A brain intervention surgery robot

Abstract

The application discloses a brain interventional surgery robot, which comprises a horizontal movement module, a swing module, a parallel movement frame, a front telescopic module, a front slot inner sliding part, a rear telescopic module, a rear slot inner sliding part, a front passive adjustment module, a rear passive adjustment module, a replaceable actuator module and a base; the parallel movement frame comprises a rotating frame, a third transmission wire, a fourth transmission wire, a front sliding slot, a rear sliding slot, a third transmission wire track and a fourth transmission wire track. The application has three telecentric fixed points and six degrees of freedom, can flexibly adjust the posture of a surgical instrument, is accurate in positioning, has a complete working space, is suitable for a nuclear magnetic environment, has high precision and high rigidity, improves the surgical precision, shortens the surgical process, improves the surgical efficiency, reduces the work burden of medical staff, guarantees the safety of the surgical process of patients and meets the clinical requirements.

Description

Technical Field

[0001] This invention relates to the field of medical devices, specifically to a neurosurgical interventional robot. Background Technology

[0002] With the aging population, the incidence of brain diseases is increasing year by year. The development of minimally invasive neurosurgical procedures, such as SEEG and DBS, to treat Parkinson's disease and epilepsy is one of the important contributions of medical science to human civilization. The specific operation involves the doctor inserting a thin surgical instrument into the patient's brain tissue through a tiny opening in the skull after the patient's MRI scan. The surgery has the advantages of small incision, less bleeding, fast recovery, and significant relief of postoperative pain, which greatly improves the patient's quality of life. However, as time goes by after surgery, the subthalamic nucleus (STN) inevitably shrinks centripetally. Only by accurately puncturing the EEG needle to the center of the anatomical structure can the effective service life of the EEG needle be improved. In addition, the surgery also brings operational difficulties, such as: (1) complicated surgical planning; (2) long operation time, which can easily lead to fatigue for doctors and patients; (3) a large number of important blood vessels and nerves in the brain, which are not easy to avoid.

[0003] Some existing surgical robots have solved the above problems to a certain extent. However, some commercially available robots contain ferromagnetic materials and cannot be used in MRI rooms, which cannot meet all clinical needs. Specifically: (1) Relying solely on preoperative MRI image registration for navigation, doctors lack a sense of depth and direction. Verifying electrode placement by measuring EEG signals also results in inaccurate positioning. (2) Problems such as changes in puncture path and electrode implantation failure due to elastic deformation of instruments and deformation of organs and tissues exist. (3) Performing surgery in a non-MRI environment requires cumbersome postoperative accuracy verification.

[0004] MRI-compatible surgical robots can comprehensively address the aforementioned issues and meet the requirements for robotic surgery within an MRI room. The paper "Merging machines with microsurgery: clinical experience with NeuroArm" discloses a 6-DOF MRI-compatible robotic arm used to assist surgeons in performing craniotomy and instrument handling under MRI conditions, and can simultaneously complete intraoperative MRI scans. However, the end effector positioning error of this robotic arm exceeds 1mm, which cannot meet the requirements for high-precision puncture and implantation of neurological diseases. Therefore, there is a need in this field to develop a robot that can perform surgery directly within an MRI scanner while meeting rigidity and precision requirements. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a brain interventional surgical robot.

[0006] The technical solution of the present invention to solve the aforementioned technical problem is to provide a brain interventional surgical robot, characterized in that the robot includes a horizontal motion module, a swing module, a parallel motion frame, a front telescopic module, a front groove sliding component, a rear telescopic module, a rear groove sliding component, a front passive adjustment module, a rear passive adjustment module, a replaceable actuator module, and a base. The parallel motion frame includes a rotating frame, a third transmission wire, a fourth transmission wire, a front sliding groove, a rear sliding groove, a third transmission wire track, and a fourth transmission wire track; the front passive adjustment module and the rear passive adjustment module have the same structure and installation method; the front passive adjustment module includes a front passive adjustment module outer ring and a front passive adjustment module inner ring; The swing module is mounted in the base via a horizontal motion module, which drives the swing module to perform horizontal linear motion in the forward and backward direction. The rotating frame is fixed on the swing module and swings clockwise or counterclockwise with the swing module. A front sliding groove and a rear sliding groove are opened along the circumference of the rotating frame. A third transmission wire track is opened in the front sliding groove. The third transmission wire slides along the third transmission wire track. A fourth transmission wire track is opened in the rear sliding groove. The fourth transmission wire slides along the fourth transmission wire track. The sliding component in the front groove is slidably installed in the front sliding groove, and the third transmission wire is fixedly connected to the sliding component in the front groove. Both ends of the third transmission wire are fixedly connected to the output end of an external motor. By the forward and reverse rotation of the motor, the third transmission wire is pulled to make the third transmission wire move clockwise or counterclockwise along the track of the third transmission wire, thereby driving the sliding component in the front groove to move clockwise or counterclockwise along the track of the third transmission wire. The sliding component in the rear groove is slidably installed in the rear sliding groove, and the fourth transmission wire is fixedly connected to the sliding component in the rear groove. Both ends of the fourth transmission wire are fixedly connected to the output end of an external motor. By the forward and reverse rotation of the motor, the fourth transmission wire is pulled to achieve clockwise or counterclockwise circular motion along the track of the third transmission wire, thereby driving the sliding component in the rear groove to perform clockwise or counterclockwise circular motion along the track of the fourth transmission wire. The housing of the front telescopic module is fixed to the sliding component in the front groove; the rotating shaft of the outer ring of the front passive adjustment module is rotatably installed in the output end of the front telescopic module and rotates along the vertical axis; the rotating shafts at both ends of the inner ring of the front passive adjustment module are rotatably installed inside the outer ring of the front passive adjustment module and rotate along the horizontal axis. The housing of the rear telescopic module is fixed to the sliding component in the rear groove, and the output end is rotatably connected to the rotating shaft of the outer ring of the rear passive adjustment module; the replaceable actuator module is fixedly installed in the inner ring of the rear passive adjustment module and slidably installed in the inner ring of the front passive adjustment module.

