WO2022151223A1

WO2022151223A1 - Mechanism having remote center of rotation and working device

Info

Publication number: WO2022151223A1
Application number: PCT/CN2021/071873
Authority: WO
Inventors: 周啸波
Original assignee: 苏州迈澜医疗科技有限公司
Priority date: 2021-01-14
Filing date: 2021-01-14
Publication date: 2022-07-21
Also published as: CN116829095A

Abstract

A mechanism having a remote center of rotation, comprising a first platform (10), a second platform (20), and a guide piece (G). The guide piece (G) comprises a first connecting piece (31), a second connecting piece (32), and an intermediate connecting piece (43); the intermediate connecting piece (43) is rotatably connected to the second platform (20), the first connecting piece (31), and the second connecting piece (32) at a first point (D1), a second point (D2), and a third point (D3), respectively; a fourth point (D4) on the first connecting piece (31) can make a circular motion around a fifth point (D5) on the second platform (20); a sixth point (D6) on the second connecting piece (32) can make a circular motion around a seventh point (D7) on the second platform (20); a parallelogram is formed by connecting the first point (D1), the second point (D2), the fourth point (D4), and the fifth point (D5); and a parallelogram is formed by connecting the first point (D1), the third point (D3), the sixth point (D6), and the seventh point (D7). Also provided is a working device.

Description

Mechanisms and work equipment with remote centers of rotation

technical field

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

Background technique

When using the kinematic mechanism to realize the rotation operation, for example, due to the limitation of the target work space, it is sometimes necessary to move the drive device away from the rotation center. Such a center of rotation is also called a remote center (RCM, Remote Center of Motion) or a remote center of rotation.

A mechanism with a remote center of rotation can be applied to, for example, a surgical robot or other manipulators, and these applications usually require high working accuracy and a small volume, which is a challenge to the setting of the mechanism.

SUMMARY OF THE INVENTION

According to a first aspect of the present invention, there is provided a mechanism having a remote center of rotation, comprising a first platform, a second platform, and a guide connecting the first platform and the second platform , by driving the part of the guide member connected with the second platform, the first platform can be controlled to rotate relative to the second platform,

The guide member includes a first connecting member, a second connecting member and an intermediate connecting member,

The intermediate connecting piece is rotatably connected to the second platform, the first connecting piece and the second connecting piece at the first point, the second point and the third point, respectively,

The first connecting piece has a fourth point, the second platform has a fifth point, and the fourth point can move in a circle around the fifth point,

The second connecting piece has a sixth point, the second platform has a seventh point, and the sixth point can make a circular motion around the seventh point,

The first connector is rotatably connected to the first platform at the eighth point, the second connector is rotatably connected to the first platform at the ninth point,

Connect the first point, the second point, the fourth point and the fifth point in sequence to form a parallelogram,

Connecting the first point, the third point, the sixth point and the seventh point in sequence forms a parallelogram.

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

The first connecting piece and the first support rod are rotatably connected to the fourth point, and the first support rod and the second platform are rotatably connected to the fifth point,

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

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

The second platform is formed with a second guide member, and the sixth point can reciprocate along the second guide member on an arc centered on the seventh point.

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

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

Connecting the third point, the sixth point and the ninth point forms a triangle.

In at least one embodiment, the first link and the second link are deformable such that the distance between the eighth point and the second point and the distance between the ninth point and the first point The distance between the three points can be adjusted.

In at least one embodiment, both the first platform and the intermediate connecting piece can be deformed, so that the distance between the eighth point and the ninth point can be adjusted, the second point and the The distance between the third points can be adjusted.

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

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

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

In at least one embodiment, drive means for effecting movement of the guide are mounted on the second platform.

In at least one embodiment, the mechanism further includes a third platform, the second platform is rotatably mounted on the third platform relative to the third platform about an axis, the axis and the first platform the axis of rotation relative to the center of rotation intersects and the axis passes through the center of rotation,

Preferably, the axis is perpendicular to the axis of rotation of the first platform relative to the center of rotation.

In at least one embodiment, the first connecting piece and the second connecting piece are symmetrically arranged and formed parallel by the first point, the second point, the fourth point and the fifth point The quadrilateral is symmetrically arranged with the parallelogram formed by the first point, the third point, the sixth point and the seventh point.

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

In at least one embodiment, the work tool is a surgical medical device.

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

Description of drawings

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

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

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

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

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

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

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

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

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

Description of reference numbers:

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

G guide; 31 first connector; 32 second connector; 41 first pole; 42 second pole; 43 intermediate connector; O rotation center; L limit guide.

