a flange.

Please refer to FIG. 16 , the third single-degree-of-freedom motion module includes a fourth power device 3330 and a fourth transmission member 3340 . The fourth power plant 3330 may include a rotating electrical machine assembly mounted on the mounting portion 3420 . The fourth transmission member 3340 includes a second gear 3341 and a slewing bearing 3342 . The second gear 3341 is provided on the output shaft of the fourth power device 3330 . The slewing bearing 3342 includes a first bearing ring 3342a and a second bearing ring 3342b arranged coaxially, and one of the first bearing ring 3342a and the second bearing ring 3342b is provided with the second gear 3341 . The other teeth are engaged with the engaging portion 3410. In a preferred implementation, the first bearing ring 3342a is an inner ring, the second bearing ring 3342b is an outer ring, and the teeth (ie, the teeth) are provided on the inner surface of the first bearing ring 3342a. The slewing bearing 3342 is an internal gear slewing bearing), the fourth driving device 3330 can be arranged on the inner side of the first bearing ring 3342a, and the second gear 3341 is located at the inner side of the first bearing ring 3342a. inside to engage with the teeth. When the fourth power device 3330 drives the second gear 3341 to rotate, the first bearing ring 3342a is driven to rotate relative to the second bearing ring 3342b (the second bearing ring 3342b and the engaging portion 3410 connected while remaining stationary). The advantage of this arrangement is to reduce the volume of the drive mechanism 3000 . In another alternative implementation manner, the teeth are provided on the outer surface of the second bearing ring (that is, the slewing support is an externally toothed slewing support), so that the fourth driving device is arranged on the outer surface of the second bearing ring. the outer side of the second bearing ring, so that the second gear meshes with the teeth (not shown in the figure).

Referring next to FIG. 17 , the first single-degree-of-freedom motion module includes a first linear motor assembly 3130 , and the first linear motor assembly 3130 includes a first mounting plate 3131 and a first working platform 3132 . The first mounting plate 3131 is connected to the bearing ring of the slewing bearing 3342 with the teeth, that is, when the first bearing ring 3342a is provided with the teeth, the first mounting plate 3131 is connected to the bearing ring 3342a. The first bearing ring 3342a is connected. Referring back to FIG. 15 , similar to the first single-degree-of-freedom motion module, the second single-degree-of-freedom motion module includes a second linear motor assembly 3230 . The second linear motor assembly 3230 includes a second mounting plate (not marked in the figure) and a second working platform (not marked in the figure). The second mounting plate is connected to the first work platform, and the second work platform is connected to the surgical tool guide mechanism 2000 .

In order to realize the connection between the second working platform and the surgical tool guiding mechanism 2000 , the driving mechanism 3000 may also include a connecting seat 3040 . For the structures of the connecting seat 3040 and the surgical tool guiding mechanism 2000, please refer to the introduction of the first embodiment, and details are not repeated here.

<Example 4>

The difference between this embodiment and the first embodiment is that the structure of the surgical tool guiding mechanism 2000 is different, and the driving mechanism 3000 is not directly connected to the mechanical arm 10 .

Please refer to FIG. 18 and FIG. 19 , the surgical tool guide mechanism 2000 includes a separate fixing seat and a guide portion, wherein the guide portion is provided with the guide groove 2001 , and one end of the guide portion is used for connecting with the guide portion. The robotic arm is connected to position at least a portion of the surgical tool, ie, the saw blade 1101 of the oscillating saw 1100, by the robotic arm. The saw blade 1101 is driven by the driving mechanism 3000 to move, and the saw blade 1101 is inserted into the guide groove 2001, so its movement range is limited by the guide groove 2001. Therefore, the The “robot positioning the saw blade 1101 of the oscillating saw 1100 ” actually refers to positioning the range of motion of the oscillating saw 1100 .

