Position adjustment mechanism and surgical robot

Abstract

A position adjustment mechanism and a surgical robot, wherein the position adjustment mechanism comprises a fixed base, which is relatively statically mounted on the operating arm of the surgical robot and has a fixed operating surface, wherein the fixed operating surface has a driving circumference with the center of the fixed base as the center; a driving portion, comprising at least three groups of driving components, wherein the driving components include at least two driving branches connected in parallel, wherein the first ends of the driving branches are movably mounted on the driving circumference, and the first ends of the driving branches of at least three groups of driving components are alternately arranged; a dynamic base, wherein the first side of the dynamic base has a passive circumference with the center of the dynamic base as the center, the second end of the driving branch is mounted on the passive circumference, the second side of the dynamic base is connected to the surgical terminal, and the dynamic base has a dynamic operating surface; a plurality of power sources are mounted on the fixed base, wherein the power sources drive the corresponding driving branches to extend or contract synchronously to keep the lengths of a group of driving branches the same, and the driving portion drives the dynamic base to move relative to the fixed base while keeping the fixed operating surface and the dynamic operating surface parallel.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a position adjustment mechanism for adjusting the spatial position of a surgical terminal of a surgical robot and a surgical robot. Background Art

[0002] Doctors can use surgical robots to accurately perform various surgical actions, such as clamping, resection, cutting, suturing, anastomosis, etc. In order to accurately complete various complex operations, surgical robots usually need to be designed with more complex mechanisms.

[0003] Before and during surgery, the spatial position of the surgical terminal needs to be adjusted to facilitate surgical operations on different parts of the patient. However, due to the complex mechanical structure of the surgical robot, there are still problems such as insufficient stability, low precision, and insufficient rigidity. Summary of the invention

[0004] In order to at least partially overcome the technical defects of at least one or other inventions mentioned above, at least one embodiment of the present invention provides a position adjustment mechanism and a surgical robot. By setting multiple groups of parallel drive branches between the dynamic base and the fixed base, the rotation of the dynamic base relative to the fixed base is limited. The two ends of the parallel drive branches are respectively installed on the circumference with the center of the dynamic base and the fixed base as the center and different groups of drive branches are arranged in an alternating form. The rigidity of the position adjustment mechanism can be improved, and the purpose of maintaining stable parallel movement of the dynamic base with the fixed base can be achieved.

[0005] According to one aspect of the present invention, there is provided a position adjustment mechanism, which is configured to adjust the spatial position of a surgical terminal of a surgical robot, the position adjustment mechanism comprising: a fixed base, which is relatively statically mounted on the operating arm of the surgical robot and has a fixed operating surface, the fixed operating surface having a driving circumference with the center of the fixed base as the center; a driving portion, comprising at least three groups of driving components, each group of the driving components comprising at least two driving branches, and the driving branches are connected in parallel, the first ends of the driving branches are movably mounted on the driving circumference, and the first ends of the driving branches of at least three groups of driving components are alternately arranged; a moving base, the first side of the moving base having the driving circumference of the fixed base. The center of the dynamic base is a passive circumference with the center of the circle as the center, the second end of the above-mentioned drive branch chain is movably installed on the above-mentioned passive circumference, and the second ends of the above-mentioned drive branches of at least three groups of drive assemblies are alternately arranged, the second side of the above-mentioned dynamic base is configured to be connected to the above-mentioned surgical terminal, and the above-mentioned dynamic base has a dynamic operating surface; and multiple power sources are installed on the above-mentioned fixed base, each of the above-mentioned power sources is configured to drive the drive branches of a corresponding group of the above-mentioned drive assemblies to extend or contract synchronously to keep the lengths of the drive branches belonging to a group of the above-mentioned drive assemblies the same, so that the above-mentioned driving part drives the above-mentioned dynamic base to move relative to the above-mentioned fixed base while keeping the above-mentioned fixed operating surface and the dynamic operating surface always parallel.

[0006] In an embodiment of the present invention, it also includes: an auxiliary part, including at least one auxiliary branch chain, each of the two ends of the auxiliary branch chain is respectively movably connected to the fixed base and the movable base, the auxiliary part is configured to prevent the movable base from rotating relative to the fixed base, wherein each of the auxiliary branch chains includes: a telescopic rod, the telescopic rod is provided with at least one spline extending in the axial direction; and a sleeve, the inner wall of the sleeve is provided with at least one spline groove, the spline groove is used in conjunction with the spline, the first ends of the telescopic rod and the sleeve are respectively movably connected to the fixed base or the movable base, the second end of the telescopic rod can be slidably inserted into the sleeve in the axial direction based on the cooperation of the spline and the spline groove, so that when the driving part drives the movable base to move, the auxiliary branch chain limits the movable base from rotating relative to the fixed base.

[0007] In an embodiment of the present invention, each of the above-mentioned driving branch chains includes: a driven rod, which is movably connected to the above-mentioned dynamic base; an active rod, which is threadedly mounted on the above-mentioned driven rod and movably connected to the above-mentioned fixed base, and the above-mentioned active rod rotates around its own rotation axis under the drive of the above-mentioned power source to drive the above-mentioned driven rod to extend or contract relative to the above-mentioned active rod.