[0007] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) This invention has three telecentric fixed points and six degrees of freedom, which can flexibly adjust the posture of surgical instruments, accurately position them, and have a complete working space. It is suitable for MRI environments, has high precision and high rigidity, improves surgical accuracy, shortens the surgical process, improves surgical efficiency, reduces the workload of medical staff, ensures the safety of patients during the surgical process, and meets clinical needs.

[0008] (2) The present invention has three distal fixed points, which can flexibly adjust the posture of the surgical instruments and avoid important blood vessels and nerves in the brain, thus meeting clinical needs.

[0009] (3) The present invention can realize flexible six-degree-of-freedom motion in the same X, Y, Z three mutually perpendicular coordinate systems. The horizontal motion module provides the X-direction movement degree of freedom, the swing module provides the X and Z-direction movement degrees of freedom and the rotation degree of freedom around the Y axis, and the dual-distal fixed-point telecentric motion mechanism provides the Y and Z-direction movement degrees of freedom and the rotation degree of freedom around the X, Y, Z axes. The workspace completely covers the surgical space from the top of the skull to the maxillofacial region, meeting clinical requirements.

[0010] (4) The present invention adopts a series-parallel hybrid structure. The horizontal motion module and the swing module constitute a series motion structure, and the dual telecentric fixed point telecentric motion mechanism constitutes a parallel motion structure, which improves the rigidity of the robot system and makes the robot have higher stability and accuracy.

[0011] (5) The present invention adopts the wire drive remote transmission method. The external motor shaft has two sections of equal pitch threads with opposite directions of rotation. When the external motor rotates, one section is screwed in and the other section is screwed out with a transmission wire of equal length. Controlling the rotation direction of the external motor can control the movement direction of the transmission wire, so that no MRI image artifacts are generated when the robot is powered on. This is beneficial for real-time verification of the puncture position of surgical instruments by MRI images. It has the advantages of reducing the weight of the robot, reducing the size of the robot, and increasing the driving torque.

[0012] (6) The present invention uses a telescopic module, which further reduces the size of the robot's parallel structure, so that the robot can move without interference in the cavity of the nuclear magnetic resonance instrument.

[0013] (7) This invention does not contain ferromagnetic materials and can be used in nuclear magnetic resonance (NMR) instruments. Attached Figure Description

[0014] Figure 1 This is an isometric view of the overall structure of the present invention; Figure 2 This is a left view of the overall structure of the present invention; Figure 3 This is a top view of the overall structure of the present invention; Figure 4 For the present invention Figure 3 A cross-sectional view along the AA direction; Figure 5 This is a left sectional view of the rotating frame of the present invention; Figure 6 This is a front sectional view of the front telescopic module of the present invention; Figure 7 This is a left sectional view of the front telescopic module of the present invention; Figure 8 This is a front view of the sliding component in the front groove of the present invention; Figure 9 This is a left view of the sliding component in the front groove of the present invention; Figure 10 This is a front sectional view of the front passive adjustment module of the present invention; Figure 11 This is an isometric view of the replaceable actuator module of the present invention; Figure 12 This is a schematic diagram illustrating the principle of the external motor driving transmission wire of the present invention; Figure 13 This is a schematic diagram illustrating the usage principle of the present invention.