Detailed ways

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present invention, and are not used to exhaust all possible ways of the present invention, nor to limit the scope of the present invention.

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

(first embodiment)

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

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

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

A driving device (such as a motor, not shown) for driving the first platform 10 to rotate is installed on the second platform 20 .

The first platform 10 is connected with the second platform 20 through the guide member G. The driving device drives the guide member G to move, and the guide member G transmits the motion to the first platform 10 , thereby realizing the effect of driving the second platform 20 away from the first platform 10 and making the first platform 10 achieve the effect of remote rotation .

Hereinafter, the location near the first platform 10 will be referred to as the distal end, and the location near the second platform 20 will be referred to as the proximal end.

The guide member G includes a first connecting member 31 , a second connecting member 32 , a first support rod 41 , a second support rod 42 and an intermediate connecting member 43 .

Both the first connecting member 31 and the second connecting member 32 are rotatably connected to the first platform 10 , and the first support rod 41 , the second support rod 42 and the intermediate connecting member 43 are all rotatably connected to the second platform 20 . The first connecting piece 31 and the second connecting piece 32 serve as the distal guide, the first strut 41, the second strut 42 and the intermediate connecting piece 43 serve as the proximal guide, and the distal guide and the proximal guide The lead is connected in rotation to transmit the driving force.

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

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

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

The first connecting member 31 extends from the proximal end to the distal end, the second point D2 and the fourth point D4 are located at the proximal end, and the first connecting member 31 is rotatably connected with the first platform 10 at the eighth point D8 at the distal end.

Both ends of the second support rod 42 are rotatably connected to the second connecting member 32 and the second platform 20 respectively. The second support rod 42 and the second connecting member 32 are rotatably connected to the sixth point D6, and the second support rod 42 and the second platform 20 are rotatably connected to the seventh point D7. The first point D1, the third point D3, the sixth point D6 and the seventh point D7 are sequentially connected to form a parallelogram.

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

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

By driving any one of the first pole 41, the second pole 42 and the intermediate link 43, that is, driving the first pole 41 to rotate around the fifth point D5, or driving the intermediate link 43 around the first point D1 Rotating or driving the second support rod 42 to rotate around the seventh point D7 can realize the rotation of the first platform 10 around the rotation center O.

It should be understood that the reason why it is called remote rotation is that the rotation of the first platform 10 about the rotation center O is indirectly driven by using the driving device to drive other components to rotate.

Preferably, the intermediate connecting member 43 is used as an active member, that is, the intermediate connecting member 43 is driven to rotate around the first point D1, so that the first support rod 41 and the second support rod 42 follow the rotation.

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

It should be understood that, limited by the size and structure of the specific connecting parts of the guide member G, the motion trajectory of the eighth point D8 or the ninth point D9 may not form a complete circle, but the eighth point D8 and the ninth point D9 The trajectory of the motion will not deviate from the circle C.

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

Optionally, the working end (belonging to the distal end) of the working implement K is located at the rotation center O, and the position of the moving driving device (or the operating end, which belongs to the proximal end) is far from the working end. The work implement K is, for example, a surgical medical instrument, more specifically, a scalpel.

For minimally invasive surgery, for example, the mechanism according to the present invention is used to operate the working tool K as a scalpel, and the operating end is far away from the working tool K, so that more space can be left around the working tool K so as not to block the operator, for example The line of sight is easy for the operator to observe.

Since the two sets of connecting pieces on both sides of the intermediate connecting piece 43 are constrained by the intermediate connecting piece 43 to rotate synchronously, the two parallelogram structures are stable. Especially when the parallelogram structure rotates to a critical position, for example, when the first point D1, the second point D2, the fourth point D4 and the fifth point D5 are close to collinear, the parallelogram structure is not easily destroyed, that is, it is not easy to be damaged. For example, a phenomenon occurs in which the intermediate connecting piece 43 rotates clockwise and the first support rod 41 rotates counterclockwise.

In addition, the intermediate connecting piece 43 of the present invention connects two sets of connecting pieces simultaneously to form two parallelogram structures. Less space, less space occupied by the mechanism, and each component is not easy to interfere during the rotation process.

(Second Embodiment)

3 to 5, a mechanism with a remote center of rotation according to a second embodiment of the present invention is introduced. The second embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.

The connection mode of each part of the mechanism in this embodiment is the same as that of the first embodiment, but in order to make the first platform 10 have a larger rotation range, the first connecting member 31 , the second connecting member 32 , the first support rod 41 and the The shape of the second support rod 42 is adjusted to reduce the possible interference of various components during the rotation process.