[0008] In an embodiment of the present invention, each of the power sources includes: a motor mounted on the same side of the fixed base as the driving part; a first transmission wheel mounted on the side of the fixed base opposite to the driving part; a first transmission shaft, a first end of the first transmission shaft mounted on the first transmission wheel, a second end of the first transmission shaft passing through the fixed base and connected to the motor, so that the motor drives the first transmission wheel to rotate synchronously through the first transmission shaft; a second transmission wheel meshed with the first transmission wheel, so that the motor drives the second transmission wheel to rotate synchronously through the first transmission wheel, wherein the second transmission wheel coincides with the central axis of the fixed base; a plurality of third transmission wheels respectively meshed with the second transmission wheels; and a second transmission shaft, a first end of the second transmission shaft mounted on the third transmission wheel, a second end of the second transmission shaft passing through the fixed base and connected to the drive branch chain, so that when the second transmission wheel drives the third transmission wheel to rotate, the third transmission wheel drives the corresponding drive branch chain to extend or retract.

[0009] In an embodiment of the present invention, the active rod is hinged to the second end of the second transmission shaft through a Hooke's hinge, and the driven rod is hinged to the dynamic base through the Hooke's hinge.

[0010] In an embodiment of the present invention, the driving part comprises three groups of driving components, and the two ends of the driving branches of the three groups of driving components are respectively arranged on the driving circumference of the fixed base and the passive circumference of the moving base at equal intervals.

[0011] In an embodiment of the present invention, the first ends of the telescopic rod and the sleeve are respectively arranged on the circumference center of the fixed base or the movable base.

[0012] In an embodiment of the present invention, the at least two drive branches include the same following parameters: rod stroke, module, lead pitch.

[0013] In an embodiment of the present invention, the first end of the auxiliary branch chain is hinged to the fixed operating surface through a Hooke's hinge, and the second end of the auxiliary branch chain is hinged to the first side of the dynamic base through a Hooke's hinge.

[0014] According to another aspect of the present invention, a surgical robot is provided, comprising: the above-mentioned position adjustment mechanism; an operating arm connected to the fixed base of the above-mentioned position adjustment mechanism; and a surgical terminal connected to the movable base of the above-mentioned position adjustment mechanism, configured to perform surgical actions.

[0015] According to the embodiment of the present invention, by setting multiple power sources to control multiple groups of drive components of the drive part respectively, the multiple groups of drive components can be made to be at different lengths. By setting each group of the above drive components to include at least two drive branches, and the above drive branches are connected in parallel, each group of the above drive components can include at least one parallelogram structure, thereby limiting the relative rotation between the moving base and the fixed base connected to the two ends of the above drive branches. By setting the first end of each drive branch to be movably mounted on the driving circumference, the second end of each drive branch to be movably mounted on the passive circumference, and the installation positions of the drive branches of at least three groups of drive components are alternately set, the position adjustment mechanism can be uniformly stressed, and the rigidity of the position adjustment mechanism can be improved, thereby achieving the purpose of stable parallel movement of the moving base relative to the fixed base, reducing the vibration of the surgical terminal, and improving the surgical accuracy. And it can realize the movement of the moving base to any position and angle within a specific plane range. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a perspective view of a position adjustment mechanism according to an exemplary embodiment of the present invention;

[0017] Figure 2 is a stereoscopic diagram of a position adjustment mechanism according to an exemplary embodiment of the present invention observed from another perspective;

[0018] Figure 3 is a perspective view of a surgical robot according to an exemplary embodiment of the present invention;

[0019] Figure 4 is a schematic diagram of the installation relationship of two drive branches according to an exemplary embodiment of the present invention;

[0020] Figure 5 is a three-dimensional diagram of a working state of a position adjustment mechanism according to an exemplary embodiment of the present invention, wherein the auxiliary portion is substantially perpendicular to a fixed operating surface of a fixed base;

[0021] Figure 6 According to an exemplary embodiment of the present invention Figure 5 A three-dimensional view of the position adjustment mechanism after movement, wherein the auxiliary portion is inclined relative to the fixed operating surface of the fixed base;

[0022] Figure 7 According to an exemplary embodiment of the present invention Figure 5 Schematic diagram of the movement direction of the moving base when the lengths of the two first drive branches are the same as the lengths of the two third drive branches and are greater than the lengths of the two second drive branches;

[0023] Figure 8 According to an exemplary embodiment of the present invention Figure 5Schematic diagram of the movement direction of the moving base when the length of the two first drive branches is greater than the length of the two third drive branches, and the length of the two third drive branches is greater than the length of the two second drive branches;

[0024] Fig. 9 According to an exemplary embodiment of the present invention Figure 5 Schematic diagram of the movement direction of the moving base when the lengths of the two first drive branches are greater than the lengths of the two second drive branches, and the lengths of the two second drive branches are greater than the lengths of the two third drive branches;

[0025] Fig.10 is a perspective view of an auxiliary branch chain according to an exemplary embodiment of the present invention;

[0026] Fig.11 is a perspective view of a drive branch chain according to an exemplary embodiment of the present invention;

[0027] Fig.12 is a three-dimensional diagram of a group of power sources connected to corresponding drive components according to an exemplary embodiment of the present invention;

