Fixed-point mechanism, robotic arm, and surgical robot

Abstract

The present invention relates to a fixed-point mechanism, a robotic arm and a surgical robot; the surgical robot includes a robotic arm and a fixed-point mechanism connected to the robotic arm; the fixed-point mechanism includes a first and a second linear motion device; the first linear motion device includes at least two first linear motion mechanisms arranged in parallel, and the second linear motion device includes at least two second linear motion mechanisms connected in series, and at least one second linear motion mechanism is arranged parallel to or partially overlaps with the first linear motion mechanism; such a configuration can improve the structural rigidity of the fixed-point mechanism, simplify the mechanical structure, improve the motion control accuracy, and reduce costs.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a fixed point mechanism, a robotic arm and a surgical robot. Background Art

[0002] In the field of minimally invasive surgical robotics, a key technical challenge is how to reliably swing the surgical instruments held by the robot around a small incision on the body surface without expanding the incision. To this end, various mechanical structures have been developed, with telecentric fixed-point mechanisms being the most direct and effective solution. A mechanism is called a telecentric fixed-point mechanism if a part or point in the mechanism consistently passes through a fixed point far from the mechanism itself during its movement, and this point has no actual physical constraints.

[0003] If a part or a point in a mechanism always passes through or around a fixed point far away from the mechanism itself during the movement of the mechanism and the point has no actual physical constraints, then the point is called a telecentric fixed point. The fixed point manipulators currently used in minimally invasive surgical robots mainly include single parallelogram serial manipulators, multi-parallelogram serial manipulators, and serial spherical link manipulators. However, these fixed point manipulators usually use a large number of articulated links, with complex structures, large transmission reduction ratios, low transmission efficiency, and difficulty in ensuring control accuracy and structural rigidity. Alternatively, flexible components such as steel wires and steel belts are used to achieve double-degree-of-freedom control of the end, resulting in long transmission chains, poor transmission rigidity and structural rigidity, and most of them require the use of harmonic reducers, which are expensive and costly. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the purpose of the present invention is to provide a fixed point mechanism, which uses a parallel linear motion mechanism to achieve fixed point constraint, and has the advantages of good structural stiffness, high transmission stiffness, small reduction ratio, high transmission efficiency and low cost.

[0005] To achieve the above-mentioned purpose, according to the first aspect of the present invention, a fixed point mechanism is provided, which includes a first linear motion device and a second linear motion device; the first linear motion device includes at least two first linear motion mechanisms arranged in parallel, and the first linear motion mechanisms are used to output proportional linear motion; the second linear motion device includes at least two second linear motion mechanisms connected in series, and the second linear motion mechanisms are used to output proportional linear motion, and at least one second linear motion mechanism is arranged in parallel or partially overlaps with at least one first linear motion mechanism.

[0006] Optionally, the fixed point mechanism also includes an end effector; the first linear motion device is slidingly connected to the end effector to drive the end effector to swing; the second linear motion device is fixedly connected to the end effector to drive the end effector to extend and retract; the end effector is used to generate swing around the fixed point under the joint action of the first linear motion device and the second linear motion device.

[0007] Optionally, the first linear motion mechanism and the second linear motion mechanism both include guide rails and sliders for sliding on the guide rails; all guide rails in the first linear motion device are arranged in parallel; at least one guide rail in the second linear motion mechanism is arranged in parallel or overlaps with the guide rail in the first linear motion mechanism; the end effector is slidably connected to all sliders in the first linear motion device, and is fixedly connected to the corresponding sliders in the second linear motion device.

[0008] Optionally, the slider on the guide rail in the second linear motion device that is parallel to or overlaps with the first linear motion mechanism is hinged to another guide rail in the second linear motion device, and the end effector is fixedly connected to the slider on the other guide rail in the second linear motion device.

[0009] Optionally, the slider in each of the first linear motion mechanisms includes a slider body and a sliding portion that are hinged to each other, the slider body slides on the guide rail, and the sliding portion is slidably connected to the end effector.

[0010] Optionally, the number of the first linear motion mechanisms is two, and the number of the second linear motion mechanisms is two or an even number greater than two;

[0011] When the number of the second linear motion mechanisms is two, the guide rail in one of the second linear motion mechanisms is parallel to or coincides with the guide rail in the first linear motion mechanism;

[0012] When the number of the second linear motion mechanisms is an even number greater than two, the guide rails in at least two of the second linear motion mechanisms are parallel to or overlap with the guide rail in the first linear motion mechanism.

[0013] Optionally, the moving direction of the slider in at least one of the second linear motion mechanisms is perpendicular to the axis of the end effector, and the axis of the end effector passes through the fixed point.

[0014] Optionally, the first linear motion device is configured to simultaneously output a movement having a first speed value and a second speed value, wherein a ratio of the first speed value to the second speed value remains unchanged;

[0015] The second linear motion device is configured to simultaneously output a movement having a third speed value and a fourth speed value, wherein a ratio of the third speed value to the fourth speed value remains unchanged;

[0016] The first speed value is less than the second speed value, and the third speed value is less than or equal to the fourth speed value.

[0017] Optionally, the second linear motion device is arranged between the first linear motion mechanisms in the first linear motion device, or the first linear motion device is arranged above the second linear motion device.

[0018] To achieve the above-mentioned object, according to a second aspect of the present invention, there is further provided a robotic arm, which comprises an end joint and any one of the fixed-point mechanisms described, wherein the fixed-point mechanism is connected to the end joint.

[0019] To achieve the above-mentioned object, according to a third aspect of the present invention, there is further provided a surgical robot, comprising a robotic arm and any one of the fixed-point mechanisms described, wherein the fixed-point mechanism is connected to the robotic arm.

