Multi-degree-of-freedom surgical robot with dual-implantation function and MRI compatibility

Abstract

The invention discloses a multi-degree-of-freedom surgical robot with a double-implantation function and MRI compatibility. The multi-degree-of-freedom surgical robot comprises two semi-arch-shaped positioning mechanisms, two Z-axis translation mechanisms and two implantation mechanisms, wherein the two semi-arch-shaped positioning mechanisms are symmetrically arranged; the two Z-axis translation mechanisms are used for driving the two semi-arch-shaped positioning mechanisms to linearly move in the Z-axis direction respectively; the surgical robot provided by the invention can be used for DBS electrode implantation surgery, the two implantation mechanisms are respectively carried by the two mutually independent semi-arched positioning mechanisms, and mutually independent motion control of the two implantation mechanisms can be realized, so that synchronous double-implantation operation of electrodes respectively arranged on the two implantation mechanisms is completed, and the operation efficiency is improved. And the operation efficiency is greatly improved. The surgical robot also supports single implantation operation, and during single implantation operation, one semi-arched positioning mechanism is used for supporting the other semi-arched positioning mechanism, so that the unstable hidden danger caused by a cantilever structure is eliminated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical robots, in particular to a multi-degree-of-freedom surgical robot with double implantation function and MRI compatibility. BACKGROUND

[0002] Deep brain stimulation (DBS) surgery is a technology that applies a neurostimulator to the human body to regulate the abnormal electrical activity of brain function nerve tissue (nucleus) through the implantation of an external controllable electrical stimulator, thereby treating various movement disorders caused by abnormal nerve tissue function. The neurostimulator is usually a delicate and small microelectronic device, including a stimulation pulse generator, two stimulation electrodes and connecting wires, which are implanted in the patient's body without affecting the patient's daily life. The two stimulation electrodes need to be implanted at different positions on both sides of the head, and the current method is to implant them in steps. The most critical part of the surgery is the accurate implantation of the stimulation electrodes in the patient's head, which requires not only deep implantation but also high implantation accuracy, up to sub-millimeter level.

[0003] At present, 95% of DBS surgeries (i.e. electrode implantation) at home and abroad use a head stereotactic system to implant electrodes manually, which mainly has the following problems: 1) large electrode implantation error: about 1.5 mm; 2) long surgery time: 4-6 hours; 3) imaging and surgery are separated, cannot be monitored in real time, cannot be verified during surgery, and there are certain safety hazards; 4) there are problems such as operation blind angle. In order to overcome these shortcomings, the use of neurosurgical robot has become the latest development trend, which not only has small error and short surgery time, but also can avoid surgical dead angles. Currently, the ROSA mechanical arm type surgical medical robot of France is widely used, but it still has the following shortcomings: 1) cannot be compatible with MRI, cannot be monitored in real time; 2) long surgery time; 3) high cost. Many medical workers and medical robot researchers believe that if you want to completely solve the above problems, you must implant the electrode under the guidance of MRI, that is, scan and operate at the same time. Accordingly, a new scheme is proposed: use an MRI fully compatible surgical robot to perform surgery instead of doctors. At present, a batch of pioneers have emerged at home and abroad. Some products have begun to be clinically applied abroad, including NeuroBlate and ClearPoint of the United States. However, these products still have some defects, including: 1) fixedly installed on the patient's head (the patient's discomfort is still strong), less degrees of freedom, and small working space; 2) only support manual implantation, with large error; 3) still time-consuming, especially cannot meet the requirement of synchronous implantation of double electrodes.

[0004] The patent CN115607288A discloses a minimally invasive surgery robot compatible with MRI (Magnetic Resonance Imaging) and CT (Computed Tomography) environments, which can adapt to the size of the closed bore cavity of standard MRI and CT scanners, and can realize accurate adjustment of the position and attitude of the puncture needle in the closed bore cavity, thereby ensuring that the puncture needle punctures at the insertion point of the human skin according to the planned path; the minimally invasive surgery robot allows real-time synchronization of image scanning and robot movement, and does not need to repeatedly move the patient into or out of the closed bore cavity of the MRI or CT during the surgery, which can reduce the surgery time and improve the surgery precision. The minimally invasive surgery robot has multiple degrees of freedom and supports automatic implantation, and can solve the above problems to some extent. However, it still cannot meet the demand of synchronous implantation of double electrodes. In addition, the main actuator (puncture needle positioning module, etc.) in the scheme is installed on the arch structure and driven by the arch slider mechanism, and the arch slider mechanism has a large load; and the puncture needle positioning module and the puncture needle insertion module with a large length size form a cantilever structure on the arch structure, which brings certain challenges to the support strength of the arch and the stability of the overall structure.

[0005] Therefore, it is necessary to improve the prior art to provide a more reliable solution. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a multi-degree-of-freedom surgery robot with double implantation function and MRI compatibility to solve the problems in the prior art.

[0007] To solve the above technical problems, the technical scheme adopted by the present application is to provide a multi-degree-of-freedom surgery robot with double implantation function and MRI compatibility, comprising two half-arch positioning mechanisms symmetrically arranged relative to the YOZ plane, two Z-axis translation mechanisms for driving the two half-arch positioning mechanisms to move linearly along the Z-axis direction, and two implantation mechanisms respectively arranged on the two half-arch positioning mechanisms.

[0008] The half-arch positioning mechanism comprises a half-arch arm, a first driving mechanism for driving the half-arch arm to rotate around the X-axis, a sliding assembly movably arranged on the half-arch arm, an interface plate arranged on the sliding assembly, and a second driving mechanism arranged on the interface plate for providing rotation function around the Z-axis.

[0009] The sliding assembly drives the second driving mechanism and the implantation mechanism to reciprocate along the circular arc track on the half-arch arm, the implantation mechanism is arranged on the second driving mechanism and driven by the second driving mechanism to rotate around the Z-axis.

[0010] Two half-arch positioning mechanisms can independently drive one implant mechanism to move and position, including linear motion along the Z-axis, circular motion along the circular track of the half-arch arm, rotation around the X-axis, and rotation around the Z-axis, and then realize synchronous double implantation operation through two implant mechanisms.

[0011] Preferably, the half-arch arm is a half-arch non-complete internal gear, and the outer profile surface of the half-arch arm is a smooth circular surface, and the inner profile surface has an internal gear part.