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

The sides facing each other of the first portion 311 of the first connector and the first portion 321 of the second connector are recessed (or bent) in a direction away from each other. The part of the second part 312 of the first connecting member located between the second point D2 and the fourth point D4 is recessed inward, and the part of the second part 322 of the second connecting member located between the third point D3 and the sixth point D6 Parts are recessed inwards. Therefore, the first connecting member 31 and the second connecting member 32 are not likely to interfere with each other during the rotation.

The opposite sides of the first support rod 41 and the second support rod 42 are recessed (or bent) in the direction away from each other, so that the first connecting member 31 and the second connecting member 32 are not easy to rotate during the rotation interfere with each other.

(third embodiment)

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

In the present embodiment, the first connecting member 31 and the second connecting member 32 are configured to be variable in shape or size to change the distance between the first platform 10 and the second platform 20 . Since the dimensional structure of other components does not change, other reference points can also be used as reference during the process of adjusting the dimensions of the first connecting piece 31 and the second connecting piece 32 . For example, the distance between the eighth point D8 and the second point D2 is changed to deform the first connecting member 31 , and the distance between the ninth point D9 and the third point D3 is changed to deform the second connecting member 32 .

In addition, since the dimensions of the two parallelogram structures in this embodiment are the same, the dimensions of the first connecting member 31 and the second connecting member 32 are adjusted synchronously. For example, during the adjustment process, it is ensured that the eighth point D8 is The distance between the two points D2 is equal to the distance between the ninth point D9 and the third point D3.

For the adjustable structure of the first connecting member 31 and the second connecting member 32, for example, the first connecting member 31 includes two parts that can move relatively, so that the first connecting member 31 can be telescopically deformed; the second connecting member 32 includes The two parts that can move relative to each other enable the second connecting piece 32 to be telescopically deformed. Such a telescopic structure belongs to the prior art and will not be described in detail in the present invention.

Through the above adjustment, the distance of the rotation center O relative to the second platform 20 can be changed, however, the distance of the rotation center O relative to the first platform 10 will not change, and the rotation radius (ie the radius of the virtual circle C) will not change.

Therefore, for a certain work implement K, after it is installed on the first platform 10, in the process of synchronously adjusting the shapes of the first connecting member 31 and the second connecting member 32, it can be ensured that the working end of the work implement K is always in the rotating position The center O (because the rotation radius is constant), but the distance of the working end (rotation center O) relative to the second platform 20 changes.

This adjustment is particularly useful for, for example, in-feed operations (to move the knife into an incision) and out operations (to bring the knife out of an incision) during minimally invasive surgery, for example.

(Fourth Embodiment)

7, a mechanism with a remote center of rotation according to a fourth embodiment of the present invention is introduced. The fourth embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.

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

For example, the first platform 10 includes two parts that can move relatively, so that the first platform 10 can be telescopically deformed; the intermediate connecting piece 43 includes two parts that can move relatively, so that the intermediate connecting piece 43 can be telescopically deformed. Such a telescopic structure belongs to the prior art and will not be described in detail in the present invention.

Since the distance from the rotation center O to the eighth point D8 or the ninth point D9 is equal to the length of the first support rod 41 or the second support rod 42 , the lengths of the first support rod 41 and the second support rod 42 in this embodiment are are constant, therefore, the deformation of the first platform 10 satisfies that the distance from the rotation center O to the eighth point D8 or the ninth point D9 is constant. Therefore, the above-mentioned expansion and contraction of the first platform 10 shows that the eighth point D8 and the ninth point D9 move on the virtual circle C.

Through the above adjustment, the distance of the rotation center O relative to the first platform 10 can be changed, however, the distance of the rotation center O relative to the second platform 30 does not change, and the rotation radius does not change.

This adjustment is especially applicable when the work implement K installed on the first platform 10 needs to be replaced (different work implements K have different sizes).

(Fifth Embodiment)

8, a mechanism with a remote center of rotation according to a fifth embodiment of the present invention is introduced. The fifth embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.

In this embodiment, the dimensions of the first support rod 41 , the second support rod 42 and the intermediate connecting piece 43 can be adjusted synchronously. Specifically, the dimensions of the first support rod 41 , the second support rod 42 and the intermediate connecting piece 43 are adjusted at the same time, so that the distance between the fourth point D4 and the fifth point D5 and the distance between the first point D1 and the second point D2 The distance of , the distance between the first point D1 and the third point D3 and the distance between the sixth point D6 and the seventh point D7 keep changing equally.