[0015] In the figure, there are: horizontal motion module 1, swing module 2, parallel motion frame 3, front telescopic module 4, front groove sliding component 5, rear telescopic module 6, rear groove sliding component 7, front passive adjustment module 8, rear passive adjustment module 9, replaceable actuator module 10, and base 11. First transmission wire 101, linear guide rail 102, linear slider 103, first transmission wire guide wheel 104, first wire fixing block 105, transmission wire tensioning wheel 106; Second transmission wire 201, rotating joint 202, second fixed wire block 203, swing module support arm 204, swing module connecting shaft 205, rocking arm 206; Rotating frame 301, third transmission wire 302, fourth transmission wire 303, front sliding groove 304, rear sliding groove 305, third transmission wire track 306, fourth transmission wire track 307; Fifth transmission wire 401, telescopic arm housing 402, first-stage drive gear 403, first-stage telescopic arm 404, second-stage drive gear 405, second-stage telescopic arm 406, third-stage telescopic arm 407, second transmission wire guide wheel 408, third wire fixing block 409; Upper and lower cutting rollers 501, left and right cutting rollers 502, upper and lower cutting rollers rotating shafts 503, sliding component body 504, fixed transmission wire track 505, left and right cutting roller slots 506; The front passive adjustment module outer ring 801, the front passive adjustment module inner ring 802, the rotating bearing 803, the first anti-loosening nut 804, the anti-loosening washer 805, and the second anti-loosening nut 806; Surgical instrument guide tube 1001, replaceable surgical instrument 1002. Detailed Implementation

[0016] Specific embodiments of the present invention are given below. These specific embodiments are only used to further illustrate the present invention in detail and do not limit the scope of protection of the claims of the present invention.

[0017] The present invention provides a brain interventional surgery robot (hereinafter referred to as the robot), characterized in that the robot includes a horizontal motion module 1, a swing module 2, a parallel motion frame 3, a front telescopic module 4, a front groove sliding component 5, a rear telescopic module 6, a rear groove sliding component 7, a front passive adjustment module 8, a rear passive adjustment module 9, a replaceable actuator module 10, and a base 11. The parallel motion frame 3 includes a rotating frame 301, a third transmission wire 302, a fourth transmission wire 303, a front sliding groove 304, a rear sliding groove 305, a third transmission wire track 306, and a fourth transmission wire track 307; the front passive adjustment module 8 and the rear passive adjustment module 9 have the same structure and installation method, both adopting a passive drive method; the front passive adjustment module 8 includes a front passive adjustment module outer ring 801 and a front passive adjustment module inner ring 802; The swing module 2 is mounted in the base 11 via the horizontal motion module 1. The horizontal motion module 1 can drive the swing module 2 to perform horizontal linear motion in the front-to-back direction. The rotating frame 301 is fixed on the swing module 2 and swings clockwise or counterclockwise with the swing module 2. A front sliding groove 304 and a rear sliding groove 305 are opened along the circumference of the rotating frame 301. A third transmission wire track 306 is opened in the front sliding groove 304. The third transmission wire 302 slides along the third transmission wire track 306. A fourth transmission wire track 307 is opened in the rear sliding groove 305. The fourth transmission wire 303 slides along the fourth transmission wire track 307. The sliding component 5 in the front groove is slidably installed in the front sliding groove 304, and the third transmission wire 302 is fixedly connected to the sliding component 5 in the front groove. Both ends of the third transmission wire 302 are fixedly connected to the output end of an external motor. By the forward and reverse rotation of the motor, the third transmission wire 302 is pulled, so that the third transmission wire 302 can move clockwise or counterclockwise along the third transmission wire track 306, thereby driving the sliding component 5 in the front groove to follow the third transmission wire 302 to move clockwise or counterclockwise along the third transmission wire track 306. The sliding component 7 in the rear groove is slidably installed in the rear sliding groove 305, and the fourth transmission wire 303 is fixedly connected to the sliding component 7 in the rear groove. Both ends of the fourth transmission wire 303 are fixedly connected to the output end of an external motor. By the forward and reverse rotation of the motor, the fourth transmission wire 303 is pulled, so that the fourth transmission wire 303 can move clockwise or counterclockwise along the third transmission wire track 306, thereby driving the sliding component 7 in the rear groove to follow the fourth transmission wire 303 to move clockwise or counterclockwise along the fourth transmission wire track 307. The housing of the front telescopic module 4 is fixed on the sliding component 5 in the front groove; the rotating shaft of the outer ring 801 of the front passive adjustment module is rotatably installed in the output end of the front telescopic module 4 through the bearing and rotates along the vertical axis; the rotating shafts at both ends of the inner ring 802 of the front passive adjustment module are rotatably installed in the outer ring 801 of the front passive adjustment module through the rotating bearing 803 and rotate along the horizontal axis. The housing of the rear telescopic module 6 is fixed on the sliding component 7 in the rear groove, and the output end is rotatably connected to the rotation shaft of the outer ring of the rear passive adjustment module 9; the replaceable actuator module 10 is fixedly installed in the inner ring of the rear passive adjustment module 9 and slidably installed in the inner ring 802 of the front passive adjustment module 8.