[0012] The sliding assembly includes a sliding mounting frame movably sleeved on the half-arch arm, a driving gear rotatably arranged on the sliding mounting frame and engaged with the internal gear part, at least one roller rotatably arranged on the sliding mounting frame and in contact with the outer profile surface of the half-arch arm, and a sliding block driving motor arranged on the sliding mounting frame for driving the driving gear to rotate.

[0013] Preferably, the bottom end of the half-arch arm is rotatably connected with a U-shaped support, the side of the U-shaped support is provided with an axle hole, the bottom end of the half-arch arm is connected with a rotating shaft, and the rotating shaft is rotatably arranged in the axle hole and drivingly connected with the first output shaft of the first driving mechanism arranged on the U-shaped support.

[0014] The upper end (or terminal end) of the half-arch arm is provided with a limit block, and the sliding assembly is prevented from moving when contacting the limit block at the upper end of the half-arch arm.

[0015] Preferably, the Z-axis translation mechanism includes a mounting seat, a Z-axis translation motor, a screw shaft arranged in the direction of the Z-axis and drivingly connected with the Z-axis translation motor, a nut sleeved on the screw shaft, and at least one guide rod arranged on the mounting seat and parallel to the screw shaft, the nut is provided with a guide hole for the guide rod to pass through; the mounting seat includes a base, two mounting vertical plates arranged in the direction of the Z-axis and spaced apart on the base, and the screw shaft and the guide rod are connected between the two mounting vertical plates.

[0016] Preferably, the upper end of the nut is provided with a connecting shaft, and the U-shaped support is fixedly connected on the connecting shaft of the nut through the connecting hole opened at the bottom.

[0017] Preferably, one spring balance mechanism is arranged on each of the two half-arch positioning mechanisms, respectively, the spring balance mechanism includes a spring fixing block connected with the first output shaft of the first driving mechanism, a spring connecting seat connected with the sliding mounting frame of the sliding assembly, and an arc-shaped tension spring connected between the spring fixing block and the spring connecting seat and arranged on the outside of the half-arch positioning mechanism.

[0018] The arc-shaped tensile spring can be stretched and allows the sliding assembly on the corresponding semi-arched positioning mechanism to reach a position in contact with the corresponding limiting block.

[0019] Preferably, a spring supporting mechanism is connected between the sliding assemblies of the two semi-arched positioning mechanisms, the spring supporting mechanism comprising two spring connecting seats connected to the sliding assemblies in the two semi-arched positioning mechanisms respectively and a supporting spring installed between the two spring connecting seats.

[0020] The supporting spring is an arc-shaped compression spring or a straight-line compression spring and can be compressed and allows the two sliding assemblies of the two semi-arched positioning mechanisms to reach a position in contact with the corresponding limiting block at the same time.

[0021] Preferably, the spring connecting seat comprises an H-shaped bottom plate for connecting with the sliding mounting frame of the sliding assembly and a vertical plate connected to the H-shaped bottom plate for connecting with the arc-shaped tensile spring or the supporting spring.

[0022] Preferably, a third driving mechanism is further arranged between the second driving mechanism and the implanting mechanism, the third driving mechanism is connected to the second output shaft of the second driving mechanism, the implanting mechanism is connected to the third output shaft of the third driving mechanism and the implanting mechanism is directly driven to rotate around the X axis by the third driving mechanism.

[0023] Preferably, the working method of the multi-degree-of-freedom surgical robot is as follows:

[0024] 1) When single implantation is performed, among the two semi-arched positioning mechanisms, the semi-arched positioning mechanism that needs to be implanted is the implanting semi-arched positioning mechanism and the other is the supporting semi-arched positioning mechanism; at this time, the working method is as follows:

[0025] 1-1) Control the implanting semi-arched positioning mechanism to work, move the implanting mechanism to the target position and adjust to the required posture;

[0026] 1-2) Control the supporting semi-arched positioning mechanism to work, control the rotation angle of the supporting semi-arched positioning mechanism around the X axis by the first driving mechanism, so that the supporting semi-arched positioning mechanism and the implanting semi-arched positioning mechanism are in the same XOY plane and parallel to each other, then control the sliding assembly to work, so that the sliding assembly in the supporting semi-arched positioning mechanism and the second driving mechanism move towards the implanting semi-arched positioning mechanism, so as to support the implanting semi-arched positioning mechanism by the supporting semi-arched positioning mechanism;

[0027] 1-3) Perform implantation operation by the implanting mechanism on the implanting semi-arched positioning mechanism.

[0028] Wherein, the Z-axis linear motion provided by the Z-axis translational mechanism and the circular motion along the circular arc track of the semi-arched arm provided by the sliding assembly achieve moving the implanting mechanism to the target position, and the rotation around the X-axis provided by the first driving mechanism and the rotation around the Z-axis provided by the second driving mechanism adjust the implanting mechanism to the required posture.

[0029] 2) When double implantation positioning is performed:

[0030] 2-1) If the offset distance of the two implantation points in the Z direction is not greater than the pre-set allowable value, the synchronous double implantation working mode is adopted, and the steps are as follows: controlling the two semi-arched positioning mechanisms to respectively drive one implanting mechanism to move to the respective target position, and adjusting the implanting mechanism to the required posture, and then synchronously performing the respective implantation operation through the two implanting mechanisms;

[0031] 2-2) If the offset distance of the two implantation points in the Z direction is greater than the pre-set allowable value, the asynchronous double implantation working mode is adopted, and the steps are as follows: first, positioning and implanting one implantation point according to the method of step 1), and then repeating step 1) to position and implant the other implantation point.

[0032] The beneficial effects of the present application are:

[0033] The present application provides a multi-degree-of-freedom surgical robot with double implantation function and MRI compatibility, which can be used for various neurosurgical operations, such as DBS electrode implantation surgery. By using the sliding assemblies respectively slidably arranged on the two semi-arched positioning mechanisms, one implanting mechanism is respectively carried and independently moved, and then the synchronous implantation of the electrodes respectively arranged on the two implanting mechanisms can be completed, greatly improving the surgical efficiency.

[0034] The surgical robot of the present application supports both manual implantation and automatic implantation. The implanting mechanism can be a conventional rigid surgical tool manual implantation mechanism or a rigid surgical tool automatic implantation mechanism or a flexible surgical tool automatic implantation mechanism, or a combination thereof.