In this embodiment, the fixing base is called a second fixing base, and the second fixing base is provided with the first interface 2002 and an installation groove (not marked in the figure), and the installation groove is used for installation The osteotomy tool 1000. The guide portion includes a second guide block 2610 and an eccentric crank 2620, and the second guide block 2610 is provided with a second interface 2611 and the guide groove 2001. One end of the eccentric crank 2620 is connected to the second guide block 2610, and the other end is provided with a third interface 2621, the third interface 2621 is used for connecting with the mechanical arm (not shown in FIG. 18 and FIG. 19 ). )connect. The driving mechanism (not shown in FIG. 18 and FIG. 19 ) is connected with the first interface 2002 of the second fixing base and is also connected with the third interface 2611 of the second guide block 2610, On the one hand, it serves to fix the driving mechanism 3000, and on the other hand, it also enables the posture of the driving mechanism 3000 to be adjusted synchronously with the movement of the robotic arm.

When using the osteotomy kit for osteotomy, the guide part is first connected to the mechanical arm, and then the controller drives the mechanical arm to move to adjust the guide part to a desired position. Then assemble the oscillating saw 1100, the second fixing base and the driving mechanism, and then insert the saw blade 1101 of the oscillating saw 1100 into the guide groove 2001, and connect the driving mechanism to the The second fixed seat and the second guide block 2610. The advantage of this embodiment is that the robotic arm only moves with the guide portion, without simultaneously driving the driving mechanism and the second fixing base to move synchronously, thereby reducing the end load of the robotic arm. It can be understood that, in this embodiment, the tool target should be arranged on the guide portion such as the second guide block 2610 .

The structure of the second fixing base is shown in FIG. 19 , including a second base body 2510 and a second pressing plate (not shown in the figure). The second seat body 2510 is provided with a third groove 2511, the second pressing plate is provided with a fourth groove, and the second pressing plate is arranged on the second seat body 2510, so that the first The four grooves are spliced with the third groove 2511 to form the installation groove.

Further, please refer to FIG. 20 , the driving mechanism 3000 can also be connected with an external posture adjustment mechanism 3 , and the posture adjustment mechanism 3 preferably has multiple degrees of freedom, such as six degrees of freedom, and can drive the The driving mechanism 3000 moves to adjust the posture and adapts to different postures of the guide portion 2600 during the osteotomy process (the posture of the guide portion 2600 is changed due to the movement of the robotic arm). By arranging the posture adjustment mechanism 3 , the force exerted by the driving mechanism 3000 on the guide portion can be reduced, and the deformation of the guide portion can be avoided.

As mentioned above, where the surgical tool guiding mechanism includes a fixed seat and a guide portion that cooperates with it, the “cooperating” here refers to the relationship between the fixed seat and the guide portion, including direct connection, indirect connection or mutual influence between the two. Independent relationships, such as those indicated in the various embodiments described above.

Further, an embodiment of the present invention also provides a surgical robot system, including the robotic arm and the surgical tool guiding mechanism, and the distal end of the robotic arm is connected to the surgical tool guiding mechanism. It should be understood that the distal end of the robotic arm may be directly connected to the surgical tool guiding mechanism, or may be indirectly connected to the surgical tool guiding mechanism through other transition devices such as the driving mechanism.

And, an embodiment of the present invention further provides another surgical robot system, including a robotic arm and the driving mechanism, and the distal end of the robotic arm is connected to the driving mechanism. Similarly, the distal end of the robotic arm may be directly connected to the driving mechanism, or may be indirectly connected to the driving mechanism through a transition device such as the guide portion provided in the fourth embodiment.

Although the present invention is disclosed above, it is not limited thereto. Various modifications and variations can be made in the present invention by those skilled in the art without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (24)

1. A surgical tool guiding mechanism, characterized in that it comprises a fixed seat and a guide part matched with it, the fixed seat is used for loading the surgical tool, and the guide part is provided with a guide groove for a part of the surgical tool to pass through ; the fixing seat is provided with a first interface for connecting with a driving mechanism, so that the fixing seat can move under the driving of the driving mechanism, thereby driving the surgical tool relative to at least a part of the driving mechanism make relative motion.
2. The surgical tool guide mechanism according to claim 1, wherein the surgical tool guide mechanism further comprises a floating mechanism, the guide portion comprises a first guide block, and the first guide block is provided with the guide groove ;