[0028] Fig.13 is a perspective view of a position adjustment mechanism with multiple power sources according to an exemplary embodiment of the present invention;

[0029] Fig.14 is a perspective view of a Hooke's hinge according to an exemplary embodiment of the present invention;

[0030] Fig.15 is a schematic diagram of the installation position of a first end of a driving branch chain of a position adjustment mechanism according to an exemplary embodiment of the present invention;

[0031] Fig.16 is a schematic diagram of a surgical terminal of a surgical robot according to an exemplary embodiment of the present invention;

[0032] Fig.17 is a schematic diagram of another surgical terminal of a surgical robot according to an exemplary embodiment of the present invention; and

[0033] Fig.18 4 is a schematic diagram of another surgical terminal of a surgical robot according to an exemplary embodiment of the present invention.

[0034] Description of Reference Numerals

[0035] 100: position adjustment mechanism;

[0036] 01: Fixed base;

[0037] 02: Drive components;

[0038] 02a: first drive branch chain;

[0039] 02b: Second drive branch chain;

[0040] 02c: third drive branch chain;

[0041] 021: follower rod;

[0042] 022: Active lever;

[0043] 03: Dynamic base;

[0044] 04: Power source;

[0045] 041: Motor;

[0046] 042: first transmission wheel;

[0047] 043: First transmission shaft;

[0048] 044: second transmission wheel;

[0049] 045: third transmission wheel;

[0050] 046: Second transmission shaft;

[0051] 05: Auxiliary Department;

[0052] 05a: auxiliary branch chain;

[0053] 051: Telescopic rod;

[0054] 052: sleeve;

[0055] 06: Hooke hinge;

[0056] 061: Split Hook hinge;

[0057] 611: upper fork hinge seat;

[0058] 612: Lower fork hinge seat;

[0059] 613: Top block;

[0060] 614: thimble;

[0061] 062: first end surface;

[0062] 063: second end surface;

[0063] 200: operating arm;

[0064] 300: Surgical terminal. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical scheme and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings. However, the present invention can be implemented in different forms and should not be construed as being limited to the embodiments set forth herein. On the contrary, providing these embodiments will make the disclosure thorough and complete and fully convey the scope of the present invention to those skilled in the art. In the accompanying drawings, for clarity, the sizes and relative sizes of layers and regions may be exaggerated, and the same reference numerals throughout represent the same elements.

[0066] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0067] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of the above-mentioned features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0068] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0069] In order to facilitate those skilled in the art to understand the technical solution of the present invention, the following technical terms are explained.

[0070] In the case of using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.). In the case of using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted in accordance with the meaning of the expression generally understood by those skilled in the art (for example, "a system having at least one of A, B, or C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0071] Figure 1 is a perspective view according to an exemplary embodiment of the present invention;

[0072] Figure 2 is a stereogram observed from another viewing angle according to an exemplary embodiment of the present invention;

[0073] Figure 3 is a perspective view of a surgical robot according to an exemplary embodiment of the present invention;

[0074] Figure 4 Schematic diagram of the installation relationship of two drive branches according to an exemplary embodiment of the present invention.

[0075] like Figures 1 to 3 As shown, an embodiment of the present invention provides a position adjustment mechanism 100 configured to adjust the spatial position of a surgical terminal 300 of a surgical robot. The position adjustment mechanism 100 includes a fixed base 01, a driving unit, a dynamic base 03 and a plurality of power sources 04.

[0076] Specifically, the fixed base 01 is relatively statically mounted on the operating arm 200 of the surgical robot via a first side of the fixed base 01 and has a fixed operating surface. The fixed operating surface has a driving circumference with the center of the fixed base as the center.

[0077] like Figures 1 to 4 As shown, the driving part includes at least three groups of driving components 02, each group of driving components 02 includes at least two driving branches, and the driving branches are connected in parallel, and the first end of the driving branch is movably connected to the fixed operating surface of the fixed base 01. The fixed operating surface can be as follows Figure 1 The first end of the drive branch chain is movably mounted on the drive circumference, and the first ends of the drive branches of at least three groups of drive assemblies are alternately arranged. In the case where each group of drive assemblies includes two drive branches, as shown in FIG. Figure 2 As shown, the three drive assemblies 02 respectively include two first drive branches 02a, two second drive branches 02b and two third drive branches 02c. The first ends of the two first drive branches 02a, the two second drive branches 02b and the two third drive branches 02c can be on the same drive circumference with the center of the fixed base as the center. Further, as Figure 2 As shown, the installation positions of the two first drive branches 02a, the two second drive branches 02b and the two third drive branches 02c are alternately distributed, that is, they are alternately distributed in the form of "02a-02b-02c-02a-02b-02c" in the circumferential direction. In other words, between any two drive branches belonging to the same group of drive components, there are drive branches belonging to the other two groups of drive components, so that the two drive branches belonging to the same group of drive components are not directly adjacent.

[0078] The first side of the dynamic base 03 has a passive circumference with the center of the dynamic base 03 as the center, the second end of the driving branch chain is movably mounted on the passive circumference, the second ends of the driving branches of at least three groups of driving assemblies are alternately arranged, the second side of the dynamic base 03 is configured to be connected to the surgical terminal 300, and the dynamic base 03 has a dynamic operating surface.