[0020] Compared with the prior art, the fixed point mechanism, robotic arm, and surgical robot provided by the present invention have the following advantages:

[0021] First, the above fixed-point mechanism includes: a first linear motion device and a second linear motion device; the first linear motion device includes at least two first linear motion mechanisms arranged in parallel, the first linear motion mechanisms are used to output proportional linear motion; the second linear motion device includes at least two second linear motion mechanisms connected in series, the second linear motion mechanisms are used to output proportional linear motion, at least one of the second linear motion mechanisms is arranged in parallel or partially overlapped with the first linear motion mechanism; when configured in this way, the number of series stages of motion linkage in the fixed-point mechanism is reduced, the transmission structure rigidity of the fixed-point mechanism is improved, the motion control accuracy of the fixed-point mechanism is improved, and the accuracy of the surgery is enhanced; and by arranging at least one second linear motion mechanism to partially overlap with the first linear motion mechanism, the number of parts on the fixed-point mechanism can be reduced, the mechanical structure can be simplified, the weight and volume of the entire fixed-point mechanism can be reduced, and the motion control accuracy can be further improved; in addition, when the fixed point constraint is achieved by outputting linear motion, not only can a linear motion device with a simple structure be used to achieve it, but the reduction ratio of the linear motion is small, the transmission efficiency is high, and the motion control accuracy is improved;

[0022] Second, the fixed-point mechanism can be equipped with its own end effector, so that the end effector can be driven to swing by the first linear motion device and to extend and retract by the second linear motion device, thereby realizing dual degrees of freedom of the end effector, namely, swing and extension. Ultimately, under the joint action of the first linear motion device and the second linear motion device, the end effector is able to swing relative to the fixed point. That is, the first linear motion device acts on the end effector to cause it to swing, and the second linear motion device acts on the end effector to cause it to extend and retract. The swing and extension of the end effector together form its characteristic of swinging around the fixed point.

[0023] Third, by arranging all the second linear motion mechanisms below the first linear motion device, or arranging all the second linear motion mechanisms between the first linear motion mechanisms of the first linear motion device, the center of gravity distribution can be improved, and the structural rigidity of the entire fixed point mechanism can be increased, thereby further improving the motion control accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The features, properties and advantages of the implementation method of the present invention and related embodiments will be described with reference to the following drawings, in which:

[0025] Figure 1 A schematic diagram of a working scenario of a surgical robot system according to a preferred embodiment of the present invention;

[0026] Figure 2 is a schematic structural diagram of a surgical robot according to a preferred embodiment of the present invention;

[0027] Figure 3 Schematic diagram of the fixed point mechanism principle according to the first embodiment of the present invention;

[0028] Figure 4 A geometric principle diagram of a fixed point mechanism according to a first embodiment of the present invention;

[0029] Figure 5 is a schematic diagram of the fixed point mechanism after movement according to the first embodiment of the present invention;

[0030] Figure 6 Schematic diagram of the reciprocating motion of the fixed point mechanism according to the first embodiment of the present invention;

[0031] Figure 7 is a schematic diagram before adjusting the position of the fixed point according to the first embodiment of the present invention;

[0032] Figure 8 is a schematic diagram after adjusting the position of the fixed point according to the first embodiment of the present invention;

[0033] Figure 9 2. A schematic diagram of the fixed point mechanism principle according to the second embodiment of the present invention;

[0034] Figure 10 is a fixed point geometry principle diagram according to the second embodiment of the present invention;

[0035] Figure 11 is a schematic diagram before adjusting the fixed point position according to the second embodiment of the present invention;

[0036] Figure 12 is a schematic diagram after adjusting the position of the fixed point according to the second embodiment of the present invention;

[0037] Figure 13 2. It is a schematic diagram of the principle of a fixed point mechanism according to a third embodiment of the present invention;

[0038] Figure 14 2. A schematic diagram of the principle of a fixed point mechanism according to a fourth embodiment of the present invention;

[0039] Figure 15 2. It is a schematic diagram of the principle of a fixed point mechanism according to a fifth embodiment of the present invention;

[0040] Figure 16 2. A schematic diagram of the fixed point mechanism according to the sixth embodiment of the present invention;

[0041] Figure 17 Schematic diagram of the fixed point mechanism according to the seventh embodiment of the present invention.

[0042] In the figure: 100-master end; 101-master control console; 200-slave end; 201-surgical robot; 2011-robotic arm; 202-surgical trolley; 203-patient bed; 204-tool trolley; 300-imaging trolley; 400-anesthesia machine; 500-first linear motion device; 501-first guide rail; 502-second guide rail; 503-first slider body; 504-second slider body; 505-first sliding part; 506-second sliding part; 600-second linear motion device; 601-third guide rail; 602-fourth guide rail; 603-third slider; 604-fourth slider; 605-fifth guide rail; 606-sixth guide rail; 607-fifth slider; 608-sixth slider; 700-end execution device; O-fixed point. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the preferred embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] As used herein, the singular forms "a," "an," and "the" include plural referents unless the context clearly dictates otherwise. As used herein, the term "or" is generally used in a sense that includes "and / or," unless the context clearly dictates otherwise. As used herein, the term "several" is generally used in a sense that includes "at least one," unless the context clearly dictates otherwise. As used herein, the term "at least two" is generally used in a sense that includes "two or more," unless the context clearly dictates otherwise. Furthermore, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, the designation "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or at least two of the features. Furthermore, the terms "distal end" or "terminal end" generally refer to the end of an instrument farther from the operator; the terms "proximal end" or "proximal end" generally refer to the end closer to the operator.

[0045] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments. In the absence of conflict, the following embodiments and features in the embodiments may complement or be combined with each other.

[0046] Figure 1A schematic diagram of the working scene of a surgical robot system according to a preferred embodiment of the present invention is shown. The surgical robot system is a master-slave teleoperated surgical robot system, that is, the surgical robot system includes a master end 100 and a slave end 200 that are communicatively connected. The master end 100 is the operating end of the teleoperated surgical robot, and includes a main console 101, and the main console 101 includes a main operating unit (not marked, such as a main operating hand) installed thereon, and the main operating unit is used to receive the operator's hand motion information as a motion control signal input for the entire system. The master end 100 also includes a computing device, and the computing device of the master end 100 is used to convert the operator's operating information into a master-slave control instruction, and the master-slave control instruction includes motion information and a master-slave mapping relationship. The master end 100 may also include a foot-operated surgical control device (not marked), and the operator may also use the foot-operated surgical control device to complete the input of relevant operating instructions such as electrocuting and electrocoagulation. The slave end 200 is a specific execution platform of the teleoperated surgical robot system, and includes a surgical robot 201 that performs surgical operations; the computing device of the master end 100 sends the master-slave control instructions to the slave end 200; the computing device of the slave end 200 is used to run the program in the readable storage medium to output the master-slave control instructions; the surgical robot 201 controls the movement of the surgical instrument according to the received master-slave control instructions; the master end 100 and the slave end 200 can be configured with separate computing devices, or share the same computing device.

