Multi-degree-of-freedom surgical robot based on high-rigidity parallelogram telecentric mechanism

Abstract

The present application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism. A base, a three-dimensional mobile platform, a horizontal rotation mechanism, a linear module mechanism, a parallelogram mechanism, and a surgical tool movable mechanism. The three-dimensional mobile platform is used to adjust the spatial position of the surgical tool, the high-rigidity parallelogram mechanism is used to adjust the posture of the surgical tool, the surgical tool movable mechanism is used for the feeding and angle adjustment of the surgical tool, and includes a surgical tool quick-release mechanism. The present application can adjust the posture of the surgical tool, can ensure that the surgical tool moves along any trajectory in space, and can adjust the angle arbitrarily, to ensure the accuracy and stability of the operation. The present application has a stable structure, a simple motion mode, and is easy to operate, and has good application prospects.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and in particular to a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism. Background Art

[0002] The human eye socket is a conical bony space with a volume of only approximately 30ml. Once inflammation occurs, the volume of the orbital tissue increases, causing bulging of the eyeball and exophthalmos. When patients are insensitive to or intolerant of radiation therapy and hormonal treatments, orbital decompression surgery becomes the only effective means of alleviating compressive optic neuropathy and exposure keratitis. Orbital decompression surgery expands the orbital volume by chiseling out the orbital bone wall, thereby achieving the therapeutic effect of orbital decompression.

[0003] However, orbital decompression surgery presents a series of challenges, including difficulty, complex anatomy, confined space, limited field of view, inaccurate positioning, and a decompression range that relies entirely on experience. Furthermore, the limited availability of experienced physicians has hindered the widespread adoption of this procedure. With the rise of medical robotics, combining robotic technology with traditional surgical techniques for robot-assisted surgery can effectively address these issues. The robot's positioning mechanism can quickly move surgical tools near the lesion, mimicking the surgical path. The unique design of the telecentric mechanism allows the robot to adjust its position around the target point, ensuring surgical safety. However, orbital decompression surgery requires bone grinding, which generates significant forces. Existing telecentric mechanisms, which typically operate unloaded, lack sufficient rigidity to meet the requirements of this type of surgery. Summary of the Invention

[0004] In view of the shortcomings of the existing technology mentioned above, the technical problem to be solved by this application is to provide a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism, which is used to solve the problems of inaccurate positioning, long operation time, and decompression range relying entirely on experience during orbital decompression surgery.

[0005] To achieve the above-mentioned objectives and other related objectives, the present application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism, the multi-degree-of-freedom surgical robot comprising: a base, a three-dimensional mobile platform, a horizontal rotation mechanism, a linear module mechanism, a parallelogram mechanism, and a surgical tool movable mechanism; the three-dimensional mobile platform is arranged on a support frame of the base; the Z-axis slide in the three-dimensional mobile platform is fixedly connected to the horizontal rotation mechanism; the linear module mechanism is fixed on the flange shaft of the horizontal rotation mechanism; the high-rigidity parallelogram mechanism is fixed on the first base plate of the linear module mechanism, and the drive plate of the parallelogram mechanism is connected to the first bearing seat of the linear module mechanism; the surgical tool movable mechanism is fixed on the end base plate of the parallelogram mechanism.

[0006] In one embodiment of the present application, the three-dimensional mobile platform includes: an X-axis slide, a Y-axis slide, and the Z-axis slide, each of which is connected to a mobile servo motor; the Y-axis slide is horizontally and vertically fixed on the X-axis slide corresponding to the X-axis slide; the Z-axis slide is longitudinally and vertically fixed on the Y-axis slide corresponding to the Y-axis slide; and the horizontal rotation mechanism is fixed on the Z-axis slide corresponding to the Z-axis slide.

[0007] In one embodiment of the present application, photoelectric switches are respectively provided on the sides of the X-axis slide, the Y-axis slide, and the Z-axis slide, and sensor sheets are respectively provided on the sides of the X-axis slide, the Y-axis slide, and the Z-axis slide, and the photoelectric switches and the sensor sheets are used to record the number of movements.

[0008] In one embodiment of the present application, the horizontal rotation mechanism includes: a housing, a side cover, a rotating servo motor, a reducer, a first synchronous pulley, a second synchronous pulley, a first synchronous belt, a first bearing, a second bearing, and a flange shaft; the housing is fixed to the Z-axis slide; the rotating servo motor is connected to the reducer; the reducer is fixed to the outside of the side cover, and the output shaft of the reducer passes through the first hole set on the side cover and is inserted into the first synchronous pulley; the flange shaft is embedded and fixed in the second hole set on the side cover; the long output shaft of the flange shaft is inserted into the second synchronous pulley; the first synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley; a third hole is provided on the side panel of the housing corresponding to the second hole of the side cover to embed the first bearing, and the long output shaft of the flange shaft is inserted into the first bearing; the second bearing is sleeved on the short output shaft of the flange shaft; the first bearing and the second bearing are respectively interference fit on the flange shaft.