[0018] Preferably, the horizontal motion module 1 includes a first transmission wire 101, a linear guide rail 102, a linear slider 103, a first transmission wire guide wheel 104, and a first wire fixing block 105; Linear guide rail 102 is fixed in base 11; linear slider 103 is slidably installed in linear guide rail 102 and can slide linearly along linear guide rail 102; swing module support arm 204 is fixed on linear slider 103; one end of base 11 has a transmission wire inlet and a transmission wire outlet, and the first transmission wire guide wheel 104 is rotatably installed on the other end of base 11 via a rotating shaft; the first transmission wire 101 enters base 11 from transmission wire inlet, passes through the reserved wiring hole on swing module support arm 204, then winds around the first transmission wire guide wheel 104, and finally exits base 11 from transmission wire outlet; the first transmission wire 101 drives the first transmission wire guide wheel 104 to rotate; the first transmission wire 101 is fixed to swing module support arm 204 via first wire fixing block 105; both ends of the first transmission wire 101 extend out of base 11 and are fixedly connected to the output end of an external motor. By pulling the first transmission wire 101 in forward and reverse rotation of the motor, the swing module support arm 204 can move forward and backward along a straight line.

[0019] Preferably, the horizontal motion module 1 further includes a transmission wire tensioning wheel 106; the transmission wire tensioning wheel 106 is rotatably mounted on one end of the base 11 extending from the base 11 via a rotating shaft, and is used to tension the first transmission wire 101. The first transmission wire 101 enters the base 11 from the transmission wire inlet, first winds around the transmission wire tensioning wheel 106, then passes through the reserved wiring hole on the swing module support arm 204, then winds around the first transmission wire guide wheel 104, and finally exits the base 11 from the transmission wire outlet.

[0020] Preferably, the swing module 2 includes a second transmission wire 201, a rotating joint 202, a second wire fixing block 203, a swing module support arm 204, a swing module connecting shaft 205, and a rocking arm 206; The rotating joint 202 is rotatably mounted on the swing module support arm 204 via bearings; one end of the rocker arm 206 is fixed to the circumference of the rotating joint 202, and the other end is fixed to the swing module connecting shaft 205; the swing module support arm 204 has an arc-shaped through hole; the swing module connecting shaft 205 is slidably mounted in the arc-shaped through hole of the swing module support arm 204; the second transmission wire 201 is tightly wound around the circumference of the rotating joint 202 and fixed to the circumference of the rotating joint 202 by the second fixing block 203; both ends of the second transmission wire 201 pass through the through hole of the swing module support arm 204 and are fixedly connected to the output end of an external motor. By pulling the second transmission wire 201 in the forward and reverse directions of the motor, the rotating joint 202 can swing clockwise or counterclockwise; the rotating frame 301 is fixed on the swing module connecting shaft 205 and swings clockwise or counterclockwise with the rotating joint 202 (the swing amplitude is 0~90° to completely cover the surgical space from the top of the skull to the maxillofacial region).

[0021] Preferably, the front sliding groove 304 and the rear sliding groove 305 are convex-shaped tracks.

[0022] Preferably, the sliding component 5 in the front groove and the sliding component 7 in the rear groove have the same structure and installation method; The sliding component 5 in the front groove includes upper and lower cutting edge rollers 501, left and right cutting edge rollers 502, sliding component body 504 and fixed transmission wire track 505; The upper and lower cutting edge rollers 501 are rotatably mounted on the left and right sides of the sliding component body 504 via the upper and lower cutting edge roller rotation shaft 503; left and right cutting edge roller slots 506 are opened on both the left and right sides of the sliding component body 504; left and right cutting edge rollers 502 are rotatably mounted in the left and right cutting edge roller slots 506; the upper and lower cutting edge rollers 501 and the left and right cutting edge rollers 502 enable the sliding component body 504 to roll and be mounted in the front sliding groove 304 (wherein the upper and lower cutting edge rollers 501 are in contact with the top and bottom surfaces of the front sliding groove 304, and the left and right cutting edge rollers 502 are in contact with the left and right side walls of the front sliding groove 304, improving the smoothness of movement); a fixed transmission wire track 505 is opened inside the sliding component body 504, and the third transmission wire 302 is fixed in the fixed transmission wire track 505.