[0047] More specifically, the computing device of the slave terminal 200 is configured to output master-slave control instructions based on the motion information sent by the computing device of the master terminal 100 and a preset master-slave mapping relationship, thereby controlling the surgical robot 201 to execute the master-slave control instructions to drive the movement of the surgical instrument. For example, the slave terminal 200 controls the surgical robot 201 to move the surgical instrument based on the movement speed of the operating unit in the master control console 101, controls the surgical robot 201 to rotate the surgical instrument based on the rotation angle or rotation speed of the operating unit, and controls the surgical robot 201 to bend the surgical instrument based on the bending angle or bending direction of the operating unit. The operator and the master terminal 100 are preferably located in different rooms from the slave terminal 200 to achieve physical isolation between the operator and the patient.

[0048] The master terminal 100 and the slave terminal 200 can also be located in different hospitals or regions, connected via telecommunications technology. In this way, during the diagnosis and treatment of respiratory diseases, an operator can perform the required surgical procedures in another room, another hospital, or another city based on image information captured by an image acquisition device, while the surgical robot 201 replicates all of the operator's movements, thereby achieving physical isolation between the operator and the patient during the procedure.

[0049] The surgical robot system may further include an operating trolley 202. The surgical robot 201 is arranged on the operating trolley 202. The operating trolley 202 enables the surgical robot 201 to move over a large range in the operating room, making the surgical process more convenient. The surgical robot system may further include other auxiliary equipment, such as a hospital bed 203, which is responsible for supporting and adjusting the height of the patient. The main end 100 performs surgery on the patient on the hospital bed 203 through the operating unit, such as minimally invasive surgery. In addition, in some surgical application scenarios, the surgical instruments are first placed on the tool trolley 204 to facilitate the removal of the surgical instruments from the tool trolley 204, and then the surgical instruments are installed at the end of the robotic arm of the surgical robot 201.

[0050] Optionally, the surgical robot system may further include an image trolley 300, which includes an image processing device that is communicatively connected to the image acquisition device. The image acquisition device is, for example, an endoscope, which is used to obtain images of the surgical field in the cavity (referring to the patient's body cavity). The image processing device is used to image the surgical field images obtained by the image acquisition device and transmit them to an image display device. The image display device can be set on the image trolley 300 and / or at the main console 101. The image trolley 300 enables the image processing device to move over a large range in the operating room. In addition, the surgical robot system can also be configured with auxiliary components such as an anesthesia machine 400 and a ventilator for use in surgery. The anesthesia machine 400 is generally set next to the bed 203 and is used to deliver anesthetics to the patient to meet the needs of surgical anesthesia. Those skilled in the art can select and configure these auxiliary components based on the existing technology, which will not be described in detail here.

[0051] It should be noted that the surgical robot system disclosed in the above-mentioned example is only a demonstration of an application scenario and not a limitation of the application scenario of the surgical robot system. The surgical robot system is not limited to a master-slave remote-operated surgical robot, but can also be a single-end surgical robot system, that is, there is no master-slave control, and the operator directly operates the surgical robot at the patient end to perform the operation. The present invention is not limited to this.

[0052] Furthermore, the surgical robot 201 includes a robotic arm that provides support for surgical instruments and has multiple degrees of freedom. The number of robotic arms is mainly set according to surgical needs. Therefore, this application does not limit the number of robotic arms. Figure 2 In the figure, the surgical robot 201 includes three robotic arms 2011, which can provide support and drive for surgical instruments or endoscopes. It should also be understood that during surgery, various instruments are often used to complete the procedure, but all instruments must pass through a fixed incision (poking). Therefore, the telecentric fixed point mechanism is a key component of minimally invasive surgical instruments.

[0053] As mentioned in the background technology, existing telecentric fixed-point mechanisms mainly include single parallelogram tandem manipulators, multi-parallelogram tandem manipulators, and tandem spherical link manipulators. Most of these fixed-point mechanisms are often implemented using connecting rod articulation. Furthermore, the number of connecting rods is large, the structure is complex, the kinematic relationships are also complex, and control accuracy and structural rigidity are difficult to guarantee. Furthermore, the overall cost is high. For tandem spherical link manipulators, the arm connecting rods require high machining precision, a large transmission reduction ratio, and the spherical link occupies a large space, which limits the manipulator's working space. Furthermore, flexible components are used to achieve dual-freedom control at the end, resulting in a long transmission chain and poor transmission and structural rigidity. Furthermore, existing joint rotation drives use motors and harmonic reducers. Due to the low rated torque of the motors, the reduction ratio is generally above 80, while the efficiency of harmonic reducers is low. Consequently, there are problems with large reduction ratios and low transmission efficiency. In particular, the high price of harmonic reducers further increases costs.

[0054] To address the technical issues inherent in existing telecentric fixed-point mechanisms, the present invention discloses a fixed-point mechanism capable of driving a built-in or external end effector to perform telescopic and swinging motions, thereby providing two degrees of freedom. The swinging and telescopic nature of the end effector together form the fixed-point characteristic of the mechanism's swinging about a fixed point. Specifically, the fixed-point mechanism includes a first linear motion device and a second linear motion device; the first linear motion device includes at least two parallel first linear motion mechanisms; the second linear motion device includes at least two series-connected second linear motion mechanisms; both the first and second linear motion mechanisms are configured to output proportional linear motions and are rigid transmission structures; at least one of the second linear motion mechanisms is arranged parallel to or partially overlaps with the first linear motion mechanism. The moving speeds of different first linear motion mechanisms are not equal, but the ratio of the moving speeds of each first linear motion mechanism is fixed; the moving speeds of different second linear motion mechanisms can be equal or unequal, but the ratio of the moving speeds of each second linear motion mechanism is also fixed; and the moving direction of at least one second linear motion mechanism parallel to the first linear motion mechanism is parallel to the moving direction of the first linear motion mechanism (including the same moving direction).