[0009] In one embodiment of the present application, the linear module mechanism includes: a connecting plate, a first base plate, a support beam, a first motor bracket, a module servo motor, a third bearing, a transmission shaft, a first coupling, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a linear module, a module slider, a slider connecting plate, and the first bearing seat; the connecting plate is connected to the flange shaft of the horizontal rotation mechanism; the first base plate is fixedly connected to the connecting plate; the support beam is respectively fixedly connected to the first base plate and the connecting plate for reinforcement; the first motor bracket is arranged at the bottom of the first base plate and is loaded with the module servo motor; the third bearing is embedded in the hole of the connecting plate; one end of the transmission shaft is connected to the third bearing, and the other end of the transmission shaft is connected to one end of the first coupling; the third synchronous pulley is connected to the module servo motor; the fourth synchronous pulley is sleeved on the transmission shaft; the second synchronous belt is sleeved on the third synchronous pulley and the fourth synchronous pulley; the other end of the first coupling is connected to the input end of the screw on the linear module; the module slider is used to slide on the screw of the linear module, the sliding connecting plate is provided on the module slider, and the first bearing seat is provided on the slider connecting plate, which is used to fix the parallelogram mechanism.

[0010] In one embodiment of the present application, the parallelogram mechanism includes: the driving plate, the first short axis, the second short axis, the third short axis, the first long axis, the second long axis, the third long axis, the second bearing seat, the first plate, the second plate, the third plate, the fourth plate, the fifth plate, the thrust needle bearing, the fifth bearing, a gasket, a bolt, an end cover, a beam, a ball shaft plunger, and the end base plate; the first short axis passes through the first bearing seat and is connected to one end of the driving plate; the other end of the driving plate is arranged on the first long axis; the first long axis is arranged between the second plates; the second bearing seat is arranged on the first base plate of the linear module mechanism; the second short axis passes through the second bearing seat and is connected to the first plate; the second long axis passes through the second bearing seat and is connected to the second plate; the third long axis is arranged The first plate is between the first plate and the second plate; the third short axis is arranged on the fifth plate; the thrust needle bearings are mounted on both ends of the third long axis and the third short axis; the fifth bearings are respectively embedded in the bearing holes of the second plate, the third plate, and the fourth plate; the third plate and the fourth plate are respectively arranged on the two ends of the third long axis and the third short axis through the fifth bearing; the gasket and the bolt are respectively arranged at both ends of the first long axis, the two ends of the third long axis, and the third short axis; the end cover is covered on the bearing holes of the second plate, the third plate, and the fourth plate; the beam is fixed between the third plate and the fourth plate; the ball shaft plunger is arranged on the third plate; the end base plate is arranged between the fifth plates.

[0011] In one embodiment of the present application, the movable mechanism of the surgical tool includes: a second base plate, a second motor bracket, a first motor, a second coupling, a lead screw, a linear guide rail, a slider, a lead screw nut, a slider connecting block, a third bearing seat, a fourth bearing seat, a proximity switch, a movable base plate, a third motor bracket, a second motor, a small gear, a large gear, a thin-walled bearing seat, a rotating shaft cylinder, and a navigation bracket; the second base plate is fixed to the end base plate of the parallelogram mechanism; the second motor bracket, the third bearing seat, the linear guide rail, and the fourth bearing seat are respectively provided on the second base plate in sequence; the first motor is arranged on the second motor bracket, and the second coupling is connected to the output of the first motor The shaft and the input end of the lead screw; the linear guide rail is correspondingly provided with the slider that can slide thereon; the movable base plate is fixedly connected to the slider through the slider connecting block; the lead screw nut is connected to the slider connecting block; the proximity switch is provided on the third bearing seat; the third motor bracket is fixed on the movable base plate and loaded with the second motor; the thin-walled bearing seat is provided on the movable base plate; the pinion is provided on the output shaft of the second motor; the pinion is meshed with the large gear; the large gear is fixedly connected to the rotating shaft cylinder; the rotating shaft cylinder and the bearing of the thin-walled bearing seat are matched and installed; the navigation bracket is provided on the rotating shaft cylinder.

[0012] In one embodiment of the present application, it further includes: a surgical tool quick-release mechanism; the surgical tool quick-release mechanism is fixedly connected to the rotating shaft cylinder of the surgical tool movable mechanism.