[0079] A plurality of power sources 04 are installed on the fixed base 01, and each power source 04 is configured to drive a corresponding group of drive branches 02a of drive components 02 to extend or contract synchronously to keep the lengths of the drive branches 02a belonging to a group of drive components 02 the same, so that the drive unit drives the moving base 03 to move relative to the fixed base 01 while keeping the fixed operating surface and the moving operating surface always parallel.

[0080] In detail, the fixed operation surface can be as follows Figure 3 The surface on the lower side of the fixed base 01 of the position adjustment mechanism 100 shown. The movable operating surface can be any one of the first side and the second side of the movable base 03, so that the driving part drives the movable base 03 to move relative to the fixed base 01 while keeping the fixed operating surface and the movable operating surface always parallel, which can mean that when the movable base 03 moves relative to the fixed base 01, the movable base 03 and the fixed base 01 are always in a parallel state.

[0081] Specifically, when the two drive branches of the same drive assembly 02 are initially in the same length and parallel state, the power source 04 drives the two drive branches to extend or contract synchronously to make the motion state of the two drive branches the same so that the lengths of the two drive branches are always consistent and always remain parallel. Further, the two drive branches always maintain the same length and are parallel, and the connecting lines of the endpoints at both ends of the two drive branches can form a parallelogram structure. The two drive branches and the fixed base 01 and the moving base 03 connected to the two ends can form the other two sides of the parallelogram structure. Therefore, when the moving base 03 moves relative to the fixed base 01, the fixed base 01 and the moving base 03 can always remain in a parallel state. In other words, the rotation of the moving base 03 relative to the axis parallel to the fixed base 01 can be limited. For example, the lines connecting the two first endpoints and the two second endpoints of the two first driving branches 02a in the three groups of driving components mentioned above can form a parallelogram structure, the lines connecting the two first endpoints and the two second endpoints of the two second driving branches 02b can form a parallelogram structure, and the lines connecting the two first endpoints and the two second endpoints of the two third driving branches 02c can form a parallelogram structure, and thus the fixed base 01 and the moving base 03 respectively connected to the three groups of driving components are always in a parallel state.

[0082] The first ends of the two first drive branches 02a may be distributed in a centrally symmetrical manner with the center of the fixed base as the symmetric center. That is, the connecting line between the first ends of the two first drive branches is located on the same diameter of the drive circumference. Similarly, the distribution form of the two second drive branches 02b and the distribution form of the two third drive branches 02c may be the same as the distribution form between the two first drive branches 02a.

[0083] Furthermore, the three sets of drive components can be arranged in the following manner: Figure 2 As schematically shown by the dashed line portion, the installation positions of one of the two first drive branches 02a, one of the two first drive branches 02b, and one of the two first drive branches 02c can be evenly distributed on the passive circumference, that is, an equilateral triangle can be formed between the installation positions, which can improve the stability and rigidity of the position adjustment mechanism. Correspondingly, their installation positions on the drive circumference can be evenly distributed. The remaining drive branches can be installed in the form schematically shown by the dotted line portion in the figure.

[0084] Figure 5 is a three-dimensional diagram of a working state of a position adjustment mechanism according to an exemplary embodiment of the present invention, wherein the auxiliary portion is substantially perpendicular to a fixed operating surface of a fixed base.

[0085] Figure 6 According to an exemplary embodiment of the present invention Figure 5 A three-dimensional view after movement, wherein the auxiliary part is inclined relative to the fixed operating surface of the fixed base.

[0086] Figure 7 According to an exemplary embodiment of the present invention Figure 5 Schematic diagram of the movement direction of the dynamic base when the length of the two first drive branches is the same as the length of the two third drive branches and is greater than the length of the two second drive branches.

[0087] Figure 8 According to an exemplary embodiment of the present invention Figure 5 Schematic diagram of the movement direction of the dynamic base when the length of the two first drive branches is greater than the length of the two third drive branches, and the length of the two third drive branches is greater than the length of the two second drive branches.

[0088] Fig. 9 According to an exemplary embodiment of the present invention Figure 5 Schematic diagram of the movement direction of the dynamic base when the lengths of the two first drive branches are greater than the lengths of the two second drive branches, and the lengths of the two second drive branches are greater than the lengths of the two third drive branches.

[0089] Furthermore, when the driving component 02 includes three driving branches, two parallelogram structures can be formed. The same as the above principle, the fixed base 01 and the moving base 03 can always remain in a parallel state. Further, when the driving part includes four driving components 02, the effect of the fixed base 01 and the moving base 03 always remaining in a parallel state can also be achieved, which will not be repeated here.