[0023] Preferably, the front telescopic module 4 and the rear telescopic module 6 have the same structure and installation method; The front telescopic module 4 generates a linear motion that extends outward or retracts inward. The motion stroke is amplified by a three-stage telescopic structure. When the first-stage telescopic arm 404 extends or retracts a certain distance, the motion is amplified by the second-stage telescopic arm 406 and the third-stage telescopic arm 407. The front telescopic module 4 outputs a motion distance three times the stroke of the first-stage telescopic arm 404. A large motion stroke can be achieved with a small motion stroke input, which is extremely advantageous for compact robot sizes. The module includes a fifth transmission wire 401, a telescopic arm housing 402, a first-stage drive gear 403, a first-stage telescopic arm 404, a second-stage drive gear 405, a second-stage telescopic arm 406, a third-stage telescopic arm 407, a second transmission wire guide wheel 408, and a third wire fixing block 409. The telescopic arm housing 402 is fixed to the sliding component body 504; the primary telescopic arm 404 is nested inside the telescopic arm housing 402, the secondary telescopic arm 406 is nested inside the primary telescopic arm 404, and the tertiary telescopic arm 407 is nested inside the secondary telescopic arm 406; the primary drive gear 403 is rotatably mounted on the primary telescopic arm 404 and simultaneously meshes with the rack on the telescopic arm housing 402 and the rack on the secondary telescopic arm 406 for transmission; the secondary drive gear 405 is rotatably mounted on the secondary telescopic arm 406 and simultaneously meshes with the rack on the primary telescopic arm 404 and the rack on the tertiary telescopic arm 407 for transmission; the second transmission wire guide wheel 408 is rotatably mounted in the telescopic arm housing 402 via a rotating shaft; one end of the telescopic arm housing 402 has a transmission wire inlet and... The fifth transmission wire 401 enters the telescopic arm housing 402 from the transmission wire inlet, passes through the reserved wiring hole on the first-stage telescopic arm 404, then winds around the second transmission wire guide wheel 408, and finally exits the telescopic arm housing 402 from the transmission wire outlet; the fifth transmission wire 401 drives the second transmission wire guide wheel 408 to rotate; the fifth transmission wire 401 is fixed to the first-stage telescopic arm 404 by the third wire fixing block 409; both ends of the fifth transmission wire 401 extend out of the telescopic arm housing 402 and are fixedly connected to the output end of an external motor. The forward and reverse rotation of the motor pulls the fifth transmission wire 401 to control the movement of the front telescopic module 4; the rotating shaft of the outer ring 801 of the front passive adjustment module is rotatably mounted in the third-stage telescopic arm 407 of the front telescopic module 4 through bearings; Preferably, in this embodiment, the reduction ratio between the primary drive gear 403 and the racks on the telescopic arm housing 402 and the secondary telescopic arm 406 is 1, and the reduction ratio between the secondary drive gear 405 and the racks on the primary telescopic arm 404 and the tertiary telescopic arm 407 is 1. The reduction ratio affects the amplification factor of the travel distance. For example, when both reduction ratios are 1, the front telescopic module 4 achieves a 3-fold travel amplification; when both reduction ratios are 0.5, the front telescopic module 4 achieves a 6-fold travel amplification.

[0024] Preferably, the front passive adjustment module 8 further includes a first anti-loosening nut 804, an anti-loosening washer 805, and a second anti-loosening nut 806; the rotation shaft of the outer ring 801 of the front passive adjustment module is limited and fixed by the first anti-loosening nut 804; the rotation shafts at both ends of the inner ring 802 of the front passive adjustment module are limited and fixed by the anti-loosening washer 805 and the second anti-loosening nut 806.

[0025] Preferably, the replaceable actuator module 10 includes a surgical instrument guide cylinder 1001 and a replaceable surgical instrument 1002; The surgical instrument guide cylinder 1001 is fixedly installed in the inner ring of the rear passive adjustment module 9 and slidably installed in the inner ring 802 of the front passive adjustment module 8; the replaceable surgical instrument 1002 is detachably installed in the surgical instrument guide cylinder 1001, and the surgical instrument guide cylinder 1001 provides guidance for the replaceable surgical instrument 1002.

[0026] Preferably, the replaceable surgical instrument 1002 is a variety of interventional instruments such as an electric drill, puncture needle or electrode needle.

[0027] Preferably, all drive wires are made of copper or titanium wire rope.

[0028] The parallel motion frame 3, the front telescopic module 4, the front groove sliding component 5, the rear telescopic module 6, the rear groove sliding component 7, the front passive adjustment module 8, and the rear passive adjustment module 9 constitute a dual-distal-fixed-point telescopic motion mechanism. The intersection of the inner and outer rotation axes of the front passive adjustment module 8 is the first telescopic-fixed point, and the intersection of the inner and outer rotation axes of the rear passive adjustment module 9 is the second telescopic-fixed point. The intersection of the axis of the rotating frame 301 and the rotation axis of the rotating joint 202 is the third telescopic-fixed point.

[0029] The working principle and workflow of this invention are as follows: (1) In the interventional surgery of functional neurological diseases, the robot is fixed on the MRI bed board by the base 11. The registration and calibration between the robot-lesion-MRI coordinate system is completed by one MRI imaging. The doctor plans the robot motion based on the registration and calibration results.