[0013] In one embodiment of the present application, the surgical tool quick-release mechanism includes: a quick-release base, a surgical tool clamp, a hand-tightening bolt, a limit key, and an elastic steel ball assembly; the quick-release base is sleeved on the rotating shaft of the surgical tool movable mechanism, and the quick-release base is provided with a hand-tightening bolt, a limit key, and an elastic steel ball assembly; the surgical tool clamp has a sliding groove, which is engaged with the quick-release base along the limit key.

[0014] In one embodiment of the present application, the elastic steel ball assembly is lifted up by rotating the surgical tool clamp; and the tightness between the surgical tool clamp and the quick-release base is adjusted by rotating the hand-tightening bolt.

[0015] As described above, the multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism provided by this application has the following beneficial effects compared to the prior art:

[0016] Based on the existing parallelogram telecentric mechanism, a new high-rigidity parallelogram telecentric mechanism was designed by adopting thrust needle bearings, ball plungers, support beams and other components while optimizing the connection method. A surgical tool movable mechanism is installed at the end of the high-rigidity parallelogram mechanism, which can be used by robots to complete feeding and rotation operations such as bone drilling and grinding. In addition, a quick-release mechanism for surgical tools is designed, which can quickly and conveniently replace surgical tools to meet different surgical needs. This application has a stable structure, a simple movement mode, and is easy to operate, and has good application prospects in the medical field. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Shown is a schematic structural diagram of a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism in one embodiment of the present application.

[0018] Figure 2 Shown is a structural schematic diagram of a three-dimensional mobile platform in one embodiment of the present application.

[0019] Figure 3 Shown is an exploded schematic diagram of a horizontal rotation mechanism in one embodiment of the present application.

[0020] Figure 4 Shown is an exploded schematic diagram of a linear module mechanism in one embodiment of the present application.

[0021] Figure 5 Shown is an exploded schematic diagram of a parallelogram mechanism in one embodiment of the present application.

[0022] Figure 6 Shown is a schematic exploded view of a movable mechanism of a surgical tool in one embodiment of the present application.

[0023] Figure 7 Shown is an exploded schematic diagram of a quick-release mechanism for a surgical tool in one embodiment of the present application. DETAILED DESCRIPTION

[0024] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0025] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0026] In order to clearly describe the present application, parts not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0027] Throughout this specification, when a component is said to be "connected" to another component, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a component is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of such other components but rather implies that the component may include such other components.

[0028] When a component is said to be "on" another component, it may be directly on the other component, but there may also be other components between it. In contrast, when a component is said to be "directly" on another component, there are no other components between it.

[0029] Although the terms first, second, etc. are used in some instances herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, descriptions of a first interface and a second interface, etc. are provided. Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprise" and "include" indicate the presence of the described features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition occur only when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some manner.

[0030] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0031] Spatially relative terms such as "below" and "above" may be used to more easily describe the relationship of one component to another component in the drawings. These terms refer not only to the meaning indicated in the drawings but also to other meanings or operations of the device during use. For example, if the device in the drawings is turned over, a component previously described as "below" another component may now be described as "above" the other component. Therefore, the exemplary term "below" encompasses both above and below. The device may be rotated 90° or at other angles, and spatially relative terms should be interpreted accordingly.

[0032] like Figure 1 The figure shows a schematic diagram of the structure of a multi-DOF surgical robot based on a high-rigidity parallelogram telecentric mechanism in one embodiment of the present application. As shown in the figure, the multi-DOF surgical robot includes: a base 1, a three-dimensional mobile platform 2, a horizontal rotation mechanism 3, a linear module mechanism 4, a parallelogram mechanism 5, and a surgical tool movable mechanism 6.

[0033] It should be noted that the multi-degree-of-freedom surgical robot described in this application may also include a surgical tool quick release mechanism. Figure 1 The surgical tool quick release mechanism 7 is shown in FIG. It can be understood that, in other embodiments, the multi-degree-of-freedom surgical robot described in the present application may not include the surgical tool quick release mechanism.

[0034] In this embodiment, the three-dimensional moving platform 2 is used to adjust the spatial position of the surgical tool, the parallelogram mechanism 5 is used to adjust the posture of the surgical tool, and the surgical tool movable mechanism 6 is used to feed and adjust the angle of the surgical tool.

[0035] In this embodiment, the three-dimensional mobile platform 2 is arranged on the support frame 11 of the base 1; the Z-axis slide 23 in the three-dimensional mobile platform 2 is fixedly connected to the horizontal rotation mechanism 3; the linear module mechanism 4 is fixed on the flange shaft 310 of the horizontal rotation mechanism 3; the high-rigidity parallelogram mechanism 5 is fixed on the first base plate of the linear module mechanism 4, and the driving plate 51 of the parallelogram mechanism 5 is connected to the first bearing seat 493 of the linear module mechanism 4; the surgical tool movable mechanism 6 is fixed on the end base plate 59 of the parallelogram mechanism 5.