[0090] Furthermore, by driving a drive branch chain of a group of drive components 02 through each power source 04, different drive components 02 can be controlled respectively, so that the lengths of the drive branches of different components can be different, thereby realizing the movement of the moving base 03 at any angle. For example, the drive components of the position adjustment mechanism are three groups, each group includes two drive branches, that is, two first drive branches 02a, two second drive branches 02b and two third drive branches 02c. Figures 5 to 8 As shown, before the position adjustment mechanism 100 moves, the lengths of the six drive branches are roughly the same. When the lengths of the two first drive branches 02a are the same as the lengths of the two third drive branches 02c and are greater than the lengths of the two second drive branches 02b, the moving direction of the dynamic base 03 is from the center of the fixed base 01 along a track perpendicular to the line connecting the two third drive branches 02c to the direction of the line connecting the two third drive branches 02c. Figures 4 to 7 It can be seen that in this process, the two first drive branches 02a, the two second drive branches 02b and the two third drive branches 02c still maintain a parallelogram structure, and the moving base 03 and the fixed base 01 remain parallel. Figures 4 to 6 and Figure 8 It can be seen that when the length of the two first drive branches 02a is greater than the length of the two third drive branches 02c, and the length of the two third drive branches 02c is greater than the length of the two second drive branches 02b, the movement mode of the dynamic base 03 is to move from the center of the fixed base 01 to the direction of the line connecting the two third drive branches 02c to the direction of the line connecting the two second drive branches 02b. Figures 4 to 6 and Fig. 9 It can be seen that when the length of the two first drive branches 02a is greater than the length of the two second drive branches 02b, and the length of the two second drive branches 02b is greater than the length of the two third drive branches 02c, the movement mode of the dynamic base 03 is to move from the direction of the center of the fixed base 01 that is biased toward the direction of the line connecting the two second drive branches 02b to the direction of the line connecting the two third drive branches 02c, and the movement direction of the dynamic base 03 is more biased toward the line connecting the two third drive branches 02c relative to the line connecting the two second drive branches 02b.

[0091] By controlling the different length relationships of the driving components 02, the direction of movement of the moving base 03 can be controlled, but during the movement of the moving base 03, it always remains parallel to the fixed base 01. In the case where the longest and shortest lengths of multiple driving components 02 are the same, the moving base 03 can be moved to any position within a circular plane according to the longest and shortest lengths that the driving components 02 can reach. It is also possible to set the longest and shortest lengths of multiple driving components 02 to be different to change the range of motion of the moving base 03.

[0092] According to the embodiment of the present invention, by setting multiple power sources 04 to control multiple groups of drive components 02 of the drive unit respectively, the lengths of the multiple groups of drive components 02 can be made different. By setting each group of drive components 02 to include at least two drive branches 02a, and the drive branches are connected in parallel, each group of drive components 02 can include at least one parallelogram structure, thereby limiting the rotation of the moving base 03 relative to the fixed base 01. By setting the first end of each drive branch to be movably mounted on the driving circumference, the second end of each drive branch to be movably mounted on the passive circumference, and the installation positions of the drive branches belonging to the same group are alternately set, the position adjustment mechanism can be uniformly stressed, and the rigidity of the position adjustment mechanism can be improved, thereby achieving the purpose of stable parallel movement of the moving base 03 relative to the fixed base 01, reducing the vibration of the surgical terminal 300, and improving the surgical accuracy. And it can realize the movement of the moving base 03 to any position and angle within a specific plane range.

[0093] like Figure 1 and Figure 2 As shown, in some embodiments, an auxiliary part 05 is further included. The auxiliary part 05 includes at least one auxiliary branch chain 05a, and both ends of each auxiliary branch chain 05a are movably connected to the fixed base 01 and the movable base 03 respectively. The auxiliary part 05 is configured to prevent the movable base 03 from rotating relative to the fixed base 01.

[0094] Fig.10 is a perspective view of an auxiliary branch chain according to an exemplary embodiment of the present invention.

[0095] like Fig.10 As shown, in some embodiments, each auxiliary branch chain 05a includes a telescopic rod 051 and a sleeve 052 .

[0096] Specifically, the telescopic rod 051 is provided with at least one spline extending in the axial direction. The inner wall of the sleeve 052 is provided with at least one spline groove, and the spline groove is used in conjunction with the spline. Figure 1As shown, the first ends of the telescopic rod 051 and the sleeve 052 are respectively movably connected to the fixed base 01 or the dynamic base 03, and the second end of the telescopic rod 051 is slidably inserted into the sleeve 052 in the axial direction based on the cooperation of the spline and the spline groove, so that when the driving part drives the dynamic base 03 to move, the auxiliary branch chain 05a limits the dynamic base 03 from rotating relative to the fixed base 01. In detail, the sleeve 052 can be connected to the dynamic base 03 and the telescopic rod 051 can be connected to the fixed base 01; or the telescopic rod 051 can be connected to the dynamic base 03 and the sleeve 052 can be connected to the fixed base 01. Since the telescopic rod 051 and the sleeve 052 are connected based on the cooperation of the spline and the spline groove, the relative movement direction of the telescopic rod 051 and the sleeve 052 is the extension direction of the spline. Because the extension direction of the spline is the axial direction of the telescopic rod 051, the relative movement direction of the telescopic rod 051 and the sleeve 052 is the axial direction of the telescopic rod 051, and relative rotation cannot occur. The telescopic rod 051 and the sleeve 052 are connected to the fixed base 01 and the movable base 03 respectively, so the auxiliary part 05 can prevent the movable base 03 from rotating relative to the fixed base 01. The telescopic rod 051 and the sleeve 052 of the auxiliary branch chain 05a can be replaced by other structures that limit relative rotation and can extend or contract along the axis direction of the auxiliary branch chain 05a, for example, a hydraulic cylinder.

