RCM mechanism for the end of a minimally invasive surgery robot

Abstract

The application provides an RCM mechanism for a minimally invasive surgery robot end, which comprises a base, a connecting rod I, a connecting rod II, a connecting rod III, a linear motion output mechanism and a surgical instrument; one end of the base is provided with a connecting hole, and the axis of the hole is a first rotation shaft; the connecting rod I is hinged to the base and moves around a second rotation shaft; the first rotation shaft and the extension line of the surgical instrument intersect at a point, i.e. a remote motion center point (RCM point); the first rotation shaft, the surgical instrument, the extension line thereof and the connecting rods form a similar triangle. The overall size of the RCM mechanism is small, the mass is light, the installation and use are convenient, the working space of the minimally invasive surgery robot is enlarged, the reliability is high, and the safety of the surgery is greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology. Specifically, it relates to an RCM mechanism for the end effector of a minimally invasive surgical robot. Background Technology

[0002] Traditional minimally invasive surgeries (such as laparoscopic surgery and percutaneous puncture surgery) are performed by experienced physicians, but their effectiveness is heavily reliant on the physician's skill and experience, limiting their widespread adoption. Minimally invasive surgical robots, which combine robotic technology with traditional minimally invasive surgery, are widely considered an effective way to overcome the shortcomings of traditional procedures.

[0003] Minimally invasive robots can automatically adjust the position and posture of surgical instruments according to the path planned by the surgeon, completing surgical operations with high positioning accuracy and no tremors. This shortens operation time, reduces the workload of the surgeon, and avoids the risk of surgical accidents caused by the surgeon's hand tremors. Minimally invasive surgical robots have significant advantages over manual operation by surgeons in terms of stability, precision, and safety.

[0004] Minimally invasive surgical robots typically consist of a robotic arm and an RCM positioning device located at the end of the robotic arm. The RCM positioning device provides a remote motion center (RCM) that coincides with the minimally invasive surgical incision. This ensures that adjustments to the posture of surgical instruments during surgery do not cause the surgical instruments to pull on the surgical incision on the patient's skin surface, thereby maximizing the safety of the surgery.

[0005] The current mainstream minimally invasive surgical robot RCM mechanism adopts a double parallelogram mechanism, which has defects such as complex structure, low precision and poor rigidity. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide an RCM mechanism for the end effector of a minimally invasive surgical robot that has a remote motion center, a reasonable and simple structure, high positioning accuracy, good stability, and sufficient stiffness.

[0007] To achieve the above objectives, the present invention adopts the following technical solution:

[0008] An RCM mechanism for the end effector of a minimally invasive surgical robot includes a base, link I, link II, link III, a linear motion output mechanism, and surgical instruments. One end of the base has a connecting hole, the axis of which is a first rotating axis. Link I is hinged to the base and moves around a second rotating axis. The first rotating axis intersects the extension line of the surgical instrument at a point, namely the remote motion center (RCM point). The first rotating axis, the surgical instrument and its extension line, and each link form a similar triangle.

[0009] Furthermore, the linear motion output mechanism has guide grooves on both sides along its linear motion direction, and a slider that can move linearly along the groove direction is slidably connected in the guide groove.

[0010] Furthermore, the other end of connecting rod I is hinged to the linear motion output mechanism; one end of connecting rod II is hinged to the base, and the other end is hinged to the slider on the linear motion output mechanism; connecting rod I and connecting rod II are parallel; the middle sections of connecting rod I and connecting rod II are respectively hinged to connecting rod III; connecting rod III is parallel to the first rotating shaft.

[0011] Furthermore, the surgical instrument is mounted on the linear motion output mechanism, and the axis of the surgical instrument is parallel to the linear motion direction of the linear motion output mechanism.

[0012] Furthermore, an external driving torque is added to the first and second rotating shafts.

[0013] Furthermore, the linear motion output mechanism is an electric cylinder, a hydraulic cylinder, a pneumatic cylinder, or a linear slide.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] This invention employs an RCM mechanism based on a similar triangular linkage system. This RCM mechanism possesses high rigidity and can be used in applications with heavy loads. Mounted at the end effector of a minimally invasive surgical robot, this RCM mechanism allows for two rotational degrees of freedom and one translational degree of freedom, facilitating the positioning and attitude adjustment of surgical instruments and expanding the surgical space. Compared to the double parallelogram mechanism used in traditional minimally invasive surgical robotic arms, this mechanism is simpler in structure and offers better stability, further enabling the lightweighting and miniaturization of the minimally invasive surgical robot arm. This invention offers superior practicality, operability, and safety compared to traditional RCM mechanisms. Attached Figure Description

[0016] To make the objectives, technical solutions, and beneficial effects of this invention clearer, the following figures are provided for illustration:

[0017] Figure 1 This is a schematic diagram of a structure according to an embodiment of the present invention.

[0018] Figure 2 This is a front view of this embodiment of the invention.

[0019] Figure 3 This is a schematic diagram of the second rotational degree of freedom of the rotating shaft in this embodiment of the present invention.

[0020] Figure 4 This is a schematic diagram of the translational degree of freedom in this embodiment of the invention.

[0021] In the attached image:

[0022] 1-Base; 2-Link I; 3-Link II; 4-Link III; 5-Linear motion output mechanism; 6-Surgical instrument; 7-First rotating shaft; 8-Second rotating shaft; 9-Surgical instrument extension line; 10-RCM point; 11-Slider. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. However, those skilled in the art will understand that this invention is not limited to the accompanying drawings and the following embodiments.