[0036] In addition, if Figure 1 As shown, the surgical tool quick release mechanism 7 is fixedly connected to the rotating shaft cylinder 619 of the surgical tool movable mechanism 6. The surgical tool quick release mechanism 7 is used to clamp the surgical tool 8.

[0037] like Figure 2FIG2 is a schematic diagram showing the structure of a three-dimensional mobile platform in one embodiment of the present application. As shown in the figure, the three-dimensional mobile platform 2 includes: an X-axis slide 21, a Y-axis slide 22, and the Z-axis slide 23, each of which is connected to a mobile servo motor 24.

[0038] In this embodiment, the three-dimensional moving platform 2 is mainly used to adjust the spatial position of surgical tools.

[0039] Furthermore, the Y-axis slide 22 is fixed horizontally and vertically on the X-axis slide 211 corresponding to the X-axis slide 21; the Z-axis slide 23 is fixed vertically and longitudinally on the Y-axis slide 221 corresponding to the Y-axis slide 22; and the Z-axis slide 231 corresponding to the Z-axis slide 23 is fixed as shown in FIG. Figure 1 The horizontal rotation mechanism 3 described in.

[0040] In this embodiment, the three-dimensional mobile platform 2 is the main mobile mechanism for the multi-degree-of-freedom surgical robot described in this application to achieve multiple degrees of freedom, and is the unit with the largest moving distance in the multi-degree-of-freedom surgical robot described in this application. Among them, it is composed of an X-axis slide 21, a Y-axis slide 22, and the Z-axis slide 23, which can achieve a large range of movement in three dimensions. Each slide corresponds to a slide, which is driven by a corresponding mobile servo motor 24 to achieve movement of the slide in the corresponding axial direction. For example, the mobile servo motor 24 drives the movement of the X-axis slide 211, which can achieve movement in the X-axis direction.

[0041] In some embodiments, the X-axis slide 21 , the Y-axis slide 22 , and the Z-axis slide 23 can be moved simultaneously, individually, or sequentially in an XYZ sequence driven by the movement servo motor 24 .

[0042] In one embodiment of the present application, photoelectric switches 25 are respectively provided on the sides of the X-axis slide 21, the Y-axis slide 22, and the Z-axis slide 23, and sensing sheets 26 are respectively provided on the X-axis slide 211, the Y-axis slide 221, and the Z-axis slide 231. The photoelectric switches 25 and the sensing sheets 26 are used to record the number of movements.

[0043] It should be noted that the photoelectric switch 25 provided on the X-axis slide 21 and the sensor sheet 26 provided on the X-axis slide 211 are Figure 2 It is not shown in the figure due to the angle problem, but it can be understood that the photoelectric switch 25 is also provided on the X-axis slide 21, and the sensor sheet 26 is also provided on the X-axis slide 211.

[0044] In this embodiment, the photoelectric switch 25 is short for a photoelectric proximity switch, which detects the presence of an object by utilizing the blocking or reflection of a light beam by a detected object and connecting a circuit via a synchronous circuit.

[0045] In the present application, each photoelectric switch 25 is relatively fixed relative to each axial slide, and each sensor sheet 26 is relatively fixed relative to each axial slide, and each axial slide is relatively movable relative to each axial slide. Therefore, each sensor sheet 26 is also relatively movable relative to the corresponding photoelectric switch 25. Through the relative movement of the sensor sheet 26 and the photoelectric switch 25, the light beam of the photoelectric switch 25 can be blocked or reflected, so that the circuit of the photoelectric switch 25 is turned on and off, thereby realizing the recording of the number of axial movements.

[0046] It should be noted that the X-axis slide 21, the Y-axis slide 22, and the Z-axis slide 23 are all made of high-strength materials, such as alloys and metals, to solve the problem of insufficient rigidity of the existing telecentric mechanisms, which are mostly operated at no load, due to the large force generated when grinding bones during orbital decompression surgery.

[0047] like Figure 3 FIG2 is an exploded view of a horizontal rotation mechanism according to an embodiment of the present invention. As shown in the figure, the horizontal rotation mechanism 3 includes a housing 31, a side cover 32, a rotation servo motor 33, a speed reducer 34, a first synchronous pulley 35, a second synchronous pulley 36, a first synchronous belt 37, a first bearing 38, a second bearing 39, and a flange shaft 310.