[0030] (2) Based on the motion planning results, the external motor drives the horizontal motion module 1, the swing module 2, the parallel motion frame 3, the front telescopic module 4, the front groove sliding component 5, the rear telescopic module 6, the rear groove sliding component 7, the front passive adjustment module 8, the rear passive adjustment module 9, and the replaceable actuator module 10 to reach the corresponding spatial position to achieve the surgical purpose. Specifically: The external motor of the horizontal motion module 1 rotates. Since the length of the first transmission wire 101 is fixed inside the base 11, the length between the first fixed wire block 105 and the transmission wire tension wheel 106 is not fixed. This drives the first transmission wire 101 to move tangentially along the first transmission wire guide wheel 104 and the transmission wire tension wheel 106. The linear slider 103 causes the swing module support arm 204 to move linearly along the linear guide rail 102. The direction of movement is the direction of length change of the first transmission wire 101 between the first fixed wire block 105 and the transmission wire tension wheel 106, so as to realize the swing module 2 moving forward or backward along the horizontal motion module 1. The external motor of the swing module 2 rotates, driving the parallel motion frame 3 installed on the swing module 2 to swing clockwise or counterclockwise. The second transmission wire 201 has the same transmission law as the first transmission wire 101. The external motor pulls the second transmission wire 201 at one end of the swing module support arm 204 and releases the second transmission wire 201 at the other end. The rotating joint 202 rotates in the pulling direction of the second transmission wire 201. The rocking arm 206 rotates with the rotating joint 202. The swing module connecting shaft 205, which is fixedly connected to the rocking arm 206, slides in the arc-shaped through hole of the swing module support arm 204. The rotating frame 301 slides in the arc-shaped through hole along with the swing module connecting shaft 205. Two external motors of the parallel motion frame 3 rotate, driving the sliding parts 5 and 7 in the front and rear slots to slide clockwise or counterclockwise on the parallel motion frame 3. The third transmission wire 302 and the fourth transmission wire 303 have the same transmission law as the first transmission wire 101. The two external motors pull and release the third transmission wire 302 and the fourth transmission wire 303 respectively. The sliding part 5 in the front slot slides along the front sliding slot 304 toward the contraction direction of the third transmission wire 302, and the sliding part 7 in the rear slot slides along the rear sliding slot 305 toward the contraction direction of the fourth transmission wire 303. The front telescopic module 4 slides along the front sliding slot 304 with the sliding part 5 in the front slot, and the rear telescopic module 6 slides along the rear sliding slot 305 with the sliding part 7 in the rear slot. The external motor of the front telescopic module 4 rotates, driving the front passive adjustment module 8 installed on the front telescopic module 4 to move linearly. The fifth transmission wire 401 has the same transmission law as the first transmission wire 101. The external motor pulls and releases the fifth transmission wire 401 outside the telescopic arm housing 402, driving the first-stage telescopic arm 404 to move linearly along the pulling direction of the fifth transmission wire 401. When the first-stage telescopic arm 404 moves, the first-stage drive gear 403 rotates, pushing the second-stage telescopic arm 406 to extend or retract in line with the first-stage telescopic arm 404. Similarly, when the second-stage telescopic arm 406 moves, the second-stage drive gear 405 rotates, pushing the third-stage telescopic arm 407 to extend or retract in line with the second-stage telescopic arm 406. The passive adjustment module 8 moves linearly in line with the third-stage telescopic arm 407 in the extension or retraction direction.

[0031] The rear telescopic module 6 is the same as the front telescopic module 4, driving the rear passive adjustment module 9, which is installed on the rear telescopic module 6, to move a certain distance in a straight line; The front passive adjustment module 8 and the rear passive adjustment module 9 passively adjust the angle of their own components to bring the replaceable actuator module 10 to the surgical position. The inner and outer rings of the front passive adjustment module 8 and the rear passive adjustment module 9 can rotate relative to each other, so that when the front telescopic module 4 and the rear telescopic module 6 move in a straight line, the replaceable actuator module 10 can perform a composite motion combining straight line, pitch, and oscillation. When the front telescopic module 4 or the rear telescopic module 6 moves in a circle around the front sliding groove 304 or the rear sliding groove 305, the replaceable actuator module 10 can also perform a composite motion combining straight line, pitch, and oscillation.

[0032] Any aspects not covered in this invention are applicable to existing technologies.