During the process of synchronously adjusting the dimensions of the first support rod 41 , the second support rod 42 and the intermediate connecting piece 43 , the position of the rotation center O relative to the second platform 20 does not change, and the position of the rotation center O relative to the first platform 10 does not change. The position changes and the rotation radius changes.

(Sixth Embodiment)

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

The main improvement of this embodiment over the second embodiment is that a third platform 50 is added to the mechanism, and the second platform 20 can rotate relative to the third platform 50 around the axis A0.

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

Through the superposition of two rotations, that is, the rotation of the first platform 10 relative to the second platform 20 and the superposition of the rotation of the second platform 20 relative to the third platform 50, the first platform 10 can be centered on the rotation center O. movement on the sphere.

For example, when the work implement K is mounted on the first platform 10 , the work implement K can be rotated around the rotation center O in all directions.

(Seventh Embodiment)

10, a mechanism with a remote center of rotation according to a seventh embodiment of the present invention is introduced. The seventh embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.

The main difference between this embodiment and the first embodiment is that the two parallelogram structures in this embodiment are asymmetrical, or have different sizes.

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

In this case, when the lengths of the first connecting member 31 and the second connecting member 32 need to be adjusted (ie, the distance between the first platform 10 and the second platform 20 needs to be adjusted), or when the first support rod 41 needs to be adjusted When the size of the second strut 42 and the intermediate connecting piece 43 (ie, the side length of the parallelogram is adjusted), the size of each component will be adjusted in equal proportions according to the ratio of the side lengths of the two parallelograms.

(Eighth Embodiment)

11, a mechanism with a remote center of rotation according to an eighth embodiment of the present invention is introduced. The eighth embodiment is a modification of the first embodiment, and for the same or similar features as the first embodiment, the same reference numerals are used in this embodiment, and detailed descriptions of these features are omitted.

In this embodiment, one side of the parallelogram structure in the guide member G is omitted (in this embodiment, the first support rod 41 in the first embodiment is omitted), and a groove or guide rail is used to play the The limiting guide member L for guiding function is used to limit the movement of the first connecting member 31 .

Specifically, in this embodiment, the guide member G includes a first connecting member 31 , a second connecting member 32 , a second supporting rod 42 and an intermediate connecting member 43 .

The first connecting member 31 and the intermediate connecting member 43 are rotatably connected to the second point D2, the movement of the first connecting member 31 at the fourth point D4 is limited by the restriction of the guide member L, and the extension trajectory of the limiting guide member L It is a part of the circle with the fifth point D5 as the center, so that the fourth point D4 can only make a circular motion around the fifth point D5. For example, the limiting guide L is an arc-shaped groove, and an insert extending into the groove of the limiting guide L is provided at the fourth point D4. The first point D1, the second point D2, the fourth point D4 and the fifth point D5 are sequentially connected to form a parallelogram.

It should be understood that in other possible implementations, the second strut 42 forming the parallelogram D1D3D6D7 can also be omitted at the same time, and a circular arc guide is used to limit the movement of the sixth point D6 on the second connecting piece 32 , so that the sixth point D6 reciprocates on the circular arc with the seventh point D7 as the center.

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

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

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

(ii) The present invention uses the intermediate connecting piece 43 to connect two sets of connecting pieces with parallelogram structure, to ensure that the parallelogram structure is constantly controlled during the rotation process, and to reduce the number of parts of the mechanism, the structure of the mechanism is compact, and the components of each part are Interference is not easy to occur during rotation.

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

It should be understood that the above-mentioned embodiments are only exemplary, and are not intended to limit the present invention. Those skilled in the art can make various modifications and changes to the above-described embodiments under the teachings of the present invention without departing from the scope of the present invention. For example, although the mechanism according to the present invention is well suited as a manipulation device for minimally invasive surgery, this is not required, and it can also be used as other manipulation devices for remote rotation.