[0048] Specifically, the box 31 is fixed to Figure 1 or Figure 2 On the Z-axis slide 23, more specifically the box 31 is fixed as shown in FIG. Figure 2 The Z-axis slide 231 is mounted on the Z-axis slide 231; the rotating servo motor 33 is connected to the reducer 34 to drive the rotation of the reducer 34; the reducer 34 is fixed to the outside of the side cover 32, and the output shaft 341 of the reducer 34 passes through the first hole 321 provided on the side cover 32 and is inserted into the first synchronous pulley 35; the flange shaft 310 is embedded and fixed in the second hole 322 provided on the side cover 32; the long output shaft 3101 of the flange shaft 310 is inserted into the second synchronous pulley 36; the first synchronous belt 37 is sleeved on the first synchronous belt 37. The step pulley 35 and the second synchronous pulley 36 are arranged on the step pulley 35 to realize the synchronous rotation of the first synchronous pulley 35 and the second synchronous pulley 36; a third hole 311 is provided on the side panel of the box body 31 corresponding to the second hole 322 of the side cover 32 to embed the first bearing 38, and the long output shaft 3101 of the flange shaft 310 is inserted into the first bearing 38; the second bearing 39 is sleeved on the short output shaft 3102 of the flange shaft 310; the first bearing 38 and the second bearing 39 are respectively interference fit at both ends of the flange shaft 310.

[0049] In this embodiment, the horizontal rotation mechanism 3 can buffer the direct impact of the rotation servo motor 33 through the various components provided therein, so that the components connected to the horizontal rotation mechanism 3 can be Figure 1 The linear module mechanism 4 is driven to rotate smoothly.

[0050] like Figure 4 FIG2 is an exploded view of a linear module mechanism in one embodiment of the present application. As shown in the figure, the linear module mechanism 4 includes: a connecting plate 41, a first base plate 42, a support beam 43, a first motor bracket 44, a module servo motor 45, a third bearing 46, a transmission shaft 47, a first coupling 48, a third synchronous pulley 471, a fourth synchronous pulley 472, a second synchronous belt 473, a linear module 49, a module slider 491, a slider connecting plate 492, and the first bearing seat 493.

[0051] Specifically, the connecting plate 41 is connected to the Figure 1 or Figure 3 The flange shaft 310 of the horizontal rotation mechanism 3 is connected; the first base plate 42 is fixedly connected to the connecting plate 41; the support beam 43 is fixedly connected to the first base plate 42 and the connecting plate 41 for reinforcement, wherein the support beam 43 can include two, consisting of an upper support beam and a lower support beam; the first motor bracket 44 is arranged at the bottom of the first base plate 42, and is loaded with the module servo motor 45.

[0052] The third bearing 46 is embedded in the hole 411 of the connecting plate 41; one end of the transmission shaft 47 is connected to the third bearing 46, and the other end of the transmission shaft 47 is connected to one end of the first coupling 48; the third synchronous pulley 471 is connected to the module servo motor 45, wherein the output shaft 451 of the module servo motor 45 passes through the shaft hole 441 set on the first motor bracket 44 and is inserted into the third synchronous pulley 471; the fourth synchronous pulley 472 is sleeved on the transmission shaft; the second synchronous belt 473 is sleeved on the third synchronous pulley 471 and the fourth synchronous pulley 472; the other end of the first coupling 48 is connected to the input end of the screw 494 on the linear module 49.

[0053] The module slider 491 is used to slide on the lead screw 494 of the linear module 49, the sliding connecting plate 492 is arranged on the module slider 491, and the first bearing seat 493 is arranged on the slider connecting plate 492, which is used to fix the parallelogram mechanism 5.

[0054] In this embodiment, the linear module mechanism 4 is capable of moving in an axial direction and rotating at a certain angle. Compared with the three-dimensional moving platform 2, its moving distance is smaller, and compared with the horizontal rotation mechanism 3, its rotation amplitude is smaller. Relatively speaking, in this application, the linear module mechanism 4 is further fine-tuned on the basis of the three-dimensional moving platform 2 and the horizontal rotation mechanism 3 to make the movement and rotation of the multi-degree-of-freedom surgical robot described in this application smoother and more moderate.

[0055] like Figure 5 FIG2 is an exploded schematic diagram of a parallelogram mechanism in one embodiment of the present application. As shown in the figure, the parallelogram mechanism 5 includes: the driving plate 51, the first short shaft 521, the second short shaft 522, the third short shaft 523, the first long shaft 531, the second long shaft 532, the third long shaft 533, the second bearing seat 54, the first plate 551, the second plate 552, the third plate 553, the fourth plate 554, the fifth plate 555, the thrust needle roller bearing 56, the fifth bearing 57, the washer 581, the bolt 582, the end cover 583, the beam 584, the ball shaft plunger 585, and the end base plate 59.

[0056] In this embodiment, the parallelogram mechanism 5 is used to adjust the posture of the surgical tool.