[0035] The surgical robot of the present application also supports single implantation operation, and when single implantation operation is performed, the other semi-arched positioning mechanism is supported by one semi-arched positioning mechanism, which can also well eliminate the instability hidden trouble caused by the cantilever structure.

[0036] In some embodiments of the present application, by setting the spring balance mechanism, the end load of the cantilever-like semi-arch positioning mechanism can be balanced to eliminate the structural instability caused by the cantilever structure. Moreover, the balancing effect has the characteristic of self-adaptive adjustment: when the implantation point is located in the area close to the symmetric plane YOZ of the two semi-arch positioning mechanisms, the position that the sliding assembly needs to reach is closer to the end of the semi-arch positioning mechanism, that is, the end load increases, the cantilever structure becomes longer and the instability problem caused by the cantilever structure increases, at this time, the arc-shaped tension spring of the spring balance mechanism also produces a self-adaptive increase in the pulling force in the opposite direction of the cantilever structure due to the elongation, which can meet the demand for increasing the balancing force caused by the lengthening of the cantilever structure.

[0037] In some embodiments of the present application, by setting the spring balance mechanism, the end load of the cantilever-like semi-arch positioning mechanism can be balanced to eliminate the structural instability caused by the cantilever structure. Moreover, the balancing effect has the characteristic of self-adaptive adjustment: when the implantation point is located in the area close to the symmetric plane YOZ of the two semi-arch positioning mechanisms, the position that the sliding assembly needs to reach is closer to the end of the semi-arch positioning mechanism, that is, the end load increases, the cantilever structure becomes longer and the instability problem caused by the cantilever structure increases, at this time, the arc-shaped tension spring of the spring balance mechanism also produces a self-adaptive increase in the pulling force in the opposite direction of the cantilever structure due to the elongation, which can meet the demand for increasing the balancing force caused by the lengthening of the cantilever structure.

[0038] In some embodiments of the present application, by setting the third driving mechanism between the second driving mechanism and the implantation mechanism, the rotation angle of the implantation mechanism around the X axis can be directly driven and adjusted, which can better guarantee the space movement demand of the surgery and more easily realize higher-precision positioning; by cooperating with the first driving mechanism, the first driving mechanism can be used to realize the coarse positioning of the implantation mechanism around the X axis, and the third driving mechanism can be used to realize the precise positioning of the implantation mechanism around the X axis.

[0039] The multi-degree-of-freedom surgical robot with the dual-implantation function and MRI compatibility of the present application can be used not only for DBS electrode implantation surgery but also for other surgical operations requiring insertion of surgical tools, such as insertion of puncture needles or ablation needles, and only needs to replace the surgical tools according to the surgical requirements. At this time, the application range of the robot can be expanded and the surgical efficiency can be improved through the cooperative work of the dual-surgical-tool insertion.

[0040] The above description is only a summary of the technical solutions of the present application. In order to more clearly understand the technical means of the present application and to implement the content of the description, the following will be described in detail with reference to the preferred embodiments of the present application and the accompanying drawings. The specific embodiments of the present application are given in detail by the following embodiments and the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0042] Figure 2 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0043] Figure 3 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0044] Figure 4 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0045] Figure 5 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0046] Figure 6 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0047] Figure 7 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0048] Figure 8 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0049] Figure 9 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0050] Figure 10 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0051] Figure 11 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0052] Figure 12 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0053] Figure 13 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0054] Figure 14 Structure diagram of the multi-DOF surgical robot with double implantation function and MRI compatibility in Example 1 after removing the head frame;

[0055] Figure 15Front view of the dual-implant mechanism of the multi-DOF surgical robot with dual-implant function and MRI compatibility in Example 2;

[0056] Figure 16 Structure diagram of the multi-DOF surgical robot with dual-implant function and MRI compatibility in Example 3;

[0057] Figure 17 Structure diagram of the cooperation of the semi-arch positioning mechanism and the spring support mechanism in Example 3;

[0058] Figure 18 Front view of the dual-implant mechanism of the multi-DOF surgical robot with dual-implant function and MRI compatibility in Example 3;

[0059] Figure 19 Front view of the single-implant mechanism of the multi-DOF surgical robot with dual-implant function and MRI compatibility in Example 3; at this time, the left semi-arch positioning mechanism is the support semi-arch positioning mechanism, and the right semi-arch positioning mechanism is the implant semi-arch positioning mechanism.

[0060] Explanation of reference signs:

[0061] 1—semi-arch positioning mechanism; 1(A)—implant semi-arch positioning mechanism; 1(B)—support semi-arch positioning mechanism;

[0062] 11—semi-arch arm; 12—first driving mechanism; 13—sliding assembly; 14—interface plate; 15—second driving mechanism; 16—third driving mechanism;

[0063] 111—circular arc surface; 112—internal tooth part; 113—U-shaped support; 114—shaft hole; 115—connecting hole; 116—rotating shaft; 117—limiting block;

[0064] 121—mounting block; 122—turbine; 123—worm; 124—rotary motor; 125—first output shaft;

[0065] 131—sliding mounting frame; 132—driving gear; 133—roller; 134—slider driving motor;

[0066] 151—second output shaft;

[0067] 2—Z-axis translational mechanism;

[0068] 21—mounting seat; 22—Z-axis translational motor; 23—screw shaft; 24—nut; 25—guide rod; 211—base; 212—mounting vertical plate; 241—connecting shaft;

[0069] 3—implant mechanism;

[0070] 4 - mounting base plate;

[0071] 5 - headstock;

[0072] 6 - spring balance mechanism;

[0073] 61 - spring fixing block; 62 - arc-shaped tension spring; 63 - spring connecting seat; 631 - H-shaped base plate; 632 - vertical plate;

[0074] 7 - spring support mechanism;

[0075] 71 - support spring;

[0076] 8 - MRI scanning bed;

[0077] 100 - multi-degree-of-freedom surgical robot with double implantation function and MRI compatibility. DETAILED DESCRIPTION

[0078] The application will be further described in detail below with reference to examples, so that those skilled in the art can implement the application according to the description.