[0055] Preferably, the fixed-point mechanism includes an end effector. The first linear motion mechanism is slidably connected to the end effector to drive the end effector to oscillate and limit its oscillation angle. The second linear motion mechanism is fixedly connected to the end effector to drive the end effector to extend and retract, and limit its telescopic displacement. The end effector is configured to oscillate about the fixed point under the combined action of the first and second linear motion mechanisms. In other words, the end effector is capable of both oscillation and extension, thereby achieving dual-degree-of-freedom motion. It oscillates about the fixed point under the combined action of the angle constraints of the at least two parallel first linear motion mechanisms and the displacement constraints of the at least two serially connected second linear motion mechanisms. Of course, the end effector can be an external structure, separately assembled on the fixed-point mechanism. With this configuration, the end effector can be driven to oscillate by the at least two parallel first linear motion mechanisms. Furthermore, by arranging at least one second linear motion mechanism parallel to or partially overlapping the first linear motion mechanism, the number of series-connected motion linkages in the fixed-point mechanism is reduced, increasing the rigidity of the transmission structure of the entire fixed-point mechanism, thereby improving the motion control accuracy of the fixed-point mechanism and enhancing surgical precision. In addition, by partially overlapping at least one of the second linear motion mechanisms with the first linear motion mechanism, the number of parts on the fixed-point mechanism is reduced, the mechanical structure is simplified, the weight and volume of the entire fixed-point mechanism are reduced, and the motion control accuracy is further improved. However, at least two second linear motion mechanisms are interconnected to achieve a series arrangement, thereby achieving linkage between the second linear motion mechanisms, that is, when one second linear motion mechanism moves, the other second linear motion mechanism connected thereto also moves. It should also be understood that when the second linear motion mechanism partially overlaps with the first linear motion mechanism, part of the structure in the first linear motion mechanism can serve as the corresponding structure in the second linear motion mechanism, and vice versa. In this case, the second linear motion mechanism and the first linear motion mechanism share part of the structure.

[0056] However, the fixed point mechanism of the present invention is not limited to use on the robotic arm of a surgical robot and can also be applied to robotic arms or corresponding equipment in other fields, and this application does not limit this. It should be noted that due to the finite size of surgical instruments or endoscopes in practice, the above-mentioned "fixed point" should be understood as an immovable area. Of course, those skilled in the art can interpret the "fixed point" based on existing technology.

[0057] The present invention also discloses a robotic arm, which includes an end joint and a fixed point mechanism, wherein the fixed point mechanism is connected to the end joint. For example, the end joint of the robotic arm includes a base, the fixed point mechanism is arranged on the base, and a driving device capable of driving a first linear motion device and a second linear motion device can be arranged on the base. In this embodiment, the first linear motion device serves as a main motion mechanism, which outputs proportional linear motion under the drive of an external driving device, and drives the second linear motion device to output proportional linear motion, and the second linear motion device can output proportional motion under the control of an external driven device. However, the present application does not limit the structure of the robotic arm, that is, there is no particular limitation on the number and type of joints that make up the robotic arm, such as a robotic arm with three degrees of freedom or a robotic arm with more degrees of freedom.

[0058] It's important to understand that a rigid transmission structure can significantly improve the structural rigidity of the entire fixed-point mechanism. A "rigid transmission structure" refers to a linear motion mechanism that is resistant to deformation when subjected to external forces. Examples of rigid transmission structures include guide rail and slider modules, rack and pinion modules, and screw and nut modules.

[0059] In the present invention, the number of the second linear motion mechanisms is generally two or an even number greater than two. Of course, in other cases, the number of the second linear motion mechanisms may also be an odd number greater than two. For example, when the number of the second linear motion mechanisms is two, one second linear motion mechanism is parallel to or partially overlaps with the first linear motion mechanism. For example, when the number of the second linear motion mechanisms is greater than two, especially an even number, at least two second linear motion mechanisms are parallel to or partially overlap with the first linear motion mechanism. When the number of the second linear motion mechanisms is greater than two, a part of the second linear motion mechanisms are interconnected to form a series arrangement, and another part of the second linear motion mechanisms are arranged in parallel and parallel to the first linear motion mechanism. Preferably, a part of the second linear motion mechanism partially overlaps with the first linear motion mechanism. With such a configuration, the structural rigidity of the entire fixed point mechanism is good, the motion control accuracy is high, and the surgical precision is good.

[0060] As a preferred embodiment, the first linear motion mechanism and the second linear motion mechanism may each include a guide rail and a slider capable of sliding on the guide rail; all guide rails in the first linear motion device are arranged in parallel, so that the first linear motion mechanism forms a parallel relationship, reducing the number of series stages; at least one guide rail in the second linear motion mechanism is arranged in parallel or overlaps with the guide rail in the first linear motion mechanism. Furthermore, the end effector is slidably connected to all sliders in the first linear motion device and fixedly connected to the corresponding slider in the second linear motion device. After such configuration, linear motion can be output through the guide rail and slider assembly, with good structural rigidity, high transmission efficiency, and good motion control accuracy. In particular, when some guide rails in the second linear motion device overlap (i.e., share) with the guide rails in the first linear motion device, the number of guide rails can be reduced, the structure can be simplified, and the weight and volume of the entire fixed point mechanism can be reduced. For example, when the number of the second linear motion mechanisms is two, the guide rail in one of the second linear motion mechanisms overlaps with the guide rail in the first linear motion mechanism; for example, when the number of the second linear motion mechanisms is an even number greater than two, the guide rails in at least two of the second linear motion mechanisms overlap with the guide rail in the first linear motion mechanism.

[0061] As a specific embodiment, the slider on the guide rail in the second linear motion device that is parallel to or overlaps with the first linear motion mechanism is hinged to the other guide rail in the second linear motion device, so that the two hinged guide rails can rotate relative to each other, and as long as the end effector is fixedly connected to the slider on the other guide rail in the second linear motion device, the end effector can be driven to extend and retract.

[0062] The fixed-point mechanism in the embodiments of the present invention utilizes a rigid transmission structure as a whole, avoiding the use of flexible transmission structures such as steel wires and steel belts. This improves transmission rigidity, reduces the difficulty of motion control, and enhances motion control accuracy. Furthermore, the fixed-point mechanism in the embodiments of the present invention utilizes a linear motion device to output linear motion. Compared to existing articulated connecting rods or flexible transmissions, this linear motion device has a simpler structure, a smaller reduction ratio, and higher transmission efficiency, effectively enhancing motion control accuracy and reliability.

[0063] The following further describes the preferred embodiment of the fixed-point mechanism. However, it should be understood that the number of first linear motion mechanisms in this application is not limited to two, but can be more, as long as all first linear motion mechanisms are parallel to each other. Similarly, the number of second linear motion mechanisms is not limited to two or four, but can be more or an odd number. Typically, to simplify the structure, the number of first linear motion mechanisms is two, and the number of second linear motion mechanisms is two or four, which can drive the end effector to swing and extend, and constrain the end effector to swing about the fixed point.