Claims

1. A brain intervention surgery robot, characterized by, The robot includes a horizontal motion module (1), a swing module (2), a parallel motion frame (3), a front telescopic module (4), a front slot sliding component (5), a rear telescopic module (6), a rear slot sliding component (7), a front passive adjustment module (8), a rear passive adjustment module (9), a replaceable actuator module (10), and a base (11). The parallel motion frame (3) includes a rotating frame (301), a third transmission wire (302), a fourth transmission wire (303), a front sliding groove (304), a rear sliding groove (305), a third transmission wire track (306), and a fourth transmission wire track (307); the front passive adjustment module (8) and the rear passive adjustment module (9) have the same structure and installation method; the front passive adjustment module (8) includes a front passive adjustment module outer ring (801) and a front passive adjustment module inner ring (802); The swing module (2) is installed in the base (11) through the horizontal motion module (1). The horizontal motion module (1) can drive the swing module (2) to perform horizontal linear motion in the front and back directions. The rotating frame (301) is fixed on the swing module (2) and swings clockwise or counterclockwise with the swing module (2). A front sliding groove (304) and a rear sliding groove (305) are opened along the circumference of the rotating frame (301). A third transmission wire track (306) is opened in the front sliding groove (304). The third transmission wire (302) slides along the third transmission wire track (306). A fourth transmission wire track (307) is opened in the rear sliding groove (305). The fourth transmission wire (303) slides along the fourth transmission wire track (307). The sliding component (5) in the front groove is slidably installed in the front sliding groove (304), and the third transmission wire (302) is fixedly connected to the sliding component (5) in the front groove. Both ends of the third transmission wire (302) are fixedly connected to the output end of an external motor. By the forward and reverse rotation of the motor, the third transmission wire (302) is pulled, so that the third transmission wire (302) can move clockwise or counterclockwise along the third transmission wire track (306), thereby driving the sliding component (5) in the front groove to move clockwise or counterclockwise along the third transmission wire track (306). The sliding component (7) in the rear groove is slidably installed in the rear sliding groove (305), and the fourth transmission wire (303) is fixedly connected to the sliding component (7) in the rear groove. Both ends of the fourth transmission wire (303) are fixedly connected to the output end of an external motor. By the forward and reverse rotation of the motor, the fourth transmission wire (303) is pulled, so that the fourth transmission wire (303) can move clockwise or counterclockwise along the track of the third transmission wire (306), thereby driving the sliding component (7) in the rear groove to move clockwise or counterclockwise along the track of the fourth transmission wire (307). The housing of the front telescopic module (4) is fixed on the sliding component (5) in the front groove; the rotating shaft of the outer ring (801) of the front passive adjustment module is rotatably installed in the output end of the front telescopic module (4) and rotates along the vertical axis; the rotating shafts at both ends of the inner ring (802) of the front passive adjustment module are rotatably installed in the outer ring (801) of the front passive adjustment module and rotate along the horizontal axis. The housing of the rear telescopic module (6) is fixed on the sliding component (7) in the rear groove, and the output end is rotatably connected to the rotating shaft of the outer ring of the rear passive adjustment module (9); the replaceable actuator module (10) is fixedly installed in the inner ring of the rear passive adjustment module (9) and slidably installed in the inner ring (802) of the front passive adjustment module (8); The parallel motion frame (3), the front telescopic module (4), the front groove sliding component (5), the rear telescopic module (6), the rear groove sliding component (7), the front passive adjustment module (8), and the rear passive adjustment module (9) constitute a dual-distal-fixed-point telescopic motion mechanism. The intersection of the inner and outer rotation axes of the front passive adjustment module (8) is the first telescopic fixed point, and the intersection of the inner and outer rotation axes of the rear passive adjustment module (9) is the second telescopic fixed point.

2. The brain interventional surgical robot according to claim 1, characterized in that, The horizontal motion module (1) includes a first transmission wire (101), a linear guide rail (102), a linear slider (103), a first transmission wire guide wheel (104), and a first wire fixing block (105). The linear guide rail (102) is fixed in the base (11); the linear slider (103) is slidably installed in the linear guide rail (102) and can slide linearly along the linear guide rail (102); the swing module support arm (204) of the swing module (2) is fixed on the linear slider (103); one end of the base (11) has a transmission wire inlet and a transmission wire outlet, and the first transmission wire guide wheel (104) is rotatably installed on the other end of the base (11); the first transmission wire (101) passes through the transmission wire inlet into the base (11) and through the pre-loaded guide wheel on the swing module support arm (204). Leave a hole for the wire, then wind it around the first transmission wire guide wheel (104), and finally pass it out of the base (11) from the transmission wire outlet; the first transmission wire (101) drives the first transmission wire guide wheel (104) to rotate; the first transmission wire (101) is fixed to the swing module support arm (204) by the first wire fixing block (105); both ends of the first transmission wire (101) extend out of the base (11) and are fixedly connected to the output end of an external motor. By pulling the first transmission wire (101) in the forward and reverse directions of the motor, the swing module support arm (204) can move forward and backward along a straight line.

3. The brain interventional surgical robot according to claim 2, characterized in that, The horizontal motion module (1) also includes a transmission wire tensioning wheel (106); the transmission wire tensioning wheel (106) is rotatably mounted on one end of the base (11) extending out of the base (11) for tensioning the first transmission wire (101); the first transmission wire (101) enters the base (11) from the transmission wire inlet, first winds around the transmission wire tensioning wheel (106), then passes through the reserved wiring hole on the swing module support arm (204), then winds around the first transmission wire guide wheel (104), and finally exits the base (11) from the transmission wire outlet.

4. The brain interventional surgical robot according to claim 1, characterized in that, The swing module (2) includes a second transmission wire (201), a rotating joint (202), a second wire fixing block (203), a swing module support arm (204), a swing module connecting shaft (205), and a rocking arm (206). The rotating joint (202) is rotatably mounted on the swing module support arm (204); one end of the rocker arm (206) is fixed in the circumferential direction of the rotating joint (202), and the other end is fixed with the swing module connecting shaft (205); an arc-shaped through hole is opened on the swing module support arm (204); the swing module connecting shaft (205) is slidably mounted in the arc-shaped through hole of the swing module support arm (204); the second transmission wire (201) is wound around the circumferential direction of the rotating joint (202) and fixed in the circumferential direction of the rotating joint (202) by the second wire fixing block (203); both ends of the second transmission wire (201) pass through the through hole of the swing module support arm (204) and are fixedly connected to the output end of an external motor. By pulling the second transmission wire (201) in the forward and reverse directions of the motor, the rotating joint (202) swings clockwise or counterclockwise; the rotating frame (301) is fixed on the swing module connecting shaft (205).