[0079] It should be understood that the terms such as "have", "contain" and "include" used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0080] Example 1

[0081] Referring to Figures 1-12 , the embodiment provides a multi-degree-of-freedom surgical robot 100 with double implantation function and MRI compatibility, comprising two semi-arc-shaped positioning mechanisms 1 arranged symmetrically relative to the YOZ plane, two Z-axis translation mechanisms 2 for driving the two semi-arc-shaped positioning mechanisms 1 to move linearly along the Z-axis direction respectively, and two implantation mechanisms 3 arranged on the two semi-arc-shaped positioning mechanisms 1 respectively;

[0082] The semi-arc-shaped positioning mechanism 1 comprises a semi-arc-shaped arm 11, a first driving mechanism 12 for driving the semi-arc-shaped arm 11 to rotate around the X-axis, a sliding assembly 13 movably arranged on the semi-arc-shaped arm 11, an interface plate 14 arranged on the sliding assembly 13, and a second driving mechanism 15 arranged on the interface plate 14 for providing rotation function around the Z-axis;

[0083] The sliding assembly 13 drives the second driving mechanism 15 to reciprocate along the circular arc track on the semi-arc-shaped arm 11, the implantation mechanism 3 is drivenly connected to the second output shaft 151 of the second driving mechanism 15, and is driven by the second driving mechanism 15 to rotate around the Z-axis;

[0084] Two half-arch positioning mechanisms 1 can independently drive one implant mechanism 3 to move and position, including linear motion along the Z-axis, circular motion along the circular track of the half-arch arm 11, rotation motion around the X-axis, and rotation motion around the Z-axis, and then realize synchronous double implantation operation through the two implant mechanisms 3.

[0085] In the embodiment, the half-arch arm 11 is a half-arch non-complete internal gear, the outer profile surface of the half-arch arm 11 is a smooth circular surface 111, and the inner profile surface has an internal gear part 112, that is, an internal gear tooth;

[0086] The sliding assembly 13 includes a sliding mounting frame 131 movably sleeved on the half-arch arm 11, a drive gear 132 rotatably arranged on the sliding mounting frame 131 and engaged with the internal gear part 112, at least one roller 133 rotatably arranged on the sliding mounting frame 131 and in rolling contact with the outer profile surface of the half-arch arm 11, and a sliding block drive motor 134 arranged on the sliding mounting frame 131 for driving the drive gear 132 to rotate.

[0087] In the embodiment, the bottom end of the half-arch arm 11 is rotatably connected with a U-shaped support 113, the side of the U-shaped support 113 is provided with an axle hole 114, and the bottom end of the half-arch arm 11 is fixedly connected with a rotating shaft 116 rotatably arranged in the axle hole 114 and drivingly connected with the first output shaft 125 of the first driving mechanism 12 arranged on the U-shaped support 113.

[0088] In the embodiment, the upper end of the half-arch arm 11 is provided with a limiting block 117, and when the sliding assembly 13 moves to the upper end of the half-arch arm 11, the end of the sliding mounting frame 131 or the roller thereon is in contact with the limiting block 117 and is prevented from being limited, so as to avoid the sliding assembly 13 from being separated from the half-arch arm 11.

[0089] In the embodiment, the Z-axis translation mechanism 2 includes a mounting base 21, a Z-axis translation motor 22, a screw shaft 23 arranged in the direction of the Z-axis and drivingly connected with the Z-axis translation motor 22, a nut 24 sleeved on the screw shaft 23, and at least one guide rod 25 arranged on the mounting base 21 and parallel to the screw shaft 23, the nut 24 is provided with a guide hole through which the guide rod 25 cooperates; the mounting base 21 includes a base 211 and two mounting vertical plates 212 arranged in the direction of the Z-axis and spaced apart on the base 211, and the screw shaft 23 and the guide rod 25 are connected between the two mounting vertical plates 212.

[0090] The upper end of the nut 24 is provided with a connecting shaft 241, and the U-shaped support 113 is fixedly connected on the connecting shaft 241 of the nut 24 through the connecting hole 115 opened in the bottom.

[0091] Working principle: Z-axis linear movement motor 22 drives screw shaft 23 to rotate, under the restriction of guide rod 25, screw nut 24 cannot rotate but only linearly moves along the length direction of screw shaft 23 and guide rod 25, thereby driving semi-arch positioning mechanism 1 to linearly reciprocate along Z-axis direction.

[0092] It needs to be understood that Z-axis linear movement mechanism 2 can also adopt other products capable of providing the above linear driving function, such as a screw rod motor driving mechanism, a belt pulley driving mechanism, an electric push rod mechanism, a pneumatic cylinder mechanism, etc.

[0093] In the embodiment, each semi-arch positioning mechanism 1 includes at least three degrees of freedom, i.e., one rotation R X around X-axis for rotating the whole semi-arch positioning mechanism 1, implant mechanism 3, etc. around X-axis; two rotations R S and R Z around Z-axis, wherein R S is a degree of freedom obtained by the reciprocating motion of sliding assembly 13 on semi-arch arm 11 in a circular arc track, which can produce rotation around Z-axis and adjust the position in XOY plane; and R Z is a degree of freedom for driving implant mechanism 3 to rotate around Z-axis. In addition, two Z-axis linear movement mechanisms 2 can further provide the whole semi-arch positioning mechanism 1 with a linear motion degree of freedom along Z-axis direction.

[0094] All power devices (each motor, etc.) adopted in the present application are magnetic compatible devices, and other electrical components and mechanical parts are also selected from magnetic compatible materials, so as to ensure that the robot can be compatible with MRI environment. For example, the power device adopted in the present application is a magnetic compatible ultrasonic motor; and the materials of the mechanical parts of the robot body are mainly non-metallic materials with high strength, magnetic compatibility and biological compatibility, such as ULTEM and PEEK, etc., which are well known to those skilled in the art and only need to be selected conventionally.

[0095] In the embodiment, the first driving mechanism 12 and the second driving mechanism 15 have the same structure, which are both worm gear mechanisms. Taking the first driving mechanism 12 as an example, the main structure thereof includes: a mounting block 121, a worm wheel 122 rotatably arranged on the mounting block 121 and a first output shaft 125 fixedly connected to the worm wheel 122, a worm 123 rotatably arranged on the mounting block 121 and engaged with the worm wheel 122, and a rotary motor 124 arranged on the mounting block 121 and used for driving the worm 123 to rotate. The working principle is that the rotary motor 124 drives the worm 123 to rotate, and then drives the semi-arch positioning mechanism 1 and the implant mechanism 3 to rotate around the X-axis through the output shaft (i.e., the first output shaft 125) of the worm wheel 122. The second driving mechanism 15 has the same working principle as the first driving mechanism 12, and will not be described herein.