[0097] Fig.11 is a perspective view of a drive branch chain according to an exemplary embodiment of the present invention.

[0098] like Fig.11 As shown, in some embodiments, each driving branch chain includes a driven rod 021 and an active rod 022 .

[0099] Specifically, the driven rod 021 is movably connected to the moving base 03. The active rod 022 can be sleeved on the driven rod 021 in a threaded manner and movably connected to the fixed base 01. The driven rod 021 and the active rod 022 can form a set of kinematic pairs. The active rod 022 rotates around its own rotation axis under the drive of the power source 04 to drive the driven rod 021 to extend or contract relative to the active rod 022, thereby causing the moving base 03 and the fixed base 01 respectively connected to the driven rod 021 and the active rod 022 to change their relative positions.

[0100] Fig.12 is a three-dimensional diagram of a group of power sources connected to corresponding drive components according to an exemplary embodiment of the present invention; Fig.13 is a perspective view of a position adjustment mechanism with multiple power sources according to an exemplary embodiment of the present invention.

[0101] like Fig.12 and Fig.13As shown, in some embodiments, each power source 04 includes: a motor 041 , a first transmission wheel 042 , a first transmission shaft 043 , a second transmission wheel 044 , a plurality of third transmission wheels 045 and a second transmission shaft 046 .

[0102] Specifically, the motor 041 is mounted on the same side of the fixed base 01 as the driving part. The first transmission wheel 042 is mounted on the side of the fixed base 01 opposite to the driving part. The first end of the first transmission shaft 043 is mounted on the first transmission wheel 042, and the second end of the first transmission shaft 043 passes through the fixed base 01 and is connected to the motor 041, so that the motor 041 drives the first transmission wheel 042 to rotate synchronously through the first transmission shaft 043. The second transmission wheel 044 is meshed with the first transmission 042 wheel, so that the motor 041 drives the second transmission wheel 044 to rotate synchronously through the first transmission wheel 042. The second transmission wheel 044 coincides with the central axis of the fixed base 01. A plurality of third transmission wheels 045 are meshed with the second transmission wheel 043 respectively. The first end of the second transmission shaft 046 is mounted on the third transmission wheel 045, and the second end of the second transmission shaft 046 passes through the fixed base 01 and is connected to the drive branch chain, so that when the second transmission wheel 044 drives the third transmission wheel 045 to rotate, the third transmission wheel 045 drives the corresponding drive branch chain to extend or contract.

[0103] The motor 041 can be provided to drive the first transmission wheel 042 to rotate, the first transmission wheel 042 drives the second transmission wheel 044 engaged therewith to rotate, the second transmission wheel 044 drives the third transmission wheel 045 engaged therewith, and the third transmission wheel 045 drives the drive branch chain to extend or contract through the second transmission shaft 046. Multiple power sources 04 can be provided to enable multiple drive components 02 to move relatively independently. The position adjustment mechanism 100 of the embodiment of the present invention can realize the three translational degrees of freedom of the position adjustment mechanism 100 in a smaller space. And because the degree of freedom of rotation of the position adjustment mechanism 100 is limited, the number of motors 041 is reduced, and the control mode is simplified.

[0104] like Fig.11 and Fig.12 As shown, in some embodiments, the active rod 022 is hinged to the second end of the transmission shaft 044 through a Hooke's hinge 06 , and the driven rod 021 is hinged to the dynamic base 03 through a Hooke's hinge 06 .

[0105] like Fig.10 , Figure 1 and Figure 2 As shown, in some embodiments, the first end of the auxiliary branch chain 05a is hinged to the second side of the fixed base through a Hooke's hinge 06, and the second end of the auxiliary branch chain 05a is hinged to the first side of the moving base through a Hooke's hinge 06.

[0106] Fig.14is a perspective view of a Hooke's hinge according to an exemplary embodiment of the present invention.

[0107] Specifically, Figure 1 , Fig.10 and Fig.11 As shown, the Hooke's hinge 06 can be fixedly installed on the fixed base 01 and the moving base 03 respectively, and the active rod 022, the driven rod 021 and the auxiliary branch chain 05a are respectively hinged to the moving base 03 or the fixed base 01 through the Hooke's hinge 06. Among them, the telescopic rod 051 and the sleeve 052 of the auxiliary branch chain 05a can be respectively hinged to the moving base 03 or the fixed base 01 through the Hooke's hinge 06. Among them, the Hooke's hinge 06 hinged to the active rod 022 can be fixedly installed on the second transmission shaft 046 of the power source 04, and the active rod 022 is hinged to the third transmission wheel 045 through the second transmission shaft 046 and the Hooke's hinge. The Hooke's hinge 06 can use a split-type Hooke's hinge 061, such as Fig.13 As shown, the split Hook hinge 061 may include an upper fork-shaped hinge seat 611 and a lower fork-shaped hinge seat 612, and may also include a top block 613 and four ejector pins 614. Conical top holes are respectively provided on two pairs of opposite outer surfaces of the top block 613, and the small diameter ends of each two conical top holes are opposite and the center lines coincide; the four ejector pins 614 are respectively threadedly connected to the side walls of the fork-shaped bodies of the upper and lower fork-shaped hinge seats 612, and their conical heads are respectively placed in the conical top holes of the top block 613. It has the advantages of simple and compact structure, no gap, small appearance, low cost, strong load capacity, and high transmission accuracy. In addition, the four ejector pins 614 and the top block 613 can form two transmission pairs, so that the upper fork-shaped hinge seat 611 rotates along two independent axes relative to the lower fork-shaped hinge seat 612, realizing two-dimensional relative rotation.