5. The brain interventional surgical robot according to claim 1, characterized in that, The front sliding groove (304) and the rear sliding groove (305) are convex-shaped tracks.

6. The brain interventional surgical robot according to claim 1, characterized in that, The structure and installation method of the sliding component (5) in the front groove are exactly the same as those of the sliding component (7) in the rear groove; The sliding component (5) in the front groove includes upper and lower cutting edge rollers (501), left and right cutting edge rollers (502), sliding component body (504) and fixed transmission wire track (505). The upper and lower cutting rollers (501) are rotatably mounted on the left and right sides of the sliding component body (504); the left and right cutting roller slots (506) are opened on both the left and right sides of the sliding component body (504); the left and right cutting rollers (502) are rotatably mounted in the left and right cutting roller slots (506); the sliding component body (504) is rolled in the front sliding groove (304) by the upper and lower cutting rollers (501) and the left and right cutting rollers (502); a fixed transmission wire track (505) is opened in the sliding component body (504), and the third transmission wire (302) is fixed in the fixed transmission wire track (505).

7. The brain interventional surgical robot according to claim 1, characterized in that, The front telescopic module (4) and the rear telescopic module (6) have the same structure and installation method; The front telescopic module (4) includes a fifth transmission wire (401), a telescopic arm housing (402), a first-stage drive gear (403), a first-stage telescopic arm (404), a second-stage drive gear (405), a second-stage telescopic arm (406), a third-stage telescopic arm (407), a second transmission wire guide wheel (408), and a third wire fixing block (409). The telescopic arm housing (402) is fixed to the sliding component body (504) of the sliding component (5) in the front groove; the first-stage telescopic arm (404) is nested inside the telescopic arm housing (402), the second-stage telescopic arm (406) is nested inside the first-stage telescopic arm (404), and the third-stage telescopic arm (407) is nested inside the second-stage telescopic arm (406); the first-stage drive gear (403) is rotatably mounted on the first-stage telescopic arm (404) and simultaneously meshes with the rack on the telescopic arm housing (402) and the rack on the second-stage telescopic arm (406) for transmission; the second-stage drive gear (405) is rotatably mounted on the second-stage telescopic arm (406) and simultaneously meshes with the rack on the first-stage telescopic arm (404) and the rack on the third-stage telescopic arm (407) for transmission; the second transmission wire guide wheel (408) is rotatably mounted in the telescopic arm housing (402); the telescopic arm housing (402) One end of the telescopic arm has a drive wire inlet and a drive wire outlet; the fifth drive wire (401) passes through the drive wire inlet into the telescopic arm housing (402), passes through the reserved wiring hole on the first telescopic arm (404), then winds around the second drive wire guide wheel (408), and finally passes out of the telescopic arm housing (402) from the drive wire outlet; the fifth drive wire (401) drives the second drive wire guide wheel (408) to rotate; the fifth drive wire (401) is fixed to the first telescopic arm (404) by the third wire fixing block (409); both ends of the fifth drive wire (401) extend out of the telescopic arm housing (402) and are fixedly connected to the output end of an external motor. The fifth drive wire (401) is pulled by the forward and reverse rotation of the motor to control the movement of the front telescopic module (4); the rotating shaft of the outer ring (801) of the front passive adjustment module is rotatably installed in the third telescopic arm (407).

8. The brain interventional surgical robot according to claim 1, characterized in that, The front passive adjustment module (8) also includes a first anti-loosening nut (804), an anti-loosening washer (805), and a second anti-loosening nut (806); the rotation shaft of the outer ring (801) of the front passive adjustment module is limited and fixed by the first anti-loosening nut (804); the rotation shafts at both ends of the inner ring (802) of the front passive adjustment module are limited and fixed by the anti-loosening washer (805) and the second anti-loosening nut (806).

9. The brain interventional surgical robot according to claim 1, characterized in that, The replaceable actuator module (10) includes a surgical instrument guide tube (1001) and a replaceable surgical instrument (1002). The surgical instrument guide tube (1001) is fixedly installed in the inner ring of the rear passive adjustment module (9) and slidably installed in the inner ring (802) of the front passive adjustment module (8); the replaceable surgical instrument (1002) is detachably installed in the surgical instrument guide tube (1001), and the surgical instrument guide tube (1001) provides guidance for the replaceable surgical instrument (1002).

10. The brain interventional surgical robot according to claim 9, characterized in that, Replaceable surgical instruments (1002) include electric drills, puncture needles, or electrode needles.

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