Claims

A mechanism with a remote center of rotation, characterized in that it comprises a first platform (10), a second platform (20) and a guide (G), the guide (G) being connected to the first platform ( 10) and the second platform (20), by driving the part of the guide (G) connected with the second platform (20), the first platform (10) can be controlled relative to the Said second platform (20) rotates,

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

The intermediate connecting piece (43), the second platform (20), the first connecting piece (31) and the second connecting piece (32) are rotatably connected to the first point (D1) and the second connecting piece (32), respectively. point (D2) and third point (D3),

The first connecting piece (31) has a fourth point (D4), the second platform (20) has a fifth point (D5), and the fourth point (D4) can surround the fifth point (D5) Do a circular motion,

The second connecting piece (32) has a sixth point (D6), the second platform (20) has a seventh point (D7), and the sixth point (D6) can wrap around the seventh point (D7) Do a circular motion,

The first connecting piece (31) and the first platform (10) are rotatably connected to the eighth point (D8), and the second connecting piece (32) and the first platform (10) are rotatably connected to the first platform (10). Nine o'clock (D9),

Connect the first point (D1), the second point (D2), the fourth point (D4) and the fifth point (D5) in sequence to form a parallelogram,

The first point ( D1 ), the third point ( D3 ), the sixth point ( D6 ) and the seventh point ( D7 ) are sequentially connected to form a parallelogram.
The mechanism with a remote center of rotation according to claim 1, wherein the guide member (G) further comprises a first support rod (41) and a second support rod (42),

The first connecting piece (31) and the first support rod (41) are rotatably connected to the fourth point (D4), and the first support rod (41) and the second platform (20) are rotatably connected to the fourth point (D4). Fifth point (D5),

The second connecting piece (32) and the second support rod (42) are rotatably connected to the sixth point (D6), and the second support rod (42) and the second platform (20) are rotatably connected to the sixth point (D6). Seventh point (D7).
The mechanism with a remote center of rotation according to claim 1, wherein the second platform (20) is formed with a first limit guide, and the fourth point (D4) can be along the first The guide reciprocates on an arc centered on the fifth point (D5), and/or

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

Connecting the third point (D3), the sixth point (D6) and the ninth point (D9) forms a triangle.
The mechanism with a remote center of rotation according to any one of claims 1 to 5, wherein the first link (31) and the second link (32) are deformable so that the The distance between the eighth point (D8) and the second point (D2) and the distance between the ninth point (D9) and the third point (D3) can be adjusted.
The mechanism with a remote center of rotation according to any one of claims 1 to 5, characterized in that both the first platform (10) and the intermediate connecting piece (43) can be deformed, so that the first platform (10) and the intermediate connecting piece (43) are deformable The distance between the eighth point (D8) and the ninth point (D9) can be adjusted, and the distance between the second point (D2) and the third point (D3) can be adjusted.
The mechanism with a remote center of rotation according to claim 7, wherein in the process of adjusting the distance between the eighth point (D8) and the ninth point (D9), the center of rotation ( The distance between O) and the eighth point (D8) is unchanged, and the distance between the rotation center (O) and the ninth point (D9) is unchanged.
The mechanism with a remote center of rotation according to claim 8, wherein the distance between the eighth point (D8) and the ninth point (D9) is equal to the distance between the second point (D2) and the the distance between the third points (D3).
The mechanism with a remote center of rotation according to claim 2, wherein the first support rod (41), the second support rod (42) and the intermediate connecting piece (43) are all deformable, so that the distance between the fourth point (D4) and the fifth point (D5) and the distance between the first point (D1) and the second point (D2) can be adjusted synchronously, The distance between the sixth point ( D6 ) and the seventh point ( D7 ) and the distance between the first point ( D1 ) and the third point ( D3 ) can be adjusted synchronously.
The mechanism with a remote center of rotation according to any one of claims 1 to 10, characterized in that a drive device for realizing the movement of the guide (G) is mounted on the second platform (20).
The mechanism with a remote center of rotation according to any one of claims 1 to 10, characterized in that the mechanism further comprises a third platform (50), the second platform (20) being capable of being relative to the first platform (50). Three platforms (50) are rotatably mounted on the third platform (50) around an axis (A0), the axis (A0) and the rotation axis of the first platform (10) relative to the rotation center (O) intersect, and the axis (A0) passes through the center of rotation (O),

Preferably, the axis (A0) is perpendicular to the axis of rotation of the first platform (10) relative to the center of rotation (O).
The mechanism with a remote center of rotation according to any one of claims 1 to 12, wherein the first connecting piece (31) and the second connecting piece (32) are symmetrically arranged, and are formed by the The first point (D1), the second point (D2), the fourth point (D4) and the fifth point (D5) form a parallelogram with the Three points ( D3 ), the sixth point ( D6 ) and the seventh point ( D7 ) form a parallelogram symmetrical arrangement.
A working device, characterized in that it comprises a working implement (K) and a mechanism with a remote center of rotation according to any one of claims 1 to 13, the working implement (K) being mounted on the first part of the mechanism A platform (10).
The working device according to claim 14, wherein the working tool (K) is a surgical medical device.