[0024] In the description of the invention, it should be noted that terms such as "first" and "second" are used for descriptive purposes only to distinguish technical features, and have no substantial meaning. They should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features.

[0025] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 Its overall three-dimensional structure can be seen. For example... Figure 1 As shown, the present invention discloses an RCM mechanism for the end effector of a minimally invasive surgical robot, comprising a base 1, connecting rod I 2, connecting rod II 3, connecting rod III 4, a linear motion output mechanism 5, and a surgical instrument 6; one end of the base has a connecting hole, the axis of which is a first rotating shaft 7; connecting rod I 2 is hinged to the base 1, and connecting rod I 2 moves around a second rotating shaft 8; the first rotating shaft 1 intersects the extension line 9 of the surgical instrument at a point, namely the RCM point 10; as shown... Figure 2 As shown, the first rotating shaft 7, the surgical instrument 6 and its extension 9, and each connecting rod form a similar triangle. Triangle AGE is similar to triangle BGF. According to the principle of similar triangles, RCM point 10 is a fixed point, thus realizing an RCM mechanism for the end effector of a minimally invasive surgical robot.

[0026] In this embodiment, guide grooves are provided on both sides of the linear motion output mechanism 5 along its linear motion direction, and a slider 11 that can move linearly along the groove direction is slidably connected in the guide groove. The other end of the connecting rod I2 is hinged to the linear motion output mechanism 5; one end of the connecting rod II3 is hinged to the base 1, and the other end is hinged to the slider 11 on the linear motion output mechanism 5; the connecting rod I2 and the connecting rod II3 are parallel; the middle sections of the connecting rod I2 and the connecting rod II3 are respectively hinged to the connecting rod III4, and the connecting rod III4 is parallel to the first axis 7.

[0027] In this embodiment, the surgical instrument 6 is mounted on the linear motion output mechanism 5, and the axis of the surgical instrument 6 is parallel to the linear motion direction of the linear motion output mechanism 5.

[0028] In this embodiment, external driving torques are applied to the first rotating shaft 7 and the second rotating shaft 8. The driving torque T1 drives the base to rotate around the first rotating shaft 7; the driving torque T2 drives the similar triangular mechanism to rotate around the second rotating shaft 8 (e.g., Figure 3 As shown); the movement of the surgical instrument along its axis is achieved through the driving action of the linear motion output mechanism 5 (e.g., Figure 4 (As shown).

[0029] As a further improvement to the above solution, the linear motion output mechanism 5 can be an electric cylinder, a hydraulic cylinder, a pneumatic cylinder, or a linear slide. In this embodiment, a linear slide is used as the linear motion output mechanism, but similar products can also be used as substitutes depending on the actual application.

[0030] The above embodiment describes an RCM mechanism for the end effector of a minimally invasive surgical robot, comprising a base, link I, link II, link III, a linear motion output mechanism, and surgical instruments. One end of the base has a connecting hole, the axis of which is a first rotating axis. Link I is hinged to the base and moves around a second rotating axis. The first rotating axis intersects the extension line of the surgical instruments at a single point, namely the remote motion center (RCM point). The first rotating axis, the surgical instruments and their extension lines, and each link form a similar triangle. The RCM mechanism of the above embodiment of the present invention has a small overall size, is lightweight, facilitates installation and use, expands the workspace of the minimally invasive surgical robot, has high reliability, and greatly improves surgical safety.

[0031] The above embodiments are only used to illustrate the present invention. The structure, connection method and manufacturing process of each component can be varied. Any equivalent transformations and improvements made on the basis of the technical solution of the present invention should not be excluded from the protection scope of the present invention.

Claims

1. An RCM mechanism for the end effector of a minimally invasive surgical robot, characterized in that, The device includes a base (1), connecting rod I (2), connecting rod II (3), connecting rod III (4), a linear motion output mechanism (5), and surgical instruments (6); one end of the base (1) has a connecting hole, the axis of which is the first rotating shaft (7); one end of the connecting rod I (2) is hinged to the base (1), and the connecting rod I (2) moves around the second rotating shaft (8); the first rotating shaft (7) intersects the extension line (9) of the surgical instruments at a point, namely the remote motion center point, RCM point (10); the first rotating shaft (7), the surgical instruments (6) and their extension line (9) and each connecting rod form a similar triangle; The linear motion output mechanism (5) has guide grooves on both sides along its linear motion direction, and a slider (11) that can move linearly along the groove direction is slidably connected in the guide groove. The other end of the connecting rod I (2) is hinged to the linear motion output mechanism (5); one end of the connecting rod II (3) is hinged to the base (1), and the other end is hinged to the slider (11) on the linear motion output mechanism (5); the connecting rod I (2) is parallel to the connecting rod II (3); the middle sections of the connecting rod I (2) and the connecting rod II (3) are respectively hinged to the connecting rod III (4); the connecting rod III (4) is parallel to the first rotating shaft (7); The surgical instrument (6) is mounted on the linear motion output mechanism (5), and the axis of the surgical instrument (6) is parallel to the linear motion direction of the linear motion output mechanism (5).

2. The RCM mechanism for the end effector of a minimally invasive surgical robot according to claim 1, characterized in that, An external driving torque is added to the first rotating shaft (7) and the second rotating shaft (8).

3. The RCM mechanism for the end effector of a minimally invasive surgical robot according to claim 1, characterized in that, The linear motion output mechanism (5) is an electric cylinder, a hydraulic cylinder, a pneumatic cylinder, or a linear slide.

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