[0096] In this embodiment, the multi-DOF surgical robot 100 with dual implantation function and MRI compatibility further comprises a mounting base 4, and the two semi-arch positioning mechanisms 1 are symmetrically arranged on the mounting base 4 about the YOZ plane. A headrest 5 is also arranged on the mounting base 4. The headrest 5 is used to clamp and fix the head of the patient, and can be adjusted according to the size of the patient's head. After removing the headrest, the robot can be applied to the surgery of other parts or organs of the human body.

[0097] The multi-DOF surgical robot 100 with dual implantation function and MRI compatibility of this embodiment can be applied to single implantation operation of surgical tools, and can also be applied to dual implantation synchronous operation.

[0098] Figure 12 A schematic view of the multi-DOF surgical robot 100 with dual implantation function and MRI compatibility of this embodiment being installed on an MRI scanning bed and preparing or performing a neurosurgery.

[0099] Embodiment 2

[0100] Reference Figures 13-15 As a further improvement based on embodiment 1, in this embodiment: each of the two semi-arch positioning mechanisms 1 is respectively provided with a spring balance mechanism 6, the spring balance mechanism 6 comprises a spring fixing block 61 connected to the first output shaft 125 of the first driving mechanism 12, a spring connecting seat 63 connected to the sliding mounting bracket 131 of the sliding assembly 13, and an arc-shaped tension spring 62 connected between the spring fixing block 61 and the spring connecting seat 63 and arranged outside the semi-arch positioning mechanism 1 in a spaced manner; the arc-shaped tension spring 62 can be stretched and allow the sliding assembly 13 on the corresponding semi-arch positioning mechanism 1 to reach a position in contact with the corresponding limiting block 117.

[0101] The spring connecting seat 63 comprises an H-shaped bottom plate 631 for connecting with the sliding mounting bracket 131 of the sliding assembly 13, and a vertical plate 632 connected to the H-shaped bottom plate 631 for connecting with the arc-shaped tension spring 62.

[0102] In the present application, in order to realize the independent movement and positioning of the two implanting mechanisms 3, two semi-arch positioning mechanisms 1 are used to carry one implanting mechanism 3 respectively for movement and positioning, the ends of the two semi-arch positioning mechanisms 1 are not connected or fixedly connected, that is, the limiting blocks 117 at the upper ends of the two semi-arch arms do not contact each other. Therefore, the movement and rotation of the two semi-arch positioning mechanisms 1 do not interfere or limit each other, but at this time, the ends of the two semi-arch positioning mechanisms 1 inevitably form a cantilever structure, and when the sliding assembly 13 drives the implanting mechanism 3 thereon to move to the end, the load at the end is further increased, and the influence of the cantilever structure is increased. In order to eliminate the influence of the cantilever structure on stability, the following improvements are adopted in the present embodiment: by setting the spring balance mechanism 6 to generate a counteracting tensile force, a balancing effect can be generated on the end of the semi-arch positioning mechanism 1, thereby solving the instability problem caused by the cantilever structure, and the balancing effect has the characteristics of self-adaptive adjustment, which will be further described below in combination with the working method of the multi-degree-of-freedom surgical robot.

[0103] The working method of the multi-degree-of-freedom surgical robot is as follows:

[0104] 1) When double implantation is performed, the two semi-arch positioning mechanisms 1 respectively carry one implanting mechanism 3 to move to the target position respectively, and adjust the implanting mechanism 3 at the implantation point to the required attitude, that is, the attitude consistent with the planned implantation path, and then perform the implantation operation of each implanting mechanism 3 synchronously;

[0105] 2) When single implantation is performed, any one of the semi-arch positioning mechanisms 1 can be used for operation;

[0106] Among them, the Z-axis linear motion provided by the Z-axis translational mechanism 2 and the circular motion along the circular arc track of the semi-arch arm 11 provided by the sliding assembly 13 make the implanting mechanism 3 move to the target position, and the rotation around the X-axis provided by the first driving mechanism 12 and the rotation around the Z-axis provided by the second driving mechanism 15 make the implanting mechanism 3 adjust to the required attitude.

[0107] Since the spring fixing block 61 at the lower end of the spring balance mechanism 6 is connected with the first output shaft 125 of the first driving mechanism 12, when the first driving mechanism 12 drives the semi-arch positioning mechanism 1 to rotate around the X-axis, the spring balance mechanism 6 will also rotate synchronously, so the spring balance mechanism 6 will not interfere with the movement of the semi-arch positioning mechanism 1.

[0108] When the sliding assembly 13 drives the implanting mechanism 3 to move along the circular arc track on the semi-arched arm 11 to the end, the arc-shaped tensile spring 62 in the spring balance mechanism 6 is stretched and elongated, and in this process, the arc-shaped tensile spring 62 generates a pulling force in the opposite direction (towards the first driving mechanism 12) on the end of the semi-arched positioning mechanism 1, which can balance the end load of the semi-arched positioning mechanism 1 and eliminate the instability problem caused by the cantilever structure, and the balancing action has the characteristics of self-adaptive adjustment. Specifically as follows:

[0109] When the implanting position is in the area close to the YOZ symmetry plane of the two semi-arched positioning mechanisms 1, the position reached by the sliding assembly 13 is closer to the end, the end load increases, the cantilever structure becomes longer and the instability problem increases, and at this time the pulling force in the opposite direction of the cantilever structure generated by the elongation of the arc-shaped tensile spring 62 is self-adaptively increased, which can meet the demand for increased balancing force due to the lengthening of the cantilever structure.

[0110] When the implanting position is in the position on the outside (i.e. in the area far from the YOZ symmetry plane), the position reached by the sliding assembly 13 is closer to the first driving mechanism 12, the end load decreases, the stability problem caused by the cantilever structure decreases, and the required balancing force also decreases relatively; at this time, the elongation of the arc-shaped tensile spring 62 is shortened, the generated pulling force is self-adaptively reduced, and it meets the situation at this time.