[0064] <First embodiment>

[0065] like Figure 3 and Figure 4 As shown, this embodiment provides a fixed point mechanism, which includes a first linear motion device 500 and a second linear motion device 600, and preferably also includes an end effector 700. The first linear motion device 500 includes two first linear motion mechanisms, and the two first linear motion mechanisms are parallel to each other, thereby forming a parallel motion mechanism. The second linear motion device 600 includes four second linear motion mechanisms, two of the four second linear motion mechanisms are arranged in parallel, and the other two are also arranged in parallel, but the two adjacent second linear motion mechanisms are connected to each other to form a series positional relationship, so that the two second linear motion mechanisms connected to each other can rotate relative to each other. In addition, two of the four second linear motion mechanisms are arranged in parallel with the first linear motion mechanism.

[0066] The end effector 700 is used to install external instruments, such as surgical instruments, endoscopes, or other medical or non-medical instruments. The end effector 700 has a mounting channel for installing external instruments, and the extension direction of the mounting channel is used to define the extension direction of the instrument. The extension direction of the mounting channel passes through the fixed point O, which is the axial direction of the end effector 700. The axis of the end effector 700 also passes through the fixed point O. The end effector 700 is slidably connected to the first linear motion device 500 and fixedly connected to the second linear motion device 600. Optionally, the end effector 700 is a hollow rod-shaped component, the interior of which can be used to insert instruments.

[0067] like Figure 4As shown, in this embodiment, the first linear motion device 500 includes a first guide rail 501, a second guide rail 502, a first slider, and a second slider, so that one of the first linear motion mechanisms includes the first guide rail 501 and the first slider, and the other first linear motion mechanism includes the second guide rail 502 and the second slider. The first guide rail 501 and the second guide rail 502 are arranged in parallel, and the first guide rail 501 is closer to the fixed point O. The first slider slides along the first guide rail 501; the second slider slides along the second guide rail 502. The end effector 700 is slidably connected to the first slider and the second slider, respectively. With this configuration, the first linear motion device 500 can drive the end effector 700 to swing and limit the swing angle of the end effector 700. It is also used to limit the position of the fixed point O so that the fixed point O does not move axially along the end effector 700.

[0068] Optionally, the slider in each of the first linear motion mechanisms includes a slider body and a sliding portion that are hinged to each other. The slider body slides on the guide rail, and the sliding portion is slidably connected to the end effector 700. For example, the first slider includes a first slider body 503 and a first sliding portion 505. The first slider body 503 moves along the first guide rail 501 in a direction of movement that intersects the extension and retraction direction of the end effector 700. The first sliding portion 505 is hinged to the first slider body 503. The second slider includes a second slider body 504 and a second sliding portion 506. The second slider body 504 moves along the second guide rail 502 in a direction parallel to the movement direction of the first slider body 503. The second sliding portion 506 is hinged to the second slider body 504. The end effector 700 is slidably connected to the first sliding portion 505 and the second sliding portion 506, respectively. The first sliding portion 505 and the second sliding portion 506 can be slider structures.

[0069] Continue reading Figure 3In this embodiment, the second linear motion device 600 includes a third guide rail 601, a fourth guide rail 602, a third slider 603, a fourth slider 604, a fifth guide rail 605, a sixth guide rail 606, a fifth slider 607, and a sixth slider 608. The first second linear motion mechanism includes the third guide rail 601 and the third slider 603, the second second linear motion mechanism includes the fourth guide rail 602 and the fourth slider 604, the third second linear motion mechanism includes the fifth guide rail 605 and the fifth slider 607, and the fourth second linear motion mechanism includes the sixth guide rail 606 and the sixth slider 608. The third guide rail 601 and the fifth guide rail 605 are both parallel to the first guide rail 501 and the second guide rail 502 to form a parallel motion mechanism, and the third guide rail 601 is closer to the fixed point O. The third slider 603 slides along the third guide rail 601; the fourth slider 604 slides along the fourth guide rail 602; the third slider 603 is hinged to the fourth guide rail 602; the fourth slider 604 is fixedly connected to the end effector 700; preferably, the movement direction of the fourth slider 604 is always perpendicular to the axis of the end effector 700. The fifth guide rail 605 is arranged parallel to the third guide rail 601; the sixth guide rail 606 is arranged parallel to the fourth guide rail 602; the fifth slider 607 slides along the fifth guide rail 605; the sixth slider 608 slides along the sixth guide rail 606; the fifth slider 607 is hinged to the sixth guide rail 606; the sixth slider 608 is fixedly connected to the end effector 700; preferably, the movement direction of the sixth slider 608 is always perpendicular to the axis of the end effector 700. The axis of the end effector 700 is the direction of its extension and retraction. The movement range of the end effector 700 is ±90°, with the axis of the end effector 700 being perpendicular to the moving direction of the first linear motion mechanism as the zero position, 0° to 90° on one side of the zero position, and -90° to 0° on the other side of the zero position.

[0070] It can be understood that, in actual use, the fourth guide rail 602 and the sixth guide rail 606 remain parallel, and both can rotate relative to the third guide rail 601 and the fifth guide rail 605 in the second linear motion device 600. For example, when the end effector 700 swings to a position perpendicular to the first guide rail 501 and the second guide rail 502, the fourth guide rail 602 also rotates to be parallel or collinear with the third guide rail 601, and the sixth guide rail 606 also rotates to be parallel or collinear with the fifth guide rail 605. In other positions, the fourth guide rail 602 is neither parallel nor collinear with the third guide rail 601, and the sixth guide rail 606 is neither parallel nor collinear with the fifth guide rail 605.

[0071] When in use, the two first linear motion mechanisms are used to drive the end effector 700 to swing and limit the swing angle of the end effector 700. The four second linear motion mechanisms are used to drive the end effector 700 to telescopic motion and limit the telescopic displacement of the end effector 700. Moreover, the two first linear motion mechanisms output linear motion at the same time, and the moving speeds of the two first linear motion mechanisms are not equal but the ratio of the moving speeds remains unchanged. Similarly, the four second linear motion mechanisms output linear motion at the same time, and the ratio of the moving speeds of the four second linear motion mechanisms remains unchanged. It should be understood that in Figure 3 In the embodiment shown, the moving speeds of the two parallel second linear motion mechanisms are not equal.

[0072] Specifically, one of the first linear motion mechanisms outputs movement with a first velocity value V1, and the other first linear motion mechanism outputs movement with a second velocity value V2; the ratio of the first velocity value V1 to the second velocity value V2 is fixed and remains unchanged; this configuration can constrain the fixed point O, causing it to remain stationary. Similarly, one of the second linear motion mechanisms outputs movement with a third velocity value V3, and the other second linear motion mechanism outputs movement with a fourth velocity value V4; the ratio of the third velocity value V3 to the fourth velocity value V4 is fixed and remains unchanged; this configuration can constrain the fixed point O, causing it to remain stationary. The first velocity value is less than the second velocity value, and the third velocity value is less than or equal to the fourth velocity value. In this embodiment, the first velocity value is less than the second velocity value, and the third velocity value is less than the fourth velocity value. In this case, the guide rails in the second linear motion mechanism are independent of and not shared with the guide rails in the first linear motion mechanism.