[0108] Fig.15 It is a schematic diagram of the installation position of a setting method of the first end of the driving branch chain of the position adjustment mechanism according to an exemplary embodiment of the present invention.

[0109] In some embodiments, the driving unit includes three groups of driving components 02, and the two ends of the driving branches of the three groups of driving components 02 are respectively arranged at equal intervals on the driving circumference of the fixed base and the passive circumference of the dynamic base, so that the dynamic base 03 is subjected to more balanced forces during movement and the range of movement in all directions is more uniform. Fig.15 As shown, the first ends of the six drive branches (two first drive branches 02a, two second drive branches 02b and two third drive branches 02c) of the three drive assemblies 02 are evenly arranged on the drive circumference of the fixed base. Similarly, the second ends of the drive branches can also be evenly arranged on the drive circumference of the fixed base.

[0110] like Figure 1 and Fig.10As shown, in some embodiments, the first ends of the telescopic rod 051 and the sleeve 052 can be respectively disposed on the circumferential center of the fixed base 01 or the dynamic base 03 to improve the movement stability of the dynamic base 03 .

[0111] In some embodiments, the two drive branches may include the same parameters: rod length, module, lead pitch. Figure 4 , Fig.11 and Fig.12 As shown, when installing two drive branches, the two drive branches can be controlled to remain parallel and have the same initial length, that is, the elongation of the two drive branches is the same. Specifically, taking the above-mentioned two first drive branches 02a as an example, the axes A and C of the Hooke's hinges 06 respectively articulated with the two first drive branches 02a can be controlled to be parallel, the axes D and B can be controlled to be parallel, the two first end faces 062 of the two Hooke's hinges 06 articulated with the two first drive branches 02a can be coplanar, and the two second end faces 063 of the two Hooke's hinges 06 can be coplanar, and the Hooke's hinge 06 articulated with the active rod 022 of each first drive branch chain 02a can be coaxially arranged with its corresponding synchronous wheel 042 and transmission shaft 044, so that the driven rods 021 of the two first drive branches 02a after installation can perform synchronous telescopic movement under the drive of the power source 04. Furthermore, when installing the auxiliary branch chain 05 a , the two Hooke's hinges 06 hinged to the auxiliary branch chain 05 a can be controlled to be fixedly installed on the fixed base 01 and the movable base 03 .

[0112] Fig.16 is a schematic diagram of a surgical terminal of a surgical robot according to an exemplary embodiment of the present invention;

[0113] Fig.17 is a schematic diagram of another surgical terminal of a surgical robot according to an exemplary embodiment of the present invention;

[0114] Fig.18 4 is a schematic diagram of another surgical terminal of a surgical robot according to an exemplary embodiment of the present invention.

[0115] like Figure 3 As shown, an embodiment of the present invention provides a surgical robot, including the position adjustment mechanism 100, the operating arm 200 and the surgical terminal 300 as described above.

[0116] The operating arm 200 can be connected to the fixed base 01 of the position adjustment mechanism 100. The surgical terminal 300 can be connected to the movable base 03 of the position adjustment mechanism 100 and is configured to perform surgical actions. Before the operation begins, the position adjustment mechanism 100 can be used to control the surgical terminal 300 to adjust the spatial position so as to accurately locate the surgical target point. After the operation begins, when the surgical robot adjusts the posture of the surgical terminal 300, the position adjustment mechanism 100 can maintain relative spatial stability and effectively reduce the vibration of the end of the instrument. The surgical terminal 300 can be such as Figures 16 to 18 Any of the surgical terminals 300 shown.

[0117] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present invention. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present invention, and the shapes and sizes of the components in the drawings do not reflect the actual size and proportion, but only illustrate the contents of the embodiments of the present invention.

[0118] Unless otherwise indicated, the numerical parameters in this specification and the appended claims are approximate values ​​and can be changed according to the desired properties obtained by the content of the present invention. Specifically, all numbers used in the specification and claims to express the content of the composition, reaction conditions, etc., should be understood to be modified by the term "about" in all cases. In general, the meaning of the expression is to include a change of ±10% in some embodiments, a change of ±5% in some embodiments, a change of ±1% in some embodiments, and a change of ±0.5% in some embodiments by a specific number.

[0119] The ordinal numbers used in the specification and claims, such as "first", "second", "third", etc., to modify the corresponding elements, do not themselves mean that the elements have any ordinal numbers, nor do they represent the order of one element and another element, or the order in the manufacturing method. The use of these ordinal numbers is only used to clearly distinguish a component with a certain name from another component with the same name.