[0111] Among them, the selection of the maximum elongation of the arc-shaped tensile spring 62 needs to meet: when the sliding assembly 13 of the two semi-arched positioning mechanisms 1 respectively reaches the end, the arc-shaped tensile spring 62 just reaches its maximum elongation or still does not reach its maximum elongation.

[0112] Embodiment 3

[0113] Reference Figures 16-19 As a further improvement based on embodiment 1, in this embodiment: the spring support mechanism 7 is connected between the sliding assemblies 13 of the two semi-arched positioning mechanisms 1, the spring support mechanism 7 includes two spring connecting seats 63 connected to the sliding assemblies 13 in the two semi-arched positioning mechanisms 1 respectively, and a support spring 71 installed between the two spring connecting seats 63.

[0114] The support spring 71 is an arc-shaped compression spring or a straight-line compression spring, and it can be compressed and allow the two sliding assemblies 13 of the two semi-arched positioning mechanisms 1 to simultaneously reach the position of contacting the respective limit blocks 117.

[0115] The spring connecting seat 63 includes an H-shaped bottom plate 631 for connecting with the sliding mounting frame 131 of the sliding assembly 13, and a vertical plate 632 connected to the H-shaped bottom plate 631 for connecting with the support spring 71.

[0116] This embodiment is also to eliminate the influence of the cantilever structure on stability, but unlike the embodiment 2, a set of spring support mechanism 7 is adopted instead of two sets of spring balance mechanism 6 in the embodiment 2. The working method of the multi-degree-of-freedom surgical robot is further described as follows:

[0117] The working method of the multi-degree-of-freedom surgical robot is as follows:

[0118] 1) When single implantation is performed, among the two half-arch positioning mechanisms 1, the half-arch positioning mechanism 1 that needs to be implanted is the implantation half-arch positioning mechanism 1(A), and the other is the support half-arch positioning mechanism 1(B). The working method is as follows:

[0119] 1-1) First, operate the support half-arch positioning mechanism 1(B) to work. Control the rotation angle of the support half-arch positioning mechanism 1(B) around the X axis through the first driving mechanism 12, and control the movement of the support half-arch positioning mechanism 1(B) along the Z axis direction through the Z axis translational mechanism 2, so that the support half-arch positioning mechanism 1(B) and the implantation half-arch positioning mechanism 1(A) are adjusted to be in the same XOY plane and parallel to each other;

[0120] 1-2) Then, operate the two half-arch positioning mechanisms 1(A) and 1(B) to move simultaneously, move the implantation mechanism 3 on the implantation half-arch positioning mechanism 1(A) to the target position and adjust to the required attitude (i.e. the attitude consistent with the planned implantation path), and the two half-arch positioning mechanisms 1(A) and 1(B) always remain in the same XOY plane and parallel to each other during the whole movement process;

[0121] 1-3) Then operate the sliding assembly 13 of the support half-arch positioning mechanism 1(B) to work, so that the sliding assembly 13 and the second driving mechanism 15 in the support half-arch positioning mechanism 1(B) move together towards the implantation half-arch positioning mechanism 1(A) to the position where the end load of the implantation half-arch positioning mechanism 1(A) is completely balanced or the limit position, so as to realize the support of the implantation half-arch positioning mechanism 1(A) by the support half-arch positioning mechanism 1(B). The limit position is the position of the sliding assembly 13 when the spring is compressed to the shortest or the last end position of the sliding assembly 13 allowed by the limit block 117 in the support half-arch positioning mechanism 1(B);

[0122] 1-4) Again, operate the two half-arch positioning mechanisms 1(A) and 1(B) synchronously to realize the accurate positioning of the implantation mechanism 3 on the implantation half-arch positioning mechanism 1(A);

[0123] 1-5) Finally, perform the implantation operation through the implantation mechanism 3 on the implantation half-arch positioning mechanism 1(A).

[0124] Wherein, the Z-axis linear motion provided by the Z-axis translational mechanism 2 and the circular motion along the circular arc track of the semi-arched arm 11 provided by the sliding assembly 13 realize the movement of the implanting mechanism 3 to the target position, and the rotation around the X-axis provided by the first driving mechanism 12 and the rotation around the Z-axis provided by the second driving mechanism 15 realize the adjustment of the implanting mechanism 3 to the required posture.

[0125] 2) When the double implantation positioning is performed:

[0126] 2-1) If the offset distance of the two implantation points along the Z direction is not greater than the pre-set allowable value, the synchronous double implantation working mode is adopted, and the steps are as follows: the two semi-arched positioning mechanisms 1 respectively carry one implanting mechanism 3 to move to the respective target positions, and respectively adjust the two implanting mechanisms 3 to the required implantation postures, and then the two implanting mechanisms 3 synchronously perform the respective implantation operations;

[0127] 2-2) If the offset distance of the two implantation points along the Z direction is greater than the pre-set allowable value, the asynchronous double implantation working mode is adopted, and the steps are as follows: first, the positioning and implantation operation of one implantation point are performed according to the method of step 1), and then the positioning and implantation operation of the other implantation point are repeated according to step 1). That is to say, when the double implantation is required, but can be implemented asynchronously, the same way as the single implantation positioning can be adopted, and the implantation is performed twice, and each time the implantation is performed, one of the semi-arched positioning mechanisms 1 supports the other, and then the supporting and implanting roles are exchanged, so that one of the semi-arched positioning mechanisms 1 supports each time the implantation is performed, thereby the better system stability can be ensured. It can be seen that the implantation of the surgical robot of the present application has high flexibility.

[0128] Wherein, the pre-set allowable value of the offset distance can be selected according to the actual situation and requirements, for example, in the embodiment, the pre-set allowable value of the offset distance is selected according to the free length of the supporting spring 71, and specifically, the pre-set allowable value of the offset distance is 2% of the free length of the supporting spring 71, that is, if the positions of the two implantation points along the Z direction are the same or the offset distance is not greater than 2% of the free length of the supporting spring 71, the synchronous double implantation working mode is adopted.

[0129] In the present application, the flexible support provided by the supporting spring 71 can avoid the hidden danger of damaging the equipment caused by the rigid support, and at the same time, the sliding assembly 13 in the semi-arched positioning mechanism 1 can freely move along the arc track on the semi-arched arm 11.