[0057] Specifically, the first short axis 521 passes through Figure 1 or Figure 4 The first bearing seat 493 is connected to one end of the driving plate 51; the other end of the driving plate 51 is arranged on the first long axis 531; the first long axis 531 is arranged between the two second plates 552; the second bearing seat 54 is arranged as follows Figure 4 On the first base plate 42 of the linear module mechanism 4; the second short axis 522 passes through the second bearing seat 54 and is connected to the first plate 551; the second long axis 532 passes through the second bearing seat 54 and is connected to the second plate 552; the third long axis 533 is arranged between the first plate 551 and the second plate 552; the third short axis 523 is arranged on the fifth plate 555; the two ends of the third long axis 533 and the third short axis 523 are fitted with the thrust needle bearings 56; the fifth bearing 57 is respectively embedded in the bearing holes of the second plate 552, the third plate 553, and the fourth plate 554; the third plate 553 and the fourth plate 554 are respectively arranged on the two ends of the third long axis 533 and the third short axis 523 through the fifth bearing 57.

[0058] The gasket 581 and the bolt 582 are respectively arranged on the two ends of the first long axis 531, the two ends of the third long axis 533, and the third short axis 523; the end cover 583 covers the bearing holes of the second plate 552, the third plate 553, and the fourth plate 554; the beam 584 is fixedly arranged between the third plate 553 and the fourth plate 554; the ball shaft plunger 585 is arranged on the third plate 553; the end base plate 59 is arranged between the fifth plate 555.

[0059] In this embodiment, the driving plate 51 , the first plate 551 , the second plate 552 , the third plate 553 , and the fourth plate 554 form a pair.

[0060] It should be noted that the structures of the parallelogram mechanism are usually multiple or multiple pairs. Figure 5 In order to show the structure of the parallelogram mechanism concisely and clearly, only one marking line is shown for each structure.

[0061] In this embodiment, each component of the parallelogram mechanism 5 is made of high-strength materials, such as alloys and metal materials, to form a high-strength parallelogram telecentric mechanism.

[0062] like Figure 6 FIG. 1 is an exploded view of a surgical tool movable mechanism according to an embodiment of the present invention. As shown in the figure, the surgical tool movable mechanism 6 includes: a second base plate 61, a second motor bracket 62, a first motor 63, a second coupling 64, a lead screw 65, a linear guide rail 66, a slider 67, a lead screw nut 68, a slider connecting block 69, a third bearing seat 610, a fourth bearing seat 611, a proximity switch 612, a movable base plate 613, a third motor bracket 614, a second motor 615, a small gear 616, a large gear 617, a thin-walled bearing seat 618, a rotating shaft 619, and a navigation bracket 620.

[0063] In this embodiment, the surgical tool movable mechanism 6 is used for feeding and angle adjustment of the surgical tool.

[0064] Furthermore, the second bottom plate 61 is fixed to Figure 1 or Figure 5The end base plate 59 of the parallelogram mechanism 5; the second base plate 61 is provided with the second motor bracket 62, the third bearing seat 610, the linear guide 66, and the fourth bearing seat 611 in sequence; the first motor 63 is provided on the second motor bracket 62, and the second coupling 64 connects the output shaft of the first motor 63 and the input end of the lead screw 65; the linear guide 66 is provided with the slider 67 that can slide thereon; the movable base plate 613 is fixedly connected to the slider 67 through the slider connecting block 69; the lead screw nut 68 is connected to the slider connecting block 69 connection; the proximity switch 612 is arranged on the third bearing seat 610; the third motor bracket 614 is fixed on the movable base plate 613 and loaded with the second motor 615; the thin-walled bearing seat 618 is arranged on the movable base plate 613; the small gear 616 is arranged on the output shaft of the second motor 615; the small gear 616 is engaged with the large gear 617; the large gear 617 is fixedly connected to the rotating shaft cylinder 619; the rotating shaft cylinder 619 is fitted with the bearing of the thin-walled bearing seat 618; the navigation bracket 620 is arranged on the rotating shaft cylinder 619.

[0065] The first motor 63 and the second motor 615 are preferably MAXON motors.

[0066] like Figure 7 FIG2 is an exploded view of a quick-release mechanism for a surgical tool according to an embodiment of the present invention. As shown in the figure, the quick-release mechanism 7 comprises a quick-release base 71, a surgical tool clamp 72, a hand-tightening bolt 73, a limit key 74, and an elastic steel ball assembly 75.

[0067] In this embodiment, the number of the elastic steel ball assembly 75 is preferably at least one.

[0068] The quick-release base 71 is sleeved on Figure 1 or Figure 6 On the rotating shaft 619 of the movable mechanism 6 of the surgical tool, a hand-tightening bolt 73, a limit key 74, and an elastic steel ball assembly 75 are provided on the quick-release base 71; a sliding groove 721 is provided on the surgical tool clamp 72, which is engaged with the quick-release base 71 along the limit key 74.