[0073] In order to understand the principle of the above fixed point mechanism more clearly, please refer to Figure 4 From a geometric perspective, the first guide rail 501 coincides with CD, the second guide rail 502 coincides with AB, the third guide rail 601 coincides with EF, the fifth guide rail 605 coincides with HM, the fourth guide rail 602 coincides with FG, and the sixth guide rail 606 coincides with MN. The first slider body 503 and the first sliding portion 505 are hinged at point D, the second slider body 504 and the second sliding portion 506 are hinged at point B, the third slider 603 and the fourth guide rail 602 are hinged at point F, the fifth slider 607 and the sixth guide rail 606 are hinged at point M, the fourth slider 604 and the end effector 700 are fixed at point G, and the sixth slider 608 and the end effector 700 are fixed at point N.

[0074] In this embodiment, the moving speed of the first slider body 503 along the first guide rail 501 is V1 (i.e., the first speed value), the moving speed of the second slider body 504 along the second guide rail 502 is V2 (i.e., the second speed value), the moving speed of the third slider 603 along the third guide rail 601 is V3 (i.e., the third speed value), and the moving speed of the fifth slider 607 along the fifth guide rail 605 is V4 (i.e., the fourth speed value).

[0075] Continue reading Figure 4 According to the geometric relationship, O, C, A, E, H are collinear, O, D, B, G, N are collinear, O, F, M are collinear, and OM is the bisector of ∠HON, and the following relationship is satisfied:

[0076] OE=OG;OH=ON;EF=GF;HM=MN;AB∥CD∥EF∥HM, and both are perpendicular to OA;MN∥FG, and both are perpendicular to ON;△OCD∽△OAB;△OEF∽△OHM, then:

[0077]

[0078] From this we can deduce that Figure 3 The fixed-point mechanism has a fixed point O when V1, V2, V3, and V4 satisfy the following relations:

[0079]

[0080] Wherein: h1 is the vertical distance between the first guide rail and the fixed point; h2 is the vertical distance between the first guide rail and the second guide rail; h3 is the vertical distance between the third guide rail and the second guide rail; h4 is the vertical distance between the third guide rail and the fourth guide rail.

[0081] Therefore, the movement of the first slider body 503 and the second slider body 504 drives the movement of the third slider 603 and the fourth slider 604, and realizes proportional drive. Proportional drive means that the ratio of V1 to V2 is a fixed value, and the ratio of V3 to V4 is also a fixed value; when the speed ratio is fixed, the position of the fixed point O is fixed.

[0082] It can be seen from equations (1) and (2) that the ratio of the moving speeds of the first linear motion device is limited by the relative positions between the parallel guide rails. By adjusting the distance between the parallel guide rails, the speed ratio can be adjusted, and the position of the fixed point O can be adjusted. Similarly, the ratio of the moving speeds of the second linear motion device is also limited by the relative positions between the parallel guide rails. By adjusting the distance between the parallel guide rails, the speed ratio can be adjusted, and the position of the fixed point O can be adjusted.

[0083] Figure 5 and Figure 6The figure shows the state in which the fixed point mechanism moves. When the first slider body 503 and the second slider body 504 are driven to move along their respective guide rails, the third slider 603 and the fifth slider 607 are driven to move along their respective guide rails, and finally the end effector 700 swings around the fixed point O. Figure 6 The first position C1 shown by the dotted line on the left side swings around the fixed point O to the second position C2 shown by the solid line on the right side. Conversely, it can swing from the second position C2 around the fixed point O to the first position C1 to achieve reciprocating motion.

[0084] Furthermore, the present invention can adjust the position of the fixed point O without changing the size of the main structure. It only needs to adjust the proportional relationship between V1 and V2, and the proportional relationship between V3 and V4 to achieve the change of the position of the fixed point O, so as to meet various surgical needs and make the adjustment of the fixed point position simpler and more convenient.

[0085] like Figure 7 As shown, in a specific embodiment, before the position of the fixed point O is adjusted, the fixed point O is located at O1, satisfying:

[0086]

[0087] like Figure 7 As shown, in a specific embodiment, after the position of the fixed point O is adjusted, the fixed point O is located at O2, satisfying:

[0088]

[0089] Therefore, the position of the guide rail can be changed to adjust the fixed point O. Figure 8 As shown, after the position of the fixed point is adjusted, it satisfies:

[0090]

[0091] <Second embodiment>

[0092] The difference from the first embodiment is that the number of the second linear motion mechanisms is reduced to two. The following only describes the differences from the first embodiment, and the same parts are not described in detail. For the same parts, please refer to the first embodiment.

[0093] like Figure 9 and Figure 10As shown, the second linear motion device 600 eliminates the fifth guide rail 605, the sixth guide rail 606, the fifth slider 607, and the sixth slider 608, while retaining the third guide rail 601, the fourth guide rail 602, the third slider 603, and the fourth slider 604. In this case, the second linear motion device 600 includes two second linear motion mechanisms: one including the third guide rail 601 and the third slider 603, and the other including the fourth guide rail 602 and the fourth slider 604. The third guide rail 601 is parallel to the first guide rail 501 and the second guide rail 502. The third slider 603 slides along the third guide rail 601; the fourth slider 604 slides along the fourth guide rail 602; the third slider 603 is hinged to the fourth guide rail 602. The end effector 700 is fixedly connected to the fourth slider 604. The fourth slider 604 moves perpendicular to the axis of the end effector 700.

[0094] Similarly, the first guide rail 501 coincides with CD, the second guide rail 502 coincides with AB, the third guide rail 601 coincides with EF, and the fourth guide rail 602 coincides with FG. The first slider body 503 and the first sliding portion 505 are hinged at point D, the second slider body 504 and the second sliding portion 506 are hinged at point B, the third slider 603 and the fourth guide rail 602 are hinged at point F, and the fourth slider 604 and the end effector 700 are fixed at point G.

[0095] Therefore, the first slider body 503 moves at a speed V1 along the first guide rail 501, the second slider body 504 moves at a speed V2 along the second guide rail 502, the third slider 603 moves at a speed V3 along the third guide rail 601, and the fourth slider 604 moves at a speed V4 along the fourth guide rail 602. During use, the movement of the first and second slider bodies 503, 504 drives the movement of the third and fourth sliders 603, 604, achieving proportional drive.