[0130] At this time, the role of the supporting spring 71 in offsetting the adverse effect of the end cantilever structure on the system stability also has the characteristics of self-adaptive adjustment.

[0131] When the sliding assembly 13 on the implanted semi-arch positioning mechanism 1(A) is closer to the end of the semi-arch arm 11, the end load increases, the cantilever structure becomes longer and the instability risk increases, at this time the support spring 71 is compressed more and the counteracting elastic force is greater, which can provide stronger support for the implanted semi-arch positioning mechanism 1(A), which can exactly make up for the increase in instability risk caused by the increase in load of the cantilever structure;

[0132] When the sliding assembly 13 on the implanted semi-arch positioning mechanism 1(A) is closer to the first driving mechanism 12, the end load decreases, the stability risk caused by the cantilever structure decreases, at this time the support required by the implanted semi-arch positioning mechanism 1(A) is also relatively reduced, and even no support is needed; at this time the compression amount of the support spring 71 is reduced, and the support force that can be generated is adaptively reduced, which is exactly the case.

[0133] It needs to be understood that the position deviation of the two positions for double-electrode implantation in the Z-axis direction is usually small, that is, the angle around the X-axis direction and the displacement along the Z-axis direction of the two implantation mechanisms 3 during implantation may be different to a certain extent, but the difference is generally small. In these cases (for example, when the deviation along the Z direction is not greater than 2% of the free length of the support spring 71), although the two semi-arch positioning mechanisms 1 may not be completely in the same XOY plane, due to the small deviation, the support spring 71 between the two semi-arch positioning mechanisms 1 will produce a small amount of lateral deviation or torsion after being compressed, that is, in addition to the change in arc length, there may be a certain deformation in the lateral direction of the support spring, but the compression deformation in the arc length direction is the main deformation, at this time, the elastic force in the opposite direction is still mainly generated, so a relatively stable support effect can still be formed on the two semi-arch positioning mechanisms 1, but the support effect at this time will be slightly weaker than the case where the support spring 71 only exists in the axial compression deformation, that is, the case where the two semi-arch positioning mechanisms 1 remain parallel, as described in steps 1-3) above, but it still helps to eliminate the instability risk caused by the cantilever structure.

[0134] Embodiment 4

[0135] Continuing to refer to Figures 13-19 On the basis of Embodiment 2 and Embodiment 3, in this embodiment, a third driving mechanism 16 is further arranged between the second driving mechanism 15 and the implantation mechanism 3, the third driving mechanism 16 is connected to the second output shaft 151 of the second driving mechanism 15, and the implantation mechanism 3 is connected to the third output shaft of the third driving mechanism 16, so as to directly drive the implantation mechanism 3 to rotate around the X-axis through the third driving mechanism 16. The third driving mechanism 16 can be a conventional worm gear mechanism, which has the same structure as the first driving mechanism 12 and the second driving mechanism 15.

[0136] The robot system of the present application supports double-inclination insertion, i.e. the implanting mechanism 3 can realize insertion function in the sagittal plane (i.e. YOZ plane) or a plane parallel to the sagittal plane, the transverse plane (i.e. XOY plane) or a plane parallel to the transverse plane, i.e. the implanting mechanism 3 can realize rotation movement around the X axis and the Z axis respectively. Among them, the first driving mechanism 12 drives the whole of the semi-arched positioning mechanism 1 and the implanting mechanism 3 arranged thereon to rotate around the X axis, and the second driving mechanism 15 directly drives the implanting mechanism 3 to rotate around the Z axis.

[0137] In some cases, for example, when the robot system moves to a position below the head of the human body, and surgical tool insertion is required to be performed on the abdomen of the human body, the rotation angle range of the semi-arched positioning mechanism 1 around the X axis will be limited by the human body. At this time, in order to ensure the movement demand of the operation space, the third driving mechanism 16 is added in the present embodiment to directly drive and adjust the rotation angle of the implanting mechanism 3 around the X axis; at this time, the rotation of the implanting mechanism 3 around the X axis can be controlled alone by the third driving mechanism 16, the movement demand of the operation space can be better ensured, and compared with the first driving mechanism 12 driving the whole semi-arched positioning mechanism 1 to rotate around the X axis, the load of the third driving mechanism 16 driving the implanting mechanism 3 to rotate around the X axis is smaller, and it is easier to realize higher-precision positioning; therefore, in the present embodiment, coarse positioning can be performed by driving the whole semi-arched positioning mechanism 1 to rotate around the X axis by the first driving mechanism 12, and then precise positioning can be realized by driving the implanting mechanism 3 to rotate around the X axis alone by the third driving mechanism 16.

[0138] The above is only a preferred embodiment of the present application, and does not limit the present application in any form; any ordinary technical personnel in the industry can implement the present application according to the drawings and the above; however, any equivalent changes, modifications and evolution of the above disclosed technical content made by the technical personnel familiar with the professional field without departing from the technical solution range of the present application are equivalent embodiments of the present application; at the same time, any equivalent changes, modifications and evolution of the above embodiments made according to the essential technology of the present application are still within the protection range of the technical solution of the present application.

Claims

1. A multi-degree-of-freedom surgical robot with dual implantation function and MRI compatibility, characterized in that, The two half-arch positioning mechanisms are symmetrically arranged relative to a YOZ plane, two Z-axis translation mechanisms are arranged for driving the two half-arch positioning mechanisms to linearly move along the Z-axis direction respectively, and two implanting mechanisms are arranged on the two half-arch positioning mechanisms respectively. The half-arch positioning mechanism comprises a half-arch arm, a first driving mechanism for driving the half-arch arm to rotate around the X-axis, a sliding assembly movably arranged on the half-arch arm, an interface plate arranged on the sliding assembly, and a second driving mechanism arranged on the interface plate and used for providing a rotation function around the Z-axis. The sliding assembly is used to drive the second driving mechanism to reciprocate along a circular arc track on the half-arch arm, and the implanting mechanism is arranged on the second driving mechanism and is driven by the second driving mechanism to rotate around the Z-axis. The two half-arch positioning mechanisms can independently drive one implanting mechanism to move and position, including linear motion along the Z-axis, circular motion along the circular arc track of the half-arch arm, rotation around the X-axis, and rotation around the Z-axis, thereby realizing synchronous double-implanting operation through the two implanting mechanisms.