[0120] In addition, unless the steps are specifically described or must occur in sequence, the order of the above steps is not limited to the above list, and can be changed or rearranged according to the required design. And the above embodiments can be mixed and matched with each other or with other embodiments based on design and reliability considerations, that is, the technical features in different embodiments can be freely combined to form more embodiments.

[0121] The above specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A position adjustment mechanism, configured to adjust the spatial position of a surgical terminal of a surgical robot, characterized in that: The position adjustment mechanism comprises: A fixed base is relatively statically mounted on the operating arm of the surgical robot and has a fixed operating surface, wherein the fixed operating surface has a driving circumference with the center of the fixed base as the center of the circle; The driving part comprises at least three groups of driving components, each group of the driving components comprises at least two driving branches, and the driving branches are connected in parallel, the first ends of the driving branches are movably mounted on the driving circumference, and the first ends of the driving branches of at least three groups of the driving components are alternately arranged; A dynamic base, wherein the first side of the dynamic base has a passive circumference with the center of the dynamic base as the center, the second end of the drive branch chain is movably mounted on the passive circumference, and the second ends of the drive branches of at least three groups of the drive assemblies are alternately arranged, the second side of the dynamic base is configured to be connected to the surgical terminal, and the dynamic base has a dynamic operating surface; and A plurality of power sources are installed on the fixed base, each of the power sources is configured to drive a corresponding group of drive branches of the drive assembly to extend or contract synchronously, so as to keep the lengths of the drive branches belonging to a group of the drive assembly the same, so that the drive unit drives the dynamic base to move relative to the fixed base while keeping the fixed operating surface and the dynamic operating surface always parallel; Wherein, each of the power sources comprises: A motor is mounted on the same side of the fixed base as the driving part; a first transmission wheel mounted on a side of the fixed base opposite to the driving portion; a first transmission shaft, wherein a first end of the first transmission shaft is mounted on the first transmission wheel, and a second end of the first transmission shaft passes through the fixed base and is connected to the motor, so that the motor drives the first transmission wheel to rotate synchronously through the first transmission shaft; A second transmission wheel meshed with the first transmission wheel, so that the motor drives the second transmission wheels to rotate synchronously through the first transmission wheel, wherein the central axis of each second transmission wheel coincides with the central axis of the fixed base; a plurality of third transmission wheels respectively meshing with the second transmission wheels; and A second transmission shaft, wherein the first end of the second transmission shaft is mounted on the third transmission wheel, and the second end of the second transmission shaft passes through the fixed base and is connected to the drive branch chain, so that when the second transmission wheel drives the third transmission wheel to rotate, the third transmission wheel drives the corresponding drive branch chain to extend or contract.

2. The position adjustment mechanism according to claim 1, characterized in that: Also includes: An auxiliary part, comprising at least one auxiliary branch chain, two ends of each of the auxiliary branch chains are respectively movably connected to the fixed base and the movable base, and the auxiliary part is configured to prevent the movable base from rotating relative to the fixed base; Wherein, each of the auxiliary branches comprises: a telescopic rod, wherein the telescopic rod is provided with at least one spline extending in an axial direction; and A sleeve, wherein the inner wall of the sleeve is provided with a spline groove matched with the number of the splines, the spline groove is used in conjunction with the splines, the first ends of the telescopic rod and the sleeve are respectively movably connected to the fixed base or the dynamic base, and the second end of the telescopic rod is slidably inserted into the sleeve in the axial direction based on the cooperation between the spline and the spline groove, so that when the driving part drives the dynamic base to move, the auxiliary branch chain limits the rotation of the dynamic base relative to the fixed base.

3. The position adjustment mechanism according to claim 1, characterized in that: Each of the drive branches comprises: A driven rod movably connected to the moving base; and The active rod is sleeved on the driven rod in a threaded manner and is movably connected to the fixed base. The active rod rotates around its own rotation axis under the drive of the power source to drive the driven rod to extend or contract relative to the active rod.

4. The position adjustment mechanism according to claim 3, characterized in that: The active rod is hinged to the second end of the second transmission shaft through a Hooke's hinge, and the driven rod is hinged to the dynamic base through the Hooke's hinge.

5. The position adjustment mechanism according to claim 1, characterized in that: The driving part comprises three groups of driving components, and the two ends of the driving branches of the three groups of driving components are respectively arranged on the driving circumference of the fixed base and the passive circumference of the moving base at equal intervals.

6. The position adjustment mechanism according to claim 2, characterized in that: The first ends of the telescopic rod and the sleeve are respectively arranged on the circumferential center of the fixed base or the movable base.

7. The position adjustment mechanism according to claim 1, characterized in that: The at least two drive branches include the same parameters: rod stroke, module, lead pitch.

8. The position adjustment mechanism according to claim 2, characterized in that: The first end of the auxiliary branch chain is hinged to the fixed operating surface through a Hooke's hinge, and the second end of the auxiliary branch chain is hinged to the first side of the dynamic base through a Hooke's hinge.

9. A surgical robot, comprising: A position adjustment mechanism as claimed in any one of claims 1 to 8; an operating arm connected to a fixed base of the position adjustment mechanism; The surgical terminal is connected to the moving base of the position adjustment mechanism and is configured to perform surgical actions.

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