[0096] Continue reading Figure 10 According to the geometric relationship, O, C, A, and E are collinearly set, O, D, B, and G are collinearly set, and O and F are collinearly set, and OF is the bisector of ∠EOG, and the following relationships are satisfied: OE=OG; EF=GF; AB∥CD∥EF, and are all perpendicular to OE; FG is perpendicular to OG; △OCD∽△OAB.

[0097] From this we can deduce that Figure 9 The fixed-point mechanism has a fixed point O when V1, V2, V3, and V4 satisfy the following relations:

[0098]

[0099] Wherein: h1 is the vertical distance between the first guide rail and the fixed point; h2 is the vertical distance between the first guide rail and the second guide rail; h3 is the vertical distance between the third guide rail and the second guide rail.

[0100] It can be seen from formula (4) that the ratio of the moving speed of the second linear motion device is always 1. Even if the distance between the parallel guide rails is adjusted, the ratio of V3 to V3 remains unchanged. At this time, the position of the fixed point O can be adjusted by adjusting h1 and h2.

[0101] Furthermore, this embodiment can adjust the position of the fixed point O without changing the size of the main structure. It only needs to adjust the proportional relationship between V1 and V2, and the proportional relationship between V3 and V4 to achieve the change of the position of the fixed point O to meet various surgical needs, making the adjustment of the fixed point position simpler and more convenient.

[0102] like Figure 11 As shown, in a specific embodiment, before the position of the fixed point O is adjusted, the fixed point O is located at O1, satisfying:

[0103]

[0104] like Figure 11 As shown, in a specific embodiment, after the position of the fixed point O is adjusted, the fixed point O is located at O2, satisfying:

[0105]

[0106] Therefore, the position of the guide rail can be changed to adjust the fixed point O. Figure 12 As shown, after the position of the fixed point P is adjusted, it satisfies:

[0107]

[0108] <Third embodiment>

[0109] The difference from Example 1 lies in the placement of the four second linear motion mechanisms between the two first linear motion mechanisms. This adjusts the center of gravity distribution of the fixed-point mechanism and improves its structural rigidity. The following describes only the differences from Example 1; similarities are not described in detail, and reference can be made to Example 1 for similarities.

[0110] like Figure 13 As shown, the third guide rail 601, the fourth guide rail 602, the fifth guide rail 605 and the sixth guide rail 606 are all arranged between the first guide rail 501 and the second guide rail 502, so that the weight of the first linear motion device 500 is evenly distributed above and below, thereby improving the structural stiffness of the entire fixed point mechanism and improving the motion control accuracy.

[0111] <Fourth embodiment>

[0112] The difference from Example 2 lies in the placement of the two second linear motion mechanisms between the two first linear motion mechanisms, thereby adjusting the center of gravity distribution of the fixed-point mechanism and improving the structural rigidity of the fixed-point mechanism. The following describes only the differences from Example 2; similarities are not described in detail, and reference can be made to Example 2 for the same parts.

[0113] like Figure 14 As shown, the third guide rail 601 and the fourth guide rail 602 are both arranged between the first guide rail 501 and the second guide rail 502. Compared with arranging the entire first linear motion device 500 below the second linear motion device 600, this method improves the center of gravity distribution, can better improve the structural stiffness of the fixed point mechanism, and enhance the motion control accuracy.

[0114] <Fifth embodiment>

[0115] The difference from the second embodiment is that the third guide rail and the second guide rail share the same guide rail, that is, the second guide rail is retained and the second guide rail also serves as the third guide rail. The following only describes the differences from the second embodiment, and the similarities are not further described and please refer to the second embodiment.

[0116] like Figure 15 As shown, one second linear motion mechanism includes a second guide rail 502 and a third slider 603, while the other second linear motion mechanism includes a fourth guide rail 602 and a fourth slider 604. In this case, the third slider 603 moves along the second guide rail 502; the third slider 603 is hingedly connected to the fourth guide rail 602; the fourth slider 604 moves along the fourth guide rail 602; and the end effector 700 is fixedly connected to the fourth slider 604. This configuration eliminates one guide rail, simplifies the structure, and reduces the weight and volume of the entire fixed-point mechanism.

[0117] <Sixth embodiment>

[0118] The difference from Example 1 is that the third guide rail and the first guide rail share the same guide rail, the fifth guide rail and the second guide rail share the same guide rail, the fourth guide rail and the sixth guide rail are retained, and the first guide rail also serves as the third guide rail, and the second guide rail also serves as the fifth guide rail. The following only describes the differences from Example 1; the similarities are not further described and please refer to Example 1.

[0119] like Figure 16As shown, among the four second linear motion mechanisms, the first includes a fourth guide rail 602 and a fourth slider 604; the second includes a first guide rail 501 and a third slider 603; the third includes a second guide rail 502 and a fifth slider 607; and the fourth includes a sixth guide rail 606 and a sixth slider 608. In this configuration, the third slider 603 moves along the first guide rail 501; the third slider 603 is hinged to the fourth guide rail 602; the fourth slider 604 moves along the fourth guide rail 602; the end effector 700 is fixedly connected to the fourth slider 604; the fifth slider 607 moves along the second guide rail 502; the fifth slider 607 is hinged to the sixth guide rail 606; the sixth slider 608 moves along the sixth guide rail 606; and the end effector 700 is fixedly connected to the sixth slider 608. This configuration eliminates two guide rails, effectively simplifies the structure, reduces the weight and volume of the entire fixed-point mechanism, and improves motion control accuracy.

[0120] <Seventh embodiment>

[0121] The difference between Example 5 and Example 2 is that the third guide rail and the first guide rail share a single guide rail, i.e., the first guide rail is retained and serves as the third guide rail. The following only describes the differences from Example 5, and the similarities are not further described. Please refer to Example 5 and Example 2 for details.

[0122] like Figure 17 As shown, one second linear motion mechanism includes a first guide rail 501 and a third slider 603, while the other linear motion mechanism includes a fourth guide rail 602 and a fourth slider 604. In this case, the third slider 603 moves along the first guide rail 501; the third slider 603 is connected to the fourth guide rail 602, such as by a hinge; the fourth slider 604 moves along the fourth guide rail 602; and the end effector 700 is fixedly connected to the fourth slider 604. This configuration eliminates one guide rail, simplifies the structure, and reduces the weight and volume of the entire fixed-point mechanism.