[0069] In one embodiment of the present application, the elastic steel ball assembly 75 is lifted up by rotating the surgical tool clamp 72 ; and the tightness between the surgical tool clamp 72 and the quick-release base 71 is adjusted by rotating the hand-tightening bolt 73 .

[0070] In this embodiment, the surgical tool clamp 72 is used to clamp surgical tools, such as a scalpel, a surgical needle, etc.

[0071] In summary, the present application provides a multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism. By using the three-dimensional mobile platform and the high-rigidity parallelogram telecentric mechanism to adjust the position of surgical tools, the robot can move along arbitrary spatial trajectories and achieve arbitrary angle adjustment, ensuring operational accuracy and stability. This application boasts a stable structure, simple motion modes, and convenient operation, promising promising application prospects.

[0072] In summary, the present invention effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0073] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A multi-degree-of-freedom surgical robot based on a high-rigidity parallelogram telecentric mechanism, characterized in that: The multi-degree-of-freedom surgical robot comprises: a base, a three-dimensional mobile platform, a horizontal rotation mechanism, a linear module mechanism, a high-rigidity parallelogram telecentric mechanism, and a surgical tool movable mechanism; The three-dimensional mobile platform is arranged on the support frame of the base; the Z-axis slide in the three-dimensional mobile platform is fixedly connected to the horizontal rotation mechanism; the linear module mechanism is fixed to the flange shaft of the horizontal rotation mechanism; the high-rigidity parallelogram telecentric mechanism is fixed to the first bottom plate of the linear module mechanism, and the driving plate of the high-rigidity parallelogram telecentric mechanism is connected to the first bearing seat of the linear module mechanism; the surgical tool movable mechanism is fixed to the end bottom plate of the high-rigidity parallelogram telecentric mechanism; Wherein, the three-dimensional mobile platform includes: an X-axis slide, a Y-axis slide, and the Z-axis slide, each of which is connected to a mobile servo motor; The Y-axis slide is fixed horizontally and vertically on the X-axis slide seat corresponding to the X-axis slide; the Z-axis slide is fixed vertically and longitudinally on the Y-axis slide seat corresponding to the Y-axis slide; the horizontal rotation mechanism is fixed on the Z-axis slide seat corresponding to the Z-axis slide; The horizontal rotation mechanism comprises: a box body, a side cover, a rotation servo motor, a reducer, a first synchronous pulley, a second synchronous pulley, a first synchronous belt, a first bearing, a second bearing, and a flange shaft; The box is fixed on the Z-axis slide; the rotating servo motor is connected to the reducer; the reducer is fixed on the outer side of the side cover, and the output shaft of the reducer passes through the first hole set on the side cover and is inserted into the first synchronous pulley; the flange shaft is embedded and fixed in the second hole set on the side cover; the long output shaft of the flange shaft is inserted into the second synchronous pulley; the first synchronous belt is sleeved on the first synchronous pulley and the second synchronous pulley; a third hole is provided on the side plate of the box corresponding to the second hole of the side cover to embed the first bearing, and the long output shaft of the flange shaft is inserted into the first bearing; the second bearing is sleeved on the short output shaft of the flange shaft; the first bearing and the second bearing are respectively interference fit on the flange shaft; The three-dimensional mobile platform is used to adjust the spatial position of the surgical tool; the horizontal rotation mechanism is used to buffer the direct impact of the rotating servo motor, so that the linear module mechanism corresponding to the horizontal rotation mechanism can be smoothly driven to rotate; the linear module mechanism is used to move in an axial direction and rotate at an angle; the high-rigidity parallelogram telecentric mechanism is used to adjust the posture of the surgical tool; the surgical tool movable mechanism is used for feeding and angle adjustment of the surgical tool; The linear module mechanism includes: a connecting plate, a first bottom plate, a support beam, a first motor bracket, a module servo motor, a third bearing, a transmission shaft, a first coupling, a third synchronous pulley, a fourth synchronous pulley, a second synchronous belt, a linear module, a module slider, a slider connecting plate, and the first bearing seat; The connecting plate is connected to the flange shaft of the horizontal rotation mechanism; the first bottom plate is fixedly connected to the connecting plate; the support beam is respectively fixedly connected to the first bottom plate and the connecting plate for reinforcement; the first motor bracket is arranged at the bottom of the first bottom plate and is loaded with the module servo motor; The third bearing is embedded in the hole of the connecting plate; one end of the transmission shaft is connected to the third bearing, and the other end of the transmission shaft is connected to one end of the first coupling; the third synchronous pulley is connected to the module servo motor; the fourth synchronous pulley is sleeved on the transmission shaft; the second synchronous belt is sleeved on the third synchronous pulley and the fourth synchronous pulley; the other end of the first coupling is connected to the input end of the lead screw on the linear module; The module slider is used to slide on the lead screw of the linear module, the slider connecting plate is arranged on the module slider, and the first bearing seat is arranged on the slider connecting plate, which is used to fix and connect the high-rigidity parallelogram telecentric mechanism; The high-rigidity parallelogram telecentric mechanism comprises: the driving plate, the first short axis, the second short axis, the third short axis, the first long axis, the second long axis, the third long axis, the second bearing seat, the first plate, the second plate, the third plate, the fourth plate, the fifth plate, the thrust needle bearing, the fifth bearing, the gasket, the bolt, the end cover, the beam, the ball shaft plunger, and the end base plate; The first short axis passes through the first bearing seat and is connected to one end of the driving plate; the other end of the driving plate is arranged on the first long axis; the first long axis is arranged between the second plates; the second bearing seat is arranged on the first bottom plate of the linear module mechanism; the second short axis passes through the second bearing seat and is connected to the first plate; the second long axis passes through the second bearing seat and is connected to the second plate; the third long axis is arranged between the first plate and the second plate; the third short axis is arranged on the fifth plate; the two ends of the third long axis and the third short axis are fitted with the thrust needle bearings; the fifth bearing is respectively embedded in the bearing holes of the second plate, the third plate, and the fourth plate; the third plate and the fourth plate are respectively arranged on the two ends of the third long axis and the third short axis through the fifth bearing; The gasket and the bolt are respectively arranged at the two ends of the first long axis, the two ends of the third long axis, and the third short axis; the end cover is covered on the bearing holes of the second plate, the third plate, and the fourth plate; the beam is fixedly arranged between the third plate and the fourth plate; the ball shaft plunger is arranged on the third plate; and the end base plate is arranged between the fifth plate.