   The fixing seat is also provided with an installation groove, which is used for installing the surgical tool; the floating mechanism is used for cooperating with the first guide block to guide the first guide block under the action of external force The block moves relative to the mount.
3. The surgical tool guide mechanism according to claim 2, wherein the floating mechanism comprises a guide column and an elastic member, the guide column extends along the axial direction of the installation groove, and one end of the guide column is connected to the the fixed seat is connected, and the other end is movably connected with the first guide block; the elastic piece is arranged between the fixed seat and the first guide block;

   The surgical tool guide mechanism is configured such that when the first guide block is subjected to a force directed toward the fixed seat, the first guide block moves along the guide post toward the direction close to the fixed seat, so that the The elastic piece deforms and stores elastic potential energy; when the acting force is cancelled, the elastic piece releases the elastic potential energy to drive the first guide block to move away from the fixed seat along the guide post move.
4. The surgical tool guiding mechanism according to claim 3, wherein the surgical tool guiding mechanism further comprises a support guide plate, which is disposed at one end of the fixing seat close to the first guide block; the support guide plate A fifth guide mechanism extending along the axial direction of the installation groove is provided thereon, and a sixth guide mechanism matched with the fifth guide mechanism is provided on the first guide block.
5. The surgical tool guiding mechanism according to claim 1, wherein the fixing seat is separated from the guiding part, and one end of the guiding part is used for connecting with a mechanical arm to position the surgical tool by the mechanical arm at least part of it.
6. The surgical tool guiding mechanism according to claim 5, wherein a mounting groove is further provided on the fixing seat, and the mounting groove is used for loading the surgical tool; the guide portion comprises a second guide block and an eccentric a crank; the second guide block is provided with a second interface and the guide groove, and the second interface is used to connect with the drive mechanism; one end of the eccentric crank is connected to the second guide block, and the other One end is used to connect with the robotic arm.
7. The surgical tool guiding mechanism according to claim 1, wherein the fixing seat comprises a seat body and a pressing plate, the seat body is provided with a groove; the pressing plate is arranged on the seat body, and the pressing plate There is also a groove on the upper part, and the groove of the pressing plate and the groove of the seat body are spliced with each other to form an installation groove for installing the surgical tool.
8. The surgical tool guiding mechanism according to claim 7, wherein the seat body is stepped, the groove of the seat body has an inner side surface perpendicular to the axis of the installation groove, and the inner side surface is formed by To limit the position of the surgical tool on the fixed seat.
9. A driving mechanism for connecting with the surgical tool guiding mechanism according to any one of claims 1 to 8, wherein the driving mechanism comprises a fitting corresponding to the first interface on the fixing seat The portion includes at least one motion module for driving at least a portion of the surgical tool guide mechanism to move, thereby driving the surgical tool to perform at least one degree of freedom movement.
10. The drive mechanism of claim 9, wherein the motion module enables the surgical tool to have multiple degrees of freedom.
11. 10. The drive mechanism of claim 9, wherein the movement of the surgical tool includes translational movement in a first direction, translational movement in a second direction, and orbiting relative to at least a portion of the drive mechanism At least one of the rotational motions of the rotational axis, the rotational axis extending in a third direction, and the first direction, the second direction and the third direction and the width direction and length direction of the guide groove and the thickness direction, respectively.
12. The driving mechanism according to claim 11, wherein the motion module comprises a first single-degree-of-freedom motion module, a second single-degree-of-freedom motion module, and a third single-degree-of-freedom motion module; wherein the first single-degree-of-freedom motion module The DOF movement module is used to drive the surgical tool to perform translational movement along the first direction, the second single-DOF movement module is used to drive the surgical tool to perform translational movement along the second direction, and the first Three of the single-degree-of-freedom motion modules are used to drive the surgical tool to perform a rotational motion around the rotational axis.
13. The driving mechanism according to claim 12, wherein the driving mechanism further comprises a first base, a second base and a third base;

    The first single-degree-of-freedom motion module includes a first power device and a first transmission part; the first power device is arranged on the first base; the first transmission part connects the first power device and the first transmission part. the second base is used to transmit the driving force provided by the first power device, so that the second base moves relative to the first base along the first direction;

    The second single-degree-of-freedom motion module includes a second power device and a second transmission part; the second power device is arranged on the third base; the second transmission part connects the second power device and the second transmission part. the second base is used to transmit the driving force provided by the second power device, so that the third base moves relative to the second base along the second direction;