[0123] It should be understood that the fixed-point mechanism disclosed in the present invention does not include a driving device for driving the first linear motion device, nor a driven device for driving the second linear motion device. However, the driving device and the driven device can be disposed on a base connected to the end joint of the robotic arm, and the fixed-point mechanism is also disposed on the base. The base has a working surface and a symmetry plane, the working surface being perpendicular to the symmetry plane, the intersection of the working surface and the symmetry plane forming a central axis, and the extension direction of the mounting channel intersecting the central axis at a point to form a fixed point O.

[0124] In summary, the fixed-point mechanism provided by the present invention achieves oscillation of the end effector through a first linear motion device and telescopic motion of the end effector through a second linear motion device. Thus, the first and second linear motion devices work together to achieve oscillation of the end effector relative to the fixed point. In this configuration, the use of parallel linear motion devices within the fixed-point mechanism reduces the number of series stages of the fixed-point mechanism and increases the rigidity of the fixed-point mechanism's transmission structure, thereby improving motion control accuracy and enhancing surgical precision. Furthermore, the present invention employs a shared guide rail arrangement for the first and second linear motion mechanisms, which reduces the number of guide rails, simplifies the structure, reduces the weight and volume of the entire fixed-point mechanism, and further enhances motion control accuracy. In particular, when a linear motion device is used to output linear motion, the linear motion device has a simpler structure, a smaller reduction ratio, and higher transmission efficiency, significantly improving motion control accuracy and reliability.

[0125] Furthermore, the present invention can also position the second linear motion device below the first linear motion device, or between the two first linear motion mechanisms of the first linear motion device. This effectively improves the center of gravity distribution and increases the structural rigidity of the entire fixed-point mechanism, further enhancing motion control accuracy. Furthermore, the fixed-point mechanism of the present invention avoids the use of expensive components such as harmonic reducers, effectively reducing costs. The guide rail and slider assembly utilizes a rigid transmission structure with good transmission rigidity, simplifies the motion relationship, and reduces the difficulty of motion control.

[0126] It should be understood that the above is only a preferred embodiment of the present invention and does not constitute any formal or substantial limitation to the present invention. Moreover, although the innovation of the present invention comes from the field of surgical robot technology, those skilled in the art will understand that the fixed point mechanism of the present invention can also be applied to non-surgical robot technology.

[0127] It should be noted that those skilled in the art can make several improvements and additions without departing from the method of the present invention, and these improvements and additions should also be considered as the scope of protection of the present invention. Any equivalent changes, modifications and evolutions made by those skilled in the art using the technical content disclosed above without departing from the spirit and scope of the present invention are all equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A fixed point mechanism, characterized in that: It comprises a first linear motion device and a second linear motion device; when the first linear motion device is driven to output linear motion, it can synchronously drive the second linear motion device to output linear motion; The first linear motion device is slidably connected to the end effector to drive the end effector to swing; the second linear motion device is fixedly connected to the end effector to drive the end effector to extend and retract; The end effector is used to generate a swing around a fixed point under the joint action of the first linear motion device and the second linear motion device; The first linear motion device includes at least two first linear motion mechanisms arranged in parallel, each of the first linear motion mechanisms moves at different speeds when outputting linear motion, and the ratio of the moving speeds is fixed; The second linear motion device includes at least two second linear motion mechanisms connected in series, the ratio of the moving speeds of each second linear motion mechanism when outputting linear motion is fixed, and at least one second linear motion mechanism is arranged in parallel with or partially overlaps with the first linear motion mechanism; at least two second linear motion mechanisms connected in series are connected to each other to achieve linkage, and the two second linear motion mechanisms connected to each other can rotate relative to each other, and one of the two second linear motion mechanisms connected to each other is fixedly connected to the end effector.

2. The fixed point mechanism according to claim 1, characterized in that: The first linear motion mechanism and the second linear motion mechanism both include guide rails and sliders for sliding on the guide rails; all guide rails in the first linear motion device are arranged in parallel; at least one guide rail in the second linear motion mechanism is arranged parallel to or overlaps with the guide rail in the first linear motion mechanism; the end effector is slidably connected to all sliders in the first linear motion device, and is fixedly connected to the corresponding slider in the second linear motion device.

3. The fixed point mechanism according to claim 2, characterized in that: The slider on the guide rail in the second linear motion device that is parallel to or overlaps with the first linear motion mechanism is hinged to the other guide rail in the second linear motion device, and the end effector is fixedly connected to the slider on the other guide rail in the second linear motion device.

4. The fixed point mechanism according to claim 2, characterized in that: The slider in each of the first linear motion mechanisms includes a slider body and a sliding portion that are hinged to each other. The slider body slides on the guide rail, and the sliding portion is slidably connected to the end effector.

5. The fixed point mechanism according to claim 2, characterized in that: The number of the first linear motion mechanisms is two, and the number of the second linear motion mechanisms is two or an even number greater than two; When the number of the second linear motion mechanisms is two, the guide rail in one of the second linear motion mechanisms is parallel to or coincides with the guide rail in the first linear motion mechanism; When the number of the second linear motion mechanisms is an even number greater than two, the guide rails in at least two of the second linear motion mechanisms are parallel to or overlap with the guide rail in the first linear motion mechanism.

6. The fixed point mechanism according to claim 2, characterized in that: The moving direction of the slider in at least one of the second linear motion mechanisms is perpendicular to the axis of the end effector, and the axis of the end effector passes through the fixed point.

7. The fixed point mechanism according to any one of claims 1 to 6, characterized in that: The first linear motion device is configured to simultaneously output a movement having a first speed value and a second speed value, wherein a ratio of the first speed value to the second speed value remains unchanged; The second linear motion device is configured to simultaneously output a movement having a third speed value and a fourth speed value, wherein a ratio of the third speed value to the fourth speed value remains unchanged; The first speed value is less than the second speed value, and the third speed value is less than or equal to the fourth speed value.

8. The fixed point mechanism according to any one of claims 1 to 6, characterized in that: The second linear motion device is arranged between the first linear motion mechanisms in the first linear motion device, or the first linear motion device is arranged above the second linear motion device.

9. A robotic arm, characterized in that: It comprises an end joint and a fixed point mechanism according to any one of claims 1 to 8, wherein the fixed point mechanism is connected to the end joint.

10. A surgical robot, characterized in that: It comprises a robotic arm and a fixed point mechanism according to any one of claims 1 to 8, wherein the fixed point mechanism is connected to the robotic arm.

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