2. The multi-degree-of-freedom surgical robot according to claim 1, characterized in that: The sides of the X-axis slide, the Y-axis slide, and the Z-axis slide are respectively provided with photoelectric switches, and the X-axis slide, the Y-axis slide, and the Z-axis slide are respectively provided with sensor sheets, and the photoelectric switches and the sensor sheets are used to record the number of movements.

3. The multi-degree-of-freedom surgical robot according to claim 1, characterized in that: The surgical tool movable mechanism includes: a second base plate, a second motor bracket, a first motor, a second coupling, a lead screw, a linear guide rail, a slider, a lead screw nut, a slider connecting block, a third bearing seat, a fourth bearing seat, a proximity switch, a movable base plate, a third motor bracket, a second motor, a small gear, a large gear, a thin-walled bearing seat, a rotating shaft cylinder, and a navigation bracket; The second base plate is fixed to the end base plate of the high-rigidity parallelogram telecentric mechanism; the second base plate is provided with the second motor bracket, the third bearing seat, the linear guide, and the fourth bearing seat in sequence; the first motor is arranged on the second motor bracket, and the second coupling connects the output shaft of the first motor and the input end of the lead screw; the linear guide is correspondingly provided with the slider that can slide thereon; the movable base plate is fixedly connected to the slider through the slider connecting block; the lead screw nut is connected to the slider connecting block; the proximity switch is arranged on the third bearing seat; the third motor bracket is fixed to the movable base plate and loaded with the second motor; the thin-walled bearing seat is arranged on the movable base plate; the pinion is arranged on the output shaft of the second motor; the pinion is meshed with the large gear; the large gear is fixedly connected to the rotating shaft cylinder; the rotating shaft cylinder and the bearing of the thin-walled bearing seat are matched and installed; the navigation bracket is arranged on the rotating shaft cylinder.

4. The multi-degree-of-freedom surgical robot according to claim 3, characterized in that: Also includes: A surgical tool quick-release mechanism; the surgical tool quick-release mechanism is fixedly connected to the rotating shaft cylinder of the surgical tool movable mechanism.

5. The multi-degree-of-freedom surgical robot according to claim 4, characterized in that: The surgical tool quick-release mechanism comprises: a quick-release base, a surgical tool fixture, a hand-tightening bolt, a limit key, and an elastic steel ball assembly; The quick-release base is sleeved on the rotating shaft of the movable mechanism of the surgical tool, and is provided with a hand-tightening bolt, a limit key, and an elastic steel ball assembly; the surgical tool fixture is provided with a slide groove, which is engaged with the quick-release base along the limit key.

6. The multi-degree-of-freedom surgical robot according to claim 5, characterized in that: The elastic steel ball assembly is lifted up by rotating the surgical tool clamp; and the tightness between the surgical tool clamp and the quick-release base is adjusted by rotating the hand screw.

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