    The third single-degree-of-freedom motion module is used for connecting with the surgical tool guiding mechanism, and includes a third power device, and the third power device is arranged on the third base.
14. The driving mechanism according to claim 13, wherein the first transmission member comprises a lead screw and a nut; the lead screw is rotatably arranged on the first base relative to the nut, and is arranged along the first base. The first direction extends; the nut is sleeved on the lead screw and is threadedly matched with the lead screw, and the nut is mounted on the second base.
15. The driving mechanism according to claim 14, wherein the first base comprises a first connecting plate and a second connecting plate that are perpendicular to each other; and the second connecting plate is provided with extending along the first direction the first guiding mechanism;

    The second base includes a third connecting plate and a fourth connecting plate that are perpendicular to each other; a matching hole connected with the holes, the matching hole is used to pass the lead screw; the third connecting plate is also provided with a second connecting plate extending along the first direction and matching with the first guiding mechanism guide agency.
16. The driving mechanism according to claim 15, wherein the third base is movably connected to the second base; the second transmission member comprises a first gear and a rack; the first The gear is arranged at the output end of the second power device; the rack extends along the second direction, is arranged on the second base, and meshes with the gear.
17. The driving mechanism according to claim 16, wherein a third guide mechanism extending along the second direction is provided on the fourth connecting plate of the second base; A fourth guide mechanism is provided, and the fourth guide mechanism is movably connected with the third guide mechanism.
18. The driving mechanism according to claim 13, wherein each of the first power device, the second power device and the third power device comprises a rotating electrical machine assembly; the output shaft of the third power device is connected to the The output shafts of the second power plant are parallel to each other; or,

    The output shaft of the third power device and the output shaft of the second power mechanism are perpendicular to each other, and the third single-degree-of-freedom motion module further includes a third transmission member, and the third transmission member is used for the transmission of the third transmission member. The drive provided by the power unit performs 90° steering.
19. The driving mechanism according to claim 13, wherein the driving mechanism further comprises a connecting seat, the connecting seat is connected with the output shaft of the third power device, and the connecting seat is provided with the matching seat department.
20. The drive mechanism according to claim 12, wherein the drive mechanism further comprises an engagement device, the engagement device comprising an engagement portion and a mounting portion;

    The third single-degree-of-freedom motion module includes a fourth power device and a fourth transmission member; the fourth power device is arranged on the mounting portion; the fourth transmission member includes a second gear and a slewing bearing, the A second gear is provided at the output end of the fourth power device, the slewing bearing includes a coaxially arranged first bearing ring and a second bearing ring, one of the first bearing ring and the second bearing ring There is a tooth meshing with the gear, and the other is connected with the engaging part;

    The first single-degree-of-freedom motion module includes a first linear motor assembly, the first linear motor assembly includes a first mounting plate and a first working platform, and the first mounting plate and the slewing bearing are provided with the bearing ring connection of the teeth;

    The second single-degree-of-freedom motion module includes a second linear motor assembly, and the second linear motor assembly includes a second mounting plate and a second working platform; the second mounting plate is connected to the first working platform, so The second working platform is used for connecting with the surgical tool guide mechanism.
21. The driving mechanism according to claim 20, wherein the driving mechanism further comprises a connecting seat, the connecting seat is connected with the second working platform, and the connecting seat is provided with the matching portion.
22. A surgical tool guiding device, characterized by comprising the surgical tool guiding mechanism according to any one of claims 1-8 and the driving mechanism according to any one of claims 9-21, the driving mechanism It is connected with the surgical tool guide mechanism to drive at least a part of the surgical tool guide mechanism to move, thereby driving the surgical tool loaded on the surgical tool guide mechanism to perform at least one degree of freedom movement.
23. A surgical robot system, characterized in that it comprises a robotic arm and the surgical tool guiding mechanism according to any one of claims 1-8, and the distal end of the robotic arm is used to connect with the surgical tool guiding mechanism .
24. A surgical robot system, characterized in that it comprises a robotic arm and the driving mechanism according to any one of claims 9-21, wherein the distal end of the robotic arm is used for connecting with the driving mechanism.

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