2. The multi-DOF surgical robot with dual implantation function and MRI compatibility of claim 1, wherein, The half-arch arm is a half-arch non-complete internal gear, and the outer profile surface of the half-arch arm is a smooth circular arc surface, and the inner profile surface has an internal gear part. The sliding assembly comprises a sliding mounting frame movably sleeved on the half-arch arm, a driving gear rotatably arranged on the sliding mounting frame and engaged with the internal gear part, at least one roller rotatably arranged on the sliding mounting frame and in contact with the outer profile surface of the half-arch arm, and a sliding block driving motor arranged on the sliding mounting frame and used for driving the driving gear to rotate.

3. The multi-DOF surgical robot with dual implantation function and MRI compatibility of claim 2, wherein, The bottom end of the half-arch arm is rotatably connected with a U-shaped support, the side of the U-shaped support is provided with an axle hole, the bottom end of the half-arch arm is connected with a rotating shaft, and the rotating shaft is rotatably arranged in the axle hole and drivingly connected with a first output shaft of the first driving mechanism arranged on the U-shaped support. The upper end of the half-arch arm is provided with a limiting block, and the sliding assembly is prevented from moving when contacting the limiting block at the upper end of the half-arch arm.

4. The dual implantation function and MRI compatible multi-degree of freedom surgical robot of claim 1, wherein, The Z-axis translation mechanism comprises a mounting seat, a Z-axis translation motor, a screw shaft arranged in the Z-axis direction and drivingly connected with the Z-axis translation motor, a nut sleeved on the screw shaft, and at least one guide rod arranged on the mounting seat and parallel to the screw shaft, and the nut is provided with a guide hole through which the guide rod passes; the mounting seat comprises a base, two mounting vertical plates arranged on the base and spaced apart in the Z-axis direction, and the screw shaft and the guide rod are connected between the two mounting vertical plates.

5. The multi-DOF surgical robot with dual implantation function and MRI compatibility of claim 4, wherein, The upper end of the nut is provided with a connecting shaft, and the U-shaped support is fixedly connected to the connecting shaft of the nut through a connecting hole formed in the bottom.

6. The multi-DOF surgical robot with dual implantation function and MRI compatibility of claim 3, wherein, Each of the two half-arch positioning mechanisms is provided with a spring balance mechanism, the spring balance mechanism comprises a spring fixing block connected to the first output shaft of the first driving mechanism, a spring connecting seat connected to the sliding mounting frame of the sliding assembly, and an arc-shaped tension spring connected between the spring fixing block and the spring connecting seat and arranged on the outside of the half-arch positioning mechanism. The arc-shaped tensile spring can be stretched and allows the sliding assembly on the corresponding semi-arched positioning mechanism to reach a position in contact with the corresponding limiting block.

7. The multi-DOF surgical robot with dual implantation function and MRI compatibility of claim 3, wherein, The spring support mechanism is connected between the sliding assemblies of the two semi-arched positioning mechanisms, and comprises two spring connecting seats connected to the sliding assemblies in the two semi-arched positioning mechanisms respectively, and a support spring installed between the two spring connecting seats. The support spring is an arc-shaped compression spring or a straight-line compression spring, and can be compressed and allows the two sliding assemblies of the two semi-arched positioning mechanisms to reach a position in contact with the corresponding limiting block at the same time.

8. The multi-DOF surgical robot with dual implantation function and MRI compatibility according to claim 6 or 7, characterized in that, The spring connecting seat comprises an H-shaped bottom plate for connecting with the sliding mounting frame of the sliding assembly, and a vertical plate connected to the H-shaped bottom plate for connecting with the arc-shaped tensile spring or the support spring.

9. The dual implantation function and MRI compatible multi-degree of freedom surgical robot of claim 1, wherein, The third driving mechanism is further arranged between the second driving mechanism and the implanting mechanism, the third driving mechanism is connected to the second output shaft of the second driving mechanism, and the implanting mechanism is connected to the third output shaft of the third driving mechanism, so as to directly drive the implanting mechanism to rotate around the X axis through the third driving mechanism.

10. The dual implantation function and MRI compatible multi-degree of freedom surgical robot of claim 1, wherein, The working method of the multi-degree-of-freedom surgical robot is as follows: 1) When single implantation is performed, among the two semi-arched positioning mechanisms, the semi-arched positioning mechanism that needs to perform implantation operation is the implanting semi-arched positioning mechanism, and the other is the supporting semi-arched positioning mechanism; at this time, the working method is as follows: 1-1) control the implanting semi-arched positioning mechanism to work, move the implanting mechanism to the target position, and adjust it to the required attitude; 1-2) control the supporting semi-arched positioning mechanism to work, control the rotation angle of the supporting semi-arched positioning mechanism around the X axis through the first driving mechanism, so that the supporting semi-arched positioning mechanism and the implanting semi-arched positioning mechanism are in the same XOY plane and parallel to each other, then control the sliding assembly to work, so that the sliding assembly in the supporting semi-arched positioning mechanism and the second driving mechanism move towards the implanting semi-arched positioning mechanism, so as to support the implanting semi-arched positioning mechanism through the supporting semi-arched positioning mechanism; 1-3) perform implantation operation through the implanting mechanism on the implanting semi-arched positioning mechanism; Wherein, the Z-axis linear motion provided by the Z-axis translational mechanism and the circular motion along the circular track of the semi-arched arm provided by the sliding assembly realize moving the implanting mechanism to the target position, and the rotation around the X axis provided by the first driving mechanism and the rotation around the Z axis provided by the second driving mechanism realize adjusting the implanting mechanism to the required attitude; 2) when double implantation positioning is performed: 2-1) if the offset distance of the two implantation points along the Z direction is not greater than the pre-set allowable value, the synchronous double implantation working mode is adopted, and the steps are as follows: control the two semi-arched positioning mechanisms to respectively move one implanting mechanism to the target position, and adjust the implanting mechanism to the required attitude, then synchronously perform the implantation operation through the two implanting mechanisms; 2-2) If the distance between the two implant points along the Z direction is greater than a pre-set allowable value, the asynchronous double implantation mode is used, and the steps are: first, the positioning and implantation operation is performed on one implant point according to the method of step 1), and then the positioning and implantation operation is repeated on the other implant point according to step 1).

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